CN113651240A - Automatic leveling lifting appliance and automatic leveling method - Google Patents
Automatic leveling lifting appliance and automatic leveling method Download PDFInfo
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- CN113651240A CN113651240A CN202110938096.6A CN202110938096A CN113651240A CN 113651240 A CN113651240 A CN 113651240A CN 202110938096 A CN202110938096 A CN 202110938096A CN 113651240 A CN113651240 A CN 113651240A
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- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automatic leveling lifting appliance and an automatic leveling method. The lifting appliance component realizes the leveling of a lifted object through 4 groups of hydraulic cylinders, and the 4 groups of hydraulic cylinders are respectively provided with a tension sensor for recording the load value and the total lifting load value of each lifting point in real time. The leveling control system comprises a leveling electric control system and a leveling hydraulic system, the leveling electric control system collects the current pose of a hoisted object and the stroke information of the hydraulic cylinder, executes a leveling program to control the servo reversing valve to act, and is communicated with the remote control terminal. The leveling hydraulic system comprises 4 paths of independent servo reversing valves, a hydraulic cylinder, a hydraulic pump, an overflow valve and a hydraulic pipeline, and the hoisted objects are leveled by controlling the expansion amount of the hydraulic cylinder. The invention adopts closed-loop servo control, can quickly and accurately adjust the pose of a lifted object in accurate lifting operation, reduces the difficulty of the lifting operation and improves the efficiency and the accuracy of the lifting operation.
Description
Technical Field
The invention relates to the field of hoisting machinery, in particular to an automatic leveling lifting appliance and an automatic leveling method.
Background
In the technical field of engineering, the hoisting operation is widely applied. Some work occasions with higher requirements on the hoisting precision degree, such as structural member hoisting assembly, hoisting splicing, mold assembly and the like, are difficult to achieve the required positioning precision degree by directly hoisting by means of common hoisting machinery. The existing lifting appliance can only realize the function of converting lifting points basically, and the main purpose is to ensure the lifting stability, but the pose of a lifted object is difficult to control, so that the existing lifting appliance is not suitable for precise lifting application occasions.
The CN 108609475A adopts the star-shaped telescopic module to realize the horizontal movement adjustment of the lifting point, can only adapt to the change of the lifting point of the lifted object, essentially converts the lifting point, can only improve the stability of the lifting operation, and can not adjust the lifting posture of the lifted object. CN 103047522A adopts two lifting points, can adjust two lifting point vertical height respectively, but just adjusts through screw and nut's meshing motion, and the lifting point can not have the load during the regulation, and needs manual the regulation, can not realize the automation, and the operation is fairly inconvenient, and only is fit for light load and lifts by crane.
In view of the problem of real-time and accurate control of the position and the attitude of a lifting object in the current accurate lifting operation, the invention provides an automatic leveling lifting appliance and a leveling method. The lifting appliance adopts 4 lifting points, is matched with 4 groups of telescopic hydraulic cylinders to adjust the lifting points, has the functions of lifting point load detection and automatic leveling, and improves the precision degree of lifting operation.
Disclosure of Invention
In view of the above defects in the prior art, the present invention provides an automatic leveling lifting device and an automatic leveling method, which solve the problem of controlling the position of a lifting object in the current precise lifting operation.
In order to achieve the technical purpose, the invention provides the following technical scheme:
an automatic leveling lifting appliance comprises a lifting appliance component, a leveling control system and a remote control terminal, wherein the lifting appliance component comprises a shackle, a tension sensor, a balance beam and an equipment cabin, and lifting rings are arranged on four corners of the balance beam; the leveling control system comprises a leveling electric control system, a leveling hydraulic system, a leveling actuating element, servo reversing valves, hydraulic pumps and overflow valves, wherein the leveling hydraulic system comprises 4 groups of servo reversing valves, and the leveling actuating element comprises 4 groups of hydraulic cylinders; the leveling electric control system comprises a driving/signal acquisition module, an attitude sensing module, an operation unit and a wireless transmission module, wherein the driving/signal acquisition module controls the 4 groups of servo reversing valves and acquires the stroke positions of the 4 groups of hydraulic cylinders in real time; the attitude sensing module monitors the inclination state of the balance beam in real time and sends the monitored attitude data to the operation unit and the driving/signal acquisition module;
the automatic leveling lifting appliance has a manual leveling mode and an automatic leveling mode:
under a manual leveling mode, the 4 groups of servo reversing valves can be respectively controlled by a remote control terminal so as to respectively adjust the telescopic states of the 4 groups of hydraulic cylinders and level a hoisted object;
under the automatic leveling mode, an automatic leveling command can be sent to the leveling control system through one-key operation at a remote control terminal, an operation unit in the leveling electric control system carries out comparison calculation according to attitude data sent by an attitude sensing module and current stroke position data of a hydraulic cylinder to obtain control logic of 4 groups of servo reversing valves, and a driving/signal acquisition module controls the 4 groups of reversing valves according to the control logic to further control a leveling execution element to level and lift an object.
The driving/signal acquisition module comprises a displacement sensor, and the hydraulic cylinder is provided with the displacement sensor and is used for monitoring the telescopic stroke amount of the hydraulic cylinder in real time and transmitting data to the driving/signal acquisition module; one end of the hydraulic cylinder is connected with the tension sensor through an upper end shackle, and the other end of the tension sensor is hinged to four corners of the balance beam; the tail end of the hydraulic cylinder is provided with a lifting ring, and the lifting ring is connected with a lifting object through a lower end shackle.
The balance beam is formed by welding sectional materials, the lifting rings are arranged at four corners of the upper part of the balance beam respectively, hinged seats connected with the tension sensors are arranged on the balance beam and positioned on the opposite sides of the lifting rings, and the other ends of the tension sensors are hinged to four corners of the balance beam through the hinged seats; the equipment cabin is arranged on the balance beam, and the leveling control system is arranged in the equipment cabin; and the tension sensor measures the load and the total hoisting load respectively borne by the 4 hoisting points.
The leveling control system further comprises a power battery, the leveling hydraulic system further comprises a hydraulic pump, an overflow valve and related hydraulic pipelines, the hydraulic pump provides hydraulic power for the leveling hydraulic system, the 4 groups of servo reversing valves respectively control the telescopic state and the locking state of the 4 groups of hydraulic cylinders correspondingly, and the overflow valve ensures that the hydraulic system is in a set working pressure state. The wireless transmission module is used for communicating with the remote control terminal, receiving an operation command sent by the remote control terminal and sending the current state information of the lifting appliance to the remote terminal.
The remote control terminal can display the current pose data of a lifted object, the load values of 4 lifting points, the total lifted load and the real-time stroke position data of 4 groups of hydraulic cylinders in real time.
The attitude sensing module mainly comprises 1 2-axis gyroscope, and the attitude data comprises a pose dip angle of a lifting object.
The invention also provides the following technical scheme:
an automatic leveling method for the automatic leveling system, which is used in the automatic leveling mode, is characterized by comprising the following steps:
the first step is as follows: the remote control terminal sends an automatic leveling command to the wireless transmission module;
the second step is that: the wireless transmission module sends a command to the operation unit, the operation unit firstly acquires the current pose data of the attitude sensing module and the stroke position data of the 4 groups of hydraulic cylinders, and the relative fluctuation state of the tail ends of the 4 groups of hydraulic cylinders, namely the pose state of the hoisted object, is obtained through calculation;
the third step: the valve position states of the 4 groups of servo reversing valves are respectively controlled to be adjusted according to the pose state of the hoisted object;
the fourth step: the position and posture state updated in real time, the stroke position data of the hydraulic cylinder and the valve position state information of the servo reversing valve are sent to a control terminal through a wireless transmission module to be displayed in real time;
the fifth step: the second step to the fourth step are repeatedly executed until the lifting level reaches the set value of the system;
and a sixth step: and locking the current state of the servo reversing valve, sending a leveled signal to a remote control terminal, and displaying the leveled state by the remote terminal.
Compared with the prior art, the invention has the advantages that:
(1) the lifting appliance has the lifting pose adjusting function, has higher lifting precision compared with the traditional lifting appliance, reduces the difficulty of lifting operation in the application occasion of accurate lifting, and improves the lifting operation efficiency.
(2) The lifting appliance is provided with an automatic leveling electric control hydraulic system, and can realize a remote lifting leveling function after lifting, thereby avoiding the trouble that the traditional lifting appliance needs to be adjusted after being unloaded.
(3) The lifting appliance integrates an automatic control system, the lifting is quickly balanced through a balancing program, the current lifting object position state can be displayed in real time, the load of a lifting point is monitored, the lifting operation is more digital, and the safety of the lifting operation is improved.
Drawings
FIG. 1 is a schematic diagram of the spreader assembly of the present invention;
FIG. 2 is a schematic diagram of the leveling control system of the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples, and it should be noted that the directions or positional relationships indicated in the description of the present invention are based on the directions or positional relationships shown in the drawings, and do not mean that the present invention must have a specific direction, be configured and operated in a specific manner, and the like, and should not be construed as a limitation of the present invention.
In the embodiment shown in fig. 1 and 2, the automatic leveling spreader comprises a spreader assembly 1, a leveling control system 2 and a remote control terminal. The lifting appliance assembly 1 consists of a shackle 3, a tension sensor 5, a balance beam 6 and an equipment cabin 7.
As shown in fig. 2 and fig. 1, the leveling control system 2 includes a leveling electrical control system 9, a leveling hydraulic system 14, and a leveling actuator 10, where the leveling hydraulic system 14 includes 4 sets of servo directional valves 11, and the leveling actuator 10 includes 4 sets of hydraulic cylinders 4.
One end of the hydraulic cylinder 4 is provided with a lower end shackle 3 for connecting with a lifted object, the other end of the hydraulic cylinder is connected with a tension sensor 5 through an upper end shackle 3, and the tension sensor 5 is installed on a balance beam 6.
The hydraulic cylinders 4 on the lifting appliance component 1 are bidirectional hydraulic cylinders 4 and are provided with displacement sensors for detecting strokes, the leveling control system 2 can detect the stroke positions of 4 groups of hydraulic cylinders at any time, and each group of hydraulic cylinders 4 are provided with two oil pipes for providing hydraulic power input. The pressure sensor 5 connected to the hydraulic cylinder 4 can detect the load value of each lifting point in real time, and sends the load value data to the driving/signal acquisition module in the leveling control system 2, and further sends the load value data to the remote control terminal for processing and displaying through operation processing. The balance beam 6 is provided with 4 lifting points, and the 4 groups of hydraulic cylinders 4 and the tension sensor 5 are respectively positioned at the positions right below the 4 groups of lifting points. An equipment cabin 7 is arranged in the middle above the balance beam 6, and a leveling control system 2 is arranged in the equipment cabin.
The leveling control system 2 further comprises a power battery and the like, the leveling hydraulic system 14 mainly comprises 4 groups of servo reversing valves 11, a hydraulic pump 12, an overflow valve 13, relevant hydraulic pipelines and the like, the hydraulic pump 12 provides hydraulic power for the leveling hydraulic system 14, the 4 groups of servo reversing valves 11 respectively control the stretching and locking states of the 4 hydraulic cylinders 4 correspondingly, and the overflow valve 13 ensures that the hydraulic system is in a set working pressure state.
The leveling electric control system 9 consists of a driving/signal acquisition module, an attitude sensing module, an operation unit and a wireless transmission module, wherein the driving/signal acquisition module is used for acquiring stroke position information of 4 groups of hydraulic cylinders 4 and controlling the action of the 4-way servo reversing valve 11; the attitude sensing module mainly comprises 1 2-axis gyroscope and is used for sensing the current balance state of the balance beam 6; the operation unit receives the position and attitude information of the balance beam 6 and the stroke position information of the hydraulic cylinder 4 sent by the attitude sensing module and the driving/signal acquisition module in real time, and the current position and attitude state of the lifted object is obtained through calculation processing to adjust the lifted object.
The crane has manual leveling and automatic leveling modes. In the manual leveling mode, the remote control terminal displays the current pose inclination angle of a lifted object, the 4 stroke positions of the hydraulic cylinders, the load value of a lifting point and the real-time leveling state in real time, and an operator respectively adjusts the stroke positions of the 4 groups of hydraulic cylinders according to the current pose inclination angle of the lifted object so as to reduce the pose inclination angle to the leveling state.
In the automatic leveling mode, the automatic leveling of the hoisted object is realized through the following control steps.
The first step is as follows: the remote control terminal sends an automatic leveling command to the wireless transmission module;
the second step is that: the wireless transmission module sends a command to the operation unit, the operation unit starts to execute an automatic leveling program, current pose data of the attitude sensing module and stroke position data of the 4-way hydraulic cylinder are firstly obtained, and a relative fluctuation state of the tail end of the 4-way hydraulic cylinder, namely the pose state of a lifted object, is obtained through calculation;
the third step: and respectively controlling the valve position states of the 4 paths of servo reversing valves 11 to adjust according to the pose state of the hoisted object, wherein the control target is to reduce the pose inclination angle of the hoisted object.
The fourth step: the real-time updated pose state, the stroke information of the hydraulic cylinder 4, the valve position information of the servo reversing valve 11 and the lifting level degree are sent to a control terminal through a wireless transmission module to be displayed in real time;
the fifth step: the second step to the fourth step are repeatedly executed until the lifting level reaches the set value of the system;
and a sixth step: and locking the current servo reversing valve 11, sending a leveled signal to the remote control terminal, and displaying the leveled state by the remote terminal.
Claims (9)
1. The utility model provides an automatic leveling hoist, includes hoist subassembly (1), leveling control system (2) and remote control terminal, its characterized in that:
the lifting appliance assembly (1) comprises a shackle (3), a tension sensor (5), a balance beam (6) and an equipment cabin (7), and lifting rings (8) are arranged on four corners of the balance beam (6);
the leveling control system (2) comprises a leveling electric control system (9), a leveling hydraulic system (14) and a leveling actuating element (10), wherein the leveling hydraulic system (14) comprises 4 groups of servo reversing valves (11), and the leveling actuating element (10) comprises 4 groups of hydraulic cylinders (4);
the leveling electric control system (9) comprises a driving/signal acquisition module, an attitude sensing module, an operation unit and a wireless transmission module, wherein the driving/signal acquisition module controls the 4 groups of servo reversing valves and acquires the stroke positions of the 4 groups of hydraulic cylinders (4) in real time; the attitude sensing module monitors the inclination state of the balance beam (6) in real time and sends sensed attitude data to the operation unit and the driving/signal acquisition module;
the automatic leveling lifting appliance has a manual leveling mode and an automatic leveling mode:
under a manual leveling mode, the 4 groups of servo reversing valves (11) can be respectively controlled at a remote control terminal so as to respectively adjust the telescopic states of the 4 groups of hydraulic cylinders (4) and further level a hoisted object;
under an automatic leveling mode, an automatic leveling command can be sent to the leveling control system (2) through one-key operation at a remote control terminal, an operation unit in the leveling electric control system (9) carries out comparison calculation according to real-time pose data sent by a pose sensing module and current stroke position data of the hydraulic cylinder (4) to obtain control logics of 4 groups of servo reversing valves (11), and a driving/signal acquisition module controls the 4 groups of reversing valves (11) according to the control logics so as to control the 4 groups of hydraulic cylinders (4) to level and lift objects.
2. The self-leveling spreader of claim 1, wherein:
the hydraulic cylinder is provided with the displacement sensor and is used for monitoring the telescopic stroke quantity of the hydraulic cylinder in real time and transmitting data to the driving/signal acquisition module; one end of the hydraulic cylinder is connected with a tension sensor (5) through a shackle (3), and the other end of the tension sensor (5) is hinged to four corners of a balance beam (6); the tail end of the hydraulic cylinder (4) is provided with a lifting ring, and the lifting ring is connected with a lifting object through a lower end shackle (3).
3. The self-leveling spreader of claim 2, wherein:
the balance beam (6) is formed by welding sectional materials, the lifting rings (8) are respectively arranged at four corners of the upper part of the balance beam (6), hinged seats connected with the tension sensors (5) are arranged on the balance beam (6) and located on the opposite sides of the lifting rings (8), and the other ends of the tension sensors (5) are hinged to four corners of the balance beam (6) through the hinged seats; the equipment cabin (7) is arranged on the balance beam (6), and the leveling control system (2) is arranged in the equipment cabin; the tension sensor is used for measuring load values and total hoisting load respectively borne by the 4 hoisting points.
4. The self-leveling spreader of claim 3, wherein:
the leveling control system (2) further comprises a power battery;
the leveling hydraulic system (14) further comprises a hydraulic pump (12), an overflow valve (13) and related hydraulic pipelines, the hydraulic pump (12) provides hydraulic power for the leveling hydraulic system (14), the 4 groups of servo reversing valves (11) respectively control the stretching and locking states of the 4 groups of hydraulic cylinders (4) correspondingly, and the overflow valve (13) ensures that the hydraulic system is in a set working pressure state.
5. The self-leveling spreader of claim 4, wherein:
the wireless transmission module is used for communicating with the remote control terminal, receiving an operation command sent by the remote control terminal and sending the current state information of the lifting appliance to the remote terminal.
6. The self-leveling spreader of claim 5, wherein:
the remote control terminal can display the current pose data of a hoisted object, the load values of 4 hoisting points, the total hoisting load value and the real-time stroke position data of 4 groups of hydraulic cylinders (4) in real time.
7. The self-leveling spreader of claim 1, wherein:
the attitude sensing module mainly comprises 1 2-axis gyroscope, and the attitude data comprises an attitude inclination angle of the hoisted object.
8. A self-leveling method for a self-leveling spreader according to any one of claims 1 to 7, for use in the self-leveling mode, characterized in that the method comprises the steps of:
the first step is as follows: the remote control terminal sends an automatic leveling command to the wireless transmission module;
the second step is that: the wireless transmission module sends a command to the operation unit, the operation unit firstly acquires the current pose data of the attitude sensing module and the stroke position data of the 4 groups of hydraulic cylinders, and the relative fluctuation state of the tail ends of the 4 groups of hydraulic cylinders, namely the pose state of the hoisted object, is obtained through calculation;
the third step: the valve position states of the 4 groups of servo reversing valves (11) are respectively controlled to be adjusted according to the pose state of the hoisted object;
the fourth step: the real-time updated pose data, the stroke position data of the hydraulic cylinder (4) and the valve position state information of the servo reversing valve (11) are sent to a control terminal through a wireless transmission module to be displayed in real time;
the fifth step: the second step to the fourth step are repeatedly executed until the lifting level reaches the set value of the system;
and a sixth step: and locking the current state of the servo reversing valve (11), sending a leveled signal to a remote control terminal, and displaying that the hoisted object is leveled by the remote terminal.
9. The auto-leveling method according to claim 8, wherein:
the pose data includes a pose inclination angle of the hoisted object in the horizontal direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110938096.6A CN113651240A (en) | 2021-08-16 | 2021-08-16 | Automatic leveling lifting appliance and automatic leveling method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110938096.6A CN113651240A (en) | 2021-08-16 | 2021-08-16 | Automatic leveling lifting appliance and automatic leveling method |
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| CN115744577A (en) * | 2022-12-01 | 2023-03-07 | 连云港新圩港码头有限公司 | Automatic balanced remote control simple and easy hoist of container |
| CN116199119A (en) * | 2023-02-06 | 2023-06-02 | 江苏凯恩特机械设备制造有限公司 | Multi-point balance hoisting system capable of accurately adjusting posture of hoisting piece |
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Application publication date: 20211116 |