CN110255357A - A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method - Google Patents

A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method Download PDF

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Publication number
CN110255357A
CN110255357A CN201910470863.8A CN201910470863A CN110255357A CN 110255357 A CN110255357 A CN 110255357A CN 201910470863 A CN201910470863 A CN 201910470863A CN 110255357 A CN110255357 A CN 110255357A
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CN
China
Prior art keywords
rope
sway
lifting
prefabricated components
hanger
Prior art date
Application number
CN201910470863.8A
Other languages
Chinese (zh)
Inventor
谢敬华
周承敏
王琳
甘章泽
Original Assignee
中南大学
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.)
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Publication date
Application filed by 中南大学 filed Critical 中南大学
Priority to CN201910470863.8A priority Critical patent/CN110255357A/en
Publication of CN110255357A publication Critical patent/CN110255357A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/12Slings comprising chains, wires, ropes, or bands; Nets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices

Abstract

The present invention relates to machinery equipment field more particularly to a kind of hanging device fields.The present invention is a kind of lifting anti-sway multifunctional hanging tool of posture adjustment, including swing mechanism, hanger, rope traction and parallel-connection mechanism and gyroscope, pass through the autocontrol method of rope traction and parallel-connection mechanism and gyroscope, realize the quick, accurate of prefabricated components, automatic-posture-adjustment and anti-sway, position and posture after improving prefabricated components lifting are difficult to be accurately positioned and level, and easy the problem of waving.

Description

A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method

Technical field

The present invention relates to mechanical equipment technical field more particularly to a kind of hanging device fields.

Background technique

During assembled architecture concrete structure member lifts installation, the position and posture after component lifting are by outer Power influences, it is difficult to be accurately positioned and leveling, and easily wave, increase operation difficulty, inaccurate, reduction transfer efficiency in place, Easily damage people, while influencing the installation of subsequent floor component.In the prior art without proposing solution well in response to this problem Certainly scheme can only be manually adjusted and be controlled by driver operation experience and artificial range estimation, and adjustment time is long, and center of gravity posture is not Surely, working efficiency is very slow.

Summary of the invention

(1) technical problems to be solved

Based on the above issues, the present invention provides a kind of anti-sway multifunctional hanging tool of lifting posture adjustment and its control method, makes pre- After component processed lifting can quickly, accurate, adjust automatically its posture, prevent it from waving.

(2) technical solution

Based on above-mentioned technical problem, the present invention provides a kind of anti-sway multifunctional hanging tool of lifting posture adjustment, which is characterized in that The suspender includes swing mechanism, hanger, rope traction and parallel-connection mechanism and gyroscope, and the upper end of the swing mechanism and tower crane connect It connects, lower end is connect with hanger, and the rope traction and parallel-connection mechanism is mounted on hanger, including controller, rope enabled device, rope Driving device, Universal pulley and rope, the input quantity of the rope enabled device control rope, the driving device control are thrown Enter the length of rope, the rope is connect with prefabricated components, and the gyroscope is angular movement detection device, is arranged in prefabricated components On, it wirelessly communicates and connects with the controller, the angular move-ment signals that will test send controller to.

Further, the hanger has n bracket, symmetrically opens at umbrella shape, is hollow structure, the controller, rope Enabled device and wire drive are located at the inside of hanger, and the Universal pulley has 2n, and two one group is symmetrically distributed in and hangs The stent ends of frame, the rope have 2n root, are controlled by rope release device, are pierced by from the stent ends of hanger, through universal cunning After wheel, prefabricated components, n >=4 are connected.

Further, the rope traction and parallel-connection mechanism can by change rope input quantity and investment rope length, It realizes the multifreedom motion of prefabricated components, and takes into account anti-sway.

Further, the swing mechanism can drive hanger to do within the scope of 360 ° in the horizontal direction and rotate at any angle.

Further, the rope is nonelastic.

Further, the angular move-ment signals include angle, angular speed and angular acceleration signal.

A kind of lifting control method of the anti-sway multifunctional hanging tool of posture adjustment, which is characterized in that the control method are as follows: control The angular move-ment signals and lifting detailed location information, generation control instruction that device is fed back according to gyroscope send rope enabled device to And wire drive changes the posture of prefabricated components, top under rope enabled device and the synergistic effect of wire drive The new angular move-ment signals that spiral shell instrument will test feed back to controller, loop back and forth like this, until prefabricated components reach lifting position It sets.

(3) beneficial effect

Above-mentioned technical proposal of the invention has the advantages that

(1) device can realize the pose adjustment of prefabricated components quickly, accurately, automatically, by lifting by semi-artificial adjustment turn It turns to adaptive fining system to adjust, the lifting for enormously simplifying prefabricated components adjusts process, reduces manpower demand, and raising is hung Pretend the efficiency and safety of industry;(2) device can change previous posture adjustment and the anti-sway lifting mode that cannot be taken into account, and can lead It moves anti-sway;(3) controller, rope enabled device, wire drive, gyroscope form feedback control loop, the control method Keep the pose adjustment of prefabricated components more accurate, strong antijamming capability;(4) the device rope quantity can increase reduction, adapt to not Same demand;(5) device is used with the parallel institution for transmitting medium for power of restricting, and has load capacity strong, structure is simple, inertia It is small, the advantages that working space is big.

Detailed description of the invention

The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage Solution is carries out any restrictions to the present invention, in the accompanying drawings:

Fig. 1 is the front view that the anti-sway multifunctional hanging tool of posture adjustment is used in lifting of the embodiment of the present invention;

Fig. 2 is the axonometric drawing that the anti-sway multifunctional hanging tool of posture adjustment is used in lifting of the embodiment of the present invention;

Fig. 3 is the control principle drawing that the anti-sway multifunctional hanging tool of posture adjustment is used in lifting of the embodiment of the present invention;

Fig. 4 is the kinetic model of the rope traction and parallel-connection mechanism of the embodiment of the present invention;

In figure: 1: swing mechanism;2: hanger;3: Universal pulley;4: driving rope;5: prefabricated components;6: gyroscope.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below Example is not intended to limit the scope of the invention for illustrating the present invention.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can To be mechanical connection, it is also possible to be electrically connected;It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.

As shown in Figure 1, 2, the present invention provides a kind of anti-sway multifunctional hanging tool of lifting posture adjustment, which is characterized in that described to hang Tool includes swing mechanism 1, hanger 2, rope traction and parallel-connection mechanism and gyroscope 6, and the rope traction and parallel-connection mechanism includes controller, rope Rope enabled device, wire drive, Universal pulley 3 and rope 4.

The upper end of swing mechanism 1 is connect with tower crane, and lower end is connect with hanger 2, can drive the 360 ° of models in the horizontal direction of hanger 2 It does in enclosing and rotates at any angle;Hanger 2 has n bracket, symmetrically opens at umbrella shape, is hollow structure, the controller, rope Enabled device and wire drive are located at the inside of hanger 2, and the Universal pulley 3 has 2n, and two one group is symmetrically distributed in The stent ends of hanger 2, the rope 4 has 2n root, nonelastic, is controlled by rope release device, wears from the stent ends of hanger Out, after Universal pulley 3, prefabricated components 5 are connected;The gyroscope 6 is angular movement detection device, is arranged on prefabricated components 5, It wirelessly communicates and connects with the controller of rope traction and parallel-connection mechanism, acquire the angular move-ment signals of prefabricated components 5 in real time, and be sent to control Device processed;Controller receives the angular move-ment signals of gyroscope transmission, and controls rope enabled device and wire drive makes phase The movement answered;Rope enabled device controls the enabled of rope 4, so that the input quantity of rope 4 is controlled, wire drive control The length of rope 4.

The angular move-ment signals and lift detailed location information that the rope traction and parallel-connection mechanism is detected according to gyroscope 6, pass through Change the input quantity of rope 4 and the length of investment rope 4, is able to achieve the six-freedom motion of prefabricated components 5.And according to movement It learns and determines mechanism, the quantity for the swing for avoiding prefabricated components 5, the rope 4 of the suspender should be greater than number of degrees of freedom, therefore n >=4, n are got over Greatly, the device stability is better, adjusts finer, n=6 in the present embodiment, i.e., there are six brackets, Universal pulley 3 six for hanger 2 Group, rope have 12.

As shown in figure 3, a kind of lifting control method of the anti-sway multifunctional hanging tool of posture adjustment, the control method are as follows: control The angular move-ment signals and lifting detailed location information, generation control instruction that device is fed back according to gyroscope 6 send the enabled dress of rope to It sets and wire drive changes the appearance of prefabricated components 5 under rope enabled device and the synergistic effect of wire drive State, the new angular move-ment signals that gyroscope 6 will test feed back to controller, loop back and forth like this, until prefabricated components 5 reach Hoisting Position.

The workflow of the above-mentioned anti-sway multifunctional hanging tool of lifting posture adjustment is as follows:

All ropes 4 are hinged with prefabricated components 5, crane is operated, is transported to prefabricated components 5 by tower crane Above Hoisting Position, hanger 2 is driven to rotate in the horizontal direction by swing mechanism 1 substantially uniform with lifting direction;Further According to lifting detailed location information and gyroscope 6 transmit angular move-ment signals, rope traction and parallel-connection mechanism is first by prefabricated components 5 Centre of gravity adjustment is to horizontal position, then controls the movement and rotation of 5 horizontal direction of prefabricated components, and gyroscope 6 believes new angular movement Number rope traction and parallel-connection mechanism is fed back to, rope traction and parallel-connection mechanism adjusts prefabricated components 5 again, until prefabricated components 5 reach Hoisting Position.Rope traction and parallel-connection mechanism can change the input quantity of rope 4 by rope enabled device, pass through wire drive Change the length of rope 4, thus change the spatial distribution of rope 4 and the direction of restraining force, to adjust the center of gravity of prefabricated components 5, And realize the posture adjustment of the six degree of freedom of prefabricated components 5.

The quantity of the rope 4 of the suspender is greater than number of degrees of freedom, belongs to kinematics and determines mechanism, can be to avoid prefabricated components 5 Swing;But there are a variety of interference during lifting, if unbalance during posture adjustment, it would still be possible to swing, a side The face suspender can increase the input quantity of rope 4 by rope traction and parallel-connection mechanism, increase restraining force, make the qualitative enhancing of stable gravity center; On the other hand the suspender constantly feeds back angular move-ment signals, first adjusts the center of gravity of prefabricated components 5 to horizontal position, can adjust weight rapidly The heart, to avoid the swing of prefabricated components 5;Therefore the suspender can be actively anti-sway, and takes into account posture adjustment and anti-sway.

Explain why rope traction and parallel-connection mechanism is able to achieve pair with the kinetic model of Fig. 4 rope traction and parallel-connection mechanism below The posture adjustment of component and anti-sway.If fixed coordinate system is O-XYZ, reference point P is the geometric center of prefabricated components 5, rope 4 and pulley 3 tie point is Bi, PiFor the hinge centres that rope 4 is connected with prefabricated components 5, r is the mass center of prefabricated components 5 relative to ginseng The position vector of examination point P, feAnd MeThe external force not considered including gravity and the moment of face being respectively applied on reference point P. Ifli=∣ Li∣,ui=Li/li, tiFor the pulling force of i-th rope, which generates one and acts on prefabricated components Pulling force T on 5i=tiui, and

When rope traction and parallel-connection mechanism moves, the general movement of Theory of free rigid body can be regarded as.Being gained knowledge by Theory of free rigid body power can It releases rope 4 and drives kinetics equation of the prefabricated components 5 relative to end effector reference point P:

Had according to Newton's equation:

Had according to Eulerian equation:

Wherein m represents the quality of prefabricated components 5, and g is acceleration of gravity, and v, w respectively represent speed and the angle of prefabricated components 5 Speed,Respectively represent the acceleration and angular acceleration of prefabricated components 5.

Since prefabricated components 5 are mostly the relatively regular cuboid of shape, mass center is overlapped with reference point P, i.e. r=0, equation It can simplify are as follows:

In local coordinate system, the inertial matrix of load is I ', and the inertial matrix I in global coordinate system is

I=RI'RT

R is local coordinate system P-XpYpZpThe transformation matrix of opposite global coordinate system O-XYZ, if local coordinate system P-XpYpZp It is respectively γ, β, α relative to the X-axis of global coordinate system O-XYZ, Y-axis, the rotation angle of Z axis, then:

Being write as matrix form has

Wherein

F=JTT

Fe=[fe Me]T

G=[0 0 mg 00 0]

Wherein, E3For three rank unit matrixs, T is the set of rope tension,The respectively mobile acceleration of prefabricated components 5 Set, the set of speed and angular speed with angular acceleration, subscript m=2n are the quantity of rope 4, and n is the bracket number of hanger 2 Amount.

It is apparent from by the kinetic model, prefabricated components 5 are controlled by the angular speed w that gyroscope 6 measures, and make inertia, external force, rope The gravity balance of prefabricated components 5 and posture adjustment are able to maintain under the collective effect of pulling force and gravity, therefore rope traction and parallel-connection mechanism can be simultaneous It cares for the posture adjustment of prefabricated components 5 and anti-sway.

In summary, by a kind of above-mentioned anti-sway multifunctional hanging tool of lifting posture adjustment and its control method, have following The utility model has the advantages that

(1) device can realize the pose adjustment of prefabricated components quickly, accurately, automatically, by lifting by semi-artificial adjustment turn It turns to adaptive fining system to adjust, the lifting for enormously simplifying prefabricated components adjusts process, reduces manpower demand, and raising is hung Pretend the efficiency and safety of industry;(2) device can change previous posture adjustment and the anti-sway lifting mode that cannot be taken into account, and can lead It moves anti-sway;(3) controller, rope enabled device, wire drive, gyroscope form feedback control loop, make prefabricated components Pose adjustment it is more accurate, strong antijamming capability;(4) the device rope quantity can increase reduction, adapt to different demands;(5) The device is used with the parallel institution for transmitting medium for power of restricting, and has load capacity strong, structure is simple, and inertia is small, working space The advantages that big.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although Embodiments of the present invention are described in conjunction with the accompanying, but those skilled in the art can not depart from spirit and model of the invention Various modifications and variations are made in the case where enclosing, such modifications and variations each fall within the range being defined by the appended claims Within.

Claims (7)

1. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment, which is characterized in that the suspender includes that swing mechanism, hanger, rope are led Draw parallel institution and gyroscope, the upper end of the swing mechanism is connect with tower crane, and lower end is connect with hanger, and the wire saws are in parallel Mechanism is mounted on hanger, including controller, rope enabled device, wire drive, Universal pulley and rope, the rope Enabled device controls the input quantity of rope, the length of the driving device control investment rope, the rope and prefabricated components Connection, the gyroscope are angular movement detection device, are arranged on prefabricated components, wirelessly communicate and connect with the controller, will The angular move-ment signals of detection send controller to.
2. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment according to claim 1, which is characterized in that the hanger has n A bracket is symmetrically opened at umbrella shape, is hollow structure, and the controller, rope enabled device and wire drive, which are located at, to be hung The inside of frame, the Universal pulley have a 2n, and the two one group stent ends for being symmetrically distributed in hanger, the rope has 2n root, It is controlled by rope release device, is pierced by from the stent ends of hanger, after Universal pulley, connect prefabricated components, n >=4.
3. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment according to claim 1 or 2, which is characterized in that the rope is led The multiple degrees of freedom fortune of prefabricated components can be realized by changing the input quantity of rope and the length of investment rope by drawing parallel institution It is dynamic, and take into account anti-sway.
4. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment according to claim 1, which is characterized in that the swing mechanism Hanger can be driven to do within the scope of 360 ° in the horizontal direction to rotate at any angle.
5. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment according to claim 1 or 2, which is characterized in that the rope It is nonelastic.
6. a kind of lifting anti-sway multifunctional hanging tool of posture adjustment according to claim 1, which is characterized in that the angular movement letter Number include angle, angular speed and angular acceleration signal.
7. a kind of lifting according to claim 1 to 6 control method of the anti-sway multifunctional hanging tool of posture adjustment, It is characterized in that, the control method are as follows: the angular move-ment signals and lift detailed location information that controller is fed back according to gyroscope, it is raw Rope enabled device and wire drive are sent at control instruction, in the collaboration of rope enabled device and wire drive Under effect, change the posture of prefabricated components, the new angular move-ment signals that gyroscope will test feed back to controller, so recycle Back and forth, until prefabricated components reach Hoisting Position.
CN201910470863.8A 2019-05-31 2019-05-31 A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method CN110255357A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102976200A (en) * 2012-12-13 2013-03-20 中联重科股份有限公司 Lifting control method, device and system as well as lifting appliance and hoisting machine
CN106744320A (en) * 2016-11-24 2017-05-31 中国人民解放军国防科学技术大学 A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System
CN109018248A (en) * 2018-07-20 2018-12-18 哈尔滨工业大学 A kind of marine salvage system of rope driving in parallel
CN109534188A (en) * 2018-11-16 2019-03-29 山东大学 A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform
CN109553005A (en) * 2018-11-16 2019-04-02 山东大学 A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform
CN110815170A (en) * 2018-08-14 2020-02-21 中国科学院沈阳自动化研究所 Heavy-load hoisting robot based on parallel flexible cable mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102976200A (en) * 2012-12-13 2013-03-20 中联重科股份有限公司 Lifting control method, device and system as well as lifting appliance and hoisting machine
CN106744320A (en) * 2016-11-24 2017-05-31 中国人民解放军国防科学技术大学 A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System
CN109018248A (en) * 2018-07-20 2018-12-18 哈尔滨工业大学 A kind of marine salvage system of rope driving in parallel
CN110815170A (en) * 2018-08-14 2020-02-21 中国科学院沈阳自动化研究所 Heavy-load hoisting robot based on parallel flexible cable mechanism
CN109534188A (en) * 2018-11-16 2019-03-29 山东大学 A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform
CN109553005A (en) * 2018-11-16 2019-04-02 山东大学 A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform

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