Special-shaped double-cable structure hoisting system and hoisting method

Abstract

The invention relates to the technical field of double-cable cranes, in particular to a special-shaped double-cable structure hoisting system and a hoisting method. The special-shaped double-cable structure hoisting system comprises a first load-bearing rope and a second load-bearing rope with the two ends fixed and the middles drooping, and the first load-bearing rope has a first cable shape parameter; the second bearing rope has a second rope shape parameter different from the first rope shape parameter; the vertical plane where the first bearing rope is located is parallel to the vertical plane where the second bearing rope is located. The first lifting trolley group travels on the first load-bearing rope, the second lifting trolley group travels on the second load-bearing rope, and the first lifting trolley group and the second lifting trolley group can cooperatively lift. According to the special-shaped double-cable structure hoisting system, the fixed positions of the two ends of the bearing rope do not need to be completely equal in height and symmetrical, reasonable selection can be conducted according to topographic conditions, and the construction difficulty of the bearing rope is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of double-cable cable cranes, and in particular to a special-shaped double-cable structure hoisting system and a hoisting method. Background Art

[0002] When building a bridge across the canyon, in order to realize the transportation of construction materials and equipment, engineers choose to arrange a double-cable cable crane system above the bridge to be built; the double-cable cable crane system includes two cables and at least two cranes that slide on the two cables respectively. The two ends of the cable are respectively fixed on the cable towers or anchors on both sides of the canyon. The middle part of the cable sags under the influence of gravity to form a shape similar to a catenary. The crane slides along the cable to move the goods connected to it to the target area.

[0003] In the prior art, two cables are usually symmetrically arranged in the same vertical plane, which requires a total of four fixed positions at both ends of the two cables to be equal in height and distributed in a rectangular shape. To achieve the same height, the usual practice is to set up cable towers of different heights and use the cable towers to level the heights of the fixed positions. However, under complex and steep terrain conditions, the construction of cable towers requires large-scale excavation of the mountain to construct the cable tower foundation, which has high construction costs. Moreover, under steep terrain conditions, the upper part of the cable tower is close to the slope surface, resulting in a small span of the side span cable from the cable tower to the slope area, which is not conducive to the lifting weight and lifting safety of the cable crane. Under some working conditions, due to the complex changes in the slope surface, the large height difference between the positions of the two sets of cable anchoring structures may make the construction height of the anchoring structure of one set large, greatly increasing the construction difficulty and construction cost. Summary of the invention

[0004] The purpose of the present invention is to overcome the problem of high construction cost and difficulty of the existing symmetrical double-cable cable hoist system in the background technology under complex and steep terrain conditions, and to provide a special-shaped double-cable structure hoisting system and hoisting method.

[0005] In a first aspect, the present invention provides a special-shaped double-cable structure hoisting system, comprising a first load-bearing rope and a second load-bearing rope, both ends of which are fixed and the middle part of which is drooped, wherein the first load-bearing rope has a first rope shape parameter, and the second load-bearing rope has a second rope shape parameter different from the first rope shape parameter; The vertical plane where the first load-bearing rope is located is parallel to the vertical plane where the second load-bearing rope is located; It also includes a first lifting trolley group running on the first load-bearing rope, and a second lifting trolley group running on the second load-bearing rope, and the first lifting trolley group and the second lifting trolley group can cooperate in lifting.

[0006] In the special-shaped double-cable lifting system described in the present invention, the first load-bearing rope and the second load-bearing rope have different rope shape parameters respectively, so that when constructing the first load-bearing rope and the second load-bearing rope, the fixed positions at both ends of them no longer need to be completely equal in height and symmetrical, and can be reasonably selected according to the terrain conditions, which greatly reduces the difficulty of load-bearing rope construction, can better solve the problem of difficulty in structural design and construction of cable towers, ground anchors, etc. due to complex terrain changes, and can better adapt to complex terrain; the vertical plane where the first load-bearing rope is located is parallel to the vertical plane where the second load-bearing rope is located, and the spacing between the two load-bearing ropes is equal along the length direction of the load-bearing ropes. When the first hoisting trolley group and the second hoisting trolley group are moving in the same direction, the lateral spacing between them will not change significantly, which can improve the lateral stability of coordinated lifting and reduce the probability of collision between hoisting trolley groups.

[0007] Preferably, the cable-shaped parameters include the span of the load-bearing rope, the height difference between the two ends of the load-bearing rope, and the sag of the load-bearing rope.

[0008] Further preferably, the cable-shaped parameters only include the span of the load-bearing rope, the height difference between the two ends of the load-bearing rope and the sag of the load-bearing rope.

[0009] Preferably, the first and second load-bearing cords are capable of lateral translation.

[0010] Preferably, the first lifting trolley group includes two connected first lifting trolleys, each of the first lifting trolleys includes a first running mechanism and a first lifting mechanism which are arranged up and down and can approach and move away from each other, and the first running mechanism runs on the first load-bearing rope; The second lifting trolley group includes two connected second lifting trolleys; each of the second lifting trolleys includes a second running mechanism and a second lifting mechanism which are arranged up and down and can approach and move away from each other, and the second running mechanism runs on the second load-bearing rope.

[0011] Preferably, it also includes a first traction device and a first traction rope led out from the first traction device, wherein the end of the first traction rope away from the first traction device is connected to the first running mechanism; a first changing pulley is provided at a fixed position at the end of the first load-bearing rope, and the first traction rope cooperates with the first changing pulley.

[0012] Preferably, it also includes a second traction device and a second traction rope led out from the second traction device, wherein the end of the second traction rope away from the second traction device is connected to the second running mechanism; a second changing pulley is provided at a fixed position on the end of the second load-bearing rope, and the second traction rope cooperates with the second changing pulley.

[0013] Preferably, it also includes a first lifting device and a first lifting rope led out from the first lifting device, wherein the end of the first lifting rope away from the first lifting device passes around the first running mechanism and is connected to the first lifting mechanism; a third changing pulley is provided at a fixed position at the end of the first load-bearing rope, and the first lifting rope cooperates with the third changing pulley.

[0014] Preferably, it also includes a second lifting device and a second lifting rope led out from the second lifting device, the end of the second lifting rope away from the second lifting device passes around the second running mechanism and is connected to the second lifting mechanism; a fourth changing pulley is provided at a fixed position on the end of the second load-bearing rope, and the second lifting rope cooperates with the fourth changing pulley.

[0015] Preferably, the first traction rope between the first running mechanism and the first direction-changing pulley is suspended on the first load-bearing rope.

[0016] Preferably, the second traction rope between the second running mechanism and the second changing pulley is suspended on the second load-bearing rope.

[0017] Preferably, the first lifting rope between the first running mechanism and the third changing pulley is suspended on the first load-bearing rope.

[0018] Preferably, the second lifting rope between the second running mechanism and the fourth changing pulley is suspended on the second load-bearing rope.

[0019] Preferably, the first lifting device, the second lifting device, the first traction device and the second traction device are all winches.

[0020] Preferably, it also includes a control command system, and the control command system is used to control the operation of the first lifting device, the second lifting device, the first traction device and the second traction device.

[0021] Preferably, the first running mechanism, the second running mechanism, the first lifting mechanism and the second lifting mechanism are all provided with coordinate monitoring equipment, and the coordinate monitoring equipment is used to monitor the coordinates and positional relationship of each mechanism in real time, so as to provide adjustment instructions to the control instruction system.

[0022] In a second aspect, the present invention provides a method for hoisting a special-shaped double-cable structure, based on the special-shaped double-cable structure hoisting system as described above, wherein the first hoisting mechanism and the second hoisting mechanism are connected to the same part to be hoisted; The steps include: S1. Leveling the part to be hoisted, and obtaining an initial elevation difference ΔH1 between the first hoisting mechanism and the second hoisting mechanism in a leveling state, and an initial horizontal spacing difference ΔL1 between the first running mechanism and the second running mechanism; S2. Move the first lifting trolley group and the second lifting trolley group to obtain the real-time elevation difference ΔH2 between the first lifting mechanism and the second lifting mechanism, and the real-time horizontal spacing difference ΔL2 between the first running mechanism and the second running mechanism; If the difference between ΔH1 and ΔH2 is greater than a preset relative elevation threshold, changing the distance between the first running mechanism and the first lifting mechanism, and / or changing the distance between the second running mechanism and the second lifting mechanism, so that the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; If the difference between ΔL1 and ΔL2 is greater than a preset relative horizontal spacing threshold, the running speed of the first running mechanism and / or the second running mechanism is changed so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0023] The special-shaped double-cable structure hoisting method described in the present invention is based on the special-shaped double-cable structure hoisting system as described above. The spacing between the running mechanism and the hoisting mechanism can be changed, so that when there is an elevation difference, the spacing between the running mechanism and the hoisting mechanism can be changed to level the parts to be hoisted in the vertical direction. The leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal spacing difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, the vertical inclination amplitude of the parts to be hoisted is reduced by changing the spacing between the running mechanism and the hoisting mechanism in one or two lifting trolley groups; when the difference between the real-time horizontal spacing difference ΔL2 and the initial horizontal spacing difference ΔL1 exceeds the preset relative horizontal spacing threshold, the horizontal rotation amplitude of the parts to be hoisted is reduced by changing the running speed of one or two lifting trolley groups, thereby achieving smooth transportation of the parts to be hoisted.

[0024] The method for lifting the special-shaped double-cable structure described in the present invention provides a control idea for the coordinated lifting of the first lifting trolley group and the second lifting trolley group on the special-shaped double-cable structure as described above, which is conducive to promoting the special-shaped double-cable structure to replace the existing equal-height and symmetrical double-cable structure, thereby solving the problems of difficult construction and large usage limitations of the double-cable cable crane system.

[0025] Preferably, the lifting system is constructed based on the special-shaped double-cable structure as described above; In step S2: when the first lifting trolley group is towed and moved, the first lifting device maintains a certain rope retracting and releasing speed so that the distance between the first lifting mechanism and the first running mechanism remains unchanged; when the second lifting trolley group is towed and moved, the second lifting device maintains a certain rope retracting and releasing speed so that the distance between the second lifting mechanism and the second running mechanism remains unchanged; When the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold: When adjusting the distance between the first running mechanism and the first lifting mechanism, changing the rope retracting and releasing rate of the first lifting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; When adjusting the distance between the second running mechanism and the second lifting mechanism, changing the rope retracting and releasing rate of the second lifting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; While adjusting the distance between the first running mechanism and the first lifting mechanism, and the distance between the second running mechanism and the second lifting mechanism, changing the rope retracting and releasing speeds of the first lifting device and the second lifting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; When the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold: When adjusting the running speed of the first running mechanism, synchronously changing the rope-releasing speeds of the first traction device and the first lifting device until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; When adjusting the travel speed of the second travel mechanism, synchronously changing the rope-releasing and retracting speeds of the second traction device and the second lifting device until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; While adjusting the traveling speeds of the first running mechanism and the second running mechanism, the rope-retracting and -releasing speeds of the first traction device and the first lifting device are changed synchronously, and the rope-retracting and -releasing speeds of the second traction device and the second lifting device are changed synchronously, until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0026] It can be understood that due to the different rope shapes of the two sets of load-bearing ropes, the climbing angles and running arc lengths of the two sets of lifting trolley groups are different, resulting in a front-to-back distance difference between the two sets of lifting trolley groups during their running, causing horizontal rotation of the parts to be hoisted; and because the rope shapes of the two sets of load-bearing ropes are different, as the lifting trolley group runs, the height difference between the two sets of load-bearing ropes gradually changes, causing the parts to be hoisted to tilt vertically.

[0027] In the preferred solution, by controlling the rope retraction and release rates of the traction equipment and the lifting equipment, the leveling of the hoisted parts in the vertical and horizontal directions is achieved, which has a simple structure and flexible operation.

[0028] Preferably, according to the weight of the hanging part, the weight of the load-bearing rope and the unloaded rope shape parameters under a single hoisting condition, the loaded rope shape of the load-bearing rope when the lifting trolley assembly is at any position is obtained, and a first loaded rope shape model of the first load-bearing rope and a second loaded rope shape model of the second load-bearing rope are established respectively; In S2: According to the initial position and travel distance of the first hoisting trolley group, combined with the first loaded cable model, the elevation change H21 and the horizontal displacement change L21 of the real-time position of the first running mechanism relative to the initial position are obtained; According to the initial position and travel distance of the second hoisting trolley group, combined with the second loaded cable model, the elevation change H22 and the horizontal displacement change L22 of the real-time position of the second running mechanism relative to the initial position are obtained; The real-time height difference between the first lifting mechanism and the second lifting mechanism is ΔH2=H22-H21+correction value+ΔH1; The real-time horizontal spacing difference between the first running mechanism and the second running mechanism is ΔL2=L22-L21+ΔL1; The correction value is the difference in rope retraction and release between the first lifting device and the second lifting device when the rope is in a taut state.

[0029] Compared with the prior art, the present invention has the following beneficial effects: 1. In the special-shaped double-cable lifting system described in the present invention, the first load-bearing rope and the second load-bearing rope have different rope shape parameters respectively, so that when constructing the first load-bearing rope and the second load-bearing rope, the fixed positions at both ends of them no longer need to be completely equal in height and symmetrical, and can be reasonably selected according to the terrain conditions, which greatly reduces the difficulty of load-bearing rope construction, can better solve the problem of difficulty in structural design and construction of cable towers, ground anchors, etc. due to complex terrain changes, and can better adapt to complex terrain; the vertical plane where the first load-bearing rope is located is parallel to the vertical plane where the second load-bearing rope is located, and the spacing between the two load-bearing ropes is equal along the length direction of the load-bearing ropes. When the first hoisting trolley group and the second hoisting trolley group are moving in the same direction, the lateral spacing between them will not change significantly, which can improve the lateral stability of coordinated lifting and reduce the probability of collision between hoisting trolley groups.

[0030] 2. The special-shaped double-cable structure hoisting method described in the present invention is based on the special-shaped double-cable structure hoisting system as described above. The spacing between the running mechanism and the hoisting mechanism can be changed, so that when there is an elevation difference, the spacing between the running mechanism and the hoisting mechanism can be changed to level the parts to be hoisted in the vertical direction. The leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal spacing difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, the vertical inclination amplitude of the parts to be hoisted is reduced by changing the spacing between the running mechanism and the hoisting mechanism in one or two lifting trolley groups; when the difference between the real-time horizontal spacing difference ΔL2 and the initial horizontal spacing difference ΔL1 exceeds the preset relative horizontal spacing threshold, the horizontal rotation amplitude of the parts to be hoisted is reduced by changing the running speed of one or two lifting trolley groups, thereby achieving smooth transportation of the parts to be hoisted. The method for lifting the special-shaped double-cable structure described in the present invention provides a control idea for the coordinated lifting of the first lifting trolley group and the second lifting trolley group on the special-shaped double-cable structure as described above, which is conducive to promoting the special-shaped double-cable structure to replace the existing equal-height and symmetrical double-cable structure, thereby solving the problems of difficult construction and large usage limitations of the double-cable cable crane system. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the special-shaped double-cable structure hoisting system of the present invention; Figure 2 for Figure 1 Enlarged view of part A in the middle; Figure 3 for Figure 1 Enlarged view of middle part B; Figure 4 for Figure 1 Enlarged view of middle C; Figure 5 A top view of the special-shaped double-cable structure hoisting system of the present invention; Figure 6 Schematic diagram of the hoisting method of the special-shaped double-cable structure of the present invention Figure 1 ; Figure 7 Schematic diagram of the hoisting method of the special-shaped double-cable structure of the present invention Figure 2 ; Figure 8 Schematic diagram of the hoisting method of the special-shaped double-cable structure of the present invention Figure 3 .

[0032] Markings in the figure: 1- the first load-bearing rope; 11-The first lifting trolley group; 111-first running mechanism; 112-first lifting mechanism; 113-connecting rope; 12- first traction device; 13- first traction rope; 14- first lifting equipment; 15-First lifting rope; 2- Second load-bearing rope; 21- the second lifting trolley group; 211- second running mechanism; 212- second lifting mechanism; 22- second traction device; 23- second traction rope; 24- second lifting equipment; 25-Second lifting rope; 3-Parts to be hoisted; 4- Ground anchor. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0034] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0035] In addition, if the terms "horizontal", "vertical", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal, vertical or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0036] In addition, the expressions “first”, “second”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0037] In addition, in the description of the embodiments of the present invention, "a plurality of" means at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0038] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connect", "arrange" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two components.

[0039] Example 1 like Figures 1 to 5 As shown, this embodiment provides a special-shaped double-rope structure, including a first load-bearing rope 1 and a second load-bearing rope 2 which are fixed at both ends and droop in the middle, the first load-bearing rope 1 has a first rope shape parameter; the second load-bearing rope 2 has a second rope shape parameter different from the first rope shape parameter; the vertical plane where the first load-bearing rope 1 is located is parallel to the vertical plane where the second load-bearing rope 2 is located.

[0040] The first load-bearing rope 1 and the second load-bearing rope 2 are also called cables, which often span deep canyons. By fixing both ends of the first load-bearing rope 1 and the second load-bearing rope 2 to the cable towers or anchors 4 on both sides of the canyon, their middle parts are naturally drooped to form suspension cables for the cable crane to travel. The crane travels on the load-bearing ropes to lift construction materials or equipment, etc.

[0041] The cable shape parameters are a set of parameters used to describe the geometric shape of the load-bearing rope, including the span of the load-bearing rope, the height difference between the two ends of the load-bearing rope, and the sag of the load-bearing rope; among them: The span of the load-bearing rope refers to the horizontal distance between the fixed positions at both ends of the load-bearing rope; The height difference between the two ends of the load-bearing rope refers to the vertical height difference between the fixed positions at the two ends of the load-bearing rope; The verticality of the load-bearing rope refers to the sagging height of the middle part of the load-bearing rope, specifically the vertical distance between the midpoint of the line connecting the fixed positions at both ends of the load-bearing rope and the midpoint of the load-bearing rope.

[0042] The fixed positions at both ends of the load-bearing rope described in this embodiment refer to: the connection position between the load-bearing rope and the top of the cable tower, or the connection position between the load-bearing rope and the anchor 4; in the absence of external load, the load-bearing rope between the fixed positions at both ends is a catenary.

[0043] It can be understood that the linear density of the load-bearing ropes is usually equal, and the shape of the load-bearing ropes can be basically defined when the rope-shaped parameters are known; in addition, in the existing double-rope structure, the two load-bearing ropes not only have the same rope-shaped parameters, but are also in the same height and symmetrical state, that is, the installation heights of the two load-bearing ropes are the same and symmetrical to the same vertical plane, so that the two groups of cranes installed on the two load-bearing ropes have almost the same climbing angle, running arc length, running height and hook height when coordinating to lift the same component, thereby maintaining the stability of the component posture; but the equal height and symmetrical arrangement require that the fixed positions at both ends of the load-bearing ropes be distributed in a rectangular shape and be at the same height, which greatly increases the site selection, construction difficulty and cost of the fixed positions.

[0044] The first load-bearing rope 1 of the present embodiment has a first rope-shape parameter, and the second load-bearing rope 2 has a second rope-shape parameter, and the first rope-shape parameter is different from the second rope-shape parameter, that is, the two are different in at least one of the three: the span of the load-bearing rope, the height difference between the two ends of the load-bearing rope, and the verticality of the load-bearing rope; since the rope-shape parameters of the first load-bearing rope 1 and the second load-bearing rope 2 are different, the fixed positions of the two ends of the first load-bearing rope 1 and the second load-bearing rope 2 no longer need to be of the same height and distributed in a rectangular shape, which improves the freedom of site selection and helps reduce construction difficulty and cost.

[0045] The shapes of the first load-bearing rope 1 and the second load-bearing rope 2 in space are similar to catenaries. Under the constraints of the fixed positions of the two ends, their middle parts naturally droop. Due to the small external force in the lateral direction, each segment of the same load-bearing rope falls into the same vertical plane, which is called the vertical plane of the load-bearing rope. The vertical plane where the first load-bearing rope 1 is located is parallel to the vertical plane where the second load-bearing rope 2 is located. This allows the cranes installed on different load-bearing ropes to maintain an equal lateral spacing between the two when they are lifting in coordination, reducing the probability of crane collision and the pulling and entanglement of the ropes under the cranes, and improving the safety and stability of coordinated lifting.

[0046] To sum up, the present embodiment provides a special-shaped double-rope structure, in which the first load-bearing rope 1 and the second load-bearing rope 2 have different rope shape parameters, and the fixed positions at both ends of the first load-bearing rope 1 and the second load-bearing rope 2 no longer need to be equal in height and symmetrical, so that the form and site selection of the fixed structures at both ends of the first load-bearing rope 1 and the second load-bearing rope 2 have more flexibility, which can better solve the problem of difficulty in structural design and construction of cable towers, ground anchors 4 and the like due to complex terrain changes, and can better adapt to complex terrain; the vertical plane where the first load-bearing rope 1 is located is parallel to the vertical plane where the second load-bearing rope 2 is located, so that the spacing between the two load-bearing ropes is equal along the length direction of the load-bearing ropes, which is convenient for cranes set on different load-bearing ropes to coordinately lift the same component, so as to improve the overall lifting capacity.

[0047] The longitudinal direction mentioned in this embodiment refers to the extension direction of the load-bearing rope, and the transverse direction is perpendicular to the longitudinal direction and parallel to the horizontal plane.

[0048] In a specific design, if Figure 5 As shown, both ends of the first load-bearing rope 1 and the second load-bearing rope 2 are anchored to the ground anchors 4 on both sides of the canyon, and the first load-bearing rope 1 and the second load-bearing rope 2 are arranged with different rope-shaped parameters of span, verticality and height difference at both ends according to the terrain conditions; on the horizontal plane, the span of the second load-bearing rope 2 is smaller than the span of the first load-bearing rope 1; on the vertical plane, the heights of both ends of the first load-bearing rope 1 and the second load-bearing rope 2 are not the same; on the left bank, the elevation of the fixed position of the end of the first load-bearing rope 1 is greater than the elevation of the fixed position of the end of the second load-bearing rope 2, and on the right bank, the elevation of the fixed position of the end of the first load-bearing rope 1 is less than the elevation of the fixed position of the end of the second load-bearing rope 2.

[0049] Since the fixed positions of the two ends of the load-bearing ropes in this embodiment no longer need to be set at the same height, and under most conditions the construction cost of the ground anchor 4 is lower than the construction cost of the cable tower, the first load-bearing rope 1 and the second load-bearing rope 2 do not require a cable tower for height leveling, and it is preferred to use the ground anchor 4 as the fixed structure at both ends of the load-bearing ropes.

[0050] In some embodiments, the first load-bearing rope 1 and the second load-bearing rope 2 can translate in a direction perpendicular to the vertical plane in which they are located.

[0051] The distance between the first load-bearing rope 1 and the second load-bearing rope 2 can be increased or decreased, and the positions of the first load-bearing rope 1 and the second load-bearing rope 2 can be adjusted in a direction perpendicular to the vertical plane in which they are located to meet the needs of use in different working conditions.

[0052] Preferably, both ends of the first load-bearing rope 1 and the second load-bearing rope 2 are provided with transverse movement devices, and the transverse movement devices are used to realize the transverse movement of the fixed position of the end of the load-bearing rope; if the fixed structure of the end of the load-bearing rope is a cable tower, the transverse movement device can be arranged between the saddle at the top of the tower and the tower body, and the saddle can be made to slide laterally relative to the tower body through the transverse movement device, thereby driving the load-bearing rope arranged on the saddle to move; if the fixed structure of the end of the load-bearing rope is a ground anchor, the ground anchor 4 can adopt a pile-type prestressed rock anchor, and a cylindrical bolt rope beam is arranged on the ground anchor 4 as a load-bearing rope anchoring device, and the bolt rope beam is provided with a circular transverse movement device for winding the load-bearing rope, and the transverse movement device is encircled on the bolt rope beam, and both ends of the bolt rope beam are anchored to the mountain through pile foundations and prestressed anchor cables.

[0053] Example 2 like Figures 1 to 5As shown, this embodiment provides a special-shaped double-rope structure lifting system, including a first load-bearing rope 1 and a second load-bearing rope 2 which are fixed at both ends and droop in the middle, the first load-bearing rope 1 has a first rope shape parameter, and the second load-bearing rope 2 has a second rope shape parameter different from the first rope shape parameter; the vertical plane where the first load-bearing rope 1 is located is parallel to the vertical plane where the second load-bearing rope 2 is located; it also includes a first lifting trolley group 11 running on the first load-bearing rope 1, and a second lifting trolley group 21 running on the second load-bearing rope 2, the first lifting trolley group 11 and the second lifting trolley group 21 can cooperate in lifting.

[0054] The first lifting trolley group 11 includes at least one first lifting trolley, and the second lifting trolley group 21 includes at least one second lifting trolley. The first lifting trolley and the second lifting trolley can run on the first load-bearing rope 1 and the second load-bearing rope 2 respectively. The first lifting trolley and the second lifting trolley can be cranes arranged on the load-bearing ropes, and the lifting is achieved by connecting the goods through a sling.

[0055] In some usage scenarios, the first lifting trolley group 11 and the second lifting trolley group 21 can be connected to the same cargo for collaborative lifting, and the single lifting load can be increased through collaborative lifting; and, since the first lifting trolley group 11 and the second lifting trolley group 21 are spaced apart in the lateral direction, collaborative lifting can allow the cargo to have multiple spaced lifting points in the lateral direction, which is beneficial to improving the lateral stability of the cargo during the lifting process.

[0056] To sum up, in the special-shaped double-rope structure hoisting system described in this embodiment, the first load-bearing rope 1 and the second load-bearing rope 2 have different rope shape parameters respectively, so that when constructing the first load-bearing rope 1 and the second load-bearing rope 2, the fixed positions at both ends of them no longer need to be completely equal in height and symmetrical, and can be reasonably selected according to the terrain conditions, which greatly reduces the difficulty of load-bearing rope construction, can better solve the problem of difficulty in structural design and construction of cable towers, ground anchors 4 and the like due to complex terrain changes, and can better adapt to complex terrain; the vertical plane where the first load-bearing rope 1 is located is parallel to the vertical plane where the second load-bearing rope 2 is located, and the spacing between the two load-bearing ropes is equal along the length direction of the load-bearing ropes. When the first hoisting trolley group 11 and the second hoisting trolley group 21 are moving in the same direction, the lateral spacing between them will not change significantly, which can improve the lateral stability of coordinated lifting and reduce the probability of collision between hoisting trolley groups.

[0057] In a preferred embodiment, the first lifting trolley group 11 includes at least two first lifting trolleys arranged along the longitudinal direction, and two adjacent first lifting trolleys are connected. The second lifting trolley group 21 includes at least two second lifting trolleys arranged along the longitudinal direction, and two adjacent second lifting trolleys are connected. Multiple lifting trolleys can form multiple lifting points in the longitudinal direction, which is beneficial to improving the longitudinal stability of the cargo.

[0058] Example 3 The present embodiment provides a special-shaped double-rope structure lifting system. On the basis of Embodiment 2, the first lifting trolley group 11 includes two first lifting trolleys connected to each other, each first lifting trolley includes a first running mechanism 111 and a first lifting mechanism 112 which are arranged up and down and can approach and move away from each other, and the first running mechanism 111 runs on the first load-bearing rope 1; the second lifting trolley group 21 includes two second lifting trolleys connected to each other; each second lifting trolley includes a second running mechanism 211 and a second lifting mechanism 212 which are arranged up and down and can approach and move away from each other, and the second running mechanism 211 runs on the second load-bearing rope 2.

[0059] like Figure 2 As shown, the two first lifting trolleys are spaced front and back and connected. When the first lifting trolley in the front is dragged, the first lifting trolley in the rear can follow the movement of the first lifting trolley in the front, and the distance between the two first lifting trolleys is approximately equal during the movement; the same applies to the second lifting trolley.

[0060] In terms of connection method, the two first lifting trolleys can be connected by a connecting cable 113. The connecting cable 113 is a rope or steel cable component with a certain flexibility. This flexibility can avoid hard contact caused by rigid connection, thereby reducing damage caused by sudden deceleration of the front trolley and increasing the service life of the component; preferably, the connecting cable 113 is hinged to the first lifting trolley, and the connecting cable 113 and the first lifting trolley can rotate relative to each other through the hinge, thereby adapting to the change in the relative position between the connecting cable 113 and the first lifting trolley caused by the bending of the first load-bearing rope 1; similarly, the two second lifting trolleys can also be connected by the connecting cable 113.

[0061] like Figure 2 and Figure 3 As shown, the first lifting trolley includes a first running mechanism 111 and a first lifting mechanism 112, wherein: the first running mechanism 111 has a running function and rollers can be arranged on it; the first lifting mechanism 112 is connected to the first running mechanism 111, and the hoisted component 3 can be connected to the first lifting mechanism 112 through a sling, and the first lifting mechanism 112 and the first running mechanism 111 are arranged up and down and the distance between the two can be changed, so as to facilitate the adjustment of the lateral inclination degree of the hoisted component 3 during coordinated lifting; the second lifting trolley is the same.

[0062] Preferably, the connecting rope 113 is disposed between two adjacent first running mechanisms 111 , or between two adjacent second running mechanisms 211 .

[0063] In some embodiments, it also includes a first traction device 12 and a first traction rope 13 led out from the first traction device 12, and the end of the first traction rope 13 away from the first traction device 12 is connected to the first running mechanism 111; a first changing pulley is provided at a fixed position on the end of the first load-bearing rope 1, and the first traction rope 13 cooperates with the first changing pulley; it also includes a second traction device 22 and a second traction rope 23 led out from the second traction device 22, and the end of the second traction rope 23 away from the second traction device 22 is connected to the second running mechanism 211; a second changing pulley is provided at a fixed position on the end of the second load-bearing rope 2, and the second traction rope 23 cooperates with the second changing pulley.

[0064] One end of the first traction rope 13 is connected to the first hoisting trolley group 11, and the other end is connected to the first traction device 12. The first traction device 12 can drive the first hoisting trolley group 11 to move along the length direction of the first load-bearing rope 1 by retracting and releasing the first traction rope 13; a first direction-changing pulley is set at a fixed position at the end of the first load-bearing rope 1, and the first traction rope 13 drawn from the first traction device 12 is connected to the first running mechanism 111 after being wound around the first direction-changing pulley. When the first traction device 12 retracts and releases the rope, the other end of the first traction rope 13 can move approximately along the length direction of the first load-bearing rope 1, so that the first hoisting trolley group 11 is subjected to a tension approximately in the length direction of the first load-bearing rope 1; and the length of the retracted and released rope of the first traction device 12 in the tensioned state can be approximately proportionally converted to the distance traveled by the first hoisting trolley group 11 according to the rope laying method. The second traction rope 23 is similar to the second traction rope 23 drawn from the second traction device 22, and is connected to the second running mechanism 211 after being wound around the second direction-changing pulley.

[0065] The use of traction drive to drive the hoisting trolley group to move can reduce the deadweight of the hoisting trolley group to improve the carrying capacity, and also facilitate the inspection and maintenance of the traction equipment. In order to enable the hoisting trolley group to move back and forth in both directions, two sets of traction equipment and traction ropes can be respectively provided, one set is used to drive the first hoisting trolley group 11 and the second hoisting trolley group 21 to move to the left, and the other set drives the first hoisting trolley group 11 and the second hoisting trolley group 21 to move to the right.

[0066] Preferably, the first traction rope 13 between the first running mechanism 111 and the first changing pulley is suspended on the first load-bearing rope 1 ; the second traction rope 23 between the second running mechanism 211 and the second changing pulley is suspended on the second load-bearing rope 2 .

[0067] The first traction rope 13 can be suspended on the first load-bearing rope 1 through the first rope buckle, and the second traction rope 23 can be suspended on the second load-bearing rope 2 through the second rope buckle; the rope buckle can be a ring-shaped member sleeved on the first load-bearing rope 1 or the second load-bearing rope 2, and the first traction rope 13 or the second traction rope 23 can be inserted into the rope buckle and thus suspended on the first load-bearing rope 1 or the second load-bearing rope 2. Under the pulling action of external force, the rope buckle can slide along the first load-bearing rope 1 or the second load-bearing rope 2, and will not hinder the passage of the first running mechanism 111 and the second running mechanism 211. A plurality of first rope buckles can be arranged at intervals along the first load-bearing rope 1, and a plurality of second rope buckles can be arranged at intervals along the second load-bearing rope 2; the first traction device 12 and the second traction device 22 can both be winches.

[0068] In some embodiments, it also includes a first lifting device 14 and a first lifting rope 15 led out from the first lifting device 14, the end of the first lifting rope 15 away from the first lifting device 14 passes around the first running mechanism 111 and is connected to the first lifting mechanism 112; a third changing pulley is provided at a fixed position on the end of the first load-bearing rope 1, and the first lifting rope 15 cooperates with the third changing pulley; it also includes a second lifting device 24 and a second lifting rope 25 led out from the second lifting device 24, the end of the second lifting rope 25 away from the second lifting device 24 passes around the second running mechanism 211 and is connected to the second lifting mechanism 212; a fourth changing pulley is provided at a fixed position on the end of the second load-bearing rope 2, and the second lifting rope 25 cooperates with the fourth changing pulley.

[0069] The first lifting device 14 and the second lifting device 24 can be set on both sides of the canyon or in the valley; after the first lifting rope 15 is extended from the first lifting device 14, it first passes through the third direction-changing pulley set at a fixed position at the end of the first load-bearing rope 1, and then passes through the first running mechanism 111 and is connected to the first lifting mechanism 112; when the first lifting device 14 retracts and releases the rope, the first lifting rope 15 can drive the first lifting mechanism 112 to move closer to or away from the first running mechanism 111, thereby adjusting the distance between the first lifting mechanism 112 and the first running mechanism 111; when the first traction device 12 retracts and releases the rope, the distance between the first lifting mechanism 112 and the first running mechanism 111 can be kept unchanged by adjusting the rope retracting and releasing rate of the first lifting device 14. Similarly, after the second lifting rope 25 is extended from the second lifting device 24, it first passes through the fourth direction-changing pulley set at a fixed position at the end of the second load-bearing rope 2, and then passes through the second running mechanism 211 and is connected to the second lifting mechanism 212.

[0070] Preferably, the first lifting rope 15 between the first running mechanism 111 and the third changing pulley is suspended on the first load-bearing rope 1 ; the second lifting rope 25 between the second running mechanism 211 and the fourth changing pulley is suspended on the second load-bearing rope 2 .

[0071] The first lifting rope 15 can also be suspended on the first load-bearing rope 1 through a first rope buckle, and the second lifting rope 25 can also be suspended on the second load-bearing rope 2 through a second rope buckle; the first lifting device 14 and the second lifting device 24 can both be winches.

[0072] When towing and moving the first lifting trolley group 11, the first lifting device 14 maintains a certain rope retracting and releasing rate so that the distance between the first lifting mechanism 112 and the first running mechanism 111 remains unchanged. When towing and moving the second lifting trolley group 21, the second lifting device 24 maintains a certain rope retracting and releasing rate so that the distance between the second lifting mechanism 212 and the second running mechanism 211 remains unchanged.

[0073] For example: when the first traction rope 13 and the first lifting rope 15 are both tightened, the rope release rate of the first lifting device 14 is equal to or approximately equal to the rope release rate of the first traction device 12, so that the distance between the first lifting mechanism 112 and the first running mechanism 111 remains unchanged; when the second traction rope 23 and the second lifting rope 25 are both tightened, the rope release rate of the second lifting device 24 is equal to or approximately equal to the second traction device 22, so that the distance between the second lifting mechanism 212 and the second running mechanism 211 remains unchanged.

[0074] Example 4 This embodiment provides a special-shaped double-cable structure hoisting method, based on the special-shaped double-cable structure hoisting system described in Embodiment 2 or 3, the first hoisting mechanism 112 and the second hoisting mechanism 212 are connected to the same hoisting part 3; The steps include: S1. Adjust the distance between the two load-bearing ropes to the required lifting position and connect the lifting part 3; level the lifting part 3, and obtain the initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212 in the leveling state, and the initial horizontal distance difference ΔL1 between the first running mechanism 111 and the second running mechanism 211; S2. Move the first lifting trolley group 11 and the second lifting trolley group 21 to obtain the real-time elevation difference ΔH2 between the first lifting mechanism 112 and the second lifting mechanism 212, and the real-time horizontal spacing difference ΔL2 between the first running mechanism 111 and the second running mechanism 211; If the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, the distance between the first running mechanism 111 and the first lifting mechanism 112 is changed, and / or the distance between the second running mechanism 211 and the second lifting mechanism 212 is changed, so that the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; If the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold, the running speed of the first running mechanism 111 and / or the second running mechanism 211 is changed so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0075] It can be understood that, due to the different rope-shaped parameters of the first load-bearing rope 1 and the second load-bearing rope 2, in most cases, the first running mechanism 111 and the second running mechanism 211 at the required lifting position are not located at the same height, and the part to be lifted 3 can be leveled by adjusting the distance between the running mechanism and the lifting mechanism. During the traction movement, due to the different rope-shaped parameters, the running mechanisms on the two load-bearing ropes have different elevation changes and horizontal displacements when traveling the same distance. In order to reduce the amplitude of the vertical tilt and horizontal rotation of the part to be lifted 3 caused by different elevation changes and horizontal displacements, this lifting method is provided; in this lifting method, under normal lifting conditions, the distance between the running mechanism and the lifting mechanism in the same lifting trolley is kept constant. When there is a large elevation difference between the lifting mechanisms belonging to different lifting trolley groups, the elevation difference is reduced by changing the distance between the running mechanism and the lifting mechanism.

[0076] The special-shaped double-cable structure hoisting method described in this embodiment is based on the special-shaped double-cable structure hoisting system as described above. The spacing between the running mechanism and the hoisting mechanism can be changed, so that when there is an elevation difference, the spacing between the running mechanism and the hoisting mechanism can be changed to level the part to be hoisted 3 in the vertical direction. The leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal spacing difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, the vertical inclination amplitude of the part to be hoisted 3 is reduced by changing the spacing between the running mechanism and the hoisting mechanism in one or two lifting trolley groups; when the difference between the real-time horizontal spacing difference ΔL2 and the initial horizontal spacing difference ΔL1 exceeds the preset relative horizontal spacing threshold, the horizontal rotation amplitude of the part to be hoisted 3 is reduced by changing the running speed of one or two lifting trolley groups, thereby achieving smooth transportation of the part to be hoisted 3.

[0077] The method for lifting the special-shaped double-cable structure described in this embodiment provides a control idea for the coordinated lifting of the first lifting trolley group 11 and the second lifting trolley group 21 on the special-shaped double-cable structure as described above, which is conducive to promoting the special-shaped double-cable structure to replace the existing equal-height and symmetrical double-cable structure, thereby solving the problems of difficult construction and large usage limitations of the double-cable cable crane system.

[0078] like Figure 6 As shown, Figure 6The right part is the initial state after leveling, and the left part is the real-time state during the running process; the initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212 refers to the difference in vertical height between the first lifting mechanism 112 and the second lifting mechanism 212 located at the same position in their respective lifting trolley groups, and the difference is mainly caused by two factors, one is: the elevation difference between the first running mechanism 111 and the second running mechanism 211; the other is: the difference between the spacing h1 between the first running mechanism 111 and the first lifting mechanism 112 and the spacing h2 between the second running mechanism 211 and the second lifting mechanism 212.

[0079] In the initial position, the transverse inclination angle of the part to be hoisted 3 can be changed by adjusting h1 and h2, so as to level the part to be hoisted 3 in the vertical direction; in step S1, the first lifting device 14 and the second lifting device 24 can first extend the first lifting rope 15 and the second lifting rope 25 to make the first lifting mechanism 112 and the second lifting mechanism 212 close to the ground, and after the worker connects the part to be hoisted 3, he / she retracts the first lifting rope 15 and the second lifting rope 25 to lift the part to be hoisted to a certain height from the ground, and level the part to be hoisted 3 in the vertical direction by changing the rope retraction length of the first lifting device 14 and the second lifting device 24.

[0080] The initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212 after leveling is recorded. The real-time elevation difference ΔH2 between the first lifting mechanism 112 and the second lifting mechanism 212 refers to the difference in the vertical distance between the first lifting mechanism 112 and the second lifting mechanism 212 in the real-time position, such as Figure 6 Shown on the left.

[0081] like Figure 7 and Figure 8 As shown, Figure 7 and Figure 8 The middle right part is the initial state after leveling, and the left part is the real-time state during the running process; the initial horizontal spacing difference ΔL1 between the first running mechanism 111 and the second running mechanism 211 refers to the distance difference in the horizontal direction between the first running mechanism 111 and the second running mechanism 211 located at the same position in each lifting trolley group, and the difference is mainly determined by the positions of the first running mechanism 111 and the second running mechanism 211; in some implementation methods, such as Figure 8 As shown, in order to make the hanging points on the to-be-hanged component 3 distributed in a rectangular shape, the initial horizontal spacing difference ΔL1 between the first running mechanism 111 and the second running mechanism 211 can be adjusted to zero.

[0082] The real-time horizontal distance difference ΔL2 between the first running mechanism 111 and the second running mechanism 211 is the distance difference between the first running mechanism 111 and the second running mechanism 211 in the horizontal direction in the real-time position, such as Figure 7 and Figure 8Shown on the left.

[0083] The preset relative elevation threshold and the preset relative horizontal spacing threshold are two thresholds set in advance. Whether the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold can be monitored in real time by the coordinate monitoring device and the control command system to determine whether elevation adjustment is required. Whether the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold can be monitored in real time by the coordinate monitoring device and the control command system to determine whether horizontal spacing adjustment is required. In this embodiment, the preset relative elevation threshold and the preset relative horizontal spacing threshold are both 50 cm.

[0084] During the lifting process, when it is detected that the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, the distance between the first running mechanism 111 and the first lifting mechanism 112 is changed, and / or the distance between the second running mechanism 211 and the second lifting mechanism 212 is changed, so that the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; when it is detected that the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold, the running speed of the first running mechanism 111 and / or the second running mechanism 211 is changed, so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0085] Since the slope of each point of the load-bearing rope is relatively small and the distance between the two lifting trolleys in the same lifting trolley group is extremely short relative to the longitudinal length of the load-bearing rope, the elevation difference and horizontal distance difference between the two lifting trolleys in the same lifting trolley group can be ignored.

[0086] Example 5 This embodiment provides a special-shaped double-cable structure hoisting method. On the basis of Embodiment 4, in step S2: when the first lifting trolley group 11 is towed and moved, the first lifting device 14 maintains a certain rope retracting and releasing speed so that the distance between the first lifting mechanism 112 and the first running mechanism 111 remains unchanged; when the second lifting trolley group 21 is towed and moved, the second lifting device 24 maintains a certain rope retracting and releasing speed so that the distance between the second lifting mechanism 212 and the second running mechanism 211 remains unchanged; When the difference between ΔH1 and ΔH2 changes due to the different rope shapes of the two sets of load-bearing ropes to a value greater than the preset relative elevation threshold: When adjusting the distance between the first running mechanism 111 and the first lifting mechanism 112, the rope retracting and releasing rate of the first lifting device 14 is changed until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; When adjusting the distance between the second running mechanism 211 and the second lifting mechanism 212, the rope retracting and releasing rate of the second lifting device 24 is changed until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; While adjusting the distance between the first running mechanism 111 and the first lifting mechanism 112, and the distance between the second running mechanism 211 and the second lifting mechanism 212, the rope retraction and release rates of the first lifting device 14 and the second lifting device 24 are changed until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold.

[0087] Specifically, the control instruction system may issue instructions to temporarily slow down or accelerate the rope-releasing rate of one of the lifting devices. During this process, the rope-releasing rates of the first traction device 12 and the second traction device 22 remain unchanged, thereby changing the distance h1 between the first running mechanism 111 and the first lifting mechanism 112, or the distance h2 between the second running mechanism 211 and the second lifting mechanism 212, to achieve leveling.

[0088] When the difference between ΔL1 and ΔL2 changes to a value greater than the preset relative horizontal spacing threshold due to the different rope shapes of the two sets of load-bearing ropes: When adjusting the travel speed of the first travel mechanism 111, the rope retracting and releasing speeds of the first traction device 12 and the first hoisting device 14 are changed synchronously until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; When adjusting the travel speed of the second travel mechanism 211, the rope retracting and releasing speeds of the second traction device 22 and the second lifting device 24 are changed synchronously until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; While adjusting the traveling speeds of the first running mechanism 111 and the second running mechanism 211, the rope-retracting and -releasing speeds of the first traction device 12 and the first lifting device 14 are changed synchronously, and the rope-retracting and -releasing speeds of the second traction device 22 and the second lifting device 24 are changed synchronously until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0089] Specifically, the control instruction system may issue instructions to temporarily slow down or accelerate the rope-releasing rate of one of the traction devices to obtain a rope-retracting amount difference, through which the first running mechanism 111 and the second running mechanism 211 are brought closer in the horizontal direction.

[0090] The special-shaped double-cable lifting method described in this embodiment realizes the leveling of the hoisted component 3 in the vertical and horizontal directions by controlling the rope-retracting and releasing rates of the traction equipment and the lifting equipment. It has a simple structure and flexible operation.

[0091] Example 6 This embodiment provides a method for hoisting a special-shaped double-cable structure. On the basis of Embodiment 5, according to the weight of the hanging piece, the weight of the load-bearing rope and the unloaded rope shape parameters under a single hoisting condition, the loaded rope shape of the load-bearing rope when the lifting trolley group is in any position is obtained, and a first loaded rope shape model of the first load-bearing rope 1 and a second loaded rope shape model of the second load-bearing rope 2 are respectively established; In step S2: According to the initial position and travel distance of the first hoisting trolley group 11, combined with the first loaded cable model, the elevation change H21 and the horizontal displacement change L21 of the real-time position of the first running mechanism 111 relative to the initial position are obtained; According to the initial position and travel distance of the second hoisting trolley group 21, combined with the second loaded cable model, the elevation change H22 and the horizontal displacement change L22 of the real-time position of the second running mechanism 211 relative to the initial position are obtained; The real-time elevation difference between the first lifting mechanism 112 and the second lifting mechanism 212 is ΔH2=H22-H21+correction value+ΔH1; The real-time horizontal spacing difference between the first running mechanism 111 and the second running mechanism 211 is ΔL2=L22-L21+ΔL1; The correction value is the difference between the rope retraction amounts of the first hoisting device 14 and the second hoisting device 24 in the tensioned state.

[0092] Those skilled in the art will understand that the weight of the hanger, the weight of the load-bearing rope and the parameters of the unloaded rope shape can be used to calculate the loaded rope shape of the load-bearing rope when the lifting trolley assembly is located at any position of the load-bearing rope, thereby establishing a loaded rope shape model. The loaded rope shape model can be used to know the elevation change and horizontal displacement of the lifting trolley assembly after traveling a certain distance.

[0093] like Figure 6 As shown, through the initial position and traveling distance of the first lifting trolley group 11 and the first loaded rope-shaped model, the elevation change H21 of the real-time position of the first running mechanism 111 relative to the initial position is obtained; through the initial position and traveling distance of the second lifting trolley group 21 and the second loaded rope-shaped model, the elevation change H22 of the real-time position of the second running mechanism 211 relative to the initial position is obtained.

[0094] Figure 6 The middle dotted line is an auxiliary marking line, which is used to distinguish it from the load-bearing rope.

[0095] Further reasoning shows that the real-time elevation difference ΔH2 between the first lifting mechanism 112 and the second lifting mechanism 212 = H22 - H21 + correction value + ΔH1.

[0096] In the above formula, the correction value is the difference between the rope retracting and releasing amounts of the first lifting device 14 and the second lifting device 24 in the tensioned state. The rope retracting amount difference is the accumulated value after multiple adjustments, and its size is roughly equal to the difference between h1-h2 and h1'-h2'.

[0097] It can be further learned from the above formula that: ΔH2-ΔH1=H22-H21+correction value, that is, the difference between ΔH1 and ΔH2 can be obtained through the elevation change of the first running mechanism 111, the elevation change of the second running mechanism 211 and the difference in the rope retraction amount of the first lifting device 14 and the second lifting device 24 in the tensioned state accumulated by the control instruction system, which greatly simplifies the difficulty of data acquisition.

[0098] like Figure 7 or Figure 8 As shown, by obtaining the horizontal displacement change L21 of the real-time position of the first running mechanism 111 relative to the initial position, and the horizontal displacement change L22 of the real-time position of the second running mechanism 211 relative to the initial position, it can be inferred that the real-time horizontal spacing difference ΔL2 between the first running mechanism 111 and the second running mechanism 211 is ΔL2=L22-L21+ΔL1.

[0099] It can be further known from the above formula that: ΔL2-ΔL1=L22-L21, that is, the difference of ΔL2-ΔL1 can be obtained by the horizontal displacement change of the first running mechanism 111 and the horizontal displacement change of the second running mechanism 211, which greatly simplifies the difficulty of data acquisition.

[0100] The special-shaped double-cable structure lifting method described in this embodiment can infer the real-time elevation difference and the real-time horizontal spacing difference by measuring the rope-releasing and retracting rates of the first lifting device 14, the second lifting device 24, the first traction device 12 and the second traction device 22, assisted by computer processing, so as to serve as the basis for leveling, and has the advantages of being simple, easy to use and low cost.

[0101] In some embodiments, a control command system is included, which is composed of a winch PLC control cabinet, algorithm software, etc. The operation of the first lifting device 14, the second lifting device 24, the first traction device 12 and the second traction device 22 is controlled by the control command system, and the control command system can record the rope retraction amount of the first lifting device 14, the second lifting device 24, the first traction device 12 and the second traction device 22.

[0102] In some embodiments, coordinate monitoring devices are provided on the first running mechanism 111, the second running mechanism 211, the first lifting mechanism 112 and the second lifting mechanism 212. The coordinate monitoring devices are used to monitor the coordinates and positional relationships of each mechanism in real time, so as to provide adjustment instructions to the control instruction system.

[0103] The control instruction system can monitor the relative elevation difference and relative horizontal spacing difference between the first lifting mechanism 112 and the second lifting mechanism 212 through the coordinate monitoring device, so as to determine whether the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, and whether the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold.

[0104] The coordinate monitoring equipment can measure coordinates through Beidou or GPS and transmit the coordinate data to the PLC control cabinet. The PLC control cabinet realizes automatic adjustment through displacement monitoring equipment, winch centralized control system and algorithm software.

[0105] Example 7 This embodiment takes a mid-span steel truss arch bridge as an example, the span of its steel arch rib is 310m, the arch rib is composed of two trusses, the arch rib is inclined inward at 3.673°, the arch bridge rise is 77.5m, the rise-span ratio is 1 / 4, the arch truss is a variable height N-type truss, the arch top truss is 8m high, the arch foot truss is 13m high, the bridge deck system adopts an orthogonal special-shaped plate system, the lateral outer side is a box-type main longitudinal beam, and the lateral center distance of the main longitudinal beam is 14.4m. The arch beam of the bridge is constructed by cable hoisting, and the rated lifting capacity of the cable crane is 2 groups of 80t, that is, 160t can be hoisted under the lifting condition. Due to the complex and steep terrain conditions on both sides of the river, if the conventional two groups of cables are arranged symmetrically, with equal height and equal span, there is a large area occupied by the cable tower foundation and great construction difficulty. For the towerless solution, the height difference of the two groups of cable anchors is 10m, and the maximum exposed height of one group of anchoring structures is more than 30m, which makes the design and construction extremely difficult.

[0106] By using a tower-free, transversely movable asymmetric double-cable cable crane and a hoisting method, two groups of load-bearing ropes are arranged in a manner with different rope shape parameters and spatial positions according to the terrain. Compared with a symmetrical arrangement method with the same rope shape parameters and plane position, the problem of difficulty in designing and constructing structures such as cable towers and ground anchors 4 due to complex terrain changes can be avoided. That is, the load-bearing ropes of the two groups of cables are directly anchored to the mountains on both sides, and the anchoring structure is arranged according to the terrain, so that the two groups of cables have different plane positions and rope shape parameters such as span, height difference, and sag, and the single group of cables has two groups of asymmetric special-shaped cable cranes with the same height difference on both sides of the ground anchor 4. The problems of difficulty in constructing the cable tower foundation, high tension of the load-bearing ropes of the side span of the cable hoisting transverse movement, and difficulty in constructing the ground anchor 4 structure are solved. The relative spatial position relationship of multiple lifting trolley groups during their travel is controlled in real time through coordinate monitoring equipment, integrated algorithm software, etc., so as to avoid the problems of tilting and plane rotation of the suspended object caused by inconsistent travel speed and hook height during the lifting process due to inconsistent rope shapes of the two groups of cables.

[0107] The lifting method includes the following steps: Move the two sets of load-bearing ropes horizontally along the rope beam through the horizontal moving device, and adjust the horizontal distance between the two sets of load-bearing ropes to the required lifting position; Lower the lifting mechanism to the bottom lifting yard; the lifting object is connected to the two sets of lifting mechanisms, and the operator directs the operator to lift the lifting object off the ground and level it; after leveling, the control system records the coordinate parameters such as the elevation and mileage of the two sets of lifting mechanisms and the traveling mechanism at the lifting position, as well as the initial position relationship between them; Then two sets of cables are put into operation to start lifting the load. During the lifting process, the coordinate monitoring device and algorithm software are used to monitor, calculate and analyze the spatial position relationship between the running mechanisms and lifting mechanisms of the two sets of lifting trolleys, and compare them with the initial position relationship of the lifting position in real time. If the front and rear mileage difference of the running mechanism of the lifting trolley and the upper and lower elevation difference of the lifting mechanism between the two sets of cables change by 50cm or more compared with the initial position, the control instruction system will control the winch in real time to perform operations such as retracting and releasing the rope and adjusting the speed, so as to automatically adjust the spatial coordinate position relationship deviation of the lifting mechanism and the running mechanism to be less than 50cm; finally, until the load is lifted to the target position.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A special-shaped double-cable structure hoisting system, characterized in that: It comprises a first load-bearing rope (1) and a second load-bearing rope (2) with both ends fixed and the middle portion drooping, the first load-bearing rope (1) having a first rope shape parameter, and the second load-bearing rope (2) having a second rope shape parameter different from the first rope shape parameter; The vertical plane where the first load-bearing rope (1) is located is parallel to the vertical plane where the second load-bearing rope (2) is located; It also includes a first lifting trolley group (11) running on the first load-bearing rope (1), and a second lifting trolley group (21) running on the second load-bearing rope (2), and the first lifting trolley group (11) and the second lifting trolley group (21) can cooperate in lifting.

2. The special-shaped double-cable structure hoisting system according to claim 1 is characterized in that: The first rope shape parameter and the second rope shape parameter both include the span of the load-bearing rope, the height difference between the two ends of the load-bearing rope, and the sag of the load-bearing rope; And / or, the first load-bearing rope (1) and the second load-bearing rope (2) are capable of lateral translation.

3. The special-shaped double-cable structure hoisting system according to claim 1, characterized in that: The first lifting trolley group (11) comprises two connected first lifting trolleys, each of the first lifting trolleys comprises a first running mechanism (111) and a first lifting mechanism (112) which are arranged up and down and can move closer to and away from each other, and the first running mechanism (111) runs on the first load-bearing rope (1); The second lifting trolley group (21) comprises two second lifting trolleys connected to each other; each of the second lifting trolleys comprises a second running mechanism (211) and a second lifting mechanism (212) which are arranged up and down and can move closer to and away from each other, and the second running mechanism (211) runs on the second load-bearing rope (2).

4. The special-shaped double-cable structure hoisting system according to claim 3 is characterized in that: It also comprises a first traction device (12) and a first traction rope (13) led out from the first traction device (12), wherein one end of the first traction rope (13) away from the first traction device (12) is connected to the first running mechanism (111); a first direction-changing pulley is provided at a fixed position at the end of the first load-bearing rope (1), and the first traction rope (13) cooperates with the first direction-changing pulley; It also comprises a second traction device (22) and a second traction rope (23) led out from the second traction device (22), wherein one end of the second traction rope (23) away from the second traction device (22) is connected to the second running mechanism (211); a second direction-changing pulley is provided at a fixed position at the end of the second load-bearing rope (2), and the second traction rope (23) cooperates with the second direction-changing pulley.

5. The special-shaped double-cable structure hoisting system according to claim 4 is characterized in that: It also includes a first lifting device (14) and a first lifting rope (15) led out from the first lifting device (14), wherein one end of the first lifting rope (15) away from the first lifting device (14) passes around the first running mechanism (111) and is connected to the first lifting mechanism (112); a third direction-changing pulley is provided at a fixed position at the end of the first load-bearing rope (1), and the first lifting rope (15) cooperates with the third direction-changing pulley; It also includes a second lifting device (24) and a second lifting rope (25) led out from the second lifting device (24); the end of the second lifting rope (25) away from the second lifting device (24) passes around the second running mechanism (211) and is connected to the second lifting mechanism (212); a fourth changing pulley is provided at a fixed position on the end of the second load-bearing rope (2), and the second lifting rope (25) cooperates with the fourth changing pulley.

6. The special-shaped double-cable structure hoisting system according to claim 5, characterized in that: The first traction rope (13) between the first running mechanism (111) and the first direction-changing pulley is suspended on the first load-bearing rope (1); The second traction rope (23) between the second running mechanism (211) and the second direction-changing pulley is suspended on the second load-bearing rope (2); The first lifting rope (15) between the first running mechanism (111) and the third direction-changing pulley is suspended on the first load-bearing rope (1); The second lifting rope (25) between the second running mechanism (211) and the fourth direction-changing pulley is suspended on the second load-bearing rope (2).

7. The special-shaped double-cable structure hoisting system according to claim 6, characterized in that: The first lifting device (14), the second lifting device (24), the first traction device (12) and the second traction device (22) are all winches; It also includes a control command system, wherein the control command system is used to control the operation of the first lifting device (14), the second lifting device (24), the first traction device (12) and the second traction device (22); The first running mechanism (111), the second running mechanism (211), the first lifting mechanism (112) and the second lifting mechanism (212) are all provided with coordinate monitoring equipment, and the coordinate monitoring equipment is used to monitor the coordinates and positional relationship of each mechanism in real time, so as to provide adjustment instructions to the control instruction system.

8. A method for hoisting a special-shaped double-cable structure, characterized in that: Based on the special-shaped double-cable structure hoisting system according to any one of claims 3 to 7, the first hoisting mechanism (112) and the second hoisting mechanism (212) are connected to the same hoisted component (3); The steps include: S1. Leveling the part to be hoisted (3), and obtaining an initial elevation difference ΔH1 between the first hoisting mechanism (112) and the second hoisting mechanism (212) in the leveling state, and an initial horizontal spacing difference ΔL1 between the first running mechanism (111) and the second running mechanism (211); S2. Move the first lifting trolley group (11) and the second lifting trolley group (21) to obtain in real time a real-time elevation difference ΔH2 between the first lifting mechanism (112) and the second lifting mechanism (212), and a real-time horizontal spacing difference ΔL2 between the first running mechanism (111) and the second running mechanism (211); If the difference between ΔH1 and ΔH2 is greater than a preset relative elevation threshold, changing the distance between the first running mechanism (111) and the first lifting mechanism (112), and / or changing the distance between the second running mechanism (211) and the second lifting mechanism (212), so that the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold; If the difference between ΔL1 and ΔL2 is greater than a preset relative horizontal spacing threshold, the running speed of the first running mechanism (111) and / or the second running mechanism (211) is changed so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

9. The method for hoisting a special-shaped double-cable structure according to claim 8, characterized in that: Based on the special-shaped double-cable structure hoisting system as claimed in claim 6; In step S2: when the first lifting trolley group (11) is towed and moved, the first lifting device (14) maintains a certain rope retracting and releasing speed so that the distance between the first lifting mechanism (112) and the first running mechanism (111) remains unchanged; when the second lifting trolley group (21) is towed and moved, the second lifting device (24) maintains a certain rope retracting and releasing speed so that the distance between the second lifting mechanism (212) and the second running mechanism (211) remains unchanged; When the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold: When adjusting the distance between the first running mechanism (111) and the first lifting mechanism (112), changing the rope-retracting and -releasing rate of the first lifting device (14) until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative altitude threshold; When adjusting the distance between the second running mechanism (211) and the second lifting mechanism (212), changing the rope-releasing rate of the second lifting device (24) until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative altitude threshold; While adjusting the distance between the first running mechanism (111) and the first lifting mechanism (112), and the distance between the second running mechanism (211) and the second lifting mechanism (212), changing the rope retracting and releasing speeds of the first lifting device (14) and the second lifting device (24) until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative altitude threshold; When the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold: When adjusting the travel speed of the first travel mechanism (111), synchronously changing the rope-releasing speeds of the first traction device (12) and the first lifting device (14) until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; When adjusting the travel speed of the second travel mechanism (211), synchronously changing the rope-releasing speeds of the second traction device (22) and the second lifting device (24) until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; While adjusting the travel speeds of the first running mechanism (111) and the second running mechanism (211), the rope-releasing and retracting speeds of the first traction device (12) and the first lifting device (14) are synchronously changed, and the rope-releasing and retracting speeds of the second traction device (22) and the second lifting device (24) are synchronously changed until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

10. The method for hoisting a special-shaped double-cable structure according to claim 9, characterized in that: According to the weight of the hanging part, the weight of the load-bearing rope and the unloaded rope shape parameters under a single lifting condition, the loaded rope shape of the load-bearing rope when the lifting trolley assembly is in any position is obtained, and a first loaded rope shape model of the first load-bearing rope (1) and a second loaded rope shape model of the second load-bearing rope (2) are respectively established; In S2: According to the initial position and travel distance of the first lifting trolley group (11), in combination with the first loaded cable model, obtaining the elevation change H21 and the horizontal displacement change L21 of the real-time position of the first running mechanism (111) relative to the initial position; According to the initial position and travel distance of the second lifting trolley group (21), in combination with the second loaded cable model, obtaining the elevation change H22 and the horizontal displacement change L22 of the real-time position of the second running mechanism (211) relative to the initial position; The real-time elevation difference ΔH2 between the first lifting mechanism (112) and the second lifting mechanism (212) = H22 - H21 + correction value + ΔH1; A real-time horizontal spacing difference ΔL2=L22-L21+ΔL1 between the first running mechanism (111) and the second running mechanism (211); The correction value is the difference between the rope retraction and release amounts of the first lifting device (14) and the second lifting device (24) when the rope is in a taut state.

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