CN110733993B - Intelligent sling and sling hanging method thereof - Google Patents
Intelligent sling and sling hanging method thereof Download PDFInfo
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- CN110733993B CN110733993B CN201910338894.8A CN201910338894A CN110733993B CN 110733993 B CN110733993 B CN 110733993B CN 201910338894 A CN201910338894 A CN 201910338894A CN 110733993 B CN110733993 B CN 110733993B
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- sling
- rope
- rotating speed
- intelligent
- tension
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-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
- B66C1/10—Load-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
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
- B66C1/122—Sling or load protectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/14—Power transmissions between power sources and drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses an intelligent sling and a sling hanging method thereof. The sling receiver is rotatably arranged on the base, and the rope is wound on the sling receiver. The driving device rotates to drive the sling container to rotate, and the control host adjusts the rotating speed of the driving device. The tension meter is used for detecting the tension of the end part of the rope, and the sling detection system comprises a bracket, a rotating speed measurement module and pulleys. The support is installed on the base, and the rotational speed measurement module is used for detecting the rotational speed of pulley. The rope is propped against the circumference of the pulley and drives the pulley to rotate by lifting. The intelligent sling ensures that the lifting speed and the pulling force of the rope are kept stable, meets the lifting requirement of high precision, can accurately judge the real-time condition of the load, further controls the driving device to make feedback action, and realizes the function of automatically following the motion trail of the load.
Description
Technical Field
The invention relates to a sling in the technical field of slings, in particular to an intelligent sling and an intelligent sling hanging method.
Background
Nowadays, with the continuous expansion of the social intelligence and application fields, more and more high-altitude operations are replaced by robots and other devices, such as cleaning of building outer walls, brushing of outer walls, cleaning of outer facades of large-scale devices, rust removal maintenance of hull shells and the like. The equipment gradually develops towards light weight, miniaturization and unmanned, most of the equipment adopts a sling mode to meet the working state, and the sling is the most mature and safe solution at present.
In operation of such devices, slings typically provide an upward pulling force, but the device can only rely on gravity as a source of power when operating downwardly. With continuous lightweight of equipment, and equipment operation device can produce frictional force with the surface of the operated object, when frictional force is greater than equipment self gravity, equipment will not move downwards. If the device itself is provided with a drive, it is difficult to run down at a speed equal to the speed of a conventional sling. Therefore, most of the current hanging operation devices which rely on the traditional slings only can complete the operation flow from bottom to top, which greatly limits the working modes of the equipment.
Disclosure of Invention
Aiming at the prior art, the invention provides an intelligent sling and a sling hanging method thereof, which solve the problem that most of hanging operation devices of the prior sling can only finish the operation flow from bottom to top, thereby limiting the working mode of equipment.
The invention is realized by adopting the following technical scheme: a smart sling comprising a plurality of sling devices, each sling device comprising:
a base;
a sling receiver rotatably mounted on the base;
a rope wound around the sling receiver;
the driving device is arranged on the base and is used for driving the sling receiver to rotate through rotation;
a control host installed on the base and used for adjusting the rotation speed of the driving device;
a tension meter for detecting a tension of an end portion of the rope; and
the sling detection system comprises a bracket, a rotating speed measurement module and a pulley; the bracket is arranged on the base; the rotating speed measuring module is arranged on the bracket and is used for detecting the rotating speed of the pulley; the pulley is rotatably arranged on the bracket, and the rope is propped against the circumference of the pulley and drives the pulley to rotate through lifting;
when the intelligent sling rises, each control host increases the rotating speed of the corresponding driving device when the tension detected by the tension meter does not reach a preset tension, and decreases the rotating speed of the corresponding driving device when the tension detected by the tension meter exceeds a preset tension; and when the rotating speed detected by the corresponding rotating speed measuring module exceeds the rotating speeds detected by the other rotating speed measuring modules, the rotating speed of the corresponding driving device is reduced so as to unify the lifting speeds of all ropes.
As a further improvement of the scheme, a first positioning hole for a rope to pass through is formed in the bracket, and the bracket is of a conductive structure; the sling detection system also comprises a conducting strip, an insulating block and an alarm device; the insulating block is fixed on the bracket, the conducting strip is fixed on the insulating block, and a second positioning hole for the rope to pass through is formed; the rope sequentially passes through the first positioning hole and the second positioning hole to be propped against the pulley; the two power-on ends of the alarm device are connected to the two output ends of a power supply through the conducting strip and the support respectively, and the alarm device receives power supplied by the power supply to send an alarm signal when the conducting strip is electrically connected with the support due to burrs or flying wires of the rope.
As a further improvement of the scheme, the driving device comprises a driving motor and a gearbox which are coaxially arranged on the base; the driving motor is used for driving the gearbox to rotate, the output end of the gearbox is connected with the sling storage device, and the sling storage device is driven to rotate through rotation.
As a further improvement of the above solution, the rotation speed measurement module includes an encoder code wheel and a rotation speed encoder; the encoder code wheel is coaxially arranged and connected with the pulley, and the rotating speed encoder is used for detecting the rotating speed of the encoder code wheel; the rotating speed of the pulley is the same as that of the encoder code wheel.
As a further improvement of the above solution, the intelligent sling further comprises:
the wireless transmission module comprises a wireless communication module, a wireless charging module and a power supply; the wireless communication module is used for wirelessly transmitting the data detected by the tension meter and the rotating speed measuring module to the control host; the power supply is used for supplying power to the wireless communication module and the rotating speed measuring module, and the wireless charging module is used for charging the power supply;
and the wireless charger is arranged on the bracket and is used for charging the power supply through the wireless charging module.
As a further improvement of the above solution, the intelligent sling further comprises:
a cover plate mounted on the base;
and the induction wheel set is arranged on the base and the cover plate and is provided with a guide hole for a rope to pass through.
Further, the induction wheel set comprises two guide posts I which are arranged in parallel, and two guide posts II which are arranged in parallel and perpendicular to the two guide posts I; two ends of the first guide post are respectively inserted on two opposite sides of the base, the same end of the second guide post is inserted on the base, and the same end of the second guide post is inserted on the cover plate; and square areas where the first guide posts and the second guide posts vertically intersect are the guide holes.
As a further improvement of the above solution, the intelligent sling further comprises:
the two bearings are arranged in the base and are coaxially arranged with the rotating shaft of the driving device;
the two ends of the fixed shaft are respectively fixed in the two bearings, and the sling receiver is sleeved on the fixed shaft.
As a further improvement of the above solution, the intelligent sling further comprises:
the two ends of the tension meter are respectively connected with the hanging ring and the rope.
The invention also provides an intelligent rope hanging method which is applied to the intelligent sling; the intelligent cable hanging method comprises the following steps:
detecting the tension of the end of the rope;
the rope drives the pulley to rotate, and the rotating speed of the pulley is detected;
when the intelligent sling rises, when the tension of the end part of the rope does not reach a preset tension, the rotating speed of the corresponding driving device is increased, and when the tension of the end part of the rope exceeds a preset tension, the rotating speed of the corresponding driving device is reduced; when the rotating speed detected by the corresponding rotating speed measuring module does not reach the rotating speeds detected by other rotating speed measuring modules, the rotating speed of the corresponding driving device is increased, and when the rotating speed detected by the corresponding rotating speed measuring module exceeds the rotating speeds detected by other rotating speed measuring modules, the rotating speed of the corresponding driving device is reduced so as to unify the lifting speeds of all ropes.
According to the intelligent sling and the sling hanging method thereof, the driving device of the intelligent sling can drive the sling container to rotate, so that the rope wound on the sling container is loosened or tightened, the tension meter can detect the tension of the end part of the rope in real time, tension data are transmitted to the control host, and the control host adjusts the rotating speed of the driving device in real time according to the tension, so that the tension of the end part of the rope can be kept in a stable tension range. Meanwhile, the control host machine also adjusts the rotating speed of the driving device in real time according to the rotating speed of the pulley, so that the rotating speed of the pulley is kept in a stable rotating speed range. Like this, the intelligent hoist cable is at the in-process of its rope of lift, and the lifting speed and the pulling force of rope homoenergetic remain stable, can satisfy the lift demand of high accuracy, can judge the real-time situation of load moreover accurately, and then control drive arrangement makes corresponding feedback action, realizes independently following the function of load motion trail. When the self weight of the intelligent sling is smaller than the friction force generated by the operation of the equipment, the intelligent sling can freely move through the driving device of the equipment, and the intelligent sling can load the self weight of the equipment, so that the top-down operation mode of the equipment is possible.
In the invention, when the working equipment is lifted and does not need to be operated, the equipment can be lifted and lowered vertically and horizontally by the rotation speed of the driving motor and the pulley, and when the equipment is operated, the tension meter of the intelligent sling and the sling detection system do not interfere with the autonomous movement of the working equipment under the condition of bearing the self weight of the working equipment. The sling structure of the invention satisfies the stability of the miniaturized and lightweight equipment during operation, and enables the miniaturized operation equipment to move automatically according to the driving mechanism of the miniaturized operation equipment so as to cope with various operation requirements.
Drawings
FIG. 1 is a perspective view of a smart sling according to embodiment 1 of the present invention;
FIG. 2 is a split view of the intelligent sling of FIG. 1;
FIG. 3 is a perspective view of a sling detection system of the intelligent sling of FIG. 1;
FIG. 4 is a split view of the sling detection system of FIG. 3;
FIG. 5 is a perspective view of a sling detection system for a smart sling according to embodiment 2 of the present invention;
FIG. 6 is a split view of the sling detection system of FIG. 5;
FIG. 7 is a perspective view of a smart sling according to embodiment 3 of the present invention;
FIG. 8 is a split view of the intelligent sling of FIG. 7;
FIG. 9 is a perspective view of a sling detection system of the intelligent sling of FIG. 7;
fig. 10 is a split view of the sling detection system of fig. 9.
Symbol description:
1. control host 43 board body
2. Driving motor 51 bearing
3. Gearbox 52 fixed axle
4. Base 71 support
5. Sling receiver 72 conductive sheet
6. Rope 73 encoder code wheel
7. Wireless charger 74 rotation speed encoder
8. Wireless transmission module 75 insulating block
9. Tension meter 76 pulley
10. Lifting ring 77 positioning hole I
41. Cover plate 78 positioning hole II
42. Induction wheel set
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1-4, the present embodiment provides a smart sling, which includes a plurality of sling devices, each comprising a base 4, a sling receiver 5 (also referred to as a winch), a rope 6, a driving device, a control host 1, a tension meter 9, a sling detection system, a cover 41, an induction wheel set 42, a bearing 51, a fixed shaft 52, and a hanging ring 10. Of course, in other embodiments, the cover plate 41, the inducer assembly 42, the bearing 51, the stationary shaft 52, and the lifting ring 10 may not be provided, or only a portion thereof may be provided. When the middle structures are required to be connected, the middle structures can be connected by adopting the processes of clamping, screws, gluing, threads and the like, and all the connecting structures can be connected by adopting the modes of bearings and the like according to the requirements so as to meet the movement state. Meanwhile, all the electronic devices can be connected in a wire, a flat cable and other modes according to structural requirements.
The base 4 may be formed by welding or integrally forming a plurality of plate bodies 43, and the plate bodies 43 may be made of steel plates or other plates with high hardness. The base 4 may be the base of an existing sling and is relatively fixed in use. In some embodiments, the base 4 may employ a sealing structure, which may prevent dust, rainwater, etc. from entering, thereby protecting devices located within the base 4, and particularly, protecting electronic devices. Furthermore, the outer surface of the base 4 may be coated with a corrosion-resistant coating to prevent corrosion of the base 4 during long-term use.
The sling receiver 5 is rotatably mounted on the base 4 and may be any existing sling receiver. The rope 6 is wound around the sling receiver 5, which is a rope made of an electrically conductive material, such as a steel rope. When the rope receiver 5 rotates, the rope 6 can be tightened or loosened, and the end of the rope 6 can be lifted and lowered. In the present embodiment, the rope receiver 5 may have one structure with the rope 6 or may have two independent structures.
The driving device is mounted on the base 4 and is configured to rotate by rotating to drive the sling receiver 5. In this embodiment, the driving device includes a driving motor 2 and a gearbox 3, and the driving motor 2 and the gearbox 3 are coaxially disposed on a base 4. The driving motor 2 is used for driving the gearbox 3 to rotate, the output end of the gearbox 3 is connected with the sling receiver 5, and the sling receiver 5 is driven to rotate through rotation. Like this, driving motor 2 can drive a plurality of gears in the gearbox 3 and rotate, and the meshing effect of a plurality of gears can provide the moment of torsion for rotating hoist cable receiver 5 to guarantee that driving motor 2 can rotate hoist cable receiver 5 smoothly. Of course, in other embodiments, the drive means may comprise other mechanisms and employ other energy sources as the drive energy, such as may include an engine or the like.
The tension meter 9 is used for detecting the tension of the end of the rope 6, is an electronic tension measuring mechanism, and can generate corresponding data signals according to the detected tension. In this embodiment, a hoist ring 10 is provided at an end of the rope 6 and serves to fix a load so that the rope 6 can hoist and lower the load through the hoist ring 10. In the present embodiment, both ends of the tension meter 9 are connected to the hanging ring 10 and the rope 6, respectively, specifically, the detection end of the tension meter 9 is connected to the hanging ring 10, and the fixed end is connected to the end of the rope 6.
The sling detection system comprises a bracket 71, a rotation speed measuring module, a pulley 76, a conductive sheet 72, an insulating block 75 and an alarm device, and is used for detecting various data in the lifting process of the rope 6. Wherein the bracket 71 is mounted on the base 4, and the rotation speed measuring module is mounted on the bracket 71 and is used for detecting the rotation speed of the pulley 76. The rotation speed measuring module may use an existing rotation speed detecting device and be fixed on the bracket 71. The pulley 76 is rotatably mounted on the bracket 71, and the rope 6 is abutted against the circumference of the pulley 76 and is lifted to rotate the pulley 76. When the rope 6 is lifted, the rope 6 pulls the pulley 76 to rotate, and the rotating speed measuring module detects the rotating speed of the pulley 76 in real time, so that the detection of the moving speed of the rope 6 is realized. The method for detecting the moving speed of the rope 6 can accurately and also can guide the rope 6, and ensure that the rope 6 can stably lift.
When the working equipment is lifted and does not need to work, the equipment can be lifted and lowered transversely and vertically through the rotation speed of the driving motor 2 and the pulley 76, and when the equipment works, the tension meter 9 of the intelligent sling and the sling detection system do not interfere with the autonomous movement of the working equipment completely under the condition of bearing the self weight of the working equipment. The sling structure of the embodiment meets the stability of the miniaturized and lightweight equipment in operation, and enables the miniaturized operation equipment to automatically move according to the driving mechanism of the miniaturized operation equipment so as to meet various operation requirements.
In this embodiment, a positioning hole 77 through which the rope 6 passes is formed in the bracket 71, and the bracket 71 is of a conductive structure. The insulating block 75 is fixed on the bracket 71, the conducting strip 72 is fixed on the insulating block 75, and a second positioning hole 78 is formed for the rope 6 to pass through. The rope 6 passes through the first positioning hole 77 and the second positioning hole 78 in order to be abutted against the pulley 76. The two power-on ends of the alarm device are respectively connected to the two output ends of a power supply through the conducting strip 72 and the bracket 71, and the alarm device receives power from the power supply to send an alarm signal when the conducting strip 72 and the bracket 71 are electrically connected due to burrs or flying wires of the rope 6. Thus, when the rope 6 is broken to have burrs or flying wires, the rope 6 simultaneously touches the conductive sheet 72 and the support 71, thereby being a dielectric medium connected between the conductive sheet 72 and the support 71, enabling the conductive sheet 72 to be in short circuit with the support 71 to be electrically connected, and driving the alarm device to send out alarm information, thereby reminding operators, and greatly improving the safety and stability of the equipment.
The control main unit 1 is mounted on the base 4 and is used for adjusting the rotation speed of the driving device. When the intelligent sling rises, each control host 1 increases the rotating speed of the corresponding driving device when the tension detected by the tension meter 9 does not reach a preset tension, and decreases the rotating speed of the corresponding driving device when the tension detected by the tension meter 9 exceeds a preset tension by two. When the rotation speed detected by the corresponding rotation speed measuring module does not reach the rotation speeds detected by the other rotation speed measuring modules, one control host 1 increases the rotation speed of the corresponding driving device, and when the rotation speed detected by the corresponding rotation speed measuring module exceeds the rotation speeds detected by the other rotation speed measuring modules, the rotation speed of the corresponding driving device is reduced, so that the lifting speeds of all ropes 6 are unified. It should be noted that, in the actual measurement process, the rotation speed measured by each rotation speed measuring module is the preset rotation speed, if one of the ropes 6 is wound to cause uneven positions, although the rotation speed of the driving device is still stable, the lifting speed of the rope 6 is unstable, so that the lifting instability of the sling can be caused, and the control mode of the embodiment is to control by detecting the speed of the pulley 76, that is, detecting the actual lifting speed of the rope 6, so that the above-mentioned problems can be avoided, and the lifting stability of the sling can be improved. In this embodiment, the control host 1 adjusts the rotation speed of the driving device no matter the tension is not in the preset range or the rotation speed is not in the preset range, so as to ensure that the rope 6 can be stably and accurately lifted.
In this way, the control host 1 adjusts the rotation speed of the driving device in real time according to the magnitude of the tension, so that the tension of the rope end can be kept within a stable tension range. Furthermore, the control master 1 can calculate the device load size from the current change of the drive motor 2 in operation. Meanwhile, the control host 1 also adjusts the rotating speed of the driving device in real time according to the rotating speed of the pulley, so that the rotating speed of the pulley is kept in a stable rotating speed range. Like this, intelligent hoist cable is at the in-process of its rope 6 of lift, and the lifting speed and the pulling force of rope 6 all can remain stable, can satisfy the lift demand of high accuracy, can judge the real-time situation of load moreover accurately, and then control drive arrangement makes corresponding feedback action, realizes independently following the function of load motion trail. When the self weight of the intelligent sling is smaller than the friction force generated by the operation of the equipment, the intelligent sling can freely move through the driving device of the equipment, and the intelligent sling can load the self weight of the equipment, so that the top-down operation mode of the equipment is possible.
The cover 41 is mounted on the base 4, and the inducer 42 is mounted on the base 4 and the cover 41 and has a guide hole through which the rope 6 passes. The cover plate 41 and the induction wheel set 42 can be integrally formed on the base 4, or can be separately arranged. In this embodiment, the guiding wheelset 42 includes a first guiding post and a second guiding post, which can rotate respectively, and the number of the first guiding post and the second guiding post is two. The two guide posts are arranged in parallel, and the two guide posts are arranged in parallel and perpendicular to the two guide posts. Two ends of the first guide post are respectively inserted on two opposite sides of the base 4, the same end of the second guide post is inserted on the base 4, and the same end is inserted on the cover plate 41. The square area where the first guide posts and the second guide posts vertically intersect is the guide hole.
The number of bearings 51 may be two, and both bearings 51 are installed in the base 4 and are disposed coaxially with the rotation shaft of the driving device. The fixed shaft 52 is fixed at both ends thereof in two bearings 51, respectively, and the sling receiver 5 is fitted over the fixed shaft 52. Thus, when the sling receiver 5 rotates, the bearing 51 can play a role of a rotating component, so that on one hand, the sling receiver 5 rotates relative to the base 4, and on the other hand, the friction force of the rotation of the sling receiver 5 can be reduced. The fixed shaft 52 may be a steel shaft and fixed relative to the sling receiver 5, while the end shaft is connected to the output end of the gearbox 3, so that the rotation of the gearbox 3 can drive the fixed shaft 52 to rotate, and further drive the sling receiver 5 to rotate.
To sum up, compared with the existing sling, the intelligent sling of the embodiment has the following advantages:
the intelligent sling of this embodiment, its drive arrangement can drive sling receiver 5 rotation to loosen or tighten rope 1 on sling receiver 5, and the pulling force of pulling force meter 9 can real-time detection rope 6 tip, and with pulling force data transmission to control host 1, control host 1 adjusts drive arrangement's rotational speed in real time according to the size of pulling force, makes the pulling force of rope 6 tip can keep in a stable pulling force scope. Meanwhile, the control host 1 also adjusts the rotation speed of the driving device in real time according to the rotation speed of the pulley 76, so that the rotation speed of the pulley 76 is kept within a stable rotation speed range. Like this, intelligent hoist cable is at the in-process of its rope 6 of lift, and the lifting speed and the pulling force of rope 6 all can remain stable, can satisfy the lift demand of high accuracy, can judge the real-time situation of load moreover accurately, and then control drive arrangement makes corresponding feedback action, realizes independently following the function of load motion trail. When the self weight of the intelligent sling is smaller than the friction force generated by the operation of the equipment, the intelligent sling can freely move through the driving device of the equipment, and the intelligent sling can load the self weight of the equipment, so that the top-down operation mode of the equipment is possible.
In this embodiment, when the working equipment is lifted and does not need to work, the equipment can be lifted and lowered vertically and horizontally by the rotation speed of the driving motor 2 and the pulley 76, and when the equipment works, the tension meter 9 of the intelligent sling and the sling detection system do not interfere with the autonomous movement of the working equipment at all under the condition of bearing the dead weight of the working equipment. The sling structure of the embodiment meets the stability of the miniaturized and lightweight equipment in operation, and enables the miniaturized operation equipment to automatically move according to the driving mechanism of the miniaturized operation equipment so as to meet various operation requirements.
Example 2
Referring to fig. 5 and 6, the present embodiment provides an intelligent sling, which is based on embodiment 1, and specifically includes a rotation speed measurement module. The rotational speed measurement module includes an encoder code wheel 73 and a rotational speed encoder 74. The encoder code wheel 73 is coaxially disposed and connected to the pulley 76, and the rotational speed encoder 74 is used to detect the rotational speed of the encoder code wheel 73. Wherein the rotational speed of the pulley 76 is the same as the rotational speed of the encoder code wheel 73. When the rope 6 is lifted, the pulley 76 is pulled by the rope 6 to rotate, the encoder code wheel 73 is driven to rotate, the disc body part of the encoder code wheel 73 is arranged in the detection port of the rotating speed encoder 74, the rotating speed encoder 74 can calculate the number of turns of the encoder code wheel 73 in unit time, and accordingly the rotating speed of the pulley 76 can be mastered, and corresponding data are provided for the control host 1.
Example 3
Referring to fig. 7-10, the present embodiment provides a smart sling, which is added with a wireless charger 7 and a wireless transmission module 8 on the basis of embodiment 2. The wireless transmission module 8 includes a wireless communication module, a wireless charging module, and a power supply. The wireless communication module is used for wirelessly transmitting the data detected by the tension meter 9 and the rotation speed measuring module to the control host 1. The power supply is used for supplying power to the wireless communication module and the rotating speed measuring module, and the wireless charging module is used for charging the power supply. The wireless charger 7 is mounted on the stand 71 and is used to charge the power supply through the wireless charging module.
Thus, the sling of the present embodiment has the capability of wireless charging, and when the device is recovering all ropes 6, the relevant devices can be charged by the wireless charging plate at the bottom of the device, namely, the wireless charger 7. In addition, the tension meter 9 of the embodiment is connected with the base 4 only through the rope 6, so that the signal is inconvenient to transmit, and the wireless transmission module 8 can transmit data to the control host 1 just through a wireless transmission mode, so that timeliness and stability of data transmission are guaranteed.
Example 4
The present embodiment provides an intelligent rope hanging method which can be applied to any one of the intelligent slings of embodiment 1, embodiment 2 and embodiment 3. The intelligent cable hanging method comprises the following steps:
1. detecting the tension at the end of the rope 6;
2. the rope 6 drives the pulley 76 to rotate, and the rotating speed of the pulley 76 is detected;
3. when the intelligent sling rises, when the tension at the end part of the rope 6 does not reach a preset tension, the rotating speed of the corresponding driving device is increased, and when the tension at the end part of the rope 6 exceeds a preset tension II, the rotating speed of the corresponding driving device is reduced; when the rotation speed detected by the corresponding rotation speed measuring module does not reach the rotation speeds detected by the other rotation speed measuring modules, the rotation speed of the corresponding driving device is increased, and when the rotation speed detected by the corresponding rotation speed measuring module exceeds the rotation speeds detected by the other rotation speed measuring modules, the rotation speed of the corresponding driving device is reduced so as to unify the lifting speeds of all ropes 6.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. A smart sling comprising a plurality of sling devices, each sling device comprising:
a base (4);
a sling receiver (5) rotatably mounted on the base (4);
a rope (6) wound around the sling receiver (5);
characterized in that each sling device further comprises:
the driving device is arranged on the base (4) and is used for driving the sling receiver (5) to rotate through rotation;
a control host (1) which is arranged on the base (4) and is used for adjusting the rotating speed of the driving device;
a tension meter (9) for detecting tension at the end of the rope (6); and
a sling detection system comprising a bracket (71), a rotational speed measurement module and a pulley (76); the bracket (71) is arranged on the base (4); the rotating speed measuring module is arranged on the bracket (71) and is used for detecting the rotating speed of the pulley (76); the pulley (76) is rotatably arranged on the bracket (71), and the rope (6) is propped against the circumference of the pulley (76) and drives the pulley (76) to rotate through lifting;
when the intelligent sling rises, each control host (1) increases the rotating speed of the corresponding driving device when the tension detected by the tension meter (9) does not reach a preset tension, and decreases the rotating speed of the corresponding driving device when the tension detected by the tension meter (9) exceeds a preset tension; when the rotating speed detected by the corresponding rotating speed measuring module does not reach the rotating speeds detected by other rotating speed measuring modules, one control host (1) increases the rotating speed of the corresponding driving device, and when the rotating speed detected by the corresponding rotating speed measuring module exceeds the rotating speeds detected by other rotating speed measuring modules, the rotating speed of the corresponding driving device is reduced, so that the lifting speeds of all ropes (6) are unified;
the bracket (71) is provided with a first positioning hole (77) for the rope (6) to pass through, and the bracket (71) is of a conductive structure; the sling detection system also comprises a conducting strip (72), an insulating block (75) and an alarm device; the insulating block (75) is fixed on the bracket (71), the conducting strip (72) is fixed on the insulating block (75), and a positioning hole II (78) for the rope (6) to pass through is formed; the rope (6) sequentially passes through the first positioning hole (77) and the second positioning hole (78) to be propped against the pulley (76); the two power-on ends of the alarm device are respectively connected to two output ends of a power supply through the conducting strip (72) and the bracket (71), and the alarm device receives the power supply of the power supply to send an alarm signal when the conducting strip (72) and the bracket (71) are electrically connected due to burrs or flying wires of the rope (6);
the intelligent sling also comprises a lifting ring (10), and two ends of the tension meter (9) are respectively connected with the lifting ring (10) and the rope (6).
2. A smart sling as defined in claim 1, wherein the drive means comprises a drive motor (2) and a gearbox (3) both coaxially arranged on the base (4); the driving motor (2) is used for driving the gearbox (3) to rotate, the output end of the gearbox (3) is connected with the sling receiver (5), and the sling receiver (5) is driven to rotate through rotation.
3. A smart sling as defined in claim 1, wherein the rotational speed measurement module comprises an encoder code wheel (73) and a rotational speed encoder (74); the encoder code wheel (73) is coaxially arranged and connected with the pulley (76), and the rotating speed encoder (74) is used for detecting the rotating speed of the encoder code wheel (73); wherein the rotation speed of the pulley (76) is the same as the rotation speed of the encoder code wheel (73).
4. The intelligent sling according to claim 1, wherein the intelligent sling further comprises:
a wireless transmission module (8) comprising a wireless communication module, a wireless charging module and a power supply; the wireless communication module is used for wirelessly transmitting the data detected by the tension meter (9) and the rotating speed measuring module to the control host (1); the power supply is used for supplying power to the wireless communication module and the rotating speed measuring module, and the wireless charging module is used for charging the power supply;
a wireless charger (7) mounted on the stand (71) and configured to charge the power supply via the wireless charging module.
5. The intelligent sling according to claim 1, wherein the intelligent sling further comprises:
a cover plate (41) mounted on the base (4);
and the induction wheel set (42) is arranged on the base (4) and the cover plate (41) and is provided with a guide hole for the rope (6) to pass through.
6. A smart sling as defined in claim 5, wherein the guiding wheelset (42) comprises two guiding studs one arranged in parallel, two guiding studs two arranged in parallel and perpendicular to the two guiding studs one; two ends of the first guide post are respectively inserted on two opposite sides of the base (4), the same end of the second guide post is inserted on the base (4), and the same end of the second guide post is inserted on the cover plate (41); and square areas where the first guide posts and the second guide posts vertically intersect are the guide holes.
7. The intelligent sling according to claim 1, wherein the intelligent sling further comprises:
two bearings (51) which are installed in the base (4) and are coaxially arranged with the rotating shaft of the driving device;
and a fixed shaft (52) with both ends fixed to the two bearings (51), respectively, and the sling receiver (5) is sleeved on the fixed shaft (52).
8. A method of intelligent rope suspension for use in an intelligent sling according to any one of claims 1-7; the intelligent cable suspension method is characterized by comprising the following steps of:
detecting the tension at the end of the rope (6);
the rope (6) drives the pulley (76) to rotate, and the rotating speed of the pulley (76) is detected;
when the intelligent sling rises, when the tension at the end part of the rope (6) does not reach a preset tension, the rotating speed of the corresponding driving device is increased, and when the tension at the end part of the rope (6) exceeds a preset tension II, the rotating speed of the corresponding driving device is reduced; when the rotation speed detected by the corresponding rotation speed measuring module does not reach the rotation speeds detected by other rotation speed measuring modules, the rotation speed of the corresponding driving device is increased, and when the rotation speed detected by the corresponding rotation speed measuring module exceeds the rotation speeds detected by other rotation speed measuring modules, the rotation speed of the corresponding driving device is reduced so as to unify the lifting speeds of all ropes (6).
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| CN111503241B (en) * | 2020-04-23 | 2021-08-24 | 长沙海川自动化设备有限公司 | Pulley for traction system, safety detection equipment and traction system |
| CN113562591B (en) * | 2021-07-27 | 2022-05-03 | 江苏正申索具有限公司 | Suspension cable protector |
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