CN108358058A - A kind of intelligent suspender of posture adjustment - Google Patents

Abstract

The invention provides an intelligent hanger for attitude adjustment, which includes a main frame, a lifting assembly, an automatic leveling assembly, a vertical sling assembly, an inclination sensor and a controller unit, and a lifting assembly, which is centrally arranged on the main frame; automatic leveling Assemblies, including bearing turntable, steering gear, counterweight bearing frame, a drive element and counterweight, said bearing turntable is installed centrally on the main frame; vertical sling assembly is installed at the edge of the main frame; the main frame is at its horizontal Inclination sensors arranged in the X and Y directions respectively; the controller unit receives the signals of the inclination sensors and controls the action of the steering gear and the driving components. The intelligent attitude-adjusting spreader created by the present invention can adjust its trim position by controlling the moving position of the counterweight to realize the balance of the spreader, which can keep the spacecraft in a horizontal state when hoisting, and can also make the spacecraft in the horizontal position. Quickly adjust the attitude during the hoisting process to keep the spacecraft in an arbitrary preset attitude.

Description

An intelligent sling for posture adjustment

technical field

The invention belongs to the field of aerospace equipment hoisting equipment, and in particular relates to an intelligent sling for attitude adjustment.

Background technique

In the process of spacecraft assembly, due to the different degrees of difficulty of product assembly, different actual operating conditions, and deviations in theoretical calculations, there will be some differences between the actual position of the center of mass of the spacecraft and the theoretical position. The special spreader with the theoretical center of mass position as the design requirement has a relatively fixed structure and cannot automatically adapt to the actual center of mass. It must rely on manual or mechanical auxiliary methods for leveling. At this time, there are problems such as bumping, low adjustment efficiency and low leveling accuracy. Under the development trend of mass production of spacecraft products, there is an urgent need for a fast automatic leveling spreader, which can realize fast automatic leveling of the product during the lifting process, and keep the suspended object in a horizontal state or a certain attitude all the time. At the same time, it can record the leveling status of different spacecraft to facilitate the next operation.

Contents of the invention

In view of this, the present invention aims to propose an attitude-adjusting intelligent hanger, so as to quickly realize product hoisting and product attitude adjustment.

In order to achieve the above object, the technical solution created by the present invention is achieved in this way:

An attitude-adjusting intelligent spreader, including a main frame, and

The lifting component is centrally arranged on the main frame and used to connect with external lifting equipment;

Automatic leveling components to level the attitude of the product during the lifting process;

Vertical sling assembly, installed at the edge of the main frame;

The inclination sensors arranged on the main frame in its horizontal X and Y directions are used to detect the inclination angle of the main frame in the horizontal X and Y directions;

The controller unit receives the signal of the inclination sensor, and controls the steering gear and the automatic leveling component to realize the automatic leveling of the product during the lifting process.

Further, the automatic leveling assembly includes a horizontally arranged bearing turntable, a steering gear for controlling the rotation of the bearing turntable, a counterweight support frame and a linear transmission assembly arranged on the bearing turntable, a counterweight support frame and The center of gravity of the linear transmission assembly is respectively arranged on both sides of the central axis of the bearing turntable. The linear transmission assembly includes a drive element and a counterweight that moves radially along the bearing turntable driven by the drive element. The drive element and the steering gear are respectively connected with the The controller unit is electrically connected, and the bearing turntable is centrally installed on the main frame, and the bearing turntable drives the counterweight force frame and the linear transmission assembly to rotate 360° around the central axis of the bearing turntable at the same time.

Further, the lifting assembly includes a lifting ring, a transition frame and a connecting base arranged in sequence from top to bottom, wherein the lifting ring and the transition frame are connected by a shackle, and the connecting base and the transition frame are connected by a cross universal joint, The bottom end of the connection base is fixed on the main frame.

Further, the linear transmission assembly is a horizontally arranged electric sliding table structure, and the counterweight is arranged on the sliding block of the electric sliding table.

Further, the linear transmission assembly is provided with a grating ruler for detecting the moving distance of the slider, and the grating ruler is electrically connected to the controller.

Further, the steering gear is a gear commutator.

Further, the vertical sling assembly includes a connecting piece, a sling, and a turnbuckle arranged in sequence from top to bottom, and the connecting piece and the sling, and the sling and the turnbuckle are respectively connected by shackles.

Further, a tension sensor is also connected between the connecting piece and the sling, and the upper sliding sleeve of the tension sensor is provided with an upper ferrule, the lower sliding sleeve of the tension sensor is provided with a lower ferrule, and the bottom end of the upper ferrule and the lower ferrule Top bolted.

Further, the hanger also includes a power supply unit installed on the main frame, and the power supply unit provides electric energy to the controller, the signal of the inclination sensor, the steering gear and the driving components.

Compared with the prior art, the present invention creates the intelligent sling for attitude adjustment, which has the following advantages:

The invention creates an attitude-adjusting intelligent hanger, which includes an automatic leveling assembly and an inclination sensor arranged on the main frame. The inclination sensor detects the inclination angle of the main frame, and then transmits the signal to the controller unit. The controller in the control unit controls the movement of the counterweight in the automatic leveling assembly, thereby adjusting its trim position and realizing the trim of the spreader, which can keep the spacecraft in a horizontal or set state when hoisting, and also make the spacecraft in the hoisting state. During the process, the attitude is quickly adjusted to keep the spacecraft in an arbitrary pre-set attitude.

Description of drawings

The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is a perspective view of an intelligent hanger for attitude adjustment described in the present embodiment;

Fig. 2 is a front view of the hoisting assembly in the smart sling for posture adjustment described in this embodiment;

Fig. 3 is a left view of the hoisting assembly in an intelligent attitude-adjusting sling described in this embodiment;

Fig. 4 is a front view of the automatic leveling assembly in an intelligent sling for attitude adjustment described in this embodiment;

Fig. 5 is a top view of the automatic leveling assembly in an attitude-adjusting intelligent spreader described in this embodiment;

Fig. 6 is a three-dimensional schematic diagram of a vertical sling assembly in a posture-adjusting intelligent sling described in this embodiment;

Fig. 7 is a front view of the vertical sling assembly in the smart sling for posture adjustment described in this embodiment;

Fig. 8 is a structural diagram of the tension sensor in the vertical sling assembly of the present embodiment;

Fig. 9 is a three-dimensional schematic diagram of the main frame of an attitude-adjusting intelligent sling according to this embodiment.

Explanation of reference signs:

1-main frame; 101-beam;

102-flat plate; 2-lifting assembly;

201-hanging ring; 203-transition frame;

204-tapered roller bearing; 205-connecting block;

206-connecting shaft; 207-bearing cover;

208-connect base; 3-automatic leveling assembly;

301-linear transmission assembly; 302-nut;

303-weight block; 304-slider;

305-counterweight bearing frame; 307-guide rail;

308- grating ruler; 309- bearing turntable;

310-steering gear; 312-servo motor;

4-Inclination sensor; 5-Vertical sling assembly;

501-connector; 503-sling;

504-turnbuckle screw; 506-tension sensor;

507-upper ferrule; 508-lower ferrule;

6-power supply unit; 7-controller unit.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention Creation and simplification of description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

The invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figure 1-9, an intelligent attitude-adjusting spreader includes a main frame 1, a lifting component 2, an automatic leveling component 3, a vertical sling component 5, an inclination sensor 4 and a controller unit 7, wherein: as shown in the figure 9, the main frame 1 includes two horizontal beams 101, the two beams 101 intersect vertically at the center, one of the beams 101 is arranged in the horizontal X direction, and the direction of the other beam 101 is set in the horizontal Y direction , a support plate 102 is set at the intersection of the two beams 101; as shown in Figures 2 and 3, the lifting assembly 2 is centrally installed on the plate 102, and the fixing point of the lifting assembly 2 and the plate 102 is the spreader The hoisting point is used to connect with external hoisting equipment, thereby realizing the hoisting of the main frame 1; as shown in Figures 4 and 5, the automatic leveling assembly 3 includes a bearing turntable 309, a steering gear 310, a counterweight bearing The frame 305 and the linear transmission assembly 301, the bearing turntable 309 are installed on the flat plate 10, and the central axis of the bearing turntable 309 passes through the hoisting point of the spreader, and the bottom end of the lifting component 2 passes through the center hole of the bearing turntable 309 and is fixed on the flat plate 10. The diverter 310 is used to control the rotation of the bearing turntable 309 around its central axis by 360°. In this embodiment, preferably, the diverter 310 is a gear commutator. The assembly 301 is arranged on the counterweight support frame 305. The linear transmission assembly 301 includes a drive element and a counterweight 303 that moves linearly under the drive of the drive element. The movement direction of the counterweight 303 is along the radial direction of the bearing turntable 309. Carrying out, when the bearing turntable 309 rotates under the action of the steering gear 310, it drives the counterweight bearing frame 305 and the linear transmission assembly 301 to rotate 360° around the axis of the bearing turntable 309 at the same time; as shown in Figures 6 and 7, the vertical Sling assembly 5, in the present embodiment, four vertical sling assemblies 5 are provided, each of which is arranged on the outer end of beam 101, so as to facilitate hoisting of the spacecraft; at least two inclination sensors 4 are provided, and the two inclination sensors 4 corresponds to two beams 101 one-to-one, that is, an inclination sensor 4 is set on one beam 101, and the detection of the inclination angle of the main frame 1 in the horizontal X and Y directions is realized by detecting the inclination angle of the beam 101, thereby realizing the detection of the inclination angle of the hoisted The inclination angle of the spacecraft is detected, and the controller unit 7 receives the signal of the inclination sensor 4. In this embodiment, two servo motors 312 are provided, one of which is connected to the steering gear 310, and the other is used as the linear drive assembly 301. For driving components, the two servo motors are respectively electrically connected to the controller of the controller unit 7 , and their actions are controlled by the controller, thereby realizing the actions of the bearing turntable 309 and the counterweight 303 . The specific operation process of this embodiment is to use the vertical sling assembly 5 to fix the spacecraft, and then an external hoisting device such as a crane lifts the spacecraft through the hoisting assembly 2. During the hoisting process, the two inclination sensors 4 detect the horizontal X of the main frame 1 in good time. and the inclination angle in the Y direction, while the inclination sensor 4 transmits the detection information to the controller of the controller unit 7, and the controller calculates according to the measured data to obtain the amount of movement that the counterweight 303 needs to transmit to the linear drive The assembly 301 and the steering gear 310, the turntable bearing 309 rotates, the turntable bearing 309 drives the counterweight bearing frame 305 and the counterweight 303 to rotate, the drive element in the linear drive assembly drives the counterweight 303 to move along the straight line, and the counterweight 303 After moving to the specified position, retest the inclination angle, if it does not reach the horizontal state or the specified attitude, then readjust the position of the counterweight 303 according to the measured inclination angle; if repeated several times, finally reach the horizontal state or the specified attitude.

In this embodiment, as shown in Figures 2 and 3, the lifting assembly 2 includes a lifting ring 201, a transition frame 203 and a connecting base 208 arranged in sequence from top to bottom, wherein the lifting ring 201 and the transition frame 203 are connected by a shackle Connection, the connection base 208 and the transition frame 203 are connected through cross joints, and the bottom end of the connection base 208 is fixed on the main frame 1 . In this embodiment, the cross universal joint includes two connecting blocks 205 hingedly connected at the center, and the two ends of each connecting block 205 are respectively provided with connecting shafts 206 for connecting and installing, and the connecting shafts 206 are provided with tapered rollers Bearing 204, when the cross universal joint is used for connection, the tapered roller bearing 204 is provided with a corresponding bearing end cover 207, that is, between the cross universal joint and the transition frame 203, the cross universal joint and the connecting base 208 They are respectively rotatably connected by connecting shaft 206, which is convenient for hoisting.

In this embodiment, as shown in Figures 4 and 5, the linear transmission assembly 301 is a screw-type electric slide structure arranged horizontally, and the electric slide structure includes a servo drive motor and a nut mounted on the lead screw 302, and the slider 304 slidably installed on the guide rail 307, the slider 304 is fixedly connected to the nut 302, and the servo drive motor drives the screw to rotate, and then drives the slider 304 fixedly connected to the nut 302 to move linearly, because the counterweight 303 Installed on the slide block 304, thereby realizing the linear movement of the counterweight 303.

In this embodiment, as shown in FIG. 5 , the linear transmission assembly 301 is provided with a grating scale 308 for detecting the moving distance of the slider 304 , and the grating scale 308 is electrically connected to the controller unit 7 .

In this embodiment, as shown in Figures 6-8, the vertical sling assembly 5 includes a connecting piece 501, a sling 503 and a turnbuckle 504 arranged in sequence from top to bottom, between the connecting piece 501 and the sling 503, between the sling 503 and The turnbuckles 504 are respectively connected by shackles. And in order to detect the tension required for hoisting in real time, a tension sensor 506 is also connected between the connecting piece 501 and the sling 503, and the upper sliding sleeve of the tension sensor 506 has an upper ferrule 507, and the lower sliding sleeve of the tension sensor 506 has a lower sleeve. ferrule 508, the bottom end of the upper ferrule 507 is bolted to the top end of the lower ferrule 508.

In this embodiment, the hanger also includes a power supply unit 6 installed on the main frame 1, and the power supply unit 6 provides electric energy to the controller 7, the signal of the inclination sensor 4, the steering gear 310 and the driving components.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the Within the scope of protection of the present invention.

Claims (9)

1. An intelligent sling for attitude adjustment, characterized in that: it comprises a main frame (1), and The lifting component (2) is centrally arranged on the main frame (1), and is used for connecting with external lifting equipment; The automatic leveling component (3) is used to level the attitude of the product during the lifting process; The vertical sling assembly (5) is installed at the edge of the main frame (1); inclination sensors (4) respectively arranged in the horizontal X and Y directions of the main frame (1) are used to detect the inclination angles of the main frame (1) in the horizontal X and Y directions; The controller unit (7) receives the signal of the inclination sensor (4), and controls the automatic leveling component (3), so as to realize the automatic leveling of the product during the hoisting process. 2. An intelligent attitude-adjusting hanger according to claim 1, characterized in that: the automatic leveling assembly (3) includes a horizontal bearing turntable (309), and controls the rotation of the bearing turntable (309) The steering gear (310), and the counterweight support frame (305) and linear transmission assembly (301) arranged on the bearing turntable (309), the center of gravity of the counterweight support frame (305) and linear transmission assembly (301) Each is arranged on both sides of the central axis of the bearing turntable (309), and the linear transmission assembly (301) includes a drive element and a counterweight (303) that moves radially along the bearing turntable (309) driven by the drive element , the driving element and the steering gear are respectively electrically connected to the controller unit (7), and the bearing turntable (309) is centrally installed on the main frame (1), and the bearing turntable (309) drives the counterweight bearing frame (305) and the linear transmission The assembly (301) rotates 360° around the central axis of the bearing turntable (309) at the same time. 3. An intelligent attitude-adjusting hanger according to claim 1, characterized in that: the lifting assembly (2) includes a lifting ring (201), a transition frame (203) and a connecting base arranged in sequence from top to bottom (208), wherein, the suspension ring (201) and the transition frame (203) are connected by a shackle, the connection base (208) and the transition frame (203) are connected by a cross universal joint, and the connection base (208) The bottom end is fixed on the main frame (1). 4. An attitude-adjusting intelligent hanger according to claim 1, characterized in that: the linear transmission assembly (301) is a horizontally arranged electric slide structure, and the counterweight (303) is installed on the electric slide on the slider of the table structure. 5. An attitude-adjusting intelligent hanger according to claim 1, characterized in that: the linear transmission assembly (301) is provided with a grating ruler (308) for detecting the moving distance of the slider (304), and the grating Chi (308) is electrically connected with controller (7). 6. The intelligent hanger for attitude adjustment according to claim 1, characterized in that: the diverter (310) is a gear commutator. 7. The intelligent sling for attitude adjustment according to claim 1, characterized in that: the vertical sling assembly (5) includes a connecting piece (501), a sling (503) and a sling (503) arranged in sequence from top to bottom The turnbuckle (504), the connector (501) and the suspenders (503), and the suspenders (503) and the turnbuckle (504) are respectively connected by shackles. 8. A posture-adjusting intelligent hanger according to claim 7, characterized in that: a tension sensor (506) is also connected between the connecting piece (501) and the sling (503), and the tension sensor (506 ) The upper sliding sleeve has an upper ferrule (507), the tension sensor (506) lower sliding sleeve has a lower ferrule (508), and the upper ferrule (507) bottom and the lower ferrule (508) top are bolted. 9. An attitude-adjusting intelligent hanger according to claim 1, characterized in that: the hanger also includes a power supply unit (6) installed on the main frame (1), and the power supply unit (6) supplies The controller unit (7), the signal of the inclination sensor (4), the steering gear (310) and the drive elements provide electric energy.