CN117864958A - Hoisting pose adjusting system and hoisting equipment - Google Patents

Abstract

The application belongs to the technical field of lifting, and provides a lifting pose adjusting system and lifting equipment, wherein the lifting equipment comprises a lifting pose adjusting system, and the lifting pose adjusting system comprises a pose adjusting device, a lifting frame, a horizontal displacement adjusting device and a lifting appliance which are sequentially arranged along the vertical direction, wherein the lifting appliance is connected with the lifting frame or the horizontal displacement adjusting device and is used for connecting a lifting object; the horizontal displacement adjusting device is connected with the hoisting frame and used for adjusting the horizontal position of the hoisted object; the posture adjusting device is connected with the lifting frame and used for adjusting the posture of the lifting object so as to enable the lifting object to keep a horizontal posture. According to the lifting pose adjusting system, the pose of a lifting object can be automatically finely adjusted through the cooperation of the horizontal displacement adjusting device and the pose adjusting device, manual participation can be greatly reduced, labor cost and safety risk are reduced, the lifting pose adjusting system can be accurately placed on a target position, and dependency on workers is reduced.

Description

Hoisting pose adjusting system and hoisting equipment

Technical Field

The application belongs to the technical field of hoisting, and more particularly relates to a hoisting pose adjusting system and hoisting equipment.

Background

In industrial production or construction, frequent product lifting is often required. In the building, the modularized building is a building mode which is emerging in recent years, and has the characteristics of high efficiency, environmental protection, low noise and the like. The module has the characteristics of large size and large load, the size can reach 3m multiplied by 12m, the weight can reach 20-35 tons, the tower crane can only transport the module to the vicinity of a designated target point in the process of hoisting the module on site, the final leveling and installation are all completed by 4-5 construction workers on the construction site, and the position control precision and response speed of the module are not ideal especially in small position adjustment due to the fact that the position of the module is considered to be relatively large by considering the fact that the error of the position of the module is directly observed by a ground signaler, the position of the object is fed back to the tower crane operator, and then the tower crane operator operates the tower crane to cover the object position. Thus, in applications requiring high positional accuracy, it is necessary for the assembler to drag under the module via the drag rope to achieve fine movements and meet accuracy requirements, which is time consuming and labor consuming, and because the construction worker is required to work in high altitude, small space, etc., if there is insufficient safety protection during operation, it may result in exposure of the construction worker to risk of being bumped, squeezed, etc. by the large-sized and heavy-duty module.

It can be seen that achieving accurate placement of the modules requires more construction worker intervention and is relatively dependent on the skill and experience of the tower crane operator and other ground crew, thus not only increasing labor costs and safety risks, but also reducing efficiency and performance consistency. In addition, because the building mode of modularization building is the construction technique that recent years are emerging, and professional talent team is incomplete still, and workman's technical level is not high, the operation is not skilled enough, and the error easily appears, increases module assembly consuming time and progress and delays, leads to the installation concatenation to produce the error, further influences the concatenation of upper module.

Disclosure of Invention

An aim of the embodiment of the application is to provide a hoist and mount position appearance adjustment system and lifting device to solve the module of the modularization building that exists among the prior art and in the accurate placing process, consuming time and consuming effort, labour cost is high, the great technical problem of potential safety hazard.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: the lifting position and posture adjusting system is used for adjusting the position and posture of a lifting object and comprises a posture adjusting device, a lifting frame, a horizontal displacement adjusting device and a lifting appliance which are sequentially arranged along the vertical direction, wherein the lifting appliance is connected with the lifting frame or the horizontal displacement adjusting device and is used for connecting the lifting object; the horizontal displacement adjusting device is connected with the hoisting frame and used for adjusting the horizontal position of the hoisted object; the posture adjusting device is connected with the lifting frame and used for adjusting the posture of the lifting object so as to enable the lifting object to keep a horizontal posture.

The lifting position and posture adjusting system has the beneficial effects that compared with the prior art, when the lifting position and posture adjusting system is used, the lifting device is connected with the lifting arm of lifting equipment, the lifting tool is used for being connected with lifting objects, the lifting equipment can carry out lifting work on the lifting objects, the horizontal displacement adjusting device can adjust the horizontal position of the lifting objects, the posture of the lifting objects can be adjusted, so that the lifting objects can be kept in the horizontal posture, the lifting objects can be adjusted to the expected position and posture through the matching of the horizontal displacement adjusting device and the posture adjusting device, the lifting objects can be accurately placed on the target position, the automatic fine adjustment of the position and posture of the lifting objects is realized by adopting the technical scheme, time and labor are saved, the manual participation amount can be greatly reduced, the labor cost and the safety risk can be reduced, the lifting objects can be accurately placed on the target position, and the dependence on the proficiency and experience of workers is reduced.

Optionally, the lifting appliance comprises a plurality of lifting ropes, one ends of the lifting ropes are connected to different positions of the horizontal displacement adjusting device, and the other ends of the lifting ropes are used for connecting different positions of the lifting object.

Optionally, the horizontal displacement adjusting device comprises a first moving platform connected with the lifting appliance and used for driving the lifting appliance to reciprocate along a first horizontal direction, and a second moving platform connected with the first moving platform and used for driving the lifting appliance to reciprocate along a second horizontal direction, wherein the second moving platform is connected with the lifting frame, and an included angle between the second horizontal direction and the first horizontal direction is larger than 0 degree and smaller than 180 degrees.

Optionally, a first translation guide rail is arranged on the second moving platform, a first driver is arranged on the first moving platform, and the first driver and the first translation guide rail are in sliding fit along the first horizontal direction; and/or the number of the groups of groups,

the lifting frame is provided with a second translation guide rail, the second moving platform is provided with a second driver, and the second driver is in sliding fit with the second translation guide rail along the second horizontal direction.

Optionally, the lifting pose adjusting system further comprises a horizontal steering device for adjusting the horizontal orientation of the lifting object, wherein the horizontal steering device is connected to the top end of the pose adjusting device, or the horizontal steering device is connected between the lifting frame and the horizontal displacement adjusting device, or the horizontal steering device is connected between the horizontal displacement adjusting device and the lifting appliance.

Optionally, the horizontal steering device comprises a supporting piece, a rotary driving mechanism arranged on the supporting piece, and a rotating shaft in transmission connection with the rotary driving mechanism, wherein one end of the rotating shaft is connected with the gesture adjusting device.

Optionally, the support piece includes first backup pad and the second backup pad that is connected, the second backup pad is seted up and is supplied the pivot activity wears to establish the shaft hole, rotary driving mechanism set up in between the first backup pad with the second backup pad.

Optionally, the horizontal steering device is connected to the top of the posture adjusting device, the posture adjusting device comprises a plurality of ropes and a plurality of hoisting mechanisms for respectively winding and unwinding the ropes, the ropes are distributed at intervals along the circumferential direction of the hoisting frame, and the ropes are connected to the hoisting frame and the horizontal steering device.

Optionally, the attitude adjusting device further includes a plurality of pulleys, the pulleys are connected to the horizontal steering device, a plurality of hoisting mechanisms are all arranged on the hoisting frame, a plurality of ropes are respectively wound on the pulleys, one ends of the ropes are respectively connected to the hoisting mechanisms, and the other ends of the ropes are connected to the hoisting frame.

Optionally, the number of ropes and the hoisting mechanisms is at least three, at least three hoisting mechanisms are intensively arranged in the middle of the hoisting frame, and one ends of the ropes, far away from the hoisting mechanisms, are respectively connected to different positions of the edge of the hoisting frame.

Optionally, the horizontal displacement adjusting device comprises a mass block arranged on the lifting frame in a sliding manner and a horizontal driving mechanism for driving the mass block to horizontally move, wherein the horizontal driving mechanism is arranged on the lifting frame, and the lifting appliance is connected with the lifting frame.

Optionally, the horizontal steering device includes support piece, swing joint the pivot of support piece, the axial of pivot is on a parallel with vertical direction, the pivot can be around self axis relative support piece rotation, the pivot is connected with each the rope, hoist and mount position adjustment system still includes a plurality of thrusters, a plurality of thrusters set up in on the hoist and mount frame or on the hoist and mount thing, through each cooperation work between the thrusters, in order to drive the pivot is around self axis relative support piece rotation.

Optionally, the lifting pose adjusting system further comprises a plurality of thrusters, and the thrusters are arranged on the lifting frame or the lifting object.

The application also provides hoisting equipment, which comprises the hoisting pose adjusting system.

The hoisting pose adjusting system provided by the application has the beneficial effects that: compared with the prior art, through adopting above-mentioned hoist and mount position appearance adjustment system to assist to hoist and mount thing, when adjusting the position appearance of hoist and mount thing, through the cooperation of horizontal displacement adjusting device and gesture adjusting device, can adjust the hoist and mount thing to expected position appearance to make the hoist and mount thing can accurately place on the target position, adopt above-mentioned technical scheme, realize finely tuning the position appearance of hoist and mount thing voluntarily, labour saving and time saving can reduce artificial participation by a wide margin, is favorable to reducing labour cost and safe risk, and can place the hoist and mount thing accurately on the target position, reduced the dependence to workman's proficiency and experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a lifting pose adjusting system according to an embodiment of the present application;

FIG. 2 is a schematic perspective view of the horizontal displacement adjustment device shown in FIG. 1;

fig. 3 is a schematic diagram of a part of a hoisting pose adjusting system according to an embodiment of the present application, in which a horizontal displacement adjusting device and a hoisting tool are omitted;

FIG. 4 is a schematic view of the hoisting mechanism shown in FIG. 3;

FIG. 5 is an exploded view of the horizontal steering device of FIG. 1;

FIG. 6 is a schematic view of a portion of the horizontal steering device shown in FIG. 5;

fig. 7 is a diagram illustrating a process of adjusting the position and the posture of a lifting object by the lifting position and posture adjusting system according to an embodiment of the present application;

fig. 8 is a diagram illustrating a process of adjusting a position and orientation of a lifting object by using the lifting position and orientation adjusting system according to another embodiment of the present application.

Wherein, each reference sign in the figure:

100. a hoisting pose adjusting system; 200. a suspension arm; 210. a lifting hook; 300. hoisting objects; 11. hoisting the frame; 12. a lifting appliance; 121. a hanging rope; 13. a horizontal displacement adjusting device; 131. a first mobile platform; 132. a second mobile platform; 133. a first translation rail; 134. a first driver; 135. a second translation rail; 136. a second driver; 14. a second meter; 15. a mass block; 20. a posture adjustment device; 21. a rope; 22. a hoisting mechanism; 221. a base frame; 222. a reel; 223. a rotary driver; 23. a pulley; 30. a horizontal steering device; 31. a support; 311. a first support plate; 312. a second support plate; 32. a rotary driving mechanism; 33. a rotating shaft; 34. a transmission mechanism; 35. a transfer block; 36. a hanging ring; 40. a thruster; 51. a suspension arm stress point; 53. the center of gravity of the combination; 54. the gravity center of the hoisted object; 55. the center of gravity of the mass block; k. a translation amount; h. displacement amount; f1, vertical direction; f2, a first horizontal direction; f3, the second horizontal direction.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 6, a lifting gesture adjusting system 100 according to an embodiment of the present application will be described. The lifting position and posture adjustment system 100 is connected with the lifting arm 200 of the lifting device and is used for fine-adjusting the position and posture of the lifting object 300, wherein the position and posture of the lifting object 300 include, but are not limited to, the horizontal posture, the horizontal position, the horizontal azimuth, the height position and the like of the lifting object 300. The lifting position and posture adjusting system 100 is mainly applied to a lifting scene of a building prefabricated member, and auxiliary lifting equipment is used for lifting, such as module lifting of a modularized building, wherein the module can be a prefabricated wallboard, a prefabricated floor slab, a prefabricated bridge and the like formed by prefabricating and solidifying reinforced concrete. Of course, the device can also be applied to scenes such as loading and unloading of port containers, lowering of deep and shallow devices of offshore platforms and the like, and the application range is wide.

Referring to fig. 1, a lifting position and posture adjusting system 100 includes a posture adjusting device 20, a lifting frame 11, a horizontal displacement adjusting device 13 and a lifting tool 12 sequentially arranged along a vertical direction F1, wherein the lifting tool 12 is connected with the lifting frame 11 or the horizontal displacement adjusting device 13 and is used for connecting a lifting object 300; the horizontal displacement adjusting device 13 is connected with the lifting frame 11 and is used for adjusting the horizontal position of the lifting object 300; the posture adjusting device 20 is connected to the lifting frame 11, and is used for adjusting the posture of the lifting object 300 so as to keep the lifting object 300 in a horizontal posture.

The lifting appliance 12 is used for being detachably connected with the lifting object 300, and the lifting object 300 is lifted by connecting the lifting appliance 12 with the lifting object 300.

The horizontal displacement adjusting device 13 drives the lifting appliance 12 to move in the horizontal direction, and then the lifting appliance 12 drives the lifting object 300 to move in the horizontal direction, so as to finely adjust the horizontal position of the lifting object 300, so that the lifting object 300 is aligned to the target position in the vertical direction F1, and the horizontal position refers to the position of the lifting object 300 in the horizontal direction when the lifting device is static.

Since the posture adjusting device 20 is connected with the lifting frame 11, the lifting frame 11 is connected with the horizontal displacement adjusting device 13, the horizontal displacement adjusting device 13 is connected with the lifting tool 12, and the lifting tool 12 is connected with the lifting object 300, the posture adjusting device 20 can finely adjust the posture of the lifting object 300 through the lifting frame 11, the horizontal displacement adjusting device 13 and the lifting tool 12, so that the lifting object 300 is in a horizontal posture when being static. For example, when the hoisted object 300 is in an inclined posture with respect to the horizontal plane, the hoisted object 300 may be adjusted by the posture adjusting device 20 so that the hoisted object 300 is in a horizontal posture, which may be, but is not limited to, the contact surface of the hoisted object 300 being parallel to the target position, for example, the bottom surface of the module of the modular building being parallel to the top surface of the building. In this way, by the cooperation of the horizontal displacement adjustment device 13 and the posture adjustment device 20, the hoisted object 300 can be adjusted to a desired posture so that the hoisted object 300 can be accurately placed on the target position, for example, the hoisted object 300 can be positioned right above the target position in the vertical direction in the horizontal posture so that the hoisted object 300 can be accurately placed on the target position.

Compared with the prior art, when the lifting pose adjusting system 100 is used, the lifting pose adjusting system 100 is connected with the lifting arm 200 of the lifting device, the lifting appliance 12 is used for being connected with the lifting object 300, the lifting device can hoist the lifting object 300, the horizontal displacement adjusting device 13 can adjust the horizontal position of the lifting object 300, the pose of the lifting object 300 can be adjusted by the gesture adjusting device 20, so that the lifting object 300 can be kept in the horizontal pose, the lifting object 300 can be adjusted to the expected pose through the matching of the horizontal displacement adjusting device 13 and the pose adjusting device 20, the lifting object 300 can be accurately placed on the target position, the automatic fine adjustment of the pose of the lifting object 300 is realized, time and labor are saved, the manual participation can be greatly reduced, labor cost and safety risk can be reduced, the lifting object can be accurately placed on the target position, and the dependence on the proficiency and experience of workers is reduced.

Referring to fig. 2, the hanger 11 may have a rectangular, triangular or circular shape. In the embodiment of the present application, the hoisting frame 11 is a rectangular frame.

In some embodiments of the present application, the lifting appliance 12 includes a plurality of lifting ropes 121, one ends of the plurality of lifting ropes 121 are connected to different positions of the horizontal displacement adjustment device 13, and the other ends of the plurality of lifting ropes 121 are used to connect different positions of the lifting object 300. Adopt a plurality of lifting ropes 121 to connect in horizontal displacement adjusting device 13 and hoist object 300, effectively promote the bearing performance of hoist 12 to hoist object 300 to effectively guarantee the reliability that this hoist and mount position adjustment system 100 lifted to hoist object 300, in addition, the one end of a plurality of lifting ropes 121 is connected in the different positions of horizontal displacement adjusting device 13, and the other end of a plurality of lifting ropes 121 is used for connecting the different positions of hoist object 300, makes horizontal displacement adjusting device 13 and hoist object 300 atress more even, and can make hoist object 300 be difficult for producing great rocking for horizontal displacement adjusting device 13.

Further, the lengths of the lifting ropes 121 are the same, and the lifting ropes 121 are equidistantly spaced along the circumferential edge of the horizontal displacement adjusting device 13, so that when the lifting ropes 121 are connected with the lifting object 300, the lifting ropes 121 are equidistantly spaced along the circumferential edge of the lifting object 300, and the horizontal displacement adjusting device 13 and the lifting object 300 are stressed more uniformly.

Alternatively, the number of the lifting ropes 121 is four, one ends of the four lifting ropes 121 are respectively connected to four corners of the horizontal displacement adjusting device 13, and the other ends of the four lifting ropes 121 are respectively connected to four corners of the lifting object 300. Of course, the number of the lifting ropes 121 can be two, three or five, and the specific number can be determined according to the use requirement.

The material of the lifting rope 121 may be, but not limited to, a steel wire rope or a synthetic fiber rope, wherein the steel wire rope is formed by twisting a plurality of steel wires, and has the characteristics of high strength, wear resistance, corrosion resistance, strong anti-twisting performance and the like, and the synthetic fiber rope is made of synthetic fibers, and has the characteristics of portability, high strength, wear resistance, corrosion resistance, static resistance and the like.

The hanging rope 121 and the hanging object 300 may be connected in various manners, so long as the hanging object 300 can be stably connected to the hanging rope 121, for example, a hook may be provided on the hanging rope 121, and the hook is used to hook a hanging ring on the hanging object 300.

In other embodiments, the hanger 12 may have other structures, and may only be capable of stably lifting the lifting object 300 to the lifting position adjustment system, for example, the hanger may be a structure capable of being fastened to the lifting object 300.

In some embodiments of the present application, referring to fig. 1 and 2, the horizontal displacement adjustment device 13 includes a first moving platform 131 connected to the lifting appliance 12 and configured to drive the lifting appliance 12 to reciprocate along a first horizontal direction F2, and a second moving platform 132 connected to the first moving platform 131 and configured to drive the lifting appliance 12 to reciprocate along a second horizontal direction F3, where an angle between the second horizontal direction and the first horizontal direction is greater than 0 ° and less than 180 ° and the second moving platform 132 is connected to the lifting frame 11. When the horizontal position of the hoisted object 300 needs to be adjusted, the first moving platform 131 can drive the lifting appliance 12 to move along the first horizontal direction F2 or a direction parallel to the first horizontal direction F2, and the lifting appliance 12 can drive the hoisted object 300 to move along the first horizontal direction F2 or a direction parallel to the first horizontal direction F2 so as to adjust the position of the hoisted object 300 in the first horizontal direction F2; the first moving platform 131 can be driven by the second moving platform 132 to move along the second horizontal direction F3 or a direction parallel to the second horizontal direction F3, the first moving platform 131 drives the lifting tool 12 to move along the second horizontal direction F3 or a direction parallel to the second horizontal direction F3, and the lifting tool 12 drives the lifting object 300 to move along the second horizontal direction F3 or a direction parallel to the second horizontal direction F3 so as to adjust the position of the lifting object 300 in the second horizontal direction F3, so that the horizontal position of the lifting object 300 can be accurately adjusted through the cooperation of the first moving platform 131 and the second moving platform 132.

Optionally, the second horizontal direction F3 is perpendicular to the first horizontal direction F2.

In some embodiments of the present application, a first translation rail 133 is disposed on the second moving platform 132, the length of the first translation rail 133 extends along the first horizontal direction F2, a first driver 134 is disposed on the first moving platform 131, and the first driver 134 is slidably engaged with the first translation rail 133 along the first horizontal direction F2. When the first driver 134 moves along the first translation rail 133, the first moving platform 131 is driven to reciprocate along the first horizontal direction F2.

Optionally, the first translation guide rail 133 is a groove structure, and the groove structure may be a T-shaped groove, a dovetail groove, or the like, where the first translation guide rail 133 is disposed at the bottom of the second moving platform 132, the first driver 134 is disposed at the top of the first moving platform 131, and the first driver 134 is movably clamped in the first translation guide rail 133 along the first horizontal direction F2, so that the first driver 134 can reciprocate in the first translation guide rail 133 along the first horizontal direction F2.

The number of the first translation rails 133 may be one or more, and the number of the first drivers 134 may be one or more. Optionally, the number of the first translation rails 133 is two, the two first translation rails 133 are arranged at intervals in parallel along the second horizontal direction F3, and the number of the first drivers 134 is four, wherein two first drivers 134 are arranged at intervals along the first horizontal direction F2 and are slidably matched with one of the first translation rails 133 along the first horizontal direction F2, and the other two first drivers 134 are arranged at intervals along the first horizontal direction F2 and are slidably matched with the other first translation rail 133 along the first horizontal direction F2.

In some embodiments, the lifting frame 11 is provided with a second translation rail 135, the length of the second translation rail 135 extends along the second horizontal direction F3, and the second moving platform 132 is provided with a second driver 136, and the second driver 136 is slidingly engaged with the second translation rail 135 along the second horizontal direction F3. So that the second driver 136 moves along the second translation rail 135 to drive the second moving platform 132 to reciprocate along the second horizontal direction F3.

Optionally, the second translation rail 135 is a groove structure, and the groove structure may be a T-shaped groove, a dovetail groove, or the like, where the second translation rail 135 is formed at the bottom of the lifting frame 11, the second driver 136 is disposed at the top of the second moving platform 132, and the second driver 136 is movably clamped in the second translation rail 135 along the second horizontal direction F3, so that the second driver 136 can reciprocate in the second translation rail 135 along the second horizontal direction F3.

The number of second translation rails 135 may be one or more, and the number of second drivers 136 may be one or more. Alternatively, the number of the second translation rails 135 is two, the two second translation rails 135 are arranged in parallel at intervals along the first horizontal direction F2, and the number of the second drivers 136 is four, wherein two second drivers 136 are arranged at intervals along the second horizontal direction F3 and are in sliding fit with one second translation rail 135 along the second horizontal direction F3, and the other two second drivers 136 are arranged at intervals along the second horizontal direction F3 and are in sliding fit with the other second translation rail 135 along the second horizontal direction F3.

The first moving platform 131 and the second moving platform 132 may be linear motors.

It should be noted that, the horizontal displacement adjusting device 13 may further include a third moving platform and/or a fourth moving platform, where the third moving platform is configured to drive the hoisted object 300 to reciprocate along a third horizontal direction, and the fourth moving platform is configured to drive the hoisted object 300 to reciprocate along a fourth horizontal direction, and the first horizontal direction, the second horizontal direction, the third horizontal direction, and the fourth horizontal direction are not perpendicular to each other or are not parallel to each other. It will be appreciated that the horizontal displacement adjustment device 13 may include a plurality of moving platforms for enabling the lifting object 300 to move in different horizontal directions to more precisely adjust the horizontal position of the lifting object 300.

The lifting position and posture adjusting system 100 further comprises a horizontal steering device 30 for adjusting the horizontal direction of the lifting object 300, wherein the horizontal steering device 30 is connected to the top end of the posture adjusting device 20, or the horizontal steering device 30 is connected between the lifting frame 11 and the horizontal displacement adjusting device 13, or the horizontal steering device 30 is connected between the horizontal displacement adjusting device 13 and the lifting appliance 12. It will be appreciated that the installation position of the horizontal turning device 30 is not particularly limited as long as it does not affect the function execution of itself and other devices.

In this embodiment, the horizontal steering device 30 is connected to the top end of the posture adjusting device, and the horizontal steering device 30 is connected to the boom 200 of the hoisting device, for example, the hoisting ring 36 may be fastened to the hook 210 of the boom 200 by providing the hoisting ring 36 on the horizontal steering device 30. Since the hook 210 of the boom 200 cannot rotate in the horizontal direction when the lifting device is in a stationary state, the posture adjusting device 20 is driven to rotate in the horizontal direction by the horizontal steering device 30, the posture adjusting device 20 drives the horizontal displacement adjusting device 13 to rotate in the horizontal direction, and the horizontal displacement adjusting device 13 drives the lifting object 300 to rotate in the horizontal direction to adjust the horizontal direction of the lifting object 300, so that the lifting object 300 is aligned with the target position in the horizontal direction, and the horizontal direction refers to the specific direction of each circumferential side surface of the lifting object 300 in the horizontal direction.

In some embodiments of the present application, referring to fig. 1, the posture adjustment device 20 is used to adjust the height position of the hoisted object 300. Specifically, the posture adjusting device 20 moves away from or approaches the horizontal steering device 30 in the vertical direction F1 by driving the lifting frame 11 and the horizontal displacement adjusting device 13 to finely adjust the height position of the lifting object 300. For example, when the hoisted object 300 needs to be placed at the target position, the posture adjusting device 20 drives the hoisting frame 11 to descend, the hoisting frame 11 drives the horizontal displacement adjusting device 13 to descend, the adjusting mechanism drives the hoisting tool 12 to descend, and the hoisting tool 12 drives the hoisted object 300 to descend until the hoisted object 300 is placed at the target position.

According to the technical scheme, the height position of the hoisted object 300 is finely adjusted through the gesture adjusting device 20, so that the hoisted object 300 can be placed on the target position more stably.

In some embodiments of the present application, referring to fig. 3, the posture adjusting device 20 includes a plurality of ropes 21, a plurality of winding mechanisms 22 for winding and unwinding the plurality of ropes 21, respectively, the plurality of ropes 21 are spaced apart along a circumference of the hanger 11, and the ropes 21 are connected to the hanger 11 and the horizontal steering device 30, or the ropes 21 are connected to hooks 210 of the hanger 11 and the boom 200.

When it is necessary to adjust the suspended solids 300 in the inclined posture to the horizontal posture, at least part of the hoisting mechanism 22 winds or releases the respective connected ropes 21 to adjust the length of the part of the ropes 21 until the suspended solids 300 reach the horizontal posture. When the hoisted object 300 is in a horizontal posture and the height of the hoisted object 300 needs to be finely adjusted, each hoisting mechanism 22 rolls up or releases the rope 21 connected with each hoisting mechanism to adjust the length of each rope 21, and the horizontal displacement adjusting device 13 and the hoisted object 300 are driven to ascend or descend when the rope 21 is shortened or lengthened until the hoisted object 300 reaches the height of the expected position.

In some embodiments of the present application, the posture adjustment device 20 further includes a plurality of pulleys 23, the pulleys 23 are connected to the horizontal steering device 30 or the hook 210 of the boom 200, the plurality of hoisting mechanisms 22 are all disposed on the hoisting frame 11, the plurality of ropes 21 are respectively wound around the plurality of pulleys 23, one ends of the plurality of ropes 21 are respectively connected to the plurality of hoisting mechanisms 22, and the other ends of the plurality of ropes 21 are all connected to the hoisting frame 11. In the process of adjusting the length of the rope 21, the rope 21 is guided by the pulley 23, so that the rope 21 is effectively prevented from moving, the rope 21 is convenient to roll up and release, in addition, as the hoisting mechanism 22 is arranged on the hoisting frame 11, one end of the rope 21 is connected with the hoisting mechanism 22, and the other end of the rope 21 is connected with the hoisting frame 11, so that the two ends of the rope 21 are equivalent to the hoisting frame 11, and the stability and the reliability of the connection of the posture adjusting device 20 and the horizontal displacement adjusting device 13 are effectively ensured.

Further, a plurality of hoisting mechanisms 22 are centrally arranged in the middle of the hoisting frame 11, and one ends of the plurality of ropes 21, which are far away from the hoisting mechanisms 22, are connected to different positions of the peripheral edge of the hoisting frame 11 after bypassing the corresponding pulleys 23.

In some embodiments of the present application, the number of ropes 21 and hoisting mechanisms 22 is three, at least three hoisting mechanisms 22 are centrally disposed in the middle of the hoisting frame 11, and at least three ends far away from the hoisting mechanisms 22 are respectively connected to different positions of the edge of the hoisting frame 11.

Alternatively, the number of the ropes 21 and the hoisting mechanisms 22 is four, the four hoisting mechanisms 22 are intensively arranged in the middle of the hoisting frame 11, and one ends of the four ropes 21, which are far away from the hoisting mechanisms 22, are respectively connected to four corners of the hoisting frame 11.

Further, the number of pulleys 23 is also four, and four ropes 21 are wound around the four pulleys 23, respectively.

In other embodiments, the plurality of hoisting mechanisms 22 may be disposed on the hoisting frame 11 along the circumferential direction of the hoisting frame 11, one ends of the plurality of ropes 21 are respectively connected to the plurality of hoisting mechanisms 22, and the other ends of the plurality of ropes 21 are respectively and fixedly connected to the horizontal steering device 30.

In some embodiments of the present application, referring to fig. 4, the hoisting mechanism 22 includes a base frame 221 disposed on the hoisting frame 11, a winding wheel 222 rotatably disposed on the base frame 221, and a rotation driver 223 fixedly disposed on the base frame 221, wherein an output shaft of the rotation driver 223 is coaxially connected with the winding wheel 222, and the rotation driver 223 is used for driving the winding wheel 222 to rotate, and winding or releasing the rope 21 when the winding wheel 222 rotates. Alternatively, the rotary drive 223 may be, but is not limited to, a servo motor.

In some embodiments of the present application, referring again to fig. 3, the attitude adjustment device 20 further includes a first gauge and a plurality of second gauges 14 disposed on the lifting frame 11, the first gauge being configured to measure an attitude of the lifting frame 11, for example, the first gauge may measure whether the lifting frame 11 is in an inclined attitude or a horizontal attitude with respect to a horizontal plane. And since the lengths of the hoist ropes 121 are equal, the posture of the hoist frame 11 may represent the posture of the hoist 300. The plurality of second measuring instruments 14 are respectively located at different orientations of the lifting frame 11, and the second measuring instruments 14 are used for measuring a relative positional relationship between a position of the lifting frame 11 where the second measuring instruments 14 are located and the horizontal steering device 30, and the relative positional relationship may be, but is not limited to, a distance between a position of the lifting frame 11 where the second measuring instruments 14 are located and the horizontal steering device 30, so that a length of the rope 21 located at the same side as the second measuring instruments 14 from the lifting frame 11 to the horizontal steering device 30 can be obtained.

It will be appreciated that the angle and direction of the required rotation of the lifting frame 11 are obtained by comparing the attitude data measured by the first measuring instrument with the desired attitude data by the external system controller, and the length of each rope 21 to be adjusted is obtained in combination with the measured data of each second measuring instrument 14, and then the length of each rope 21 to be adjusted is converted into the angle of each rotary driver 223 to be rotated by the system controller and is executed by the rotary driver 223. Similarly, when adjusting the height position of the hoisted object 300, the length variation of each rope 21 can be calculated by acquiring the posture of the hoisting frame 11, the relative position relationship between the hoisting frame 11 and the horizontal steering device 30, and the desired height variation, and a corresponding rotation command is sent to each rotation driver 223 by the system controller to adjust the hoisted object 300 to the desired height position.

Alternatively, the first gauge may be, but is not limited to, an inertial measurement unit (Inertial measurement unit, imu) or the like, and the second gauge 14 may be, but is not limited to, a linear potentiometer or the like.

Referring to fig. 7, for an exemplary description of the position adjustment of the hoisted object 300, in the state a1 of fig. 7, the assembly formed by the hoisted frame 11, the hoister 12, the horizontal displacement adjusting device 13, the hoisted object 300 and other components is in an inclined posture, that is, the hoisted frame 11 and the hoisted object 300 are in the inclined posture, and the gravity center 53 of the assembly is located on a virtual extension line of the boom stress point 51 in the vertical direction F1, that is, the gravity center 53 of the assembly is located right below the boom stress point 51; the combined body is adjusted to the horizontal posture through the posture adjusting device 20, namely the lifting frame 11 is adjusted to the horizontal posture through the posture adjusting device 20, when the lifting frame 11 is in the horizontal posture, correspondingly, the lifting object 300 is also in the horizontal posture, as shown in a2 state of fig. 7; when the horizontal position of the hoisted object 300 needs to be adjusted, the moving amount and the moving direction of the gravity center 54 of the hoisted object 300 relative to the gravity center 53 of the combined body in the horizontal direction are calculated, the hoisted object 300 is moved to a desired horizontal position through the cooperation of the first moving platform 131 and the second moving platform 132, after the horizontal position of the hoisted object 300 is changed, the gravity center position of the hoisted object 300 is changed relative to the hoisted frame 11, so that the mass distribution of the combined body is changed, but in a static state, the gravity center 53 of the combined body is always positioned on a virtual extension line of the boom stress point 51 in the vertical direction F1, namely, the gravity center 53 of the combined body is positioned under the boom stress point 51, so that the whole combined body is changed from the horizontal posture to the inclined posture after the horizontal position of the hoisted object 300 is changed, as shown in a3 state of fig. 7; the combined body is adjusted to the horizontal posture by the posture adjusting device 20, namely the lifting frame 11 is adjusted to the horizontal posture by the posture adjusting device 20, as shown in a4 state of fig. 8; according to the amount of displacement h of the hoisted object 300 in the vertical direction F1, the length of the rope 21 from the hoisting frame 11 to the horizontal turning device 30 is adjusted to adjust the hoisted object 300 to a desired height position as in the state a5 of fig. 8. Finally, according to the error, the position of the hoisted object 300 is adjusted repeatedly through the coordination between the posture adjusting device 20 and the horizontal displacement adjusting device 13 until the hoisted object 300 is adjusted to the expected posture with higher precision.

The horizontal displacement adjustment device 13 is also capable of suppressing oscillation when the hoisting posture adjustment system 100 is severely swung. Specifically, when the hoist frame 11 swings, the reaction force generated on the hoist frame 11 by the cooperative movement of the first moving platform 131 and the second moving platform 132 can cancel the oscillation kinetic energy generated by the hoist frame 11.

In some embodiments of the present application, referring to fig. 5, the horizontal steering device 30 includes a support member 31, a rotation driving mechanism 32 disposed on the support member 31, and a rotating shaft 33 drivingly connected to the rotation driving mechanism 32, wherein one end of the rotating shaft 33 is connected to the posture adjusting device 20. The supporting piece 31 mainly plays a supporting role, the hanging ring 36 is arranged on the supporting piece 31, the rotary driving mechanism 32 is used for driving the rotating shaft 33 to rotate along the horizontal direction, the rotating shaft 33 sequentially drives the hoisted object 300 to rotate along the horizontal direction through the gesture adjusting device 20 and the horizontal displacement adjusting device 13, and then the horizontal direction of the hoisted object 300 is adjusted.

In some embodiments of the present application, the supporting member 31 includes a first supporting plate 311 and a second supporting plate 312 connected, the second supporting plate 312 is located below the first supporting plate 311, the second supporting plate 312 is provided with a shaft hole through which the rotating shaft 33 movably passes, one end of the rotating shaft 33 extends to below the second supporting plate 312 through the shaft hole, and the rotation driving mechanism 32 is disposed between the first supporting plate 311 and the second supporting plate 312. By arranging the rotation driving mechanism 32 between the first support plate 311 and the second support plate 312, the rotation driving mechanism 32 is not exposed, so that the rotation driving mechanism 32 can be well protected, and the service life and the service performance of the rotation driving mechanism 32 are effectively ensured.

Specifically, the first support plate 311 is screw-coupled to the second support plate 312, and a first accommodation space for accommodating the rotation driving mechanism 32 is formed between the first support plate 311 and the second support plate 312. Alternatively, the rotary drive mechanism 32 may be, but is not limited to, a servo motor.

In some embodiments, the horizontal steering device 30 further includes a transmission mechanism 34, where the transmission mechanism 34 is disposed on the support member 31, and the transmission mechanism 34 is in transmission connection with the output shaft of the rotation driving mechanism 32 and the rotating shaft 33, and it is understood that the rotation driving mechanism 32 transmits power to the rotating shaft 33 through the transmission mechanism 34 to drive the rotating shaft 33 to rotate.

Further, the transmission mechanism 34 is disposed between the first support plate 311 and the second support plate 312. Specifically, a second accommodation space for accommodating the transmission mechanism 34 is formed between the first support plate 311 and the second support plate 312, and the second accommodation space communicates with the first accommodation space.

Alternatively, the transmission mechanism 34 may be, but is not limited to, a worm gear mechanism as long as it is capable of converting the rotational movement of the rotation driving mechanism 32 in the vertical direction F1 into the rotational movement of the rotation shaft 33 in the horizontal direction with respect to the support 31.

In some embodiments, referring to fig. 6, the horizontal steering device 30 includes an adapter 35 connected to one end of the rotating shaft 33, the adapter 35 is connected to one end of the rotating shaft 33 extending below the supporting member 31, and each pulley 23 is connected to the adapter 35. Optionally, each pulley 23 is welded to the adapter block 35, or each pulley 23 is integrally formed with the adapter block 35.

In some embodiments of the present application, please refer to fig. 8, on the basis that the posture adjusting device 20 includes a plurality of ropes 21 connected to the lifting frame 11 and the horizontal steering device 30, and a plurality of hoisting mechanisms 22 for respectively winding and unwinding the plurality of ropes 21, the horizontal displacement adjusting device 13 includes a mass block 15 slidably disposed on the lifting frame 11 and a horizontal driving mechanism for driving the mass block 15 to horizontally move, the horizontal driving mechanism is disposed on the lifting frame 11, the lifting device 12 is connected with the lifting frame 11, that is, the lifting object 300 is connected with the lifting frame 11 through the lifting device 12. In the state b1 of fig. 8, the hoisted object 300 is in a horizontal posture, when the horizontal position of the hoisted object 300 needs to be adjusted, the horizontal driving mechanism drives the mass block 15 to horizontally move on the hoisted frame 11, when the mass block 15 horizontally moves on the hoisted frame 11, the gravity center 55 of the mass block 15 changes relative to the hoisted frame 11, so that the mass distribution of the combined body formed by the hoisted frame 11, the hoister 12, the horizontal displacement adjusting device 13 and the hoisted object 300 changes, the gravity center 53 of the hoisted combined body also changes, but in a static state, the gravity center 53 of the combined body is always positioned on a virtual extension line of the boom stress point 51 in the vertical direction F1, namely, the gravity center 53 of the combined body is positioned under the boom stress point 51, so that when the mass block 15 horizontally moves on the hoisted frame 11, the combined body moves in the direction opposite to the moving direction of the mass block 15, and the hoisted object 300 is adjusted to a desired horizontal position, at this time, namely, the combined body 300 is in a tilted posture, such as in the state b2 of fig. 8; the combined body is then adjusted to a horizontal posture by the posture adjustment device 20 so that the hoisted object 300 is positioned right above the target position in the vertical direction F1 in the horizontal posture, as in the b3 state of fig. 8.

In some embodiments of the present application, referring again to fig. 3, the lifting pose adjustment system 100 further includes a plurality of thrusters 40, where a plurality of thrusters 40 are disposed on the lifting frame 11 or the lifting object 300.

The thrusters 40 are spaced apart in the circumferential direction of the cradle 11. When the lifting frame 11 is in a horizontal posture, the thrusters 40 are oriented differently in the horizontal direction, the thrusters 40 are configured to provide swing damping for the lifting posture adjusting system 100, that is, provide the lifting posture adjusting system 100 with the ability to suppress the swing, so as to reduce the swing amplitude of the lifting posture adjusting system 100, and in addition, the thrusters 40 are configured to control the horizontal displacement adjusting device 13 and the steering of the lifting object 300 in cooperation with the horizontal steering device 30.

Specifically, the thruster 40 includes a propeller blade and a rotation driving member for driving the propeller blade to rotate, and the rotation driving member provides thrust in a direction opposite to the swing direction of the lifting gesture adjusting system 100 by driving the propeller blade to rotate. The system controller can calculate the speed of the lifting frame 11 according to the data measured by the inertial measurement unit, and calculate the expected damping force and direction that each thruster 40 needs to provide according to the speed, pitch angle and rotation speed of the propeller blades, and the rotation speed and pitch angle are calculated and executed by the rotation driving member to realize oscillation suppression.

Alternatively, the rotary drive may be, but is not limited to, an electric motor.

The embodiment of the application also provides a lifting device, which comprises the lifting pose adjusting system 100 of any embodiment. The horizontal steering device 30 is connected to the boom 200 of the hoisting device. The lifting device can be, but is not limited to, a tower crane, a gantry crane, a crawler crane, an automobile crane, an aerocar crane, a stacker, an industrial robot, and the like.

Compared with the prior art, the lifting device provided by the application has the advantages that the lifting pose adjusting system 100 is adopted to assist in lifting the lifting object 300, when the pose of the lifting object 300 is adjusted, the lifting object 300 can be adjusted to the expected pose through the matching of the horizontal displacement adjusting device 13 and the pose adjusting device 20, so that the lifting object 300 can be accurately placed on a target position, the pose of the lifting object 300 is automatically fine-adjusted, time and labor are saved, manual participation can be greatly reduced, labor cost and safety risk are reduced, the lifting object can be accurately placed on the target position, and the dependence on proficiency and experience of workers is reduced.

In addition, the lifting pose adjusting system 100 may be directly connected to the boom 200 of the lifting device, for example, the lifting work may be performed by fastening the lifting ring 36 of the lifting pose adjusting system 100 with the lifting hook 210 of the boom 200, without greatly changing the structure of the existing lifting device, without manually or only needing a small amount of manual intervention on the lifting control of the lifting object 300 in the final stage by the lifting device, for example, in the case that a small amount of manual intervention is needed to lift the lifting object 300, when the lifting device moves the lifting object 300 to a desired range near the target position and orientation, the ground staff only needs to identify the position and direction error of the lifting object 300 through visual or software assistance and send the position and direction error to the system controller, and then the system controller controls the lifting pose adjusting system 100 to automatically compensate the pose error of the lifting object 300.

The lifting pose adjusting system 100 can make up for the control capability of the existing lifting device on the movement of the lifting object 300, and specifically comprises the following steps:

1. the existing lifting device does not have the capability of controlling the degree of freedom of the lifting object 300, and the lifting pose adjusting system 100 can control the degree of freedom of the lifting object 300, namely, can finely adjust the pose of the lifting object 300.

2. The lifting pose adjusting system 100 is beneficial to improving the control precision and response time of the lifting equipment on the degree of freedom of the lifting object 300.

3. The lifting gesture adjustment system 100 can provide swing damping, improving the dynamic performance of the lifting process.

4. Auxiliary lifting is performed through the lifting pose adjusting system 100, dependency on workers in the lifting process is effectively reduced, and consistency of the placing poses of a plurality of identical lifting objects 300 is effectively ensured.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (14)

1. A lifting position and posture adjusting system which is used for adjusting the position and posture of a lifting object; the device is characterized by comprising a posture adjusting device, a hoisting frame, a horizontal displacement adjusting device and a hoisting tool which are sequentially arranged along the vertical direction, wherein the hoisting tool is connected with the hoisting frame or the horizontal displacement adjusting device and is used for connecting a hoisted object; the horizontal displacement adjusting device is connected with the hoisting frame and used for adjusting the horizontal position of the hoisted object; the posture adjusting device is connected with the lifting frame and used for adjusting the posture of the lifting object so as to enable the lifting object to keep a horizontal posture.

2. The lifting gesture adjustment system of claim 1, wherein: the lifting appliance comprises a plurality of lifting ropes, one ends of the lifting ropes are connected to different positions of the horizontal displacement adjusting device, and the other ends of the lifting ropes are used for being connected to different positions of the lifting object.

3. The lifting gesture adjustment system of claim 1, wherein: the horizontal displacement adjusting device comprises a first moving platform which is connected with the lifting appliance and used for driving the lifting appliance to reciprocate along a first horizontal direction, and a second moving platform which is connected with the first moving platform and used for driving the lifting appliance to reciprocate along a second horizontal direction, wherein the second moving platform is connected with the lifting frame, and an included angle between the second horizontal direction and the first horizontal direction is larger than 0 degree and smaller than 180 degrees.

4. A lifting gesture adjustment system according to claim 3, characterized in that: the second moving platform is provided with a first translation guide rail, the first moving platform is provided with a first driver, and the first driver is in sliding fit with the first translation guide rail along the first horizontal direction; and/or the number of the groups of groups,

The lifting frame is provided with a second translation guide rail, the second moving platform is provided with a second driver, and the second driver is in sliding fit with the second translation guide rail along the second horizontal direction.

5. The lifting gesture adjustment system of any one of claims 1-4, wherein: the horizontal steering device is connected to the top end of the attitude adjusting device, or is connected between the lifting frame and the horizontal displacement adjusting device, or is connected between the horizontal displacement adjusting device and the lifting appliance.

6. The lifting gesture adjustment system of claim 5, wherein: the horizontal steering device comprises a supporting piece, a rotary driving mechanism arranged on the supporting piece and a rotating shaft in transmission connection with the rotary driving mechanism, and one end of the rotating shaft is connected with the posture adjusting device.

7. The lifting gesture adjustment system of claim 6, wherein: the support piece comprises a first support plate and a second support plate which are connected, the second support plate is provided with a shaft hole through which the rotating shaft movably penetrates, and the rotary driving mechanism is arranged between the first support plate and the second support plate.

8. The lifting gesture adjustment system of claim 5, wherein: the horizontal steering device is connected to the top end of the gesture adjusting device, the gesture adjusting device comprises a plurality of ropes and a plurality of hoisting mechanisms used for respectively winding and unwinding the ropes, the ropes are distributed at intervals along the circumferential direction of the hoisting frame, and the ropes are connected to the hoisting frame and the horizontal steering device.

9. The lifting gesture adjustment system of claim 8, wherein: the attitude adjusting device further comprises a plurality of pulleys, the pulleys are connected to the horizontal steering device, the hoisting mechanisms are arranged on the hoisting frame, the ropes are wound on the pulleys respectively, one ends of the ropes are connected to the hoisting mechanisms respectively, and the other ends of the ropes are connected to the hoisting frame.

10. The lifting gesture adjustment system of claim 8, wherein: the number of ropes and the number of the hoisting mechanisms are at least three, at least three hoisting mechanisms are arranged in the middle of the hoisting frame in a concentrated mode, and one ends, away from the hoisting mechanisms, of the at least three ropes are respectively connected to different positions of the edge of the hoisting frame.

11. The lifting gesture adjustment system of claim 8, wherein: the horizontal displacement adjusting device comprises a mass block and a horizontal driving mechanism, wherein the mass block is arranged on the lifting frame in a sliding mode, the horizontal driving mechanism is used for driving the mass block to horizontally move, the horizontal driving mechanism is arranged on the lifting frame, and the lifting appliance is connected with the lifting frame.

12. The lifting gesture adjustment system of claim 8, wherein: the horizontal steering device comprises a supporting piece and a rotating shaft movably connected with the supporting piece, the axial direction of the rotating shaft is parallel to the vertical direction, the rotating shaft can rotate around the axis of the rotating shaft relative to the supporting piece, the rotating shaft is connected with each rope, the lifting pose adjusting system further comprises a plurality of thrusters, the thrusters are arranged on the lifting frame or the lifting object, and the thrusters are matched to work to drive the rotating shaft to rotate around the axis of the rotating shaft relative to the supporting piece.

13. The lifting gesture adjustment system of any one of claims 1-4, wherein: the lifting pose adjusting system further comprises a plurality of thrusters, and the thrusters are arranged on the lifting frame or the lifting object.

14. Hoisting device, characterized in that it comprises a hoisting pose adjustment system according to any of claims 1-13.