CN117735402A - Equipment hoisting gravity center self-adjustment method and lifting appliance - Google Patents
Equipment hoisting gravity center self-adjustment method and lifting appliance Download PDFInfo
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- CN117735402A CN117735402A CN202311598406.XA CN202311598406A CN117735402A CN 117735402 A CN117735402 A CN 117735402A CN 202311598406 A CN202311598406 A CN 202311598406A CN 117735402 A CN117735402 A CN 117735402A
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- 230000008569 process Effects 0.000 abstract description 8
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- 238000012545 processing Methods 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 1
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Abstract
The invention discloses a self-adjusting method for lifting center of gravity of equipment and a lifting appliance, which belong to the technical field of lifting appliances and comprise the following steps: hoisting an object to be hoisted through a lifting appliance, monitoring the gravity center offset of the lifting appliance in real time through a horizontal measuring instrument during hoisting, and transmitting the gravity center offset to a control system; when the gravity center offset is in the levelness setting range, the counterweight trolley does not move; when the gravity center offset exceeds the set range of the levelness, the control system automatically analyzes the gravity center offset position according to the measured data of the level meter and sends an operation signal to the counterweight trolley, and the counterweight trolley is controlled to move on the annular track beam to adjust the gravity center of the lifting appliance, so that the levelness of the lifted object returns to the set requirement, and the gravity center moment generated by the counterweight trolley is balanced with the gravity center moment of the lifted object. The gravity center position of the hung object can be quickly adjusted, so that the hung object is balanced, and shaking in the hanging process is effectively avoided.
Description
Technical Field
The invention belongs to the technical field of lifting appliances, and particularly relates to a self-adjusting method for lifting center of gravity of equipment and a lifting appliance.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The hoisting equipment is of various types, including a vehicle sling, an off-road vehicle wheel sling, an all-road sling, a circular rail sling and the like, wherein the circular rail sling is large and medium type A arm type hoisting equipment which rotates by means of a fixed circular rail, has simple structure and higher same-level torque than the caterpillar sling, and belongs to special hoisting equipment.
The ring rail type lifting appliance can be applied to lifting of nuclear power plant internal components, and the levelness of other lifting objects is required to be always ensured to be less than 1mm in the lifting process of the nuclear power plant internal components. In the process of lifting by a crane, the lifting appliance has no capability of adjusting the levelness of the lifted object, and an additional self-adjusting device is needed to adjust the posture of the lifted object. After the levelness of the suspended object is out of tolerance, the gravity center and the geometric center of the suspended object can deviate, and the risk of collision between equipment and other objects is caused. The levelness and the position degree of the prior pressurized water reactor nuclear power plant in the hoisting process of the components are mostly realized by means of mechanical guide posts. The guide post has limited adjusting capability and poor reliability, and cannot effectively avoid collision risks, so that nuclear power equipment cannot be effectively protected.
Disclosure of Invention
Aiming at the problems, the invention provides a self-adjusting method for the lifting center of gravity of equipment and a lifting appliance, which can quickly adjust the center of gravity of a lifted object, further keep the lifted object balanced and effectively avoid shaking in the lifting process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a self-adjusting method for lifting gravity center of equipment comprises lifting an object to be lifted through a lifting appliance, monitoring the gravity center offset of the lifting appliance in real time through a horizontal measuring instrument during lifting, and transmitting the gravity center offset to a control system;
when the gravity center offset is in the levelness setting range, the counterweight trolley does not move; when the gravity center offset exceeds the set range of the levelness, the control system automatically analyzes the gravity center offset position according to the measured data of the level meter and sends an operation signal to the counterweight trolley, and the counterweight trolley is controlled to move on the annular track beam to adjust the gravity center of the lifting appliance, so that the levelness of the lifted object returns to the set requirement, and the gravity center moment generated by the counterweight trolley is balanced with the gravity center moment of the lifted object.
Further, the horizontal measuring instrument is a high-precision horizontal measuring instrument, and the gravity center offset of the lifting appliance is the offset between the lowest point of the lifting appliance and the horizontal plane.
Further, the levelness is required to be set to be smaller than 1mm.
Further, when the gravity center offset of the counterweight trolley is in the levelness setting range, the counterweight trolley is positioned at two sides of the center of the lifting appliance.
Further, the running signal of the counterweight trolley comprises a running direction signal and a running distance signal.
Further, the running direction signal is used for controlling the moving direction of the counterweight trolley, and the moving direction of the counterweight trolley is a direction away from the horizontal lowest point; the running distance signal is used for controlling the moving distance of the counterweight trolley.
Further, the gravity moment balance formula is as follows:
GXXnn1+m2)X0M
wherein: g represents the total mass of the lifting appliance and the lifted object; k represents the ratio of the center of a lifting appliance and a lifted object to the annular rail Liang Banjing; m1 and m2 represent the mass of the counterweight trolley; x represents the levelness deviation before the action of the counterweight trolley; OM denotes the distance between the center point of the endless track beam and the intersection of the connecting line of the two weight trolleys and the endless track Liang Banjing.
The utility model provides a hoist, includes the hoist body, the upper portion of hoist body is equipped with operation platform, operation platform's top sets up high accuracy level gauge, high accuracy level gauge is used for measuring the levelness of hoist in real time.
Further, an annular track beam is arranged on the outer side of the operation platform, and a first counterweight trolley and a second counterweight trolley are arranged on the annular track beam.
Further, the first counterweight trolley and the second counterweight trolley are symmetrically arranged by taking the center position of the lifting appliance as a midpoint, and the first counterweight trolley and the second counterweight trolley are used for adjusting the gravity center of the lifting appliance.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the invention, the deviation condition of the lifting appliance is monitored through the high-precision horizontal measuring instrument, the gravity center deviation condition is analyzed through the control system, the counterweight trolley is automatically driven to run on the annular track, the levelness of the lifting appliance is regulated, the levelness of the lifting appliance is restored to the required range, the safety of a lifted object is ensured, the lifting appliance is more intelligent and has high reliability, the lifting appliance has the characteristic of regulating the posture in real time to always keep the self-balance state, and the shaking in the lifting process is effectively avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a front view of the apparatus of the present invention lifting a self-adjusting center of gravity spreader;
FIG. 2 is a top view of the self-adjusting lifting appliance of the present invention with the lifting center of gravity;
FIG. 3 is a schematic view of the spreader levelness meeting requirements of the present invention;
FIG. 4 is a schematic view of the spreader of the present invention with out of tolerance level;
in the figure: 1. a first counterweight trolley; 2. a second counterweight trolley; 3. an annular rail beam; 4. a horizontal nadir; 5. a hanger body.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example 1:
the invention is described in detail below by combining the drawings, and the method for self-adjusting the lifting center of gravity of the equipment disclosed by the embodiment comprises the following steps:
hoisting an object to be hoisted through a lifting appliance, monitoring the gravity center offset of the lifting appliance in real time through a horizontal measuring instrument during hoisting, and transmitting the gravity center offset to a control system;
when the gravity center offset is in the levelness setting range, the counterweight trolley does not move; when the gravity center offset exceeds the set range of the levelness, the control system automatically analyzes the gravity center offset position according to the measured data of the level meter and sends an operation signal to the counterweight trolley, and the counterweight trolley is controlled to move on the annular track beam 3 to adjust the gravity center of the lifting appliance, so that the levelness of the lifted object returns to the set requirement, and the gravity center moment generated by the counterweight trolley is balanced with the gravity center moment of the lifted object.
The horizontal measuring instrument is a high-precision horizontal measuring instrument, and the gravity center offset of the lifting appliance is the offset between the lowest point of the lifting appliance and the horizontal plane. The precision of the high-precision horizontal measuring instrument can meet the requirement of measuring the levelness in the lifting process, and the given levelness signal can be transmitted to the control system in real time. And the control system receives the signal of the level meter and obtains the position which the counterweight trolley needs to reach after processing. And after the counterweight trolley runs to the target position, the lifting appliance is restored to the required levelness. The whole hoisting process is safe and reliable all the time, and the levelness of the hoisting tool is adjusted in real time in a dynamic balance mode.
The control system is an automatic control system and consists of a controller and a controlled object. To accomplish complex control tasks, a typical automatic control system should also typically include: the device comprises a constant value element, an executing element, a measurement transmitting element and a comparing element.
As shown in fig. 3, the lifting appliance is in an eccentric state, and the levelness of the lifting appliance meets the set requirement of levelness, namely the levelness is smaller than 1mm. When the levelness of the lifting appliance meets the requirement, the gravity center of the whole lifting appliance and the lifted object is in the gravity center state of the lifting appliance. At this time, the first counterweight trolley 1 and the second counterweight trolley 2 are symmetrically arranged on two sides of the point O of the lifting appliance center, and the moment generated by the two counterweight trolleys cannot influence the levelness of the lifting appliance.
As shown in fig. 4, the lifting appliance is in an eccentric state, the levelness of the lifting appliance does not meet the set requirement of the levelness, and the high-precision level meter measures that the lifting appliance is in the eccentric state, specifically: the point A is the horizontal lowest point 4, the offset angle relative to the horizontal axis is theta, and the offset angle is Xmm relative to the horizontal plane.
At this time, the processing system processes the spreader levelness data, and then it is necessary to place the first weight trolley 1 and the second weight trolley 2 to the positions shown in fig. 4. The first counterweight trolley 1 and the second counterweight trolley 2 are symmetrically arranged on two sides of the diameter of OA, and the distance between the chord BC and the circle center O is required to be determined according to the change condition of X. When the X offset meets the levelness requirement during hoisting, the first counterweight trolley 1 and the second counterweight trolley 2 stop moving.
And calculating to obtain the gravity moment after the deviation according to the weights of the lifting appliance and the lifted object and the gravity deviation position. And the two weight-balancing trolleys are operated in opposite directions, so that the gravity moment generated by the weight-balancing trolleys is balanced with the gravity moment of the suspended object.
The gravity moment balance formula is as follows:
G×kX＝(m1+m2)×OM
wherein: g represents the total mass of the lifting appliance and the lifted object; k represents the ratio of the center of a lifting appliance and the center of a lifted object to the radius of the annular track beam 3; m1 and m2 represent the mass of the counterweight trolley; x represents the levelness deviation before the action of the counterweight trolley; OM denotes the distance between the center point of the annular rail beam 3 and the intersection of the connecting line of the two weight trolleys and the radius of the annular rail beam 3.
When the gravity center offset of the counterweight trolley is in the levelness setting range, the counterweight trolley is positioned at two sides of the center of the lifting appliance. The traveling signal of the counterweight trolley includes a traveling direction signal and a traveling distance signal. The running direction signal is used for controlling the moving direction of the counterweight trolley, and the moving direction of the counterweight trolley is a direction away from the horizontal lowest point 4; the travel distance signal is used to control the travel distance of the counterweight trolley.
The initial positions of the counterweight trolleys are symmetrically arranged at the point of O. When the measured levelness of the lifting appliance exceeds the difference, the angle and the horizontal plane deviation amount of the lowest point A are respectively moved in the direction away from the point A by the two weight trolleys.
When the included angle theta is smaller relative to the horizontal line, stopping the first weight trolley 11, and driving the second weight trolley 2 to keep the included angle to be the original value; accordingly, the respective running distances of the first counterweight and the second counterweight trolley 2 are determined according to the angular change tendency.
When the deviation amount of the lowest point relative to the horizontal plane is smaller, the operation direction of the counterweight trolley is correct. When the levelness deviation becomes large, the running direction of the trolley is wrong, and the trolley should stop and run reversely.
When the levelness of the lifting appliance meets the requirement, the counterweight trolley stops acting.
The counterweight trolley is arranged on the annular track beam 3 of the lifting appliance, and the counterweight trolley is used in two sets. The counterweight trolley automatically runs to a required position according to the signal of the control system to complete automatic adjustment, so that the posture of the suspended object is always kept in a required range.
Example 2:
the lifting appliance comprises a lifting appliance body 5, wherein an operation platform is arranged at the upper part of the lifting appliance body 5, a high-precision horizontal measuring instrument is arranged above the operation platform, and the high-precision horizontal measuring instrument is used for measuring the levelness of the lifting appliance in real time.
As shown in fig. 2, an annular track beam 3 is disposed on the outer side of the operation platform, and a first counterweight trolley 1 and a second counterweight trolley 2 are disposed on the annular track beam 3. The first counterweight trolley 1 and the second counterweight trolley 2 are symmetrically arranged by taking the central position of the lifting appliance as a midpoint, and the first counterweight trolley 1 and the second counterweight trolley 2 are used for adjusting the gravity center of the lifting appliance.
The diameter of the sling operation platform is about 4m. An annular track beam 3 is arranged outside the operation platform, and a pair of counterweight trolleys are symmetrically arranged on the annular track beam 3. The deflection condition of the lifting appliance is determined through the high-precision horizontal measuring instrument during lifting, the moving direction and distance of the counterweight trolley are determined according to the deflection condition of the lifting appliance, and the counterweight trolley can move on the annular track beam 3 through motor control.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (10)
1. The self-adjustment method for the lifting center of gravity of the equipment is characterized by comprising the following steps of:
hoisting an object to be hoisted through a lifting appliance, monitoring the gravity center offset of the lifting appliance in real time through a horizontal measuring instrument during hoisting, and transmitting the gravity center offset to a control system;
when the gravity center offset is in the levelness setting range, the counterweight trolley does not move; when the gravity center offset exceeds the set range of the levelness, the control system automatically analyzes the gravity center offset position according to the measured data of the level meter and sends an operation signal to the counterweight trolley, and the counterweight trolley is controlled to move on the annular track beam to adjust the gravity center of the lifting appliance, so that the levelness of the lifted object returns to the set requirement, and the gravity center moment generated by the counterweight trolley is balanced with the gravity center moment of the lifted object.
2. The method for self-adjusting the lifting gravity center of equipment according to claim 1, wherein the horizontal measuring instrument is a high-precision horizontal measuring instrument, and the gravity center offset of the lifting appliance is the offset between the lowest point of the lifting appliance and the horizontal plane.
3. A method for self-adjusting the lifting center of gravity of a device according to claim 1, wherein the levelness is set to be less than 1mm.
4. A method for self-adjusting the lifting center of gravity of a device according to claim 1, wherein the weight trolleys are positioned on two sides of the lifting center when the gravity center offset is in the set range of levelness.
5. A method of self-adjusting the lifting center of gravity of a plant as claimed in claim 1, wherein the operating signals of the counterweight trolley include an operating direction signal and an operating distance signal.
6. The method for self-adjusting the lifting center of gravity of equipment according to claim 5, wherein the running direction signal is used for controlling the moving direction of a counterweight trolley, and the moving direction of the counterweight trolley is a direction away from a horizontal lowest point; the running distance signal is used for controlling the moving distance of the counterweight trolley.
7. A method for self-adjusting the lifting gravity center of a device according to claim 1, wherein the gravity center moment balance formula is as follows:
G×kX＝(m1+m2)×OM
wherein: g represents the total mass of the lifting appliance and the lifted object; k represents the ratio of the center of a lifting appliance and a lifted object to the annular rail Liang Banjing; m1 and m2 represent the mass of the counterweight trolley; x represents the levelness deviation before the action of the counterweight trolley; OM denotes the distance between the center point of the endless track beam and the intersection of the connecting line of the two weight trolleys and the endless track Liang Banjing.
8. A lifting appliance for a self-adjusting method of lifting center of gravity of equipment according to any one of claims 1-7, comprising a lifting appliance body, wherein an operation platform is arranged at the upper part of the lifting appliance body, and a high-precision level measuring instrument is arranged above the operation platform and is used for measuring levelness of the lifting appliance in real time.
9. The spreader of claim 8, wherein an annular rail beam is disposed on an outer side of the operating platform, the annular rail beam having a first counterweight trolley and a second counterweight trolley disposed thereon.
10. The spreader of claim 8, wherein the first and second weight carts are symmetrically disposed about a center of the spreader, the first and second weight carts being configured to adjust a center of gravity of the spreader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311598406.XA CN117735402A (en) | 2023-11-27 | 2023-11-27 | Equipment hoisting gravity center self-adjustment method and lifting appliance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311598406.XA CN117735402A (en) | 2023-11-27 | 2023-11-27 | Equipment hoisting gravity center self-adjustment method and lifting appliance |
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| Publication Number | Publication Date |
|---|---|
| CN117735402A true CN117735402A (en) | 2024-03-22 |
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| CN202311598406.XA Pending CN117735402A (en) | 2023-11-27 | 2023-11-27 | Equipment hoisting gravity center self-adjustment method and lifting appliance |
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| CN (1) | CN117735402A (en) |
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- 2023-11-27 CN CN202311598406.XA patent/CN117735402A/en active Pending
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