CN111943060B - Posture adjusting method - Google Patents
Posture adjusting method Download PDFInfo
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- CN111943060B CN111943060B CN202010824972.8A CN202010824972A CN111943060B CN 111943060 B CN111943060 B CN 111943060B CN 202010824972 A CN202010824972 A CN 202010824972A CN 111943060 B CN111943060 B CN 111943060B
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- inhaul cable
- bearing
- attitude
- attitude adjusting
- hydraulic support
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
- B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
- B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
- B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides a modular mechanical arm, a hoisting system and a posture adjusting method, which are used for solving the problem that the posture of an object to be hoisted cannot be adjusted in real time in the prior art. The present invention provides a modular robotic arm comprising: the base is rotatably arranged on the mounting table, and a cab and a controller are arranged on the base; the suspension arm is of a telescopic structure, the lower end of the suspension arm is hinged to the base, and the first driving piece drives the suspension arm to overturn; the bearing inhaul cable mechanism comprises a bearing inhaul cable, a bearing inhaul cable driving part, a top pulley block and a bearing hook; the attitude adjusting mechanism comprises a first attitude adjusting inhaul cable, a first attitude adjusting driving piece, a first middle pulley block and a first attitude adjusting lifting hook.
Description
Technical Field
The invention relates to the field of cranes, in particular to an attitude adjusting method.
Background
The crane is used for various road rescue operations, and the existing crane has two structures, one is a crawler-type chassis directly used, and a suspension arm is fixed on the crawler-type chassis; in addition, a mechanical arm is installed on an automobile chassis, and the mechanical arm is installed locally, so that stress concentration on the part of the automobile chassis is caused, the chassis is easily damaged when the mechanical arm is used, the self weight of the automobile chassis is used as a counterweight structure, tires for an automobile are used as supports, and due to the existence of a damping structure, the mechanical arm is easy to float up and down, so that the mechanical arm shakes during hoisting.
Meanwhile, the existing crane has the following problems that the structure of the supporting leg is correspondingly designed, but the supporting leg cannot adapt to various terrains, and meanwhile, the supporting leg cannot be dynamically adjusted, so that the reliability is reduced in use; no matter how the existing crane is controlled during hoisting, the hoisted objects can all rock more seriously.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a modular robot arm, a hoisting system and a posture adjustment method, which are used to solve the problem that the posture of an object to be hoisted cannot be adjusted in real time in the prior art.
To achieve the above and other related objects, the present invention provides a modular robot arm, comprising:
the base is rotatably arranged on the mounting table, and a cab and a controller are arranged on the base;
the suspension arm is of a telescopic structure, the lower end of the suspension arm is hinged to the base, and the first driving piece drives the suspension arm to overturn;
the load-bearing inhaul cable mechanism comprises a load-bearing inhaul cable, a load-bearing inhaul cable driving part, a top pulley block and a load-bearing hook, the top pulley block is installed at the tail end of the telescopic structure of the suspension arm, the load-bearing inhaul cable is wound on the top pulley block, the load-bearing hook is installed on the load-bearing inhaul cable, and the load-bearing inhaul cable driving part is used for pulling the load-bearing inhaul cable;
attitude adjusting mechanism, attitude adjusting mechanism includes first attitude adjustment cable, first attitude adjustment driving piece, first middle part assembly pulley and first attitude adjustment lifting hook, first middle part assembly pulley is installed on the non-extending structure of davit, first attitude adjustment cable wind on the first middle part assembly pulley, first attitude adjustment lifting hook is installed on the first attitude adjustment cable, first attitude adjustment driving piece is used for the pulling first attitude adjustment cable.
Optionally, the attitude adjusting mechanism further includes a second attitude adjusting cable, a second attitude adjusting driving member, a second middle pulley block, and a second attitude adjusting hook, the second middle pulley block is mounted on the non-telescopic structure of the boom, the second attitude adjusting cable is wound around the second middle pulley block, the second attitude adjusting hook is mounted on the second attitude adjusting cable, and the second attitude adjusting driving member is used for pulling the second attitude adjusting cable;
the bearing lifting hook, the first posture adjusting lifting hook and the second posture adjusting lifting hook are respectively matched with different positions of an object to be lifted.
Optionally, the first and second intermediate pulley blocks have different heights on the boom.
Optionally, the mounting table is provided with hydraulic support legs, and the left side and the right side of the mounting table are respectively provided with at least two hydraulic support legs.
Optionally, each hydraulic support leg is provided with a pressure sensor, the pressure sensor is used for detecting a pressure state of the hydraulic support leg, and the pressure sensor is electrically connected with the controller.
Optionally, a first level meter is arranged on the mounting table and used for detecting the inclination state of the mounting table, and the first level meter is electrically connected with the controller.
Optionally, the bottom of the hydraulic support leg is provided with a bearing seat, the bearing seat is connected with the bottom of the hydraulic support leg through a ball head supporting structure, and the bottom of the bearing seat is detachably connected with a bottom support piece;
the top of the hydraulic support leg is also connected through a ball head support structure.
A hoisting system comprises the modular mechanical arm;
the mounting platform is detachably mounted on the automobile chassis or fixedly mounted on the automobile chassis, the rotary driving piece is used for driving the base to rotate, and the output end of the rotary driving piece vertically and movably penetrates through the mounting platform and then is matched with the base through a spline structure;
the lifting device is characterized by further comprising a second level gauge, wherein the second level gauge is detachably fixed on an object to be lifted, the second level gauge is used for detecting the inclination state of the object to be lifted, and the second level gauge is connected with the controller through a wireless network.
An attitude adjustment method includes the following steps:
and (3) posture adjustment:
fixing the bearing lifting hook, the first posture adjusting lifting hook and the second posture adjusting lifting hook with three different positions of an object to be lifted respectively;
when the second level meter detects that the bottom of the object to be hoisted inclines towards the direction of the first posture adjustment lifting hook, the controller controls the first posture adjustment driving piece to extend the first posture adjustment inhaul cable;
when the second gradienter detects that the bottom of the object to be hoisted inclines towards the direction of the second posture adjustment lifting hook, the controller controls the second posture adjustment driving piece to extend the second posture adjustment inhaul cable.
Optionally, the posture adjustment method further includes the following steps:
leveling:
the pressure sensor acquires the pressure state of each hydraulic support leg in real time in the hoisting process;
the method comprises the following steps that a first gradienter obtains the inclination state of an installation table in real time in the hoisting process;
when the pressure of a certain hydraulic leg becomes small,
acquiring the inclination state of the mounting table, and if the mounting table is in a state that the pressure of the hydraulic support leg is reduced and the hydraulic support leg inclines downwards laterally, extending the corresponding hydraulic support leg;
if the mounting table is in a state that the hydraulic support leg with the reduced pressure inclines upwards, extending the hydraulic support leg with the increased pressure at the diagonal position of the hydraulic support leg with the reduced pressure;
if the mounting table is in a horizontal state, the hydraulic leg at which the pressure becomes small is extended.
As described above, the posture adjustment method of the present invention has at least the following advantageous effects:
when the lifting device is used for lifting, the bearing inhaul cable mechanism carries out main bearing stress on an object to be lifted, the object to be lifted can swing in the lifting process, the object to be lifted can be adjusted in posture by the aid of the first posture adjusting mechanism, the object to be lifted can be stably reduced and swing, the stress condition of the mounting table can be improved by the aid of the object to be lifted, the object to be lifted is reduced and swing, and the mounting table is stable and reliable and is not prone to toppling.
Drawings
Fig. 1 is a schematic view of a first embodiment of the hoisting system of the present invention.
Fig. 2 shows a schematic view of another embodiment of the hydraulic leg of the present invention.
Fig. 3 is a schematic view of a second embodiment of the hoisting system according to the present invention.
Fig. 4 is a schematic view of a second embodiment of the hoisting system according to the present invention.
Figure 5 shows a control schematic of the hoist system of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 5. It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so that the present disclosure is not limited to the technical essence, and any modifications of the structures, changes of the ratios, or adjustments of the sizes, can still fall within the scope of the present disclosure without affecting the function and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1, an embodiment of a modular robot arm is provided, including: the device comprises an installation platform 1, a base 10, a suspension arm 2, a first driving piece 3, a bearing inhaul cable mechanism and a posture adjusting mechanism, wherein the base 10 is rotatably installed on the installation platform 1, and a cab 11 and a controller are arranged on the base 10; the suspension arm 2 is of a telescopic structure, the lower end of the suspension arm 2 is hinged to the base 10, and the first driving part 3 drives the suspension arm 2 to overturn; the bearing cable mechanism comprises a bearing cable 41, a bearing cable driving part, a top pulley block 43 and a bearing hook 44, wherein the top pulley block 43 is installed at the tail end of the telescopic structure of the suspension arm 2, the bearing cable 41 is wound on the top pulley block 43, the bearing hook 44 is installed on the bearing cable 41, and the bearing cable driving part is used for pulling the bearing cable 41; attitude adjusting mechanism includes first attitude adjustment cable 51, first attitude adjustment driving piece, first middle part assembly pulley 53 and first attitude adjustment lifting hook 54, first middle part assembly pulley 53 is installed on the non-extending structure of davit 2, first attitude adjustment cable 51 winds on first middle part assembly pulley 53, first attitude adjustment lifting hook 54 is installed on first attitude adjustment cable 51, first attitude adjustment driving piece is used for the pulling first attitude adjustment cable 51. When the hoisting device is used for hoisting, the bearing inhaul cable mechanism carries out main bearing stress on an object to be hoisted, the object to be hoisted can be rocked in the hoisting process, the object to be hoisted can be subjected to posture adjustment through the arrangement of the first posture adjusting mechanism, the object to be hoisted can be rocked in a more stable and reduced mode, the object to be hoisted 6 is rocked in a reduced mode, the stress condition of the mounting table 1 can be improved due to the fact that the object to be hoisted is rocked in a reduced mode, and the object to be hoisted is more stable and reliable and is not prone to toppling.
In this embodiment, referring to fig. 3 and 4, the attitude adjustment mechanism further includes a second attitude adjustment cable 55, a second attitude adjustment driving member, a second middle pulley block 56, and a second attitude adjustment hook 57, the second middle pulley block 56 is mounted on the non-telescopic structure of the boom 2, the second attitude adjustment cable 55 is wound around the second middle pulley block 56, the second attitude adjustment hook 57 is mounted on the second attitude adjustment cable 55, and the second attitude adjustment driving member is used for pulling the second attitude adjustment cable 55; the bearing hook 44, the first posture adjustment hook 54 and the second posture adjustment hook 57 are respectively fitted to different positions of the object 6 to be hoisted. Treat hoist and mount article 6 and have three stress points, can treat hoist and mount article 6 through three cable and promote, wherein two cables use as the attitude adjustment, avoid treating hoist and mount article 6 and rock badly at the promotion in-process, influence the stability of arm and vehicle chassis 7, can avoid the condition of empting to take place.
In this embodiment, referring to fig. 3 and 4, the first intermediate pulley block 53 and the second intermediate pulley block 56 have different heights on the boom 2. Namely, the objects to be lifted are subjected to different directions in space and are mutually and stereoscopically staggered, and the device has higher attitude control performance.
In this embodiment, the mounting table 1 is provided with hydraulic legs 12, and the left side and the right side of the mounting table 1 are respectively provided with at least two hydraulic legs 12. The mounting structure of the hydraulic leg 12 of the present embodiment is not limited, and may be directly fixed to the mounting table 1, or may be a ball support structure as mentioned in the following embodiments.
In this embodiment, please refer to fig. 1 and fig. 2, optionally, a force bearing seat 121 is arranged at the bottom of the hydraulic leg 12, the force bearing seat 121 is connected with the bottom of the hydraulic leg 12 through a ball head support structure 120, and a bottom supporting member 1211 is detachably connected to the bottom of the force bearing seat 121; the top of the hydraulic leg 12 is also connected by a ball support structure 120. The specific bottom supporting member 1211 can be of a flat plate structure as shown in fig. 1, or a cylindrical structure as shown in fig. 2, the bottom supporting member 1211 of the hydraulic leg 12 on the left side of fig. 2 is connected to the bottom of the force bearing seat 121 through a thread, the bottom supporting member 1211 is of a cylindrical structure, the bottom of the bottom supporting member 1211 is an oblique opening, and the bottom is fixed with the anti-skid teeth 12111; the bottom of the bottom-holding element 1211 of the hydraulic leg 12 on the right in fig. 2 is of a flat configuration, which is also provided with anti-slip teeth 12111; through the design of the detachable bottom support member 1211, the detachable bottom support member 1211 can adapt to different terrains, for example, in the case of road surface rescue, the bottom support member 1211 of a flat plate structure can be adopted when the ground is hard and flat, and in the case that the ground is uneven and can be damaged, the structure of the bottom support member 1211 shown in fig. 2 can be selected, so that the detachable bottom support member 1211 has better terrain adaptability, and particularly can be universally adjusted to realize more complex terrains in combination with the ball head support structure 120. Meanwhile, the ball head structure can realize non-vertical support, such as support of a certain angle of a hydraulic layer, and can adapt to the complex situation of the ground. Optionally, a pressure sensor 122 is disposed on each hydraulic leg 12, the pressure sensor 122 is configured to detect a pressure state of the hydraulic leg 12, and the pressure sensor 122 is electrically connected to the controller. Optionally, a first level meter is arranged on the mounting table 1 and used for detecting the inclination state of the mounting table 1, and the first level meter is electrically connected with the controller. Each angular adjustment that bulb structural support can realize hydraulic leg 12, when a supporting bench has a small-amplitude slope very much, can in time realize correcting through the hydraulic leg 12 that the adjustment corresponds to guarantee that mount table 1 can be in dynamic horizontality, thereby guarantee the stability of whole hoist and mount process. Pressure sensor 122 can know hydraulic leg 12's atress condition in real time, and the pressure when hydraulic leg 12 diminishes to show unsettledly, and the ground that hydraulic leg 12 was gone up in unsettled probably sinks, also probably the mount table 1 takes place to incline, verifies through the data of first spirit level to the realization judges the support state of whole mount table 1, thereby realizes the accurate dynamic adjustment to certain hydraulic leg 12.
In this embodiment, please refer to fig. 3, a hoisting system includes the modular robot arm; still include vehicle chassis 7 and rotation driving piece 71, mount table 1 demountable installation in vehicle chassis 7 is last or fixed mounting is on vehicle chassis, rotation driving piece 71 is used for the drive base 10 rotates, the output activity of rotation driving piece 71 can pass behind mount table 1 with base 10 spline fit, in this embodiment, please refer to fig. 1 and fig. 3, mount table 1 demountable installation is on vehicle chassis 7, base 10 is through rotating driving piece 71 drive, it can be hydraulic motor to rotate driving piece 71, hydraulic motor's output and base 10 pass through spline structure cooperation, make mount table 1 and base 10 can easy to assemble and dismantle. The hydraulic motor is fixed on the vehicle chassis 7. The lifting device is characterized by further comprising a second level meter 61, wherein the second level meter 61 is detachably fixed on the object 6 to be lifted, the second level meter 61 is used for detecting the inclination state of the object 6 to be lifted, and the second level meter 61 is connected with the controller through a wireless network. Through the setting of second spirit level 61 for can know the tilt state of waiting to hoist article 6 in real time, when the controller received the information of the tilt state of second spirit level 61, the controller control first attitude adjustment driving piece and second attitude adjustment driving piece carry out attitude adjustment to waiting to hoist article 6.
The first gradienter and the second gradienter 61 mentioned above can be realized by distance sensors, and the distance sensors are arranged at four corners to measure the distances between the corresponding positions and the ground.
An attitude adjustment method includes the following steps:
and (3) posture adjustment:
the bearing hook 44, the first posture adjusting hook 54 and the second posture adjusting hook 57 are respectively fixed with three different positions of the object 6 to be hoisted;
when the second level meter 61 detects that the bottom of the object 6 to be hoisted inclines towards the first posture adjustment hook 54, the controller controls the first posture adjustment driving piece to extend the first posture adjustment inhaul cable 51;
when the second level meter 61 detects that the bottom of the object 6 to be hoisted inclines towards the second posture adjustment hook 57, the controller controls the second posture adjustment driving piece to extend the second posture adjustment inhaul cable.
In this embodiment, the posture adjustment method further includes the following steps:
leveling:
the pressure sensor 122 acquires the pressure state of each hydraulic support leg 12 in real time in the hoisting process;
the method comprises the following steps that a first gradienter obtains the inclination state of an installation table 1 in real time in the hoisting process;
when the pressure of a certain hydraulic leg 12 becomes small,
acquiring the inclination state of the mounting table 1, and if the mounting table 1 is in a state that the side of the hydraulic support leg 12 with reduced pressure inclines downwards, extending the corresponding hydraulic support leg 12;
extending the hydraulic leg 12, which is located at the diagonal position of the hydraulic leg 12, in which the pressure becomes smaller, in a state where the mount table 1 is in a state where the hydraulic leg 12, which becomes smaller in pressure, is tilted upward in the lateral direction;
if the installation table 1 is in a horizontal state, the hydraulic legs 12 in which the pressure becomes small are extended.
In conclusion, when the lifting device is used for lifting, the main bearing stress is carried out on the object 6 to be lifted by the bearing inhaul cable mechanism, the object 6 to be lifted can shake in the lifting process, the first posture adjusting mechanism can adjust the posture of the object 6 to be lifted, the object 6 to be lifted can be more stably reduced in shake, the shaking of the object 6 to be lifted can be reduced, the stress condition of the mounting table 1 can be improved, and the object 6 to be lifted is more stable and reliable and is not easy to topple. Through the demountable installation of mount table 1 and vehicle chassis 7 for it can cooperate with ordinary vehicle chassis 7, need not the corresponding chassis of special design, sets up hydraulic leg 12 simultaneously, can reduce vehicle chassis 7 stress concentration phenomenon. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (3)
1. An attitude adjustment method utilizes a hoisting system, and the hoisting system comprises: modularizing the mechanical arm;
the modular mechanical arm comprises:
the base is rotatably arranged on the mounting table, and a cab and a controller are arranged on the base;
the suspension arm is of a telescopic structure, the lower end of the suspension arm is hinged to the base, and the first driving piece drives the suspension arm to overturn;
the load-bearing inhaul cable mechanism comprises a load-bearing inhaul cable, a load-bearing inhaul cable driving part, a top pulley block and a load-bearing hook, the top pulley block is installed at the tail end of the telescopic structure of the suspension arm, the load-bearing inhaul cable is wound on the top pulley block, the load-bearing hook is installed on the load-bearing inhaul cable, and the load-bearing inhaul cable driving part is used for pulling the load-bearing inhaul cable;
the attitude adjusting mechanism comprises a first attitude adjusting inhaul cable, a first attitude adjusting driving piece, a first middle pulley block and a first attitude adjusting hook, the first middle pulley block is installed on the non-telescopic structure of the suspension arm, the first attitude adjusting inhaul cable is wound on the first middle pulley block, the first attitude adjusting hook is installed on the first attitude adjusting inhaul cable, and the first attitude adjusting driving piece is used for pulling the first attitude adjusting inhaul cable;
the mounting table is provided with hydraulic support legs, and the left side and the right side of the mounting table are respectively provided with at least two hydraulic support legs;
each hydraulic support leg is provided with a pressure sensor, the pressure sensor is used for detecting the pressure state of the hydraulic support leg, and the pressure sensor is electrically connected with the controller;
the mounting table is provided with a first level gauge, the first level gauge is used for detecting the inclination state of the mounting table, and the first level gauge is electrically connected with the controller;
the bottom of the hydraulic support leg is provided with a bearing seat, the bearing seat is connected with the bottom of the hydraulic support leg through a ball head supporting structure, and the bottom of the bearing seat is detachably connected with a bottom support piece;
the tops of the hydraulic support legs are also connected through a ball head support structure;
the hoisting system further comprises an automobile chassis and a rotary driving piece, the mounting table is detachably mounted on the automobile chassis or fixedly mounted on the automobile chassis, the rotary driving piece is used for driving the base to rotate, and the output end of the rotary driving piece vertically and movably penetrates through the mounting table and then is matched with the base through a spline structure;
the lifting device is characterized by further comprising a second level gauge, wherein the second level gauge is detachably fixed on an object to be lifted and used for detecting the inclination state of the object to be lifted, and the second level gauge is connected with the controller through a wireless network;
it is characterized in that the preparation method is characterized in that,
the posture adjusting method comprises the following steps:
and (3) posture adjustment:
fixing the bearing lifting hook, the first posture adjusting lifting hook and the second posture adjusting lifting hook with three different positions of an object to be lifted respectively;
when the second level meter detects that the bottom of the object to be hoisted inclines towards the direction of the first posture adjustment lifting hook, the controller controls the first posture adjustment driving piece to extend the first posture adjustment inhaul cable;
when the second gradienter detects that the bottom of the object to be hoisted inclines towards the direction of the second posture adjustment lifting hook, the controller controls the second posture adjustment driving piece to extend the second posture adjustment inhaul cable;
the attitude adjustment method further comprises the following steps:
leveling:
the pressure sensor acquires the pressure state of each hydraulic support leg in real time in the hoisting process;
the method comprises the following steps that a first gradienter obtains the inclination state of an installation table in real time in the hoisting process;
when the pressure of a certain hydraulic leg becomes small,
acquiring the inclination state of the mounting table, and if the mounting table is in a state that the pressure of the hydraulic support leg is reduced and the hydraulic support leg inclines downwards laterally, extending the corresponding hydraulic support leg;
if the mounting table is in a state that the hydraulic support leg with the reduced pressure inclines upwards, extending the hydraulic support leg with the increased pressure at the diagonal position of the hydraulic support leg with the reduced pressure;
if the mounting table is in a horizontal state, the hydraulic leg at which the pressure becomes small is extended.
2. The attitude adjustment method according to claim 1, characterized in that: the attitude adjusting mechanism further comprises a second attitude adjusting inhaul cable, a second attitude adjusting driving piece, a second middle pulley block and a second attitude adjusting hook, the second middle pulley block is mounted on the non-telescopic structure of the suspension arm, the second attitude adjusting inhaul cable is wound on the second middle pulley block, the second attitude adjusting hook is mounted on the second attitude adjusting inhaul cable, and the second attitude adjusting driving piece is used for pulling the second attitude adjusting inhaul cable;
the bearing lifting hook, the first posture adjusting lifting hook and the second posture adjusting lifting hook are respectively matched with different positions of an object to be lifted.
3. The attitude adjustment method according to claim 2, characterized in that: the first middle pulley block and the second middle pulley block are different in height on the boom.
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| US11807151B2 (en) * | 2019-07-24 | 2023-11-07 | James Larry Jester | Vehicle configured to assist with crane relocation |
| CN113277433B (en) * | 2021-04-14 | 2022-10-14 | 重庆康爵特智能科技有限公司 | Lifting system for meal delivery equipment |
| CN113353808B (en) * | 2021-07-06 | 2023-04-28 | 山推工程机械股份有限公司 | Pipe crane and balance control method thereof |
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