Hoisting system, hoisting machinery and control method

Abstract

The invention relates to the field of hoisting, and discloses a hoisting system, hoisting machinery and a control method. The lifting system comprises a support; one end of the cargo boom is connected with the support, and a guide assembly is arranged at the end, away from the support, of the cargo boom; the first hoisting mechanism and the second hoisting mechanism are arranged on the support; one end of the lifting rope is connected with the first hoisting mechanism, the other end of the lifting rope sequentially winds around the guide assembly, the lifting device and the guide assembly and is connected with the second hoisting mechanism, and the first hoisting mechanism and the second hoisting mechanism can wind or release the lifting rope. According to the hoisting system, the first hoisting mechanism and the second hoisting mechanism are jointly matched with the same lifting rope, so that the lifting rope is recycled between the two hoisting mechanisms, the total length of the lifting rope can be distributed to the first hoisting mechanism and the second hoisting mechanism through the hoisting system, the number of winding layers of each hoisting mechanism is remarkably reduced, and the hoisting efficiency is improved. Therefore, the rope sinking phenomenon is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the hoisting technology field, in particular to a hoisting system, a hoisting machine and a control method. BACKGROUND

[0002] In the field of hoisting machines, the hoisting mechanism is the core component to realize the lifting function of heavy objects. The traditional hoisting mechanism usually adopts the structure form of a winch reduction gear driving a single steel wire rope, one end of which is fixed to the drum of the winch reduction gear, and the other end is fixed to the arm head or the main hook device. This structure is simple in design and convenient to control, and is widely used in various types of hoisting equipment.

[0003] However, as the hoisting height increases, the length of the steel wire rope increases accordingly, resulting in an increase in the number of winding layers on the drum. When the number of winding layers of the steel wire rope is too large, the phenomenon of uneven rope arrangement is prone to occur, and part of the steel wire rope may even sink into the gap between adjacent rope layers to form "sinking rope", affecting the service life of the steel wire rope and the running stability of the hoisting mechanism. SUMMARY

[0004] Therefore, the present application provides a hoisting system, a hoisting machine and a hoisting control method to solve or improve the problem of too many winding layers of the hoisting rope on the drum in the related art.

[0005] In a first aspect, the present application provides a hoisting system, comprising:

[0006] a support;

[0007] a hoisting arm, one end of the hoisting arm being connected to the support, and the other end of the hoisting arm away from the support being provided with a guide assembly;

[0008] a first winch mechanism and a second winch mechanism, both of which are provided on the support;

[0009] a hoisting rope and a hoisting device, one end of the hoisting rope being connected to the first winch mechanism, the other end of the hoisting rope being wound through the guide assembly, the hoisting device and the guide assembly in sequence, and being connected to the second winch mechanism, and the first winch mechanism and the second winch mechanism both being capable of winding or releasing the hoisting rope.

[0010] In an optional embodiment, the hoisting system further comprises a position detection device, at least one of the first winch mechanism and the second winch mechanism being provided with the position detection device, and the position detection device being used to detect the number of winding layers of the hoisting rope.

[0011] In an alternative embodiment, the hoisting system further comprises a control system, which is communicatively connected with the position detecting device, the first hoist mechanism and the second hoist mechanism, and controls the operation state of both the first hoist mechanism and the second hoist mechanism based on the number of layers.

[0012] In an alternative embodiment, the hoisting rope forms at least two reciprocating windings between the guide assembly and the hoisting device, so that at least four load-bearing rope sections are formed between the guide assembly and the hoisting device.

[0013] In an alternative embodiment, the guide assembly is arranged as a trolley block;

[0014] And / or, the hoisting device comprises a sling, and a movable pulley is arranged on the sling, and the hoisting rope winds around the movable pulley.

[0015] In an alternative embodiment, the hoisting system further comprises a lifting oil cylinder, one end of the lifting oil cylinder is rotatably connected with the support, and the other end of the lifting oil cylinder is rotatably connected with the hoisting arm.

[0016] In an alternative embodiment, the hoisting system further comprises a base and a slewing mechanism, the slewing mechanism is arranged on the base, the support is arranged on the slewing mechanism, and the slewing mechanism is used to drive the support to rotate.

[0017] In a second aspect, the present application further provides a hoisting machine comprising the hoisting system as described above.

[0018] In a third aspect, the present application further provides a control method, which is implemented based on the hoisting system as described above or the hoisting machine as described above, and comprises:

[0019] In the first hoisting state, when it is determined that the number of layers of the hoisting rope on the first hoist mechanism is less than the maximum number of layers threshold, the first hoist mechanism is controlled to wind the hoisting rope, and when it is determined that the number of layers of the hoisting rope on the first hoist mechanism is greater than or equal to the maximum number of layers threshold, the second hoist mechanism is controlled to wind the hoisting rope;

[0020] And / or, in the first lowering state, when it is determined that the number of layers of the hoisting rope on the first hoist mechanism is greater than the minimum number of layers threshold, the first hoist mechanism is controlled to release the hoisting rope, and when it is determined that the number of layers of the hoisting rope on the first hoist mechanism is less than or equal to the minimum number of layers threshold, the second hoist mechanism is controlled to release the hoisting rope;

[0021] And / or, in the second lifting state, when it is determined that the rope layer numbers of both the first hoisting mechanism and the second hoisting mechanism are less than the maximum layer number threshold, the first hoisting mechanism and the second hoisting mechanism are simultaneously controlled to wind the hoisting rope.

[0022] And / or, in the second lowering state, when it is determined that the rope layer numbers of both the first hoisting mechanism and the second hoisting mechanism are greater than the minimum layer number threshold, the first hoisting mechanism and the second hoisting mechanism are simultaneously controlled to release the hoisting rope.

[0023] In a fourth aspect, the present application further provides a control method, which is implemented based on the lifting system or the hoisting machinery as described above, and comprises:

[0024] In the pre-tightening state, the first hoisting mechanism is controlled to release the hoisting rope, and the second hoisting mechanism is controlled to wind the hoisting rope, and after the first hoisting mechanism finishes releasing the hoisting rope, the first hoisting mechanism is controlled to wind the hoisting rope, and the second hoisting mechanism is controlled to release the hoisting rope.

[0025] The lifting system provided by the present application can make the hoisting rope circulate between the first hoisting mechanism and the second hoisting mechanism, and compared with the traditional single-end winding and unwinding mode of the hoisting rope by a single hoisting mechanism, the total length of the hoisting rope can be distributed to the first hoisting mechanism and the second hoisting mechanism, so that the winding layer number of each hoisting mechanism can be significantly reduced, and the "trapped rope" phenomenon can be avoided.

[0026] In addition, by sharing the length of the hoisting rope by the first hoisting mechanism and the second hoisting mechanism, the rope capacity of the lifting system can be increased, so that the lifting system can support the operation requirement of higher lifting height, for example, can be applied to multi-joint arm hoisting machinery such as nine-joint arm or ten-joint arm.

[0027] In addition, the design of the double hoisting mechanisms provides redundancy for the lifting system. For example, if one of the hoisting mechanisms fails, the other hoisting mechanism can continue to work, so that the lifting operation can be smoothly carried out, or at least the hoisted object can be safely lowered, and the stability of the lifting system is improved.

[0028] The hoisting machinery and the control method provided by the present application both have corresponding technical features, and therefore also have the above advantages of the lifting system. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0031] Figure 2 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure. Figure 1 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0032] Figure 3 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0033] Figure 4 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0034] Figure 5 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0035] Figure 6 A structural schematic diagram of a hoisting system provided by an embodiment of the present application is shown in the figure.

[0036] Explanation of reference signs:

[0037] 1, support; 2, hoisting arm; 3, guide assembly; 301, fixed pulley set; 3011, first fixed pulley; 3012, second fixed pulley; 3013, third fixed pulley; 3014, fourth fixed pulley; 4, first hoist mechanism; 5, second hoist mechanism; 6, hoisting rope; 7, hoisting device; 701, lifting device; 702, movable pulley; 8, position detection device; 9, lifting cylinder; 10, base; 11, rotating mechanism. EMBODIMENT

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0039] Traditional lifting mechanism usually adopts the structure form of winch reducer driving single steel wire rope, one end of which is fixed to the drum of winch reducer, and the other end is fixed to the arm head or main hook device. This structure is simple in design, convenient in control, and is widely used in various types of hoisting equipment.

[0040] However, with the increase of lifting height, the length of steel wire rope increases, which leads to the increase of winding layers on the drum. When the number of winding layers of steel wire rope is too much, the phenomenon of uneven rope arrangement is prone to occur, and part of the steel wire rope may even sink into the gap between adjacent rope layers to form "sinking rope", which affects the service life of steel wire rope and the running stability of lifting mechanism.

[0041] In order to solve or improve the problem of too many winding layers of hoisting rope 6 on the drum in the related art, the embodiment of the present application provides a lifting system, a hoisting machine and a lifting control method.

[0042] The lifting system provided in the embodiment of the present application will be described below in combination with Figures 1 to 6 .

[0043] Specifically, the lifting system comprises a support 1, a hoisting arm 2, a first winch mechanism 4, a second winch mechanism 5, a hoisting rope 6 and a hoisting device 7.

[0044] Among them, the support 1 is used to be arranged on the frame or sub-frame of the hoisting machine.

[0045] One end of the hoisting arm 2 is connected with the support 1, and a guide assembly 3 is arranged at the end of the hoisting arm 2 away from the support 1. Optionally, the hoisting arm 2 is arranged as a telescopic arm, for example, the hoisting arm 2 can comprise at least two section arms which are sequentially and slidably nested, and the guide assembly 3 is arranged at the free end or distal end of the telescopic arm. Of course, in other embodiments, the hoisting arm 2 can also be a truss arm.

[0046] The first winch mechanism 4 and the second winch mechanism 5 are both arranged on the support 1. Optionally, the first winch mechanism 4 and the second winch mechanism 5 both comprise a drum and a rotary driving device. The drum is rotatably arranged on the support 1, and the rotary driving device is arranged on the support 1, and the output shaft of the rotary driving device is in transmission connection with the drum. For example, the rotary driving device can be a motor or a hydraulic motor.

[0047] One end of the hoisting rope 6 is connected with the first winch mechanism 4, specifically, one end of the hoisting rope 6 is connected with the drum of the first winch mechanism 4. Optionally, the hoisting rope 6 is a steel wire rope.

[0048] The other end of the hoisting rope 6 is sequentially wound through the guide assembly 3, the hoisting device 7 and the guide assembly 3, and is connected with the second winch mechanism 5. Specifically, referring to Figure 1 and Figure 2As shown, the other end of the hoisting rope 6 extends along the boom 2 to the guide assembly 3, passes through the guide assembly 3, and then passes through the hoisting device 7. After passing through the hoisting device 7, the hoisting rope 6 passes through the guide assembly 3 again, and then extends along the boom 2 to the second hoisting mechanism 5 and is connected to the drum of the second hoisting mechanism 5.

[0049] The hoisting device 7 is used to be connected to the object to be hoisted. The first hoisting mechanism 4 and the second hoisting mechanism 5 can both wind or release the hoisting rope 6. Alternatively, during use, the first hoisting mechanism 4 and the second hoisting mechanism 5 can both wind or release the hoisting rope 6 independently, or the first hoisting mechanism 4 and the second hoisting mechanism 5 can wind or release the hoisting rope 6 simultaneously, or one of the first hoisting mechanism 4 and the second hoisting mechanism 5 winds the hoisting rope 6 and the other releases the hoisting rope 6.

[0050] In this embodiment, the first hoisting mechanism 4 and the second hoisting mechanism 5 are configured with the same hoisting rope 6, so that the hoisting rope 6 is circulated between the two hoisting mechanisms. Compared with the conventional single-end winding and releasing method of the hoisting rope by a single hoisting mechanism, the lifting system in this embodiment can distribute the total length of the hoisting rope 6 to the first hoisting mechanism 4 and the second hoisting mechanism 5, significantly reducing the number of winding layers of each hoisting mechanism, thereby avoiding the occurrence of the "trapped rope" phenomenon.

[0051] In addition, by sharing the length of the hoisting rope 6 through the first hoisting mechanism 4 and the second hoisting mechanism 5, the capacity of the lifting system can be increased, so that the lifting system can support the operation requirements of higher lifting height, such as being applicable to multi-section boom hoisting machinery, for example, nine-section boom or ten-section boom.

[0052] In addition, the design of the double hoisting mechanism provides redundancy for the lifting system. For example, if one of the hoisting mechanisms fails, the other hoisting mechanism can continue to work, thereby ensuring the smooth progress of the lifting operation, or at least enabling the safe lowering of the hoisted object, improving the stability of the lifting system.

[0053] The first hoisting mechanism 4 and the second hoisting mechanism 5 are both arranged on the support 1. This layout is relatively compact, which is conducive to the optimal design of the overall structure of the hoisting machinery, reduces the occupied space, and also facilitates the maintenance and repair of the hoisting mechanism.

[0054] Alternatively, the rotating drive device is in transmission connection with the corresponding drum through a speed reduction device.

[0055] In this embodiment, the speed reduction device can amplify the torque in proportion while reducing the rotating speed, so as to ensure that the drum can obtain sufficient driving torque, meet the lifting requirements of hoisted objects of different weights, and improve the heavy load adaptability of the system.

[0056] In addition, the speed reduction device can buffer the impact load in the transmission process. For example, when the hoisted object is suddenly lifted, lowered or encounters sudden resistance, the speed reduction device can absorb part of the impact force through its own mechanical structure, reduce the direct damage to the rotating drive device and the winding drum, prolong the service life of the two, and reduce the equipment failure rate.

[0057] Referring to Figure 1 and Figure 2 In some embodiments provided by the present application, the lifting system further comprises a lifting cylinder 9. The lifting arm 2 is rotationally connected with the support 1, one end of the lifting cylinder 9 is rotationally connected with the support 1, and the other end of the lifting cylinder 9 is rotationally connected with the lifting arm 2. For example, the lifting arm 2 is hingedly connected with the support 1, one end of the lifting cylinder 9 is hingedly connected with the support 1, and the other end of the lifting cylinder 9 is hingedly connected with the lifting arm 2.

[0058] In this embodiment, by controlling the extension and retraction of the lifting cylinder 9, the angle of the lifting arm 2 relative to the support 1 can be adjusted, thereby changing the lifting height and working range.

[0059] Further, referring to Figure 1 The first hoist mechanism 4 is arranged on the side of the rotating axis of the lifting arm 2 away from the lifting cylinder 9, and the rotating axis of the first hoist mechanism 4 is parallel to the rotating axis of the lifting arm 2. The second hoist mechanism 5 is arranged on the side of the first hoist mechanism 4 away from the lifting arm 2, and the rotating axis of the second hoist mechanism 5 is parallel to the rotating axis of the first hoist mechanism. Of course, the first hoist mechanism 4 and the second hoist mechanism 5 can be interchanged in position.

[0060] In this embodiment, the first hoist mechanism 4 is arranged on the side of the rotating axis of the lifting arm 2 away from the lifting cylinder 9, and the second hoist mechanism 5 is arranged on the side of the first hoist mechanism 4 away from the lifting arm 2, forming a sequential arrangement relationship of "lifting arm 2, first hoist mechanism 4, second hoist mechanism 5". This layered or parallel layout can make full use of the space on the support 1 and avoid structural interference between the hoist mechanism and the lifting cylinder 9, the lifting arm 2 and other components.

[0061] The rotating axes of the first hoist mechanism 4 and the second hoist mechanism 5 are both parallel to the rotating axis of the lifting arm 2, and the rotating axes of the first hoist mechanism 4 and the second hoist mechanism 5 are also parallel. This design makes the direction of the tension force of the hoisting rope 6 more matched with the direction of the force received by the winding drum during winding or releasing, reducing the additional torque or unbalanced load caused by the non-parallel axes.

[0062] In the above embodiment, the first hoist mechanism 4 and the second hoist mechanism 5 are arranged in a direction perpendicular to the rotating axis of the lifting arm 2. Of course, in other embodiments, the first hoist mechanism 4 and the second hoist mechanism 5 can also be sequentially arranged along the rotating axis of the lifting arm 2, for example, coaxially arranged.

[0063] In the embodiment, the arrangement along the rotation axis direction of the hoist arm 2 can significantly reduce the space occupation of the two hoist mechanisms in the direction perpendicular to the rotation axis, and is particularly suitable for the hoisting machinery with limited longitudinal size of the support 1.

[0064] In some embodiments provided by the present application, the hoisting system further comprises a base 10 and a slewing mechanism 11.

[0065] The base 10 is the frame or sub-frame of the hoisting machinery. The slewing mechanism 11 is arranged on the base 10, and the support 1 is arranged on the slewing mechanism 11. The slewing mechanism 11 is used to drive the rotation of the support 1. The slewing mechanism 11 can be a slewing bearing.

[0066] In the embodiment, the slewing mechanism 11 can realize 360° continuous slewing, which significantly improves the operation range and flexibility of the crane and is suitable for hoisting requirements in complex working conditions. Without moving the entire machine chassis, the hoist arm 2 can be rotated to any direction for hoisting operation through slewing, which improves the construction efficiency. In addition, the slewing mechanism 11 can be cooperatively controlled with the double-hoist mechanism, the lifting cylinder 9, the hoisting device 7, etc., to realize the linkage operation of lifting, luffing and slewing, thereby improving the intelligent level of operation.

[0067] In some embodiments provided by the present application, the guide assembly 3 is arranged as a fixed pulley set 301.

[0068] Correspondingly, one end of the hoisting rope 6 is connected with the first hoist mechanism 4, and the other end of the hoisting rope 6 is sequentially wound through the fixed pulley set 301, the hoisting device 7 and the fixed pulley set 301, and is connected with the second hoist mechanism 5. Specifically, as shown in Figure 1 and Figure 2 one end of the hoisting rope 6 is connected with the first hoist mechanism 4, and the other end of the hoisting rope 6 is sequentially wound through the fixed pulley set 301, the hoisting device 7 and the fixed pulley set 301, and is connected with the second hoist mechanism 5. Specifically, as shown in

[0069] In the embodiment, the fixed pulley set 301 makes the hoisting rope 6 smoothly turn from the direction of the hoist arm 2 to the hoisting device 7, realizing efficient transmission. The hoisting rope 6 is wound through the fixed pulley set 301 twice, so that the hoisting device 7 is supported by two rope sections, improving the carrying capacity and running stability. The surface of the fixed pulley set 301 is smooth and flexible in rolling, which helps to reduce the friction resistance and wear of the hoisting rope 6 during operation.

[0070] Referring to Figures 1-3 As shown in the figure, optionally, the fixed pulley set 301 comprises a first fixed pulley 3011, a second fixed pulley 3012, a third fixed pulley 3013 and a fourth fixed pulley 3014.

[0071] For example, the first fixed pulley 3011 and the fourth fixed pulley 3014 are arranged on the side of the hoist arm 2 away from the hoisting device 7, or in other words, the first fixed pulley 3011 and the fourth fixed pulley 3014 are arranged on the top surface of the hoist arm 2. Further, the first fixed pulley 3011 and the fourth fixed pulley 3014 can be coaxially arranged.

[0072] The second fixed pulley 3012 and the third fixed pulley 3013 are arranged on the side of the hoist arm 2 close to the hoisting device 7, or in other words, the second fixed pulley 3012 and the third fixed pulley 3013 are arranged on the bottom surface of the hoist arm 2. Further, the second fixed pulley 3012 and the third fixed pulley 3013 can be arranged in parallel.

[0073] Specifically, one end of the hoisting rope 6 is connected to the first winch mechanism 4, and the other end extends along the hoist arm 2 to the fixed pulley set 301, and in turn passes through the first fixed pulley 3011 and the second fixed pulley 3012, and then passes through the hoisting device 7. After passing through the hoisting device 7, it returns to the fixed pulley set 301 again, and in turn passes through the third fixed pulley 3013 and the fourth fixed pulley 3014. Then it returns along the hoist arm 2 and is connected to the drum of the second winch mechanism 5.

[0074] In this embodiment, the layered arrangement of the first fixed pulley 3011 and the fourth fixed pulley 3014 and the second fixed pulley 3012 and the third fixed pulley 3013 achieves efficient use of space, makes the hoisting rope 6 run more straight on both sides of the hoist arm 2, and avoids friction between the hoisting rope 6 and the surface of the hoist arm 2. The first fixed pulley 3011 is specifically designed to guide the hoisting rope 6 to the first winch mechanism 4, and the fourth fixed pulley 3014 is specifically designed to guide the hoisting rope 6 to the second winch mechanism 5, with clear division of labor and independent paths, reducing mutual interference when the two winch mechanisms are in action.

[0075] Of course, in some embodiments not shown, the guide assembly 3 can also be a smooth guide column, that is, the hoisting rope 6 passes around the outer circumferential wall of the guide column to form a guide for the hoisting rope 6 through the guide column.

[0076] In some embodiments provided by the present application, the hoisting device 7 includes a lifting tool 701, and the lifting tool 701 is provided with a movable pulley 702, and the hoisting rope 6 passes through the movable pulley 702. Optionally, the lifting tool 701 includes but is not limited to a hook, a lifting ring, a lifting basket, a grab bucket, and a suction cup.

[0077] In this embodiment, the hoisting rope 6 can form two load-bearing rope sections on the movable pulley 702 to achieve a labor-saving ratio. The movable pulley 702 on the lifting tool 701 can make the pulling force of the hoisting rope 6 on the lifting tool 701 more uniform, avoiding the tilting of the lifting tool 701 or the deviation of the hoisted object due to single-point force. In cooperation with the guiding action of the fixed pulley set 301, the movable pulley 702 can ensure that the hoisting rope 6 always maintains a preset angle, reducing shaking during hoisting.

[0078] Reference Figure 6 As shown in some embodiments provided by the present application, the hoisting rope 6 forms at least two reciprocating windings between the guide assembly 3 and the hoisting device 7, so that at least four load-bearing rope segments are formed between the guide assembly 3 and the hoisting device 7.

[0079] For example Figure 6 As shown, the hoisting rope 6 forms three reciprocating windings between the guide assembly 3 and the hoisting device 7 to form an example of six load-bearing rope segments between the guide assembly 3 and the hoisting device 7. It can be understood that the number of reciprocating windings of the hoisting rope 6 between the guide assembly 3 and the hoisting device 7 can also be, but is not limited to, 2, 4, 5, 6, 7, or 8.

[0080] Specifically, one end of the hoisting rope 6 is connected to the first hoisting mechanism 4, and the other end extends along the crane arm 2 to the fixed pulley set 301, winds around the fixed pulley set 301 first, and then winds around the hoisting device 7. After winding around the hoisting device 7, it winds around the fixed pulley set 301 again to complete one reciprocating winding. In turn, the hoisting rope 6 can form at least two reciprocating windings between the hoisting device 7 and the fixed pulley set 301. Then it returns along the crane arm 2 and is connected to the drum of the second hoisting mechanism 5.

[0081] For example, the number of third fixed pulleys 3013 is multiple, and the number of movable pulleys 702 is also multiple. Correspondingly, one end of the hoisting rope 6 is connected to the first hoisting mechanism 4, and the other end extends along the crane arm 2 to the fixed pulley set 301, and in turn winds around the first fixed pulley 3011 and the second fixed pulley 3012, and then winds around the movable pulley 702, and reciprocates at least twice between the multiple movable pulleys 702 and the multiple third fixed pulleys 3013, and finally winds around the fourth fixed pulley 3014, returns along the crane arm 2, and is connected to the drum of the second hoisting mechanism 5.

[0082] In this embodiment, the number of load-bearing rope segments increases by two for each additional reciprocating winding, for example, two reciprocations form four segments, and three reciprocations form six segments, so that the hoisting load is evenly distributed to more load-bearing rope segments. The more the number of load-bearing rope segments, the smaller the tension of a single hoisting rope 6.

[0083] This can significantly reduce the requirements for the strength of the hoisting rope 6 and the torque of the hoisting mechanism, and can improve the maximum lifting capacity of the system under the same hardware conditions, or significantly prolong the service life of the hoisting rope 6 and the hoisting mechanism under the same load, especially suitable for heavy or super-heavy lifting scenarios. At the same time, the load of the movable pulley 702 and the fixed pulley can be reduced, and the wear of the wheel groove or the damage of the bearing of the single pulley due to overloading can be avoided.

[0084] In addition, the multiple load-bearing rope segments constrain the hoisting device 7 from different angles, which is equivalent to providing multiple evenly distributed support points for the hoisting device 7, effectively suppressing the lateral swing or rotation of the hoisted object, and improving the stability of the hoisted load.

[0085] In addition, by adjusting the number of reciprocating winding times, the number of load-bearing rope segments can be flexibly changed, so that the same set of lifting system can adapt to the hoisting needs of different weights. The combination design of the fixed pulley set 301 and the plurality of movable pulleys 702 provides a structural basis for such adjustment, without the need to replace core components to realize working condition switching, thereby reducing equipment investment cost and widening application range.

[0086] In some embodiments provided by the present application, the lifting system further comprises a position detection device 8. At least one of the first hoisting mechanism 4 and the second hoisting mechanism 5 is provided with the position detection device 8. The position detection device 8 is used to detect the number of winding layers of the hoisting rope 6. Preferably, the first hoisting mechanism 4 and the second hoisting mechanism 5 are both provided with the position detection device 8.

[0087] In the present embodiment, the position detection device 8 can monitor the number of winding layers of the hoisting rope 6 on the drum in real time. For example, when it is detected that the number of winding layers is close to the maximum number of winding layers threshold, a pre-warning or a control instruction can be timely sent, so as to avoid the problem of rope entrapment. Compared with the manual observation method, such automatic detection can more accurately and timely discover potential risks, and is especially suitable for large hoisting machinery or work scenes with blocked vision.

[0088] Optionally, the position detection device 8 can be an optical sensor, which detects the presence and position of an object by emitting a light beam and receiving the reflected light, so as to calculate the number of winding layers. Alternatively, the position detection device 8 can also be an ultrasonic sensor, which measures the distance by emitting ultrasonic waves and receiving the reflected waves, so as to detect the distance change between the hoisting rope 6 and the sensor, and calculate the number of winding layers.

[0089] Of course, the position detection device 8 can also be a visual detection system or a laser range finder.

[0090] Optionally, the lifting system further comprises an alarm and a control system, the control system being in communication connection with the position detection device 8 and the alarm, and the control system controlling the alarm to alarm based on the number of winding layers.

[0091] For example, in the process of winding the hoisting rope 6 by one hoisting mechanism, when the control system determines that the number of winding layers of the hoisting rope 6 is greater than or equal to the maximum number of winding layers threshold, the control system controls the alarm to alarm, so as to facilitate the operator to stop the current hoisting mechanism and start another hoisting mechanism to wind the hoisting rope 6.

[0092] Similarly, in the process of releasing the hoisting rope 6 by one hoisting mechanism, when the control system determines that the number of winding layers of the hoisting rope 6 is less than or equal to the minimum number of winding layers threshold, the control system controls the alarm to alarm, so as to facilitate the operator to stop the current hoisting mechanism and start another hoisting mechanism to release the hoisting rope 6.

[0093] In this embodiment, the control system is linked with the position detection device 8 and the alarm, which can timely alarm when the number of layers of the hoisting rope 6 is close to the critical value, so as to avoid the problem of "trapped rope" caused by too many layers or the problem of affecting safe operation caused by too few layers. The operator is guided to switch to another hoisting mechanism when the single hoisting mechanism reaches the critical state, so as to ensure the efficient cooperation of the double hoisting mechanisms, maintain the stable operation of the hoisting system, and reduce the human judgment errors.

[0094] Optionally, the hoisting system further comprises a display device, such as a display screen. The display screen is in communication connection with the control system, and the display screen is used to display the number of layers of at least one of the first hoisting mechanism 4 and the second hoisting mechanism 5.

[0095] In this embodiment, the display screen is used to display the number of layers in real time, so that the operator can clearly master the equipment state without relying on experience judgment. The switching and cooperative control of the double hoisting mechanisms are provided with data reference, so as to facilitate the operator to make timely and accurate operation decisions. The key parameters of the entire hoisting process are visualized, the control ability of the operation state is improved, and the operation blindness is reduced.

[0096] As described above, the hoisting system can switch the first hoisting mechanism 4 and the second hoisting mechanism 5 according to the indication of the alarm or the display device by manual operation. Of course, in other embodiments, the automatic switching of the first hoisting mechanism 4 and the second hoisting mechanism 5 can also be completed by the control system of the hoisting system.

[0097] For example, the control system is in communication connection with the position detection device 8, the first hoisting mechanism 4 and the second hoisting mechanism 5, and the control system controls the running state of the first hoisting mechanism 4 and the second hoisting mechanism 5 based on the number of layers. The running state includes but is not limited to the start, stop, winding, release and rotating speed of the hoisting mechanism.

[0098] Optionally, in the first hoisting state, the control system receives a first hoisting instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When it is determined that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than the maximum number of layers threshold, the control system controls the first hoisting mechanism 4 to wind the hoisting rope 6, and when it is determined that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than or equal to the maximum number of layers threshold, the control system controls the second hoisting mechanism 5 to wind the hoisting rope 6.

[0099] In this embodiment, the control system can automatically judge and switch the hoisting mechanism according to the real-time detected number of layers of the hoisting rope 6, so as to reduce the dependence on human experience and reduce the risk of misoperation. When the first hoisting mechanism 4 reaches the maximum number of winding layers, the system is seamlessly switched to the second hoisting mechanism 5, the continuous hoisting operation is realized, the work efficiency is improved, and the problem of too many winding layers of a single hoisting mechanism leading to trapped rope is avoided.

[0100] Optionally, in the first lowering state, the control system receives a first lowering instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than the minimum number of layers threshold, it controls the first hoisting mechanism 4 to release the hoisting rope 6, and when the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than or equal to the minimum number of layers threshold, it controls the second hoisting mechanism 5 to release the hoisting rope 6.

[0101] In this embodiment, the hoisting mechanism is automatically switched when the number of layers of the hoisting rope 6 is below the minimum number of layers threshold, avoiding the current reel from being empty or the wire rope from jumping slots, which can effectively improve the stability of the lowering process. When the first hoisting mechanism 4 reaches the minimum number of winding layers, the system seamlessly switches to the second hoisting mechanism 5, enabling continuous and smooth operation of the lowering operation and improving work efficiency.

[0102] The first raising instruction and the first lowering instruction can come from an operator or an automatic control program, which is suitable for manual, semi-automatic or fully automatic operation scenarios, improving system adaptability.

[0103] As described above, in the first raising state and the first lowering state, the control system first controls the first hoisting mechanism 4 to act, and then controls the second hoisting mechanism 5 to act when the hoisting rope 6 of the first hoisting mechanism 4 reaches the critical value, so as to try to meet the operation requirements through one hoisting mechanism.

[0104] In this way, the single hoisting mechanism is preferentially controlled and preferentially used, reducing the complex scheduling of the double hoisting mechanisms and reducing the difficulty of system control. Preferentially using the single hoisting mechanism to complete the operation reduces the mechanical wear caused by frequent switching of the double hoisting mechanisms and prolongs the overall life of the equipment.

[0105] In addition, since the hoisting rope 6 on the hoisting mechanism needs to be completely released and re-roped after being used for a period of time, if only the first hoisting mechanism 4 is used, only the first hoisting mechanism 4 needs to be re-roped, and the second hoisting mechanism 5 does not need to be re-roped.

[0106] Optionally, in the second raising state, the control system receives a second raising instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When the control system determines that the number of layers of the hoisting rope 6 on both the first hoisting mechanism 4 and the second hoisting mechanism 5 is less than the maximum number of layers threshold, it controls the first hoisting mechanism 4 and the second hoisting mechanism 5 to simultaneously wind the hoisting rope 6.

[0107] In this embodiment, the double hoisting mechanisms simultaneously winding can increase the lifting speed of the hoisting device 7, which is particularly suitable for operation scenarios that require rapid lifting, thereby shortening the operation time. The tension of the hoisting rope 6 is borne by the two hoisting mechanisms, reducing the unilateral load pressure.

[0108] Optionally, in the second lowering state, the control system receives a second lowering instruction, which can be sent by the operator or obtained by the control system based on an automatic control program. When it is determined that the number of layers of the hoisting rope 6 of both the first hoisting mechanism 4 and the second hoisting mechanism 5 is greater than the minimum number of layers threshold, the control system controls the first hoisting mechanism 4 and the second hoisting mechanism 5 to release the hoisting rope 6 at the same time.

[0109] In this embodiment, the double hoisting mechanisms release the hoisting rope 6 synchronously, which can accelerate the lowering speed of the hoisting device 7, is suitable for the scene where the heavy object needs to be quickly lowered, and improves the overall operation rhythm. The synchronous rope release of the double hoisting mechanisms helps to keep the posture of the hoisting device 7 stable and reduce the shaking of the hoisting device 7.

[0110] Optionally, in the pre-tightening state, the control system receives a pre-tightening instruction, controls the first hoisting mechanism 4 to release the hoisting rope 6, and controls the second hoisting mechanism 5 to wind the hoisting rope 6. After the first hoisting mechanism 4 releases the hoisting rope 6 completely, the control system controls the first hoisting mechanism 4 to wind the hoisting rope 6, and controls the second hoisting mechanism 5 to release the hoisting rope 6.

[0111] Directly starting the lifting operation in the slack state of the hoisting rope 6 is easy to cause jumping, knotting or deviation. In this embodiment, the double hoisting mechanisms alternately wind and release the hoisting rope 6, which can tighten the hoisting rope 6, eliminate the slack of the hoisting rope 6, ensure the uniform stress of the hoisting rope 6 during hoisting, provide a stable and tensioned rope state for subsequent hoisting operation, and improve the safety.

[0112] In the embodiment of the application, a hoisting machinery is also provided.

[0113] Specifically, the hoisting machinery includes the lifting system as described above. It should be noted that the hoisting machinery includes the lifting system, and therefore includes all the advantages of the lifting system, which will not be described again.

[0114] In the embodiment of the application, a control method is also provided. The control method can be based on the lifting system or hoisting machinery embodiments as described above. In addition, the implementer of the control method can be an operator or a control system. For ease of understanding, the implementer of the control method will be taken as the control system in the following description.

[0115] Specifically, the control method includes:

[0116] In the first lifting state, when it is determined that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than the maximum number of layers threshold, the control system controls the first hoisting mechanism 4 to wind the hoisting rope 6. When it is determined that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than or equal to the maximum number of layers threshold, the control system controls the second hoisting mechanism 5 to wind the hoisting rope 6.

[0117] Specifically, in the first lifting state, the control system receives a first lifting instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than the maximum number of layers threshold, the control system controls the first hoisting mechanism 4 to wind the hoisting rope 6, and when the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than or equal to the maximum number of layers threshold, the control system controls the second hoisting mechanism 5 to wind the hoisting rope 6.

[0118] In this embodiment, the control system can automatically determine and switch the hoisting mechanism according to the number of layers of the hoisting rope 6 detected in real time, thereby reducing the dependence on human experience and reducing the risk of misoperation. When the first hoisting mechanism 4 reaches the maximum number of winding layers, the system seamlessly switches to the second hoisting mechanism 5, realizes continuous lifting operation, improves work efficiency, and avoids the problem of too many winding layers of a single hoisting mechanism, which leads to the problem of trapped rope.

[0119] In some embodiments provided by the present application, the control method comprises:

[0120] In the first lowering state, when the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than the minimum number of layers threshold, the control system controls the first hoisting mechanism 4 to release the hoisting rope 6, and when the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than or equal to the minimum number of layers threshold, the control system controls the second hoisting mechanism 5 to release the hoisting rope 6.

[0121] Specifically, in the first lowering state, the control system receives a first lowering instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is greater than the minimum number of layers threshold, the control system controls the first hoisting mechanism 4 to release the hoisting rope 6, and when the control system determines that the number of layers of the hoisting rope 6 on the first hoisting mechanism 4 is less than or equal to the minimum number of layers threshold, the control system controls the second hoisting mechanism 5 to release the hoisting rope 6.

[0122] In this embodiment, the hoisting mechanism is automatically switched when the number of layers of the hoisting rope 6 is lower than the minimum number of layers threshold, which avoids the problems of empty winding of the current drum or jumping of the steel wire rope, and can effectively improve the stability of the lowering process. When the first hoisting mechanism 4 reaches the minimum number of winding layers, the system seamlessly switches to the second hoisting mechanism 5, realizes continuous and smooth lowering operation, and improves work efficiency.

[0123] As described above, in the first lifting state and the first lowering state, the control system first controls the first hoisting mechanism 4 to act, and then controls the second hoisting mechanism 5 to act when the hoisting rope 6 on the first hoisting mechanism 4 reaches the critical value, so as to try to meet the operation requirements through one hoisting mechanism.

[0124] Thus, the priority control preferentially uses a single winch mechanism, reduces the complex scheduling of the two winch mechanisms, and reduces the difficulty of system control. The single winch mechanism is preferentially used to complete the work, reduces mechanical wear caused by frequent switching of the two winch mechanisms, and prolongs the overall life of the equipment.

[0125] In addition, since the hoisting rope 6 on the winch mechanism needs to be completely released and re-roped after being used for a period of time, if only the first winch mechanism 4 is used, only the first winch mechanism 4 needs to be re-roped, and the second winch mechanism 5 does not need to be re-roped.

[0126] In some embodiments provided by the present application, the control method comprises:

[0127] In the second lifting state, when it is determined that the number of layers of the hoisting rope 6 of both the first winch mechanism 4 and the second winch mechanism 5 is less than the maximum number of layers threshold, the first winch mechanism 4 and the second winch mechanism 5 are controlled to simultaneously wind the hoisting rope 6.

[0128] Specifically, in the second lifting state, the control system receives a second lifting instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When it is determined that the number of layers of the hoisting rope 6 of both the first winch mechanism 4 and the second winch mechanism 5 is less than the maximum number of layers threshold, the control system controls the first winch mechanism 4 and the second winch mechanism 5 to simultaneously wind the hoisting rope 6.

[0129] In this embodiment, the simultaneous winding of the two winch mechanisms can accelerate the lifting speed of the hoisting device 7, especially suitable for work scenes that require rapid lifting, and shorten the work time. The tension of the hoisting rope 6 is borne by the two winch mechanisms, reducing the unilateral load pressure.

[0130] In some embodiments provided by the present application, the control method comprises:

[0131] In the second lowering state, when it is determined that the number of layers of the hoisting rope 6 of both the first winch mechanism 4 and the second winch mechanism 5 is greater than the minimum number of layers threshold, the first winch mechanism 4 and the second winch mechanism 5 are controlled to simultaneously release the hoisting rope 6.

[0132] Specifically, in the second lowering state, the control system receives a second lowering instruction, which can be sent by an operator or obtained by the control system based on an automatic control program. When it is determined that the number of layers of the hoisting rope 6 of both the first winch mechanism 4 and the second winch mechanism 5 is greater than the minimum number of layers threshold, the control system controls the first winch mechanism 4 and the second winch mechanism 5 to simultaneously release the hoisting rope 6.

[0133] In the embodiment, the double winch mechanism synchronously releases the hoisting rope 6, which can accelerate the descending speed of the hoisting device 7, is suitable for the scene where heavy objects need to be quickly lowered, and improves the overall operation rhythm. The double winch mechanism synchronously releases the rope, which helps to keep the posture of the hoisting device 7 stable and reduce the shaking of the hoisting device 7.

[0134] The control method comprises:

[0135] In the pre-tightening state, the first winch mechanism 4 is controlled to release the hoisting rope 6, and the second winch mechanism 5 is controlled to wind up the hoisting rope 6, and after the first winch mechanism 4 finishes releasing the hoisting rope 6, the first winch mechanism 4 is controlled to wind up the hoisting rope 6, and the second winch mechanism 5 is controlled to release the hoisting rope 6.

[0136] Specifically, in the pre-tightening state, the control system receives a pre-tightening instruction, controls the first winch mechanism 4 to release the hoisting rope 6, and controls the second winch mechanism 5 to wind up the hoisting rope 6, and after the first winch mechanism 4 finishes releasing the hoisting rope 6, controls the first winch mechanism 4 to wind up the hoisting rope 6, and controls the second winch mechanism 5 to release the hoisting rope 6.

[0137] In the hoisting rope 6 slack state, directly starting the lifting operation is easy to cause jumping, knotting or deviation. In the embodiment, the double winch alternately winds and unwinds the hoisting rope 6, which can tighten the hoisting rope 6, eliminate the slack of the hoisting rope 6, ensure that the hoisting rope 6 is stressed evenly during hoisting, provide a stable and tensioned rope state for subsequent hoisting operations, and improve safety.

[0138] It should be noted that the number of winding layers of the first winch mechanism 4 and the second winch mechanism 5 can be detected by the position detection device 8.

[0139] In addition, as introduced above, the operator can also perform the control method provided by the embodiment of the application in cooperation with at least one of the alarm and the display device, and no longer detailed.

[0140] Although the embodiments of the application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A lifting system, characterized in that: include: Support (1); A lifting arm (2), one end of the lifting arm (2) is connected to the support (1), and an end of the lifting arm (2) away from the support (1) is provided with a guide assembly (3); A first hoisting mechanism (4) and a second hoisting mechanism (5), both of which are arranged on the support (1); A lifting rope (6) and a lifting device (7), one end of the lifting rope (6) is connected to the first hoisting mechanism (4), the other end of the lifting rope (6) is wound around the guide assembly (3), the lifting device (7) and the guide assembly (3) in sequence, and is connected to the second hoisting mechanism (5), and the first hoisting mechanism (4) and the second hoisting mechanism (5) can both reel in or release the lifting rope (6).

2. The lifting system according to claim 1, characterized in that: The hoisting system further comprises a position detection device (8), at least one of the first hoisting mechanism (4) and the second hoisting mechanism (5) is provided with the position detection device (8), and the position detection device (8) is used to detect the number of layers of the winding of the suspension rope (6).

3. The lifting system according to claim 2, characterized in that: The lifting system further includes a control system, which is in communication with the position detection device (8), the first hoisting mechanism (4) and the second hoisting mechanism (5), and the control system controls the operating states of the first hoisting mechanism (4) and the second hoisting mechanism (5) based on the number of floors.

4. The lifting system according to claim 1, characterized in that: The lifting rope (6) is wound back and forth at least twice between the guide assembly (3) and the lifting device (7), so that at least four load-bearing rope segments are formed between the guide assembly (3) and the lifting device (7).

5. The lifting system according to claim 1, characterized in that: The guide assembly (3) is configured as a fixed pulley assembly (301); And / or, the hoisting device (7) comprises a sling (701), a movable pulley (702) is provided on the sling (701), and the hoisting rope (6) is wound around the movable pulley (702).

6. The lifting system according to claim 1, characterized in that: The lifting system further comprises a lifting cylinder (9), the lifting arm (2) is rotatably connected to the support (1), one end of the lifting cylinder (9) is rotatably connected to the support (1), and the other end of the lifting cylinder (9) is rotatably connected to the lifting arm (2).

7. The lifting system according to claim 1, characterized in that: The lifting system further comprises a base (10) and a slewing mechanism (11), wherein the slewing mechanism (11) is arranged on the base (10), and the support (1) is arranged on the slewing mechanism (11), and the slewing mechanism (11) is used to drive the support (1) to rotate.

8. A lifting machine, characterized in that: Comprising a lifting system as described in any one of claims 1-7.

9. A control method, characterized in that: Based on the lifting system according to any one of claims 1 to 7 or the lifting machinery according to claim 8, the method comprises: In a first lifting state, when it is determined that the number of layers of the suspension rope (6) on the first hoisting mechanism (4) is less than a maximum layer threshold, the first hoisting mechanism (4) is controlled to reel in the suspension rope (6); and when it is determined that the number of layers of the suspension rope (6) on the first hoisting mechanism (4) is greater than or equal to the maximum layer threshold, the second hoisting mechanism (5) is controlled to reel in the suspension rope (6); and / or, in the first descending state, when it is determined that the number of layers of the suspension ropes (6) on the first hoisting mechanism (4) is greater than a minimum layer threshold, the first hoisting mechanism (4) is controlled to release the suspension ropes (6); and when it is determined that the number of layers of the suspension ropes (6) on the first hoisting mechanism (4) is less than or equal to the minimum layer threshold, the second hoisting mechanism (5) is controlled to release the suspension ropes (6); and / or, in the second lifting state, when it is determined that the number of layers of the suspension ropes (6) of both the first hoisting mechanism (4) and the second hoisting mechanism (5) is less than a maximum layer threshold, controlling the first hoisting mechanism (4) and the second hoisting mechanism (5) to simultaneously reel in the suspension ropes (6); And / or, in the second descending state, when it is determined that the number of layers of the suspension ropes (6) of both the first hoisting mechanism (4) and the second hoisting mechanism (5) is greater than a minimum layer threshold, the first hoisting mechanism (4) and the second hoisting mechanism (5) are controlled to release the suspension ropes (6) simultaneously.

10. A control method, characterized in that: Based on the lifting system according to any one of claims 1 to 7 or the lifting machinery according to claim 8, the method comprises: In the pre-tightened state, the first hoisting mechanism (4) is controlled to release the hoisting rope (6), and the second hoisting mechanism (5) is controlled to reel in the hoisting rope (6). After the first hoisting mechanism (4) has completely released the hoisting rope (6), the first hoisting mechanism (4) is controlled to reel in the hoisting rope (6), and the second hoisting mechanism (5) is controlled to release the hoisting rope (6).

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