CN101397114A - Orthogonal horizontal automatic adjusting sling and method - Google Patents
Orthogonal horizontal automatic adjusting sling and method Download PDFInfo
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- CN101397114A CN101397114A CNA2007101224743A CN200710122474A CN101397114A CN 101397114 A CN101397114 A CN 101397114A CN A2007101224743 A CNA2007101224743 A CN A2007101224743A CN 200710122474 A CN200710122474 A CN 200710122474A CN 101397114 A CN101397114 A CN 101397114A
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Abstract
The invention provides an orthogonal horizontal automatic adjusting hoisting tool and a method thereof. Based on the principle of gravity center compensation, the hoisting tool structure is adopted; wherein, two hollow hoisting beams are orthogonal to each other, two ends of the lower hoisting beam are provided with two swing beams, and loads are suspended by virtue of the hoisting hook of the wing beam; each hollow hoisting beam is internally provided with a movable counterweight; furthermore, one end the two hoisting beams is provided with a servo motor and a gearbox; the upper hoisting beam is also provided with an inclination angle sensor and a controller; during the adjustment process, the data gained by the inclination angle sensor is transmitted to the controller; the controller emits the instruments to drive the servo motor; the servo motor rotates a leading screw by the gearbox so as to adjust the position of the counterweight, thus changing the moment generated by the counterweight and realizing the horizontal adjustment of the load. The hoisting tool and the method have the characteristic of fastness, safety and high efficiency and solve the problems that traditional method is time-wasting and dangerous when being used for adjusting the horizontalness of the load, furthermore, the position of the counterweight can be precisely controlled by the leading screw, and the horizontal adjusting precision can achieve 0.2 degree.
Description
Technical field
The invention belongs to loading and unloading overhead hoist field, relate to the orthogonal horizontal automatic adjusting sling and the method for loading and unloading overhead hoist.
Background technology
In commercial production or national defense construction, usually need to carry out the loading and unloading of load.The reason such as expensive and high-accuracy property owing to load, it is very high that on-the-spot levelness to handling process requires, and need accurately locate, and deforms and destroyed with the product of avoiding a some contact, collision to cause being assembled.For example, when loading and unloading, satellite for guaranteeing leak tightness and safety, should guarantee that the face face contact, the while crash-avoidance between satellite lower surface (being interface) and the base; The assembling of aircraft, helicopter, handling also should guarantee housing construction safety, are not damaged.Generally the center of gravity of these load is often not placed in the middle, but is eccentric in a certain side, if therefore do not carry out the center of gravity compensation when loading and unloading, makes its maintenance level, will be easy to cause inclination, certainly will influence handling efficiency, even damage this product.In addition, because these load volume and weights are bigger usually, traditional regulative mode is not only time-consuming, precision is not high, and again owing to reasons such as flexibility, the degree of freedom of hoist cable be excessive can cause the weight swing not stop, is difficult to the location, and dangerous big, production efficiency is low.These problems have caused the great attention of related scientific research mechanism, and are very urgent to the demand of novel, efficient, safe loading and unloading overhead hoist.
Traditional regulative mode has a variety of.Such as the mode of carrying out horizontal adjustment by the length of estimating and regulating four lifting ropes, this manually-operated mode precision is not high, and sound out fully and grope with staff's experience and skill level, time-consuming and be not easy successfully, owing to there is personnel's scene to participate in, exist potential safety hazard again simultaneously; And for example carry out the mode of horizontal adjustment by the hoisting point position of mobile overhead traveling crane on hanging beam, though what adopt is the method for center of gravity compensation, but because the weight of whole load all acts on the suspension centre, come mobile hoisting point position by motor, must overcome big friction force, this power to motor has proposed very high requirement, and correspondingly motor cost also can become very high, and is especially all the more so when load is heavier.And square one adopts self-balanced upper rotary to carry out the method for center of gravity compensation down, and is all lower by contrast to the requirement and the cost of drive motor.And the former moves is the hoisting point position of overhead traveling crane, and this method had both changed the arm of force length of load, had changed the arm of force length of clump weight simultaneously again, and its caused moment of flexure changes greatly, thereby the angle variation is also violent.Though range of regulation is big, causes swing easily.The arm of force length that the scheme of self-balanced upper rotary is then only passed through to change clump weight is to change counterbalance moment, and caused level inclination changes steadily.
Summary of the invention
The objective of the invention is to, improve time-consuming, danger and the precision not high shortcoming of orthodox method when regulating load level, in order to solve described problem, the present invention proposes a kind of method of the horizontal automatic adjusting sling different with orthodox method, and correspondingly designs a kind of novel orthogonal horizontal automatic adjusting sling.
In order to realize described purpose, an aspect of of the present present invention proposes the method for orthogonal horizontal automatic adjusting sling, and the step of its technical scheme is as follows:
Step 1: drive two servomotors, two clump weights are moved to the zero position place of hanging beam, lower hanging beam respectively, this state is a system initial state, is with reference to zero angle with the coder angle of the servomotor of initial time;
Step 2: the servomotor of hanging beam in the driving moves to assigned address with the clump weight of last hanging beam, and keeps the invariant position of the clump weight of lower hanging beam, still on zero position;
Step 3: behind the system stability, the last hanging beam that two-dimentional obliquity sensor is measured, the level inclination of lower hanging beam pass to controller, and set up two math equations about balance position and hanging beam level inclination;
Step 4: drive the servomotor of lower hanging beam, the clump weight of lower hanging beam is moved to another assigned address, keep going up the clump weight invariant position of hanging beam simultaneously;
Step 5: after stable, once more two-dimentional obliquity sensor is recorded hanging beam level inclination θ
1, θ
2Pass to controller, from and set up about balance position and hanging beam level inclination θ
1, θ
2Two math equations;
Step 6: in these four equations of simultaneous any three, just can calculate the eccentric position parameter z of load barycenter, r, α, thus set up the math modeling of balance position and hanging beam level inclination;
Step 7: by the eccentric position parameter of this math modeling and the load barycenter of trying to achieve, the target location of the counterweight in the time of can directly calculating the hanging beam level inclination of sening as an envoy to and be zero;
Step 8: carry out adjusted stepwise according to the target location, thereby guarantee the stable of control process and the precision of regulating the result.
According to embodiments of the invention, described center of gravity compensation is to go up hanging beam to be connected by connector by two E structural sections with lower hanging beam, leading screw and location reset switch are installed in two E type hanging beams, a clump weight is arranged in the every hanging beam, tapped bore and leading screw are arranged for being threaded in the middle of the clump weight, drive leading screw by servomotor and retarder and rotate, drive clump weight and on slide rail, slide, change the moment of clump weight, realize the horizontal adjustment of load with respect to zero position.
According to embodiments of the invention, the relation that described clump weight position and hanging beam level inclination satisfy, as described below:
Wherein, M is the quality of load; Z, r, α represent three parameters of the eccentric position of load barycenter; m
x, m
y, X, Y are respectively the quality of two clump weights and the position on last hanging beam and lower hanging beam; θ
1, θ
2Be respectively the level inclination of two hanging beams.
In order to realize described purpose, another aspect of the present invention proposes the self-regulating suspender of orthogonal horizontal, and its technical scheme is as described below:
Have hanging beam and the mutually orthogonal placement of a lower hanging beam on one, and upward captive joint with the end face of lower hanging beam in the bottom surface of hanging beam, every hanging beam is formed by connecting by connector by two E structural sections;
Have a hanger, be installed in the middle part of the top surface of the beam of hanging oneself, be used for linking to each other with overhead traveling crane suspension hook or hoist cable;
Have two horizontal spars, its end face be fixed in respectively lower hanging beam the bottom surface both ends and with the lower hanging beam horizontal quadrature;
Have four suspension hooks and lay respectively at the end of two horizontal tail soffits, can be connected, be used for hanging load with lifting rope;
Have two clump weights, a clump weight is respectively arranged in last hanging beam and the lower hanging beam, each clump weight both sides is fluted, and there is tapped bore at the center, with screw mandrel for being threaded;
Have two rhizoid thick sticks, a rhizoid thick stick is respectively arranged in last hanging beam and the lower hanging beam, leading screw passes the screwed hole of centre of clump weight, and an end is connected with hanging beam by bearing, and the other end is connected on the output shaft of drop-gear box;
Have two groups of slide rails, lay respectively at the inside of hanging beam and lower hanging beam body, constitute by the middle protrusion of two E structural sections; Two grooves of the clump weight in every group of slide rail and the corresponding hanging beam are sliding block joint, and slide rail is used to bear the weight of clump weight, simultaneously with the weight transmitting of clump weight on last hanging beam and lower hanging beam; Leading screw is parallel with slide rail and drive clump weight and move along slide rail;
Have two and locate the inside center position that is fixed in hanging beam and lower hanging beam with reset switch respectively;
Have two servomotors and two drop-gear boxs, two drop-gear boxs are installed in an end of hanging beam and lower hanging beam respectively; Each servomotor links to each other with leading screw by a drop-gear box respectively;
Have two balance blocks and be installed in the other end of hanging beam and lower hanging beam respectively, be used for offsetting the quality of servomotor and drop-gear box causes self overbalance;
Have a controller, be installed on the hanging beam, be used to receive the data that two-dimentional obliquity sensor transmits, and the control servomotor;
Have two two-dimentional obliquity sensors, symmetry is installed on the hanging beam, is used for measuring the level inclination of hanging beam and the level inclination of lower hanging beam.
According to embodiments of the invention, go up hanging beam and lower hanging beam all by two E structural sections hollow beam that is formed by connecting for every.
According to embodiments of the invention, it is characterized in that: have a protrusion in the middle of every E structural section, the middle protrusion of two E structural sections constitutes one group of slide rail, and with two groove sliding block joints of clump weight.
In sum, the present invention has adopted the method for center of gravity compensation, the self-regulating suspender of orthogonal horizontal is proposed, realize the automatically regulating of load level by the self-balanced upper rotary position, have fast, safety and characteristic efficiently, solved problems such as time-consuming, the danger of orthodox method when regulating load level; And by screw mandrel can the accuracy control clump weight the position, the horizontal adjustment precision can reach 0.2 degree.
Description of drawings
Fig. 1 is the overall schematic of quadrature formula automatic horizontal regulation sling system of the present invention
Fig. 2 is the structure of hollow hanging beam of the present invention and the scheme drawing that cooperates with clump weight
Fig. 3 is the rigging position scheme drawing (having removed hanger) of controller of the present invention, obliquity sensor
Fig. 4 is the locus scheme drawing of spar of the present invention and servomotor, drop-gear box
Fig. 5 is the center-of-gravity position scheme drawing of load
Fig. 6 is the locus scheme drawing of screw mandrel of the present invention and hanging beam and clump weight
Description of reference numerals:
Last hanging beam: 10; Slide rail: 11; Connector: 12; Location reset switch: 13
Lower hanging beam: 20
Spar: 30; Spar suspension hook: 31
Hanger: 40
Servomotor: 51; Drop-gear box: 52; Balance block: 53
Controller: 60
Obliquity sensor: 70
Counterweight: 80
Leading screw: 90
The specific embodiment
Below introduce the preferred embodiments of the present invention, this part only is to casehistory of the present invention, but not to the restriction of the present invention and application or purposes.Other embodiment that draws according to the present invention belongs to technology innovation scope of the present invention too.There is the setting of related parameter also not show to have only example value to use in the scheme.
For the method that adopts the center of gravity compensation compensates the eccentric moment that eccentric load causes, the present invention has adopted orthogonal horizontal automatic adjusting sling as shown in Figure 1.The main portion of total system promptly goes up hanging beam 10 and lower hanging beam 20 is the hollow hanging beams that adopt two groups of quadratures respectively, every group of hollow hanging beam formed by connector 12 connections by two E structural sections, midway location at last hanging beam 10 and lower hanging beam 20 respectively is provided with location reset switch 13, the end face bolt of the bottom surface of last hanging beam 10 and lower hanging beam 20; As shown in Figure 2, in last hanging beam 10 and lower hanging beam 20, a movable balance weight piece 80 is arranged all, each clump weight 80 both sides is all fluted, and there is tapped bore at the center; And have a protrusion in the middle of the every E structural section as the main constituent elements of last hanging beam 10 and lower hanging beam 20; The protrusion of two E structural sections constitute one group of slide rail 11 and with two groove sliding block joints of clump weight 80.The leading screw 90 parallel with slide rail 11 all is housed in the middle of the hanging beam, and leading screw 90 1 ends link by bearing and hanging beam, and leading screw 90 other ends then are connected on the servomotor 51 by drop-gear box 52, drive leading screw 90 rotations by servomotor 51; The screwed hole of centre of each clump weight 80, with leading screw 90 for being threaded, and drive its motions by screw mandrel 90, limit its tracks by slide rail 11, it can only be moved along slide rail, the weight of clump weight 80 is born by slide rail 11, and is delivered on the corresponding hanging beam; Two overlap the drive system of being made up of servomotor 51 and drop-gear box 52, are installed in a side of hanging beam 10 and lower hanging beam 20 respectively, and drive system links to each other with leading screw 90, drives the slip of clump weight 80 by rotational lead screw 90; A side relative with servomotor 51 on last hanging beam 10 and the lower hanging beam 20 respectively is equipped with a balance block 53, the quality of balance block 53 quality and cooresponding servomotor 51 and drop-gear box 52 is suitable, is used for offsetting the quality of this servomotor 51 and drop-gear box 52 causes self overbalance.As shown in Figure 4, another pith of system is to hang part, mainly form by two horizontal spars 30, it can be the beam of H-girder or other cross sectional shapes, they are installed in the both ends of lower hanging beam 20 respectively, and with lower hanging beam 20 horizontal quadratures, suspension hook 31 all is equipped with at every spar 30 two ends, can be connected with lifting rope, be used for hanging load; A hanger 40 is installed in hanging beam 10 central authorities, is used for linking to each other with the overhead traveling crane suspension hook.Control part also is the important component part of sling system, except servomotor 51, as shown in Figure 3, also comprises obliquity sensor 70 and controller 60.Obliquity sensor 70 adopts one dimension obliquity sensor or two-dimentional obliquity sensor; If adopt the one dimension obliquity sensor, then can on last hanging beam 10, symmetry be installed by two one dimension obliquity sensors, symmetry is installed two one dimension obliquity sensors 70 on lower hanging beam 20, and the level inclination that detects a direction respectively is the inclination angle of hanging beam end face length direction and horizontal surface; If adopt two-dimentional obliquity sensor, then adopt two two-dimentional obliquity sensors 70, can be installed in symmetrically respectively on the hanging beam 10, near hanger 40, be used for measuring the level inclination of hanging beam 10 end faces and lower hanging beam 20 end faces; A controller 60 is installed on the hanging beam 10, is used to receive the data that obliquity sensor 70 transmits, by controller 60 control servomotors 51.
The effective length of hanging beam 10 and lower hanging beam 20 in the setting (being the distance that clump weight 80 can move to the other end of hanging beam from an end of hanging beam) is respectively L
1, L
2By machine design, make the mid point of the effective length of hanging beam 10 and lower hanging beam 20 lay respectively at the midway location of hanging beam 10 and lower hanging beam 20, the direction of pointing to corresponding balance block 53 along servomotor 51 is a positive dirction, establishes hanging beam 10 and lower hanging beam 20 midways location and be zero position separately.At first, by location reset switch 13, regulate two servomotors 51 and move two clump weights 80 and arrive zero position place on hanging beam 10, the lower hanging beam 20 respectively, this state is a system initial state, is with reference to zero angle with the coder angle of the servomotor 51 of initial time.Then, the servomotor 51 driving clump weights 80 of hanging beam 10 make it to move to+L in the adjusting
1/ 4 positions, and keep the invariant position of the clump weight 80 of lower hanging beam 20, still on zero position ,+L
1/ 4 and zero point these two location informations just with artesian coordinates (+L
1/ 4,0) form has been expressed the position of two clump weights 80, and pass to controller 60, and the measured last hanging beam 10 of obliquity sensor 70, the level inclination of lower hanging beam 20 have also passed to controller 60 simultaneously, thereby can be according to mechanical balance and geometrical constraint condition, foundation is about the math equation of balance position and hanging beam level inclination, as shown in the formula, totally two.
Wherein, M is the quality of load; Z, r, α represent three parameters (as shown in Figure 5) of the eccentric position of load barycenter; m
x, m
y, X, Y are respectively the quality of two clump weights 80 and the coordinate position on two hanging beams; θ
1, θ
2Be respectively the level inclination of two hanging beams.
Above-mentioned The Representation Equation the math modeling of level inclination of the position of two clump weights and two hanging beams.But in this model, three parameter z of the eccentric position of load barycenter, r, α are unknown, need to determine earlier these three parameters.
Therefore drive the servomotor 51 of lower hanging beam 20, drive leading screw 90 and rotate, thereby the clump weight 80 of lower hanging beam 20 is moved to+L
2/ 4 places, clump weight 80 positions that keep simultaneously going up hanging beam 10 still are+L
1/ 4, promptly the coordinate of two clump weights is (+L
1/ 4 ,+L
2/ 4) can record level inclination θ according to obliquity sensor 70 again after, stable
1, θ
2, from and set up about balance position and level inclination θ
1, θ
2Two math equations.Like this, in these four equations of simultaneous any three just can calculate three parameter z of the eccentric position of load barycenter, r, α.Further improve precision if desired, can be with any three simultaneous respectively in four equations, totally four times, then with the parameter z of gained barycenter eccentric position, r, α averages.Like this, determining the eccentric position parameter z of load barycenter, r, after the α, above-mentioned math modeling has promptly been determined the corresponding relation between clump weight position and the hanging beam level inclination.Therefore, by the eccentric position parameter of this math modeling and the load barycenter of trying to achieve, the target location of two clump weights in the time of can directly calculating the hanging beam level inclination of sening as an envoy to and be zero.For guaranteeing the stability of horizontal adjustment process, can regulate in two steps: at first by driving the servomotor 51 of going up hanging beam 10, the clump weight 80 of hanging beam 10 arrives corresponding target location in the adjusting, make to go up hanging beam 10 state that is up to the standard earlier, the synthetic center of gravity of system will appear on the lower hanging beam 20 like this; Regulate the servomotor 51 of lower hanging beam 20 then, further regulate the clump weight 80 of lower hanging beam 20, make it arrive its target location, realize the level of lower hanging beam 20, thereby guarantee the level on hanging beam surface.
If quality of loads is not too big, be more or less the same to such an extent as to hang the elongation of four used lifting ropes of load, then can be similar to and think that the interface of load also is horizontal when the surface of last lower hanging beam all during level.
If quality of loads is very big, make that the elongation of four lifting ropes is very big and have nothing in common with each other that can cause so when two hanging beams surface all during level, the interface of load is also out-of-level.In this case, because the variation of lifting rope length, make the geometrical-restriction relation of system become more complicated, must on lifting rope, detect lifting rope tension force in real time by the installing force sensor, so that set up the math modeling between clump weight position and the load interface level inclination.
The method of setting up is: if can be on the load interface direct mount obliquity sensor or apomecometer, then can obtain or calculate the inclination angle of load interface and horizontal surface by obliquity sensor or apomecometer; If do not allow sensor installation on the load interface, then can be near the target dock installation apomecometer, calculate the level inclination of load interface by the difference of distance.Because in this case, the length of four lifting ropes can be calculated according to force gauge separately, thereby can at first two clump weights be moved to (+L according to above-mentioned control method
1/ 4,0) locate, the level inclination of the obliquity sensor after the detection balance, and according to mechanical balance and geometrical constraint condition, set up the relation equation of clump weight position and load interface level inclination, totally two; Then two clump weights are moved to (+L
1/ 4 ,+L
2/ 4) locate, draw two equations once more, wherein any three equations of simultaneous and simultaneous solution.Further improve precision if desired, any three the difference simultaneous in four equations four times, can be averaged gained barycenter eccentric position parameter totally then.Like this, just, can establish the math modeling between clump weight position and the load interface level inclination.By this math modeling, just can calculate the clump weight target location of the load interface level of sening as an envoy to.Subsequently, self-balanced upper rotary promptly can be adjusted to horizontality with the load interface to this target location.
Claims (6)
1, a kind of orthogonal horizontal automatic adjusting sling is characterized in that:
Have hanging beam and the mutually orthogonal placement of a lower hanging beam on one, and upward captive joint with the end face of lower hanging beam in the bottom surface of hanging beam, every hanging beam is formed by connecting by connector by two E structural sections;
Have a hanger, be installed in the middle part of the top surface of the beam of hanging oneself, be used for linking to each other with overhead traveling crane suspension hook or hoist cable;
Have two horizontal spars, its end face be fixed in respectively lower hanging beam the bottom surface both ends and with the lower hanging beam horizontal quadrature;
Have four suspension hooks and lay respectively at the end of two horizontal tail soffits, can be connected, be used for hanging load with lifting rope;
Have two clump weights, a clump weight is respectively arranged in last hanging beam and the lower hanging beam, each clump weight both sides is fluted, and there is tapped bore at the center, with screw mandrel for being threaded;
Have two rhizoid thick sticks, a rhizoid thick stick is respectively arranged in last hanging beam and the lower hanging beam, leading screw passes the screwed hole of centre of clump weight, and an end is connected with hanging beam by bearing, and the other end is connected on the output shaft of drop-gear box;
Have two groups of slide rails, lay respectively at the inside of hanging beam and lower hanging beam body, constitute by the middle protrusion of two E structural sections; Two grooves of the clump weight in every group of slide rail and the corresponding hanging beam are sliding block joint, and slide rail is used to bear the weight of clump weight, simultaneously with the weight transmitting of clump weight on last hanging beam and lower hanging beam; Leading screw is parallel with slide rail and drive clump weight and move along slide rail;
Have two and locate the inside center position that is fixed in hanging beam and lower hanging beam with reset switch respectively;
Have two servomotors and two drop-gear boxs, two drop-gear boxs are installed in an end of hanging beam and lower hanging beam respectively; Each servomotor links to each other with leading screw by a drop-gear box respectively;
Have two balance blocks and be installed in the other end of hanging beam and lower hanging beam respectively, be used for offsetting the quality of servomotor and drop-gear box causes self overbalance;
Have a controller, be installed on the hanging beam, be used to receive the data that two-dimentional obliquity sensor transmits, and the control servomotor;
Have two two-dimentional obliquity sensors, symmetry is installed on the hanging beam, is used for measuring the level inclination of hanging beam and the level inclination of lower hanging beam.
2, described orthogonal horizontal automatic adjusting sling as claimed in claim 1 is characterized in that: go up hanging beam and lower hanging beam all by two E structural sections hollow beam that is formed by connecting for every.
3, described orthogonal horizontal automatic adjusting sling as claimed in claim 2 is characterized in that: have a protrusion in the middle of every E structural section, the middle protrusion of two E structural sections constitutes one group of slide rail, and with two groove sliding block joints of clump weight.
4, a kind of method that is used for orthogonal horizontal automatic adjusting sling, its step is as follows:
Step 1: drive two servomotors, two clump weights are moved to the zero position place of hanging beam, lower hanging beam respectively, this state is a system initial state, is with reference to zero angle with the coder angle of the servomotor of initial time;
Step 2: the servomotor of hanging beam in the driving moves to assigned address with the clump weight of last hanging beam, and keeps the invariant position of the clump weight of lower hanging beam, still on zero position;
Step 3: behind the system stability, the last hanging beam that two-dimentional obliquity sensor is measured, the level inclination of lower hanging beam pass to controller, and set up two math equations about balance position and hanging beam level inclination;
Step 4: drive the servomotor of lower hanging beam, the clump weight of lower hanging beam is moved to another assigned address, keep going up the clump weight invariant position of hanging beam simultaneously;
Step 5: after stable, once more two-dimentional obliquity sensor is recorded hanging beam level inclination θ
1, θ
2Pass to controller, from and set up about balance position and hanging beam level inclination θ
1, θ
2Two math equations;
Step 6: in these four equations of simultaneous any three, just can calculate the eccentric position parameter z of load barycenter, r, α, thus set up the math modeling of balance position and hanging beam level inclination;
Step 7: by the eccentric position parameter of this math modeling and the load barycenter of trying to achieve, the target location of the counterweight in the time of can directly calculating the hanging beam level inclination of sening as an envoy to and be zero;
Step 8: carry out adjusted stepwise according to the target location, thereby guarantee the stable of control process and the precision of regulating the result.
5, the method for orthogonal horizontal automatic adjusting sling as claimed in claim 4, it is characterized in that: described center of gravity compensation is to go up hanging beam to be connected by connector by two E structural sections with lower hanging beam, leading screw and location reset switch are installed in two E type hanging beams, a clump weight is arranged in the every hanging beam, tapped bore and leading screw are arranged for being threaded in the middle of the clump weight, driving leading screw by servomotor and retarder rotates, driving clump weight slides on slide rail, change the moment of clump weight, realize the horizontal adjustment of load with respect to zero position.
6, the method for orthogonal horizontal automatic adjusting sling as claimed in claim 4 is characterized in that: the relation that described clump weight position and hanging beam level inclination satisfy, as described below:
Wherein, M is the quality of load; Z, r, α represent three parameters of the eccentric position of load barycenter; m
x, m
y, X, Y are respectively the quality of two clump weights and the position on last hanging beam and lower hanging beam; θ
1, θ
2Be respectively the level inclination of two hanging beams.
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| CN2528758Y (en) * | 2002-02-08 | 2003-01-01 | 中国科学院自动化研究所 | Device for measuring angle of crane lifting rope |
| CN2659859Y (en) * | 2003-11-04 | 2004-12-01 | 中国科学院自动化研究所 | Semi-automatic control system of crane |
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