CN103449298A - Annular hanging beam component and method for hoisting thin-wall cylinder with large-diameter annular opening - Google Patents

Annular hanging beam component and method for hoisting thin-wall cylinder with large-diameter annular opening Download PDF

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Publication number
CN103449298A
CN103449298A CN2012101769854A CN201210176985A CN103449298A CN 103449298 A CN103449298 A CN 103449298A CN 2012101769854 A CN2012101769854 A CN 2012101769854A CN 201210176985 A CN201210176985 A CN 201210176985A CN 103449298 A CN103449298 A CN 103449298A
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China
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annular hanging
hoist cable
annular
hanger
hanging
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CN2012101769854A
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Chinese (zh)
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CN103449298B (en
Inventor
王厚高
王国彪
杨中伟
晏桂珍
陈辉
赵海丽
槐浩举
宋平
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国家核电技术有限公司
山东核电设备制造有限公司
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Publication of CN103449298A publication Critical patent/CN103449298A/en
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Abstract

An annular hanging beam component comprises the following parts: an annular hanging beam; a plurality of first slings above the annular hanging beam and suitable for connecting to lifting hooks; a plurality of second slings below the annular hanging beam and suitable for connecting a substance to be hanged; and at least one first length adjusting mechanism arranged on at least one first sling and used for adjusting the length of the corresponding first sling. The invention also relates to a method for hoisting a thin-wall cylinder with a large-diameter annular opening. The method comprises the following steps: determining the center of gravity of the thin-wall cylinder; and adjusting the length of at least one first sling to adjust the position of the bearing point of the hook, so that the annular hanging beam is in a horizontal position and that the center of gravity of the thin-wall cylinder body and the bearing point of the hoisting hook are in a same vertical line.

Description

Annular hanging beam assembly and lifting have the method for the thin-wall barrel of major diameter annular opening

Technical field

The present invention relates to spreader assembly and hanging method, relate in particular to annular hanging beam assembly and hanging method that lifting has the thin-wall barrel of major diameter annular opening.

Background technology

Often relate in the fields such as nuclear power, chemical industry, machinery and utilize annular hanging beam handling to there is the thin-wall barrel of major diameter annular opening at present.

Thereby for the inhomogeneous situation that causes the non-uniform mass of suspended object of the distributions such as annex of suspended object, in actual hoisting process, often needing increases counterweight according to the eccentric situation of suspended object, and this has increased lifting load, and has increased hoisting cost.

In addition, the hoist cable of annular hanging beam mostly is length-fixed structure, due to hoist cable processing and manufacturing error, the stressed impact that causes the additional load (wind carries) of nonaffine deformation and environment for use of hanging beam lifting, and can easily not carry out the sling length adjustment, thereby cause by the end opening horizontal accuracy error of lifting object, and affect lifting, organize right quality.

Therefore, there are the needs that improve existing annular hanging beam assembly and hanging method.

Summary of the invention

Be intended to overcome or alleviate at least one aspect of technical matters of the prior art, propose the present invention.

According to an aspect of the present invention, proposed a kind of annular hanging beam assembly, having comprised: annular hanging beam; Be placed in many first hoist cables of annular hanging beam top, be suitable for being connected to suspension hook; Be placed in many second hoist cables of annular hanging beam below, be suitable for being connected to suspended object; At least one first length adjustment mechanism, be separately positioned at least one the first hoist cable, for regulating the length of the first corresponding hoist cable.

Favourable, described annular hanging beam assembly also comprises at least one second length adjustment mechanism, is separately positioned at least one the second hoist cable, for regulating the length of the second corresponding hoist cable.

Favourable, be provided with second length adjustment mechanism on each root second hoist cable; And/or be provided with first length adjustment mechanism on each root first hoist cable.

Favourable, be provided with level measurement device or horizontal indicating device on described annular hanging beam.

Favourable, the first hoist cable is connected to position identical on annular hanging beam with the second corresponding hoist cable.

Further, described annular hanging beam comprises a plurality of through holes that radially extend of along the circumferential direction uniformly-spaced arranging; Described annular hanging beam assembly comprises a plurality of hoist cable connecting devices corresponding with the quantity of the second hoist cable, and each hoist cable connecting device has: bearing pin, through a corresponding through hole; Upper hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the first hoist cable is connected with upper hanger; Lower hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the second hoist cable is connected with lower hanger.Favourable, described through hole is positioned on the neutral surface on the thickness direction of annular hanging beam.

Perhaps further, described annular hanging beam assembly comprises at least corresponding with the quantity of the second hoist cable a plurality of hoist cable connecting devices, each hoist cable connecting device has: be set in the circumferential body on annular hanging beam, described circumferential body is suitable for moving along described annular hanging beam; Be arranged on the upper hanger of circumferential body top, the first hoist cable is connected with upper hanger; Be arranged on the lower hanger of circumferential body below, the second hoist cable is connected with lower hanger.

In accordance with a further aspect of the present invention, propose a kind of method that lifting has the thin-wall barrel of major diameter annular opening, comprised step: suspension hook is set; Annular hanging beam is set, and described annular hanging beam matches with the shape of described annular opening; Many the first hoist cables are set, and an end of many first hoist cables is connected to suspension hook, the other end is connected respectively to a plurality of primary importances on annular hanging beam; Many the second hoist cables are set, and a plurality of second places, the other end that an end of many second hoist cables is connected respectively on described annular hanging beam are connected to a plurality of suspension centres on thin-wall barrel, and wherein, described method also comprises step: the center of gravity of determining described thin-wall barrel; Regulate the position of the length of at least one the first hoist cable with the bearing point of adjusting lift hook, make described annular hanging beam be horizontal and the center of gravity of described thin-wall barrel and the bearing point of described suspension hook are positioned on same vertical curve.

Favourable, described method also comprises step: regulate at least one the second hoist cable length so that the barrel of thin-wall barrel on vertical direction.

Favourable, in said method, primary importance is identical with the corresponding position of the second place on annular hanging beam.

Favourable, be provided with a plurality of hoist cable connecting devices on described annular hanging beam; The step that many second hoist cables are set comprises: according to the position of the hanger on suspended object, adjust the position of described a plurality of hoist cable connecting devices on annular hanging beam.

The accompanying drawing explanation

The structural representation that Fig. 1 is annular hanging beam assembly according to an embodiment of the invention;

The structural representation that Fig. 2 is hoist cable connecting device according to an embodiment of the invention;

The structural representation that Fig. 3 is hoist cable connecting device according to another embodiment of the invention;

The structural representation that Fig. 4 is sling length regulating mechanism according to an embodiment of the invention, the schematic side view that wherein Fig. 4 a is the sling length regulating mechanism, the schematic top plan view that Fig. 4 b is the sling length regulating mechanism in Fig. 4 a;

The concrete example that Fig. 5 is suspended object, wherein the center of gravity of this suspended object overlaps substantially with the longitudinal center of cylindrical shell, the block diagram that wherein Fig. 5 a is suspended object, and Fig. 5 b is birds-eye view;

Another concrete example that Fig. 6 is suspended object, wherein the center of gravity of this suspended object is offset with the longitudinal center of cylindrical shell due to the annex on suspended object, the block diagram that wherein Fig. 6 a is suspended object, Fig. 6 b is birds-eye view;

Another concrete example that Fig. 7 is suspended object, wherein the center of gravity of suspended object is offset with the longitudinal center of cylindrical shell due to the shape of suspended object self, the schematic perspective view that wherein Fig. 7 a is suspended object, Fig. 7 b is schematic top plan view.

The specific embodiment

Below describe the embodiment of exemplary of the present invention in detail, the example of embodiment is shown in the drawings, and wherein same or analogous label means same or analogous element.The embodiment described below with reference to accompanying drawing is exemplary, is intended to explain the present invention, and can not be interpreted as limitation of the present invention.

It is to be noted, here both are relative for " major diameter " and " thin-walled ", mean both to influence each other and make the possibility that exists wall to be out of shape because being subject to radially inside and/or radially outer stress when lifting, concrete, there is following situation in thin-wall barrel of the present invention: because the opening diameter of annular opening is excessive and the wall of cylindrical shell is relatively thin again, thereby in hoisting process, when annular opening is subject to radially inner squeese pressure, the annular opening of cylindrical shell or cylindrical shell easily is out of shape.The diameter of annular opening can be 3m-40m.

The structural representation that Fig. 1 is annular hanging beam assembly according to an embodiment of the invention.As shown in fig. 1, annular hanging beam assembly comprises: annular hanging beam 10; Be placed in many first hoist cables 12 of annular hanging beam 10 tops, be suitable for being connected to suspension hook 16; Be placed in many second hoist cables 14 of annular hanging beam below, be suitable for being connected to suspended object (for example being connected to suspension centre or suspension hook on the thin-wall barrel 70 of hereinafter mentioning), wherein: described annular hanging beam assembly also comprises: at least one first length adjustment mechanism 18, be separately positioned at least one the first hoist cable, for regulating the length of the first corresponding hoist cable.

According to the size of suspended object suspension centre floor plan diameter circle, the annular hanging beam assembly in Fig. 1 also can comprise annular transition beam 60, optimizes the strained condition of annular hanging beam for minimizing is applied to the radially inner squeese pressure on annular hanging beam 10.On annular hanging beam 10, the radial support beam in annular hanging beam plane also can be set, to increase the ability of the radially inner squeese pressure of annular hanging beam 10 opposing.

Favourable, described annular hanging beam assembly also can comprise at least one second length adjustment mechanism 20, is separately positioned at least one the second hoist cable 14, for regulating the length of the second corresponding hoist cable 14.

Favourable, be provided with second length adjustment mechanism 20 on each root second hoist cable 14; And/or be provided with first length adjustment mechanism 18 on each root first hoist cable 12.

In the present invention, the second length adjustment mechanism 20 itself just can form the second hoist cable 14.

The first length adjustment mechanism and the second length adjustment mechanism can be identical structure.Fig. 4 has shown an example of the length adjustment mechanism of hoist cable, wherein, and the schematic side view that Fig. 4 a is the sling length regulating mechanism, the schematic top plan view that Fig. 4 b is the sling length regulating mechanism in Fig. 4 a.As shown in Figure 4, the sling length regulating mechanism comprises: the body of rod 1, and the two ends of the body of rod are provided with external screw thread; Be arranged on the handle 2 on the body of rod 1, can rotate the body of rod 1 by operating handle 2; Be arranged on the attaching parts 3 at the two ends of the body of rod, an end of each attaching parts 3 is provided with the negative thread, the other end that coordinate with this external screw thread and is provided with U-joint 4 and is engaged in the bearing pin 5 for coordinating with hoist cable on U-joint 4.While needing to regulate the length of hoist cable, directly Manual operation handle 2 rotates the body of rod 1, and the degree of depth that the rotation of the body of rod 1 causes the two ends of the body of rod 1 to enter in attaching parts 3 changes, thereby adjusts the lifting length of hoist cable.

The length adjustment mechanism that it should be noted that hoist cable is not limited to the structure shown in Fig. 4, can also be chain block, take turns other any known structures such as tackle block more.

Regulate the length of the first hoist cable by length adjustment mechanism, not only can be as the position of the bearing point W of adjustment suspension hook cited below, and can solve because the problem of the discontinuity of the thin ancient piece of jade, round, flat and with a hole in its centre container Hoisting Position part that the error of steel rope factory length causes.

By adjusting the length of the second hoist cable, not only can regulate the stressed of the second hoist cable, can also regulate the levelness of the end opening of suspended object (as thin-wall barrel), this installation group that can make suspended object between gap even, thereby improve the assembling quality of suspended object.

Favourable, can be provided with level measurement device or horizontal indicating device on described annular hanging beam 10, for example level indicator (not shown) or be arranged on the angle index with scale on annular hanging beam.Based on level measurement device or horizontal indicating device, operating personal can accurately be known the levelness of annular hanging beam 10.The reading of level measurement device also can be sent to control cabin.

In the situation that needs are controlled the annular opening of suspended object or the levelness of end opening, also can on the annular opening of suspended object or end opening, level indicator be set.

Favourable, the first hoist cable 12 is connected to position identical on annular hanging beam 10 with the second corresponding hoist cable 14.So, the identical position at this, the force balance made progress that the downward application force that the second hoist cable applies annular hanging beam is applied annular hanging beam by the first hoist cable.

As shown in fig. 1, described annular hanging beam 10 comprises a plurality of through holes 22 that radially extend of along the circumferential direction uniformly-spaced arranging; Described annular hanging beam assembly comprises a plurality of hoist cable connecting devices corresponding with the quantity of the second hoist cable 14, and as shown in Figure 2, each hoist cable connecting device 15 has: bearing pin 24, through a corresponding through hole 22; Upper hanger 26, be connected to the two ends of bearing pin 24 in the both sides of the radial direction of described annular hanging beam 10, the first hoist cable 12 is connected with upper hanger 26; Lower hanger 28, be connected to the two ends of bearing pin 24 in the both sides of the radial direction of described annular hanging beam 10, the second hoist cable 14 is connected with lower hanger 28.

As shown in fig. 1, favourable, described through hole 22 is positioned on the neutral surface on the thickness direction of annular hanging beam 10.This contributes to the adverse effect of the intensity of 22 pairs of annular hanging beams 10 of reduce through hole.

Can on annular hanging beam 10, through hole be set yet, but directly the hoist cable connecting device be socketed on annular hanging beam 10 slidably.Concrete, as shown in Figure 3, each hoist cable connecting device has: be set in the circumferential body 30 on annular hanging beam, described circumferential body 30 is suitable for moving along described annular hanging beam 10; Upper hanger 32, the first hoist cables 12 that are arranged on circumferential body 30 tops are connected with upper hanger 32; Lower hanger 34, the second hoist cables 14 that are arranged on circumferential body 30 belows are connected with lower hanger 34.This has not only been avoided the adverse effect of the intensity of 22 pairs of annular hanging beams 10 of through hole, and the hoist cable connecting device can be moved to the position of any expectation on the circumferencial direction of annular hanging beam 10, thereby is conducive to align with the suspension centre of the diverse location of suspended object.Circumferential body 30 can comprise bolted upper and lower semi-body each other, and circumferential body 30 itself can be also the annular solid formed by welding.Circumferential body 30 forms annular space 36 and is suitable for being enclosed within on annular hanging beam 10.

The invention still further relates to a kind of method that lifting has the thin-wall barrel of major diameter annular opening, comprise step:

Suspension hook 16 is set;

Annular hanging beam 10 is set, matches with the shape of described annular opening, for example, the diameter of annular hanging beam and the diameter of annular opening are about equally;

Many the first hoist cables 12 are set, and an end of many first hoist cables is connected to suspension hook, the other end is connected respectively to a plurality of primary importances on annular hanging beam;

Many the second hoist cables 14 are set, and a plurality of second places, the other end that an end of many second hoist cables is connected respectively on described annular hanging beam are connected to a plurality of suspension centres on suspended object;

Determine the center of gravity of described thin-wall barrel;

Regulate the position of the length of at least one the first hoist cable 12 with the bearing point W of adjusting lift hook 16, make described annular hanging beam 10 be horizontal and the center of gravity of described thin-wall barrel and the bearing point of described suspension hook are positioned on same vertical curve, for example,, on the vertical dotted line L in Fig. 1.

Because annular hanging beam 10 is horizontal and the bearing point of the center of gravity of described thin-wall barrel and described suspension hook is positioned on same vertical curve, so, in the lifting process, compared to increase the situation of counterweight in prior art according to the eccentric situation of suspended object, can prevent thin-wall barrel because the situation of deflection appears in center of gravity and bearing point not on a vertical curve in simple mode, and the distortion of the annular opening of the deflection of thin-wall barrel and the thin-wall barrel that causes in the minimizing hoisting process.

For the annular opening of thin-wall barrel 70 be not level or perpendicular to the situation of barrel, example is situation (wherein the center of gravity of suspended object does not overlap with its longitudinal center) as shown in Figure 7, can also regulate at least one the second hoist cable 14 length so that the barrel of thin-wall barrel in when lifting on vertical direction.In addition, in situation about need to dock with other containers for the end opening of thin-wall barrel itself, said method can also be adjusted the levelness of container assemblies end opening, the installation group that makes suspended object between gap even, thereby improve the assembling quality of suspended object.

In the situation that the center of gravity of thin-wall barrel 70 is positioned at the longitudinal center of thin-wall barrel, as shown in Figure 5, make the length of each root the second hoist cable mutually the same, and the length of each root the first hoist cable is mutually the same, just can realize that described annular hanging beam is horizontal and makes the barrel of thin-wall barrel to be positioned on vertical direction.Now, the center of gravity of the bearing point of suspension hook 16 and suspended object is on a vertical curve.

The center of gravity that thin-wall barrel 70 has been shown in Fig. 6 not is positioned at the situation of the longitudinal center of thin-wall barrel; the thin-wall barrel in thin-wall barrel itself and Fig. 5 is similar; still; be provided with other accessories 71 on the thin-wall barrel in Fig. 6; the center of gravity that these accessories cause being provided with the thin-wall barrel of this accessory is offset with the longitudinal center of thin-wall barrel, as shown in Figure 6.For this reason, in the situation that the length of the second hoist cable is mutually the same and length the first hoist cable is mutually the same, due to the center of gravity of the thin-wall barrel that is provided with this accessory and longitudinal center's skew of thin-wall barrel, so, deflection rather than maintenance level will occur in annular hanging beam 10, and the deflection of annular hanging beam can cause the second hoist cable and thin-wall barrel the barrel place direction shape at an angle, thereby cause the annular opening of thin-wall barrel to be subject to radially inside and/or radially outer stress.In the case, if regulate/regulate in advance the center of gravity of the length of the first hoist cable bearing point that makes annular hanging beam maintenance level and suspension hook 16 and the thin-wall barrel that is provided with this accessory on a vertical curve, the second hoist cable only to the annular opening of thin-wall barrel apply pulling force upwards, in hoisting process, thin-wall barrel not there will be deflection yet, thereby avoided the distortion of the annular opening of thin-wall barrel.

Favourable, can be provided with a plurality of hoist cable connecting devices on described annular hanging beam; And the step that many second hoist cables are set comprises: according to the position of the hanger on thin-wall barrel, adjust the position of described a plurality of hoist cable connecting devices on annular hanging beam.So, can select the hoist cable connecting device to be positioned at the appropriate location on annular hanging beam, with guarantee or basically guarantee each root second hoist cable in the process of lifting thin-wall barrel all roughly on vertical direction.In addition, because can select the position of hoist cable connecting device, so same annular hanging beam goes for the lifting work of the roughly the same different thin-walled pressure vessels of annular opening diameter.

The hoist cable connecting device here can be also Fig. 2 of above mentioning and the structure shown in Fig. 3.

It should be noted that, although what use in the present invention is the statement of " thin-wall barrel with major diameter annular opening ", but, the thin-wall barrel here not only can have circular cross section, the shape that can also there are other, for example have rectangular cross section or oval cross section, " annular " is not limited to circle.In addition, " thin-wall barrel " here is not merely thin-wall barrel, but also can comprise the parts that can be attached on thin-wall barrel, for example as shown in Figure 6.

Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can be changed these embodiment.Applicable scope of the present invention is limited by claims and equivalent thereof.

Claims (15)

1. an annular hanging beam assembly comprises:
The annular hanging beam;
Be placed in many first hoist cables of annular hanging beam top, be suitable for being connected to suspension hook;
Be placed in many second hoist cables of annular hanging beam below, be suitable for being connected to suspended object,
Wherein:
Described annular hanging beam assembly also comprises:
At least one first length adjustment mechanism, be separately positioned at least one the first hoist cable, for regulating the length of the first corresponding hoist cable.
2. annular hanging beam assembly according to claim 1, wherein:
Described annular hanging beam assembly also comprises at least one second length adjustment mechanism, is separately positioned at least one the second hoist cable, for regulating the length of the second corresponding hoist cable.
3. annular hanging beam assembly according to claim 1, wherein:
Be provided with first length adjustment mechanism on each root first hoist cable.
4. annular hanging beam assembly according to claim 2, wherein:
Be provided with second length adjustment mechanism on each root second hoist cable.
5. annular hanging beam assembly according to claim 1, wherein:
Be provided with level measurement device or horizontal indicating device on described annular hanging beam.
6. according to the described annular hanging beam assembly of any one in claim 1-5, wherein:
The first hoist cable is connected to position identical on annular hanging beam with the second corresponding hoist cable.
7. annular hanging beam assembly according to claim 6, wherein:
Described annular hanging beam comprises a plurality of through holes that radially extend of along the circumferential direction uniformly-spaced arranging;
Described annular hanging beam assembly comprises a plurality of hoist cable connecting devices corresponding with the quantity of the second hoist cable, and each hoist cable connecting device has: bearing pin, through a corresponding through hole; Upper hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the first hoist cable is connected with upper hanger; Lower hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the second hoist cable is connected with lower hanger.
8. annular hanging beam assembly according to claim 7, wherein:
Described through hole is positioned on the neutral surface on the thickness direction of annular hanging beam.
9. annular hanging beam assembly according to claim 6, wherein:
Described annular hanging beam assembly comprises at least corresponding with the quantity of the second hoist cable a plurality of hoist cable connecting devices, and each hoist cable connecting device has: be set in the circumferential body on annular hanging beam, described circumferential body is suitable for moving along described annular hanging beam; Be arranged on the upper hanger of circumferential body top, the first hoist cable is connected with upper hanger; Be arranged on the lower hanger of circumferential body below, the second hoist cable is connected with lower hanger.
10. a lifting has the method for the thin-wall barrel of major diameter annular opening, comprises step:
Suspension hook is set;
Annular hanging beam is set, and described annular hanging beam matches with the shape of described annular opening;
Many the first hoist cables are set, and an end of many first hoist cables is connected to suspension hook, the other end is connected respectively to a plurality of primary importances on annular hanging beam;
Many the second hoist cables are set, and a plurality of second places, the other end that an end of many second hoist cables is connected respectively on described annular hanging beam are connected to a plurality of suspension centres on thin-wall barrel,
Wherein, described method also comprises step:
Determine the center of gravity of described thin-wall barrel;
Regulate the position of the length of at least one the first hoist cable with the bearing point of adjusting lift hook, make described annular hanging beam be horizontal and the center of gravity of described thin-wall barrel and the bearing point of described suspension hook are positioned on same vertical curve.
11. method according to claim 10 also comprises step:
Regulate at least one the second hoist cable length so that the barrel of thin-wall barrel on vertical direction.
12. method according to claim 10, wherein:
Primary importance is identical with the corresponding position of the second place on annular hanging beam.
13. according to the described method of any one in claim 10-12, wherein:
Be provided with a plurality of hoist cable connecting devices on described annular hanging beam;
The step that many second hoist cables are set comprises: according to the position of the hanger on thin-wall barrel, adjust the position of described a plurality of hoist cable connecting devices on annular hanging beam.
14. method according to claim 13, wherein:
Described annular hanging beam comprises a plurality of through holes that radially extend of along the circumferential direction uniformly-spaced arranging;
Each hoist cable connecting device has: bearing pin, through a corresponding through hole; Upper hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the first hoist cable is connected with upper hanger; Lower hanger, be connected to the two ends of bearing pin in the both sides of the radial direction of described annular hanging beam, the second hoist cable is connected with lower hanger.
15. method according to claim 13, wherein:
Each hoist cable connecting device has: be set in the circumferential body on annular hanging beam, described circumferential body is suitable for moving along described annular hanging beam; Be arranged on the upper hanger of circumferential body top, the first hoist cable is connected with upper hanger; Be arranged on the lower hanger of circumferential body below, the second hoist cable is connected with lower hanger.
CN201210176985.4A 2012-05-31 2012-05-31 Annular hanging beam component and method for hoisting thin-wall cylinder with large-diameter annular opening CN103449298B (en)

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CN103910280A (en) * 2014-04-14 2014-07-09 上海市机械施工集团有限公司 Hoisting rigging and hoisting method thereof
CN103950818A (en) * 2014-04-02 2014-07-30 太原重工股份有限公司 Typed nozzle hoisting apparatus and typed nozzle hoisting system
CN108238542A (en) * 2018-01-27 2018-07-03 哈尔滨工业大学 A kind of accurate Lift-on/Lift-off System and method of work for large scale equipment assembling
CN109896416A (en) * 2019-03-25 2019-06-18 燕山大学 Parallel institution posture adjustment suspender based on Wire driven robot
CN110294401A (en) * 2019-07-17 2019-10-01 扬州市神力吊具制造有限公司 A kind of tower hoisting equipment

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CN202046793U (en) * 2011-05-09 2011-11-23 上海国际港务(集团)股份有限公司宝山分公司 Special strut for ultra-long flexible steel plate

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US3837697A (en) * 1972-12-18 1974-09-24 D Goodrich Adjustable multi-leg load-carrying sling apparatus
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CN108238542A (en) * 2018-01-27 2018-07-03 哈尔滨工业大学 A kind of accurate Lift-on/Lift-off System and method of work for large scale equipment assembling
CN109896416A (en) * 2019-03-25 2019-06-18 燕山大学 Parallel institution posture adjustment suspender based on Wire driven robot
CN110294401A (en) * 2019-07-17 2019-10-01 扬州市神力吊具制造有限公司 A kind of tower hoisting equipment

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