A special-shaped double-cable structure hoisting system and hoisting method

Abstract

The present invention relates to the technical field of double-cable cable cranes, and particularly to a special-shaped double-cable structure hoisting system and a hoisting method. The special-shaped double-cable structure hoisting system includes a first load-bearing rope and a second load-bearing rope that are fixed at both ends and sag in the middle. The first load-bearing rope has a first cable shape parameter; the second load-bearing rope has a second cable shape parameter different from the first cable 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 hoisting trolley group running on the first load-bearing rope and a second hoisting trolley group running on the second load-bearing rope, and the first hoisting trolley group and the second hoisting trolley group can cooperate in hoisting. For the special-shaped double-cable structure hoisting system of the present invention, the fixed positions at both ends of the load-bearing ropes do not need to be completely at the same height and symmetrical, and can be reasonably selected according to the terrain conditions, greatly reducing the construction difficulty of the load-bearing ropes.

Description

Technical Field

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

[0002] When building a bridge spanning a canyon, in order to realize the transfer 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 respectively sliding on the two cables. The two ends of the cables are respectively fixed to the cable towers or ground anchors on both banks of the canyon, and the middle part sags under the influence of gravity, forming 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, the two cables are usually symmetrically arranged in the same vertical plane, which makes the total of four fixed positions at both ends of the two cables need to be at the same height and in a rectangular distribution. To achieve the same height, the usual method is to set cable towers at different heights to level the heights of each fixed position point by the cable towers; however, under complex and steep terrain conditions, large-area excavation of the mountain body is required to construct the cable tower foundation for the cable tower, and the construction cost is high; and 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 between the cable tower and the slope surface, which is not conducive to the lifting weight and hoisting safety of the cable crane; in some working conditions, due to the complex change of the slope surface, the large height difference between the two groups of cable anchoring structures may make the construction height of one of the anchoring structures large, greatly increasing the construction difficulty and cost. Summary of the Invention

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

[0005] In a first aspect, the present invention provides a special-shaped double-cable structure hoisting system, including a first load-bearing rope and a second load-bearing rope that are fixed at both ends and sag in the middle. The first load-bearing rope has a first cable shape parameter, and the second load-bearing rope has a second cable shape parameter different from the first cable shape parameter;

[0006] 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;

[0007] It further includes a first hoisting trolley group running on the first load-bearing rope and a second hoisting trolley group running on the second load-bearing rope, and the first hoisting trolley group and the second hoisting trolley group can cooperate in hoisting.

[0008] In the special-shaped double-cable structure hoisting system of the present invention, the first load-bearing cable and the second load-bearing cable respectively have different cable shape parameters, so that when constructing the first load-bearing cable and the second load-bearing cable, the fixed positions at both ends thereof do not need to be completely at the same height and symmetric, and can be reasonably selected according to the terrain conditions, greatly reducing the construction difficulty of the load-bearing cable, and can preferably solve the problems of large design and construction difficulties of structures such as cable towers and ground anchors due to complex terrain changes, and can preferably adapt to complex terrains; the vertical plane where the first load-bearing cable is located is parallel to the vertical plane where the second load-bearing cable is located, and the distance between the two load-bearing cables is equal along the length direction of the load-bearing cable. When the first hoisting trolley group and the second hoisting trolley group travel in the same direction, the lateral distance between them will not change significantly, which can improve the lateral stability of the coordinated hoisting and reduce the probability of collision between the hoisting trolley groups.

[0009] Preferably, the cable shape parameters include the span of the load-bearing cable, the height difference at both ends of the load-bearing cable, and the sag of the load-bearing cable.

[0010] More preferably, the cable shape parameters only include the span of the load-bearing cable, the height difference at both ends of the load-bearing cable, and the sag of the load-bearing cable.

[0011] Preferably, the first load-bearing cable and the second load-bearing cable can be laterally translated.

[0012] Preferably, the first hoisting trolley group includes two connected first hoisting trolleys. Each first hoisting trolley includes a first traveling mechanism and a first lifting mechanism that are arranged up and down and can approach and move away from each other. The first traveling mechanism travels on the first load-bearing cable;

[0013] The second hoisting trolley group includes two connected second hoisting trolleys; each second hoisting trolley includes a second traveling mechanism and a second lifting mechanism that are arranged up and down and can approach and move away from each other. The second traveling mechanism travels on the second load-bearing cable.

[0014] Preferably, it further includes a first traction device and a first traction rope led out from the first traction device. One end of the first traction rope far from the first traction device is connected to the first traveling mechanism; a first deflecting pulley is provided at the fixed position of the end of the first load-bearing cable, and the first traction rope is matched with the first deflecting pulley.

[0015] Preferably, it further includes a second traction device and a second traction rope led out from the second traction device. One end of the second traction rope far from the second traction device is connected to the second traveling mechanism; a second deflecting pulley is provided at the fixed position of the end of the second load-bearing cable, and the second traction rope is matched with the second deflecting pulley.

[0016] Preferably, it further includes a first lifting device and a first lifting rope extending from the first lifting device. One end of the first lifting rope away from the first lifting device bypasses the first traveling mechanism and is connected to the first lifting mechanism; a third deflecting pulley is provided at the fixed position of the end of the first load-bearing rope, and the first lifting rope cooperates with the third deflecting pulley.

[0017] Preferably, it further includes a second lifting device and a second lifting rope extending from the second lifting device. One end of the second lifting rope away from the second lifting device bypasses the second traveling mechanism and is connected to the second lifting mechanism; a fourth deflecting pulley is provided at the fixed position of the end of the second load-bearing rope, and the second lifting rope cooperates with the fourth deflecting pulley.

[0018] Preferably, the first towing rope between the first traveling mechanism and the first deflecting pulley is suspended on the first load-bearing rope.

[0019] Preferably, the second towing rope between the second traveling mechanism and the second deflecting pulley is suspended on the second load-bearing rope.

[0020] Preferably, the first lifting rope between the first traveling mechanism and the third deflecting pulley is suspended on the first load-bearing rope.

[0021] Preferably, the second lifting rope between the second traveling mechanism and the fourth deflecting pulley is suspended on the second load-bearing rope.

[0022] Preferably, the first lifting device, the second lifting device, the first towing device, and the second towing device are all winches.

[0023] Preferably, it further includes a control instruction system for controlling the operation of the first lifting device, the second lifting device, the first towing device, and the second towing device.

[0024] Preferably, coordinate monitoring devices are provided on the first traveling mechanism, the second traveling mechanism, the first lifting mechanism, and the second lifting mechanism. The coordinate monitoring devices are used to monitor the coordinates and positional relationships of each mechanism in real time to provide adjustment instructions for the control instruction system to issue.

[0025] In a second aspect, the present invention provides a hoisting method for a special-shaped double-cable structure. Based on the hoisting system for a special-shaped double-cable structure as described above, the first lifting mechanism and the second lifting mechanism are connected to the same workpiece to be hoisted;

[0026] It includes the following steps:

[0027] S1. Level the piece to be lifted, and obtain the initial elevation difference ΔH1 between the first lifting mechanism and the second lifting mechanism in the leveled state, and the initial horizontal distance difference ΔL1 between the first traveling mechanism and the second traveling mechanism;

[0028] S2. Move the first hoisting trolley group and the second hoisting trolley group, and obtain in real time the real-time elevation difference ΔH2 between the first lifting mechanism and the second lifting mechanism, and the real-time horizontal distance difference ΔL2 between the first traveling mechanism and the second traveling mechanism;

[0029] If the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, change the distance between the first traveling mechanism and the first lifting mechanism, and / or change the distance between the second traveling 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;

[0030] If the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal distance threshold, change the traveling speed of the first traveling mechanism and / or the second traveling mechanism, so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal distance threshold.

[0031] For the special-shaped double-cable structure hoisting method described in the present invention, based on the special-shaped double-cable structure hoisting system as described above, the distance between the traveling mechanism and the lifting mechanism can be changed. When there is an elevation difference, the piece to be lifted can be leveled in the vertical direction by changing the distance between the traveling mechanism and the lifting mechanism, and the leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal distance difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, by changing the distance between the traveling mechanism and the lifting mechanism within one or two hoisting trolley groups, the vertical inclination amplitude of the piece to be lifted is reduced; when the difference between the real-time horizontal distance difference ΔL2 and the initial horizontal distance difference ΔL1 exceeds the preset relative horizontal distance threshold, by changing the traveling speed of one or two hoisting trolley groups, the horizontal rotation amplitude of the piece to be lifted is reduced, so as to realize the stable transportation of the piece to be lifted.

[0032] The special-shaped double-cable structure hoisting method described in the present invention provides a control idea for the coordinated hoisting of the first hoisting trolley group and the second hoisting trolley group on the special-shaped double-cable structure as described above, which is conducive to promoting the replacement of the existing equal-height and symmetrical double-cable structure with the special-shaped double-cable structure, thereby solving the problems of difficult construction and large use limitations of the double-cable cable crane system.

[0033] Preferably, based on the special-shaped double-cable structure hoisting system as described above;

[0034] In step S2: When the first hoisting trolley group is traction - moved, the first hoisting device maintains a certain rope - winding and unwinding rate so that the distance between the first hoisting mechanism and the first traveling mechanism remains unchanged. When the second hoisting trolley group is traction - moved, the second hoisting device maintains a certain rope - winding and unwinding rate so that the distance between the second hoisting mechanism and the second traveling mechanism remains unchanged;

[0035] When the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold:

[0036] When adjusting the distance between the first traveling mechanism and the first hoisting mechanism, change the rope - winding and unwinding rate of the first hoisting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold;

[0037] When adjusting the distance between the second traveling mechanism and the second hoisting mechanism, change the rope - winding and unwinding rate of the second hoisting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold;

[0038] When adjusting the distance between the first traveling mechanism and the first hoisting mechanism, and the distance between the second traveling mechanism and the second hoisting mechanism, change the rope - winding and unwinding rates of the first hoisting device and the second hoisting device until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold;

[0039] When the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal distance threshold:

[0040] When adjusting the traveling rate of the first traveling mechanism, synchronously change the rope - winding and unwinding rates of the first traction device and the first hoisting device until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal distance threshold;

[0041] When adjusting the traveling rate of the second traveling mechanism, synchronously change the rope - winding and unwinding rates of the second traction device and the second hoisting device until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal distance threshold;

[0042] When adjusting the traveling rates of the first traveling mechanism and the second traveling mechanism, synchronously change the rope - winding and unwinding rates of the first traction device and the first hoisting device, and synchronously change the rope - winding and unwinding rates of the second traction device and the second hoisting device until the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal distance threshold.

[0043] It can be understood that due to the different cable shapes of the two groups of load-bearing ropes, the climbing angles and traveling arc lengths of the two groups of hoisting trolley groups are different, resulting in a front-back distance difference during the traveling of the two groups of hoisting trolley groups, causing the workpiece to be hoisted to rotate horizontally; and because the cable shapes of the two groups of load-bearing ropes are different, as the hoisting trolley group travels, the height difference between the two groups of load-bearing ropes gradually changes, resulting in the vertical inclination of the workpiece to be hoisted.

[0044] In the preferred solution, by controlling the rope winding and unwinding speeds of the traction device and the lifting device, the leveling of the workpiece to be hoisted in the vertical and horizontal directions is realized, with a simple structure and flexible operation.

[0045] Preferably, according to the weight of the lifted piece, the weight of the load-bearing rope, and the no-load cable shape parameters under a single hoisting condition, the loaded cable shape of the load-bearing rope at any position of the hoisting trolley group is obtained, and the first loaded cable shape model of the first load-bearing rope and the second loaded cable shape model of the second load-bearing rope are respectively established;

[0046] In S2:

[0047] According to the initial position and traveling distance of the first hoisting trolley group, combined with the first loaded cable shape model, the elevation change amount H21 and the horizontal displacement change amount L21 of the real-time position of the first traveling mechanism relative to the initial position are obtained;

[0048] According to the initial position and traveling distance of the second hoisting trolley group, combined with the second loaded cable shape model, the elevation change amount H22 and the horizontal displacement change amount L22 of the real-time position of the second traveling mechanism relative to the initial position are obtained;

[0049] The real-time elevation difference ΔH2 between the first lifting mechanism and the second lifting mechanism = H22 - H21 + correction value + ΔH1;

[0050] The real-time horizontal distance difference ΔL2 between the first traveling mechanism and the second traveling mechanism = L22 - L21 + ΔL1;

[0051] The correction value is the difference in the rope winding and unwinding amounts of the first lifting device and the second lifting device in the rope tensioned state.

[0052] Compared with the prior art, the beneficial effects of the present invention:

[0053] 1. In the special-shaped double-cable structure hoisting system of the present invention, the first load-bearing cable and the second load-bearing cable respectively have different cable shape parameters, so that when constructing the first load-bearing cable and the second load-bearing cable, the fixed positions at both ends thereof no longer need to be completely at the same height and symmetrical, and can be reasonably selected according to the terrain conditions, greatly reducing the construction difficulty of the load-bearing cable, and being able to better solve the problems of large structural design and construction difficulties of cable towers, ground anchors, etc. caused by complex terrain changes, and being able to better adapt to complex terrains; the vertical plane where the first load-bearing cable is located is parallel to the vertical plane where the second load-bearing cable is located, and the distance between the two load-bearing cables is equal along the length direction of the load-bearing cable. When the first hoisting trolley group and the second hoisting trolley group travel in the same direction, the lateral distance between them will not change significantly, which can improve the lateral stability of the coordinated hoisting and reduce the probability of collision between the hoisting trolley groups.

[0054] 2. In the special-shaped double-cable structure hoisting method of the present invention, based on the above-mentioned special-shaped double-cable structure hoisting system, the distance between the traveling mechanism and the lifting mechanism can be changed, so that when there is an elevation difference, the elevation of the component to be hoisted can be leveled in the vertical direction by changing the distance between the traveling mechanism and the lifting mechanism, and the leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal distance difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, the distance between the traveling mechanism and the lifting mechanism within one or two hoisting trolley groups is changed to reduce the vertical inclination amplitude of the component to be hoisted; when the difference between the real-time horizontal distance difference ΔL2 and the initial horizontal distance difference ΔL1 exceeds the preset relative horizontal distance threshold, the traveling speed of one or two hoisting trolley groups is changed to reduce the horizontal rotation amplitude of the component to be hoisted, so as to realize the stable transportation of the component to be hoisted. The special-shaped double-cable structure hoisting method of the present invention provides a control idea for the coordinated hoisting of the first hoisting trolley group and the second hoisting trolley group on the above-mentioned special-shaped double-cable structure, which is beneficial to promoting the replacement of the existing equal-height and symmetrical double-cable structure with the special-shaped double-cable structure, so as to solve the problems of difficult construction and large use limitations of the double-cable cable crane system. Description of the Drawings

[0055] Figure 1 It is a schematic structural diagram of the special-shaped double-cable structure hoisting system of the present invention;

[0056] Figure 2 is Figure 1 the enlarged view of part A in

[0057] Figure 3 is Figure 1 the enlarged view of part B in

[0058] Figure 4 is Figure 1 the enlarged view of part C in

[0059] Figure 5 Top view of the special-shaped double-cable structure hoisting system of the present invention;

[0060] Figure 6 Schematic diagram of the special-shaped double-cable structure hoisting method of the present invention Figure 1 ;

[0061] Figure 7 Schematic diagram of the special-shaped double-cable structure hoisting method of the present invention Figure 2 ;

[0062] Figure 8 Schematic diagram of the special-shaped double-cable structure hoisting method of the present invention Figure 3 。

[0063] Markings in the figure:

[0064] 1 - First load-bearing rope;

[0065] 11 - First hoisting trolley group;

[0066] 111 - First traveling mechanism; 112 - First hoisting mechanism; 113 - Connecting cable;

[0067] 12 - First traction equipment;

[0068] 13 - First traction rope;

[0069] 14 - First hoisting equipment;

[0070] 15 - First hoisting rope;

[0071] 2 - Second load-bearing rope;

[0072] 21 - Second hoisting trolley group;

[0073] 211 - Second traveling mechanism; 212 - Second hoisting mechanism;

[0074] 22 - Second traction equipment;

[0075] 23 - Second traction rope;

[0076] 24 - Second hoisting equipment;

[0077] 25 - Second hoisting rope;

[0078] 3 - Component to be hoisted;

[0079] 4 - Ground anchor. Detailed implementation manners

[0080] The present invention will be further described in detail below in conjunction with specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. All technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0081] Unless otherwise specified, in the description of the specific embodiments of the present invention, the expression terms indicating the orientation or positional relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are all based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the invention product / device / equipment is usually used and placed. These terms of orientation or positional relationship are only for the convenience of describing the solution of the present invention or simplifying the description in the specific embodiments, so as to facilitate technicians to quickly understand the solution, rather than indicating or implying that a specific device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship. Therefore, it should not be construed as a limitation to the present invention.

[0082] In addition, when terms such as "horizontal", "vertical", "parallel" appear, it does not mean that the corresponding device / component / element is required to be absolutely horizontal or vertical or parallel, but it can be slightly inclined or have a deviation. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined. Or, it can be simply understood that the corresponding device / component / element is arranged in the directions of "horizontal", "vertical", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the solution of the present invention.

[0083] In addition, when expressions such as "first" and "second" appear in the terms, they are only 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.

[0084] In addition, in the description of the embodiments of the present invention, "a plurality" represents at least 2. It can be any situation such as 2, 3, 4, 5, 6, 7, 8, 9, etc., and even can be more than 9.

[0085] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / limited, when terms such as "set", "installed", "connected", "connected", "arranged" appear, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be connection means commonly used in the art such as welding, riveting, bolting, threaded connection, etc. This connection can be a mechanical connection, an electrical connection or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements.

[0086] Embodiment 1

[0087] As Figures 1 to 5 shown, this embodiment provides a special-shaped double-cable structure, including a first load-bearing cable 1 and a second load-bearing cable 2 that are fixed at both ends and sag in the middle. The first load-bearing cable 1 has a first cable shape parameter; the second load-bearing cable 2 has a second cable shape parameter different from the first cable shape parameter; the vertical plane where the first load-bearing cable 1 is located is parallel to the vertical plane where the second load-bearing cable 2 is located.

[0088] The first load-bearing cable 1 and the second load-bearing cable 2 are also called cable ropes, often spanning deep valleys. By fixing both ends of the first load-bearing cable 1 and the second load-bearing cable 2 to the cable towers or anchors 4 on both sides of the valley, their middle parts naturally sag to form a suspension cable for the cable crane to travel. The crane travels on the load-bearing cable to hoist building materials or equipment, etc.

[0089] The cable shape parameter is a set of parameters used to describe the geometric shape of the load-bearing cable, which includes the cable span, the height difference between the two ends of the cable, and the sag of the cable; where:

[0090] The cable span refers to the horizontal distance between the fixed positions at both ends of the cable.

[0091] The height difference between the two ends of the cable refers to the vertical height difference between the fixed positions at both ends of the cable.

[0092] The sag of the cable refers to the sag height in the middle of the cable, specifically the vertical distance between the midpoint of the line connecting the fixed positions at both ends of the cable and the midpoint of the cable.

[0093] The fixed positions at both ends of the load-bearing cable described in this embodiment refer to: the connection position between the cable and the top of the cable tower, or the connection position between the cable and the anchor 4; in the absence of external loads, the cable between the two fixed positions is a catenary.

[0094] It can be understood that the linear density of the load-bearing cable is usually uniform, and the shape of the load-bearing cable can be basically defined when the cable shape parameters are known; in addition, in the existing double-cable structure, the two load-bearing cables not only have the same cable shape parameters, but also are at the same height and symmetric, that is, the installation heights of the two load-bearing cables are the same and symmetric about the same vertical plane, so that when two groups of cranes installed on the two load-bearing cables hoist the same component in cooperation, they have almost the same climbing angle, travel arc length, travel height, and hook height, so as to maintain the stability of the component posture; however, the equal-height and symmetric arrangement makes the fixed positions at both ends of the load-bearing cable need to be rectangularly distributed and located at the same height, greatly increasing the site selection, construction difficulty, and cost of the fixed positions, etc.

[0095] The first load-bearing rope 1 of this embodiment has a first cable shape parameter, and the second load-bearing rope 2 has a second cable shape parameter. The first cable shape parameter is different from the second cable shape parameter, that is, the two are different in at least one of the load-bearing rope span, the height difference between the two ends of the load-bearing rope, and the sag of the load-bearing rope. Since the cable shape parameters of the first load-bearing rope 1 and the second load-bearing rope 2 are different, 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 at the same height and distributed in a rectangle, which improves the site selection freedom and is conducive to reducing the construction difficulty and cost.

[0096] The shapes of the first load-bearing rope 1 and the second load-bearing rope 2 in space are similar to catenaries. Constrained by the fixed positions at both ends, their middle parts naturally sag. Since the external force in the transverse direction is small, each segment of the same load-bearing rope falls into the same vertical plane, and this vertical plane 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 enables the lateral spacing between the cranes set on different load-bearing ropes to remain equal during coordinated lifting, reducing the probability of crane collisions and the mutual pulling and entanglement of the lifting ropes under the cranes, and improving the safety and stability of coordinated lifting.

[0097] In summary, an irregular double-cable structure provided by this embodiment, the first load-bearing rope 1 and the second load-bearing rope 2 have different cable 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 at the same height and symmetric, so that the forms and site selections of the fixed structures at both ends of the first load-bearing rope 1 and the second load-bearing rope 2 have more flexibility, and can better solve the problems of large structural design and construction difficulties of cable towers, ground anchors 4, etc. 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, making the spacing between the two load-bearing ropes equal along the length direction of the load-bearing rope, facilitating the coordinated lifting of the same component by the cranes set on different load-bearing ropes to improve the overall lifting capacity.

[0098] In this embodiment, the longitudinal direction 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.

[0099] In a specific design scheme, as Figure 5 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 banks of the canyon. The first load-bearing rope 1 and the second load-bearing rope 2 are arranged with cable shape parameters of different spans, sags and height differences between the two ends according to the terrain conditions; on the horizontal plane, the span of the second load-bearing rope 2 is smaller than that 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 equal; 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.

[0100] Since the fixed positions at both 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 that 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. Preferably, the ground anchor 4 is used as the fixed structure at both ends of the load-bearing ropes.

[0101] In some embodiments, the first load-bearing rope 1 and the second load-bearing rope 2 can be translated in a direction perpendicular to the vertical plane where they are located.

[0102] The distance between the first load-bearing rope 1 and the second load-bearing rope 2 can be increased and 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 where they are located to meet the usage requirements of different working conditions.

[0103] Preferably, transverse movement devices are provided at both ends of the first load-bearing rope 1 and the second load-bearing rope 2 to achieve the transverse movement of the fixed positions at the ends of the load-bearing ropes through the transverse movement devices; if the fixed structure at the end of the load-bearing rope is a cable tower, the transverse movement device can be arranged between the saddle on the tower top and the tower body, and the saddle can be transversely slid 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 at the end of the load-bearing rope is a ground anchor, the ground anchor 4 can adopt a pile-type prestressed rock anchor, a cylindrical rope-tying beam is arranged on the ground anchor 4 as the load-bearing rope anchoring device, and a circular transverse movement device is arranged on the rope-tying beam for winding the load-bearing rope, the transverse movement device surrounds the rope-tying beam, and both ends of the rope-tying beam are anchored to the mountain body through pile foundations and prestressed anchor cables.

[0104] Embodiment 2

[0105] As Figures 1 to 5 shown, this embodiment provides a special-shaped double-cable structure hoisting system, including a first load-bearing rope 1 and a second load-bearing rope 2 that are fixed at both ends and sag in the middle. The first load-bearing rope 1 has a first cable shape parameter, and the second load-bearing rope 2 has a second cable shape parameter different from the first cable 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 hoisting trolley group 11 running on the first load-bearing rope 1 and a second hoisting trolley group 21 running on the second load-bearing rope 2, and the first hoisting trolley group 11 and the second hoisting trolley group 21 can cooperate in hoisting.

[0106] The first hoisting trolley group 11 includes at least one first hoisting trolley, the second hoisting trolley group 21 includes at least one second hoisting trolley, the first hoisting trolley and the second hoisting trolley can respectively run on the first load-bearing rope 1 and the second load-bearing rope 2, and the first hoisting trolley and the second hoisting trolley can be cranes arranged on the load-bearing ropes, and hoisting is realized by connecting the goods through a lifting appliance.

[0107] In some usage scenarios, the first hoisting trolley group 11 and the second hoisting trolley group 21 can connect to the same cargo for collaborative hoisting. Through collaborative hoisting, the single-hoisting load can be increased. Moreover, since the first hoisting trolley group 11 and the second hoisting trolley group 21 are spaced apart in the lateral direction, collaborative hoisting can provide multiple spaced suspension points for the cargo in the lateral direction, which is beneficial to improving the lateral stability of the cargo during hoisting.

[0108] In summary, for the special-shaped double-cable structure hoisting system described in this embodiment, the first load-bearing cable 1 and the second load-bearing cable 2 have different cable shape parameters respectively. When constructing the first load-bearing cable 1 and the second load-bearing cable 2, the fixed positions at both ends thereof no longer need to be completely at the same height and symmetrical, and can be reasonably selected according to the terrain conditions, greatly reducing the construction difficulty of the load-bearing cables. It can preferably solve the problems of large structural design and construction difficulty of cable towers, ground anchors 4, etc. caused by complex terrain changes, and can preferably adapt to complex terrains. The vertical plane where the first load-bearing cable 1 is located is parallel to the vertical plane where the second load-bearing cable 2 is located, and the distance between the two load-bearing cables is equal along the length direction of the load-bearing cables. When the first hoisting trolley group 11 and the second hoisting trolley group 21 travel in the same direction, the lateral distance between them will not change significantly, which can improve the lateral stability of collaborative hoisting and reduce the probability of collision between hoisting trolley groups.

[0109] In a preferred embodiment, the first hoisting trolley group 11 includes at least two first hoisting trolleys arranged along the longitudinal direction, and adjacent two first hoisting trolleys are connected. The second hoisting trolley group 21 includes at least two second hoisting trolleys arranged along the longitudinal direction, and adjacent two second hoisting trolleys are connected. Multiple hoisting trolleys can form multiple suspension points longitudinally, which is beneficial to improving the longitudinal stability of the cargo.

[0110] Embodiment 3

[0111] A special-shaped double-cable structure hoisting system provided in this embodiment, on the basis of Embodiment 2, the first hoisting trolley group 11 includes two connected first hoisting trolleys. Each first hoisting trolley includes a first traveling mechanism 111 and a first lifting mechanism 112 which are arranged up and down and can approach and move away from each other. The first traveling mechanism 111 travels on the first load-bearing cable 1. The second hoisting trolley group 21 includes two connected second hoisting trolleys. Each second hoisting trolley includes a second traveling mechanism 211 and a second lifting mechanism 212 which are arranged up and down and can approach and move away from each other. The second traveling mechanism 211 travels on the second load-bearing cable 2.

[0112] Such as Figure 2As shown, two first hoisting trolleys are spaced apart front and back and connected. When the front first hoisting trolley is dragged, the rear first hoisting trolley can move following the front one, and the distance between the two first hoisting trolleys is approximately equal during the running process; the same applies to the second hoisting trolley.

[0113] In terms of the connection method, the two first hoisting trolleys can be connected by a connecting cable 113. The connecting cable 113 is a rope or steel cable member with a certain flexibility, which can avoid hard contact caused by rigid connection, thus reducing the damage caused by the sudden deceleration of the front trolley and improving the service life of the components; preferably, the connecting cable 113 is hinged to the first hoisting trolley, enabling relative rotation between the connecting cable 113 and the first hoisting trolley to adapt to the change in the relative orientation between the connecting cable 113 and the first hoisting trolley caused by the bending of the first load-bearing rope 1; similarly, the two second hoisting trolleys can also be connected by the connecting cable 113.

[0114] As Figure 2 and Figure 3 shown, the first hoisting trolley includes a first traveling mechanism 111 and a first lifting mechanism 112, where: the first traveling mechanism 111 undertakes the traveling function and can be provided with rollers; the first lifting mechanism 112 is connected to the first traveling mechanism 111, and the workpiece to be lifted 3 can be connected to the first lifting mechanism 112 through a lifting tool. The first lifting mechanism 112 and the first traveling mechanism 111 are arranged vertically and the distance between them can be changed to facilitate adjusting the lateral inclination degree of the workpiece to be lifted 3 during coordinated lifting; the same applies to the second hoisting trolley.

[0115] Preferably, the connecting cable 113 is arranged between two adjacent first traveling mechanisms 111 or between two adjacent second traveling mechanisms 211.

[0116] In some embodiments, it further includes a first traction device 12 and a first traction rope 13 led out from the first traction device 12. One end of the first traction rope 13 far from the first traction device 12 is connected to the first traveling mechanism 111; a first deflecting pulley is provided at the fixed position of the end of the first load-bearing rope 1, and the first traction rope 13 cooperates with the first deflecting pulley; it also includes a second traction device 22 and a second traction rope 23 led out from the second traction device 22. One end of the second traction rope 23 far from the second traction device 22 is connected to the second traveling mechanism 211; a second deflecting pulley is provided at the fixed position of the end of the second load-bearing rope 2, and the second traction rope 23 cooperates with the second deflecting pulley.

[0117] One end of the first towing rope 13 is connected to the first hoisting trolley group 11, and the other end is connected to the first towing device 12. The first towing device 12 can drive the first hoisting trolley group 11 to move along the length direction of the first load-bearing rope 1 by taking in and paying out the first towing rope 13; a first deflecting pulley is arranged at the fixed position of the end of the first load-bearing rope 1, and the first towing rope 13 led out from the first towing device 12 is wound around the first deflecting pulley and then connected to the first traveling mechanism 111. When the first towing device 12 takes in and pays out the rope, the other end of the first towing rope 13 can approximately move along the length direction of the first load-bearing rope 1, so that the first hoisting trolley group 11 is subjected to a pulling force approximately in the length direction of the first load-bearing rope 1; moreover, the length of the rope taken in and paid out by the first towing device 12 in the tensioned state can be approximately proportionally converted into the distance traveled by the first hoisting trolley group 11 according to the rope laying method. The same applies to the second towing rope 23. The second towing rope 23 led out from the second towing device 22 is wound around the second deflecting pulley and then connected to the second traveling mechanism 211.

[0118] Adopting the traction drive method to drive the hoisting trolley group to move can reduce the self-weight of the hoisting trolley group to improve the carrying capacity, and it is also convenient for overhaul and maintenance of the towing device. To enable the hoisting trolley group to move back and forth in both directions, two sets of towing devices and towing ropes can be respectively set. 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.

[0119] Preferably, the first towing rope 13 between the first traveling mechanism 111 and the first deflecting pulley is suspended on the first load-bearing rope 1; the second towing rope 23 between the second traveling mechanism 211 and the second deflecting pulley is suspended on the second load-bearing rope 2.

[0120] The first towing rope 13 can be suspended on the first load-bearing rope 1 through the first rope buckle, and the second towing rope 23 can be suspended on the second load-bearing rope 2 through the second rope buckle; the rope buckle can be an annular part sleeved on the first load-bearing rope 1 or the second load-bearing rope 2. The first towing rope 13 or the second towing rope 23 can be threaded through the rope buckle to be suspended on the first load-bearing rope 1 or the second load-bearing rope 2. Under the action of external pulling, 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 traveling mechanism 111 and the second traveling mechanism 211. A number of first rope buckles can be arranged at intervals along the first load-bearing rope 1, and a number of second rope buckles can be arranged at intervals along the second load-bearing rope 2; both the first towing device 12 and the second towing device 22 can be winches.

[0121] In some embodiments, it further includes a first hoisting device 14 and a first hoisting rope 15 extending from the first hoisting device 14. One end of the first hoisting rope 15 far from the first hoisting device 14 bypasses the first traveling mechanism 111 and then is connected to the first hoisting mechanism 112; a third deflecting pulley is provided at the fixed position of the end of the first load-bearing rope 1, and the first hoisting rope 15 cooperates with the third deflecting pulley; it further includes a second hoisting device 24 and a second hoisting rope 25 extending from the second hoisting device 24. One end of the second hoisting rope 25 far from the second hoisting device 24 bypasses the second traveling mechanism 211 and then is connected to the second hoisting mechanism 212; a fourth deflecting pulley is provided at the fixed position of the end of the second load-bearing rope 2, and the second hoisting rope 25 cooperates with the fourth deflecting pulley.

[0122] The first hoisting device 14 and the second hoisting device 24 can be arranged on both sides of the canyon or in the valley; after the first hoisting rope 15 extends from the first hoisting device 14, it first bypasses the third deflecting pulley provided at the fixed position of the end of the first load-bearing rope 1, and then bypasses the first traveling mechanism 111 and is connected to the first hoisting mechanism 112; when the first hoisting device 14 winds and unwinds the rope, the first hoisting rope 15 can drive the first hoisting mechanism 112 to move closer to or away from the first traveling mechanism 111, so as to adjust the distance between the first hoisting mechanism 112 and the first traveling mechanism 111; when the first traction device 12 winds and unwinds the rope, by adjusting the rope winding and unwinding speed of the first hoisting device 14, the distance between the first hoisting mechanism 112 and the first traveling mechanism 111 can be kept unchanged. Similarly, after the second hoisting rope 25 extends from the second hoisting device 24, it first bypasses the fourth deflecting pulley provided at the fixed position of the end of the second load-bearing rope 2, and then bypasses the second traveling mechanism 211 and is connected to the second hoisting mechanism 212.

[0123] Preferably, the first hoisting rope 15 between the first traveling mechanism 111 and the third deflecting pulley is suspended on the first load-bearing rope 1; the second hoisting rope 25 between the second traveling mechanism 211 and the fourth deflecting pulley is suspended on the second load-bearing rope 2.

[0124] The first hoisting rope 15 can also be suspended on the first load-bearing rope 1 through a first rope buckle, and the second hoisting rope 25 can also be suspended on the second load-bearing rope 2 through a second rope buckle; both the first hoisting device 14 and the second hoisting device 24 can be winches.

[0125] When the first hoisting trolley group 11 is tractionally moved, the first hoisting device 14 maintains a certain rope winding and unwinding speed to keep the distance between the first hoisting mechanism 112 and the first traveling mechanism 111 unchanged. When the second hoisting trolley group 21 is tractionally moved, the second hoisting device 24 maintains a certain rope winding and unwinding speed to keep the distance between the second hoisting mechanism 212 and the second traveling mechanism 211 unchanged.

[0126] For example: after the first towing rope 13 and the first lifting rope 15 are both tightened, if the rope winding and unwinding speed of the first lifting device 14 is equal to or approximately equal to that of the first towing device 12, the distance between the first lifting mechanism 112 and the first traveling mechanism 111 can be kept unchanged; after the second towing rope 23 and the second lifting rope 25 are both tightened, if the rope winding and unwinding speed of the second lifting device 24 is equal to or approximately equal to that of the second towing device 22, the distance between the second lifting mechanism 212 and the second traveling mechanism 211 can be kept unchanged.

[0127] Embodiment 4

[0128] This embodiment provides a hoisting method for a special-shaped double-cable structure. Based on the special-shaped double-cable structure hoisting system described in Embodiment 2 or 3, the first lifting mechanism 112 and the second lifting mechanism 212 are connected to the same workpiece to be hoisted 3.

[0129] The method includes the following steps:

[0130] S1. Adjust the distance between the two load-bearing ropes to the hoisting required position and connect the workpiece to be hoisted 3; level the workpiece to be hoisted 3, and obtain the initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212, and the initial horizontal distance difference ΔL1 between the first traveling mechanism 111 and the second traveling mechanism 211 in the leveled state.

[0131] S2. Move the first hoisting trolley group 11 and the second hoisting trolley group 21, and obtain the real-time elevation difference ΔH2 between the first lifting mechanism 112 and the second lifting mechanism 212, and the real-time horizontal distance difference ΔL2 between the first traveling mechanism 111 and the second traveling mechanism 211 in real time.

[0132] If the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, change the distance between the first traveling mechanism 111 and the first lifting mechanism 112, and / or change the distance between the second traveling 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.

[0133] If the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal distance threshold, change the traveling speed of the first traveling mechanism 111 and / or the second traveling mechanism 211, so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal distance threshold.

[0134] It can be understood that due to the different cable shape parameters of the first load-bearing rope 1 and the second load-bearing rope 2, in most cases, the first traveling mechanism 111 and the second traveling mechanism 211 at the required hoisting position are not at the same height. The piece to be hoisted 3 can be leveled by adjusting the distance between the traveling mechanism and the hoisting mechanism. During the traction movement, due to the different cable shape parameters, when the traveling mechanisms on the two load-bearing ropes travel the same distance, they have different elevation changes and horizontal displacements respectively. To reduce the amplitude of the vertical inclination and horizontal rotation of the piece to be hoisted 3 caused by the different elevation changes and horizontal displacements, this hoisting method is provided. In this hoisting method, in the normal hoisting state, the distance between the traveling mechanism and the hoisting mechanism in the same hoisting trolley remains constant. When there is a large elevation difference between the hoisting mechanisms belonging to different hoisting trolley groups, the elevation difference is reduced by changing the distance between the traveling mechanism and the hoisting mechanism.

[0135] The special-shaped double-cable structure hoisting method described in this embodiment is based on the above-mentioned special-shaped double-cable structure hoisting system. The distance between the traveling mechanism and the hoisting mechanism can be changed, so that when there is an elevation difference, the distance between the traveling mechanism and the hoisting mechanism can be changed to level the piece to be hoisted 3 in the vertical direction, and the leveling method is simple and efficient. By monitoring the real-time elevation difference and the real-time horizontal distance difference, when the difference between the real-time elevation difference ΔH2 and the initial elevation difference ΔH1 exceeds the preset relative elevation threshold, the distance between the traveling mechanism and the hoisting mechanism in one or two hoisting trolley groups is changed to reduce the amplitude of the vertical inclination of the piece to be hoisted 3. When the difference between the real-time horizontal distance difference ΔL2 and the initial horizontal distance difference ΔL1 exceeds the preset relative horizontal distance threshold, the traveling speed of one or two hoisting trolley groups is changed to reduce the amplitude of the horizontal rotation of the piece to be hoisted 3, so as to realize the stable transportation of the piece to be hoisted 3.

[0136] The special-shaped double-cable structure hoisting method described in this embodiment provides a control idea for the coordinated hoisting of the first hoisting trolley group 11 and the second hoisting trolley group 21 on the above-mentioned special-shaped double-cable structure, which is conducive to promoting the replacement of the existing equal-height and symmetric double-cable structure with the special-shaped double-cable structure, so as to solve the problems of difficult construction and large use limitations of the double-cable cable crane system.

[0137] As Figure 6 shown, Figure 6The right part in it is the initial state after leveling, and the left part is the real-time state during the traveling process; the initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212 refers to the difference in the vertical height between the first lifting mechanism 112 and the second lifting mechanism 212 at the same azimuth in their respective hoisting trolley groups. This difference is mainly caused by two factors. One is the elevation difference between the first traveling mechanism 111 and the second traveling mechanism 211. The other is the difference between the distance h1 between the first traveling mechanism 111 and the first lifting mechanism 112 and the distance h2 between the second traveling mechanism 211 and the second lifting mechanism 212.

[0138] At the initial position, the transverse bridge inclination of the workpiece 3 to be lifted can be changed by adjusting h1 and h2, so as to level the workpiece 3 to be lifted 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. After the worker connects the workpiece 3 to be lifted, the first lifting rope 15 and the second lifting rope 25 are retracted to lift the workpiece 3 to a certain height above the ground, and the workpiece 3 to be lifted is leveled in the vertical direction by changing the rope retraction lengths of the first lifting device 14 and the second lifting device 24.

[0139] Record the initial elevation difference ΔH1 between the first lifting mechanism 112 and the second lifting mechanism 212 after leveling. 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, as Figure 6 shown in the left part.

[0140] As Figure 7 and Figure 8 shown, Figure 7 and Figure 8 The right part in the middle is the initial state after leveling, and the left part is the real-time state during the traveling process; the initial horizontal distance difference ΔL1 between the first traveling mechanism 111 and the second traveling mechanism 211 refers to the difference in the horizontal distance between the first traveling mechanism 111 and the second traveling mechanism 211 at the same azimuth in their respective hoisting trolley groups. This difference is mainly determined by the positions of the first traveling mechanism 111 and the second traveling mechanism 211. In some embodiments, as Figure 8 shown, in order to make the lifting points on the workpiece 3 to be lifted be rectangularly distributed, the initial horizontal distance difference ΔL1 between the first traveling mechanism 111 and the second traveling mechanism 211 can be adjusted to zero.

[0141] The real-time horizontal distance difference ΔL2 between the first traveling mechanism 111 and the second traveling mechanism 211 is the difference in the horizontal distance between the first traveling mechanism 111 and the second traveling mechanism 211 in the real-time position, as Figure 7 and Figure 8As shown on the left side.

[0142] The preset relative elevation threshold and the preset relative horizontal spacing threshold are two thresholds set in advance. It can be determined whether elevation adjustment is required by using the coordinate monitoring device and the control instruction system to monitor in real time whether the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, and it can be determined whether horizontal spacing adjustment is required by using the coordinate monitoring device and the control instruction system to monitor in real time whether the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold. In this embodiment, both the preset relative elevation threshold and the preset relative horizontal spacing threshold are 50 cm.

[0143] During the lifting process, when it is detected that the difference between ΔH1 and ΔH2 is greater than the preset relative elevation threshold, change the spacing between the first traveling mechanism 111 and the first lifting mechanism 112, and / or change the spacing between the second traveling 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; when it is detected that the difference between ΔL1 and ΔL2 is greater than the preset relative horizontal spacing threshold, change the traveling speed of the first traveling mechanism 111 and / or the second traveling mechanism 211, so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold.

[0144] Since the slopes of all points on the load-bearing ropes are relatively small, and the spacing between two hoisting trolleys in the same hoisting trolley group is extremely short compared to the longitudinal length of the load-bearing ropes, the elevation difference and the horizontal spacing difference between two hoisting trolleys in the same hoisting trolley group can be ignored.

[0145] Embodiment 5

[0146] For the special-shaped double-cable structure hoisting method provided in this embodiment, on the basis of Embodiment 4, in step S2: when the first hoisting trolley group 11 is traction-moved, the first hoisting device 14 maintains a certain rope-releasing and taking-in rate, so that the spacing between the first lifting mechanism 112 and the first traveling mechanism 111 remains unchanged; when the second hoisting trolley group 21 is traction-moved, the second hoisting device 24 maintains a certain rope-releasing and taking-in rate, so that the spacing between the second lifting mechanism 212 and the second traveling mechanism 211 remains unchanged;

[0147] When the difference between ΔH1 and ΔH2 changes to be greater than the preset relative elevation threshold due to the different cable shapes of the two groups of load-bearing ropes:

[0148] In the case of adjusting the spacing between the first traveling mechanism 111 and the first lifting mechanism 112, change the rope-releasing and taking-in rate of the first hoisting device 14 until the difference between ΔH1 and ΔH2 is less than or equal to the preset relative elevation threshold;

[0149] While adjusting the distance between the second traveling mechanism 211 and the second hoisting mechanism 212, change the rope winding and unwinding rate of the second hoisting device 24 until the difference between ΔH1 and ΔH2 is less than or equal to a preset relative elevation threshold;

[0150] While adjusting the distance between the first traveling mechanism 111 and the first hoisting mechanism 112, and the distance between the second traveling mechanism 211 and the second hoisting mechanism 212, change the rope winding and unwinding rates of the first hoisting device 14 and the second hoisting device 24 until the difference between ΔH1 and ΔH2 is less than or equal to a preset relative elevation threshold.

[0151] Specifically, the control instruction system can issue an instruction to briefly decelerate or accelerate the rope winding and unwinding rate of one of the hoisting devices. During this process, the rope winding and unwinding rates of the first traction device 12 and the second traction device 22 remain unchanged, thereby changing the distance h1 between the first traveling mechanism 111 and the first hoisting mechanism 112, or the distance h2 between the second traveling mechanism 211 and the second hoisting mechanism 212 to achieve leveling.

[0152] When the difference between ΔL1 and ΔL2 changes to be greater than a preset relative horizontal spacing threshold due to the different rope shapes of the two groups of load-bearing ropes:

[0153] While adjusting the traveling rate of the first traveling mechanism 111, synchronously change the rope winding and unwinding rates of the first traction device 12 and the first hoisting device 14 until the difference between ΔL1 and ΔL2 is less than or equal to a preset relative horizontal spacing threshold;

[0154] While adjusting the traveling rate of the second traveling mechanism 211, synchronously change the rope winding and unwinding rates of the second traction device 22 and the second hoisting device 24 until the difference between ΔL1 and ΔL2 is less than or equal to a preset relative horizontal spacing threshold;

[0155] While adjusting the traveling rates of the first traveling mechanism 111 and the second traveling mechanism 211, synchronously change the rope winding and unwinding rates of the first traction device 12 and the first hoisting device 14, and synchronously change the rope winding and unwinding rates of the second traction device 22 and the second hoisting device 24 until the difference between ΔL1 and ΔL2 is less than or equal to a preset relative horizontal spacing threshold.

[0156] Specifically, the control instruction system can issue an instruction to briefly decelerate or accelerate the rope winding and unwinding rate of one of the traction devices to obtain a difference in rope winding amount, and use this difference in rope winding amount to make the first traveling mechanism 111 and the second traveling mechanism 211 approach each other in the horizontal direction.

[0157] The lifting method of the special-shaped double-cable structure described in this embodiment realizes the leveling of the piece to be lifted 3 in the vertical and horizontal directions by controlling the rope winding and unwinding speeds of the traction device and the lifting device, with a simple structure and flexible operation.

[0158] Embodiment 6

[0159] A lifting method of a special-shaped double-cable structure provided in this embodiment, based on Embodiment 5, according to the weight of the lifted piece, the weight of the load-bearing rope, and the no-load cable shape parameters under a single lifting condition, obtains the loaded cable shape of the load-bearing rope when the lifting trolley group is at any position, and respectively establishes a first loaded cable shape model for the first load-bearing rope 1 and a second loaded cable shape model for the second load-bearing rope 2;

[0160] In step S2:

[0161] According to the initial position and traveling distance of the first lifting trolley group 11, combined with the first loaded cable shape model, obtain the elevation change amount H21 and the horizontal displacement change amount L21 of the real-time position of the first traveling mechanism 111 relative to the initial position;

[0162] According to the initial position and traveling distance of the second lifting trolley group 21, combined with the second loaded cable shape model, obtain the elevation change amount H22 and the horizontal displacement change amount L22 of the real-time position of the second traveling mechanism 211 relative to the initial position;

[0163] The real-time elevation difference ΔH2 between the first lifting mechanism 112 and the second lifting mechanism 212 = H22 - H21 + correction value + ΔH1;

[0164] The real-time horizontal distance difference ΔL2 between the first traveling mechanism 111 and the second traveling mechanism 211 = L22 - L21 + ΔL1;

[0165] The correction value is the difference in the rope winding amounts of the first lifting device 14 and the second lifting device 24 in the tightened state.

[0166] Those skilled in the art can understand that by using the weight of the lifted piece, the weight of the load-bearing rope, and the no-load cable shape parameters, the loaded cable shape of the load-bearing rope when the lifting trolley group is at any position on the load-bearing rope can be calculated, so as to establish a loaded cable shape model. Through the loaded cable shape model, the elevation change amount and the horizontal displacement amount of the lifting trolley group after traveling a certain distance can be known.

[0167] As Figure 6 shown, according to the initial position and traveling distance of the first lifting trolley group 11, combined with the first loaded cable shape model, obtain the elevation change amount H21 of the real-time position of the first traveling mechanism 111 relative to the initial position, and according to the initial position and traveling distance of the second lifting trolley group 21, combined with the second loaded cable shape model, obtain the elevation change amount H22 of the real-time position of the second traveling mechanism 211 relative to the initial position.

[0168] Figure 6 The dashed line in the middle is a marking auxiliary line, and the dashed line is used to distinguish it from the load-bearing rope.

[0169] Further reasoning shows that the real-time elevation difference ΔH2 between the first hoisting mechanism 112 and the second hoisting mechanism 212 is ΔH2 = H22 - H21 + correction value + ΔH1.

[0170] In the above formula, the correction value is the difference in the rope retracting and paying-out amounts of the first hoisting device 14 and the second hoisting device 24 in the tightened state. This rope retracting amount difference is the cumulative value after multiple adjustments, and its magnitude is approximately equal to the difference between h1 - h2 and h1' - h2'.

[0171] From the above formula, it can be further known that: ΔH2 - ΔH1 = H22 - H21 + correction value, that is, the difference between ΔH1 and ΔH2 can be obtained through the elevation change amount of the first traveling mechanism 111, the elevation change amount of the second traveling mechanism 211, and the difference in the rope retracting amounts of the first hoisting device 14 and the second hoisting device 24 accumulated by the control instruction system, greatly simplifying the difficulty of obtaining data.

[0172] As Figure 7 or Figure 8 shown, by obtaining the horizontal displacement change amount L21 of the real-time position of the first traveling mechanism 111 relative to the initial position, and the horizontal displacement change amount L22 of the real-time position of the second traveling mechanism 211 relative to the initial position, it can be inferred that the real-time horizontal distance difference ΔL2 between the first traveling mechanism 111 and the second traveling mechanism 211 is ΔL2 = L22 - L21 + ΔL1.

[0173] From the above formula, it can be further known that: ΔL2 - ΔL1 = L22 - L21, that is, the difference between ΔL2 and ΔL1 can be obtained through the horizontal displacement change amount of the first traveling mechanism 111 and the horizontal displacement change amount of the second traveling mechanism 211, greatly simplifying the difficulty of obtaining data.

[0174] For the special-shaped double-cable structure hoisting method described in this embodiment, by measuring the rope retracting and paying-out rates of the first hoisting device 14, the second hoisting device 24, the first traction device 12, and the second traction device 22, and assisted by computer processing, the real-time elevation difference and the real-time horizontal distance difference can be inferred, thereby serving as the basis for leveling, and having the advantages of being simple and easy to use and low in cost.

[0175] In some embodiments, it includes a control instruction system. The control instruction system is composed of a winch PLC control cabinet, algorithm software, etc. The first hoisting device 14, the second hoisting device 24, the first traction device 12, and the second traction device 22 are controlled to operate through the control instruction system, and the control instruction system can record the rope retracting amounts of the first hoisting device 14, the second hoisting device 24, the first traction device 12, and the second traction device 22.

[0176] In some embodiments, coordinate monitoring devices are provided on the first traveling mechanism 111, the second traveling 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 for the control instruction system to issue.

[0177] 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 devices, so as to judge 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.

[0178] The coordinate monitoring devices 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 devices, winch centralized control systems, and algorithm software.

[0179] Embodiment 7

[0180] In this embodiment, a certain mid - supported steel truss arch bridge is taken as an example. Its steel arch rib span is 310m. The arch rib is composed of two trusses. The arch rib inclines inward by 3.673°. The arch bridge rise is 77.5m, and the rise - span ratio is 1 / 4. The arch truss is a variable - height N - type truss. The truss height at the arch crown is 8m, and the truss height at the arch foot is 13m. The bridge deck system adopts an orthotropic plate system. The transverse outer side is a box - type main longitudinal beam, and the transverse center distance of the main longitudinal beams is 14.4m. The arch beam of the bridge is constructed by cable - supported hoisting. The rated lifting capacity of the cable - supported crane is 2 groups of 80t, that is, it can lift 160t under the lifting condition. Due to the complex and steep terrain conditions on both banks, if the conventional two - group cable - supported symmetric, equal - height, and equal - span layout is adopted, there are problems such as a large floor area of the cable tower foundation and great construction difficulty. For the tower - less scheme, the height difference between the two - group cable anchors reaches 10m, and the maximum exposed height of a group of anchoring structures in design is more than 30m, and the design and construction difficulty is extremely high.

[0181] By means of a towerless horizontally movable asymmetric double-cable cable crane and a hoisting method, two groups of load-bearing ropes are arranged in a way that the cable shape parameters and spatial positions are different according to the terrain. Compared with the symmetric arrangement method with the same cable shape parameters and plane positions, it can avoid the problems of difficult structural design and construction of cable towers, ground anchors 4, etc. caused by complex terrain changes. That is, by directly anchoring the load-bearing ropes of the two groups of cables to the mountain bodies on both banks, and the anchoring structure is arranged according to the terrain, so that the two groups of cables are different in plane position, span, height difference, sag and other cable shape parameters, and there is also a height difference between the ground anchors 4 on both banks of a single group of cables. The asymmetric special-shaped cable crane solves the problems of difficult construction of the cable tower foundation, large tension of the horizontally movable side-span load-bearing rope, and difficult construction of the ground anchor 4 structure. And through coordinate monitoring equipment, integrated algorithm software, etc., the mutual spatial position relationship during the running process of multiple lifting trolley groups is adjusted and controlled in real time, avoiding the problems of load inclination and plane rotation caused by inconsistent running speeds and hook heights during the lifting process due to inconsistent cable shapes of the two groups of cables.

[0182] The hoisting method includes the following steps:

[0183] Move the two groups of load-bearing ropes horizontally along the rope-tying beam through the horizontal movement device, and adjust the horizontal distance between the two groups of load-bearing ropes in the transverse bridge direction to the position required for hoisting;

[0184] Lower the hoisting mechanism to the bottom hoisting site; connect the load to the two groups of hoisting mechanisms, and the operator commands the operator to lift the load off the ground and level it; after leveling, the control system records the elevation, mileage and other coordinate parameters of the two groups of hoisting mechanisms and traveling mechanisms at the hoisting position and the initial position relationship between them;

[0185] Then start hoisting the load by running the two groups of cables. During the hoisting process, the coordinate monitoring device and algorithm software are used to monitor, calculate and analyze the mutual spatial position relationship of the traveling mechanisms and hoisting mechanisms of the two groups of lifting trolleys, and compare it with the initial position relationship at the hoisting position in real time. If the front and rear mileage difference of the traveling mechanisms and the up and down elevation difference of the hoisting mechanisms between the two groups of cables change by 50 cm or more compared with the initial position, the control command system will control the winch to make operations such as rope winding and unwinding and speed adjustment in real time, so as to automatically adjust the deviation value of the mutual spatial coordinate position relationship between the hoisting mechanism and the traveling mechanism to be less than 50 cm; finally, until the load is hoisted to the target position.

[0186] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall 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), wherein the first lifting trolley group (11) and the second lifting trolley group (21) are capable of collaborative lifting; The first rope-shaped parameters and the second rope-shaped parameters 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.

2. The special-shaped double-cable structure hoisting system according to claim 1 is characterized in that: 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 part to be hoisted (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. 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 claim 6 or 7, the first hoisting mechanism (112) and the second hoisting mechanism (212) are connected to the same to-be-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, changing the running speed of the first running mechanism (111) and / or the second running mechanism (211) so that the difference between ΔL1 and ΔL2 is less than or equal to the preset relative horizontal spacing threshold; 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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