CN105197767A - Three-rope intelligent lifting device - Google Patents
Three-rope intelligent lifting device Download PDFInfo
- Publication number
- CN105197767A CN105197767A CN201510654827.9A CN201510654827A CN105197767A CN 105197767 A CN105197767 A CN 105197767A CN 201510654827 A CN201510654827 A CN 201510654827A CN 105197767 A CN105197767 A CN 105197767A
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- hoist cable
- capstan winch
- lifting
- sensor
- rope
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Abstract
The invention discloses a three-rope intelligent lifting device, which comprises a sensor integration box (1), a hanging plate (2), a lifting hook (3), a lifting rope 1 (4), a lifting rope 2 (5), a lifting rope 3 (6), a winch 1 (41), a winch 2 (51) and a winch 3 (61). According to the three-rope intelligent lifting device, various states of the heights, the gestures, the speeds and the like of the hanging plate (2) and lifted objects are monitored by a laser distance measuring sensor and a horizontal gesture sensor in the sensor integration box (1) in real time, and are fed back to a control system; and the control system respectively controls the three winches, so that automatic control and adjustment of the lifting process are achieved. The three-rope intelligent lifting device is capable of controlling the heights and the speeds of the hanging plate (2) and the lifted objects, has the ability of automatically adjusting balance, and is capable of monitoring and alarming the abnormal condition generated in the lifting process.
Description
Technical field
The invention belongs to hanging device field, particularly a kind of three rope hanging apparatus utilizing sensor to realize hoisting process monitoring and Based Intelligent Control.
Background technology
The mode of hoist cable lifting is used to realize the movement of article in vertical space, it is one of method the most frequently used in social activities and commercial production, but what require hoisting technology along with the mankind improves constantly, the shortcoming and defect that traditional hanging method and equipment come out is more and more obvious.
First traditional hanging method precision is not enough, and traditional lifting mode is: operative's remote controller, and the visual inspection hoisting process of employment, controls moving up and down by lifting object.This mode may not ensure Hoisting Position and the accurate control by lifting object moving velocity, if improper by the control of lifting object moving velocity, also can cause the accident bumped against by lifting object and other equipment, produce loss.Workman is arranged to scoop out by the method for lifting object in lifting destination, above-mentioned deficiency can only be made up to a small extent, and the restricted condition of this method is too many, the place that such as nuclear power plant, chemical industry facility, biopreparate workshop etc. have " unmanned " to require, workman just can not be arranged to scoop out by lifting object, accurately cannot ensureing of hoisting process.
Second traditional hanging method is uncontrollable by the attitude of lifting object, hoist cable is all flexible, to by the space constraint ability of lifting object, in hoisting process, the external factor such as wind, vibration and all can be caused being changed by the attitude of lifting object by the unequal internal factor of lifting object mass distribution.Hoisting process is had to the work of gesture stability requirement, traditional hanging method has been difficult to, and excessive by lifting object attitudes vibration, also may be accidents caused, produces loss.
Summary of the invention
In view of this, for the deficiencies in the prior art and blank, technical matters to be solved by this invention is to provide a kind of three Suo Zhineng hanging apparatus, utilize laser range sensor, horizontal attitude sensor Real-Time Monitoring and control by all kinds of states such as the height of lifting object, attitude, speed, realizing the accurate control of hoisting process and the intellectuality, unmanned of lifting work.
The present invention to achieve these goals, structure is composed as follows: hanging scaffold (2) is provided with sensor integration box (1) and three suspension hooks (3), three suspension hooks (3) connect hoist cable 1 (4), hoist cable 2 (5), hoist cable 3 (6) respectively, hoist cable 1 (4) connects capstan winch 1 (41), hoist cable 2 (5) connects capstan winch 2 (51), hoist cable 3 (6) connects capstan winch 3 (61), and capstan winch 1 (41), capstan winch 2 (51), capstan winch 3 (61) are arranged in lifting basal plane (7).There are laser range sensor, horizontal attitude sensor in sensor integration box (1) inside, and the laser beam that described laser range sensor is launched is parallel with Y-axis.Three suspension hooks (3) are becoming equilateral triangle to arrange perpendicular in the plane of Y-axis.
Advantage of the present invention is as follows: the mode employing three rope liftings, and three capstan winches work alone each other, can realize the gesture stability of hoisting process, and control logic is simple, the convenient realization controlled; Employ laser range sensor, horizontal attitude sensor, the multinomial state of hoisting process can be monitored, such as by the moving velocity of lifting object, by the vertical height of lifting object, by the attitude of lifting object namely relative to XYZ tri-coordinate axlees angle, by lifting object whether occur swing or jam; Sensor is arranged in the working end of whole system, realizes closed loop control, the scantling of structure error that the flexibility eliminating all errors, particularly hoist cable of pilot process is brought, and ensure that the high precision of control process; Degree of automation is high, can realize unmanned work.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Fig. 1 is a kind of structural representation of three Suo Zhineng hanging apparatus.
Fig. 2 is a kind of operating diagram of three Suo Zhineng hanging apparatus.
In figure, 1-sensor integration box, 2-hanging scaffold, 3-suspension hook, 4-hoist cable 1,5-hoist cable 2,6-hoist cable 3,41-capstan winch 1,51-capstan winch 2,61-capstan winch 3,7-lifting basal plane.
Detailed description of the invention
Exemplary embodiment is as follows: shown in Fig. 2, the laser range sensor of sensor integration box (1) inside, every state of horizontal attitude sensor monitoring hoisting process, and transmits to control system in real time.Capstan winch 1 (41), capstan winch 2 (51), the controlled system of capstan winch 3 (61) control in real time, work alone each other, capstan winch 1 (41) rotates the folding and unfolding length that can control hoist cable 1 (4), capstan winch 2 (51) rotates the folding and unfolding length that can control hoist cable 2 (5), and capstan winch 3 (61) rotates the folding and unfolding length that can control hoist cable 3 (6).Hanging scaffold (2) is upper fixing by lifting object.Data Control three capstan winches that control system provides according to sensor integration box (1) rotate, thus realize by the monitor and forecast of the vertical height of lifting object, moving velocity, attitude, can also give the alarm to by abnormal operation such as lifting object swing, jams.
Principle of work labor of the present invention is as follows:
Inspect and control principle by lifting object attitude: set hoist cable 1 (4) as gesture stability benchmark, capstan winch 1 (41) is according to set rotation speed operation.When horizontal attitude sensor detects hanging scaffold (2) for horizontality, control system controls capstan winch 2 (51), capstan winch 3 (61) and the synchronized rotation of capstan winch 1 (41), namely hoist cable 2 (5), hoist cable 3 (6) do not extend shortening relative to hoist cable 1 (4), make hanging scaffold (2) keep horizontality; When horizontal attitude sensor detects X-axis forward one end of hanging scaffold (2) than X-axis negative sense one end height, control system controls capstan winch 2 (51) respectively and rotates relative to capstan winch 1 (41) differential with capstan winch 3 (61), namely hoist cable 2 (5) extends relative to hoist cable 1 (4), hoist cable 3 (6) shortens relative to hoist cable 1 (4), hanging scaffold (2) is flipped an angle around the axle cw being parallel to Z axis, recovers horizontality; When horizontal attitude sensor detects that X-axis forward one end of hanging scaffold (2) is lower than X-axis negative sense one end, control system controls capstan winch 2 (51) respectively and rotates relative to capstan winch 1 (41) differential with capstan winch 3 (61), namely hoist cable 2 (5) shortens relative to hoist cable 1 (4), hoist cable 3 (6) extends relative to hoist cable 1 (4), hanging scaffold (2) is flipped an angle around the axle conter clockwise being parallel to Z axis, recovers horizontality; When horizontal attitude sensor detects Z axis forward one end of hanging scaffold (2) than Z axis negative sense one end height, control system controls capstan winch 2 (51) respectively and rotates relative to capstan winch 1 (41) differential with capstan winch 3 (61), namely hoist cable 2 (5), hoist cable 3 (6) shorten relative to hoist cable 1 (4), hanging scaffold (2) is flipped an angle around the axle conter clockwise being parallel to X-axis, recovers horizontality; When horizontal attitude sensor detects that Z axis forward one end of hanging scaffold (2) is lower than Z axis negative sense one end, control system controls capstan winch 2 (51) respectively and rotates relative to capstan winch 1 (41) differential with capstan winch 3 (61), namely hoist cable 2 (5), hoist cable 3 (6) extend relative to hoist cable 1 (4), hanging scaffold (2) is flipped an angle around the axle cw being parallel to X-axis, recovers horizontality.
Inspect and control principle by the vertical height of lifting object: laser range sensor is along Y-axis reference plane Emission Lasers bundle, by the distance data transmission of the laser range sensor that measures and reference plane to control system, described range data is converted into by the vertical altitude information of lifting object by control system, and control the angle of rotation of three capstan winches rotations according to the vertical altitude information of gained, thus control by the vertical height of lifting object.
Inspect and control principle by lifting object moving velocity: with one regular time span setup times node.Laser range sensor along Y-axis reference plane Emission Lasers bundle, by the distance data transmission of the laser range sensor that measures and reference plane to control system.Do difference by the range data of this timing node and the range data of a upper timing node, draw distance variable quantity, be business with distance variable quantity and time span, draw by the speed of lifting object at this timing node.Control the rotating speed of three capstan winches rotations according to gained speed data, thus control by the moving velocity of lifting object.
Monitoring principle by lifting object swings: what measure when horizontal attitude sensor becomes simple harmonic quantity wavy along X-axis or along the change of pitch angle curve of Z axis, control system just sends by lifting object swing alarm and implements corresponding measure.
Monitoring principle by lifting object jam: when apply actual moving velocity that laser range sensor meter calculates and anticipated movement speed generation negative bias from time, control system just sends by the alarm of lifting object jam and implements corresponding measure.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, obviously, those skilled in the art can carry out various change and distortion to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and distortion belong within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also comprises these changes and distortion.
Claims (4)
1. a Suo Zhineng hanging apparatus, it is characterized in that: hanging scaffold (2) is provided with sensor integration box (1) and three suspension hooks (3), described three suspension hooks (3) connect hoist cable 1(4 respectively), hoist cable 2(5), hoist cable 3(6), described hoist cable 1(4) connect capstan winch 1(41), described hoist cable 2(5) connect capstan winch 2(51), described hoist cable 3(6) connect capstan winch 3(61), described capstan winch 1(41), capstan winch 2(51), capstan winch 3(61) be arranged in lifting basal plane (7).
2. a kind of three Suo Zhineng hanging apparatus according to claim 1, is characterized in that: there are laser range sensor, horizontal attitude sensor in described sensor integration box (1) inside.
3. according to claim 1, a kind of three Suo Zhineng hanging apparatus according to claim 2, it is characterized in that: the laser beam that the laser range sensor that described sensor integration box (1) is inner is launched is parallel with Y-axis.
4. a kind of three Suo Zhineng hanging apparatus according to claim 1, is characterized in that: described three suspension hooks (3) are becoming equilateral triangle to arrange perpendicular in the plane of Y-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510654827.9A CN105197767A (en) | 2015-10-12 | 2015-10-12 | Three-rope intelligent lifting device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510654827.9A CN105197767A (en) | 2015-10-12 | 2015-10-12 | Three-rope intelligent lifting device |
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| CN105197767A true CN105197767A (en) | 2015-12-30 |
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| CN201510654827.9A Pending CN105197767A (en) | 2015-10-12 | 2015-10-12 | Three-rope intelligent lifting device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107091613A (en) * | 2017-06-02 | 2017-08-25 | 云峰发电厂 | The big part of hydrogenerator is installed, dismantles the accurate measurement in position in hoisting process and alarm method |
| CN108313887A (en) * | 2018-03-28 | 2018-07-24 | 河南卫华机械工程研究院有限公司 | A kind of crane hanger balance system and balance control method |
| CN110054078A (en) * | 2019-04-08 | 2019-07-26 | 中交一航局第一工程有限公司 | A kind of component Current Collector Sleave |
| CN114033624A (en) * | 2021-11-30 | 2022-02-11 | 安徽方永新能源科技有限公司 | Anti-typhoon wind power generation equipment fixing base |
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| CN103287985A (en) * | 2012-02-28 | 2013-09-11 | 三星电子株式会社 | Hoist apparatus and hoist system including same |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
| DE102013219279A1 (en) * | 2013-09-25 | 2015-03-26 | Schaeffler Technologies Gmbh & Co. Kg | Load-bearing damper and lifting device for suspended loads |
| CN104649120A (en) * | 2015-01-30 | 2015-05-27 | 芜湖合建路桥机械有限公司 | Balance hoisting equipment |
| CN205061349U (en) * | 2015-10-12 | 2016-03-02 | 四川大学 | Three suo zhineng hoist device |
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| CN101633478A (en) * | 2008-07-23 | 2010-01-27 | 中国科学院自动化研究所 | Cable traction automatic leveling hanger and method thereof |
| CN103781717A (en) * | 2011-07-18 | 2014-05-07 | 科恩起重机有限公司 | System and method for determining location and skew of crane grappling member |
| CN103287985A (en) * | 2012-02-28 | 2013-09-11 | 三星电子株式会社 | Hoist apparatus and hoist system including same |
| DE102013219279A1 (en) * | 2013-09-25 | 2015-03-26 | Schaeffler Technologies Gmbh & Co. Kg | Load-bearing damper and lifting device for suspended loads |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107091613A (en) * | 2017-06-02 | 2017-08-25 | 云峰发电厂 | The big part of hydrogenerator is installed, dismantles the accurate measurement in position in hoisting process and alarm method |
| CN108313887A (en) * | 2018-03-28 | 2018-07-24 | 河南卫华机械工程研究院有限公司 | A kind of crane hanger balance system and balance control method |
| CN110054078A (en) * | 2019-04-08 | 2019-07-26 | 中交一航局第一工程有限公司 | A kind of component Current Collector Sleave |
| CN114033624A (en) * | 2021-11-30 | 2022-02-11 | 安徽方永新能源科技有限公司 | Anti-typhoon wind power generation equipment fixing base |
| CN114033624B (en) * | 2021-11-30 | 2023-09-19 | 安徽方永新能源科技有限公司 | Typhoon-resistant wind power generation equipment fixing base |
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Application publication date: 20151230 |