CN112374352B

CN112374352B - Lifting appliance tilting control device and method

Info

Publication number: CN112374352B
Application number: CN202011379775.6A
Authority: CN
Inventors: 吴克锤; 张卫; 赵立
Original assignee: Sany Marine Heavy Industry Co Ltd
Current assignee: Sany Marine Heavy Industry Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2023-04-25
Anticipated expiration: 2040-11-30
Also published as: WO2022111412A1; CN112374352A

Abstract

The invention provides a lifting appliance tilting control device and a lifting appliance tilting control method, wherein the lifting mechanisms are controlled to control the heights of fixed points of a lifting appliance, so that the tilting control of the lifting appliance is realized; meanwhile, the height change value of each lifting end is directly or indirectly monitored in real time through a stroke measurement module, the height change value of each lifting end is the height change value of each fixed point of the lifting appliance, and the change condition of the inclination angle of the lifting appliance can be known through the processing module through the existing various inclination angle calculation methods; when the lifting appliance reaches the tilting angle capable of assembling the fixer on the lifted object, the lifting mechanism stops working, and the fixer is assembled on the lifted object.

Description

Lifting appliance tilting control device and method

Technical Field

The invention relates to the technical field of weight crane, in particular to a lifting appliance tilting control device and method.

Background

In the existing heavy object hoisting technology, when a crane, heavy hoisting equipment and traveling hoisting equipment need to hoist an object to be hoisted (such as a container), a hoist is generally required to be lowered to a proper height, and because a fixer used for fixing the object to be hoisted on the hoist after the hoist is lowered cannot be directly aligned with a hoisting interface of the object to be hoisted under various complex environments, at the moment, the tilting angle of the hoist needs to be adjusted to enable the fixer to be aligned with the object to be hoisted. Because in this kind of operational environment, the weight of hoist is very big, consequently adopts electric putter and wire rope's cooperation to go up and down four corners of hoist to adjust hoist tilt angle in traditional hoist tilt angle control system, in addition, sets up several fixed stopper on electric putter or wire rope, approximately knows the condition of inclining of hoist through the stopper. In the traditional method, the real-time tilting angle of the lifting appliance cannot be accurately known, and a certain obstacle is brought to the alignment work of the fixer of the lifting appliance.

Disclosure of Invention

In view of the above, the embodiment of the invention aims to provide a lifting appliance tilting control device and method, so as to solve the problem that the real-time tilting condition of a lifting appliance cannot be known when the lifting appliance lifts a lifted object in the prior art.

In a first aspect, the present application provides a lifting appliance tilting control device, including: the lifting appliance comprises a plurality of retainers for fixing the lifted objects; the lifting ends of the lifting mechanisms are fixed at different positions of the lifting appliance, and the lifting mechanisms control the lifting appliance to tilt by controlling the heights of the lifting ends; the stroke measurement module is used for directly or indirectly measuring the height change value of each lifting end in real time; and the processing module is used for receiving the height change value of each lifting end measured by each stroke measuring module and calculating the actual tilting angle of the lifting appliance according to the height change value of each lifting end.

With reference to the first aspect, in one possible implementation manner, the method further includes: a control module configured to: controlling each lifting mechanism to lift according to the lifting appliance adjusting instruction so as to adjust the lifting appliance tilting angle, and comparing whether the actual tilting angle calculated by the processing module is the same as the tilting angle corresponding to the lifting appliance adjusting instruction; and if the actual tilting angles are different, controlling one or a plurality of lifting mechanisms to lift until the calculated actual tilting angles are the same as the tilting angles corresponding to the lifting appliance adjusting instructions.

With reference to the first aspect, in one possible implementation manner, the apparatus includes: the first lifting mechanism, the second lifting mechanism, the third lifting mechanism and the fourth lifting mechanism;

wherein, first elevating system includes: the first steering mechanism is used for changing the pulling direction of the pulling lifting appliance; the first push-pull device is used for pulling the lifting appliance to adjust the inclination angle of the lifting appliance; one end of the first flexible pulling piece is fixed on the lifting appliance, and the other end of the first flexible pulling piece bypasses the first steering mechanism and is connected to the push-pull end of the first push-pull device;

the second elevating mechanism includes: the second steering mechanism is used for changing the pulling direction of the pulling lifting appliance; the first push-pull device is used for pulling the lifting appliance to adjust the inclination angle of the lifting appliance; one end of the second flexible pulling piece is fixed on the lifting appliance, and the other end of the second flexible pulling piece bypasses the second steering mechanism and is connected to the push-pull end of the first push-pull device;

the third elevating mechanism includes: the third steering mechanism is used for changing the pulling direction of the pulling lifting appliance; the second push-pull device is used for pulling the lifting appliance to adjust the inclination angle of the lifting appliance; one end of the third flexible pulling piece is fixed on the lifting appliance, and the other end of the third flexible pulling piece bypasses the third steering mechanism and is connected to the push-pull end of the second push-pull device;

The fourth elevating mechanism includes: the fourth steering mechanism is used for changing the pulling direction of the pulling lifting appliance; the third push-pull device is used for pulling the lifting appliance to adjust the inclination angle of the lifting appliance; one end of the fourth flexible pulling piece is fixed on the lifting appliance, and the other end of the fourth flexible pulling piece bypasses the fourth steering mechanism and is connected to the push-pull end of the third push-pull device;

the fixing points of the flexible pulling pieces of the four lifting mechanisms on the lifting appliance form a quadrilateral, and the fixing points of the first flexible pulling piece and the second flexible pulling piece on the lifting appliance are two diagonal points of the quadrilateral;

the first steering mechanism, the second steering mechanism, the third steering mechanism and the fourth steering mechanism are all arranged above the lifting appliance and mutually form a quadrangle; the first flexible pulling piece bypasses a section of the first steering mechanism and is connected to the push-pull end, and the first flexible pulling piece and a section of the second flexible pulling piece bypassing the second steering mechanism and is connected to the push-pull end are collinear with each other;

wherein, the stroke measurement module includes:

the first set of laser ranging system comprises a first laser range finder and a first calibrator, wherein the first laser range finder is fixed on a first push-pull device, and the first calibrator is fixed at the push-pull end of the first push-pull device or on a first flexible pull piece or a second flexible pull piece; the ranging laser of the first laser range finder irradiates on the first calibrator to determine the position change value of the first calibrator;

The second set of laser ranging system comprises a second laser range finder and a second calibrator, wherein the second laser range finder is fixed on a second push-pull device, and the second calibrator is fixed at the push-pull end of the second push-pull device or on a third flexible pull piece; the ranging laser of the second laser range finder irradiates on the second calibrator to determine the position change value of the second calibrator;

the third laser ranging system comprises a third laser ranging instrument and a third calibrator, wherein the third laser ranging instrument is fixed on a third push-pull device, and the third calibrator is fixed at the push-pull end of the third push-pull device or on a fourth flexible pull piece; the ranging laser of the third laser range finder irradiates on the third calibrator to determine the position change value of the third calibrator;

the processing module is further configured to: the processing module is used for receiving the position change values of the first, second and third calibrators measured by the first, second and third sets of laser distance measuring instruments and calculating the actual tilting angle of the lifting appliance according to the position change values of the calibrators; the processing module is also used for processing and decomposing the lifting appliance adjusting instruction into independent control instructions for the first, second and third push-pull devices;

The control module is further configured to: the control module is used for controlling the first, second and third push-pull devices according to the independent control instruction so as to control the height value of the fixed point of the first, second, third and fourth flexible pull pieces on the lifting appliance, and further control the tilting angle of the lifting appliance.

With reference to the first aspect, in one possible implementation manner,

further comprises: a first auxiliary steering mechanism, a second auxiliary steering mechanism, a third auxiliary steering mechanism and a fourth auxiliary steering mechanism;

wherein the first elevating mechanism further comprises: a first auxiliary steering mechanism; one end of the first flexible pulling piece is fixed on the lifting appliance, and the other end of the first flexible pulling piece sequentially bypasses the first steering mechanism and the first auxiliary steering mechanism and then is connected to the push-pull end of the first push-pull device;

wherein the second elevating mechanism further comprises: a second auxiliary steering mechanism; one end of the second flexible pulling piece is fixed on the lifting appliance, and the other end of the second flexible pulling piece sequentially bypasses the second steering mechanism and the second auxiliary steering mechanism and then is connected to the push-pull end of the first push-pull device;

wherein the third elevating mechanism further comprises: a third auxiliary steering mechanism; one end of the third flexible pulling piece is fixed on the lifting appliance, and the other end of the third flexible pulling piece sequentially bypasses the third steering mechanism and the third auxiliary steering mechanism and then is connected to the push-pull end of the second push-pull device;

Wherein the fourth elevating mechanism further comprises: a fourth auxiliary steering mechanism; one end of the fourth flexible pulling piece is fixed on the lifting appliance, and the other end of the fourth flexible pulling piece sequentially bypasses the fourth steering mechanism and the fourth auxiliary steering mechanism and then is connected to the push-pull end of the third push-pull device;

the first flexible pulling piece bypasses the first auxiliary steering mechanism and then is connected with a section of the push-pull end, and the first flexible pulling piece and the second flexible pulling piece bypass the second auxiliary steering mechanism and then are connected with a section of the push-pull end in a mutually collinear manner.

With reference to the first aspect, in one possible implementation manner, the lifting appliance is further configured to: the four corners of the lifting appliance are respectively provided with a first lifting pulley, a second lifting pulley, a third lifting pulley and a fourth lifting pulley, and the first lifting pulley and the second lifting pulley are positioned at two diagonal points;

wherein the apparatus further comprises a pull-piece fixing mechanism which is fixed relative to the spreader position;

one end of the first flexible pulling piece is fixed on the pulling piece fixing mechanism, and the other end of the first flexible pulling piece sequentially bypasses the first steering mechanism, the first hoisting pulley and the first auxiliary steering mechanism and then is connected to the push-pull end of the first push-pull device;

one end of the second flexible pulling piece is fixed on the pulling piece fixing mechanism, and the other end of the second flexible pulling piece sequentially bypasses the second steering mechanism, the second hoisting pulley and the second auxiliary steering mechanism and then is connected to the push-pull end of the first push-pull device;

One end of the third flexible pulling piece is fixed on the pulling piece fixing mechanism, and the other end of the third flexible pulling piece sequentially bypasses the third steering mechanism, the third hoisting pulley and the third auxiliary steering mechanism and then is connected to the push-pull end of the second push-pull device;

one end of the fourth flexible pulling piece is fixed on the pulling piece fixing mechanism, and the other end of the fourth flexible pulling piece sequentially bypasses the fourth steering mechanism, the fourth hoisting pulley and the fourth auxiliary steering mechanism and then is connected to the push-pull end of the third push-pull device.

With reference to the first aspect, in one possible implementation manner, the method further includes: at least two flexible safety pull pieces, wherein one end of one flexible safety pull piece is fixed with one section of the first flexible pull piece after bypassing the first auxiliary steering mechanism, and the other end of the flexible safety pull piece is fixed with one section of the second flexible pull piece after bypassing the second auxiliary steering mechanism; one end of the other flexible safety pull piece is fixed with one section of the third flexible pull piece after bypassing the third auxiliary steering mechanism, and the other end of the flexible safety pull piece is fixed with one section of the fourth flexible pull piece after bypassing the fourth auxiliary steering mechanism.

With reference to the first aspect, in one possible implementation manner, the first push-pull device further includes: the two ends of the double-end push-pull rod are provided with fixed sliders for fixing the flexible pull piece, the fixed sliders are assembled on the sliding seat in a sliding rail assembling mode, and the first calibrator is fixed on the fixed sliders at one end of the double-end push-pull rod; the ends of push-pull rods of the second push-pull device and the third push-pull device are provided with fixed sliders for fixing the flexible pull pieces, the fixed sliders are assembled on corresponding sliding seats respectively in a sliding rail assembling mode, and the second calibrator and the third calibrator are respectively fixed on the fixed sliders assembled at the ends of the push-pull rods of the second push-pull device and the third push-pull device.

In a second aspect, the present application provides a method for controlling tilting of a lifting appliance, which is applied to a lifting appliance tilting control device in the above implementation manner, and includes the steps of: directly or indirectly measuring the height variation value of each lifting end in real time; receiving the measured altitude variation value; and calculating the actual tilting angle of the lifting appliance according to the height change value of each lifting end.

With reference to the second aspect, in one possible implementation manner, the method further includes the step of: controlling lifting mechanisms to lift according to lifting appliance adjusting instructions so as to adjust lifting appliance tilting angles; receiving the calculated actual tilting angle; comparing whether the actual tilting angle is the same as the tilting angle corresponding to the lifting appliance adjusting instruction; if the two lifting mechanisms are different, one or more lifting mechanisms are controlled to lift until the two lifting mechanisms are the same.

In a third aspect, the present application provides an electronic device and a computer readable storage medium, the electronic device comprising: a processor; and a memory for storing the processor-executable instructions; the processor is used for executing the lifting appliance tilting control method according to any one of the implementation modes; the storage medium stores a computer program for executing the lifting appliance tilting control method according to any one of the above implementation modes.

According to the lifting appliance tilting control device and method, the lifting mechanisms are controlled to control the heights of the fixed points of the lifting appliance, so that the tilting control of the lifting appliance is realized; meanwhile, the height change value of each lifting end is directly or indirectly monitored in real time through a stroke measurement module, the height change value of each lifting end is the height change value of each fixed point of the lifting appliance, and the change condition of the inclination angle of the lifting appliance can be known through the processing module through the existing various inclination angle calculation methods; when the lifting appliance reaches the tilting angle capable of assembling the fixer on the lifted object, the lifting mechanism stops working, and the fixer is assembled on the lifted object. The device can be used for various purposes after knowing the change of the tilting angle, for example, the real-time tilting angle of the lifting appliance can be displayed for a worker in real time, and the worker can know the tilting condition of the lifting appliance at all times in real time according to the displayed real-time tilting angle; the real-time tilting angle obtained by the processing module is only needed to be watched when a worker wants to control the lifting mechanism to enable the lifting appliance to reach a certain angle, and one or a plurality of lifting mechanisms are continuously adjusted to reach the desired tilting angle.

Drawings

Fig. 1 is a schematic structural diagram of a lifting appliance tilting control device according to an embodiment of the present application.

Fig. 2 is a schematic diagram illustrating an inclination calculation principle of a lifting appliance inclination control device according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 4 is a schematic view of a part of a structure of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 5 is a schematic structural diagram of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 6 is a schematic structural diagram of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 7 is a schematic structural diagram of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 8 is a schematic structural diagram of a lifting appliance tilting control device according to another embodiment of the present application.

Fig. 9 is a schematic diagram of a method for controlling tilting of a lifting appliance according to another embodiment of the present application.

Fig. 10 is a schematic diagram of a method for controlling tilting of a lifting appliance according to another embodiment of the present application.

Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

When a crane, heavy lifting equipment and traveling lifting equipment need to lift an object to be lifted (such as a container), a lifting appliance is generally required to be lowered to a proper height, and because a fixer for fixing the object to be lifted on the lifting appliance cannot be directly aligned with a lifting interface of the object to be lifted after the lifting appliance is lowered under various complex environments, the tilting angle of the lifting appliance needs to be adjusted at the moment to enable the fixer to be aligned with the object to be lifted. Because in this kind of operational environment, the weight of hoist is very big, consequently adopts electric putter and wire rope's cooperation to go up and down four corners of hoist to adjust hoist tilt angle in traditional hoist tilt angle controlling means, in addition, sets up several fixed stopper on electric putter or wire rope, approximately knows the condition of inclining of hoist through the stopper. The method can not accurately know the real-time tilting angle of the lifting appliance, and brings a certain obstacle to the alignment work of the fixer of the lifting appliance. To this end, the present application is directed to a device and method for knowing the tilting angle of a spreader in real time.

Fig. 1 shows a lifting appliance tilting control device according to an embodiment of the present application, where the lifting appliance tilting device includes: a spreader 20, a plurality of lifting mechanisms 100, a travel measurement module and a processing module; the spreader 20 is equipped with a plurality of holders 29 for holding the suspended objects; the lifting ends of the plurality of lifting mechanisms 100 are fixed at different positions of the lifting appliance 20, and the lifting mechanisms 100 control the lifting appliance 20 to tilt by controlling the heights of the lifting ends; the stroke measurement module is used for directly or indirectly measuring the height change value of each lifting end in real time; the processing module is used for receiving the height change value of each lifting end measured by each stroke measuring module and calculating the actual tilting angle of the lifting appliance 20 according to the height change value of each lifting end.

When the lifting device is used in the embodiment, the lifting mechanism 100 is controlled to control the height of each fixed point of the lifting appliance 20, so that the tilting control of the lifting appliance 20 is realized; meanwhile, the height change value of each lifting end is directly or indirectly monitored in real time through a stroke measuring module, the height change value of each lifting end is the height change value of each fixed point of the lifting appliance 20, and the processing module can know the change condition of the tilting angle of the lifting appliance 20 through the existing various tilt angle calculation methods; when the hanger 20 reaches the tilting angle at which the anchor 29 can be attached to the object to be suspended, the operation of the lifting mechanism 100 is stopped, and the anchor 29 may be attached to the object to be suspended.

The device can be used for various purposes after knowing the change of the tilting angle, for example, the real-time tilting angle of the lifting appliance 20 can be displayed for a worker in real time, and the worker can know the tilting condition of the lifting appliance at all times in real time according to the displayed real-time tilting angle; it may also be used directly as feedback data, for example, when a worker wants to control the lifting mechanism 100 to achieve a certain angle, he only needs to look at the real-time tilting angle obtained by the processing module, and continuously adjust one or several lifting mechanisms 100 to achieve the desired tilting angle.

Specifically, the stroke measurement module may be a range finder of various types, which can directly detect a fixed point of the lifting end on the lifting appliance 20, for example, when a laser range finder is used, the detection laser of the laser range finder irradiates on the fixed point to detect a height variation value of the fixed point; or the laser rangefinder may detect the lifting end of the lifting mechanism 100, indirectly to derive the height variation value of the lifting end at the fixed point on the spreader 20. Finally, the real-time tilting angle of the lifting appliance 20 can be obtained.

It should be noted that, in the indirect measurement, if the lifting end of the lifting mechanism 100 is detected, when the movement direction of the lifting end is not collinear with the movement direction of the fixed point, the projection value of the height change of the lifting end in the movement direction of the fixed point is the height change value of the fixed point, and the projection value is used as h in the formula to calculate the tilting angle of the lifting appliance 20.

In some embodiments, the number of lifting mechanisms 100 is four, and the fixing points of the lifting ends on the lifting appliance 20 are located at four corners of the lifting appliance 20 and form a rectangle, in this embodiment, the calculation of the tilting angle is facilitated since each fixing point forms a rectangle. For example, in the embodiment shown in fig. 2, when two adjacent fixed points are synchronously lowered and two other fixed points are located, the inclination angle change value can be simply calculated by using a trigonometric function, h is taken as the absolute value of the lowering height of the fixed point (the difference between the horizontal heights before and after the lowering of the fixed point), the distance between the adjacent lowered fixed point and the fixed point is s, and the inclination angle is arcsin (h/s); similarly, when the level of one fixed point of the spreader 20 is lower than that of the other three fixed points, the lowering height value of the lowest fixed point is h, and the distance between the lowest fixed point and the highest fixed point is s in the above calculation formula, so as to calculate the tilting angle of the spreader 20. Such calculation methods are more, and other existing calculation methods are not described herein. In the application scenario of the present application, only the first tilting situation will generally be performed, i.e. two fixed points descend synchronously, and the other two fixed points are relatively motionless.

In an embodiment of the present application, the lifting device further includes a control module, configured to control each lifting mechanism 100 to lift according to a lifting device adjustment instruction so as to adjust a tilting angle of the lifting device 20, compare the actual tilting angle calculated by the processing module with the tilting angle corresponding to the lifting device adjustment instruction, and if the actual tilting angle is not the same as the tilting angle corresponding to the lifting device adjustment instruction, control one or more lifting mechanisms 100 to lift until the actual tilting angle is the same. If the actual tilting angle calculated by the processing module is the same as the tilting angle corresponding to the lifting appliance adjusting instruction, the lifting mechanism 100 can be controlled to stop lifting.

In the implementation process of the embodiment, a lifting appliance adjusting instruction is sent by a person or a computer to adjust the tilting angle of the lifting appliance 20, the lifting appliance adjusting instruction corresponds to the tilting angle which can be achieved by one lifting appliance through a calculation algorithm, the calculation method is basically the same as the above, the descending height of the lifting end with the largest descending amplitude is taken as h, the distance between the descending end and the farthest lifting end is s, and the tilting angle is arcsin (h/s); the control module compares the actual tilting angle calculated by the processing module with the tilting angle corresponding to the lifting appliance adjusting instruction, and if the actual tilting angle is different from the tilting angle corresponding to the lifting appliance adjusting instruction, a feedback control signal is continuously sent to the lifting mechanism 100 through a feedback control algorithm, so that the lifting mechanism 100 continuously adjusts the height of the lifting end until the actual tilting angle is the same as the tilting angle corresponding to the lifting appliance adjusting instruction, and accurate tilting operation is completed. The specific usage scenario of this embodiment may be: the staff manipulates the rocker type mechanical equipment and sends out a lifting appliance adjusting instruction, the control module controls the lifting mechanism 100 to work, and then the control module spontaneously performs feedback control, so that the lifting appliance finally reaches the tilting angle corresponding to the lifting appliance adjusting instruction.

In some embodiments, as shown with reference to fig. 3, further comprising: a first flexible pull 3, a second flexible pull 4, a third flexible pull 5 and a fourth flexible pull 6; the device comprises: the first lifting mechanism, the second lifting mechanism, the third lifting mechanism and the fourth lifting mechanism; wherein, first elevating system includes: a first steering mechanism 8 for changing the pulling direction of the pulling sling; a first push-pull 101 for pulling the spreader 20 to adjust the tilting angle of the spreader; and a first flexible pulling member 3, one end of which is fixed on the lifting appliance 20, and the other end of which bypasses the first steering mechanism 8 and is connected to the push-pull end of the first push-pull device 101; the second elevating mechanism includes: a second steering mechanism 8 for changing the pulling direction of the pulling hanger 20; a first push-pull 101 for pulling the spreader 20 to adjust the tilting angle of the spreader; and a second flexible pulling member 4, one end of which is fixed on the lifting appliance 20, and the other end of which bypasses the second steering mechanism 10 and is connected to the push-pull end of the first push-pull device 101; the third elevating mechanism includes: a third steering mechanism 12 for changing the pulling direction of the pulling hanger 20; a second push-pull 102 for pulling the spreader 20 to adjust the tilting angle of the spreader; and a third flexible pulling member 5, one end of which is fixed on the lifting appliance 20, and the other end of which bypasses the third steering mechanism 12 and is connected to the push-pull end of the second push-pull device 102; the fourth elevating mechanism includes: a fourth steering mechanism 14 for changing the pulling direction of the pulling hanger 20; a third push-pull 103 for pulling the spreader 20 to adjust the tilting angle of the spreader; and a fourth flexible pulling member 6, one end of which is fixed on the lifting appliance 20, and the other end of which bypasses the fourth steering mechanism 14 and is connected to the push-pull end of the third push-pull device 103;

The first flexible pulling piece 3, the first steering mechanism 8 and the first push-pull device 101 form a lifting mechanism 100, the second flexible pulling piece 4, the second steering mechanism 10 and the first push-pull device 101 form a lifting mechanism 100, the third flexible pulling piece 5, the third steering mechanism 12 and the second push-pull device 102 form a lifting mechanism 100, and the fourth flexible pulling piece 6, the fourth steering mechanism 14 and the third push-pull device 103 form a lifting mechanism 100; the fixing points of the first flexible pulling piece 3, the second flexible pulling piece 4, the third flexible pulling piece 5 and the fourth flexible pulling piece 6 on the lifting appliance 20 form a quadrangle, and the fixing points of the first flexible pulling piece 3 and the second flexible pulling piece 4 on the lifting appliance 20 are two diagonal points of the quadrangle;

the first steering mechanism 8, the second steering mechanism 10, the third steering mechanism 12 and the fourth steering mechanism 14 are all above the lifting appliance 20 and mutually form a quadrilateral; the first flexible pulling piece 3 bypasses the first steering mechanism 8 and is connected with a section on the push-pull end, and the first flexible pulling piece 3 bypasses the second steering mechanism 10 and is connected with a section on the push-pull end;

referring to fig. 4, the stroke measurement module includes three sets of laser measurement systems, the first set of laser ranging system includes a first laser range finder 201 and a first calibrator 202, the first laser range finder 201 is fixed on the first push-pull device 101, and the first calibrator 202 is fixed on the push-pull end of the first push-pull device 101 or the first flexible pull member 3 or the second flexible pull member 4; the ranging laser of the first laser range finder 201 is irradiated on the first calibrator 202 to determine a position change value of the first calibrator 202; the second set of laser ranging system comprises a second laser range finder 301 and a second calibrator 302, wherein the second laser range finder 301 is fixed on the second push-pull device 102, and the second calibrator 302 is fixed on the push-pull end of the second push-pull device 102 or the third flexible pull piece 5; the ranging laser of the second laser range finder 301 is irradiated on the second calibrator 302 to determine the position change value of the second calibrator 302; the third laser ranging system comprises a third laser range finder 401 and a third calibrator 402, wherein the third laser range finder 401 is fixed on the third push-pull device 103, and the third calibrator 402 is fixed on the push-pull end of the third push-pull device 103 or the fourth flexible pull piece 6; the ranging laser of the third laser range finder 401 is irradiated on the third calibrator 402 to determine the position change value of the third calibrator 302;

The processing module is further configured to: the processing module is used for receiving the position change values of the first, second and third calibrators measured by the first, second and third sets of laser range finders, and calculating the actual tilting angle of the lifting appliance 20 by adopting a preset algorithm according to the position change values of the calibrators; the processing module is also used for processing and decomposing the lifting appliance adjusting instruction into independent control instructions for the first, second and third push-pull devices;

the control module is further configured to: the control module is used for controlling the first, second and third push-pull devices according to independent control instructions so as to control the height values of the fixed points of the first, second, third and fourth flexible pull pieces on the lifting appliance 20, and further control the tilting angle of the lifting appliance 20.

In this embodiment, four corners of the lifting appliance 20 are pulled by four flexible pulling members to perform tilting control, and a first push-pull device 101 is used to pull the first flexible pulling member 3 and the second flexible pulling member 4 at the same time, so that equipment can be saved, the structure is simpler, the first push-pull device 101 can adopt equipment such as a double-end electric push rod, and two ends of the double-end push rod of the double-end electric push rod are respectively connected and fixed with the first flexible pulling member 3 and the second flexible pulling member 4, and when the first flexible pulling member 3 is pulled in the direction of the second flexible pulling member 4, the second flexible pulling member 4 is far away from the direction of the second flexible pulling member. When the first push-pull 101 pulls the first flexible pulling member 3, the corresponding second flexible pulling member 4 is lowered, that is, the fixed point of the first flexible pulling member 3 on the lifting appliance 20 is raised, the fixed point of the second flexible pulling member 4 on the lifting appliance 20 is lowered, and at this time, the lifting appliance 20 realizes tilting action; meanwhile, the lifting control can be performed on the fixed point of the third flexible pulling piece 5 on the lifting appliance 20 by matching with the second push-pull device 102, and the lifting control can be performed on the fixed point of the fourth flexible pulling piece 6 on the lifting appliance 20 by matching with the third push-pull device 103, so that the tilting control in a more complex composite direction is realized. Similarly, if tilting in other directions is to be performed, for example, the side where the fixing point corresponding to the second flexible pulling member 4 and the fixing point corresponding to the third flexible pulling member 5 are located is to be lifted, and the side where the fixing point corresponding to the first flexible pulling member 3 and the fixing point corresponding to the fourth flexible pulling member 6 are located is to be lowered, the first push-pull 101 is operated to lift the second flexible pulling member 4 upwards, the corresponding first flexible pulling member 3 is lowered by the first push-pull 101, and the third push-pull 103 is operated to lower the fourth flexible pulling member 6, so that tilting of the lifting appliance in this case is realized. The tilting modes in other directions are the same and are not repeated.

The push-pull device can control the flexible pulling piece in other directions only by one steering mechanism, so that the structure and the materials can be saved, and the failure rate is lower and the structure is simpler.

In each push-pull device, the variable frequency driver can be included, the signal source of the variable frequency driver can come from the control module, and the electric push rod is driven by the variable frequency driver, so that the control of the electric push rod is more accurate and linear. Or the push-pull device can directly adopt a variable frequency electric push rod to realize variable frequency control. Preferably, the variable frequency drive is in communication with or integrated with the control module, so that the control module is more linear and accurate in feedback control for the inclination adjustment of the spreader.

Through four steering mechanisms, the lifting motion of the fixing point of the flexible pulling piece on the lifting appliance 20 is converted, so that the three push-pull devices can be arranged parallel to the horizontal plane, and the machine body and the push-pull rod can be arranged on the same plane, thereby being more convenient for the arrangement and configuration of the mechanical structure.

Specifically, each flexible pulling piece can adopt a steel wire rope, and each steering mechanism can adopt a fixed pulley.

The first steering mechanism 8, the second steering mechanism 10, the third steering mechanism 12 and the fourth steering mechanism 14 are all above the lifting appliance 20 and form a quadrilateral with each other, so that the control mode is simpler. In some implementations, four steering mechanisms may form a rectangle, four fixed points of the spreader form a rectangle of the same size, and the rectangle of the steering mechanism is directly above the rectangle of the fixed point. The first flexible pulling member 3 bypasses a section of the first steering mechanism 8 connected to the push-pull end and a section of the second flexible pulling member 4 bypassing the second steering mechanism 10 connected to the push-pull end are mutually collinear, so that the movement of the two flexible pulling members is synchronous, the movement value of one flexible pulling member is detected, and the movement value of the other flexible pulling member is equal to the movement value of the other flexible pulling member, so that the collineation can simplify the detection and calculation.

In the arrangement of the present embodiment, the movement distance of the flexible pulling member is measured by the laser ranging method described above. Because the first push-pull device 101 drives the first flexible pulling piece 3 and the second flexible pulling piece 4 at the same time, and because each steering mechanism has a fixed pulley effect, the lifting distance of a lifting appliance fixing point can be indirectly obtained only by collecting the single-end movement distance of the first push-pull device 101, or a calibrator is fixed on the first flexible pulling piece 3 or the second flexible pulling piece 4, and the detection method is the same. The arrowed straight line in fig. 4 indicates the approximate optical path of the detection laser light.

The laser rangefinder can implement detecting the corresponding calibrator and carry out distance change detection, and each laser rangefinder is connected with the processing module through wired or wireless mode to send the position change value to the processing module, processing module just knows the altitude change value of each fixed point on hoist 20, thereby calculates hoist 20's inclination angle change. When a worker or a computer sends out a complicated lifting appliance tilting control instruction, the processing module can decompose the lifting appliance into independent control instructions for the first, second and third push-pull devices, and the control module can obtain a complicated tilting angle through the independent control of the first, second and third push-pull devices.

In some specific embodiments, after the lifting appliance 20 performs a certain tilting action, a certain push-pull device is operated to perform micro motion, and when the micro motion is performed, the lifting appliance 20 can rotate by a certain angle under the action of gravity due to the change of the relative positions of four fixed points of the lifting appliance 20, so that the lifting hole of the lifted object can be further and conveniently aligned.

In some embodiments, as shown with reference to fig. 5, further comprising: a first auxiliary steering mechanism 7, a second auxiliary steering mechanism 9, a third auxiliary steering mechanism 11, and a fourth auxiliary steering mechanism 13; one end of the first flexible pulling member 3 is fixed on the lifting appliance 20, the other end sequentially bypasses the first steering mechanism 8 and the first auxiliary steering mechanism 7 and then is connected to the push-pull end of the first push-pull device 101, and the first lifting mechanism comprises: the first flexible pulling piece 3, the first steering mechanism 8, the first auxiliary steering mechanism 7 and the first push-pull device 101; one end of the second flexible pulling member 4 is fixed on the lifting appliance 20, the other end sequentially bypasses the second steering mechanism 10 and the second auxiliary steering mechanism 9 and then is connected to the push-pull end of the first push-pull device 101, and the second lifting mechanism comprises: the second flexible pulling piece 4, the second steering mechanism 10, the second auxiliary steering mechanism 9 and the first push-pull device 101; one end of the third flexible pulling member 5 is fixed on the lifting appliance 20, the other end sequentially bypasses the third steering mechanism 12 and the third auxiliary steering mechanism 11 and then is connected to the push-pull end of the second push-pull device 102, and the third lifting mechanism comprises: the third flexible pulling element 5, the third steering mechanism 12, the third auxiliary steering mechanism 11 and the second push-pull device 102; one end of the fourth flexible pulling member 6 is fixed on the lifting appliance 20, the other end sequentially bypasses the fourth steering mechanism 14 and the fourth auxiliary steering mechanism 13 and then is connected to the push-pull end of the third push-pull device 103, and the fourth lifting mechanism comprises: a fourth flexible pull member 6, a fourth steering mechanism 14, a fourth auxiliary steering mechanism 13 and a third push-pull device 103; the first flexible pulling element 3 bypasses a section of the first auxiliary steering mechanism 7 connected to the push-pull end and is collinear with a section of the second flexible pulling element 4 bypassing the second auxiliary steering mechanism 9 connected to the push-pull end.

In this embodiment, the four auxiliary steering mechanisms can make each push-pull device not be located above the lifting appliance 20, and various mechanical devices such as a crane trolley and a crane can be assembled above the lifting appliance 20, so that the push-pull devices can be led out and arranged at a far place, the assembling space of the push-pull devices can be increased, and only the auxiliary steering mechanisms and the steering mechanisms are required to be adopted for lifting transmission. Also, the auxiliary steering mechanism and the steering mechanism can both adopt fixed pulleys. Similarly, the first flexible pulling member 3 bypasses a section of the first auxiliary steering mechanism 7 connected to the push-pull end and a section of the second flexible pulling member 4 bypasses the second auxiliary steering mechanism 9 connected to the push-pull end, the first flexible pulling member and the second flexible pulling member are collinear with each other, and the laser range finder detects the telescopic length of one of the first flexible pulling member 3 and the second flexible pulling member 4, so that the telescopic length of the other flexible pulling member can be directly known without any conversion.

In some embodiments, referring to fig. 6, four corners of the spreader 20 are respectively equipped with a first hoist pulley 21, a second hoist pulley 22, a third hoist pulley 23, and a fourth hoist pulley 24, and the first hoist pulley 21 and the second hoist pulley 22 are at two diagonal points; the apparatus further comprises a pull-member securing mechanism 40 that is fixed in position relative to the spreader 20;

One end of the first flexible pulling member 3 is fixed on the pulling member fixing mechanism 40, the other end sequentially bypasses the first steering mechanism 8, the first hoisting pulley 21 and the first auxiliary steering mechanism 7 and then is connected to the push-pull end of the first push-pull device 101, and the first lifting mechanism comprises: the first flexible pulling piece 3, the first steering mechanism 8, the first hoisting pulley 21, the first auxiliary steering mechanism 7 and the first push-pull device 101; one end of the second flexible pulling member 4 is fixed on the pulling member fixing mechanism 40, the other end sequentially bypasses the second steering mechanism 10, the second hoisting pulley 22 and the second auxiliary steering mechanism 9 and then is connected to the push-pull end of the first push-pull device 101, and the second lifting mechanism comprises: the second flexible pulling piece 4, the second steering mechanism 10, the second hoisting pulley 22, the second auxiliary steering mechanism 9 and the first push-pull device 101; one end of the third flexible pulling member 5 is fixed on the pulling member fixing mechanism 40, the other end sequentially bypasses the third steering mechanism 12, the third hoisting pulley 23 and the third auxiliary steering mechanism 11 and then is connected to the push-pull end of the second push-pull device 102, and the third lifting mechanism comprises: the third flexible pulling element 5, the third steering mechanism 12, the third hoisting pulley 23, the third auxiliary steering mechanism 11 and the second push-pull device 102; one end of the fourth flexible pulling member 6 is fixed on the pulling member fixing mechanism 40, the other end sequentially bypasses the fourth steering mechanism 14, the fourth hoisting pulley 24 and the fourth auxiliary steering mechanism 13 and then is connected to the push-pull end of the third push-pull device 103, and the fourth lifting mechanism comprises: the fourth flexible pulling element 6, the fourth steering mechanism 14, the fourth hoisting pulley 24, the fourth auxiliary steering mechanism 13 and the third push-pull device 103.

By lifting four corners of the lifting appliance 20 by adopting a lifting pulley which is a movable pulley, the force can be saved more, in the movable pulley mechanism of the embodiment, the pulling piece fixing mechanism 40 can be a coil, and the like, and the pulling piece fixing mechanism 40 does not move to play a supporting role when the lifting appliance 20 and the flexible pulling piece act. In this embodiment, if the distance change is detected for the push-pull end of the push-pull device, the detected distance change value needs to be divided by two to obtain the actual lifting height value of the corresponding lifting appliance fixing point due to the presence of the movable pulley system.

In some embodiments, as shown with reference to fig. 7, further comprising: at least two flexible safety pull pieces 30, wherein one end of one flexible safety pull piece 30 is fixed with one section of the first flexible pull piece 3 after bypassing the first auxiliary steering mechanism 7, and the other end of the flexible safety pull piece 30 is fixed with one section of the second flexible pull piece 4 after bypassing the second auxiliary steering mechanism 9; one end of the other flexible safety pull member 30 is fixed with a section of the third flexible pull member 5 which bypasses the third auxiliary steering mechanism 11, and the other end of the flexible safety pull member 30 is fixed with a section of the fourth flexible pull member 6 which bypasses the fourth auxiliary steering mechanism 13.

In this embodiment, if the first push-pull 101 is separated from the first flexible pull 3, the flexible safety pull 30 can pull the first flexible pull 3 and the second flexible pull 4 to each other, so as to prevent the lifting appliance 20 from crashing down to cause an accident.

In some embodiments, referring to fig. 8, the first slider 101 includes a double-ended push-pull rod 1011, two ends of the double-ended push-pull rod 1011 are equipped with a fixed slider 1012 for fixing the flexible pull member, the fixed slider 1012 is assembled on the slide 1013 in a form of a sliding rail assembly, and the first calibrator 202 is fixed on the fixed slider 1012 at one end of the double-ended push-pull rod 1011; the second push-pull 102 and the third push-pull 103 are arranged in a similar way: the ends of the respective push-pull rods are provided with fixed sliders for fixing the flexible pull pieces, the fixed sliders are assembled on respective corresponding sliding seats in a sliding rail assembly mode, and the second calibrator 302 and the third calibrator 402 are respectively fixed on the fixed sliders assembled at the push-pull rod ends of the second push-pull device 102 and the third push-pull device 103.

In this embodiment, the sliding track of the fixed slider 1012 of the double-ended push-pull rod 1011 is fixed by the sliding seat 1013, the fixed slider 1012 fixes the flexible pull member, and the first push-pull device 101 adopts a double-ended electric push rod, and both ends of the push-pull rod can be used.

Fig. 9 shows a method for controlling tilting of a lifting appliance according to an embodiment of the present application, which is applied to the lifting appliance tilting control module, and includes the following steps: step 801: directly or indirectly measuring the height variation value of each lifting end in real time; step 802: receiving the measured altitude variation value; step 803: and calculating the actual tilting angle of the lifting appliance according to the height change value of each lifting end.

By the method described in this embodiment, the height change value of each lifting end can be monitored in real time in some detection modes, then the height change value is received for display or calculation, and then the real-time tilting condition of the lifting appliance can be obtained according to the height change value calculation of each lifting end.

The control method described in this embodiment, which is generally a feedback control method, can automatically control the tilting angle of the spreader until the tilting angle of the spreader corresponding to the spreader adjustment command is reached. The control method can adopt the existing methods such as closed loop feedback control and the like, and can be applied to the embodiment to realize automatic feedback control.

Fig. 10 shows a further embodiment based on fig. 9, which is applied to the sling tilting control device, and includes the steps of: step 901: controlling lifting mechanisms to lift according to lifting appliance adjusting instructions so as to adjust lifting appliance tilting angles; step 902: receiving the calculated actual tilting angle; step 903: comparing whether the actual tilting angle is the same as the tilting angle corresponding to the lifting appliance adjusting instruction; step 904: if the two are the same, stopping the lifting mechanism to work; step 905: if the two lifting mechanisms are different, one or more lifting mechanisms are controlled to lift until the two lifting mechanisms are the same.

In the specific embodiment, the height of each angle of the lifting appliance can be controlled by a lifting mechanism, then the actual tilting angle is calculated by the lifting value of each angle, then comparison is carried out, and one or a plurality of lifting mechanisms are controlled by a feedback control mode until the tilting angle of the lifting appliance reaches the tilting angle corresponding to the lifting appliance adjusting instruction.

Next, an electronic device and a computer-readable storage medium according to an embodiment of the present application are described with reference to fig. 11. Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 130 includes: a processor 1301; and a memory 1302 for storing processor-executable instructions; the processor 1301 is configured to execute the above-mentioned lifting appliance tilting control method; the storage medium stores a computer program for executing the above-mentioned spreader tilting control method.

Processor 1301 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in electronic device 130 to perform desired functions. Based on the above embodiment, the processor 1301 includes a control module and a processing module, which may be a certain module in the processor 1301 to implement the corresponding functions.

Memory 1302 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 1301 to implement the spreader tilt control method or other desired functions of the various embodiments of the present application as described above. Various contents such as a spreader tilting control error parameter may also be stored in the computer readable storage medium.

In one example, electronic device 130 may further include: an input device 1303 and an output device 1304, which are interconnected via a bus system and/or other form of connection mechanism (not shown).

The input device 1303 may include, for example, a keyboard, a mouse, a joystick, buttons, and the like.

The output device 1304 may output various information to the outside, including the determined movement data, and the like. The output means 1304 may include, for example, a display, a communication network, and remote output devices connected thereto, and so forth.

Of course, only some of the components of the electronic device 130 that are relevant to the present application are shown in fig. 11 for simplicity, components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 130 may include any other suitable components depending on the particular application.

In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in a spreader tilt control method according to various embodiments of the present application described in the present specification.

The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the steps in the spreader tilt control method according to various embodiments of the present application.

The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.

The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.

It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. A spreader tilt control device, comprising:

the lifting appliance comprises a plurality of retainers for fixing the lifted objects;

the lifting ends of the lifting mechanisms are fixed at different positions of the lifting appliance, and the lifting mechanisms control the lifting appliance to tilt by controlling the heights of the lifting ends;

the stroke measurement module is used for directly or indirectly measuring the height change value of each lifting end in real time; the processing module is used for receiving the height change value of each lifting end measured by each stroke measuring module and calculating the actual tilting angle of the lifting appliance according to the height change value of each lifting end;

further comprises: a control module configured to: controlling each lifting mechanism to lift according to the lifting appliance adjusting instruction so as to adjust the lifting appliance tilting angle, and comparing whether the actual tilting angle calculated by the processing module is the same as the tilting angle corresponding to the lifting appliance adjusting instruction; if the actual tilting angles are different, controlling one or a plurality of lifting mechanisms to lift until the calculated actual tilting angles are the same as the tilting angles corresponding to the lifting appliance adjusting instructions;

The device comprises: the first lifting mechanism, the second lifting mechanism, the third lifting mechanism and the fourth lifting mechanism;

the first steering mechanism, the second steering mechanism, the third steering mechanism and the fourth steering mechanism are all arranged above the lifting appliance and mutually form a quadrangle; the first flexible pulling piece bypasses a first steering mechanism and then is connected with a section of the push-pull end, and the first flexible pulling piece and the second flexible pulling piece bypass a second steering mechanism and then are connected with a section of the push-pull end in a mutual collineation manner;

wherein, the stroke measurement module includes:

2. The spreader tilt control device of claim 1, further comprising: a first auxiliary steering mechanism, a second auxiliary steering mechanism, a third auxiliary steering mechanism and a fourth auxiliary steering mechanism;

3. The lifting appliance tilting control device according to claim 2, wherein,

the spreader is further configured to: the four corners of the lifting appliance are respectively provided with a first lifting pulley, a second lifting pulley, a third lifting pulley and a fourth lifting pulley, and the first lifting pulley and the second lifting pulley are positioned at two diagonal points;

wherein the apparatus further comprises: a pull piece fixing mechanism fixed relative to the lifting appliance;

4. A spreader tilt control device according to claim 3, further comprising: at least two flexible safety pull pieces, wherein one end of one flexible safety pull piece is fixed with one section of the first flexible pull piece after bypassing the first auxiliary steering mechanism, and the other end of the flexible safety pull piece is fixed with one section of the second flexible pull piece after bypassing the second auxiliary steering mechanism; one end of the other flexible safety pull piece is fixed with one section of the third flexible pull piece after bypassing the third auxiliary steering mechanism, and the other end of the flexible safety pull piece is fixed with one section of the fourth flexible pull piece after bypassing the fourth auxiliary steering mechanism.

5. The lifting appliance tilting control device according to claim 4, wherein,

the first push-pull further comprises: the two ends of the double-end push-pull rod are provided with fixed sliders for fixing the flexible pull piece, the fixed sliders are assembled on the sliding seat in a sliding rail assembling mode, and the first calibrator is fixed on the fixed sliders at one end of the double-end push-pull rod;

The ends of push-pull rods of the second push-pull device and the third push-pull device are provided with fixed sliders for fixing the flexible pull pieces, the fixed sliders are assembled on corresponding sliding seats respectively in a sliding rail assembling mode, and the second calibrator and the third calibrator are respectively fixed on the fixed sliders assembled at the ends of the push-pull rods of the second push-pull device and the third push-pull device.

6. A lifting appliance tilting control method applied to the lifting appliance tilting control device according to any one of claims 1 to 5, characterized by comprising the steps of:

directly or indirectly measuring the height variation value of each lifting end in real time;

receiving the measured altitude variation value; and

calculating the actual tilting angle of the lifting appliance according to the height change value of each lifting end;

controlling each lifting mechanism to lift according to the lifting appliance adjusting instruction so as to adjust the lifting appliance tilting angle, and comparing whether the actual tilting angle calculated by the processing module is the same as the tilting angle corresponding to the lifting appliance adjusting instruction; if the actual tilting angles are different, controlling one or a plurality of lifting mechanisms to lift until the calculated actual tilting angles are the same as the tilting angles corresponding to the lifting appliance adjusting instructions;

the processing module is used for receiving the position change values of the first, second and third calibrators measured by the first, second and third sets of laser distance measuring instruments and calculating the actual tilting angle of the lifting appliance according to the position change values of the calibrators; the processing module is also used for processing and decomposing the lifting appliance adjusting instruction into independent control instructions for the first, second and third push-pull devices;

The control module is used for controlling the first, second and third push-pull devices according to the independent control instruction so as to control the height value of the fixed point of the first, second, third and fourth flexible pull pieces on the lifting appliance, and further control the tilting angle of the lifting appliance.

7. The spreader tilting control method according to claim 6, applied to the spreader tilting control device according to claim 1, characterized by further comprising the steps of: controlling lifting mechanisms to lift according to lifting appliance adjusting instructions so as to adjust lifting appliance tilting angles;

receiving the calculated actual tilting angle;

comparing whether the actual tilting angle is the same as the tilting angle corresponding to the lifting appliance adjusting instruction;

if the two lifting mechanisms are different, one or more lifting mechanisms are controlled to lift until the two lifting mechanisms are the same.

8. An electronic device and a computer-readable storage medium, characterized in that,

the electronic device includes: a processor; and a memory for storing the processor-executable instructions; wherein the processor is configured to execute the lifting appliance tilting control method according to claim 6 or 7;

the storage medium stores a computer program for executing the spreader tilting control method according to the above claim 6 or 7.