A lifting system, robot, and method for lifting a reaction vessel.

Abstract

This invention relates to the field of reactor lifting technology, and more particularly to a lifting system, manipulator, and method for lifting reactors, aiming to solve the problem that reactors often experience center-of-gravity deviation due to different structures, leading to vessel swaying and low stability during lifting. The system includes a parallel slide rail, a crane, and a reactor body. The crane is slidably connected to the parallel slide rail and can be raised and lowered. It also includes a limiting component; the limiting component is located on one side of the reactor body along its length and contains several counterweights. The limiting component clamps and limits the reactor body, and the counterweights can slide along the limiting component in the opposite direction to the reactor body's center of gravity. By adding a sliding counterweight limiting component to the lifting system, online adjustment and clamping limiting of the reactor body's center of gravity deviation can be achieved, preventing lateral or longitudinal tilting during lifting and improving lifting stability and safety.

Description

Technical Field

[0001] This invention relates to the field of reactor hoisting technology, and in particular to a hoisting system, robot, and method for hoisting reactors. Background Technology

[0002] Reactors are widely used in the chemical, pharmaceutical, and food industries for high-temperature, high-pressure, or specific atmosphere-based reaction processes. During installation, maintenance, and replacement, reactors typically require hoisting. However, due to their large size, tall and narrow structure, and the potential for internal structural or media distribution-related center-of-gravity shifts, unsafe conditions such as tilting and swaying can easily occur during hoisting. In severe cases, this can even lead to overturning or hoisting failure, posing significant safety hazards.

[0003] To avoid the aforementioned problems, existing technologies commonly use lifting rings, frames, or support structures to assist in lifting. However, many existing lifting auxiliary structures do not fully consider the impact of various eccentric states (such as horizontal eccentricity, vertical shift of the center of gravity, or combined eccentricity) on the lifting stability of the reactor. This can easily lead to problems such as inadequate limit positioning, uneven weight distribution, and inability of the structure to adapt to site changes, resulting in insufficient safety and complex adjustments.

[0004] Furthermore, existing support or clamping structures at the bottom of reactors mostly employ simple circular bases or frames, making rapid clamping and adjustment difficult, and lacking torque balancing designs for hoisting conditions. Especially when facing on-site hoisting of medium to large cylindrical reactors, how to reliably clamp and limit the reactor through the lower structure, while simultaneously using a reasonable counterweight arrangement to counteract the unbalanced torque caused by eccentricity, has become a critical technical problem that urgently needs to be solved.

[0005] Therefore, there is an urgent need to provide an improved structure for hoisting cylindrical reactors, which can effectively limit and adjust the counterweight when the reactor is eccentric, thereby improving hoisting safety and adaptability. Summary of the Invention

[0006] The technical problem to be solved by the present invention is that when lifting a reactor, the reactor's center of gravity is in an eccentric state, which makes it easy to sway and affect the lifting stability. The purpose is to provide a lifting system, manipulator and method for lifting reactors, which can add corresponding counterweights in the opposite direction of the reactor's eccentric center of gravity and keep it fixed, thereby improving the stability of the lifting.

[0007] This invention is achieved through the following technical solution:

[0008] A first aspect of the present invention relates to a hoisting system for hoisting a reaction vessel, comprising a parallel slide rail, a crane, and a reaction vessel body, wherein the crane is slidably connected to the parallel slide rail, the crane is liftable, and a limiting component is also included.

[0009] The limiting component is located at the bottom of the reactor body. Several counterweights are provided inside the limiting component. The limiting component is used to clamp and limit the reactor body. The counterweights can slide along the limiting component in the opposite direction to the center of gravity of the reactor body.

[0010] In the above technical solution, by adding a sliding counterweight limiting component to the hoisting system, the online adjustment and clamping limit of the center of gravity offset of the reactor body can be realized, avoiding lateral or longitudinal tilting during the hoisting process and improving hoisting stability and safety.

[0011] In some optional technical solutions, the limiting component includes a first limiting frame and a second limiting frame. The first limiting frame and the second limiting frame have the same structure. Both the first limiting frame and the second limiting frame have a U-shaped structure. Each end of the first limiting frame and the second limiting frame facing each other is provided with a connecting sleeve. Both the first limiting frame and the second limiting frame have a receiving groove. The connecting sleeve is slidably connected in the receiving groove.

[0012] In the above technical solution, two sets of U-shaped limiting frames and sliding connecting sleeves with the same structure are used to ensure that the limiting components can be symmetrically arranged and move synchronously on both sides of the reactor body, and can be fixed after installation to achieve bidirectional clamping, enhance the limiting effect and simplify the installation operation.

[0013] In some alternative technical solutions, the ends of the first limiting frame and the second limiting frame facing each other are both hinged with connecting posts. The connecting posts have grooves inside. When the connecting posts are perpendicular to the first limiting frame, the bottom surface of the connecting posts is higher than the top surface of the first limiting frame.

[0014] In the above technical solution, by hinged to a reversible connecting column at the end of the limiting frame, and making the bottom surface of the connecting column higher than the top surface of the frame after flipping, a top support for the vessel body can be formed after clamping, further improving the longitudinal limiting capability during hoisting.

[0015] In some alternative technical solutions, a support shaft is provided in the receiving groove, and the counterweight is slidably connected to the support shaft.

[0016] In the above technical solution, a support shaft is set in the receiving groove so that the counterweight block can slide smoothly along the support shaft and bear the load, ensuring that the counterweight position is adjustable and has reliable support, thereby improving the accuracy and stability of counterweight adjustment.

[0017] In some alternative technical solutions, a padding layer is provided on the inner sidewalls of the first and second limiting frames.

[0018] In the above technical solution, adding a buffer pad layer to the inner sidewall can prevent the first and second limiting frames from directly contacting the vessel body, reduce wear and impact, and increase the friction during clamping, thereby protecting the equipment surface and enhancing the reliability of the limiting.

[0019] In some alternative technical solutions, a load-bearing shaft is provided in the groove, the counterweight is slidably connected to the load-bearing shaft, and the top surfaces of the first limiting frame and the second limiting frame are both provided with through slots.

[0020] In the above technical solution, a load-bearing shaft is added in the groove of the connecting column, and a through groove is opened on the top surface of the limiting frame, which can realize the bidirectional sliding arrangement of the counterweight in the vertical and horizontal directions, and meet the torque balance requirements under various eccentric working conditions.

[0021] A second aspect of the invention relates to a robotic arm for lifting a reaction vessel, comprising a lifting system for lifting a reaction vessel as described in the first aspect of the invention, including:

[0022] Fasteners, which are used to be sleeved and fixed on the top of the reactor body, and are used to connect and fix with the limiting component;

[0023] A gripping component is mounted on a crane. Several steel ropes are connected to the top of the fastener. The gripping component is used to grab and hook the steel ropes to lift the reactor body.

[0024] In the above technical solution, the robotic arm gripping structure and limiting components are combined, and fasteners and multiple steel ropes are used to suspend the load synchronously to form a coordinated upper and lower limiting and lifting system, which improves the lifting and positioning accuracy and reduces the number of operation steps.

[0025] In some alternative technical solutions, the fastener has several settling grooves on its sidewall facing outwards, and the top of the connecting column is located in the settling groove and fixed to the bottom surface of the settling groove.

[0026] In the above technical solution, a settling groove is opened on the side wall of the fastener so that the top of the connecting column can be embedded and fixed to the bottom surface of the settling groove, further ensuring the precise cooperation and anti-overturning ability between the robot and the limiting component.

[0027] A third aspect of the present invention relates to a lifting method for a reaction vessel, employing a robotic arm for lifting reaction vessels as described in the second aspect of the present invention, comprising:

[0028] S1. Preparation of the hoisting system and robotic arm;

[0029] S2. Installation of limit components;

[0030] S3. The robotic arm and limit assembly are connected and fixed.

[0031] S4. Lift the reactor body;

[0032] S5. Hoisting completed, hoisting system reset;

[0033] In S1, the center of gravity of the hoisted reactor body is detected, and a corresponding counterweight is provided.

[0034] In the above technical solution, the center of gravity is detected in advance and counterweights are allocated to achieve targeted installation and fine-tuning, ensuring that the limit and counterweight are adjusted synchronously throughout the hoisting process, thereby improving work efficiency and safety.

[0035] In some optional technical solutions, S2 includes:

[0036] S21. Based on the center position of the reactor body measured in S1, allocate several counterweights to be located in the first limiting frame, the second limiting frame, or the two connecting columns respectively.

[0037] S22. The first limiting frame is made to contact the reactor body. After completion, the connecting column on the first limiting frame is flipped upward to keep it vertical.

[0038] S23. Operate the connecting column on the second limiting frame to flip upward and keep it vertical, control the second limiting frame to move toward the first limiting frame until it contacts the reactor body, and at the same time, the counterweight block located in the first limiting frame, the second limiting frame or the two connecting columns is limited.

[0039] The above technical solution refines the installation steps of the limiting components, making the operation process of the two sets of limiting frames and connecting columns clear and the sequence reasonable, ensuring that the counterweight is automatically limited, clamped and flipped, thereby quickly and accurately clamping.

[0040] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0041] In this invention, when the center of gravity of the reactor body deviates, a first limiting frame and a second limiting frame are installed at the bottom of the reactor body for limiting and clamping according to the different positions of the eccentricity. The connecting column and fasteners are used to complete the overall limiting. At the same time, corresponding counterweights are installed in advance in the opposite direction of the center of gravity of the reactor body to ensure stability during hoisting and prevent the reactor body from shifting due to the upward deviation of the center of gravity. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0043] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0044] Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0045] Figure 3 This is a cross-sectional view of the first limiting frame and the second limiting frame in this invention;

[0046] Figure 4 This is a schematic diagram of the structure of the first limiting frame and the second limiting frame in this invention.

[0047] The reference numerals in the attached figures represent:

[0048] 1. Reactor body; 21. First limiting frame; 22. Second limiting frame; 23. Receiving tank; 24. Support shaft; 25. Pad layer; 26. Through groove; 27. Connecting sleeve; 3. Connecting column; 31. Load-bearing shaft; 4. Fastener; 5. Counterweight. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments and accompanying drawings. The illustrative embodiments and descriptions of this invention are for illustrative purposes only and are not intended to limit the invention. It should be noted that this invention is already in the actual research and development stage.

[0050] Example 1

[0051] like Figures 1 to 4 As shown, this embodiment provides a hoisting system for hoisting a reactor, including a parallel slide rail, a crane and a reactor body. The crane is slidably connected to the parallel slide rail and can be raised and lowered. It also includes a limiting component.

[0052] The limiting component is located at the bottom of the reactor body 1. Several counterweights 5 are provided inside the limiting component. The limiting component is used to clamp and limit the reactor body 1. The counterweights 5 can slide along the limiting component in the opposite direction to the center of gravity of the reactor body 1.

[0053] like Figures 1 to 4 As shown, the limiting component includes a first limiting frame 21 and a second limiting frame 22. The first limiting frame 21 and the second limiting frame 22 have the same structure. Both the first limiting frame 21 and the second limiting frame 22 have a U-shaped structure. Each of the ends of the first limiting frame 21 and the second limiting frame 22 facing each other is provided with a connecting sleeve 27. Both the first limiting frame 21 and the second limiting frame 22 have a receiving groove 23. The connecting sleeve 27 is slidably connected in the receiving groove 23.

[0054] like Figures 1 to 4As shown, the first limiting frame 21 and the second limiting frame 22 are both hinged to one end facing each other, and the connecting post 3 is provided with a groove. When the connecting post 3 is perpendicular to the first limiting frame 21, the bottom surface of the connecting post 3 is higher than the top surface of the first limiting frame 21.

[0055] like Figure 3 As shown, a support shaft 24 is provided in the receiving groove 23, and the counterweight 5 is slidably connected to the support shaft 24.

[0056] like Figure 1 and Figure 4 As shown, a padding layer 25 is provided on the inner sidewall of the first limiting frame 21 and the second limiting frame 22.

[0057] like Figure 3 As shown, a load-bearing shaft 31 is provided in the groove of the connecting column 3, and the counterweight 5 is slidably connected to the load-bearing shaft 31. The top surfaces of the first limiting frame 21 and the second limiting frame 22 are both provided with through slots 26.

[0058] Specifically, in this embodiment, the reactor body 1 being hoisted is a vertical columnar reactor body 1. The center of gravity of the reactor body 1 is located at the top of the reactor body. During conventional hoisting, the reactor body 1 will tilt due to its top-heavy nature, making the hoisting unstable.

[0059] The first limiting frame 21 and the second limiting frame 22 are two identical U-shaped components. Both the first limiting frame 21 and the second limiting frame 22 include a transition part, a connecting part, and a load-bearing part. The connecting part and the load-bearing part are fixedly connected to the two ends of the transition part to form a U-shape. A connecting column 3 is hinged at the load-bearing part. The support shaft 24 is located in the receiving groove 23. The support shaft 24 located in the transition part is used to provide support and fixation in the receiving groove. The support shaft 24 located in the connecting part and the load-bearing part is used to place the counterweight 5. It should be noted that the counterweight 5 should have a through hole, which can be used to slide and connect to the support shaft 24. The shape, size, and mass of the counterweight 5 can be adjusted and selected according to the use of the hoisting project, and it must be ensured that the volume of the counterweight 5 will not affect the normal sliding on the support shaft 24 and the insertion of the connecting sleeve 27.

[0060] During the installation of the limiting components, the connecting post 3 on the first limiting frame 21 and the second limiting frame 22 is rotated from parallel to perpendicular. Taking the first limiting frame 21 as a reference, the pad 25 of the first limiting frame 21 is first brought into contact with the peripheral side of the reactor body 1. Then, the second limiting frame 22 is moved. The first limiting frame 21 and the second limiting frame 22 have the same structure and are rotationally symmetrically distributed. That is, the connecting part of the first limiting frame 21 corresponds to the load-bearing part of the second connecting frame. The second limiting frame 22 is moved further so that the connecting sleeve 27 on the second limiting frame 22 is inserted into the receiving groove 23 of the first limiting frame 21. Correspondingly, the connecting sleeve 27 of the first limiting frame 21 is also inserted into the receiving groove 23 of the second limiting frame 22 until the pad 25 of the second limiting frame 22 is also brought into contact with the reactor body 1.

[0061] After the first limiting frame 21 and the second limiting frame 22 are snapped together and installed, the position of the counterweight 5 can be adjusted through the through groove 26 so that the counterweight 5 is evenly distributed and not concentrated in one place; the bottom surface of the connecting column 3 is the first limiting frame 21 and the second limiting frame 22 respectively, which will be limited and cannot be reset, ensuring the safety of hoisting. It should be noted that, in order to further improve the safety of hoisting, a connecting groove can be opened at the connection of the connecting sleeve 27 of the first limiting frame 21 and the second limiting frame 22, and the first limiting frame 21 and the second limiting frame 22 can be fixed by bolts. After the reactor body 1 is hoisted, it can be disassembled.

[0062] In this embodiment, the center of gravity of the reactor body 1 is biased upwards. Therefore, the counterweight 5 is located in the receiving groove 23 of the first limiting frame 21 and the second limiting frame 22. The first limiting frame 21 and the second limiting frame 22 are installed at the bottom of the reactor body 1, which is opposite to the center of gravity of the reactor body 1. This can ensure stability during hoisting and prevent the reactor body 1 from shifting due to the biased center of gravity.

[0063] Example 2

[0064] The installation method of the limiting component in this embodiment is the same as that in embodiment 1. The difference is that the center of gravity of the suspended reactor body 1 is biased towards the axial side in this embodiment.

[0065] The installation method is the same as in Embodiment 1, but it is necessary to keep the connecting column 3 of the first limiting frame 21 on the opposite side of the center of gravity of the reactor body 1. When the counterweight 5 is equipped, part of the counterweight 5 is slid into the bearing shaft 31 of the connecting column 3 through the groove. Preferably, the groove of the connecting column 3 is the same size as the through groove 26 of the first limiting frame 21, and the bearing shaft 31 is the same size as the support shaft 24, which facilitates the sliding of the counterweight 5. After the counterweight 5 is installed on the connecting column 3 of the first limiting frame 21, more counterweights 5 can be added. The newly added counterweight 5 will push the counterweight 5 in the connecting column 3 toward the first limiting frame. Move the column 21 within the first limit frame 21 until both have an appropriate amount of counterweight 5 added. Then rotate the connecting column 3 to a certain angle and control the second limit frame 22 to cooperate with the first limit frame 21 for installation. After the first limit frame 21 and the second limit frame 22 have completed their cooperation and installation, the connecting column 3 remains vertical. The counterweight 5 inside will not fall off due to the limitation of the first limit frame 21 and the second limit frame 22, and the corresponding counterweight is also completed. It should be noted that, in order to ensure balance, the connecting column 3 of the second limit frame 22 does not need to install counterweight 5. It only needs to install counterweight 5 itself, just like the first limit frame 21.

[0066] Similar to Example 1, adding counterweights in the opposite direction of the center of gravity of the reactor body 1 can maintain lifting balance; in addition, counterweights 5 are also added to the first limiting frame 21 and the second limiting frame 22, which are slightly above or to one side of the height direction relative to the center of the reactor body 1, and the center of gravity is located at the bottom, which can better maintain lifting stability and further increase the stability of the reactor body 1 in this embodiment when the center of gravity deviates from the lifting.

[0067] Example 3

[0068] like Figure 1 and Figure 2 As shown, in this embodiment, the installation is based on the cooperation between the limiting component and the robot arm after the installation of embodiments 1 and 2 is completed.

[0069] A robotic arm for lifting a reaction vessel, based on a lifting system for lifting the reaction vessel body 1 in Embodiments 1 and 2, comprises:

[0070] Fastener 4 is used to be sleeved and fixed on the top of the reactor body 1, and fastener 4 is used to connect and fix with the limiting component.

[0071] The gripper is mounted on the crane. Several steel ropes are connected to the top of the fastener 4. The gripper is used to grab and hook the steel ropes to lift the reactor body 1.

[0072] Several settling grooves are provided on the side wall of the fastener 4 facing the outside. The top of the connecting column 3 is located in the settling groove and fixed to the bottom surface of the settling groove.

[0073] Specifically, the fastener 4 can be a circular or polygonal structure, which can be fitted and fixed to the top of the reactor body 1 by bolts. During installation, the position and height of the fastener 4 can be adjusted so that the settling tank contacts the connecting column 3. After installation, the connecting column 3 and the fastener 4 are fixed by bolts or other means, thereby realizing the connection and fixation of the limiting component and the fastener 4.

[0074] The top of the fastener 4 is equipped with several lifting rings, and steel ropes are threaded through the lifting rings. The gripping component is a hook, and the hook hooks several steel ropes. The fastener 4 and the limiting component are lifted by a crane and a parallel slide rail to realize the lifting of the reactor body 1. The hook, crane and parallel slide rail are not shown in the figure. The crane is the same as the existing technology. The parallel slide rail is a guide rail used to move the crane. The hook is used to hook and fix the steel ropes.

[0075] Preferably, to further ensure hoisting safety, a connecting plate can be provided on the transition between the first limiting frame 21 and the second limiting frame 22, with both ends of the connecting plate being detachably connected to the transition and the fastener 4, respectively.

[0076] Example 4

[0077] A lifting method for a reaction vessel, based on the lifting system and robotic arm of Examples 1 to 3, for lifting the reaction vessel body 1, includes:

[0078] S1. Preparation of the hoisting system and robotic arm;

[0079] S2. Installation of limit components;

[0080] S3. The robotic arm and limit assembly are connected and fixed.

[0081] S4. Lifting the reactor body 1;

[0082] S5. Hoisting completed, hoisting system reset;

[0083] In S1, the center of gravity of the hoisted reactor body 1 is detected, and a corresponding counterweight 5 is provided.

[0084] S2 includes:

[0085] S21. Based on the center position of the reactor body 1 measured by S1, allocate several counterweights 5 to be located in the first limiting frame 21, the second limiting frame 22, or the two connecting columns 3 respectively.

[0086] S22. The first limiting frame 21 is made to contact the reactor body 1. After completion, the connecting column 3 on the first limiting frame 21 is flipped upward to keep it vertical.

[0087] S23. Operate the connecting column 3 on the second limiting frame 22 to flip upward and keep it vertical, control the second limiting frame 22 to move toward the first limiting frame 21 until it contacts the reactor body 1, and at the same time, the counterweight 5 located in the first limiting frame 21, the second limiting frame 22 or the two connecting columns 3 is limited.

[0088] Specifically, before lifting, the center of gravity of the reactor body 1 is measured, a suitable counterweight 5 is selected, and the reactor body 1 is fixed by the cooperation of the limiting component and fastener 4. Finally, the reactor body 1 is lifted by the grabbing component and the crane.

[0089] Example 5

[0090] In this embodiment, the limiting component and fastener 4 can also be used to hoist the horizontal reactor body 1. The limiting component can be fixed on one side of the reactor body 1 along its length using Embodiment 1, while the fastener 4 is installed on the other side. The two are connected by a connecting column 3. Preferably, in order to maintain balance, the first limiting frame 21 and the second limiting frame 22 in this embodiment are also provided with lifting rings and steel ropes to facilitate lifting by the hook.

[0091] It should be noted that the center of gravity of the horizontal reactor body 1 is mostly located at the bottom or on one side of the length direction. When the center of gravity is located at the bottom, the counterweight 5 is not required. However, when the center of gravity is on one side, the counterweight 5 can be installed in the manner described in Example 1 to maintain the hoisting balance.

[0092] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A hoisting system for hoisting a reaction vessel, comprising a parallel slide rail, a crane, and a reaction vessel body (1), wherein the crane is slidably connected to the parallel slide rail and is liftable, characterized in that: It also includes limit components; The limiting component is located at the bottom of the reactor body (1). Several counterweights (5) are provided inside the limiting component. The limiting component is used to clamp and limit the reactor body (1). The counterweights (5) can slide along the limiting component in the opposite direction to the center of gravity of the reactor body (1). The limiting component includes a first limiting frame (21) and a second limiting frame (22). The first limiting frame (21) and the second limiting frame (22) have the same structure. Both the first limiting frame (21) and the second limiting frame (22) have a U-shaped structure. Each end of the first limiting frame (21) and the second limiting frame (22) facing each other is provided with a connecting sleeve (27). Both the first limiting frame (21) and the second limiting frame (22) have a receiving groove (23). The connecting sleeve (27) is slidably connected in the receiving groove (23). The first limiting frame (21) and the second limiting frame (22) are hinged to each other at one end. The connecting column (3) has a groove. When the connecting column (3) is perpendicular to the first limiting frame (21), the bottom surface of the connecting column (3) is higher than the top surface of the first limiting frame (21). A support shaft (24) is provided inside the receiving groove (23), and the counterweight (5) is slidably connected to the support shaft (24); A load-bearing shaft (31) is provided in the groove, and the counterweight (5) is slidably connected to the load-bearing shaft (31). The top surfaces of the first limiting frame (21) and the second limiting frame (22) are both provided with through slots (26). The groove of the connecting column (3) is the same size as the through slot (26) of the first limiting frame (21). The load-bearing shaft (31) is the same size as the support shaft (24). The counterweight (5) added later can push the counterweight (5) in the connecting column (3) to move into the first limiting frame (21).

2. The hoisting system for hoisting a reaction vessel according to claim 1, characterized in that: A pad (25) is provided on the inner sidewall of the first limiting frame (21) and the second limiting frame (22).

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