CN101633478B - Cable traction automatic leveling hanger and method thereof - Google Patents

Cable traction automatic leveling hanger and method thereof Download PDF

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Publication number
CN101633478B
CN101633478B CN2008101170678A CN200810117067A CN101633478B CN 101633478 B CN101633478 B CN 101633478B CN 2008101170678 A CN2008101170678 A CN 2008101170678A CN 200810117067 A CN200810117067 A CN 200810117067A CN 101633478 B CN101633478 B CN 101633478B
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China
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motor
rope
straight
motion unit
line motion
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CN2008101170678A
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CN101633478A (en
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易建强
余意
赵冬斌
张建宏
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中国科学院自动化研究所
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Abstract

The invention relates to a cable traction automatic leveling hanger and a method thereof. The hanger comprises the following parts: a rectangular hanging platform provided with a hanging ring; an X type supporting frame, which is arranged on the upper surface of the rectangular hanging platform in the diagonal line direction; four sets of same motor adjusting devices, which are symmetrically arranged on the top surface of the X type supporting frame respectively; four same fixed pulleys, which are symmetrically arranged at the raised top ends of the X type supporting frame respectively; two consubstantial cables provided with a force sensor, which are arranged right above the axial line of a linear motion unit in a staggered mode along two diagonal line directions of the X type supporting frame respectively, wherein one end of the force sensor is connected with the cables while the other end is connected with a box-type load; four same inclination sensors, which are symmetrically arranged on the diagonal line of the upper surface or the lower surface of the box-type load respectively; and a computer control system, which receives and processes the data of force sensors and the inclination sensors, and gives out instructions to drive the motor adjusting device after decision making so as to tow the box-type load and achieve the aim of leveling the box-type load. The cable traction automatic leveling hanger has the advantages of high precision, quick speed, safety and reliability.

Description

Cable traction self leveling spreader and method

Technical field

The present invention relates to a kind of cable traction self leveling spreader and method.

Background technology

In commercial production or national defense construction, usually need to carry out the loading and unloading of box load.The reason such as expensive and high-accuracy property owing to box 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 box 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 box load volume and weights are bigger usually, traditional regulative mode is not only time-consuming, precision is not high, and owing to can causing the weight swing, reasons such as flexibility, the degree of freedom of hoist cable be excessive do not stop again, be difficult to the location, 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 box 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, correspondingly motor cost also can become very high, especially all the more so when box load is heavier, the fixed weight of clump weight is difficult for satisfying the requirement of load to the weight size simultaneously, big or hour when load weight, need clump weight big or lower weight to come trim, but heavy weight clump weight precision is wayward, and the clump weight inconvenience of little weight is used for the big load of trim weight.

In sum, traditional horizontal adjustment method is demanded urgently improving.

Summary of the invention

The objective of the invention is to, a kind of cable traction self leveling spreader and method are proposed, be the method that novel suspender different with orthodox method and automatic horizontal are regulated, to improve time-consuming, danger and the precision not high shortcoming of orthodox method when regulating box load level.This suspender has adopted rectangle cape mode and cable traction method, uses force gauge and obliquity sensor to detect, and realizes the traction of rope to box load by the control motor, realizes the adjusting of box load interface level inclination automatically.

For achieving the above object, technical solution of the present invention is:

A kind of cable traction self leveling spreader, it comprises rectangle cape, X type bracing frame, motor setting device, rope, fixed pulley, force gauge, obliquity sensor, computer control system;

The rectangle cape of one load is provided with suspension ring, the center of suspension ring be positioned at rectangle cape geometric centre directly over, its four footing symmetries are fixed on the X type bracing frame or on the rectangle cape alternately, suspension ring link to each other with the suspension hook of weight-lifting equipment to realize handling;

One in the outside with the X type bracing frame on protruding top, symmetry is installed on the diagonal of rectangle cape upper surface;

The motor setting device that quadruplet is identical, every cover motor setting device comprises motor, motor driver, coupler, butt flange, straight-line motion unit, wherein, each straight-line motion unit all comprises a lead-screw driving device and a slide block by the lead-screw driving device guiding movement; Motor driver is arranged at outside the rectangle cape, is electrically connected with motor, is used for driving and straight-line motion unit bonded assembly motor movement; Coupler is used for the rotating shaft campaign of motor is sent to the lead-screw driving device of straight-line motion unit; Butt flange is used for fixing the connection between motor, coupler, the straight-line motion unit; Motor moves the slide block on the straight-line motion unit by the lead-screw driving device of coupler, butt flange drive straight-line motion unit thereupon; By the every cover motor setting device behind the butt flange captive joint, do as a whole, diagonal along X type bracing frame end face, be fixedly mounted on the position on the next-door neighbour's projection top between protruding top and the X type bracing frame geometric centre, and the position of motor is near the geometric centre of X type bracing frame, and the slide block of straight-line motion unit is positioned at the outer end of X type bracing frame;

Four identical fixed pulleys, symmetry is installed in the protruding top end of X type bracing frame respectively, realizes the break-in and the level and smooth traction of rope;

Two homogeneity ropes, respectively along X type bracing frame two diagonals staggered across be installed in the straight-line motion unit axis directly over, the every affixed slide block that is arranged in two straight-line motion unit on the same diagonal line in rope middle part, the rope ends head, one end is walked around fixed pulley and is hung down, the other end passes another slide block by circular hole, walks around another fixed pulley again and hangs down;

Four identical force gauges upper ends are affixed with four rope terminations of hanging down, and the lower end is affixed with four jiaos of box load respectively, is used for the stressed detection of rope;

Four identical obliquity sensors are symmetrically placed in two diagonal outsides of box load upper surface or lower surface, are used for measuring the level inclination of box load interface;

A computer control system, be electrically connected with motor sensing device, force gauge, obliquity sensor, receive four force gauges and four data that the obliquity sensor collection transmits, and data are handled, then control command is sent to each motor to realize motion control.

Described horizontal regulation sling, in its described two cover motor setting devices on same diagonal line symmetric position, wherein a cover is used for realizing cable traction, the another set of trim rectangle cape that is used for, when the motor setting device of drag rope when certain direction moves a slide block, another set of motor setting device then moves the same distance of another slide block in the opposite direction, keeps the balance of rectangle cape with this, offsets and moves the influence that brings.

Described horizontal regulation sling, the rope on its described two diagonal lines be a cable traction structure and its two ends sagging, when an end of rope elongated or shortened a certain length, the other end then correspondingly shortened or extends same length.

A kind of using method of described cable traction self leveling spreader, its regulating step is as follows:

Step 1: sling system is carried out initialization, drive the identical motor setting device of quadruplet, separately zero position is adjusted in the straight-line motion unit;

Step 2: after lifting by crane box load, force gauge and obliquity sensor are carried out and are detected, and at first judge the stressed whether basic equalization of each rope, and promptly whether the stressed deviation with average force of each rope is less than 30%, if not, then drive corresponding motor setting device and regulate;

Step 3: after treating system stability, the box load level inclination angle that obliquity sensor is recorded passes to computer control system, drives corresponding motor setting device then and regulates;

Step 4: repeating step 2 and 3, till accuracy requirement is satisfied at box load level inclination angle.

The present invention has adopted the method for cable traction, automatically realizes the adjusting of box load level face by computer control system, have fast, accurately, safety and characteristic efficiently.

Description of drawings

Fig. 1, be the overall schematic of cable traction self leveling spreader of the present invention;

Fig. 2, be the birds-eye view of cable traction self leveling spreader of the present invention;

Fig. 3, be the scheme drawing of the motor setting device of cable traction self leveling spreader of the present invention;

Fig. 4, be the force gauge of cable traction self leveling spreader of the present invention and the installation site scheme drawing of obliquity sensor;

Fig. 5, be the basic setting diagram of circuit of cable traction self leveling spreader of the present invention.

The drawing reference numeral explanation

Suspension ring 10;

Rectangle cape 20;

X type bracing frame 30: protruding top 301;

Motor setting device 40:

Motor 400; Motor driver 401; Coupler 402; Butt flange 403; Straight-line motion unit 404;

Slide block 4040; Slide block 4041; Lead-screw driving device 4042;

Rope 50;

Fixed pulley 60;

Force gauge 70;

Obliquity sensor 80;

Computer control system 90;

Box load L.

The specific embodiment

A kind of cable traction self leveling spreader of the present invention is to be used for eccentric box load hoisting process suspender automatic horizontal to regulate.As shown in Figure 1, be the overall schematic of cable traction self leveling spreader.This suspender mainly is made up of rectangle cape 20, X type bracing frame 30, motor setting device 40, the homogeneity rope 50 that has force gauge 70, fixed pulley 60, obliquity sensor 80, computer control system 90.

As depicted in figs. 1 and 2, the planar dimension of rectangle cape 20 is decided according to actual needs, it need carry the weight of the box load L motor setting device 40 identical with quadruplet, thereby must adopt the strong material of rigidity, the center of rectangle cape 20 upper lift rings 10 be positioned at rectangle cape 20 geometric centres directly over, its four footing symmetries are fixed on the X type bracing frame 30 or on the rectangle cape 20 alternately, and suspension ring 10 are used for linking to each other to realize handling with the suspension hook or the hoist cable of weight-lifting equipment such as overhead traveling crane; Protruding top is with in the outside of X type bracing frame 30, inboard recessed, be used for installing motor setting device 40 and fixed pulley 60 respectively, its symmetry is installed on the diagonal that goes up the table plane of rectangle cape 20, four protruding tops 301 have identical physical construction, and break-in and the level and smooth traction of a fixed pulley 60 to realize rope 50 respectively is installed on each protruding top 301; Two homogeneity ropes 50 are all between two fixed pulleys 60 on the same diagonal line, respectively along 30 liang of diagonals of X type bracing frame staggered across be installed in straight-line motion unit 404 axis directly over, for guaranteeing the init state level of rope 50, while is interlocking across installation of two ropes 50 for convenience, the fixed pulley 60 installation dimension height at 301 places, protruding top on the same diagonal positions need consistent, and the fixed pulley 60 installation dimension height at 301 places, protruding top on the different diagonal positions should be different; Sling system should accomplish that without acceptance of persons this does not singly require the barycenter of rectangle cape 20 and X type bracing frame 30 should be positioned at geometric centre, and require the identical motor setting device of quadruplet on the X type bracing frame 30 40 must the diagonal line on symmetrical surface mounted thereto on.

As shown in figures 1 and 3, every cover motor setting device 40 (is the balance that alleviates the load capacity on the rectangle cape 20 and be beneficial to the cape system by motor 400, motor driver 401, we are placed on motor driver 401 beyond 20 of the rectangle capes), coupler 402, butt flange 403, straight-line motion unit 404 form, wherein each straight-line motion unit 404 all comprises a lead-screw driving device 4042 and a slide block 4040 or 4041 by lead-screw driving device 4042 guiding movements; Motor driver 401 is used for the motion of drive motor 400, every motor 400 corresponding motor drivers 401; Coupler 402 sends the rotating shaft campaign of motor 400 to the lead-screw driving device 4042 of straight-line motion unit 404; Butt flange 403 is used for fixing the connection between motor 400, coupler 402, the straight-line motion unit 404; Motor 400 drives the lead-screw driving device 4042 of straight-line motion unit 404 by coupler 402, butt flange 403, the slide block 4040 or 4041 of straight-line motion unit 404 is moved thereupon, the rope 50 that links to each other with slide block 4040 is realized the traction to box load L after fixed pulley 60 break-ins; As depicted in figs. 1 and 2, by the every cover motor setting device 40 behind butt flange 403 captive joints, do as a whole, diagonal along X type bracing frame 30 end faces, be fixedly mounted on the position on the next-door neighbour projection top 301 between protruding top 301 and X type bracing frame 30 geometric centres, and the position of motor 400 is all towards the geometric centre of X type bracing frame 30; Four identical fixed pulleys 60 are installed in 301 places, protruding top of X type bracing frame 30 respectively, with break-in and the level and smooth traction that realizes rope 50.Need to prove, two straight-line motion unit 404 on the same diagonal line, one of them is used for driving moving of rope 50, another then is used for balance rectangle cape 20, so every rope 50 is only captiveed joint with a slide block 4040 in two straight-line motion unit 404, and passes another slide block 4041 by circular hole.Two ropes 50 respectively along 20 liang of diagonals of rectangle cape staggered across be installed in straight-line motion unit 404 axis directly over, rope 50 two ends, one end is walked around fixed pulley 60 and is hung down, and the other end passes another slide block 4041 by circular hole, walks around another fixed pulley 60 again and hangs down.Be installed in two on the same diagonal line symmetric position cover motor setting device 40, wherein a cover is used for realizing the traction to rope 50, another set of trim rectangle cape 20 systems that are used for.When the slide block 4040 of the motor setting device 40 of drag rope 50 when certain direction moves, 4041 of the slide blocks of another set of motor setting device 40 move same distances in the opposite direction, keep the balance of rectangle cape 20 with this, offset and move the influence that brings.

As shown in Figure 1, every homogeneity rope 50 links to each other with box load L across on a diagonal line of rectangle cape 20, and connecting place all is equipped with force gauge 70.Owing to be a rope 50 hitch structures on two diagonal lines, therefore when an end of rope 50 elongates or shortens a certain length, the other end then correspondingly shortens or extends same length.

As shown in Figure 4, an end of each force gauge 70 is connected with rope 50, and the other end is connected with box load L, realizes the stressed detection to rope 50.For the consideration that engineering safety requires, installing force sensor 70 be for the deviation control of guaranteeing each rope 50 tractive force and average tractive force in 30%.

As shown in Figure 4, obliquity sensor 80 is used for measuring the level inclination of box load L interface, can be on the diagonal of box load L upper surface mounted angle sensor 80.For improving accuracy of detection, two positions obliquity sensor 80 of symmetry fully can be installed on every diagonal line, get the level inclination value of its aviation value as this direction.When upper surface was parallel with lower surface, obliquity sensor 80 can be installed in upper surface or lower surface, and when upper surface and lower surface are not parallel, then needed obliquity sensor 80 is installed in lower surface.Convenient for view, be installed on the upper surface here.

As shown in Figure 1, computer control system 90 adopts the form of " PC+ motion control card ", force gauge 70 is sent in the computer control system 90 with the data of obliquity sensor 80, by computer control system 90 processing data, then control command is sent to each motor 40 to realize motion control.

In motor setting device 40, the lead-screw driving device 4042 that motor 400 drives straight-line motion unit 404 rotates, the slide block 4040 of straight-line motion unit 404 is moved thereupon, and the rope 50 that links to each other with slide block 4040 is realized the traction to box load L after fixed pulley 60 break-ins.

Be installed in the cover of two on the same diagonal line symmetric position motor setting device 40, wherein a cover is used for realizing rope 50 tractions, the another set of trim cape system that is used for, when the slide block 4040 of the motor setting device 40 of drag rope 50 when certain direction moves, 4041 of the slide blocks of another set of device move same distance in the opposite direction, keep the balance of cape with this, offset and move the influence that brings.

Rope 50 on two diagonal lines be a cable traction structure and its two ends sagging, when an end of rope 50 elongated or shortened a certain length, the other end then correspondingly shortened or extends same length.

Fig. 5 has provided the basic setting flow process of cable traction self leveling spreader of the present invention.

Step 1: system is carried out initialization, drive the identical motor setting device 40 of quadruplet, separately zero position is adjusted in straight-line motion unit 404;

Step 2: after lifting by crane box load L, force gauge 70 and obliquity sensor 80 are carried out and are detected, at first judge the stressed whether basic equalization of each rope 50, be whether the stressed deviation with average force of each rope 50 is less than 30%, if do not satisfy, then drive corresponding motor setting device 40 and regulate, stressed reasonable to guarantee rope 50, and then the detection level inclination angle;

Step 3: after treating system stability, the box load L level inclination that obliquity sensor 80 is recorded passes to computer control system 90, drives corresponding motor setting device 40 then and regulates;

Step 4: repeating step 2 and 3, satisfy accuracy requirement up to box load L level inclination, regulate and finish.

Whether at first carry out initialization after system powers on, it is working properly to detect each several part, if all are normal, and the detection of starting working of force gauge 70 and obliquity sensor 80.For guaranteeing security of system, judge the stressed whether basic equalization of each rope 50 again, promptly whether the stressed deviation with average force of each rope 50, then drives corresponding motor setting device 40 and regulates if do not satisfy less than 30%.Because if rope 50 is stressed unreasonable, even the interface inclination angle reaches requirement, valuable box load L still is in danger.If box load L level inclination does not reach accuracy requirement, then drive corresponding motor setting device 40 and regulate, satisfy accuracy requirement up to box load L level inclination.

Cable traction self leveling spreader of the present invention, be to be used for eccentric box load hoisting process suspender automatic horizontal to regulate, this control method is based on the method that rope is regulated, power and obliquity sensor feedback data are transferred to computer control system 90, by computer control system 90 processing data, send instruction drive motor setting device 40 then, to realize the horizontal adjustment of box load interface.

The preferred embodiments of the present invention only are 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 technical scheme.

Claims (4)

1. a cable traction self leveling spreader is characterized in that: comprise rectangle cape, X type bracing frame, motor setting device, rope, fixed pulley, force gauge, obliquity sensor, computer control system;
The rectangle cape of one load is provided with suspension ring, the center of suspension ring be positioned at rectangle cape geometric centre directly over, its four footing symmetries are fixed on the X type bracing frame or on the rectangle cape alternately, suspension ring link to each other with the suspension hook of weight-lifting equipment to realize handling;
One in the outside with the X type bracing frame on protruding top, symmetry is installed on the diagonal of rectangle cape upper surface;
The motor setting device that quadruplet is identical, every cover motor setting device comprises motor, motor driver, coupler, butt flange, straight-line motion unit, wherein, each straight-line motion unit all comprises a lead-screw driving device and a slide block by the lead-screw driving device guiding movement; Motor driver is arranged at outside the rectangle cape, is electrically connected with motor, is used for driving and straight-line motion unit bonded assembly motor movement; Coupler is used for the rotating shaft campaign of motor is sent to the lead-screw driving device of straight-line motion unit; Butt flange is used for fixing the connection between motor, coupler, the straight-line motion unit; Motor moves the slide block on the straight-line motion unit by the lead-screw driving device of coupler, butt flange drive straight-line motion unit thereupon; By the every cover motor setting device behind the butt flange captive joint, do as a whole, diagonal along X type bracing frame end face, be fixedly mounted on the position on the next-door neighbour's projection top between protruding top and the X type bracing frame geometric centre, and the position of motor is near the geometric centre of X type bracing frame, and the slide block of straight-line motion unit is positioned at the outer end of X type bracing frame;
Four identical fixed pulleys, symmetry is installed in the protruding top end of X type bracing frame respectively, realizes the break-in and the level and smooth traction of rope;
Two homogeneity ropes, respectively along X type bracing frame two diagonals staggered across be installed in the straight-line motion unit axis directly over, the every affixed slide block that is arranged in two straight-line motion unit on the same diagonal line in rope middle part, the rope ends head, one end is walked around fixed pulley and is hung down, the other end passes another slide block by circular hole, walks around another fixed pulley again and hangs down;
Four identical force gauges upper ends are affixed with four rope terminations of hanging down, and the lower end is affixed with four jiaos of box load respectively, is used for the stressed detection of rope;
Four identical obliquity sensors are symmetrically placed in two diagonal outsides of box load upper surface or lower surface, are used for measuring the level inclination of box load interface;
A computer control system, be electrically connected with motor sensing device, force gauge, obliquity sensor, receive four force gauges and four data that the obliquity sensor collection transmits, and data are handled, then control command is sent to each motor to realize motion control.
2. horizontal regulation sling as claimed in claim 1, it is characterized in that: in the two cover motor setting devices on same diagonal line symmetric position, wherein a cover is used for realizing cable traction, the another set of trim rectangle cape that is used for, when the motor setting device of drag rope when certain direction moves a slide block, another set of motor setting device then moves the same distance of another slide block in the opposite direction, keeps the balance of rectangle cape with this, offsets and moves the influence that brings.
3. horizontal regulation sling as claimed in claim 1, it is characterized in that: the rope on two diagonal lines be a cable traction structure and its two ends sagging, when an end of rope elongated or shortened a certain length, the other end then correspondingly shortened or extends same length.
4. the using method of a cable traction self leveling spreader as claimed in claim 1 is characterized in that, regulating step is as follows:
Step 1: sling system is carried out initialization, drive the identical motor setting device of quadruplet, separately zero position is adjusted in the straight-line motion unit;
Step 2: after lifting by crane box load, force gauge and obliquity sensor are carried out and are detected, and at first judge the stressed whether basic equalization of each rope, and promptly whether the stressed deviation with average force of each rope is less than 30%, if not, then drive corresponding motor setting device and regulate;
Step 3: after treating system stability, the box load level inclination angle that obliquity sensor is recorded passes to computer control system, drives corresponding motor setting device then and regulates;
Step 4: repeating step 2 and 3, till accuracy requirement is satisfied at box load level inclination angle.
CN2008101170678A 2008-07-23 2008-07-23 Cable traction automatic leveling hanger and method thereof CN101633478B (en)

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