CN101759092B - Single counterweight type automatic levelling spreader and using method thereof - Google Patents

Single counterweight type automatic levelling spreader and using method thereof Download PDF

Info

Publication number
CN101759092B
CN101759092B CN2008102409417A CN200810240941A CN101759092B CN 101759092 B CN101759092 B CN 101759092B CN 2008102409417 A CN2008102409417 A CN 2008102409417A CN 200810240941 A CN200810240941 A CN 200810240941A CN 101759092 B CN101759092 B CN 101759092B
Authority
CN
China
Prior art keywords
macrometer
arm
load
initial
target
Prior art date
Application number
CN2008102409417A
Other languages
Chinese (zh)
Other versions
CN101759092A (en
Inventor
赵冬斌
李涛
易建强
张建宏
Original Assignee
中国科学院自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Priority to CN2008102409417A priority Critical patent/CN101759092B/en
Publication of CN101759092A publication Critical patent/CN101759092A/en
Application granted granted Critical
Publication of CN101759092B publication Critical patent/CN101759092B/en

Links

Abstract

The invention relates to a single counterweight type automatic levelling spreader and a using method thereof, belonging to the technique of loading-unloading winching device. The single counterweight type automatic levelling spreader comprises a bearing spreader, an automatic levelling device, an initial bottom surface distance measurer, a target bottom surface distance measurer and a computer, wherein the automatic levelling device is mounted on the bearing spreader and is provided with counterweight blocks; the initial bottom surface distance measurer and the target bottom surface distance measurer are respectively located below an initial bearing bracket and a target bearing bracket; the computer communicates with both the bottom distance measurers, calculates the leveling inclination angle of the loading butt joint surface according to information measured by the initial bottom surface distance measurer and the target bottom surface distance measurer and based on the input structural size of the loading butt joint surface, calculates control signals, transmits the control signals to the automatic levelling device, controls the position of the counterweight block in the automatic levelling device and keeps the initial bearing bracket and horizontal target bearing bracket of the loading butt joint in the horizontal state so as to realize precise and easily damaged hoisting. The invention has the advantages of high precision, fast speed, safety and reliability.

Description

Single counterweight type self leveling spreader and method of application
Technical field
The invention belongs to loading and unloading overhead hoist technical field, is a kind of single counterweight type self leveling spreader and method of application.
Background technology
Along with the development of process technology, in commercial production and national defense construction, the design and the working accuracy of product are increasingly high, and the thing followed is to improving the requirement of parts assembly precision.Especially for the assembling of some large products, usually need carry out mechanical hoisting to its parts.Owing to reasons such as the design of product and manufacturing process, the center of gravity of many product component does not overlap with its geometric centre, and in the process of lifting, product component can run-off the straight, causes and produces certain included angle between the interface.In this case, if direct fastening interface can cause sightless structural deformation because of product component interface unbalance stress, influence product overall operation performance.
Many accurate weapon exercises products such as satellite have very high requirement to the setting accuracy of interior instrument, need keep the single-piece level between assembling transit period; And for example large-scale compressor and the lifting of reactor dome etc. requires lifting once accurately to put in place, do not allow the secondary adjustment.In hoisting process, require to guarantee between the interface uniform face face contact simultaneously, avoid causing the deformation of product because of unbalance stress.Because this deformation will destroy the overall performance of product.For example, large-scale turboset in hoisting process, also need guarantee unit steadily with interface precisely, collision will make system performance decline even scrap in advance; The deformation of dome interface will cause that sealing property descends.In addition this series products available to hang connecting point position less, volume and weight is generally bigger, it is high to regulate difficulty, traditional regulative mode needs the time of labor, precision can't guarantee that whole hoisting process is consuming time longer, production efficiency is low.
Existing horizontal adjustment mode has multiple, but needs a large amount of artificial participations mostly.For example; Use the hoist cable of adjustable in length, according to the angle that records, the length of manual shift hoist cable realizes weight bottom surface level; This manually-operated mode is manual adjustment fully by virtue of experience; Precision is difficult to guarantee, wastes time and energy, and often the time through several hours even one day also is difficult to guarantee required precision; And need personnel's scene to participate in, exist bigger potential safety hazard.And for example, the two-shipper lifting method cooperates traction through two loop wheel machines, regulates the attitude of weight, thereby the interface of realizing product component is parallel; This method can reach certain regulating effect, but owing to want two loop wheel machines to participate in, and there is certain difficulty by different personnel operation in loop wheel machine on cooperating, and to having relatively high expectations of on scene commander personnel, hoisting process is still consuming time bigger.In addition, existing method is applicable to that interface is the situation of uniform planar more, is difficult to more guarantee for other situation precision.
In sum, there are a lot of discomfort property in existing level lifting regulative mode, presses for a kind of full automatic horizontal regulation sling system that can realize accurate lifting in the industrial process.
Summary of the invention
The object of the invention overcomes the prior art defective exactly, proposes a kind of single counterweight type self leveling spreader and method of application, and the level of realization load is hung and connect.This method safety, simple and direct, novel is used the single counterweight type automatic horizontal regulation sling system, can efficiently carry out the assembling of various large products, and is applied widely and precision high, lifting once accurately puts in place.
In order to realize described purpose, technical solution of the present invention is:
A kind of single counterweight type self leveling spreader comprises the load-bearing suspender; It is characterized in that: also comprise a computing machine, a level(l)ing device and two bottom surface macrometers: initial bottom surface macrometer and target bottom surface macrometer; Computing machine respectively with automatic level adjusting device, two bottom surface macrometers: initial bottom surface macrometer and target bottom surface macrometer wired connection or wireless telecommunications;
A load-bearing suspender comprises horizontal bearing beam, vertical transfer beam, horizontal bearing platform, binding clip and the arm with regulatory function;
Wherein, have the horizontal bearing beam of lifting hole(eyelet), its center has a lifting hole(eyelet), is used for linking to each other with the hoist cable of overhead traveling crane; The first vertical transfer beam that each affixed downward vertically two identical material same size of the two ends of horizontal bearing beam are parallel to each other, the upper end of the second vertical transfer beam; The lower end and the horizontal bearing platform of the first vertical transfer beam, the second vertical transfer beam are affixed, and affixed point lays respectively at the point midway of horizontal bearing platform opposing parallel side; Horizontal bearing platform is parallel with horizontal bearing beam; Horizontal bearing platform upper surface is provided with level(l)ing device; Affixed four arms of lower surface: first arm, second arm, the 3rd arm, the 4th arm, the inner contact of this first arm, second arm, the 3rd arm, the 4th arm is positioned at the center of horizontal bearing platform; Arm comprises four identical materials, the load-bearing arm of same structure, and wherein first arm and the 3rd arm are coaxial, and second arm and the 4th arm are coaxial, and first arm and second arm are installed with set angle;
The upper end of four hoist cables respectively with four arms: the outer end of first arm, second arm, the 3rd arm, the 4th arm is connected, and the lower end is connected with the lifting point of load respectively;
Automatic level adjusting device is a rectangular box, and the bottom surface is positioned at horizontal bearing platform upper surface, and casing periphery circle is fastening with it through the two vertical transfer beam first vertical transfer beam, the second vertical transfer beam by horizontally disposed binding clip;
Box house at automatic level adjusting device: the axostylus axostyle two ends of No. 1 craspedodrome unit are fixed on the two relative madial walls of casing; The upper surface of the lower surface of No. 1 craspedodrome unit axostylus axostyle and No. 2 craspedodrome unit axostylus axostyles is dynamically connected; Two axostylus axostyle quadratures are installed, and an end of No. 1 craspedodrome unit and No. 2 craspedodrome unit respectively is provided with a drive motor: first drive motor, second drive motor; On a madial wall of casing, be provided with controller; The below of No. 2 craspedodrome unit axostylus axostyles is connected with clump weight, and the clump weight lower surface is equipped with roller, and the medial surface of roller and box bottom is dynamically connected; Under the driving of first drive motor, second drive motor, clump weight, moves arbitrarily on the medial surface of box bottom under the traction of No. 1 craspedodrome unit and No. 2 craspedodrome unit through roller;
The controller of automatic level adjusting device is accepted computer instruction;
Two bottom surface macrometers, one is initial bottom surface macrometer, another is a target bottom surface macrometer, lays respectively under the target bearing support of initial bearing support and level of level, and the level of maintenance and bearing support;
The integral body that realizes self leveling spreader and load through overhead traveling crane moves.
Described single counterweight type self leveling spreader, wherein: said first bearing support, second bearing support, make a general reference support, the bearing of bearing load in each scene.
Described single counterweight type self leveling spreader, wherein: said arm comprises shell, suspension hook, support plate, regulating control, leading screw and slide block; The shell of arm is a spill, and two ends are with arm support plate end socket; Be axially arranged with a leading screw in the groove of shell, the leading screw two ends are dynamically connected through bearing and support plate, and wherein an end stretches out support plate, and affixed with regulating control; There is tapped bore at one arm slide block center, the outside thread socket of tapped bore and arm leading screw, the affixed suspension hook of slide block lower surface;
Computing machine and regulating control wired connection or wireless telecommunications, controlled adjuster drive the arm leading screw and rotate, regulate the arm slide block and above that the suspension hook of being connected with respect to the position of inner contact.
Described single counterweight type self leveling spreader, wherein: said four hoist cables upper end respectively with four arms: the suspension hook on first arm, second arm, the 3rd arm, the 4th arm is connected.
Described single counterweight type self leveling spreader; Wherein: said two bottom surface macrometers: initial bottom surface macrometer and target bottom surface macrometer; Be the sheet plate; Initial bottom surface macrometer or target bottom surface macrometer upper surface dispose three bottom surface macrometer sensors at least: the first bottom surface macrometer sensor, the second bottom surface macrometer sensor, the 3rd bottom surface macrometer sensor, a bottom surface range finding controller; Three bottom surface macrometer sensors: the first bottom surface macrometer sensor, the second bottom surface macrometer sensor, the 3rd bottom surface macrometer sensor are connected with bottom surface range finding controller cable respectively; Three bottom surface macrometer sensors: the first bottom surface macrometer sensor, the second bottom surface macrometer sensor, the 3rd bottom surface macrometer sensor are used to measure 3 distances of load interface; Bottom surface range finding controller and computing machine wired connection or wireless telecommunications; The range information that collection records, and accept computer instruction.
A kind of method of application of single counterweight type self leveling spreader; Wherein: with a computing machine respectively with initial bottom surface macrometer and the macrometer communication of target bottom surface; According to the take off data of initial bottom surface macrometer and target bottom surface macrometer and the exact shape specification of load, the calculation control signal, and issue the controller of automatic level adjusting device; Controller drives two drive motor: first drive motor, second drive motor; Through the motion of two axostylus axostyle axial traction clump weights, clump weight drives load and moves, and makes the interface of load keep horizontality.
Described method of application, it comprises step:
Step 1: below the initial bearing support interface of level, initial bottom surface macrometer is set;
Step 2: below the target bearing support interface of level, place a target bottom surface macrometer;
Step 3: through computing machine and the communication of automatic level adjusting device controller, by the linear grating location, self-balanced upper rotary is to the center of automatic level adjusting device, as the initial condition of automatic level adjusting device;
Step 4: from the initial bearing support load to be assembled of slinging, computing machine and initial bottom surface macrometer communication acquisition data;
Step 5: computing machine sends instruction, keeps No. 2 craspedodrome cell positions constant, along No. 1 craspedodrome cell orientation self-balanced upper rotary, reaches setting threshold until the horizontal two-dimension angle of the interface of load L at directions X;
Step 6: completing steps 5 back computing machines send instruction again, keep No. 1 craspedodrome cell position constant, and No. 2 craspedodrome cell orientation self-balanced upper rotary in edge reach setting threshold until the horizontal two-dimension angle of the interface of load L in the Y direction; If the horizontal two-dimension angle of load L interface does not reach setting threshold, then repeating step 5,6 is till the horizontal two-dimension angle of load L interface reaches setting threshold, to accomplish load lifting horizontal adjustment task;
Step 7: the overhead traveling crane through hanging automatic horizontal regulation sling system moves to target bearing support top, computing machine and the macrometer communication of target bottom surface, image data with load to be assembled;
Step 8: according to the data that collect, repeating step 5,6 keeps the interface level of load in the docking operation, to accomplishing docking mission.
Described method of application; Wherein: said self-balanced upper rotary; The controller that is automatic level adjusting device is accepted computer instruction; Control first drive motor, second drive motor of No. 1 craspedodrome unit and No. 2 craspedodrome unit, on the medial surface of box bottom, move through two axostylus axostyle axial traction clump weights.
Characteristics of the present invention and effect have: hanging partly of this system can conveniently be regulated hanging point position, satisfies the load lifting of different lifting specifications in the permissible range.This system is according to the eccentrically loaded attitude information of sensor feedback, the clump weight on the automatically regulating suspender, and the caused eccentric moment of balance eccentric load makes load interface level.Its outstanding feature has been to use the compensation method of a kind of single counterweight type center of gravity.The present invention is specially adapted to the accurate lifting of precision equipment.
Because the present invention adopted the automatic weighing regulating mechanism, can automatically leveling load interface, the weight that does not need directly to overcome whole load is regulated load, can simplify control process, improves to lift efficient;
Because the present invention has adopted linear grating location and high accuracy servo system, realize clump weight location closed loop control, thereby can realize accurate horizontal adjustment;
Because the present invention has adopted the physical construction of single counterweight, center of gravity compensating motion parts have only a movable balance weight piece, and the parts that need are few, and physical construction is simple;
Because the present invention has adopted computer control system, the staff only need import load specification and lifting task, and does not need concrete adjusting, and is simple to operate;
Because the present invention has adopted computer supervisory control system, in the control process, the staff is away from load, and the safety of personnel and load all is protected.
Description of drawings
Fig. 1 is single counterweight type automatic horizontal regulation sling system integral structure figure of the present invention;
Fig. 2 is a single counterweight type self leveling spreader constructional drawing of the present invention,
Fig. 3 is the load-bearing hanger structure figure of single counterweight type self leveling spreader of the present invention;
Fig. 4, Fig. 5, Fig. 6 are the load-bearing suspender boom structure figure of single counterweight type self leveling spreader of the present invention;
Fig. 7 is the automatic level adjusting device cut-away view of single counterweight type self leveling spreader of the present invention;
Fig. 8 is a bottom surface of the present invention macrometer constructional drawing;
Fig. 9 is the Principles of Regulation scheme drawing of single counterweight type automatic horizontal regulation sling system of the present invention.Main description of reference numerals
W: computing machine,
D: the load-bearing suspender,
C: automatic level adjusting device,
DC: self leveling spreader,
E: hoist cable,
Sa: initial bottom surface macrometer,
Sb: target bottom surface macrometer,
Ta: initial bearing support,
Tb: the target bearing support,
L: load,
D1: have the horizontal bearing beam of lifting hole(eyelet),
D2: vertical transfer beam,
D3: horizontal bearing platform,
D4: arm, one has four identical D4-a, D4-b, D4-c, D4-d,
D5: binding clip,
D6: lifting hole(eyelet),
D41: the arm shell,
D42: suspension hook,
D43: the arm support plate,
D44: regulating control,
D45: the arm leading screw,
D46: the arm slide block,
C1: the automatic level adjusting device side plate,
C2: the automatic level adjusting device base plate,
C3:1 craspedodrome unit,
C4:2 craspedodrome unit,
C5: clump weight,
C6: the automatic level adjusting device controller,
C7-a:1 craspedodrome unit drives motor,
C7-b:2 craspedodrome unit drives motor,
S1: bottom surface range finding controller,
S2-a, S2-b, S2-c: bottom surface macrometer sensor.
The specific embodiment
Below will combine accompanying drawing that the present invention is specified, and be to be noted that described embodiment only is intended to be convenient to understanding of the present invention, and the present invention is not played any qualification effect.
Embodiments of the invention provide a kind of single counterweight type automatic horizontal regulation sling system to the higher load of lifting accuracy requirement.Sling system of the present invention is only considered the smooth situation of interface in the assembling, like reactor building.As shown in Figure 1, be single counterweight type automatic horizontal regulation sling system integral structure scheme drawing of the present invention.The integral structure of sling system of the present invention can be divided into several parts: computing machine W, load-bearing suspender D, automatic level adjusting device C, and two bottom surface macrometer Sa, Sb.
Computing machine W respectively with automatic level adjusting device C, two bottom surface macrometer Sa, Sb communication; Collect the data of two bottom surface macrometer Sa, Sb collection; And calculate control signal according to the exact shape specification of take off data and load L, regulate the interface level of load L with control automatic level adjusting device C.
The detailed structure of load-bearing suspender D is as shown in Figure 3, has the horizontal bearing beam D1 of lifting hole(eyelet), and its center has a lifting hole(eyelet) D6, is used for linking to each other with the hoist cable of overhead traveling crane; The vertical transfer beam D2-a that each affixed downward vertically two identical material same size of the two ends of horizontal bearing beam D1 are parallel to each other, the upper end of D2-b; Lower end and the horizontal bearing platform D3 of two vertical transfer beam D2-a, D2-b are affixed, and affixed point lays respectively at the point midway of horizontal bearing platform D3 opposing parallel side; Horizontal bearing platform D3 is parallel with horizontal bearing beam D1; Horizontal bearing platform D3 upper surface is provided with level(l)ing device C; The affixed four arm D4-a of lower surface, D4-b, D4-c, D4-d, the inner contact of four arm D4-a, D4-b, D4-c, D4-d is positioned at the center of horizontal bearing platform D3; Arm D4 comprises four identical materials, the load-bearing arm of same structure, and wherein D4-a and D4-c are coaxial, and D4-b and D4-d are coaxial, and D4-a and D4-b install with set angle.
The structure of four arm D4-a, D4-b, D4-c, D4-d such as Fig. 4, Fig. 5, shown in Figure 6, each arm is made up of shell D41, suspension hook D42, support plate D43, regulating control D44, leading screw D45 and slide block D46.The shell D41 of arm is a spill, and two ends are with arm support plate D43 end socket; Be axially arranged with a leading screw D45 in the groove of shell D41, leading screw D45 two ends are dynamically connected through bearing and support plate D43, and wherein an end stretches out support plate D43, and affixed with regulating control D44; There is tapped bore at one arm slide block D46 center, the outside thread socket of tapped bore and arm leading screw D45, the affixed suspension hook D42 of slide block D46 lower surface.Drive arm leading screw D45 through regulating control D44 and rotate, regulate arm slide block D46 and above that the suspension hook D42 of being connected with respect to the position of inner contact, satisfy the requirements of different lifting specification load in the regulation setting range.
The lower end of four hoist cable E is connected with the lifting point of load L respectively, and the upper end links to each other with the suspension hook D42 of four arm D4-a, D4-b, D4-c, D4-d respectively.The gravity of load L reaches arm slide block D46 through suspension hook D42; It is last to be redistributed to four arm D4-a, D4-b, D4-c, D4-d; By horizontal bearing platform D3, two vertical transfer beam D2-a, D2-b reach horizontal bearing beam D1 again, further connect the hoist cable load of overhead traveling crane again via lifting hole(eyelet) D6.
Automatic level adjusting device C is a rectangular box, and bottom surface C2 is positioned at horizontal bearing platform D3 upper surface, and casing periphery circle is fastening with it through two vertical transfer beam D2-a, D2-b by horizontally disposed binding clip D5, but conveniently assemble and disassemble and maintenance.
The inner structure of automatic level adjusting device C is as shown in Figure 7.The axostylus axostyle two ends of No. 1 craspedodrome unit C3 are fixed on the two relative madial wall C1 of casing; The axostylus axostyle of the below of No. 1 craspedodrome unit C3 axostylus axostyle and No. 2 craspedodrome unit C4 is dynamically connected; No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4 quadratures are installed, and the end of No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4 respectively is provided with a drive motor C7-a, C7-b.On a madial wall C1 of casing, be provided with controller C6.The below of No. 2 craspedodrome unit C4 axostylus axostyles is connected with clump weight C5, and clump weight C5 lower surface is equipped with roller (not illustrating among the figure), and roller can move on the medial surface of box bottom C2.The roller of clump weight C5 lower surface is used to reduce the load force of clump weight C5 to No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4.Under the driving of drive motor C7-a, C7-b, clump weight C5 can move arbitrarily on the medial surface of box bottom C2 under the traction of No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4 through roller.
The controller C6 of automatic level adjusting device C accepts computing machine W instruction, controls drive motor C7-a, the C7-b of No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4, through two axostylus axostyles traction clump weight C5 motion, accomplishes the trim task of regulating.
Two sheet plate bottom surface macrometer Sa, Sb, as shown in Figure 8, initial bottom surface macrometer Sa or target bottom surface macrometer Sb upper surface can dispose at least three bottom surface macrometer sensor S2-a, S2-b, S2-c arbitrarily, a bottom surface range finding controller S1; Sensor S2-a, S2-b, S2-c respectively with bottom surface range finding controller S1 cable connection; Three bottom surface macrometer sensor S2-a, S2-b, S2-c are used to measure 3 distances of load L interface, and bottom surface range finding controller S1 is used to collect the range information and the wireless computing machine W that passes to that record.
Before the lifting; Computing machine W is according to the information of transmitting; Through calculating, send control signal with adjustment single counterweight type automatic horizontal regulation sling system, guarantee when the center of clump weight is in the automatic level adjusting device horizontal center; Automatic level adjusting device is in initial equilibrium conditions, and with this state as sling system initial adjustment state.
The lifting task is that the load L of needs liftings is lifted the target bearing support Tb (similar objects such as the support of bearing load, bearing bearing support Ta, each scene of Tb general reference here) to level from the initial bearing support Ta of level, simultaneously need be in the interface level of maintenance load L in lifting and the docking operation.Sling system of the present invention is realized adjusting wherein and is kept the function of the interface level of load L.A load-bearing suspender D is used to hang load L.An automatic level adjusting device C through the position of the single clump weight C5 in the automatic level adjusting device C, realizes the interface level of load L; Initial bearing support Ta and target bearing support Tb, two bearing support Ta, Tb interface level are used for bearing load L; Load L and two bearing support interfaces are smooth; Initial bottom surface macrometer Sa and target bottom surface macrometer Sb lay respectively under initial bearing support Ta and the target bearing support Tb; Computing machine W respectively with initial bottom surface macrometer Sa and the macrometer Sb communication of target bottom surface; Exact shape specification calculation control signal according to take off data and the load L of initial bottom surface macrometer Sa or target bottom surface macrometer Sb; And pass to automatic level adjusting device C, the interface of adjustment load L keeps horizontality.
Generality is supposed in the present embodiment, and load L is a cuboid, its geometric centre of deviation of gravity center, the interface level of initial bearing support Ta and target bearing support Tb.Initial bottom surface macrometer Sa and target bottom surface macrometer Sb are installed in respectively under initial bearing support Ta and the target bearing support Tb, are used for the interface of test load L and 3 distances between the macrometer of bottom surface, and will detect data and send to computing machine W.3 range data that computing machine W transmits according to the bottom surface macrometer and the load physical dimension data of having imported can obtain the two-dimentional angle of load L interface and horizontal surface.Computing machine W is by given task, according to the two-dimentional angle of load L interface that calculates and horizontal surface, with the controller C6 communication of automatic level adjusting device C, with the adjusting of control automatic level adjusting device C.Load L, load-bearing suspender D, automatic level adjusting device C, initial bottom surface macrometer Sa, closed loop control system of the common formation of target bottom surface macrometer Sb and computing machine W.
Principle of the present invention is as shown in Figure 9; D6 is a suspension centre; Because the center of gravity L ' of eccentric load L suspension centre D6 relatively also produces an eccentric moment, make the load L run-off the straight, therefore the position through adjusting control clump weight C5; The eccentric moment that makes automatic level adjusting device C produced can be offset the eccentric moment that load center of gravity L ' is produced, and could realize the interface level of load L like this.Can make the clump weight C5 position of the interface maintenance level of load L be referred to as the target location, this target location can be decomposed in horizontal surface: along the target location Xd of No. 1 craspedodrome unit C3 and the target location Yd of No. 2 craspedodrome unit C4 in edge.No. 1 craspedodrome unit object position Xd representes when load L interface level, and clump weight C5 is along the position of No. 1 craspedodrome unit C3 direction (X); No. 2 craspedodrome unit object position Yd representes when load L interface level, and clump weight C5 is along the position of No. 2 craspedodrome unit C4 directions (Y).When clump weight C5 moves to the opposite direction with eccentric load center of gravity L '; And when the eccentric moment of the relative suspension centre D6 that produces equates with the eccentric moment of the relative suspension centre D6 of load center of gravity L '; The caused eccentric moment of load center of gravity L ' will be cancelled, thereby realize the interface level of load L.
In order to make the interface level of load L, need clump weight C5 be moved to the target location along No. 1 craspedodrome unit C3 and No. 2 craspedodrome unit C4 directions, so that suitable eccentric moment to be provided.The present invention has provided the target location that a kind of automatic search method is confirmed clump weight C5.At first search for the target location Xd of clump weight C5 along No. 1 craspedodrome unit C3 direction (X); The C3 direction moves clump weight C5 in No. 1 craspedodrome unit, traction lower edge of No. 1 craspedodrome unit C3 by initial position, and computing machine W record clump weight C5 is along the location information of No. 1 craspedodrome unit C3 direction and the ranging data of cooresponding initial bottom surface macrometer Sa (or target bottom surface macrometer Sb).Then, choose corresponding to the horizontal two-dimension angle of the interface of the load L Xd location information when directions X reaches setting threshold, and clump weight C5 is moved to this position along No. 1 craspedodrome unit C3, clump weight C5 just is on No. 1 craspedodrome unit object position Xd like this.Next search for the target location Yd of No. 2 craspedodrome unit C4 directions (Y) of clump weight C5.Keep C3 position, No. 1 craspedodrome unit (being that clump weight C5 is along C3 position, No. 1 craspedodrome unit) constant; The C4 direction moves clump weight C5 in No. 2 craspedodrome unit, traction lower edge of No. 2 craspedodrome unit C4, and simultaneous computer W record clump weight C5 is along the location information of No. 2 craspedodrome unit C4 directions and the ranging data of cooresponding initial bottom surface macrometer Sa (or target bottom surface macrometer Sb).From these angle informations; Choose corresponding to the horizontal two-dimension angle of the load L interface Yd location information when the Y direction reaches setting threshold; And clump weight C5 moved to this position along No. 2 craspedodrome unit C4, clump weight C5 just is in craspedodrome unit object position Yd No. 2 like this.If can not find the position that the horizontal two-dimension angle of load L interface satisfies threshold value; Then near current location, search for the target location Xd of clump weight C5 among a small circle again along No. 1 craspedodrome unit C3 direction; Repeat said process; Until the ranging data of computing machine W according to initial bottom surface macrometer Sa (or target bottom surface macrometer Sb), the horizontal two-dimension angle of the load L interface that calculates satisfies till the setting threshold.
During task, the staff starts self leveling spreader DC with load shape data input computing machine W, provides the lifting task as lifting: load L is lifted the target bearing support Tb to level from the initial bearing support Ta of level.
At first place initial bottom surface macrometer Sa and target bottom surface macrometer Sb, make them parallel with initial bearing support Ta respectively with each limit, the face of target bearing support Tb; And each sensor is in the interface measurement range of load L.
1, the initial bearing support Ta by level lifts by crane:
Operation crown block self leveling spreader DC move to initial bearing support Ta directly over; After treating that self leveling spreader DC is static; Give computing machine W input command, C5 moves to initial position with clump weight, makes self leveling spreader DC will be in initial equilibrium conditions.
The staff regulates four arm D4-a, D4-b, D4-c, the last regulating control D44 of D4-d, makes the suspension hook D42 position of suspender DC satisfy the requirement that load L lifts specification.Load L is passed through four isometric hoist cable E carries below self leveling spreader DC.After the staff confirmed, overhead traveling crane began hook load L.In order to make the interface maintenance level as much as possible of load L in the lifting process; 3 variable in distance between the interface of the initial real-time test load L of bottom surface macrometer Sa and macrometer sensor S2-a, S2-b, the S2-c, and send this range data to computing machine W.Computing machine W then starts above-mentioned searching method, transmits control signal to the controller C6 of automatic level adjusting device C, and controller C6 No. 1 craspedodrome unit C3 of control and No. 2 craspedodrome unit C4, traction clump weight C5 moves, until the interface level of load L.In the process of whole lifting, computing machine W through with the real-time, interactive of controller C6, S1, the interface level of load L in the whole lifting process is realized in timely adjustment clump weight C5 position.
2, to the target bearing support Tb of level assembling:
After the load L of slinging, overhead traveling crane with load L move to target bearing support Tb directly over, begin to put down load L then.When the interface of load L during near target bearing support Tb, the range data of computing machine W receiving target bottom surface macrometer Sb.If the interface of load L is level no longer; Computing machine W will launch above-mentioned searching method; Automatic level adjusting device controller C6 is given in concurrent control information; No. 1 craspedodrome unit C3 of controller C6 control and No. 2 craspedodrome unit C4, traction clump weight C5 moves, and is mounted to target bearing support Tb until the interface level of load L.
The front has specifically described embodiment of the present invention, should be appreciated that the people who has the common skill in present technique field for, in any modification that does not depart from the scope of the present invention or local replacement, all belongs to the scope of claims protection of the present invention.

Claims (8)

1. a single counterweight type self leveling spreader comprises the load-bearing suspender; It is characterized in that: also comprise a computing machine (W), a level(l)ing device (C) and two bottom surface macrometers: initial bottom surface macrometer (Sa) and target bottom surface macrometer (Sb); Computing machine (W) respectively with automatic level adjusting device (C), two bottom surface macrometers: initial bottom surface macrometer (Sa) and target bottom surface macrometer (Sb) wired connection or wireless telecommunications;
A load-bearing suspender (D) comprises horizontal bearing beam (D1), vertical transfer beam (D2), horizontal bearing platform (D3), binding clip (D5) and the arm (D4) with regulatory function;
Wherein, have the horizontal bearing beam (D1) of lifting hole(eyelet), its center has a lifting hole(eyelet) (D6), is used for linking to each other with the hoist cable of overhead traveling crane; The first vertical transfer beam (D2-a) that each affixed downward vertically two identical material same size of the two ends of horizontal bearing beam (D1) are parallel to each other, the upper end of the second vertical transfer beam (D2-b); The lower end and the horizontal bearing platform (D3) of the first vertical transfer beam (D2-a), the second vertical transfer beam (D2-b) are affixed, and affixed point lays respectively at the point midway of horizontal bearing platform (D3) opposing parallel side; Horizontal bearing platform (D3) is parallel with horizontal bearing beam (D1); Horizontal bearing platform (D3) upper surface is provided with level(l)ing device (C); Affixed four arms of lower surface: first arm (D4-a), second arm (D4-b), the 3rd arm (D4-c), the 4th arm (D4-d), the inner contact of this first arm (D4-a), second arm (D4-b), the 3rd arm (D4-c), the 4th arm (D4-d) is positioned at the center of horizontal bearing platform (D3); Arm (D4) comprises four identical materials; The load-bearing arm of same structure; Wherein first arm (D4-a) and the 3rd arm (D4-c) are coaxial, and second arm (D4-b) and the 4th arm (D4-d) are coaxial, and first arm (D4-a) is installed with set angle with second arm (D4-b);
The upper end of four hoist cables (E) respectively with four arms: the outer end of first arm (D4-a), second arm (D4-b), the 3rd arm (D4-c), the 4th arm (D4-d) is connected, and the lower end is connected with the lifting point of load (L) respectively;
Automatic level adjusting device (C) is a rectangular box; Bottom surface (C2) is positioned at horizontal bearing platform (D3) upper surface, and casing periphery circle is fastening with it through the two vertical transfer beam first vertical transfer beam (D2-a), the second vertical transfer beam (D2-b) by horizontally disposed binding clip (D5);
Box house at automatic level adjusting device (C): the axostylus axostyle two ends of No. 1 craspedodrome unit (C3) are fixed on relative two madial walls (C1) of casing; The upper surface of the lower surface of No. 1 craspedodrome unit (C3) axostylus axostyle and No. 2 craspedodrome unit (C4) axostylus axostyle is dynamically connected; Two axostylus axostyle quadratures are installed, and an end of No. 1 craspedodrome unit (C3) and No. 2 craspedodrome unit (C4) respectively is provided with a drive motor: first drive motor (C7-a), second drive motor (C7-b); On a madial wall (C1) of casing, be provided with controller (C6); The below of No. 2 craspedodrome unit (C4) axostylus axostyle is connected with clump weight (C5), and clump weight (C5) lower surface is equipped with roller, and the medial surface of roller and box bottom (C2) is dynamically connected; Under the driving of first drive motor (C7-a), second drive motor (C7-b), clump weight (C5), moves arbitrarily on the medial surface of box bottom (C2) under the traction of No. 1 craspedodrome unit (C3) and No. 2 craspedodrome unit (C4) through roller;
The controller (C6) of automatic level adjusting device (C) is accepted computing machine (W) instruction;
Two bottom surface macrometers, one is initial bottom surface macrometer (Sa), another is a target bottom surface macrometer (Sb), lays respectively under the target bearing support (Tb) of initial bearing support (Ta) and level of level, and the level of maintenance and bearing support;
The integral body that realizes self leveling spreader and load (L) through overhead traveling crane moves.
2. single counterweight type self leveling spreader as claimed in claim 1 is characterized in that: said first bearing support (Ta), second bearing support (Tb), make a general reference support, the bearing of bearing load in each scene (L).
3. single counterweight type self leveling spreader as claimed in claim 1 is characterized in that: said arm (D4) comprises shell (D41), suspension hook (D42), support plate (D43), regulating control (D44), leading screw (D45) and slide block (D46); The shell of arm (D41) is a spill, and two ends are with arm support plate (D43) end socket; Be axially arranged with a leading screw (D45) in the groove of shell (D41), leading screw (D45) two ends are dynamically connected through bearing and support plate (D43), and wherein an end stretches out support plate (D43), and affixed with regulating control (D44); There is tapped bore at one arm slide block (D46) center, the outside thread socket of tapped bore and arm leading screw (D45), the affixed suspension hook of slide block (D46) lower surface (D42);
Computing machine (W) and regulating control (D44) wired connection or wireless telecommunications, controlled adjuster (D44) drives arm leading screw (D45) and rotates, regulate arm slide block (D46) and above that the suspension hook (D42) of being connected with respect to the position of inner contact.
4. like claim 1 or 3 described single counterweight type self leveling spreaders, it is characterized in that: said four hoist cables (E) upper ends respectively with four arms: the suspension hook (D42) on first arm (D4-a), second arm (D4-b), the 3rd arm (D4-c), the 4th arm (D4-d) is connected.
5. single counterweight type self leveling spreader as claimed in claim 1; It is characterized in that: said two bottom surface macrometers: initial bottom surface macrometer (Sa) and target bottom surface macrometer (Sb); Be the sheet plate; Initial bottom surface macrometer (Sa) or target bottom surface macrometer (Sb) upper surface dispose three bottom surface macrometer sensors at least: the first bottom surface macrometer sensor (S2-a), the second bottom surface macrometer sensor (S2-b), the 3rd bottom surface macrometer sensor (S2-c), a bottom surface range finding controller (S1); Three bottom surface macrometer sensors: the first bottom surface macrometer sensor (S2-a), the second bottom surface macrometer sensor (S2-b), the 3rd bottom surface macrometer sensor (S2-c) respectively with bottom surface range finding controller (S1) cable connection; Three bottom surface macrometer sensors: the first bottom surface macrometer sensor (S2-a), the second bottom surface macrometer sensor (S2-b), the 3rd bottom surface macrometer sensor (S2-c) are used to measure 3 distances of load (L) interface; Bottom surface range finding controller (S1) and computing machine (W) wired connection or wireless telecommunications; The range information that collection records, and accept computing machine (W) instruction.
6. the method for application of a single counterweight type self leveling spreader as claimed in claim 1; It is characterized in that: with a computing machine (W) respectively with initial bottom surface macrometer (Sa) and target bottom surface macrometer (Sb) communication; According to the take off data of initial bottom surface macrometer (Sa) and target bottom surface macrometer (Sb) and the exact shape specification of load (L); The calculation control signal; And issue the controller (C6) of automatic level adjusting device (C), controller (C6) drives first drive motor (C7-a), second drive motor (C7-b), through the motion of two axostylus axostyle axial traction clump weights (C5); Clump weight (C5) drives load (L) and moves, and makes the interface of load (L) keep horizontality.
7. method of application as claimed in claim 6 is characterized in that: comprise step:
Step 1: below initial bearing support (Ta) interface of level, initial bottom surface macrometer (Sa) is set;
Step 2: below target bearing support (Tb) interface of level, place a target bottom surface macrometer (Sb);
Step 3: through computing machine (W) and automatic level adjusting device controller (C6) communication, by the linear grating location, self-balanced upper rotary (C5) is to the center of automatic level adjusting device (C), as the initial condition of automatic level adjusting device;
Step 4: from initial bearing support (Ta) load to be assembled (L) of slinging, computing machine (W) and initial bottom surface macrometer (Sa) communication acquisition data;
Step 5: computing machine (W) sends instruction, keeps No. 2 craspedodrome unit (C4) invariant position, along No. 1 craspedodrome unit (C3) direction (X) self-balanced upper rotary (C5), reaches setting threshold until the horizontal two-dimension angle of the interface of load L at directions X;
Step 6: completing steps 5 back computing machines (W) send instruction again, keep No. 1 craspedodrome unit (C3) invariant position, and edge No. 2 craspedodrome unit (C4) directions (Y) self-balanced upper rotary (C5) reach setting threshold until the horizontal two-dimension angle of the interface of load L in the Y direction; If the horizontal two-dimension angle of load L interface does not reach setting threshold, then repeating step 5,6 is till the horizontal two-dimension angle of load L interface reaches setting threshold, to accomplish load (L) lifting horizontal adjustment task;
Step 7: the overhead traveling crane through hanging automatic horizontal regulation sling system moves to target bearing support (Tb) top, computing machine (W) and target bottom surface macrometer (Sb) communication, image data with load to be assembled (L);
Step 8: according to the data that collect, repeating step 5,6 keeps the interface level of load (L) in the docking operation, to accomplishing docking mission.
8. method of application as claimed in claim 7; It is characterized in that: said self-balanced upper rotary (C5); The controller (C6) that is automatic level adjusting device (C) is accepted computing machine (W) instruction; Control first drive motor (C7-a), second drive motor (C7-b) of No. 1 craspedodrome unit (C3) and No. 2 craspedodrome unit (C4), on the medial surface of box bottom (C2), move through two axostylus axostyle axial traction clump weights (C5).
CN2008102409417A 2008-12-24 2008-12-24 Single counterweight type automatic levelling spreader and using method thereof CN101759092B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2008102409417A CN101759092B (en) 2008-12-24 2008-12-24 Single counterweight type automatic levelling spreader and using method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2008102409417A CN101759092B (en) 2008-12-24 2008-12-24 Single counterweight type automatic levelling spreader and using method thereof

Publications (2)

Publication Number Publication Date
CN101759092A CN101759092A (en) 2010-06-30
CN101759092B true CN101759092B (en) 2012-04-18

Family

ID=42490500

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2008102409417A CN101759092B (en) 2008-12-24 2008-12-24 Single counterweight type automatic levelling spreader and using method thereof

Country Status (1)

Country Link
CN (1) CN101759092B (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102183241B (en) * 2011-02-21 2012-09-26 葛洲坝集团第一工程有限公司 Automatic level gauge and leveling method thereof
CN102259792B (en) * 2011-04-13 2013-06-12 无锡美克申思科技有限公司 Improved orthogonal automatic horizontal adjustment lifting appliance and horizontal adjustment method thereof
US20130044850A1 (en) * 2011-08-19 2013-02-21 Lewis A. Walton Nuclear reactor refueling methods and apparatuses
US8985354B2 (en) 2011-11-04 2015-03-24 GM Global Technology Operations LLC Movement system configured for moving a payload in a plurality of directions
CN103086272B (en) * 2011-11-04 2014-12-24 通用汽车环球科技运作有限责任公司 Movement system configured for moving load in multiple directions
US9630815B2 (en) 2011-11-04 2017-04-25 GM Global Technology Operations LLC Movement system configured for moving a payload
CN103373664B (en) * 2012-04-12 2015-09-16 淮南矿业(集团)有限责任公司 Self-tightening lifting appliance
CN103130100B (en) * 2013-03-01 2015-09-30 中船第九设计研究院工程有限公司 Stationary crane hangs row of horizontal control monitor unit
CN103449300B (en) * 2013-09-17 2016-03-02 无锡美克申思科技有限公司 A kind of suspender
CN104389937B (en) * 2014-09-12 2016-08-24 上海卫星工程研究所 Extension spring leaf spring composite suspension system
ES2675331T3 (en) * 2014-12-19 2018-07-10 Airbus Defence And Space, S.A. Device for lifting and controlling loads
CN105502170B (en) * 2015-12-28 2016-10-26 郑州航空工业管理学院 The heavy comprehensive lifting transfer device of a kind of logistics net intermediate link
CN107436436A (en) * 2017-08-31 2017-12-05 中交航局第二工程有限公司 A kind of early warning system and method for the installation of immersed tube tunnel final joint
CN109443678A (en) * 2018-11-30 2019-03-08 中国航空工业集团公司沈阳飞机设计研究所 A kind of component vibration testing equipment leveling system and method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2647819Y (en) * 2003-09-26 2004-10-13 润弘精密工程事业股份有限公司 Self-rotary sling
CN1810621A (en) * 2006-02-16 2006-08-02 上海振华港口机械(集团)股份有限公司 Centralizing mechanism for upper rack of double 40-feet sling
CN1899948A (en) * 2006-07-27 2007-01-24 大连新兴起重设备有限公司 Crane combined lifting system for lifting super long heavy rail
CN2913307Y (en) * 2005-12-02 2007-06-20 中国重型汽车集团有限公司 Special hanging harness for driving cabin welding

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2647819Y (en) * 2003-09-26 2004-10-13 润弘精密工程事业股份有限公司 Self-rotary sling
CN2913307Y (en) * 2005-12-02 2007-06-20 中国重型汽车集团有限公司 Special hanging harness for driving cabin welding
CN1810621A (en) * 2006-02-16 2006-08-02 上海振华港口机械(集团)股份有限公司 Centralizing mechanism for upper rack of double 40-feet sling
CN1899948A (en) * 2006-07-27 2007-01-24 大连新兴起重设备有限公司 Crane combined lifting system for lifting super long heavy rail

Also Published As

Publication number Publication date
CN101759092A (en) 2010-06-30

Similar Documents

Publication Publication Date Title
CN102426051B (en) Testing machine for testing crane scale and method for disassembling and assembling weight thereof
US3851736A (en) Apparatus and method for installing elevator hoistway equipment
US7648036B2 (en) Systems and methods for sway control
JP5933915B2 (en) System for determining the load mass of a load carried by a crane hoist cable
CN106064776B (en) Method and apparatus for automatic elevator installation
CN100522792C (en) Method and device for maintaining a position of a load
CN102923572B (en) A kind of crane load space pivot angle detection technique and device
CN106064775B (en) Device and method for measuring position of the mounting platform in elevator
CN102795547B (en) Real-time photographic measuring method of position and swing angle of lifting hook of crane
CN102650563A (en) Ground testing system for on-track micro vibration of spacecraft
US9863579B2 (en) Balanced support device
CN105712177B (en) Equipment for promoting and controlling load
CN105035928B (en) Elevator self balancing device, elevator and elevator self-balancing control method
CN101891109B (en) Two-freedom-degree regulation self-leveling spreader and regulation method
JP2008521726A (en) Elevator
CN101855160A (en) Device for lifting and moving window frames
CN106064774B (en) Facility and method for alignment track in the elevator shaft
US6467582B1 (en) Stacker crane
CN107855745B (en) A kind of suspension type aero-engine principal unit centered assembling mechanical system
CN102556831B (en) Horizontal adjusting sling for spacecraft
CN102459051A (en) Apparatus and method for testing braking performance
RU2401241C2 (en) Device to sling parts with force compensation and lifting system therewith
CN104076828B (en) The planar inverted multi-point leveling method of planar inverted multi-point leveling device
CN201424355Y (en) Mobile self climbing elevator
CN105459153A (en) Railway tunnel lining quality nondestructive detection boom and detection method thereof

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120418

Termination date: 20171224