Main and auxiliary hook hoisting system and hoisting method

Abstract

The invention relates to a main and auxiliary hook hoisting system and a hoisting method. The invention provides a main and auxiliary hook hoisting system which comprises a main hoisting arm and a main hoisting mechanism arranged on the main hoisting arm, one end of the main steel wire rope is connected with the main hoisting mechanism, and the other end is connected with the main lifting hook; the auxiliary beam structure is arranged at the far end of the main lifting arm; the two sets of independent auxiliary lifting mechanisms are arranged on the auxiliary beam structure; one end of each auxiliary steel wire rope is connected with one auxiliary hoisting mechanism, and the other end of each auxiliary steel wire rope is connected with one auxiliary lifting hook; the main lifting hook and the two auxiliary lifting hooks are jointly connected with a lifting piece, and the main steel wire rope and the two auxiliary steel wire ropes are coplanar pairwise; and the control unit is in communication connection with the main hoisting mechanism and the auxiliary hoisting mechanism. A plane is formed by every two of the three steel wire ropes, three double-line pendulums are formed so as to limit swinging of the hanging piece in any direction, and the posture of the hanging piece in the air is adjusted by adjusting the length of the steel wire ropes.

Description

Technical Field

[0001] This invention belongs to the field of hoisting technology, specifically relating to a main and auxiliary hook hoisting system and hoisting method, particularly the suppression of swaying and attitude adjustment of hoisted components during the hoisting process of tower cranes, double-arm ground-mounted jib cranes, and other hoisting equipment. Background Technology

[0002] Lifting is a crucial step in building construction, dockside transportation, and tower erection. Taking tower erection as an example, according to on-site surveys and statistics, the time for lifting and positioning tower materials accounts for approximately 30% of the total tower erection time. With the development and progress of science and technology, the power grid construction industry is accelerating its transformation from labor-intensive to technology-intensive. To continuously improve the construction capabilities and technical levels of power grid projects, the scope of mechanized construction throughout the entire transmission line process is gradually expanding. The company requires innovative research and development of construction equipment based on the characteristics of transmission line engineering construction, demanding that the equipment be highly automated, technologically advanced, safe, and efficient. To improve the mechanization level of transmission line tower erection, single-arm ground-mounted gantry cranes and double-arm ground-mounted gantry cranes have been developed, effectively improving the safety level of tower erection.

[0003] When using ground-mounted gantry cranes for sectional hoisting of steel towers, 2 to 4 workers are required to drag the guy ropes attached to the bottom of the hoisting components on the ground to prevent swaying and to adjust their posture. Manually dragging the guy ropes requires workers to move extensively on the ground according to the lifting, slewing, and luffing movements of the gantry crane, resulting in high labor intensity and safety risks. The tension control of the guy ropes relies on the experience and physical strength of the workers, leading to low precision and poor control over the swaying of the hoisting components, resulting in low accuracy in posture adjustment. Furthermore, manual control of the guy ropes prevents 100% mechanization of double-arm ground-mounted gantry crane hoisting operations, severely hindering their automation and intelligent transformation. Summary of the Invention

[0004] To address the problems of poor swing control accuracy, difficulty in attitude adjustment, low automation, and high safety risks caused by relying on manual dragging of guy ropes in traditional hoisting operations, this invention proposes a main and auxiliary hook hoisting method and system for suppressing swing and adjusting attitude of hoisted components based on the three-line pendulum principle. This system achieves automated control of swing suppression and attitude adjustment, providing technical support for hoisting processes in building construction, dock transfer, and tower erection, improving the swing suppression capability and attitude adjustment accuracy of hoisted components, and enhancing the quality and safety of engineering construction.

[0005] The objective of this invention is achieved through the following technical solution: A main and auxiliary hook lifting system, comprising: Main boom and main hoisting mechanism mounted on the main boom; The main wire rope has one end connected to the main hoisting mechanism and the other end connected to the main hook. The secondary beam structure located at the far end of the main boom, and two independent secondary lifting mechanisms located on the secondary beam structure; Two auxiliary wire ropes, one end of each auxiliary wire rope is connected to an auxiliary lifting mechanism, and the other end is connected to a hook; The main hook and two auxiliary hooks are connected to the lifting component, wherein the main wire rope and the two auxiliary wire ropes are coplanar in pairs; The control unit is communicatively connected to the main hoisting mechanism and the auxiliary hoisting mechanism.

[0006] Furthermore, the secondary beam structure includes a first secondary beam and a second secondary beam, which together with the main boom form a Y-shaped structure, and the two sets of secondary lifting mechanisms are respectively installed on the first secondary beam and the second secondary beam.

[0007] Furthermore, the main hoisting mechanism is a luffing trolley movably mounted on the main boom.

[0008] Furthermore, the auxiliary lifting mechanism is a wire rope winding and unwinding device, which is used to adjust the length of the auxiliary wire rope.

[0009] Furthermore, it also includes a steering mechanism, which is respectively disposed at the top of the first sub-beam and the second sub-beam. One end of each sub-wire rope is connected to a sub-lifting mechanism, and the other end is connected to a hook after being turned by the steering mechanism.

[0010] Furthermore, the steering mechanism is a steering trolley.

[0011] Furthermore, it also includes: tension sensors installed on the main hoisting mechanism and the auxiliary hoisting mechanism for measuring the actual tension of the wire rope.

[0012] The present invention also provides a hoisting method based on a main and auxiliary hook hoisting system, comprising the following steps: Three connection points are set on the outside of the lifting component, and the main hook and two auxiliary hooks are used to connect the lifting component to form a three-line pendulum model. During hoisting and transportation, the control unit controls the main hoisting mechanism and the auxiliary hoisting mechanism to maintain a constant tension in the main wire rope and the auxiliary wire rope, so as to suppress the swing of the hoisted part in any direction; During the attitude adjustment process, the main lifting mechanism and the auxiliary lifting mechanism are controlled by the control unit to adjust the spatial position of the connection point on the lifting component, thereby adjusting the attitude of the lifting component in space.

[0013] Furthermore, adjusting the spatial position of the connection point on the lifting component includes: Determine the target posture that the lifting components need to achieve based on the requirements of the lifting task; Based on the constructed coordinate system, obtain the position coordinates of each connection point on the current lifting component, the position of the center of gravity of the lifting component, the position coordinates of the upper suspension point of each wire rope, and the length and tension of each wire rope; A mathematical model of the system is constructed, the target attitude is input into the mathematical model of the system, and the solution is obtained to obtain the control parameters required to achieve the target attitude.

[0014] Furthermore, the mathematical model of the system includes: a set of simultaneous geometric constraint equations, a set of force balance equations, and a set of moment balance equations; The control parameters include: the target length of each wire rope and / or the target position of the upper suspension point of each wire rope; The expressions for the geometric constraint equations are as follows:

[0015]

[0016]

[0017]

[0018]

[0019]

[0020]

[0021]

[0022]

[0023] In the formula, the suspension points above the main wire rope and the two auxiliary wire ropes are points A, B, and C, respectively, and the connection points between the lower ends and the lifting components are points A', B', and C', respectively. The center of gravity of the lifting component is point G. x A , y A , z A Indicate the coordinates of point A. x B , y B , z B Indicates the coordinates of point B. x C , y C , z C Indicates the coordinates of point C. xA’ , y A’ , z A’ Indicates the coordinates of point A'. x B’ , y B’ , z B’ Indicates the coordinates of point B'. x C’ , y C’ , z C’ Indicates the coordinates of point C'. x G , y G , z G Indicates the coordinates of the center of gravity G of the lifting component. l AA’ This represents the length of the steel wire rope between point A and point A'. l BB’ This represents the length of the wire rope between point B and point B'. l CC’ This represents the length of the wire rope between point C and point C'. l A’B’ This represents the length of the steel wire rope between points A' and B'. l A’C’ This represents the length of the wire rope between points A' and C'. l B’C’ This represents the length of the wire rope between points B' and C'. l A’G This represents the length of the steel wire rope between point A' and the center point G. l B’G This represents the length of the wire rope between point B' and the center point G. l C’G This represents the length of the wire rope between point C' and the center point G; The equations for the force equilibrium system are expressed as follows:

[0024]

[0025]

[0026] In the formula, T AA’ This represents the tension of the steel wire rope between point A and point A'. T BB’ This represents the tension in the wire rope between point B and point B'. T CC’This represents the tension of the wire rope between point C and point C'; The expressions for the torque balance equations are as follows:

[0027] In the formula, This represents the lever arm vector from the center of gravity G to point A'. This represents the lever arm vector from the center of gravity G to point B'. This represents the lever arm vector from the center of gravity G to point C'. This represents the force vector from point A to point A'. This represents the force vector from point B to point B'. This represents the force vector from point C to point C'.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: The main and auxiliary hook lifting system proposed in this invention includes: a main boom; a main hoisting mechanism mounted on the main boom; a main wire rope, one end of which is connected to the main hoisting mechanism and the other end to the main hook; a secondary beam structure mounted at the far end of the main boom; two independent auxiliary hoisting mechanisms mounted on the secondary beam structure; two auxiliary wire ropes, one end of each auxiliary wire rope connected to one of the auxiliary hoisting mechanisms and the other end connected to an auxiliary hook; the main hook and the two auxiliary hooks jointly connect to the lifting component, wherein the main wire rope and the two auxiliary wire ropes are coplanar in pairs; and a control unit, which is communicatively connected to the main hoisting mechanism and the auxiliary hoisting mechanisms. Because the main wire rope and the two auxiliary wire ropes are coplanar in pairs, they form a spatially stable tri-line pendulum model. This structure can constrain the lifting component from three different directions, thereby efficiently and quickly suppressing the swaying of the lifting component due to inertia during hoisting, luffing, and slewing in any direction. By independently controlling the main and auxiliary hoisting mechanisms through the control unit, the length of the wire rope can be precisely adjusted. This is equivalent to directly controlling the force points acting on different positions on the hoisting component, thereby generating the required torque and actively and precisely adjusting the spatial attitude of the hoisting component around its center of gravity, such as pitch and roll, to achieve precise positioning at high altitudes.

[0029] The lifting method based on a main and auxiliary hook lifting system proposed in this invention includes the following steps: Three connection points are set on the outside of the lifting component; the main hook and two auxiliary hooks are used to connect the lifting component, forming a three-line pendulum model; a control unit controls the main and auxiliary lifting mechanisms to maintain constant tension in the main and auxiliary wire ropes, thereby suppressing the swaying of the lifting component in any direction; the control unit controls the main and auxiliary lifting mechanisms to adjust the lengths of the main and auxiliary wire ropes, changing the spatial position of the connection points on the lifting component, thus achieving attitude adjustment of the lifting component in space. By controlling the constant tension of the main and auxiliary wire ropes, a most stable tension structure in space is formed, allowing the sway-suppressing effect to cover the entire movement space. By coordinating the adjustment of the lengths of the main and auxiliary wire ropes, synchronous and decoupled control of the lifting component's position and attitude can be achieved. While adjusting the attitude, the height of the lifting component can be kept constant by raising and lowering the main hook, achieving precise positioning and greatly improving adjustment efficiency and accuracy. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the three-line pendulum suspension component sway suppression method of the present invention; Figure 2 This is a schematic diagram of the lifting component posture adjustment method of the present invention; Figure 3 This is a schematic diagram of the main and auxiliary hook hoisting system of the present invention; The components include: 1. Main boom; 2. Main wire rope; 3. Main hook; 41. First auxiliary beam; 42. Second auxiliary beam; 51. First auxiliary wire rope; 52. Second auxiliary wire rope; 61. First auxiliary hook; 62. Second auxiliary hook; 7. Luffing trolley; 81. First wire rope winding and unwinding device; 82. Second wire rope winding and unwinding device; 91. First steering pulley; 92. Second steering pulley; 10. Lifting component. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other instances that are improved or modified by those skilled in the art are within the scope of protection of the present invention. It should be understood that the embodiments of the present invention are only used to illustrate the technical effects of the present invention, and are not intended to limit the scope of protection of the present invention. Unless otherwise specified, the methods used in the embodiments are conventional methods.

[0032] Example 1 This embodiment provides a main and auxiliary hook lifting system, such as Figure 3As shown, the system includes: a main boom 1, a main hoisting mechanism mounted on the main boom 1; a main wire rope 2, one end of which is connected to the main hoisting mechanism and the other end to a main hook 3; a sub-beam structure mounted at the far end of the main boom 1, and two independent sub-hoisting mechanisms mounted on the sub-beam structure; two sub-wire ropes and two sub-hooks, the two sub-wire ropes including a first sub-wire rope 51 and a second sub-wire rope 52; the two sub-hooks including a first sub-hook 61 and a second sub-hook 62; one end of each sub-wire rope is connected to one of the sub-hoisting mechanisms, and the other end is connected to a sub-hook; the main hook and the two sub-hooks are connected together to the lifting component, wherein the main wire rope and the two sub-wire ropes are coplanar in pairs; and a control unit, which is communicatively connected to the main hoisting mechanism and the sub-hoisting mechanisms.

[0033] In this embodiment, the secondary beam structure includes a first secondary beam 41 and a second secondary beam 42, which together with the main boom 1 form a Y-shaped structure. The two sets of secondary lifting mechanisms are respectively installed on the first secondary beam 41 and the second secondary beam 42.

[0034] In a specific implementation of this embodiment, the main hoisting mechanism is a luffing trolley 7 movably mounted on the main boom 1. The luffing trolley 7 is driven by its own drive mechanism (such as a motor) and can reciprocate along the track on the main boom 1.

[0035] The auxiliary lifting mechanism is a wire rope winding and unwinding device, which is used to adjust the length of the auxiliary wire rope. The wire rope winding and unwinding device includes a first wire rope winding and unwinding device 81 and a second wire rope winding and unwinding device 82, which are respectively disposed on the first auxiliary beam 41 and the second auxiliary beam 42.

[0036] In a preferred embodiment of this invention, the system further includes a steering mechanism, which is respectively disposed at the top of the first sub-beam 41 and the second sub-beam 42. One end of each sub-wire rope is connected to a sub-lifting mechanism, and the other end is turned by the steering mechanism and connected to a hook. In this embodiment, two steering pulleys, namely a first steering pulley 91 and a second steering pulley 92, are used, respectively disposed at the top of the first sub-beam 41 and the second sub-beam 42. One end of the first sub-wire rope 51 is wound around a first wire rope take-up and unwinding device 81, and the other end is turned by the first steering pulley 91 and connected to the first hook 61. One end of the second sub-wire rope 52 is wound around a second wire rope take-up and unwinding device 82, and the other end is turned by the second steering pulley 92 and connected to the second hook 62.

[0037] The system also includes tension sensors installed on the main hoisting mechanism and the auxiliary hoisting mechanism for measuring the actual tension of the wire rope.

[0038] The system operates as follows: During hoisting operations, the lifting component 10 is connected to the main hook 3, the first auxiliary hook 61, and the second auxiliary hook 62 through three connection points on its outer side or upper part, respectively. Thus, the main wire rope 2, the first auxiliary wire rope 51, and the second auxiliary wire rope 52 form a plane in space, together creating a stable three-line pendulum model.

[0039] The control unit of the system (which may be a PLC, industrial computer, etc.) is connected to the drive mechanism of the luffing trolley 7, the first wire rope winding and unwinding device 81, and the second wire rope winding and unwinding device 82 via wired or wireless means.

[0040] Sway suppression: During the hoisting and transportation process, as the hoisting component 10 is being transported, the control unit sends commands to the two wire rope take-up and release devices to maintain their output torque, thereby ensuring that the first wire rope 51 and the second wire rope 52 maintain constant tension. The horizontal component of this tension constrains the hoisting component from both sides, and by utilizing the three-line pendulum principle, it effectively suppresses the sway of the hoisting component caused by hoisting, luffing, slewing, or wind load in any direction.

[0041] Attitude Adjustment: When the lifting component 10 needs to be precisely positioned, the control unit calculates the required adjustment of the wire rope length based on the target attitude. Subsequently, the control unit can synchronously or independently control the luffing trolley 7 and the two wire rope take-up and release devices to take up and release the auxiliary wire rope. By changing the length of the two wire ropes and the angle combination of the main wire rope, the spatial coordinates of the three connection points on the lifting component 10 are changed, and the position and attitude of the lifting component 10 in space are precisely adjusted.

[0042] In this embodiment of the main and auxiliary hook lifting system, the weight of the lifting component is primarily borne by the main hook, while the auxiliary hook only provides the lateral force to suppress swaying and control the orientation of the lifting component. During lifting, as the main hook is raised and lowered, the luffing trolley is adjusted, and the main boom rotates, the auxiliary hook maintains constant tension to suppress swaying of the lifting component. When adjusting the orientation of the lifting component, the orientation is adjusted by changing the length of the wire ropes of the two auxiliary hooks.

[0043] Example 2 This embodiment provides a lifting method for suppressing sway and adjusting the attitude of the lifting component, based on the lifting system of Embodiment 1, and includes the following steps: S1. Set three connection points on the outside of the lifting component, or at an appropriate location. Use the main hook to connect to one connection point on the lifting component, and use two auxiliary hooks to connect to the other two connection points on the lifting component respectively. The main wire rope and the two auxiliary wire ropes together form a controlled three-line pendulum model.

[0044] S2. Lifting and Sway Suppression: The main hoisting mechanism and auxiliary hoisting mechanism are controlled by the control unit to maintain constant tension of the main wire rope and auxiliary wire rope, so as to suppress the sway of the hoisted part in any direction; During the lifting, luffing, or slewing of the lifting equipment, the control unit sends commands to the main lifting mechanism and the two auxiliary lifting mechanisms, requiring them to maintain constant tension in their respective wire ropes and perform sway suppression control. This constant tension is fed back in real time by tension sensors installed on the mechanisms and is precisely maintained through a closed-loop control algorithm. Because all three wire ropes maintain constant tension, the planes formed by them in pairs create a stable "tension net" in space, which can quickly dampen the swaying kinetic energy of the lifting equipment from multiple directions, thereby effectively suppressing the swaying of the lifting equipment in any direction.

[0045] The following explains the principle of suppressing the sway of the suspended component: Inertial forces during acceleration and deceleration in a hoisting system cause the suspended components to sway. The motion of the gantry is a complex three-dimensional spatial motion composed of rotation, luffing, and lifting. Taking the single-sided suspended component of the gantry as the research object, a physical model is abstracted from the actual gantry system, and a mathematical model of the system is established using Lagrange analytical mechanics. The dynamic characteristics of the hoisting path are studied, providing a theoretical basis for hoisting path planning.

[0046] Traditional tower cranes or gantry cranes are mainly used to transfer heavy objects in space during construction. They include a hoisting mechanism, a luffing mechanism, and a slewing mechanism. The hoisting mechanism transfers the heavy object vertically; the luffing mechanism moves the heavy object horizontally along the slewing mechanism; and the slewing mechanism allows the gantry crane to rotate throughout its working range, thus expanding its operational area. During operation, the hoisted object is driven by a steel cable. When the tower crane or gantry crane performs luffing and / or slewing movements, the suspended component under the steel cable will swing due to inertia. The steel cable-hook-suspended component model can be simplified as a simple pendulum. The time required for the pendulum to complete one full swing (e.g., from the highest point on the right → equilibrium position → highest point on the left → equilibrium position → highest point on the right) is called the period (T). The formula for the period of a simple pendulum is: (1) In the formula, T is the period of the simple pendulum, in seconds; L is the length of the pendulum, i.e., the distance from the suspension point to the center of mass of the pendulum bob, in meters; and g is the gravitational acceleration of the ground, in meters per second. 2 .

[0047] To suppress the swaying of the suspended component, the pendulum model was improved by adding two steel wire ropes, optimizing the pendulum model as follows: Figure 1 The three-wire pendulum model shown has three steel wire ropes suspended above points A, B, and C respectively.

[0048] The three steel wire ropes form three bilinear pendulums in pairs, creating a single plane. In a single bilinear pendulum, the suspended component can only undergo simple harmonic motion perpendicular to the plane and cannot oscillate within the plane. Because the planes containing the three bilinear pendulums are not parallel to each other, the three-pendulum system can restrict the oscillation of the suspended component in any direction, making it more suitable for suppressing the oscillation of the suspended component.

[0049] S3. Precise positioning and attitude adjustment: The main hoisting mechanism and the auxiliary hoisting mechanism are controlled by the control unit. The lengths of the main wire rope and the auxiliary wire rope are adjusted to change the spatial position of the connection point on the hoisting component, thereby realizing the attitude adjustment of the hoisting component in space.

[0050] The adjustment of the spatial position of the connection points on the lifting component includes: determining the target posture that the lifting component needs to achieve based on the lifting task requirements; obtaining the position coordinates of each connection point on the current lifting component, the position of the lifting component's center of gravity, the position coordinates of each wire rope's upper suspension point, and the length and tension of each wire rope based on the constructed coordinate system; constructing a system mathematical model, inputting the target posture into the system mathematical model, solving for the control parameters required to achieve the target posture. The system mathematical model includes: a simultaneous set of geometric constraint equations, a set of force balance equations, and a set of moment balance equations; the control parameters include the target length of each wire rope and / or the target position of each wire rope's upper suspension point. The following explains the principle of adjusting the attitude of the lifting component: When adjusting the posture, the above-mentioned trilinear pendulum is modified, such as... Figure 2 As shown, the connection points (hook positions) between the lower ends of the three wire ropes and the lifting device will be moved to points A', B', and C' on the outside of the lifting device, respectively. By adjusting the lengths of the wire ropes between AA', BB', and CC', as well as the positions of points A, B, and C, the attitude of the lifting device can be adjusted.

[0051] Based on the geometric positional relationship, we can conclude that: (2) (3) (4) (5) (6) (7) (8) (9) (10) In the formula, the suspension points above the main wire rope and the two auxiliary wire ropes are points A, B, and C, respectively, and the connection points between the lower ends and the lifting components are points A', B', and C', respectively. The center of gravity of the lifting component is point G. xA , y A , z A Indicate the coordinates of point A. x B , y B , z B Indicates the coordinates of point B. x C , y C , z C Indicates the coordinates of point C. x A’ , y A’ , z A’ Indicates the coordinates of point A'. x B’ , y B’ , z B’ Indicates the coordinates of point B'. x C’ , y C’ , z C’ Indicates the coordinates of point C'. x G , y G , z G Indicates the coordinates of the center of gravity G of the lifting component. l AA’ This represents the length of the steel wire rope between point A and point A'. l BB’ This represents the length of the wire rope between point B and point B'. l CC’ This represents the length of the wire rope between point C and point C'. l A’B’ This represents the length of the steel wire rope between points A' and B'. l A’C’ This represents the length of the wire rope between points A' and C'. l B’C’ This represents the length of the wire rope between points B' and C'. l A’G This represents the length of the steel wire rope between point A' and the center point G. l B’G This represents the length of the wire rope between point B' and the center point G. l C’G This represents the length of the wire rope between point C' and the center point G.

[0052] A force balance analysis of the lifting component yields the following results: (11) (12) (13) In the formula, T AA’ This represents the tension of the steel wire rope between point A and point A'. T BB’ This represents the tension in the wire rope between point B and point B'. T CC’ This represents the tension of the wire rope between point C and point C'.

[0053] A moment balance analysis of the lifting components yields the following results: (14) The above equation can be expanded into a third-order determinant: (15) In the formula: They represent x , y , z The unit vector along the axis. The above equation is equivalent to: (16) (17) (18) Combining formulas (2)~(13) and (16)~(18), we can obtain a system of 15 equations. Given the coordinates of point A... x A , y A , z A Coordinates of point B x B , y B , z B Coordinates of point C x C , y C , z C The length of the wire rope between point A and point A' l AA’ The length of the wire rope between point B and point B' l BB’ The length of the wire rope between point C and point C' l CC’Under the premise that point A' can be calculated, the coordinates of point A' can be obtained. x A’ , y A’ , z A’ Coordinates of point B' x B’ , y B’ , z B’ Coordinates of point C' x C’ , y C’ , z C’ Coordinates of the center of gravity G of the lifting component x G , y G , z G The tension of the wire rope between point A and point A' T AA’ The tension of the wire rope between point B and point B' T BB’ The tension of the wire rope between point C and point C' T CC’ There are 15 unknowns; therefore, the position and attitude of the lifting component can be adjusted by adjusting the length of the wire ropes between AA', BB' and CC', as well as the positions of points A, B and C.

[0054] The specific implementation method is as follows: When the lifting component is transported to the vicinity of the target installation location, the attitude adjustment phase begins, including: (1) Input the target attitude parameters of the lifting component using the control unit (e.g., target angle or target coordinates of the connection point under the target installation position).

[0055] (2) The control unit initiates the embedded system mathematical model for solution. This model contains the following set of equations: Geometric constraint equations: Established by spatial geometric relationships, describing the coordinate relationships between the upper and lower ends of the wire rope, the rope length, and the center of gravity of the lifting device.

[0056] Force balance equations: These are established based on the condition that when a lifting component is in static equilibrium, the net force acting on it in the three directions of space is zero.

[0057] The torque balance equations are established based on the condition that the resultant torque of the lifting component about its center of gravity is zero.

[0058] The target attitude parameters are taken as known quantities and substituted into the above system of simultaneous equations for inverse problem-solving. The unknowns obtained are the control quantities required to achieve the target attitude, mainly including the target lengths of the main wire rope and the two auxiliary wire ropes, and / or the target coordinates of the connection point between the lower end of the wire rope and the lifting device.

[0059] (3) Posture adjustment execution Main hook position adjustment: When the main hoisting mechanism is a luffing trolley, the horizontal coordinate of the lower end connection point of the main wire rope can be changed by adjusting the position of the luffing trolley, thereby achieving precise control of the position of the hoisting component.

[0060] Secondary hook rope length adjustment: The control unit instructs the two secondary lifting mechanisms (i.e. wire rope take-up and release devices) to take up and release the secondary wire rope, adjusting it to the calculated target length, thereby changing the spatial coordinates of the lower end connection point of the secondary wire rope.

[0061] By coordinating the actions of the main and auxiliary hooks, the lifting components can be precisely adjusted from their current position to the target installation position.

[0062] This invention proposes a lifting method and system for suppressing and adjusting the sway of suspended components. Based on the sway constraint of a triaxial pendulum and the relationship between its rope length and the attitude of the suspended component, it achieves sway suppression and attitude adjustment of the suspended component with high control precision and good effect, thereby improving the efficiency and safety of lifting operations.

[0063] The method and system in this invention are applicable to the suppression of swaying and attitude adjustment of lifting components of various types of tower cranes, flat boom gantry cranes, bridge cranes, rail cranes and other lifting equipment, such as the T2T60X double flat boom ground gantry crane.

[0064] 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 descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A main and auxiliary hook lifting system, characterized in that, include: Main boom and main hoisting mechanism mounted on the main boom; The main wire rope has one end connected to the main hoisting mechanism and the other end connected to the main hook. The secondary beam structure located at the far end of the main boom, and two independent secondary lifting mechanisms located on the secondary beam structure; Two auxiliary wire ropes, one end of each auxiliary wire rope is connected to an auxiliary lifting mechanism, and the other end is connected to a hook; The main hook and two auxiliary hooks are connected to the lifting component, wherein the main wire rope and the two auxiliary wire ropes are coplanar in pairs; The control unit is communicatively connected to the main hoisting mechanism and the auxiliary hoisting mechanism.

2. The main and auxiliary hook hoisting system according to claim 1, characterized in that, The sub-beam structure includes a first sub-beam and a second sub-beam, which together with the main boom form a Y-shaped structure. The two sets of auxiliary lifting mechanisms are respectively installed on the first sub-beam and the second sub-beam.

3. The main and auxiliary hook hoisting system according to claim 1, characterized in that, The main hoisting mechanism is a luffing trolley that is movably mounted on the main boom.

4. The main and auxiliary hook hoisting system according to claim 2, characterized in that, The auxiliary lifting mechanism is a wire rope winding and unwinding device, which is used to adjust the length of the auxiliary wire rope.

5. The main and auxiliary hook hoisting system according to claim 2, characterized in that, It also includes a steering mechanism, which is respectively installed at the top of the first sub-beam and the second sub-beam. One end of each sub-steel wire rope is connected to a sub-lifting mechanism, and the other end is connected to a hook after being turned by the steering mechanism.

6. The main and auxiliary hook hoisting system according to claim 5, characterized in that, The steering mechanism is a steering trolley.

7. The main and auxiliary hook hoisting system according to claim 1, characterized in that, Also includes: Tension sensors installed on the main hoisting mechanism and the auxiliary hoisting mechanism are used to measure the actual tension of the wire rope.

8. A lifting method based on the main and auxiliary hook lifting system according to any one of claims 1 to 7, characterized in that, Includes the following steps: Three connection points are set on the outside of the lifting component, and the main hook and two auxiliary hooks are used to connect the lifting component to form a three-line pendulum model. During hoisting and transportation, the control unit controls the main hoisting mechanism and the auxiliary hoisting mechanism to maintain a constant tension in the main wire rope and the auxiliary wire rope, so as to suppress the swing of the hoisted part in any direction; During the attitude adjustment process, the main lifting mechanism and the auxiliary lifting mechanism are controlled by the control unit to adjust the spatial position of the connection point on the lifting component, thereby adjusting the attitude of the lifting component in space.

9. The hoisting method according to claim 8, characterized in that, The adjustment of the spatial position of the connection point on the lifting component includes: Determine the target posture that the lifting components need to achieve based on the requirements of the lifting task; Based on the constructed coordinate system, obtain the position coordinates of each connection point on the current lifting component, the position of the center of gravity of the lifting component, the position coordinates of the upper suspension point of each wire rope, and the length and tension of each wire rope; A mathematical model of the system is constructed, the target attitude is input into the mathematical model of the system, and the solution is obtained to obtain the control parameters required to achieve the target attitude.

10. The hoisting method according to claim 9, characterized in that, The system's mathematical model includes: a set of simultaneous geometric constraint equations, a set of force balance equations, and a set of moment balance equations; The control parameters include: the target length of each wire rope and / or the target position of the upper suspension point of each wire rope; The expressions for the geometric constraint equations are as follows: In the formula, the suspension points above the main wire rope and the two auxiliary wire ropes are points A, B, and C, respectively, and the connection points between the lower ends and the lifting components are points A', B', and C', respectively. The center of gravity of the lifting component is point G. x A , y A , z A Indicate the coordinates of point A. x B , y B , z B Indicates the coordinates of point B. x C , y C , z C Indicates the coordinates of point C. x A’ , y A’ , z A’ Indicates the coordinates of point A'. x B’ , y B’ , z B’ Indicates the coordinates of point B'. x C’ , y C’ , z C’ Indicates the coordinates of point C'. x G , y G , z G Indicates the coordinates of the center of gravity G of the lifting component. l AA’ This represents the length of the steel wire rope between point A and point A'. l BB’ This represents the length of the steel wire rope between point B and point B'. l CC’ This represents the length of the wire rope between point C and point C'. l A’B’ This represents the length of the wire rope between points A' and B'. l A’C’ This represents the length of the wire rope between points A' and C'. l B’C’ This represents the length of the wire rope between points B' and C'. l A’G This represents the length of the steel wire rope between point A' and the center point G. l B’G This represents the length of the wire rope between point B' and the center point G. l C’G This represents the length of the wire rope between point C' and the center point G; The equations for the force equilibrium system are expressed as follows: In the formula, T AA’ This represents the tension in the wire rope between point A and point A'. T BB’ This represents the tension in the wire rope between point B and point B'. T CC’ This indicates the tension of the wire rope between point C and point C'; The expressions for the torque balance equations are as follows: In the formula, This represents the lever arm vector from the center of gravity G to point A'. This represents the lever arm vector from the center of gravity G to point B'. This represents the lever arm vector from the center of gravity G to point C'. This represents the force vector from point A to point A'. This represents the force vector from point B to point B'. This represents the force vector from point C to point C'.

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