KR101337540B1 - Automatic balancing control apparatus and lifting equipment - Google Patents

Abstract

The present invention is configured to find a horizontal point by driving the motor with the output signal by detecting the horizontal portion of the body portion of the lifting device. Therefore, it is controlled to be horizontal automatically without the need to visually check the equilibrium point or to move it directly.
Therefore, the structure can be lifted stably, and the step of adjusting the horizontal point is unnecessary, so that work efficiency can be improved and user safety can be improved.

Description

Automatic balancing control device and lifting device including same {AUTOMATIC BALANCING CONTROL APPARATUS AND LIFTING EQUIPMENT}

The present invention relates to a lifting device having an automatic balancing control device which is set to maintain an equilibrium automatically when connected to a structure, and lifting the structure.

The lifting device is used to lift a large structure such as a large gas. When lifting large structures, the lifting structures should be level so that they do not tip to one side. The lifting device may have a fixing part for fixing the structure to the lower part and a shackle part in which the lifting device is lifted by a crane or the like. The fixing portion may be formed of first and second fixing portions spaced apart from each other to fix two regions of the structure, and the shackle portion may be disposed between the first and second fixing portions so as to correspond to the center of gravity of the structure. Can be formed.

The lifting device moves the shackle to adjust the lifting device on which the structure is installed to be horizontal. Conventional lifting device includes a ball screw to which the shackle is connected, so as to maintain the level by the mechanical operation of the user.

For example, the drive unit is connected to the screw rod, and when the user is visually inclined to lift the lifting device, the shackle unit is moved to correspond to the center of gravity of the structure using the drive unit. The driving unit may be formed by a handle or a motor which is formed to rotate the screw rod. That is, the user must manually rotate the screw rod or visually determine the horizontality of the lifting device to drive the motor.

However, it is not easy for the user to find the center of gravity of the large gas structure. Therefore, it takes a long time to find the center of gravity of the large gas structure to adjust the horizontal, and there is a problem that an accident may occur during the operation because the large gas structure is suspended in an inclined state until the horizontal point is found.

In view of the above, the technical problem of the present invention is to provide a lifting device having a device for controlling the lifting device on which the structure is suspended to automatically find a horizontal point.

In order to achieve the above object of the present invention, the automatic balance control apparatus according to the embodiment of the present invention includes a driving unit, a sensor unit, a comparison circuit stage, and a control unit. The drive unit is mounted to be slidable to the lifting device. The sensor unit detects whether the lifting device is horizontal according to the horizontal movement of the structure and outputs a sensing voltage. The comparison circuit stage is connected to the sensor unit and compares the magnitude of the sensing voltage and the reference voltage to output a first signal or a second signal, and stops when the difference between the output voltage and the reference voltage is less than or equal to a preset displacement voltage. Output the signal. The controller receives one of the first and second signals and the stop signal to control the driver.

In one embodiment related to the present invention, the driving unit includes a motor formed to be rotatable in the clockwise and counterclockwise directions.

In an embodiment related to the present invention, the controller controls the motor to rotate clockwise when the first signal is received, and controls the motor to rotate counterclockwise when the second signal is received.

In one embodiment of the present invention, the controller controls the rotation of the motor to stop when the stop signal is received.

In one embodiment related to the present invention, the displacement voltage is defined as a voltage corresponding to the minimum displacement value of the motor that can be detected by the sensor unit.

In one embodiment associated with the present invention, the apparatus further includes a power supply unit electrically connected to the motor to supply power.

In order to achieve the above object of the present invention, the lifting device according to the embodiment of the present invention includes a body portion, a fixed portion, an automatic balance control device and a crane. The body portion extends in one direction. The fixing portion is formed to be fixed to the structure is installed on the body portion. The automatic balance control device is mounted to the body portion and is configured to control the horizontality of the lifting device. The crane is connected to the drive unit is formed to lift the body portion.

In one embodiment related to the present invention, a screw rod is disposed in the body part and extends in the one direction and is rotated by the driving part, and a thread is formed on an outer circumferential surface, and the driving part is formed to be fixed to the crane. And a slide portion in which a hollow is formed such that the screw rod is inserted to move relative to the screw rod.

According to the present invention having the above-described configuration, when the body portion on which the structure is mounted is tilted, the sensor unit senses this and the slide unit is automatically moved by the signal of the sensor unit. Accordingly, the user does not need to manually adjust the horizontal level, thereby improving work efficiency and safety.

In addition, since the reference voltage reaching the balance point can be set according to the minimum rotational displacement of the motor, the balance point can be easily reached, thereby preventing unnecessary repetitive rotation.

1 is a perspective view of a lifting device according to an embodiment of the present invention.
2 is a conceptual diagram of a lifting device including the automatic balance control device of the present invention.
3 is a conceptual diagram of an automatic control circuit.
4 is a conceptual diagram illustrating a correlation between a sensing voltage and a reference voltage.

Hereinafter, an automatic balance control device and a lifting device including the same according to the present invention will be described in more detail with reference to the accompanying drawings. In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

1 is a perspective view of the lifting device according to an embodiment of the present invention.

Referring to FIG. 1, the lifting device 100 includes a body portion 101, a fixing portion 103, a slide portion 104, a screw rod 102, and an automatic balance control apparatus mounted to the body portion 101. Include.

The body portion 101 is formed to extend in the first direction D1. The structure is connected to the body portion 101, a crane or the like to lift the body portion 101 to lift the structure.

The screw rod 102 is installed in the body portion 101 and extends in the first direction D1. The screw rod 102 is fixed to an area protruding at both ends of the body portion 101. That is, the screw rod 102 is disposed such that at least a portion of the screw rod 102 is spaced apart from the body portion 101.

The slide part 104 is installed on the screw rod 102 to enable reciprocating sliding movement in the one direction. An annular connection portion is formed at one end of the slide portion 104 and the crane is fixed to the slide portion 104 to cross the body portion 101 with the first direction D1 ( Can be reciprocated to D2). That is, the body portion 101 to which the structure is connected using the slide portion 104 may be lifted or lowered.

The slide portion 104 may be formed with a hollow portion so that the screw rod 102 can be inserted. A screw thread may be formed along the outer circumferential surface of the screw rod 102, and a screw thread may also be formed on the inner circumferential surface of the hollow part of the slide part 104. That is, the slide unit 104 may reciprocate in the first direction D1 due to the coupling of the screw lines by the rotation of the screw rod 102.

At least one fixing part 104 is formed to connect and support the structure to the body part 101. As shown, the fixing part 104 may be formed of a pair of members to fix two regions of the structure.

The fixing part 104 may include a pair of members to fix the structure with the center of gravity of the structure interposed therebetween. However, the number of the fixing part 104 is not limited thereto. In addition, the structure may be fixed such that the center of the pair of fixing parts 104 coincides with the center of gravity of the structure. In this case, the body portion 101 may be lifted horizontally without tilting.

However, when the center of the fixing part 104 does not match the center of gravity of the structure, it is necessary to adjust the body portion 101 of the lifting device 100 to be horizontal for stable lifting of the structure. .

It is possible to adjust the horizontality of the body portion 101 through the relative movement of the screw rod 102 and the slide portion 104.

However, the lifting device 100 according to the embodiment of the present invention includes an automatic balancing control device for horizontally adjusting the body portion 101. That is, when the body portion 101 is inclined by the automatic balance control device, the screw rod 102 and the slide portion 104 are horizontally moved relative to each other. Hereinafter, the configuration of the automatic balance control device will be specifically discussed.

2 is a conceptual diagram of a lifting device including the automatic balance control device of the present invention.

1 and 2, the automatic balance control device is disposed inside the body portion 101. The automatic balance control device includes a sensor unit 111, a driving unit 112, a gear unit 113, and a connection unit 114.

The sensor unit 111 is implemented as a horizontal sensor for sensing the horizontal of the body portion 101. The sensor unit 111 is mounted to the body unit 101 to detect the horizontal state and the degree of inclination of the body unit 101.

The sensor unit 111 detects a horizontal state of the body unit 101 and outputs a sensing voltage Sv. The sensing voltage Sv outputs a sensing voltage Sv that changes as the state of the body unit 101 changes.

The motor 112 is driven by the sensing voltage Sv, and the gear unit 113 rotates according to the driving of the motor 112. The screw rod 102 connected to the connection part 114 is rotated by the gear part 113. The sliding part 104 is relatively moved by the rotation of the screw rod 102. The motor 112 is set to be rotatable in both directions. That is, the screw rod 102 can be rotated clockwise or counterclockwise.

That is, the sliding unit 104 may be moved by the sensing voltage Sv to change a point at which the body 101 is fixed, thereby finding an equilibrium point, and controlling the horizontality of the body 101. Can be.

That is, the lifting device 100 includes an automatic balance control device including the drive unit including the motor 112, the sensor unit 111, a comparison circuit stage, and a control unit. When the motor 112 is rotated, the slide unit 104 may move relative to the screw rod 102 to match a horizontal point of the body unit 101.

That is, the horizontal portion of the body 101 may be automatically adjusted by the sensing voltage Sv. Hereinafter, the configuration of the automatic balance control device is formed so that the horizontal state of the body portion 101 is automatically controlled by the sensing voltage Sv.

2 is a conceptual diagram of a lifting device including the automatic balance control device of the present invention, Figure 3 is a conceptual diagram of the automatic control circuit.

1 and 2, the automatic balance control device is installed in the body portion 101. The automatic balance control device includes a drive unit including a motor 112, a gear 113, and a connection unit 114, the sensor unit 111, a comparison circuit stage 117, a control unit 116, and a power supply unit 115. do.

2 and 3, the sensor unit 111 detects a horizontal state of the body unit 101 and outputs a sensing voltage Sv. The comparison circuit stage 117 compares the preset reference voltage Vref with the sensed voltage Sv. The reference voltage Vref is a voltage value when the body portion 101 is in a horizontal state.

It is determined whether the magnitude of the sensing voltage Sv is larger or smaller than the reference voltage Vref. A signal is output by comparing the magnitudes of the reference voltage Vref and the sensing voltage Sv. When the sensing voltage Sv is greater than the reference voltage Vref, the first signal is output.

The controller 116 receives the first signal and controls the motor 112 to rotate clockwise. When the sensing voltage Sv is smaller than the reference voltage Vref, a second signal different from the first signal is output. In addition, when it is determined that the sensing voltage Sv is substantially the same as the reference voltage Vref, a stop signal is output.

The controller 116 receives the second signal and controls the motor 112 to rotate counterclockwise.

The power supply 115 may supply power to the motor 112 to rotate.

The controller 116 receives the first and second signals and operates the motor until the reference voltage Vref and the sensing voltage Sv are substantially the same, that is, until the positive signal is output. By driving, the body 101 is automatically adjusted until the equilibrium point is reached.

However, the motor 112 included in the driving unit has a minimum rotational displacement value. The rotational displacement of the motor 112 that can be sensed by the sensor unit 111 is set to the minimum change value of the sensing voltage Sv, which is calculated as the minimum voltage value ∂. Therefore, the balance point is determined to have been reached within the deviation of the minimum voltage value from the reference voltage (Vref). That is, when the sensing voltage Sv reaches between the reference voltage Vref-the minimum voltage value ∂ and the reference voltage Vref + minimum voltage value ∂, the body part 101 is in equilibrium. I think it was achieved.

Therefore, when the sensing voltage Sv is measured from the reference voltage Vref-minimum voltage value ∂ to the reference voltage Vref + minimum voltage value ∂, the control unit 116 determines that the sensing voltage Sv is measured. The drive of the motor 112 is stopped.

Accordingly, it is possible to prevent the motor 112 from rotating in a direction opposite to each other continuously in a position close to the equilibrium point of the body portion 101.

The lifting device according to an embodiment of the present invention includes an automatic balance control device. Therefore, when the body part on which the structure is mounted is tilted, the sensor part detects this and the slide part is automatically moved by the signal of the sensor part. Accordingly, the user does not need to manually adjust the horizontal level, thereby improving work efficiency and safety.

In addition, since the reference voltage reaching the balance point can be set according to the minimum rotational displacement of the motor, the balance point can be easily reached, thereby preventing unnecessary repetitive rotation.

The automatic balance control apparatus described above and the field apparatus including the same may not be limitedly applied to the configuration and method of the above-described embodiments, but the embodiments may be all or all of the embodiments so that various modifications may be made. Some may be optionally combined.

Claims (8)

A drive unit slidably mounted to the lifting device;
A sensor unit for sensing the horizontality of the lifting device according to the horizontal movement of the structure mounted on the lifting device and outputting a sensing voltage;
The sensor unit is connected to the sensor unit, and compares the magnitude of the sensing voltage and the reference voltage to output a first signal or a second signal, and outputs a stop signal when a difference between the sensing voltage and the reference voltage is less than or equal to a preset displacement voltage. Circuit stage;
A control unit which receives one of the first and second signals and the stop signal to control the driving unit; And
A motor configured to rotate the driving unit in a clockwise or counterclockwise direction,
The reference voltage is defined as the voltage value of the lifting device in the horizontal state,
And the rotational displacement of the motor is set to a minimum change value of the sensing voltage, and the sensing voltage is determined by the degree of rotation of the motor. delete The method of claim 1,
The controller controls the motor to rotate in a clockwise direction when receiving the first signal, and controls the motor to rotate in a counterclockwise direction when receiving the second signal. The automatic balance control apparatus of claim 3, wherein the controller controls the rotation of the motor to stop when the stop signal is received. 5. The method of claim 4,
And the displacement voltage is defined as a voltage corresponding to the minimum displacement value of the motor that can be detected by the sensor unit. The apparatus of claim 1, further comprising a power supply unit electrically connected to the motor to supply power. A body part extending in one direction;
A fixing part installed on the body part to fix the structure;
An automatic balancing control device according to any one of claims 1 and 3 to 6 mounted on the body to control the horizontality of the lifting device;
Lifting device, characterized in that it comprises a crane connected to the drive unit is formed to lift the body portion. The method of claim 7, wherein
A screw rod disposed in the body portion, extending in the one direction, rotated by the driving portion, and having a thread formed on an outer circumferential surface thereof;
The driving unit is formed to be fixed to the crane lifting device characterized in that it comprises a slide portion is formed hollow so that the screw rod is inserted to move relative to the screw rod.

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