CN112479001B - Automatic hoisting equipment, hoisting method and hoisting method - Google Patents

Automatic hoisting equipment, hoisting method and hoisting method Download PDF

Info

Publication number
CN112479001B
CN112479001B CN202011149990.7A CN202011149990A CN112479001B CN 112479001 B CN112479001 B CN 112479001B CN 202011149990 A CN202011149990 A CN 202011149990A CN 112479001 B CN112479001 B CN 112479001B
Authority
CN
China
Prior art keywords
permanent magnet
electric permanent
lifting appliance
signal
magnet lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202011149990.7A
Other languages
Chinese (zh)
Other versions
CN112479001A (en
Inventor
黄大启
黄斌
周志朝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuzhou Hvr Magnetics Co ltd
Original Assignee
Zhuzhou Hvr Magnetics Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhuzhou Hvr Magnetics Co ltd filed Critical Zhuzhou Hvr Magnetics Co ltd
Priority to CN202011149990.7A priority Critical patent/CN112479001B/en
Publication of CN112479001A publication Critical patent/CN112479001A/en
Application granted granted Critical
Publication of CN112479001B publication Critical patent/CN112479001B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The invention discloses automatic hoisting equipment, a hoisting method and a hoisting method, wherein the hoisting equipment comprises an electric permanent magnet hoisting tool for hoisting a workpiece, a connecting device connected with a hoisting travelling crane, the electric permanent magnet hoisting tool is movably connected to the connecting device along the vertical direction, and the automatic hoisting equipment also comprises a detection device for detecting the relative position relation between the electric permanent magnet hoisting tool and the connecting device and feeding back a detection signal to a control system so as to control whether the electric permanent magnet hoisting tool performs adsorption and release actions on the workpiece. The automatic hoisting equipment has the advantages of simplicity, practicability, reduction of labor intensity of personnel, effective reduction of errors and risks, high automation degree and the like, and the hoisting method have the advantages of simple steps, simplicity and convenience in operation, capability of guaranteeing single piece hoisting and improving safety and the like.

Description

Automatic hoisting equipment, hoisting method and hoisting method
Technical Field
The invention relates to the technical field of workpiece hoisting, in particular to automatic hoisting equipment, a hoisting method and a hoisting method.
Background
The hoisting equipment is often applied to industries such as steel, logistics, transportation, mechanical manufacturing and the like, wherein the electromagnetic hoisting equipment is widely applied as safe, economic and environment-friendly magnetic conductive material hoisting equipment. Common electromagnetic lifting appliances include permanent magnet type magnetic lifting appliances, electromagnet magnetic lifting appliances, electric permanent magnet lifting appliances and the like.
In the permanent magnet type magnetic lifting appliance, a manual lifting appliance generally utilizes a handle to rotate the direction of a magnetic pole, so that the direction of a magnetic field inside a permanent magnet is changed to suck and discharge materials. This kind of inhale the blowing process and need artifical manual operation, personnel intensity of labour is high, when meetting thinner work pieces such as steel sheet moreover, because the magnetic circuit is unobstructed, can have the unable rotatory condition of handle, difficultly just the operation difficulty. In addition, the magnetic permeability depth of the lifting appliance is not adjustable, and the single-piece lifting of the thin workpiece cannot be realized.
The automatic lifting appliance drives the magnetic poles to rotate by means of the self weight of the lifting appliance to realize material suction and material discharge, the defects of manual lifting appliances are overcome, and the synchronous lifting appliance is difficult to unify and low in practicability when multiple lifting appliances are lifted in a combined mode.
No matter be permanent magnetism type magnetic force hoist, still electro-magnet magnetic force hoist and electric permanent magnetism hoist, all need control through the mode of manual button or remote control, need the staff to control on one side, the human error risk is high, and is difficult to realize automatic handling production.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the automatic hoisting equipment which is simple and practical, reduces the labor intensity of personnel, effectively reduces errors and risks and has high automation degree, the hoisting method using the hoisting equipment, which has simple steps and is simple and convenient to operate, and the hoisting method using the hoisting equipment, which can ensure the hoisting of single pieces and simultaneously improve the safety.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the automatic hoisting equipment comprises an electric permanent magnet lifting appliance for lifting workpieces and a connecting device connected with a lifting travelling crane, wherein the electric permanent magnet lifting appliance is movably connected to the connecting device in the vertical direction, and the automatic hoisting equipment further comprises a detection device which is used for detecting the relative position relation between the electric permanent magnet lifting appliance and the connecting device and feeding back a detection signal to a control system so as to control whether the electric permanent magnet lifting appliance performs adsorption and release actions on the workpieces.
As the further improvement of the automatic hoisting equipment:
the electric permanent magnet lifting appliance is characterized in that a connecting piece is arranged on the electric permanent magnet lifting appliance, a strip-shaped hole is formed in the connecting piece in the vertical direction, and the connecting device is arranged in the strip-shaped hole in a penetrating mode and can move in the strip-shaped hole in the vertical direction.
The detection device comprises a Hall sensor and a magnet, wherein the Hall sensor and the magnet are respectively arranged at corresponding positions on the electric permanent magnet lifting appliance and the connecting device or are respectively arranged at corresponding positions on the connecting device and the electric permanent magnet lifting appliance, the Hall sensor controls the electric permanent magnet lifting appliance to perform adsorption or release actions on a workpiece when the magnetic field strength detected by the Hall sensor is greater than a first set value, and the electric permanent magnet lifting appliance is controlled to be kept in a state before the magnetic field strength is less than the first set value when the magnetic field strength detected by the Hall sensor is less than the first set value.
The interval of hall sensor and magnet is L1 when automatic lifting device falls to the ground completely, and the interval of hall sensor and magnet is L2 when automatic lifting device is unsettled completely, first setting value is the magnetic field intensity that the magnet that hall sensor detected and obtained under setting for distance L produced, and L1< L < L2.
The detection device comprises a proximity switch, the proximity switch is arranged on the electric permanent magnet lifting appliance or the connecting device, the electric permanent magnet lifting appliance is controlled to perform adsorption or release action on the workpiece when the distance between the electric permanent magnet lifting appliance and the connecting device, which is detected by the proximity switch, is smaller than a second set value, and the electric permanent magnet lifting appliance is controlled to be kept in a state before the distance is larger than the second set value when the distance is larger than the second set value.
The distance between the electric permanent magnet lifting appliance and the connecting device is A1 when the automatic lifting equipment completely falls to the ground, the distance between the electric permanent magnet lifting appliance and the connecting device is A2 when the automatic lifting equipment completely hangs, and A1 is less than a second set value and less than A2.
The detection device comprises a contact switch, and the contact switch is arranged at least one end of the strip-shaped hole in the vertical direction.
Automatic lifting device still includes control system, control system includes:
a signal receiving unit: the device is used for receiving the signal of the detection device and sending the signal to the position detection unit;
a position detection unit: the signal receiving unit is used for receiving a signal of the signal receiving unit, detecting the position of the electric permanent magnet lifting appliance and sending an adsorption signal or a release signal to the execution unit according to the situation that the electric permanent magnet lifting appliance is positioned at the adsorption position or the release position;
an execution unit: the permanent magnet lifting appliance is used for controlling the magnetization of the electric permanent magnet lifting appliance and executing the adsorption action according to the adsorption signal, and controlling the demagnetization of the electric permanent magnet lifting appliance and executing the release action according to the release signal.
Automatic lifting device still includes control system, control system includes:
a signal receiving unit: the signal receiving and detecting device is used for receiving the signal of the detecting device and sending the signal to the execution unit;
an execution unit: the permanent magnet lifting appliance is used for controlling the electric permanent magnet lifting appliance to change the magnetizing or demagnetizing state according to the signal of the signal receiving unit and executing the adsorption or release action.
The control system further comprises:
a height detection unit: the electromagnetic lifting device is used for detecting whether the electric permanent magnet lifting device reaches a set height or not and sending a full magnetic signal to the execution unit when the electric permanent magnet lifting device reaches the set height;
the execution unit receives the signal and controls the electric permanent magnet lifting appliance to set exciting current for magnetizing and adsorb the workpiece for lifting, and controls the electric permanent magnet lifting appliance to increase exciting current until the workpiece is adsorbed fully after receiving a full magnetic signal sent by the height detection unit under the condition of adsorbing the workpiece for lifting.
The execution unit includes:
an alarm module: and calculating to obtain the ratio of the magnetic flux of the unit area generated by the set exciting current to the full magnetic flux of the unit area, comparing the ratio with the alarm preset value, and giving an alarm when the ratio is greater than the alarm preset value.
The control system further comprises:
a disengagement monitoring unit: the electromagnetic lifting device is used for receiving signals sent by the signal receiving unit, monitoring the magnetic flux change value of the electric permanent magnet lifting device, and controlling the electric permanent magnet lifting device to descend until the signals sent by the signal receiving unit are received and demagnetized when the magnetic flux suddenly drops.
A hoisting method using the automatic hoisting equipment comprises the following steps:
s1: adsorption: the electric permanent magnet lifting appliance and the connecting device move to the adsorption position and descend under the driving of the lifting travelling crane until the detection device detects that the relative position between the electric permanent magnet lifting appliance and the connecting device is smaller than a set value, and a signal is fed back to the control system to control the electric permanent magnet lifting appliance to be magnetized and adsorb workpieces;
s2: moving: the electric permanent magnet lifting appliance and the connecting device are driven by the lifting travelling crane to ascend and move to a release position; the detection device detects that the relative position between the electric permanent magnet lifting appliance and the connecting device is larger than a set value, and a signal is fed back to the control system to control the electric permanent magnet lifting appliance to keep a magnetizing state;
s3: releasing: the electric permanent magnet lifting appliance and the connecting device are driven by the lifting travelling crane to move to a release position and descend until the detection device detects that the relative position between the electric permanent magnet lifting appliance and the connecting device is smaller than a set value, and a signal is fed back to the control system to control the demagnetization of the electric permanent magnet lifting appliance and release a workpiece;
s4: retreating: the electric permanent magnet lifting appliance and the connecting device are driven by the lifting travelling crane to ascend and avoid the release position; when the detection device detects that the relative position between the electric permanent magnet lifting appliance and the connecting device is larger than a set value, a signal is fed back to the control system to control the electric permanent magnet lifting appliance to keep a demagnetization state;
s5: and (5) repeating the steps S1-S4 until all the workpieces to be lifted are lifted.
A hoisting method using the automatic hoisting equipment comprises the following steps:
s1: the electric permanent magnet lifting appliance descends after being positioned at the adsorption position to enable the execution unit to receive signals;
s2: the execution unit receives the signal and then controls the electric permanent magnet lifting appliance to set exciting current for magnetizing and adsorb the workpiece for lifting;
s3: the height detection unit sends a full magnetic signal to the execution unit when detecting that the lifting height of the electric permanent magnet lifting appliance reaches a set height after the lifting;
s4: and the execution unit receives the full magnetic signal and then controls the electric permanent magnetic lifting appliance to increase the exciting current until the workpiece is fully adsorbed by the magnetic.
Compared with the prior art, the invention has the advantages that:
the automatic hoisting equipment comprises an electric permanent magnet hoisting tool for hoisting workpieces and a connecting device connected with a hoisting travelling crane. The automatic hoisting equipment also comprises a detection device which is used for detecting the relative position relation between the electric permanent magnet hoisting tool and the connecting device and feeding back a detection signal to a control system so as to control whether the electric permanent magnet hoisting tool performs adsorption and release actions on the workpiece. Because the electric permanent magnet lifting appliance and the connecting device can move in the vertical direction, the position relation between the electric permanent magnet lifting appliance and the connecting device can be changed when the lifting equipment lifts and falls to the ground.
In the hoisting process, the automatic hoisting equipment ascends, the electric permanent magnet hoisting tool moves downwards relative to the connecting device under the combined action of the self gravity and the gravity of the workpiece adsorbed by the electric permanent magnet hoisting tool, so that the distance between the electric permanent magnet hoisting tool and the connecting device is increased, the detection device can obtain that the hoisting equipment is not in a landing state, and the hoisting equipment is controlled not to be adsorbed or released, so that dangerous accidents are avoided. In the process of falling to the ground, the automatic hoisting equipment descends, the electric permanent magnet lifting appliance stops moving downwards after falling to the ground or other working surfaces, the connecting device continues to descend under the action of gravity until the top of the electric permanent magnet lifting appliance supports the electric permanent magnet lifting appliance, and the distance between the electric permanent magnet lifting appliance and the electric permanent magnet lifting appliance is reduced in the period, so that the detection device can obtain that the hoisting equipment is in the state of falling to the ground, and can control the corresponding adsorption or release operation of the hoisting equipment. The arrangement mode of the invention can realize the landing detection of the hoisting equipment through the simple movable connection mechanism and the gravity action principle, thereby being applied to the automatic hoisting of material workpieces and improving the production efficiency; the operation and control by workers at one side are not needed at all, so that the labor cost and the labor intensity of the workers are greatly reduced, and meanwhile, the risks of misoperation and the like caused by manual operation and control are avoided; and moreover, personnel do not need to operate and control equipment such as a used remote control device, and the manufacturing and maintenance cost is reduced.
The hoisting method and the hoisting method have the advantages of simple steps and convenience for automatic implementation.
Drawings
FIG. 1 is a schematic structural view of the automatic lifting apparatus of the present invention;
fig. 2 and 3 are schematic diagrams of the positions of the connecting device and the electro-permanent-magnet sling in the automatic hoisting equipment in the embodiment 1;
FIG. 4 is a schematic diagram showing the positions of the connecting device and the electro-permanent-magnet hanger in the automatic hoisting equipment in embodiment 2;
fig. 5 is a schematic position diagram of the connecting device and the electro-permanent-magnet hanger in the automatic hoisting equipment in embodiment 3.
Illustration of the drawings: 1. an electro-permanent-magnet sling; 11. a connecting member; 111. a strip-shaped hole; 2. a connecting device; 3. a detection device; 31. a Hall sensor; 32. a magnet; 33. a proximity switch; 34. a contact switch; 4. and (5) hoisting the travelling crane.
Detailed Description
In order to facilitate an understanding of the invention, the invention will be described more fully and in detail below with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below.
Example 1:
as shown in fig. 1, the automatic hoisting equipment of this embodiment includes an electric permanent magnet hanger 1 for hoisting a workpiece and a connecting device 2 connected to a hoisting travelling crane 4, the electric permanent magnet hanger 1 is movably connected to the connecting device 2 along a vertical direction, and the automatic hoisting equipment further includes a detecting device 3 for detecting a relative position relationship between the electric permanent magnet hanger 1 and the connecting device 2 and feeding back a detection signal to a control system to control whether the electric permanent magnet hanger 1 performs adsorption and release actions on the workpiece. Because the electric permanent magnet lifting appliance 1 and the connecting device 2 can move in the vertical direction, the position relation between the electric permanent magnet lifting appliance and the connecting device can be changed when the lifting equipment is lifted and falls to the ground.
In the hoisting process, the automatic hoisting equipment rises, the electric permanent magnet hoisting tool 1 moves downwards relative to the connecting device 2 under the combined action of the self gravity and the gravity of the workpiece adsorbed by the electric permanent magnet hoisting tool, so that the distance between the electric permanent magnet hoisting tool and the workpiece is increased, the detection device 3 can obtain that the hoisting equipment is not in a landing state, and the hoisting equipment is controlled not to be adsorbed or released, so that dangerous accidents are avoided. In the process of falling to the ground, automatic lifting equipment descends, and electric permanent magnet lifting appliance 1 can stop moving down after falling to ground or other working surfaces, and connecting device 2 can continue to descend under the action of gravity this moment until electric permanent magnet lifting appliance 1's top produces its support, and the interval between the two reduces, therefore detection device 3 can obtain lifting equipment and be in the state of falling to the ground to can control lifting equipment correspondingly adsorb or release the operation. The arrangement mode of the embodiment can realize the landing detection of the hoisting equipment through a simple movable connection mechanism and a gravity action principle, so that the arrangement mode can be applied to the automatic hoisting of material workpieces, and the production efficiency is improved; and the operation and control by workers are not required to be carried out beside, so that the labor cost and the labor intensity of the workers are greatly reduced, and meanwhile, the risks of misoperation and the like caused by manual operation and control are avoided; and moreover, the equipment such as a used remote control device and the like does not need to be operated by personnel, so that the manufacturing and maintenance cost is reduced.
In this embodiment, electric permanent magnetism hoist 1 is equipped with connecting piece 11, is equipped with the bar hole 111 of arranging along vertical direction on the connecting piece 11, and connecting device 2 wears to locate in bar hole 111 to can be along the activity of vertical direction in bar hole 111, vertical bar hole 111 can restrict connecting device 2's moving direction. This embodiment has just realized the vertical direction swing joint between electric permanent magnetism hoist 1 and the connecting device 2 through simple bar hole 111 structure, low in manufacturing cost to it is not high to the machining precision requirement, therefore manufacturing efficiency is higher. In this embodiment, the connecting device 2 is a beam connected to the lifting traveling crane 4, and two ends of the beam penetrate through the strip-shaped holes 111. In other embodiments, a strip-shaped hole 111 may be selectively formed at the bottom of the connection device 2, so that a hanging ring or a hook disposed at the top of the electric permanent magnet lifting appliance 1 movably penetrates through the strip-shaped hole 111, or other movable connection manners are selected, but all of them should be regarded as alternative structures of this embodiment, and details are not described herein.
In this embodiment, the detection device 3 includes a hall sensor 31 and a magnet 32, and the hall sensor 31 and the magnet 32 are respectively installed at corresponding positions on the electric permanent magnet lifting appliance 1 and the connection device 2, or are respectively installed at corresponding positions on the connection device 2 and the electric permanent magnet lifting appliance 1. When the position relationship between the electro-permanent-magnet hanger 1 and the connecting device 2 changes, the position relationship between the magnet 32 and the hall sensor 31 also changes correspondingly, so that the magnetic field strength sensed by the hall sensor 31 also changes. By using the change, as shown in fig. 2, when the magnetic field intensity detected by the hall sensor 31 is greater than a first set value, that is, the distance between the electro-permanent-magnet lifting tool 1 and the connecting device 2 becomes smaller, when the lifting device falls to the ground, the electro-permanent-magnet lifting tool 1 is controlled to perform an adsorption or release action on the workpiece; as shown in fig. 3, when the distance between the electric permanent magnet lifting tool 1 and the connecting device 2 is smaller than the first set value, that is, when the lifting device lifts, the electric permanent magnet lifting tool 1 is controlled to be kept in a state before the distance is smaller than the set value. In this embodiment, a circuit board may be further provided to cooperate with the hall sensor 31, so that different detection results of the hall sensor 31 are utilized to transmit high-level and low-level signals with different symbolic meanings.
In this embodiment, the distance between the hall sensor 31 and the magnet 32 when the automatic lifting device completely falls to the ground is set to L1, the distance between the hall sensor 31 and the magnet 32 when the automatic lifting device completely hangs is set to L2, the first setting value is the magnetic field intensity generated by the magnet 32 detected by the hall sensor 31 at the set distance L, and the set distance L adopted by the first setting value can be arbitrarily selected within the following range: l1< L2.
In this embodiment, automatic lifting device still includes control system, and control system includes:
a signal receiving unit: the device is used for receiving the signal of the detection device 3 and sending the signal to the position detection unit;
a position detection unit: the signal receiving unit is used for receiving a signal of the signal receiving unit, detecting the position of the electric permanent magnet lifting appliance 1 after receiving the information that the electric permanent magnet lifting appliance 1 falls to the ground so as to determine the position of the lower electric permanent magnet lifting appliance 1, and sending an adsorption signal to the execution unit when the lower electric permanent magnet lifting appliance is positioned at the adsorption position; when the device is at the release position, a release signal is sent to the execution unit; the setting mode does not need to manually monitor the position of the hoisting equipment, and the hoisting equipment can automatically identify the position and carry out corresponding operation.
An execution unit: the permanent magnet lifting appliance is used for controlling the electric permanent magnet lifting appliance 1 to magnetize and execute an adsorption action according to the adsorption signal, and controlling the electric permanent magnet lifting appliance 1 to demagnetize and execute a release action according to the release signal.
In this embodiment, the control system further includes:
a height detection unit: the electromagnetic lifting device is used for detecting whether the electric permanent magnet lifting device 1 reaches a set height or not and sending a full magnetic signal to the execution unit when the electric permanent magnet lifting device reaches the set height;
the execution unit receives the adsorption signal sent by the position detection unit and controls the electro-permanent magnet lifting appliance 1 to set the exciting current to magnetize and adsorb the workpiece for lifting, so that the single-piece lifting of the workpiece is ensured, and even if the workpiece is a thin plate-shaped object, the single-piece lifting can be realized by setting the exciting current. When the electric permanent magnet lifting appliance 1 is in the condition of lifting the adsorbed workpieces and receives a full magnetic signal sent by the height detection unit, the electric permanent magnet lifting appliance 1 is represented to lift the workpieces to be lifted to a certain height, and then the electric permanent magnet lifting appliance 1 is controlled to increase exciting current until the workpieces are fully adsorbed. Through the arrangement mode, the single piece hoisting of the workpiece is guaranteed, the adsorption force of the electric permanent magnet lifting appliance 1 is far greater than the gravity of the workpiece, a certain safety factor is realized during the transportation, the dangerous situations such as workpiece separation are prevented, and the safety is further improved.
In this embodiment, the magnetizing operation time and the full magnetic operation time of the electric permanent magnet lifting appliance 1 can be generally limited to 0.6 second, so that the lifting can be flexibly and rapidly completed even if the adsorption operation is performed step by step.
In this embodiment, the execution unit includes:
an alarm module: and calculating to obtain the ratio of the magnetic flux generated by the set exciting current in unit area to the full magnetic flux in unit area, comparing the ratio with an alarm preset value, and when the ratio is greater than the alarm preset value, indicating that the full magnetic flux is not multiplied by the improvement of the target compared with the magnetic flux generated by the set exciting current, namely the lifting safety multiple is insufficient, so that the alarm module can give an alarm to remind a worker to check and avoid the risk of separation. When the ratio is smaller than the alarm preset value, the lifting safety multiple is enough, the alarm module does not execute alarm, and the lifting can be continued safely.
In this embodiment, the control system further includes:
a disengagement monitoring unit: the electromagnetic lifting device is used for receiving signals sent by the signal receiving unit and monitoring the magnetic flux change value of the electric permanent magnet lifting tool 1, when the magnetic flux suddenly drops, the fact that a part or all of workpieces lifted by the electric permanent magnet lifting tool 1 are possibly separated is indicated, at the moment, the electric permanent magnet lifting tool 1 can be controlled to drop until the signals sent by the signal receiving unit are received, namely, the electric permanent magnet lifting tool 1 is controlled to fall to the ground, and the workpieces are placed to the ground after demagnetization.
The hoisting method using the automatic hoisting equipment in the embodiment comprises the following steps:
s1: adsorption: the electric permanent magnet lifting appliance 1 and the connecting device 2 are driven by the lifting travelling crane 4 to move to the adsorption position and descend until the detection device 3 detects that the relative position between the electric permanent magnet lifting appliance 1 and the connecting device 2 is smaller than a set value, and a signal is fed back to the control system to control the electric permanent magnet lifting appliance 1 to be magnetized and adsorb workpieces;
s2: moving: the electric permanent magnet lifting appliance 1 and the connecting device 2 are driven by the lifting travelling crane 4 to ascend and move to a release position; when the detection device 3 detects that the relative position between the electric permanent magnet lifting appliance 1 and the connecting device 2 is larger than a set value, a signal is fed back to the control system to control the electric permanent magnet lifting appliance 1 to keep a magnetizing state;
s3: releasing: the electric permanent magnet lifting appliance 1 and the connecting device 2 are driven by the lifting travelling crane 4 to move to a release position and descend until the detection device 3 detects that the relative position between the electric permanent magnet lifting appliance 1 and the connecting device 2 is smaller than a set value, and a signal is fed back to the control system to control the demagnetization of the electric permanent magnet lifting appliance 1 and release a workpiece;
s4: retreating: the electric permanent magnetic lifting appliance 1 and the connecting device 2 are driven by the lifting travelling crane 4 to ascend and avoid the release position; the detection device 3 detects that the relative position between the electric permanent magnet lifting appliance 1 and the connecting device 2 is larger than a set value, and feeds back a signal to the control system to control the electric permanent magnet lifting appliance 1 to keep a demagnetization state;
s5: and (5) repeating the steps S1-S4 until all the workpieces to be lifted are lifted. The hoisting method of the embodiment automatically forms a hoisting cycle, thoroughly frees the hands of operators, reduces labor intensity, has simpler steps and is very suitable for automatic implementation.
The embodiment also provides a hoisting method using the automatic hoisting equipment, which comprises the following steps:
s1: the position detection unit sends an adsorption signal to the execution unit after detecting that the electric permanent magnet lifting appliance 1 is at an adsorption position;
s2: the execution unit receives the adsorption signal and then controls the electro-permanent magnetic lifting appliance 1 to set exciting current for magnetization and adsorb the workpieces for lifting, so that the first workpiece to be lifted and other workpieces on the lower part are completely separated, and the lifting of single pieces is realized; the set exciting current is set according to the thickness and weight of the single workpiece in actual conditions, which is not described herein;
s3: the height detection unit sends a full magnetic signal to the execution unit when detecting that the electric permanent magnet lifting appliance 1 reaches a set height after being lifted;
s4: and after receiving the full magnetic signal, the execution unit controls the electro-permanent magnetic lifting appliance 1 to increase exciting current until the workpiece is fully adsorbed, so that the lifting safety is ensured.
Example 2:
this embodiment is substantially the same as embodiment 1, except that in this embodiment, as shown in fig. 4, the detecting device 3 includes a proximity switch 33, the proximity switch 33 is installed on the electric permanent magnetic lifting appliance 1 or the connecting device 2, and the proximity switch 33 can flexibly capture the change of the position relationship between the electric permanent magnetic lifting appliance 1 and the connecting device 2. The distance between the electric permanent magnet lifting appliance 1 and the connecting device 2 detected by the proximity switch 33 is smaller than a second set value, that is, the electric permanent magnet lifting appliance 1 is controlled to perform adsorption or release actions on the workpiece when the lifting equipment falls to the ground, and is larger than the second set value, that is, the electric permanent magnet lifting appliance 1 is controlled to be kept in a state before the distance is larger than the second set value when the lifting equipment is lifted.
In this embodiment, the distance between the electric permanent magnet lifting appliance 1 and the connecting device 2 when the automatic lifting device completely falls to the ground is set to be A1, the distance between the electric permanent magnet lifting appliance 1 and the connecting device 2 when the automatic lifting device completely suspends is set to be A2, and then the second setting value can be selected at will in the following range: a1< second set value < A2.
Example 3:
this embodiment is substantially the same as embodiment 1, except that in this embodiment, as shown in fig. 5, the detecting device 3 includes a contact switch 34, and the contact switch 34 is disposed at least one end in the vertical direction in the strip-shaped hole 111. The contact switch 34 can stably detect the position relationship between the connecting device 2 and the electric permanent magnet hanger 1.
When the contact switch 34 is arranged at the top of the strip-shaped hole, the contact switch 34 is in contact with the connecting device 2, which means that the connecting device 2 is in contact with the top of the strip-shaped hole 111, that is, the whole hoisting equipment is in a hoisting position, and at this time, the hoisting equipment is kept in an adsorption state or a demagnetization state; and the contact switch 34 is not in contact with the connecting device 2, which means that the connecting device 2 is not in contact with the top of the strip-shaped hole 111, that is, the whole hoisting equipment is in the landing position, and at this time, the hoisting equipment can perform the adsorption or release action.
When the contact switch 34 is arranged at the bottom of the strip-shaped hole, the contact switch 34 is in contact with the connecting device 2, which means that the connecting device 2 is in contact with the bottom of the strip-shaped hole 111, that is, the whole hoisting equipment is in the landing position, and at this time, the hoisting equipment can perform adsorption or release actions; and the contact switch 34 is not in contact with the connecting device 2, which means that the connecting device 2 is not in contact with the bottom of the strip-shaped hole 111, that is, the whole hoisting equipment is in the hoisting position, and at this time, the hoisting equipment should be kept in an adsorption state or a release state.
In this embodiment, in order to ensure the accuracy of testing result, can all set up contact switch 34 at the top and the bottom in bar hole 111, avoid the invalid operation that single switch became invalid and leads to, can also demonstrate mutually between two contact switch 34 simultaneously, provide dual detection guarantee.
Example 4:
the present embodiment is basically the same as embodiments 1 to 3, except that the control system of the present embodiment includes:
a signal receiving unit: the signal receiving device is used for receiving the signal of the detection device 3 and sending the signal to the execution unit;
an execution unit: the permanent magnet lifting appliance is used for controlling the electric permanent magnet lifting appliance 1 to change the magnetizing or demagnetizing state according to the signal of the signal receiving unit and executing the adsorption or release action.
Namely, in one lifting cycle stroke: when the electric permanent magnet lifting appliance 1 moves to the adsorption position, the execution unit controls the electric permanent magnet lifting appliance to be kept in a demagnetization state; after the electric permanent magnet lifting appliance 1 falls to the ground at the adsorption position, the signal receiving unit receives a signal sent by the detection device 3, and at the moment, the execution unit controls the electric permanent magnet lifting appliance 1 to change the state, namely, the demagnetization state is changed into the magnetization state. Then, in the process that the electric permanent magnet lifting appliance 1 drives the workpiece to lift and move to the release position, the signal sent by the detection device 3 is invalid, and the execution unit controls the electric permanent magnet lifting appliance 1 to be always kept in the magnetizing state, so that the workpiece is prevented from being separated. When the lifting appliance reaches the releasing position and falls to the ground, the signal receiving unit receives the signal sent by the detection device 3 again, and the execution unit controls the electric permanent magnet lifting appliance 1 to change the state again, namely, the state is changed from the magnetizing state to the demagnetizing state, so that the releasing operation is executed. When the electric permanent magnet lifting appliance 1 is lifted after releasing the workpiece, the signal sent by the detection device 3 is invalid, the execution unit controls the electric permanent magnet lifting appliance 1 to be always kept in a demagnetizing state until the electric permanent magnet lifting appliance reaches the adsorption position again and falls to the ground, and then the operation is repeated to form a lifting cycle.
The control system in the embodiment directly judges whether the state of the electro-permanent-magnet lifting appliance 1 needs to be changed or not through the detection device 3, so that the judging process is simpler, and the lifting operation steps are further simplified.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. It will be apparent to those skilled in the art that modifications and variations can be made without departing from the spirit of the invention.

Claims (12)

1. The utility model provides an automatic lifting device, includes electric permanent magnetism hoist (1) that are used for the handling work piece and connecting device (2) of being connected with handling driving (4), its characterized in that: the electric permanent magnet lifting appliance (1) is movably connected to the connecting device (2) along the vertical direction, the automatic lifting equipment further comprises a detection device (3) which is used for detecting the relative position relation between the electric permanent magnet lifting appliance (1) and the connecting device (2) and feeding back a detection signal to a control system so as to control whether the electric permanent magnet lifting appliance (1) performs adsorption and release actions on a workpiece or not, the detection device (3) comprises a Hall sensor (31) and a magnet (32), the Hall sensor (31) and the magnet (32) are respectively arranged at corresponding positions on the electric permanent magnet lifting appliance (1) and the connecting device (2) or respectively arranged at corresponding positions on the connecting device (2) and the electric permanent magnet lifting appliance (1), the method comprises the steps that when the magnetic field intensity detected by a Hall sensor (31) is larger than a first set value, an electric permanent magnet lifting tool (1) is controlled to perform adsorption or release actions on a workpiece, when the magnetic field intensity detected by the Hall sensor (31) is smaller than the first set value, the electric permanent magnet lifting tool (1) is controlled to be kept in a state before the electric permanent magnet lifting tool is smaller than the first set value, the distance between the Hall sensor (31) and a magnet (32) is L1 when automatic lifting equipment completely falls to the ground, the distance between the Hall sensor (31) and the magnet (32) is L2 when the automatic lifting equipment is completely suspended, the first set value is the magnetic field intensity generated by the magnet (32) detected by the Hall sensor (31) under the set distance L, and L1< L < L2.
2. The automatic lifting device of claim 1, wherein: the electric permanent magnet lifting appliance (1) is provided with a connecting piece (11), a strip-shaped hole (111) arranged in the vertical direction is formed in the connecting piece (11), and the connecting device (2) penetrates through the strip-shaped hole (111) and can move in the strip-shaped hole (111) in the vertical direction.
3. The automatic lifting device of claim 1, wherein: the detection device (3) comprises a proximity switch (33), the proximity switch (33) is arranged on the electric permanent magnet lifting appliance (1) or the connecting device (2), the electric permanent magnet lifting appliance (1) is controlled to perform adsorption or release actions on a workpiece when the distance between the electric permanent magnet lifting appliance (1) and the connecting device (2) detected by the proximity switch (33) is smaller than a second set value, and the electric permanent magnet lifting appliance (1) is controlled to be kept in a state before the distance is larger than the second set value when the distance is larger than the second set value.
4. The automatic lifting device of claim 3, wherein: the distance between the electric permanent magnet lifting appliance (1) and the connecting device (2) is A1 when the automatic lifting equipment completely falls to the ground, the distance between the electric permanent magnet lifting appliance (1) and the connecting device (2) is A2 when the automatic lifting equipment completely hangs, and A1 is less than a second set value which is less than A2.
5. The automatic lifting device of claim 2, wherein: the detection device (3) comprises a contact switch (34), and the contact switch (34) is arranged at least one end of the strip-shaped hole (111) in the vertical direction.
6. The automatic lifting device of claim 1, wherein: still include control system, control system includes:
a signal receiving unit: the device is used for receiving the signal of the detection device (3) and sending the signal to the position detection unit;
a position detection unit: the signal receiving unit is used for receiving a signal of the signal receiving unit, detecting the position of the electric permanent magnet lifting appliance (1), and sending an adsorption signal or a release signal to the execution unit according to the adsorption position or the release position of the electric permanent magnet lifting appliance (1);
an execution unit: the permanent magnet lifting appliance is used for controlling the electric permanent magnet lifting appliance (1) to be magnetized and execute the adsorption action according to the adsorption signal, and controlling the electric permanent magnet lifting appliance (1) to be demagnetized and execute the release action according to the release signal.
7. The automatic lifting device of claim 1, wherein: still include control system, control system includes:
a signal receiving unit: the signal receiving device is used for receiving the signal of the detection device (3) and sending the signal to the execution unit;
an execution unit: the permanent magnet lifting appliance is used for controlling the electric permanent magnet lifting appliance (1) to change the magnetizing or demagnetizing state according to the signal of the signal receiving unit, and performing adsorption or release action.
8. The automatic lifting device as claimed in claim 6 or 7, characterized in that: the control system further comprises:
a height detection unit: the electromagnetic lifting device is used for detecting whether the electric permanent magnet lifting appliance (1) reaches a set height or not and sending a full magnetic signal to the execution unit when the electric permanent magnet lifting appliance reaches the set height;
the execution unit receives the signal and controls the electric permanent magnet lifting appliance (1) to set exciting current for magnetizing and adsorb the workpiece for lifting, and controls the electric permanent magnet lifting appliance (1) to increase exciting current until the workpiece is adsorbed fully after receiving a full magnetic signal sent by the height detection unit under the condition of adsorbing the workpiece for lifting.
9. The automatic lifting device of claim 8, wherein: the execution unit includes:
an alarm module: and calculating to obtain the ratio of the magnetic flux of the unit area generated by the set exciting current to the full magnetic flux of the unit area, comparing the ratio with an alarm preset value, and giving an alarm when the ratio is greater than the alarm preset value.
10. The automatic lifting device of claim 6 or 7, wherein: the control system further comprises:
a detachment monitoring unit: the electromagnetic control device is used for receiving signals sent by the signal receiving unit, monitoring the magnetic flux change value of the electric permanent magnet lifting appliance (1), and controlling the electric permanent magnet lifting appliance (1) to descend until the signals sent by the signal receiving unit are received and demagnetized when the magnetic flux suddenly drops.
11. A hoisting method using the automatic hoisting apparatus of any one of claims 1 to 10, comprising the steps of:
s1: adsorption: the electric permanent magnet lifting appliance (1) and the connecting device (2) are driven by the lifting travelling crane (4) to move to an adsorption position and descend until the detection device (3) detects that the relative position between the electric permanent magnet lifting appliance (1) and the connecting device (2) is smaller than a set value, and a signal is fed back to the control system to control the electric permanent magnet lifting appliance (1) to be magnetized and adsorb workpieces;
s2: moving: the electric permanent magnet lifting appliance (1) and the connecting device (2) are driven by the lifting travelling crane (4) to ascend and move to a release position; the detection device (3) detects that the relative position between the electric permanent magnet lifting appliance (1) and the connecting device (2) is larger than a set value, and feeds back a signal to the control system to control the electric permanent magnet lifting appliance (1) to keep a magnetizing state;
s3: releasing: the electric permanent magnet lifting appliance (1) and the connecting device (2) are driven by the lifting travelling crane (4) to move to a release position and descend until the detection device (3) detects that the relative position between the electric permanent magnet lifting appliance (1) and the connecting device (2) is smaller than a set value, and a signal is fed back to the control system to control the demagnetization of the electric permanent magnet lifting appliance (1) and release a workpiece;
s4: retreating: the electric permanent magnet lifting appliance (1) and the connecting device (2) are driven by the lifting travelling crane (4) to ascend and avoid the release position; the detection device (3) detects that the relative position between the electric permanent magnet lifting appliance (1) and the connecting device (2) is larger than a set value, and feeds back a signal to the control system to control the electric permanent magnet lifting appliance (1) to keep a demagnetization state;
s5: and repeating the steps S1 to S4 until all the workpieces to be lifted are lifted.
12. A hoisting method using the automatic hoisting device of claim 8 or 9, comprising the steps of:
s1: the electric permanent magnet lifting appliance (1) descends after being positioned at the adsorption position to enable the execution unit to receive signals;
s2: the execution unit receives the signal and then controls the electric permanent magnet lifting appliance (1) to set exciting current for magnetization and adsorb a workpiece for lifting;
s3: the height detection unit detects that the electric permanent magnet lifting appliance (1) reaches a set height after being lifted and sends a full magnetic signal to the execution unit;
s4: the execution unit receives the full magnetic signal and then controls the electric permanent magnetic lifting appliance (1) to increase exciting current until the workpiece is fully magnetically adsorbed.
CN202011149990.7A 2020-10-23 2020-10-23 Automatic hoisting equipment, hoisting method and hoisting method Active CN112479001B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011149990.7A CN112479001B (en) 2020-10-23 2020-10-23 Automatic hoisting equipment, hoisting method and hoisting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011149990.7A CN112479001B (en) 2020-10-23 2020-10-23 Automatic hoisting equipment, hoisting method and hoisting method

Publications (2)

Publication Number Publication Date
CN112479001A CN112479001A (en) 2021-03-12
CN112479001B true CN112479001B (en) 2023-04-18

Family

ID=74927480

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011149990.7A Active CN112479001B (en) 2020-10-23 2020-10-23 Automatic hoisting equipment, hoisting method and hoisting method

Country Status (1)

Country Link
CN (1) CN112479001B (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001180882A (en) * 1999-12-24 2001-07-03 Sekisui House Ltd Carrier
EP2441725A1 (en) * 2010-10-12 2012-04-18 OLA Gustafsson Lifting device and method for controlling a lifting device
CN209242516U (en) * 2018-12-06 2019-08-13 衡水奇佳停车设备有限公司 A kind of electricity permanent magnet automatic feeding
CN213864996U (en) * 2020-10-23 2021-08-03 株洲悍威磁电科技有限公司 Automatic hoisting equipment based on hall sensor
CN213864998U (en) * 2020-10-23 2021-08-03 株洲悍威磁电科技有限公司 Automatic hoisting equipment based on contact switch
CN213864997U (en) * 2020-10-23 2021-08-03 株洲悍威磁电科技有限公司 Automatic hoisting equipment based on proximity switch

Also Published As

Publication number Publication date
CN112479001A (en) 2021-03-12

Similar Documents

Publication Publication Date Title
CN213864996U (en) Automatic hoisting equipment based on hall sensor
CN213864998U (en) Automatic hoisting equipment based on contact switch
CN213864997U (en) Automatic hoisting equipment based on proximity switch
CN112479001B (en) Automatic hoisting equipment, hoisting method and hoisting method
CN205076703U (en) Automatic balance hanger
CN105398948B (en) Safe hoisting device for steel plates
CN102430905B (en) Automatic clamping device and method for reel
CN210173605U (en) Support work piece electro-permanent magnet grabbing device and system
CN210282364U (en) Electromagnetic positioning system
CN112209213A (en) Novel passenger car body stretch-draw covering hoisting device
CN208883273U (en) A kind of electric control permanent magnet hanger for putting plate for individual
CN207397059U (en) A kind of automation feeding device electric control system of copper coin horizontal casting
CN106914679B (en) NC flame cutting machine picks up material palletizing apparatus and picks up material palletizing method
CN108266023B (en) Garage
CN210513387U (en) Lifting hook with weighing function
CN109205450B (en) Electric control permanent magnet lifting appliance for Shan Zhangfang plate and single plate release control method
CN210558833U (en) Adjustable duct piece sucker
CN110395651A (en) A kind of adjustable section of jurisdiction sucker machine
CN217867795U (en) Driving hoist and mount safety device and system
CN111498437A (en) Intelligent building block production tray issuing equipment and working method thereof
CN105398933B (en) Steel plate hoisting method
CN111255387A (en) Self-locking anti-falling elevator
CN105417339B (en) A kind of Steel plate hoist
CN210549805U (en) Raw material separator
CN105398956B (en) Steel plate hoisting system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant