Multi-chain block hoisting equipment and method in limited space

Abstract

The invention discloses limited space multi-chain block hoisting equipment and method, belongs to the technical field of hoisting, and aims at solving the problem that a traditional hoisting tool cannot meet the hoisting requirement in a limited space. The method comprises the steps that S1, a cross beam is fixed, the upper ends of multiple groups of chain blocks are hung on the cross beam, and the lower ends of the multiple groups of chain blocks are connected to a hanging scaffold; s2, a thrust self-aligning roller bearing is installed in the center of the hanging scaffold, a hanging rod is arranged on the inner ring of the thrust self-aligning roller bearing in a penetrating mode, a nut is arranged on the upper portion of the hanging rod through threads, and the lower end of the hanging rod is connected with a balance beam; s3, connecting to-be-hoisted equipment to lifting lugs at the two ends of the balance beam, and synchronously lifting the multiple groups of chain blocks, so that the hanging scaffold, the balance beam and the to-be-hoisted equipment are lifted until the to-be-hoisted equipment reaches a preset height; and S4, horizontal torque is applied to the lifting rod or the to-be-lifted equipment, so that the balance beam and the to-be-lifted equipment rotate to a preset angle around the rotating axis of the thrust self-aligning roller bearing. According to the invention, the hoisting stability, the operation flexibility and the operation safety can be considered in a limited space.

Description

Technical Field

[0001] The present invention relates to the technical field related to hoisting technology, and more specifically, to a confined space multi-fall chain hoisting device and method. Background Art

[0002] In situations where cranes are unable to operate, equipment lifting typically relies on winches or fall chains. For equipment weighing dozens of tons, a single set of fall chains is insufficient, necessitating the coordinated lifting of multiple sets of fall chains. While fall chains offer advantages over winches in ease of operation and practicality, when equipment rotation is required during lifting, existing multi-fall chain systems lack dedicated rotation mechanisms, making this difficult to achieve.

[0003] Within the confined space, the distance between the equipment's top lifting lug and the upper concrete beam is small. Using a wire rope to connect the equipment's lifting lug would cause the rope's angle to reach 90°, dramatically increasing the stress on the equipment and the rope. This violates safety regulations and presents a significant safety risk. Furthermore, when the equipment needs to be rotated during its installation, the fall chain and wire rope can easily interfere with the top concrete beam, further amplifying the safety hazard.

[0004] Although winches can be used for lifting, they have complex device layouts and long preparation times, making them less suitable for scenarios where space is limited and quick operations are required. Although multi-chain hoisting is easy to operate, it lacks a rotatable structure and cannot meet the requirements for equipment orientation adjustment. The root of these problems is that the size limitations of the confined space restrict the layout and freedom of movement of the lifting device, and the structural characteristics of traditional lifting tools do not match the requirements for dynamic adjustment. Early attempts to achieve rotation were made by adding temporary guide devices or manual prying, but due to the narrow space and load weight, the adjustment accuracy was low and safety was difficult to guarantee, and an effective solution was never formed. Summary of the Invention

[0005] An object of the present invention is to provide a confined space multi-fall chain hoisting device and method, which can take into account hoisting stability, operational flexibility and operation safety in a confined space.

[0006] To achieve these objects and other advantages of the present invention, according to one aspect of the present invention, a method for hoisting multiple fall chains in a confined space is provided, comprising: S1: fixing a crossbeam, suspending the upper ends of multiple sets of fall chains on the crossbeam, and connecting the lower ends of the fall chains to a hoisting platform; S2: A thrust spherical roller bearing is installed at the center of the hanging platform. A hanging rod is passed through the inner ring of the thrust spherical roller bearing. A nut is provided on the upper part of the hanging rod through a thread. The lower end of the hanging rod is connected to a balance beam. S3: Connect the equipment to be hoisted to the lifting ears at both ends of the balance beam, and simultaneously lift multiple sets of fall chains to raise the hoisting platform, balance beam and equipment to be hoisted until the equipment to be hoisted reaches the predetermined height; S4: By applying a horizontal torque to the boom or the equipment to be hoisted, the balance beam and the equipment to be hoisted are rotated to a predetermined angle around the rotation axis of the thrust spherical roller bearing.

[0007] Furthermore, in S2, a tilt sensor is installed on the hanging platform to monitor the tilt angle θ of the hanging platform in real time; Install pressure sensors at the connection between the hoisting platform and each set of fall chains to monitor the load values ​​F1, F2...F of each fall chain in real time. n , n is the number of chain groups, n≥3; Install an encoder at the driving end of each set of fall chains to detect the lifting speed of the fall chains in real time; The data from the inclination sensor, pressure sensor, and encoder are connected to the controller, which performs the following closed-loop control: Real-time calculation of load distribution deviation rate η, η=(F max -F min ) / F mean ×100%, where F max =max(F1, F2...F n ), F min =min(F1, F2...F n ), F mean =(∑F i ) / n; When θ≤θ s When η>δ, adjust the target chain speed V according to the following formula: x : V x =V0×[1+K×(F x -F mean ) / F max ], where the target fall chain is the fall chain corresponding to the minimum load in the tilt direction; When θ>θ s When the load on the tilt direction is minimum, the chain is accelerated and the chain on the opposite side with maximum load is decelerated until θ≤θ s ; When θ>θ e When the emergency stop command is triggered, θ e is the emergency tilt threshold.

[0008] Furthermore, when θ>θ s When , the controller performs torque dynamic adjustment operation; The torque dynamic adjustment operation includes: obtaining the tilt angle θ measured in real time by the tilt sensor, calculating the tilt angle change per unit time Δθ / Δt, and selecting the fast correction mode or the steady-state adjustment mode based on Δθ / Δt; When Δθ / Δt>0.5° / s, the fast correction mode is executed: the target fall chain with the smallest load in the tilt direction is identified, the servo motor output torque of the target fall chain is increased to 110%-130% of the rated torque, and the servo motor output torque of the non-target fall chain is reduced to 70%-90% of the rated torque; When Δθ / Δt≤0.5° / s, the steady-state adjustment mode is executed: the target fall chain with the smallest load in the tilt direction is identified; the servo motor output torque of the target fall chain is increased in steps of 5%-15% per minute; the servo motor output torque of the non-target fall chain is decreased in steps of 3%-10% per minute, and the inclination angle data is monitored in real time until θ≤θ s .

[0009] Furthermore, when θ>θ e When the controller sends a zero-speed blocking command to all the servo drives of the chain-reversing devices, the electromagnetic brake of the chain-reversing devices is activated at the same time. If θ exceeds θ after shutdown e +1°, the chain-following drive motor with the largest load is controlled to output a lifting torque of 10%-20% of the rated torque, and the duration does not exceed 2 seconds.

[0010] Furthermore, in S4, two rotation drive units are symmetrically installed on the hanging platform in the circumferential direction, each rotation drive unit includes a servo motor, a harmonic reducer coaxially connected to the output shaft of the servo motor, and a friction drive wheel flange-connected to the output shaft of the harmonic reducer; When the equipment to be hoisted needs to be rotated, the controller starts the rotation drive unit on the target rotation direction side and controls the friction drive wheel to move to contact the side of the boom; The controller obtains the tilt angle θ of the hanging platform measured by the inclination sensor and calculates the actual rotation angle α through trigonometric functions. The controller is based on the target angle α t The difference between the actual angle α and e=α t -α, generates the servo motor control signal U(t), U(t)=K p ×e(t)+K i ×∫e(t)dt+K d ×de(t) / dt, where K p , K i , K d are preset parameters; The control signal U(t) drives the servo motor through the servo driver, which drives the friction drive wheel to generate tangential friction through the harmonic reducer to drive the boom to rotate.

[0011] Furthermore, when |e|>5°, set K p The value range is 0.5-0.8, K i The value range is 0-0.1, Kd The value range is 0.1-0.3; when 1°≤|e|≤5°, set K p The value range is 1.0-1.5, K i The value range is 0.1-0.2, K d The value range is 0.3-0.6; when |e|<1°, set K p The value range is 0.1-0.3, K i The value range is 0-0.05, K d The value range of |e| is 0.5-1.0; when |e|≤0.5°, the controller controls the friction drive wheel to radially retract and disengage from the boom.

[0012] Furthermore, before starting the rotation drive unit, the controller sets the target angle α t The positive or negative value of the difference e from the actual angle α determines the direction of rotation; when e is greater than 0, the first rotation drive unit is started, and when e is less than 0, the second rotation drive unit is started; when the friction drive wheel moves to contact the side of the boom, the contact pressure P is detected in real time by the pressure sensor installed on the friction drive wheel; the controller dynamically adjusts the radial displacement of the friction drive wheel to maintain the contact pressure P within a preset pressure range.

[0013] According to another aspect of the present invention, there is also provided a hoisting device comprising a crossbeam, a plurality of sets of fall chains, a hoisting plate, a suspender rod, a thrust spherical roller bearing and a balance beam; Among them, the upper ends of multiple sets of fall chains are suspended on the crossbeam, and the lower ends are connected to the lifting platform. The spherical roller bearing is arranged in the center of the lifting platform. The hanging rod is passed through the inner ring of the thrust spherical roller bearing. The upper part of the hanging rod is provided with a nut through a thread. The lower end of the hanging rod is connected to the balance beam. Lifting ears are provided at both ends of the balance beam for connecting the equipment to be lifted.

[0014] Furthermore, it also includes: An inclination sensor is provided on the hanging platform; An encoder is provided at the driving end of each set of fall chains; Two rotary drive units are symmetrically arranged in the circumference of the hanging platform, each rotary drive unit includes a servo motor, a harmonic reducer and a friction drive wheel, the input shaft of the harmonic reducer is connected to the output shaft of the servo motor, and the output shaft of the harmonic reducer is connected to the friction drive wheel; Pressure sensors are installed at the connection between the hoisting platform and each set of fall chains and on the friction drive wheel; A controller is connected to the inclination sensor, the pressure sensor, the encoder, and the servo motor of the rotation drive unit.

[0015] The present invention has at least the following beneficial effects: The present invention, through the adaptive characteristics of the thrust spherical roller bearing, can automatically compensate for the overturning moment caused by the difference in lifting speed of multiple sets of fall chains, alleviate the problem of uneven force on the equipment and the sling caused by the tilt of the hoisting platform, and reduce the safety risks caused by the tilt. It is particularly suitable for scenes where the distance between the top concrete beam and the lifting lugs of the equipment to be hoisted is small. The present invention uses the rotational coordination of the balance beam and the bearing to achieve the orientation adjustment of the equipment during the hoisting process, solving the problem that the equipment is difficult to turn and easy to interfere with the upper structure when there are traditional multiple fall chains without a rotating device. Compared with the winch, it eliminates the complicated layout process and is more convenient to operate. Compared with the single fall chain or wire rope hoisting, it takes into account the hoisting stability, operational flexibility and work safety in a confined space.

[0016] Other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of an embodiment of the present application; Figure 2 This is a structural diagram of a hanging tray according to an embodiment of the present application; Figure 3 This is a schematic structural diagram of the assembled state of a thrust spherical roller bearing, a suspension rod, and a nut according to an embodiment of the present application; Figure 4 This is a structural diagram of a balance beam according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The present invention is described in further detail below so that those skilled in the art can implement the invention with reference to the description.

[0019] It should be understood that terms such as "having," "comprising," and "including" used in the embodiments of this application do not exclude the presence or addition of one or more other elements or combinations thereof. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are intended only to explain the relative positional relationships and movement of components in a specific posture. If the specific posture changes, the directional indications will also change accordingly. When an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element. References to "first," "second," etc. in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features designated as "first" or "second" may explicitly or implicitly include at least one of such features.

[0020] It should be noted that the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0021] An embodiment of the present application provides a multi-fall chain hoisting method in a confined space, including: S1: fixing a crossbeam, hanging the upper ends of multiple sets of fall chains on the crossbeam, and connecting the lower ends to a hanging plate; S2: installing a thrust spherical roller bearing at the center of the hanging plate, and passing a hanging rod through the inner ring of the thrust spherical roller bearing, a nut is provided on the upper part of the hanging rod through a thread, and the lower end of the hanging rod is connected to a balance beam; S3: connecting the equipment to be hoisted to the lifting ears at both ends of the balance beam, and synchronously lifting multiple sets of fall chains to raise the hanging plate, the balance beam and the equipment to be hoisted until the equipment to be hoisted reaches a predetermined height; S4: rotating the equipment to be hoisted around the rotation axis of the thrust spherical roller bearing to a predetermined angle by applying horizontal torque to the hanging rod or the equipment to be hoisted.

[0022] For example, the confined space multi-fall chain hoisting method, where the confined space refers to a closed or semi-closed area with a height of less than 5m, a width of less than 3m, or a limited operating radius, such as an underground pipe gallery, a boiler furnace, or a chemical reactor maintenance passage; multiple fall chains refer to the simultaneous use of multiple sets of fall chains, which can be 3, 4, or 5 sets. The optional models are DHP-5 electric fall chains (rated lifting capacity 5t), HSZ-10 manual fall chains (rated lifting capacity 10t), or CD1 electric chain hoists (rated lifting capacity 8t), made of 40CrNiMoA high-strength alloy steel. The invention is characterized in that it includes: S1: a fixed crossbeam, which can be a rectangular beam made of Q235B steel (yield strength 235MPa) or Q355 steel (yield strength 355MPa) or No. 45 steel (hardness 220-250HB after quenching and tempering), with a cross-sectional size of 200mm×100mm×10mm (length×width×thickness) or 250mm×120mm×12mm or 300mm×150mm×15mm, fixed under the top concrete beam plate by M20 expansion bolts (effective length 150mm) or M24 chemical anchor bolts (buried depth 200mm) or M27 anchor bolts (thread length 80mm), and the expansion bolts are installed at 300mm from the end of both ends of the beam, with 2 at each end, symmetrically distributed; multiple sets of fall chains are connected. The upper end is hung on the beam, and the hook at the upper end of the fall chain is hung on the lifting ring welded at the bottom of the beam. The lifting ring is made of No. 20 round steel with a diameter of 20mm (bearing capacity 10t) or 22mm (bearing capacity 12t) or 25mm (bearing capacity 15t), and the spacing is 1m (for 3 sets of fall chains) or 1.2m (for 4 sets of fall chains) or 1.5m (for 5 sets of fall chains); the lower end is connected to the hanging plate, which is a Q235 round steel plate with a diameter of 1.5m (3 sets of fall chains) or 1.8m (4 sets of fall chains) or 2m (5 sets of fall chains), and a thickness of 10mm, 12mm or 15mm. The hook at the lower end of the fall chain is connected to the ear plate at the edge of the hanging plate. The ear plate is a Q345 steel plate with a thickness of 15mm, welded to the edge of the hanging plate, 50mm away from the outer edge of the hanging plate, the number is the same as the number of fall chain groups, and is evenly distributed along the circumference.S2: Install a thrust spherical roller bearing in the center of the hoisting platform. The bearing model can be 29416 (inner diameter 80mm, outer diameter 170mm) or 29418 (inner diameter 90mm, outer diameter 190mm) or 29420 (inner diameter 100mm, outer diameter 210mm). A suspension rod is passed through the inner ring of the thrust spherical roller bearing. A nut is provided on the upper part of the suspension rod through a thread. The lower end of the suspension rod is connected to a balance beam. The nut is used to bear the tension of the suspension rod (derived from the gravity of the equipment to be hoisted) and apply the force to the thrust spherical roller bearing. Two or more nuts can be provided to improve safety. The suspension rod is perpendicular to the surface of the balance beam. The balance beam is an I-beam (model I20a, cross-sectional height 200mm) or H-beam (model HW250×250, cross-sectional height 250mm) or rectangular steel (200mm×100m m×8mm), connect the center bottom of the balance beam to the bearing rotating ring flange using 10.9-grade bolts. The bolts should be M16 (for 29416 bearings), M18 (for 29418 bearings), or M20 (for 29420 bearings), with 6, 8, or 10 bolts evenly distributed around the flange circumference. When multiple fall chains experience different lifting speeds due to motor input voltage fluctuations (±5%), differential reducer gear wear, or uneven load distribution (within 10%), the hoisting platform will tilt toward the slower lifting speed (angle ≤3°). At this time, the spherical rollers of the thrust spherical roller bearing adjust their position along the inner ring raceway's tilt, automatically adapting to tilt angles of 0.5°-3° and generating a resisting torque in the opposite direction of the overturning moment, compensating for the overturning moment caused by the tilt (compensation efficiency 60%-80%). S3: Connect the equipment to be hoisted to the lifting lugs at both ends of the balance beam. The lifting lugs are made of Q355 steel plates with a thickness of 20mm, 25mm or 30mm, in a "U" shape with an opening width of 100mm. They are welded below the ends of the balance beam, 500mm away from the beam end, and perpendicular to the web of the balance beam. Use a 6×37 structure galvanized steel wire rope (diameter 16mm, breaking tensile force 196kN) or G80 grade lifting chain (diameter 14mm, breaking tensile force 220kN) or polypropylene sling (width 100mm, breaking tensile force 200kN) to pass through the equipment lifting lugs and connect them to the lifting lugs of the balance beam. Install the shackle (model G209, rated load 10t, 16t, or 20t); synchronously lift multiple sets of fall chains, controlling the fall chain motor speed through the PLC controller (model S7-1200) to keep the lifting speed deviation of each set of fall chains within 5% (for example, when the base speed is 10m / min, the allowable deviation is ±0.5m / min). Raise the hoisting platform, balance beam, and equipment to be hoisted to a predetermined height of 2m (small equipment), 3m (medium-sized equipment), or 4m (large equipment), until the bottom of the equipment to be hoisted is 100mm-200mm above the installation foundation (to facilitate level adjustment).S4: By applying horizontal torque to the balance beam or the equipment to be hoisted, the application method can be manual pushing (applicable to equipment ≤5t) or driven by a mechanical drive device (applicable to equipment >5t). The mechanical drive device can be a polyurethane friction wheel (diameter 200mm) driven by a 1.5kW servo motor (model 130ST-M15015) or a No. 45 steel gear (module 5) driven by a 0.75kW hydraulic motor (model BM1-200). The boom and the equipment to be hoisted are rotated about the rotation axis of the thrust spherical roller bearing (coinciding with the centerline of the bearing inner ring). The rotation angle can be 30° (fine adjustment), 90° (right-angle turn), or 180° (U-turn). The rotation angle is monitored in real time by an angular encoder (model E6B2-CWZ6C) installed on the outer ring of the bearing. The force is stopped when the predetermined angle is reached.

[0023] In existing technology, for hoisting multiple fall chains in confined spaces, the fall chains are typically connected directly to the equipment's top lugs via wire ropes, or multiple sets of fall chains are rigidly connected to the equipment via welded steel frames, with the steel frames and hoisting platform fully welded (no relative motion gap). When the multiple fall chains operate at different lifting speeds due to differences in motor parameters (such as a 10% speed deviation) or varying wire rope elongation, the steel frame will tilt toward the lower speed side along with the hoisting platform. Because the rigid connection cannot adaptively adjust, the tilt angle accumulates with increasing lifting height (for example, reaching 8°-10° at a 3m lift). This makes it impossible to compensate for the overturning moment, causing the equipment's center of gravity to shift and increasing the load on one side of the fall chains (potentially exceeding the rated load by 20%-30%), posing a risk of falling. If the equipment needs to be rotated, it must first be hoisted at least 300mm above surrounding obstacles. Three to four operators, standing on either side of the equipment, use crowbars inserted into the gap between the bottom of the equipment and the foundation to pry, or use a hand winch to pull it sideways. Due to the asymmetric force points, the equipment is prone to swing (swing amplitude can reach ±200mm), and the wire rope is prone to friction with the bottom edge of the top concrete beam (wear rate 0.5mm / time), posing a significant safety risk. This embodiment uses the spherical contact characteristics of the thrust spherical roller bearing to achieve adaptive tilt compensation (tilt angle can be controlled to ≤3°), reducing unilateral load deviation (controlled to within 10%). It also utilizes the bearing's rotational freedom to achieve smooth equipment steering (swing amplitude ≤50mm), solving the problems of uncontrolled tilt and difficult rotation in existing technologies. It reduces the number of operating steps by 2-3, significantly improving safety.

[0024] In another embodiment, in S2, an inclination sensor is installed on the hanging platform to monitor the inclination angle θ of the hanging platform in real time; a pressure sensor is installed at the connection between the hanging platform and each set of fall chains to monitor the load values ​​F1, F2, ..., F of each fall chain in real time. n, n is the number of fall chain groups, n≥3; an encoder is installed at the driving end of each fall chain group to detect the lifting speed of the fall chain in real time; the data of the inclination sensor, pressure sensor and encoder are connected to the controller, and the controller performs the following closed-loop control: real-time calculation of the load distribution deviation rate η, η=(F max -F min ) / F mean ×100%, where F max =max(F1, F2...F n ), F min =min(F1, F2...F n ), F mean =(∑F i ) / n; when θ≤θ s When η>δ, adjust the target chain speed V according to the following formula: x :V x =V0×[1+K×(F x -F mean ) / F max ], where the target fall chain is the fall chain corresponding to the minimum load in the tilt direction; when θ>θ s When the load on the tilt direction is minimum, the chain is accelerated and the chain on the opposite side with maximum load is decelerated until θ≤θ s ; When θ>θ e When the emergency stop command is triggered, θ e is the emergency tilt threshold.

[0025] For example, in step S2, an inclination sensor is installed on the bottom of the hanging plate. The inclination sensor is a device that can measure the angle between an object and the horizontal plane. The optional models are SCA100T (range ±15°, accuracy 0.01°) or BNO055 (range ±45°, accuracy 0.1°) or LIS3DH (range ±90°, accuracy 0.5°). The shell material is ABS engineering plastic and is fixed to the bottom of the hanging plate by M3 countersunk bolts. The bottom surface of the sensor is in contact with the bottom surface of the hanging plate, and the cable is laid along the side trough of the balance beam to the controller; the sensor monitors the tilt angle θ (in degrees) of the hanging plate in real time. A pressure sensor is installed at the lug connecting the hoisting platform and each set of fall chains. The pressure sensor is a device that can convert force signals into electrical signals. Optional models include PT124G-111 (range 0-50t, accuracy 0.5%FS), CZL601 (range 0-30t, accuracy 0.3%FS), or HBMU9B (range 0-100t, accuracy 0.1%FS). Made of 304 stainless steel, it is installed on both sides of the lug pin through a flange base (coaxiality tolerance ≤ 0.1mm), located between the lug and the fall chain hook, to monitor the load values ​​F1, F2, ..., F of each fall chain in real time. n(For example, if there are four fall chains, n=4.) An encoder is installed at the drive end of each fall chain. This encoder converts mechanical rotation into an electrical signal. Available models include E6B2-CWZ5G (resolution 1000P / R), HEDL5540 (resolution 2000P / R), or TRD-2E1000B (resolution 1000P / R). This encoder has an aluminum alloy housing and is connected to the fall chain drive motor output shaft via a coupling. It is fixed to the motor end cap and monitors the fall chain hoisting speed (in meters per minute, m / min) in real time. The data of the inclination sensor, pressure sensor and encoder are connected to the controller through a shielded cable. The controller can be Siemens S7-1200PLC (model 1214CDC / DC / DC) or Mitsubishi FX5U-32MT (transistor output) or Rockwell Micro850 (1763-L16BWA). It is installed in a waterproof control box on the edge of the hanging plate (the control box is made of 304 stainless steel and has a size of 300×200×150mm). The controller performs the following closed-loop control: real-time calculation of the load distribution offset rate η. The calculation process is as follows: first obtain all the chain load values ​​F1 to F n (e.g. F1=12t, F2=10t, F3=8t), determine the maximum value F max =12t, minimum value F min =8t, average value F mean =(12+10+8) / 3=10t, substitute into the formula: η=(F max -F min ) / F mean ×100%=(12-8) / 10×100%=40%; θ s is the safety inclination angle threshold, which can be 3°, 4° or 5°; when θ≤θ s (e.g. θ = 2° ≤ 3°) and η > δ (δ is the offset rate threshold, which can be 5%, 10%, or 15%, e.g. η = 40% > 10%), identify the tilt direction (e.g. tilting to the left) and determine the target fall chain with the smallest load in that direction (e.g. F3 = 8t on the left), and adjust the target fall chain speed V according to the formula x :V x =V0×[1+K×(F x -F mean ) / F max ]; V0 is the base lifting speed (optional: 5m / min, 8m / min, or 10m / min), K is the gain coefficient (optional: 0.1, 0.2, or 0.3), F x is the real-time load value of the target fall chain (such as F3=8t), then: V x =8×[1+0.2×(8-10) / 20]=8×(1-0.02)=7.84m / min; when θ>θ s(e.g. θ=6°>5°), the chain with the smallest load in the tilt direction is accelerated synchronously (e.g. F3 on the left is accelerated to 9m / min), and the chain with the largest load on the opposite side is decelerated (e.g. F1 on the right is decelerated to 7m / min), so that the lifting speed is dynamically increased or decreased to θ≤θ s θ e is the emergency tilt angle threshold, which can be 7°, 8° or 9°. e (such as θ=10°>9°), the emergency stop command is triggered.

[0026] In the prior art, when multiple fall chains are hoisted, the tilt state of the hoisting platform is only observed manually, there is no real-time monitoring device, and the load distribution is judged entirely by experience. For example, when hoisting a reactor in a chemical plant, the speed of the right fall chain motor was slightly low when the 4 sets of fall chains were lifted. After 10 minutes, the hoisting platform tilted 6° and it was still not noticed, causing the load on the right fall chain to exceed 30% of the rated value and the wire rope to break. The fall chain handle needs to be manually operated for adjustment, the response delay exceeds 10 seconds, and the tilt angle continues to increase. However, this embodiment collects data in real time through sensors, and the controller responds in milliseconds. When the load offset rate exceeds the threshold, the speed is automatically adjusted, and the torque is dynamically adjusted when the tilt exceeds the safety value. This solves the problems of manual monitoring lag and low adjustment accuracy, and significantly improves the hoisting stability.

[0027] In another embodiment, when θ>θ s , the controller performs a dynamic torque adjustment operation; the dynamic torque adjustment operation includes: obtaining the inclination angle θ of the lifting platform measured in real time by the inclination sensor, calculating the inclination angle change per unit time Δθ / Δt, and selecting the fast correction mode or the steady-state adjustment mode based on Δθ / Δt; when Δθ / Δt>0.5° / s, the fast correction mode is executed: the target fall chain corresponding to the inclination direction is identified, the servo motor output torque of the target fall chain is increased to 110%-130% of the rated torque, and the servo motor output torque of the non-target fall chain is reduced to 70%-90% of the rated torque; when Δθ / Δt≤0.5° / s, the steady-state adjustment mode is executed: the target fall chain corresponding to the inclination direction is identified; the servo motor output torque of the target fall chain is increased in steps of 5%-15% per minute; the servo motor output torque of the non-target fall chain is decreased in steps of 3%-10% per minute, and the inclination data is monitored in real time until θ≤θ s .

[0028] For example, when θ>θ s(e.g., when θ=6°>5°), the controller (e.g., S7-1200PLC) starts the torque dynamic adjustment program. The torque dynamic adjustment operation includes: the controller reads the balance beam inclination angle θ from the inclination sensor (e.g., SCA100T) every 100ms (e.g., θ1=5.2° at time t1, θ2=6.4° at time t2, Δt=0.5s), calculates the inclination change per unit time Δθ / Δt=(6.4-5.2) / 0.5=2.4° / s, and selects the adjustment mode based on this value. When Δθ / Δt>0.5° / s (e.g., 2.4° / s>0.5° / s), the fast correction mode is executed: judging by the inclination direction (the direction of increasing θ is the inclination direction; if it tilts to the right, the right side is the target side); reading the pressure sensor data at the hoisting platform ear plate, and identifying the target fall chain with the smallest load in the inclination direction (e.g., F in the two sets of fall chains on the right). min =8t fall chain); the output torque of the servo motor of the target fall chain (model 130ST-M15015, rated torque 15N·m) is increased to 130% of the rated torque (19.5N·m); the output torque of the servo motor of the non-target fall chain is reduced to 70% of the rated torque (10.5N·m). When Δθ / Δt≤0.5° / s (for example, θ increases from 5.1° to 5.3°, Δt=1s, Δθ / Δt=0.2° / s), the steady-state adjustment mode is executed: the target fall chain with the smallest load in the tilt direction is identified (for example, the fall chain with the smallest load on the front side if it tilts forward); the output torque of the servo motor of the target fall chain is increased in steps of 10% per minute (for example, 10N·m initially, 11N·m after 1 minute); the output torque of the servo motor of the non-target fall chain is reduced in steps of 7% per minute (for example, 10N·m initially - 9.3N·m after 1 minute); the inclination data is collected every 3 seconds until θ≤θ s (For example, θ decreases to 4°≤5°).

[0029] This embodiment adjusts in different modes according to the rate of change of the inclination angle. It accurately increases the minimum load chain torque during rapid correction and can suppress the inclination from worsening within 1 second. It changes the torque slowly and stepwise during steady-state adjustment to avoid impact, thus solving the problem of the rough adjustment method of the existing technology that is prone to secondary imbalance.

[0030] In another embodiment, when θ>θ e When the controller immediately sends a zero-speed blocking command to all servo drives of the fall chain, and activates the electromagnetic brake of the fall chain at the same time; if θ exceeds θ after shutdown e +1°, the chain drive motor on the opposite side of the tilt direction is controlled to output a lifting torque of 10%-20% of the rated torque, which lasts no longer than 2 seconds.

[0031] For example, when θ>θ e(For example, when θ=10°>8°), the controller (such as Mitsubishi FX5U) sends a zero-speed lock command (control word 0x047F) to all servo drives (model MR-J4-10A) of the chain-reversing system via Profibus. After receiving the command, the servo drive adjusts the current to reduce the output torque of the servo motor (model HF-KP13) to 60% (18N·m), 70% (21N·m), or 80% (24N·m) of the torque required to maintain the load stationary (for example, 30N·m is required for a 30t load). At the same time, the controller outputs a 24V signal to activate the electromagnetic brake (model YWZ4-100 / 23, braking torque 150N·m) of the chain-reversing system. The brake core is energized and the brake pads clamp the brake wheel. If the inclination sensor detects that θ exceeds θ within 1 second after shutdown, the inclination sensor will detect that θ exceeds θ e +1° (such as θ e =8°, θ=10°>9°), then: read the pressure sensor data at the lifting plate ear plate in real time, and identify the fall chain with the largest load (such as F max =15t corresponding fall chain); the drive motor controlling the maximum fall chain of the load outputs a lifting torque of 10%-20% of the rated torque (same as the lifting direction): when the rated torque is 13 N·m, the output is 1.3 N·m (10%) or 1.95 N·m (15%) or 2.6 N·m (20%) for a duration strictly not exceeding 2 seconds (such as 1.5 seconds or 2 seconds); then the static torque is restored.

[0032] In existing technology, emergency stops directly cut motor power and apply the brakes. For example, when a tower hoist at a refinery tilted beyond the specified limit, the brakes instantly locked. The inertia of the 30-ton load generated a significant impact, causing two sets of fall chains to break due to overload, leading to the equipment falling. However, this embodiment simultaneously activates the brake and load to maximize chain output and increase torque, precisely offsetting the downward inertia of high-risk chains and resolving the issue of large impacts and chain breakage during emergency stops.

[0033] In another embodiment, in S4, two rotation drive units are installed symmetrically around the hanging platform, each rotation drive unit includes a servo motor, a harmonic reducer coaxially connected to the output shaft of the servo motor, and a friction drive wheel flange-connected to the output shaft of the harmonic reducer; when the equipment to be hoisted needs to be rotated, the controller starts the rotation drive unit on the target rotation direction side and controls the friction drive wheel to move to contact the side of the boom; the controller obtains the inclination angle θ of the hanging platform measured by the inclination sensor and calculates the actual rotation angle α through the trigonometric function relationship; the controller calculates the actual rotation angle α according to the target angle α t The difference between the actual angle α and e=α t -α, generates the servo motor control signal U(t), U(t)=K p ×e(t)+K i ×∫e(t)dt+K d ×de(t) / dt, where Kp , K i , K d is a preset parameter; the control signal U(t) drives the servo motor through the servo driver, and the friction drive wheel generates tangential friction through the harmonic reducer to drive the boom to rotate.

[0034] For example, in step S4 (i.e., after the equipment is lifted to a predetermined height), two rotary drive units are installed symmetrically (180° apart) on the hanging platform (diameter 2m), each rotary drive unit includes a servo motor (model 130ST-M06025, rated power 0.6kW), a harmonic reducer (model CSF-17-50-2UH, reduction ratio 50:1) coaxially mounted with the servo motor output shaft through a key connection, and a friction drive wheel (material polyurethane, diameter 200mm, width 50mm, surface pattern depth 2mm) connected to the harmonic reducer output shaft flange through bolts; the drive wheel is installed on the hanging platform through a guide rail slider assembly and can move radially (stroke 100mm). When the hoisted equipment needs to be rotated (for example, from 0° to 90°), the controller (S7-1200) determines the target rotation direction (clockwise) and activates the right-hand rotation drive unit. An electric push rod (model DT300, thrust 5kN) pushes the friction drive wheel radially (toward the center) until it contacts the side of the boom (I25a I-beam), maintaining a contact pressure of 200N-300N. The controller obtains the tilt angle θ (for example, θ = 2°) measured by the inclination sensor. Because the rotation plane is at an angle to the horizontal, the actual rotation angle α is calculated using trigonometric functions: If the encoder measures three rotations of the drive wheel (circumference 0.628m, travel 1.884m), and the balance beam rotation radius is 0.8m, then the theoretical angle α0 = 1.884 / (2π × 0.8) × 360° ≈ 135°, and the actual angle α = α0 × cosθ ≈ 135° × cos2° ≈ 134.9°. The target angle α t =180°, the difference e=180°-134.9°=45.1°, generating the servo motor control signal U(t)=K p ×e(t)+K i ×∫e(t)dt+Kd×de(t) / dt, where K p =0.6, K i =0.05, K d =0.2; the control signal is converted into a voltage signal (0-10V) by the servo driver (model SV-DA200), driving the servo motor to rotate. After being decelerated by the harmonic reducer, the friction drive wheel rotates at a speed of 5r / min, generating friction force (f=μN, μ=0.8, N=250N, f=200N) with the side of the boom, driving the boom to rotate around the bearing.

[0035] In existing technologies, rotating equipment in confined spaces requires manual prying with a crowbar or lateral traction with a hand chain hoist. For example, when hoisting a fan in a subway tunnel, four workers stood on a narrow platform and used a 1.5m-long crowbar to rotate the equipment 5° every 5 minutes, resulting in only 60° rotation in an hour, with a rotation angle deviation exceeding 10°. This embodiment uses an electric rotary drive unit, utilizing friction transmission to achieve smooth rotation. PID control ensures an angle accuracy of ±0.5°, solving the problems of low manual rotation efficiency, poor precision, and high operational risks, making it particularly suitable for use in space-constrained scenarios.

[0036] In another embodiment, when |e|>5°, set K p The value range is 0.5-0.8, K i The value range is 0-0.1, K d The value range is 0.1-0.3; when 1°≤|e|≤5°, set K p The value range is 1.0-1.5, K i The value range is 0.1-0.2, K d The value range is 0.3-0.6; when |e|<1°, set K p The value range is 0.1-0.3, K i The value range is 0-0.05, K d The value range of |e| is 0.5-1.0; when |e|≤0.5°, the controller controls the friction drive wheel to radially retract and disengage from the boom.

[0037] For example, the absolute value of the angle difference e, |e|, reflects the deviation between the target angle and the actual angle. When |e|>5° (e.g., e=8° or e=-7°), the proportional coefficient K is set. p =0.5 or 0.6 or 0.8, integral coefficient K i =0 or 0.05 or 0.1, differential coefficient K d =0.1 or 0.2 or 0.3 (in this case, the main purpose is to quickly reduce the deviation and weaken the integral to avoid overshoot); when 1°≤|e|≤5° (such as e=3° or e=-2°), set K p=1.0 or 1.2 or 1.5, Ki=0.1 or 0.15 or 0.2, Kd=0.3 or 0.4 or 0.6 (enhance the proportional and integral effects and improve the adjustment accuracy); when |e|<1° (such as e=0.8° or e=-0.6°), set Kp=0.1 or 0.2 or 0.3, Ki=0 or 0.03 or 0.05, Kd=0.5 or 0.8 or 1.0 (reduce the proportional effect and enhance the differential to suppress oscillation); when |e|≤0.5° (such as e=0.4° or e=-0.3°), the controller sends a reverse signal to the electric push rod, driving the friction drive wheel to move radially outward (away from the boom) until it is completely disengaged (spacing ≥10mm), and stops the rotation drive. For example, a water pump needs to be rotated to 90° when it is hoisted. The initial |e|=15°>5°, K p =0.6, K i =0, K d =0.2, quickly drive to |e|=3°; switch K p =1.2, K i =0.15, K d =0.4, adjust to |e|=0.4°; finally K p =0.2, K i =0, K d =0.8, the driving wheels move back after stabilization.

[0038] In the existing technology, the rotation control has no segmented parameter adjustment, and the same PID parameters are used throughout the process. For example, when a food factory sterilizer rotates, the initial deviation is 10° and a small K p This results in slow adjustment, and when approaching the target, the K p Failure to reduce the error will cause an overshoot of ±3°, requiring repeated adjustments. This embodiment dynamically switches PID parameters according to the size of the deviation, quickly catching up with large deviations, accurately adjusting with medium deviations, and stably converging with small deviations, solving the problem of the existing technology that it is difficult to balance adjustment speed and accuracy.

[0039] In another embodiment, before starting the rotation drive unit, the controller determines the rotation angle α. t The positive or negative value of the difference e from the actual angle α determines the direction of rotation; when e is greater than 0, the first rotation drive unit is started, and when e is less than 0, the second rotation drive unit is started; when the friction drive wheel moves radially to contact the side of the boom, the contact pressure P is detected in real time by a pressure sensor installed axially on the friction drive wheel; the controller dynamically adjusts the radial displacement of the friction drive wheel to maintain the contact pressure P within a preset pressure range.

[0040] For example, before activating the rotational drive unit, the controller reads the target angle (e.g., 270°) and the actual angle α (e.g., 180°), calculates the difference (e = 270° - 180° = 90° > 0), determines the rotation direction to be clockwise, and activates the first rotational drive unit (the right unit). If e = 180° - 270° = -90° < 0, indicating the direction is counterclockwise, the second rotational drive unit (the left unit) is activated. As the friction drive wheel moves radially via the electric push rod to contact the side of the boom, a pressure sensor (model CYT-103, range 0-500N) mounted axially (at the end of the axle) measures the contact pressure P (in Newtons) in real time. The preset pressure range can be 150-250N, 200-300N, or 250-350N. The controller compares the measured P with the range: if P = 120N < 150N, the electric push rod is controlled to extend an additional 2mm to increase the displacement and increase the pressure to 180N. If P = 380N > 350N, the electric push rod is retracted 1mm, and the pressure is reduced to 320N. Dynamic adjustment is used to maintain P within the preset range. For example, when lifting a reactor, the balance beam is H200 steel. After the friction wheel contacts, P = 160N. The controller drives the push rod to fine-tune it three times to stabilize P within the range of 200-250N.

[0041] In the prior art, the contact pressure of the friction drive wheel is fixed, with pressure fluctuating between high (400N) and low (100N). When the pressure is high, the drive wheel slips and smokes, while when it is low, the drive wheel cannot rotate, requiring shutdown and readjustment. This embodiment uses a pressure sensor to monitor the radial displacement in real time, ensuring stable contact pressure. This solves the problem of slippage or insufficient driving force caused by pressure fluctuations, and ensures continuous and uninterrupted rotation.

[0042] like Figure 1-4 As shown, an embodiment of the present application also provides a lifting device, including a crossbeam 1, multiple sets of fall chains 3, a hanging plate 5, a hanging rod 14, a thrust spherical roller bearing 12 and a balance beam 6; wherein, the upper ends of the multiple sets of fall chains 3 are suspended on the crossbeam 1, and the lower ends are connected to the hanging plate 5, the thrust spherical roller bearing 12 is arranged at the center of the hanging plate, the hanging rod 14 is passed through the inner ring of the thrust spherical roller bearing 12, a nut 10 is provided on the upper part of the hanging rod 14 through a thread, and the lower end of the hanging rod 14 is connected to the balance beam 6, and lifting ears are provided at both ends of the balance beam 6 for connecting the equipment 8 to be lifted.

[0043] Taking the hoisting of the coal-fired power inert gas generator as an example, it is necessary to realize the hoisting of the inert gas generator in a confined space surrounded by a concrete beam 13. The coal-fired power inert gas generator weighs 29 tons and its volume is close to that of the confined space. First, the assembly of the basic components is completed. The beam 1 is placed horizontally at a preset position above the concrete floor slab as the bearing foundation of the hoisting system. Use a shackle 2 to connect and fix one end of the sling 4 to the lifting point at the bottom of the beam 1, and the other end of the sling 4 is connected to the upper end hook of the fall chain 3 through the shackle 2 to ensure that each connection point is installed in place. The lower end of the fall chain 3 is also connected to the ear plate on the edge of the lifting plate 5 through the shackle 2. The lifting plate 5 is a circular or square steel plate structure, and the edge is evenly distributed with ear plates that match the number of the fall chain 3 to ensure balanced force.

[0044] Next, the core rotation and alignment mechanism is installed. A thrust spherical roller bearing 12 is installed in the mounting hole at the center of the suspension plate 5. A suspension rod 14 is inserted through the inner ring of the thrust spherical roller bearing 12. The lower end of the suspension rod 14 is connected to the balance beam 6, and a washer 11 and nut 10 are installed at the upper end to prevent the suspension rod 14 from dislodging. This structure allows the suspension plate 5 to tilt to a certain angle (≤3°) when there are differences in the lifting speeds of the multiple sets of fall chains 3, while also allowing the balance beam 6 to rotate flexibly around the central axis of the suspension plate 5 (rotation angle range: 0°-360°).

[0045] The operation process of the equipment hoisting stage is as follows: connect the lifting ears of the equipment to be hoisted 8 to the lifting ears at both ends of the balance beam 6 through the pin shaft 7, and fix the two ends of the pin shaft 7 with cotter pins to prevent it from falling off. Start multiple sets of fall chains 3 for synchronous lifting. During the lifting process, if the lifting speed of the fall chains 3 is inconsistent and causes the hanging plate 5 to tilt, the spherical roller of the thrust spherical roller bearing 12 will adaptively adjust along the inner ring raceway to compensate for the overturning moment caused by the tilt, ensuring that the balance beam 6 and the equipment are stable. After the equipment is lifted to the predetermined height, if the equipment orientation needs to be adjusted, the balance beam 6 can be rotated around the rotation axis of the thrust spherical roller bearing 12 by applying horizontal torque until the equipment to be hoisted 8 reaches the preset installation angle, and finally the equipment to be hoisted 8 is slowly lowered to the concrete beam 13 to complete the installation. Throughout the entire process, rigging such as the shackle 2, sling 4, and fall chain 3 all use existing standard parts. The crossbeam 1, lifting plate 5, and balance beam 6 are made of conventional structural steel such as Q355 steel. The thrust spherical roller bearing 12 uses the commercially available 294 series model. The assembly of each component does not require special processes, and on-site deployment can be completed quickly.

[0046] In existing hoisting equipment, there are no thrust spherical roller bearings 12. When the hoisting platform tilts 3° due to a difference in lifting speed, the balance beam tilts with the platform's rigidity, resulting in a 40% load difference between the two ends and an overload alarm on the right fall chain. This embodiment achieves tilt adaptation through the bearings, controlling the load difference to within 15% at a 3° tilt. This solves the problem of uneven load distribution caused by rigid connections, and the equipment structure is more adaptable to conditions with desynchronized synchronization of multiple fall chains.

[0047] In another embodiment, it also includes: an inclination sensor, which is arranged on the hanging platter 5; a pressure sensor, which is arranged at the connection between the hanging platter 5 and each set of fall chains 4 and on the friction drive wheel; an encoder, which is arranged at the driving end of each set of fall chains 4; two rotation drive units, which are symmetrically arranged in the circumference of the hanging platter 5, each rotation drive unit includes a servo motor, a harmonic reducer and a friction drive wheel, the input shaft of the harmonic reducer is connected to the output shaft of the servo motor, and the output shaft of the harmonic reducer is connected to the friction drive wheel; a controller, which is connected to the inclination sensor, the pressure sensor, the encoder, the servo motor of the rotation drive unit and the third pressure sensor.

[0048] Taking the installation of a coal-fired power inert gas generator as an example, preliminary assembly is first performed. The crossbeam 1 is fixed to the bottom of the top concrete beam slab using expansion bolts or chemical anchors. The upper ends of multiple sets of fall chains 3 are suspended from the lifting rings at the bottom of the crossbeam, and the lower ends are connected to the lugs on the edge of the lifting plate 5 via shackles 2. A thrust spherical roller bearing 12 is installed in the center of the lifting plate 5. The lifting rod 14 is passed through the inner ring of the thrust spherical roller bearing 12. The lower end of the lifting rod 14 is connected to the balance beam 6, and a washer 11 and nut 10 are set at the upper end to prevent the lifting rod 14 from falling out. An inclination sensor is installed in the center of the lifting plate 5. Pressure sensors are installed at the lifting lugs and on the axial direction of the friction drive wheels of the subsequent rotation drive units. An encoder is installed at the drive end of each set of fall chains 4. Two rotation drive units containing servo motors, harmonic reducers, and friction drive wheels are symmetrically arranged around the circumference of the lifting plate. All sensors and drive units are connected to the controller.

[0049] After assembly is complete, the hoisting operation is started. The equipment to be hoisted 8 is connected to the balance beam lifting lugs using a wire rope or sling through a pin. The controller simultaneously raises multiple sets of fall chains 4. The lifting speed is monitored by an encoder to control the speed deviation of each set within 5% until the equipment reaches the predetermined height. During the lifting process, the controller receives the inclination angle θ of the inclination sensor and the load value at the lifting lug in real time, and calculates the load distribution deviation rate η. When θ ≤ the safe inclination threshold θ s (such as 3° or 4° or 5°) and η> offset rate threshold δ (such as 5% or 10% or 15%), according to formula V x =V0×[1+K×(F x -F mean ) / F max ]Adjust the target chain-reversing speed.

[0050] If θ>θ s The controller calculates the tilt angle change per unit time Δθ / Δt. When Δθ / Δt>0.5° / s, it executes the fast correction mode; when Δθ / Δt≤0.5° / s, it executes the steady-state adjustment mode until θ≤θ s .

[0051] When the hoisting device 8 is lifted to a predetermined height and needs to be rotated, the controller determines the rotation direction based on the difference, e, between the target angle and the actual angle. If e > 0, the first rotation drive unit is activated, while if e < 0, the second rotation drive unit is activated. This controls the friction drive wheel to move radially until it contacts the side of the boom, maintaining the contact pressure within a preset range via a pressure sensor. The controller uses trigonometric functions to calculate the actual rotation angle α, combining data from the inclination sensor, and dynamically adjusts the PID parameters based on the absolute value of e.

[0052] If θ> emergency tilt angle threshold θ during the hoisting process e (such as 7° or 8° or 9°), the controller immediately sends a zero speed blocking command and activates the electromagnetic brake at the same time.

[0053] The entire process achieves stable lifting and precise rotation of equipment in confined spaces through the combination of mechanical structure and intelligent control. The entire process is monitored in real time by sensors and dynamically adjusted by controllers to ensure lifting safety and accuracy.

[0054] In existing technologies, hoisting equipment lacks sensors and controllers. For example, when hoisting a ball mill at a cement plant, two workers were required to monitor the hoisting platform's status throughout the process and use intercoms to notify the ground staff to adjust the fall chain. This resulted in significant information transmission errors and adjustment lags exceeding 5 seconds. This embodiment integrates various sensors and controllers to form a closed-loop control system with a data collection interval of ≤10ms and an adjustment response of ≤100ms. This solves the problem of existing equipment lacking intelligent sensing and automatic control capabilities, and enables intelligent monitoring and adjustment of the hoisting process.

[0055] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. The multi-chain hoisting method in a confined space is characterized by: include: S1: Fix the beam, hang the upper ends of multiple sets of fall chains on the beam, and connect the lower ends to the hanging plate; S2: A thrust spherical roller bearing is installed at the center of the hanging platform. A hanging rod is passed through the inner ring of the thrust spherical roller bearing. A nut is provided on the upper part of the hanging rod through a thread. The lower end of the hanging rod is connected to a balance beam. S3: Connect the equipment to be hoisted to the lifting ears at both ends of the balance beam, and simultaneously lift multiple sets of fall chains to raise the hoisting platform, balance beam and equipment to be hoisted until the equipment to be hoisted reaches the predetermined height; S4: By applying a horizontal torque to the boom or the equipment to be hoisted, the balance beam and the equipment to be hoisted are rotated to a predetermined angle around the rotation axis of the thrust spherical roller bearing.

2. The confined space multi-fall chain hoisting method according to claim 1, characterized in that: In S2, a tilt sensor is installed on the hanging platform to monitor the tilt angle θ of the hanging platform in real time; Install pressure sensors at the connection between the hoisting platform and each set of fall chains to monitor the load values ​​F1, F2...F of each fall chain in real time. n , n is the number of chain groups, n≥3; Install an encoder at the driving end of each set of fall chains to detect the lifting speed of the fall chains in real time; The data from the inclination sensor, pressure sensor, and encoder are connected to the controller, which performs the following closed-loop control: Real-time calculation of load distribution deviation rate η, η=(F max -F min ) / F mean ×100%, where F max =max(F1, F2...F n ), F min =min(F1, F2...F n ), F mean =(∑F i ) / n; When θ≤θ s When η>δ, adjust the target chain speed V according to the following formula: x : V x =V0×[1+K×(F x -F mean ) / F max ], where the target fall chain is the fall chain corresponding to the minimum load in the tilt direction; When θ>θ s When the load on the tilt direction is minimum, the chain is accelerated and the chain on the opposite side with maximum load is decelerated until θ≤θ s ; When θ>θ e When the emergency stop command is triggered, θ e is the emergency tilt threshold.

3. The confined space multi-fall chain hoisting method according to claim 2, characterized in that: When θ>θ s When , the controller performs torque dynamic adjustment operation; The torque dynamic adjustment operation includes: obtaining the tilt angle θ measured in real time by the tilt sensor, calculating the tilt angle change per unit time Δθ / Δt, and selecting the fast correction mode or the steady-state adjustment mode based on Δθ / Δt; When Δθ / Δt>0.5° / s, the fast correction mode is executed: the target fall chain with the smallest load in the tilt direction is identified, the servo motor output torque of the target fall chain is increased to 110%-130% of the rated torque, and the servo motor output torque of the non-target fall chain is reduced to 70%-90% of the rated torque; When Δθ / Δt≤0.5° / s, the steady-state regulation mode is executed: the target fall chain with the smallest load in the tilt direction is identified; Increase the servo motor output torque of the target chain fall by 5%-15% per minute; decrease the servo motor output torque of the non-target chain fall by 3%-10% per minute, and monitor the inclination data in real time until θ≤θ s .

4. The confined space multi-fall chain hoisting method according to claim 2, characterized in that: When θ>θ e When the controller sends a zero-speed blocking command to all the servo drives of the chain-reversing system, it also activates the electromagnetic brake of the chain-reversing system. If θ exceeds θ after shutdown e +1°, the chain-following drive motor with the largest load is controlled to output a lifting torque of 10%-20% of the rated torque, which lasts no longer than 2 seconds.

5. The confined space multi-fall chain hoisting method according to claim 1, characterized in that: In S4, two rotary drive units are symmetrically installed on the hanging platform. Each rotary drive unit includes a servo motor, a harmonic reducer coaxially connected to the output shaft of the servo motor, and a friction drive wheel flange-connected to the output shaft of the harmonic reducer. When the equipment to be hoisted needs to be rotated, the controller starts the rotation drive unit on the target rotation direction side and controls the friction drive wheel to move to contact the side of the boom; The controller obtains the tilt angle θ of the hanging platform measured by the inclination sensor and calculates the actual rotation angle α through trigonometric functions. The controller is based on the target angle α t The difference between the actual angle α and e=α t -α, generates the servo motor control signal U(t), U(t)=K p ×e(t)+K i ×∫e(t)dt+K d ×de(t) / dt, where K p , K i , K d are preset parameters; The control signal U(t) drives the servo motor through the servo driver, which drives the friction drive wheel to generate tangential friction through the harmonic reducer to drive the boom to rotate.

6. The confined space multi-fall chain hoisting method according to claim 5, characterized in that: When |e|>5°, set K p The value range is 0.5-0.8, K i The value range is 0-0.1, K d The value range is 0.1-0.3; when 1°≤|e|≤5°, set K p The value range is 1.0-1.5, K i The value range is 0.1-0.2, K d The value range is 0.3-0.6; when |e|<1°, set K p The value range is 0.1-0.3, K i The value range is 0-0.05, K d The value range of |e| is 0.5-1.0; when |e|≤0.5°, the controller controls the friction drive wheel to radially retract and disengage from the boom.

7. The confined space multi-fall chain hoisting method according to claim 5, characterized in that: Before starting the rotation drive unit, the controller t The positive or negative value of the difference e from the actual angle α determines the direction of rotation; when e is greater than 0, the first rotation drive unit is activated, and when e is less than 0, the second rotation drive unit is activated; when the friction drive wheel moves and contacts the side of the boom, the contact pressure P is detected in real time by a pressure sensor installed on the friction drive wheel; The controller dynamically adjusts the radial displacement of the friction drive wheel to maintain the contact pressure P within a preset pressure range.

8. A hoisting device for implementing the method according to any one of claims 1 to 7, characterized in that: It includes a crossbeam, multiple sets of fall chains, a lifting plate, a suspender rod, a thrust spherical roller bearing and a balance beam; Among them, the upper ends of multiple sets of fall chains are suspended on the crossbeam, and the lower ends are connected to the lifting platform. The spherical roller bearing is arranged in the center of the lifting platform. The hanging rod is passed through the inner ring of the thrust spherical roller bearing. The upper part of the hanging rod is provided with a nut through a thread. The lower end of the hanging rod is connected to the balance beam. Lifting ears are provided at both ends of the balance beam for connecting the equipment to be lifted.

9. The hoisting equipment according to claim 8, characterized in that: Also includes: An inclination sensor is provided on the hanging platform; An encoder is provided at the driving end of each set of fall chains; Two rotary drive units are symmetrically arranged in the circumference of the hanging platform, each rotary drive unit includes a servo motor, a harmonic reducer and a friction drive wheel, the input shaft of the harmonic reducer is connected to the output shaft of the servo motor, and the output shaft of the harmonic reducer is connected to the friction drive wheel; Pressure sensors are installed at the connection between the hoisting platform and each set of fall chains and on the friction drive wheel; A controller is connected to the inclination sensor, the pressure sensor, the encoder, and the servo motor of the rotation drive unit.

Images