An intelligent automatic centering and flipping sling and its control system and control method

Abstract

The present invention provides an intelligent automatic centering and flipping spreader and its control system and control method. Among them, the intelligent automatic centering and flipping spreader includes: a suspension frame, the suspension frame is U-shaped and the opening faces downward; two flipping mechanisms, the two flipping mechanisms are respectively arranged at both ends of the opening of the suspension frame; two slewing frames, the slewing frames are respectively arranged inside the opening of the suspension frame, one end of the slewing frame is connected to the flipping mechanism, and the other end is used to connect the upper corner fittings of the container, and the length of the slewing frame is telescopic to control the height distance between the top of the container and the flipping mechanism. According to the intelligent automatic centering and flipping spreader and its control system and control method of the embodiments of the present invention, it can adapt to containers with different driving heights and cargo loading conditions, is stable and reliable, effectively avoids the situation of using equipment of different models, and reduces the production cost.

Description

Technical Field

[0001] The present invention relates to the technical field of container cranes, and in particular to an intelligent automatic centering and turning spreader and a control system and a control method thereof. Background Art

[0002] Under environmental protection requirements, bulk cargo transportation is gradually moving towards containerized transport. The goal is to reduce the pollution of surrounding water and soil caused by dust and scattered materials during transportation and transit. To facilitate loading and unloading, bulk cargo is often transported in open-top containers. During unloading, the open-top container is simply rotated using a tilting spreader, and the cargo is poured out during the process, achieving point-to-point transportation without dropping the cargo on the ground, thereby minimizing pollution to the environment.

[0003] In actual production, to maximize efficiency and achieve the maximum load capacity of the crane or container, open-top containers of varying volumes are selected based on bulk density. These containers vary in height, but because the connection point between the tilting spreader and the container is relatively fixed relative to the center of rotation, the tilting force required to tilt containers of certain heights is significantly greater than that of containers of other heights. Using a single tilting spreader to power all containers would require maximum steel structure strength and drive mechanism design, making this a cost-effective solution.

[0004] Therefore, how to design a tilting spreader to adapt to containers of different heights has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of this, the present invention provides an intelligent automatic self-aligning flip spreader and its control system and control method, which can adapt to driving containers of different heights and cargo loading conditions, is stable and reliable, effectively avoids the need to use equipment of different models, and reduces production costs.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The intelligent automatic centering and flipping spreader according to the first embodiment of the present invention includes:

[0008] A hanger, the hanger being U-shaped and opening downward;

[0009] Two turning mechanisms, the two turning mechanisms are respectively arranged at two ends of the opening of the hanger;

[0010] Two slewing frames are respectively arranged on the inner side of the opening of the hanger, one end of the slewing frame is connected to the turning mechanism, and the other end is used to connect to the upper corner piece of the container. The length of the slewing frame is retractable to control the height distance of the top of the container relative to the turning mechanism.

[0011] Further, the flipping mechanism includes:

[0012] A first driving device, which is installed at the open end of the hanger;

[0013] A slewing bearing, one end of the slewing bearing is connected to the first driving device, and the first driving device drives the slewing bearing to rotate in the vertical direction inside the opening of the hanger.

[0014] Further, the slewing frame includes:

[0015] An upper connecting member, and first hinge plates are respectively connected to both sides of the upper connecting member;

[0016] A lower connecting member, one side surface of the lower connecting member is connected to the slewing bearing, second hinge plates are respectively connected to both sides of the lower connecting member, and the lower connecting member is slidably connected to the upper connecting member through a sliding assembly;

[0017] A second driving device, which is respectively arranged on both sides of the upper connecting member and the lower connecting member. The first end of the second driving device is connected to the second hinge plate, and the second end of the second driving device is connected to the first hinge plate, and the second driving device is controlled to expand and contract to drive the upper connecting member to approach / away from the lower connecting member.

[0018] Further, the sliding assembly includes:

[0019] A guide plate, which is vertically connected to one side of the bottom of the upper connecting member;

[0020] A guide groove, a vertically extending guide groove is formed on the other side surface of the lower connecting member, and the guide plate extends into the guide groove so that the guide plate can move up and down in the guide groove.

[0021] Further, a rotating pin mechanism is installed on the other side of the bottom of the upper connecting member, and the rotating pin mechanism is used to connect the upper corner fitting of the container.

[0022] Further, a hydraulic system is further included, and the hydraulic system is arranged on the hanger, and the hydraulic system is used to provide hydraulic power for the first driving device and the second driving device.

[0023] According to the control system of the intelligent automatic centering and flipping spreader according to the second aspect embodiment of the present invention, it includes:

[0024] A first optoelectronic radar, which is installed in the middle of the top of the hanger and is used to scan the stacking contour of the goods in the container from the middle;

[0025] Photoelectric switches, which are respectively installed at both ends of the opening of the hanger, and are used to scan the outer contour position of the container;

[0026] A displacement sensor, which is installed on the second driving device and is used to monitor and control the movement stroke of the second driving device;

[0027] A weight sensor, which is installed in the rotating pin mechanism and is used to detect the weight of the container and the goods inside it;

[0028] A controller, which is installed on the slewing frame and is used to receive, calculate and process data, and output action instructions.

[0029] Further, the control system further includes:

[0030] A second photoelectric radar, which is installed on the top of the slewing frame and is used to assist in scanning the stacking contour of the goods in the container from both sides.

[0031] The control system of the intelligent automatic centering and tipping spreader according to the third aspect embodiment of the present invention includes:

[0032] A pressure sensor, which is installed on the first driving device and is used to detect the actual working pressure of the first driving device;

[0033] An encoder, which is installed on the first driving device and is used to monitor and control the rotation angle of the first driving device;

[0034] A displacement sensor, which is installed on the second driving device and is used to monitor and control the movement stroke of the second driving device;

[0035] A weight sensor, which is installed in the rotating pin mechanism and is used to detect the weight of the container and the goods inside it;

[0036] A controller, which is installed on the slewing frame and is used to receive, calculate and process data, and output action instructions.

[0037] The control method of the control system of the intelligent automatic centering and tipping spreader according to the fourth aspect embodiment of the present invention includes the following steps:

[0038] S1. Measure the height of the container and the stacking height of its goods through the photoelectric switch and the first photoelectric radar respectively. The controller receives the data of the container height and the stacking height of its goods and calculates the volume of the container and the volume of the goods.

[0039] S2. The controller receives the data measured by the photoelectric switch and the first photoelectric radar, and calculates and analyzes the position of the average stacking height of the goods relative to the rotation center of the tipping mechanism and the position of the lower corner fittings of the container relative to the rotation center of the tipping mechanism.

[0040] S3. The weight sensor measures the total weight of the container and its goods. The controller receives the data of the total weight of the container and its goods, and calculates the position of the overall center of gravity of the container and its goods based on the volume of the container and the volume of the goods.

[0041] S4. The controller calculates the height value required to adjust the position of the overall center of gravity relative to the position of the rotation center based on the position of the average stacking height of the goods relative to the rotation center of the tipping mechanism, the position of the lower corner fittings of the container relative to the rotation center of the tipping mechanism, and the data of the position of the overall center of gravity of the container and its goods.

[0042] S5. The controller controls the displacement sensor to drive the second driving device to move a predetermined stroke according to the height value required to adjust the position of the overall center of gravity relative to the position of the rotation center.

[0043] The control method of the control system of the intelligent automatic centering tipping spreader according to the embodiment of the fifth aspect of the present invention includes the following steps:

[0044] S1. The controller controls the encoder to issue an instruction to control the first driving device to drive the slewing frame to rotate a predetermined angle.

[0045] S2. The pressure sensor measures the actual working pressure of the first driving device and transmits the data to the controller to calculate the driving torque.

[0046] S3. The weight sensor measures the total weight of the container and its goods and transmits the data to the controller. The controller analyzes the total weight of the container and its goods and the working force of the first driving device, and calculates the height difference between the position of the center of gravity of the container and its goods relative to the rotation center of the tipping mechanism.

[0047] S4. The controller calculates the height value required to adjust the position of the overall center of gravity relative to the rotation center position according to the height difference, and controls the displacement sensor to drive the second driving device to move a predetermined stroke.

[0048] At least one of the above technical solutions of the present invention has the following beneficial effects:

[0049] According to the intelligent automatic centering and flipping spreader of the embodiment of the present invention, by adjusting the relative height from the container corner fitting to the rotation center of the spreader, the relative distance from the overall center of gravity of the container and the goods to the rotation center can be reduced, so as to reduce the driving force required for the flipping spreader, adapt to containers with different heights and cargo loading conditions, avoid the situation that users need to purchase equipment of different models, and reduce the production cost.

[0050] The control system and control method of the intelligent automatic centering and flipping spreader according to the embodiment of the present invention can conveniently and quickly calculate the height of the overall center of gravity of the container and its goods relative to the rotation center of the flipping mechanism, and adjust the height distance of the overall center of gravity of the container and its goods relative to the rotation center of the flipping mechanism, and finally achieve the best height difference, that is, make the driving torque of the flipping mechanism on containers with different heights and different loaded goods reach the minimum value, improve the driving adaptability of the flipping spreader, and the control is simple and reliable and easy to operate. Description of the Drawings

[0051] Figure 1 It is a schematic structural diagram of the intelligent automatic centering and flipping spreader according to the embodiment of the first aspect of the present invention;

[0052] Figure 2 It is a schematic lifting action diagram of the intelligent automatic centering and flipping spreader according to the embodiment of the first aspect of the present invention;

[0053] Figure 3 It is a schematic structural diagram of the slewing frame of the intelligent automatic centering and flipping spreader according to the embodiment of the first aspect of the present invention;

[0054] Figure 4 It is a schematic load-bearing diagram of the rotating pin mechanism of the intelligent automatic centering and flipping spreader according to the embodiment of the first aspect of the present invention;

[0055] Figure 5 It is a schematic rotation pressure measurement diagram of the control system of the intelligent automatic centering and flipping spreader according to the embodiment of the third aspect of the present invention.

[0056] Reference numerals: 100. Hanger;

[0057] 200. Flipping mechanism; 201. First driving device; 202. Slewing bearing;

[0058] 300. Rotary frame; 301. Upper connecting member; 3011. Guide plate; 302. Lower connecting member; 3021. Guide groove; 303. Second driving device;

[0059] 400. Rotating pin mechanism; 500. Hydraulic system;

[0060] 601. First optoelectronic radar; 602. Second optoelectronic radar; 603. Photoelectric switch; 604. Controller; 605. Pressure sensor; 606. Encoder; 607. Displacement sensor;

[0061] 700. Container; 701. Upper corner fitting; 702. Lower corner fitting;

[0062] 800. Goods. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention fall within the scope of protection of the present invention.

[0064] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationships will also change accordingly.

[0065] First, the intelligent automatic centering and flipping spreader and its control system and control method according to the embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

[0066] The intelligent automatic centering and flipping spreader according to the first aspect embodiment of the present invention includes: a spreader 100, two flipping mechanisms 200 and two rotary frames 300.

[0067] Among them, the spreader 100 is U-shaped and has an opening facing downward.

[0068] The two flipping mechanisms 200 are respectively arranged at both ends of the opening of the spreader 100.

[0069] The slewing frames 300 are respectively arranged inside the openings of the hanging frames 100. One end of the slewing frame 300 is connected to the tipping mechanism 200, and the other end is used to connect the upper corner fitting 701 of the container 700. The length of the slewing frame 300 is telescopic to control the height distance between the top of the container 700 and the tipping mechanism 200.

[0070] Specifically, as Figure 1 shown, the intelligent automatic centering tipping spreader according to the embodiment of the first aspect of the present invention includes a hanging frame 100, two tipping mechanisms 200 and two slewing frames 300. The hanging frame 100 has an opening facing downwards. The tipping mechanisms 200 are respectively connected to both ends of the opening of the hanging frame 100. The slewing frames 300 are also arranged inside the opening of the hanging frame 100. The bottom end of the slewing frame 300 is connected to the tipping mechanism 200, and the top end of the slewing frame 300 is connected to the upper corner fitting 701 of the container 700. By controlling the rotation of the tipping mechanism 200, the slewing frame 300 is driven to tip, driving the container 700 to tip. Among them, the telescopic distance of the slewing frame 300 is adjustable, and the height distance between the upper corner fitting 701 of the container 700 and the tipping mechanism 200 can be adaptively adjusted, so that the tipping mechanism 200 drives the container 700 to tip in the best torque state.

[0071] According to the intelligent automatic centering tipping spreader of the embodiment of the first aspect of the present invention, through the adjustable length of the slewing frame 300, it can adapt to the tipping drive of containers of various heights, improving the applicability of the tipping spreader, avoiding the situation that users need to purchase different models of equipment to adapt to the tipping drive of containers of different heights, and effectively reducing the production cost.

[0072] Furthermore, as Figure 1 、 2 shown, the tipping mechanism 200 includes: a first driving device 201 and a slewing bearing 202.

[0073] Among them, the first driving device 201 is installed at the opening end of the hanging frame 100.

[0074] One end of the slewing bearing 202 is connected to the first driving device 201, and the first driving device 201 drives the slewing bearing 202 to rotate in the vertical direction inside the opening of the hanging frame 100.

[0075] That is to say, the tipping mechanism 200 is installed at the opening end of the hanging frame 100 and consists of the first driving device 201 and the slewing bearing 202. The first driving device 201 is installed at the opening end of the hanging frame 100, and the first driving device 201 drives the slewing bearing 202 to rotate in the vertical direction inside the opening of the hanging frame 100. In this way, the tipping mechanism 200 can drive the container 700 to tip up and down inside the hanging frame 100.

[0076] Furthermore, as Figure 1 、 2As shown in the figure, the slewing frame 300 includes: an upper connecting member 301, a lower connecting member 302, and a second driving device 303.

[0077] Among them, first hinge plates are respectively connected to both sides of the upper connecting member 301.

[0078] One side surface of the lower connecting member 302 is connected to the slewing bearing 202. Second hinge plates are respectively connected to both sides of the lower connecting member 302. The lower connecting member 302 is slidably connected to the upper connecting member 301 through a sliding assembly;

[0079] The second driving devices 303 are respectively arranged on both sides of the upper connecting member 301 and the lower connecting member 302. The first end of the second driving device 303 is connected to the second hinge plate, and the second end of the second driving device 303 is connected to the first hinge plate. By controlling the telescoping of the second driving device 303, the upper connecting member 301 is driven to approach / away from the lower connecting member 302.

[0080] Specifically, the upper connecting member 301 and the lower connecting member 302 of the slewing frame 300 are driven by the second driving devices 303 arranged on both sides thereof to drive the upper connecting member 301 to slide up and down relative to the lower connecting member 302, thereby adjusting the telescopic length of the slewing frame 300.

[0081] Furthermore, as Figure 3 shown, in some embodiments, the sliding assembly includes: a guide plate 3011 and a guide groove 3021.

[0082] Among them, the guide plate 3011 is vertically connected to one side of the bottom of the upper connecting member 301.

[0083] A vertically oriented guide groove 3021 is formed on the other side surface of the lower connecting member 302. The guide plate 3011 extends into the guide groove 3021 so that the guide plate 3011 can move up and down within the guide groove 3021.

[0084] Specifically, by connecting a guide plate 3011 to the bottom of the upper connecting member 301 and providing a vertically oriented guide groove 3021 on one side surface of the lower connecting member 302, relative sliding between the upper connecting member 301 and the lower connecting member 302 is formed by the guide plate 3011 extending into the guide groove 3021. The structure is simple, stable, and reliable.

[0085] Furthermore, as Figure 1 、 4 shown, a rotating pin mechanism 400 is installed on the other side of the bottom of the upper connecting member 301. The rotating pin mechanism 400 is used to connect the upper corner fitting 701 of the container 700.

[0086] That is to say, a detachable connection between the upper connecting member 301 of the slewing frame 300 and the upper corner fitting 701 of the container 700 is formed through the rotating pin mechanism 400, which is convenient for disassembly and has a stable connection.

[0087] Further, as Figure 1 shown, in some embodiments, it further includes a hydraulic system 500. The hydraulic system 500 is disposed on the hanger 100 and is used to provide hydraulic power to the first driving device 201 and the second driving device 303.

[0088] That is to say, the hydraulic system 500 disposed on the hanger 100 uniformly coordinates to provide hydraulic power to the first driving device 201 and the second driving device 303.

[0089] According to the control system of the intelligent automatic centering and flipping hanger according to the second aspect embodiment of the present invention, as Figure 1 、 2 shown, it includes: a first photoelectric radar 601, a photoelectric switch 603, a displacement sensor 607, a weight sensor, and a controller 604.

[0090] Among them, the first photoelectric radar 601 is installed in the middle of the top of the hanger 100 and is used to scan the stacking profile of the goods 800 in the container 7 00 from the middle.

[0091] The photoelectric switches 603 are respectively installed at both ends of the opening of the hanger 100, and the photoelectric switches 603 are used to scan the outer contour position of the container 700.

[0092] The displacement sensor 607 is installed on the second driving device 303, and the displacement sensor 607 is used to monitor and control the movement stroke of the second driving device 303.

[0093] The weight sensor (not shown) is installed in the swivel pin mechanism 400, and the weight sensor is used to detect the weight of the container 700 and the goods 800 inside it.

[0094] The controller 604 is installed on the slewing frame 300, and the controller 604 is used to receive, calculate and process data, and output action instructions.

[0095] That is to say, the control system formed by the first photoelectric radar 601, the photoelectric switch 603, the displacement sensor 607, the weight sensor and the controller 604 is respectively used to detect data such as the stacking profile of the goods 800, the stacking profile of the container 700, the movement stroke of the second driving device 303, and the overall weight of the container 700 and the goods 800 inside it in real time, and receive, calculate and process the data through the controller 604, and finally issue action instructions to control the operation of the flipping hanger.

[0096] Further, as Figure 1 shown, in some embodiments, the control system further includes: a second photoelectric radar 602.

[0097] The second optoelectronic radar 602 is installed on the top of the slewing frame 300 and is used to assist in scanning the stacking profile of the goods 800 in the container 700 from both sides.

[0098] Specifically, by adding a second optoelectronic radar 602 to the top of the slewing frames 300 on both sides and scanning the stacking profile of the goods 800 in the container 700 from both sides, the accuracy of the profile scanning of the goods 800 can be further improved.

[0099] The control system of the intelligent automatic centering and tipping spreader according to the third aspect embodiment of the present invention, as Figure 1 shown, includes: a pressure sensor 605, an encoder 606, a displacement sensor 607, a weight sensor, and a controller 604.

[0100] Among them, the pressure sensor 605 is installed on the first driving device 201, and the pressure sensor 605 is used to detect the actual working pressure of the first driving device 201. That is to say, the pressure sensor 605 detects the working pressure of the first driving device 201, that is, the pressure provided by the hydraulic system 500 to the first driving device 201.

[0101] The encoder 606 is installed on the first driving device 201, and the encoder 606 is used to monitor and control the rotation angle of the first driving device 201.

[0102] The displacement sensor 607 is installed on the second driving device 303, and the displacement sensor 607 is used to monitor and control the movement stroke of the second driving device 303.

[0103] The weight sensor (not shown) is installed in the swivel pin mechanism 400, and the weight sensor is used to detect the weight of the container 700 and the goods 800 inside it.

[0104] The controller 604 is installed on the slewing frame 300, and the controller 604 is used to receive, calculate and process data, and output action instructions.

[0105] That is to say, through the control system formed by the pressure sensor 605, the encoder 606, the displacement sensor 607, the weight sensor and the controller 604, data such as the rotation angle of the first driving device 201, the movement stroke of the second driving device 303, and the overall weight of the container 700 and the goods 800 inside it are detected in real time, and the data is received, calculated and processed by the controller 604, and finally action instructions are issued to control the operation of the tipping spreader.

[0106] The control method of the control system of the intelligent automatic centering and tipping spreader according to the fourth aspect embodiment of the present invention includes the following steps:

[0107] S1. The height of the container 700 and the stacking height of the goods 800 are measured by the photoelectric switch 603 and the first photoelectric radar 601 respectively. The controller 604 receives the data of the height of the container 700 and the stacking height of the goods 800, and calculates the volume of the container 700 and the volume of the goods 800.

[0108] S2. The controller 604 receives the data measured by the photoelectric switch 603 and the first photoelectric radar 601, and calculates and analyzes the position of the average stacking height of the goods 800 relative to the rotation center of the tipping mechanism 200 and the position of the lower corner fitting 702 of the container 700 relative to the rotation center of the tipping mechanism 200.

[0109] S3. The weight sensor measures the overall weight of the container 700 and the goods 800. The controller 604 receives the data of the overall weight of the container 700 and the goods 800, and calculates the overall center of gravity position of the container 700 and the goods 800 according to the volume of the container 700 and the volume of the goods 800.

[0110] S4. The controller 604 calculates the height value required to adjust the overall center of gravity position relative to the rotation center position according to the data of the position of the average stacking height of the goods 800 relative to the rotation center of the tipping mechanism 200, the position of the lower corner fitting 702 of the container 700 relative to the rotation center of the tipping mechanism 200, and the overall center of gravity position of the container 700 and the goods 800.

[0111] S5. The controller 604 controls the displacement sensor 607 to drive the second driving device 303 to move a predetermined stroke according to the height value required to adjust the overall center of gravity position relative to the rotation center position.

[0112] Specifically, during the operation of the spreader, first, the pin mechanism 400 is connected to the upper corner fitting 701 of the container 700. The crane hoists the spreader and the container 700 to a certain height. The weight sensor weighs the container 700 and the goods 800 and transmits the data to the controller 604. Secondly, after the weight sensor completes the measurement, by measuring the height of the container 700 and the volume of the goods 800, the first photoelectric radar 601 on the upper part of the spreader scans the goods 800 in the container, and the photoelectric switch 603 scans the lower corner fitting 702 of the container 700. Then, through the analysis of the controller 604, the position of the average stacking height of the goods 800 relative to the rotation center and the position of the lower corner fitting 702 of the container relative to the rotation center are obtained. Finally, the overall center of gravity position of the container 700 and the goods 800 and the value of the height required to adjust the center of gravity relative to the rotation center are calculated. The controller 604 drives the second driving device 303 to move a certain stroke to adjust the overall center of gravity position of the container 700 and the goods 800 to the appropriate height, and then the tipping spreader operates.

[0113] The control method of the control system of the intelligent automatic centering and flipping spreader according to the embodiment of the fifth aspect of the present invention includes the following steps:

[0114] S1. The controller 604 controls the encoder 606 to issue an instruction to control the first driving device 201 to drive the slewing frame 300 to rotate a predetermined angle;

[0115] S2. The pressure sensor 605 measures the actual working pressure of the first driving device 201 and transmits the data to the controller 604 to calculate the driving torque;

[0116] S3. The weight sensor measures the overall weight of the container 700 and its cargo 800 and transmits the data to the controller 604. The controller 604 analyzes the overall weight of the container 700 and its cargo 800 and the working force of the first driving device 201, and calculates the height difference between the center of gravity position of the container 700 and its cargo 800 relative to the rotation center of the flipping mechanism 200;

[0117] S4. The controller 600 calculates the height value required to adjust the overall center of gravity position relative to the rotation center position according to the height difference, and controls the displacement sensor 607 to drive the second driving device 303 to move a predetermined stroke.

[0118] Specifically, during the working process of the spreader, first, the pin mechanism 400 is connected to the upper corner fitting 701 of the container 700, and the crane hoists the spreader and the container 700 to a certain height. The weight sensor weighs the container 700 and its cargo 800 and transmits the data to the controller 604. Secondly, as Figure 5 shown, the slewing frame 300 is driven by the first driving device 201 to rotate a certain angle, and the angle is controlled by the encoder 606. Then the pressure sensor 605 measures the actual working pressure of the first driving device 201 and transmits the data to the controller 604. Then, the overall weight of the container 700 and its cargo 800 and the working pressure of the first driving device 201 are analyzed to calculate the difference between the overall center of gravity of the container 700 and its cargo 800 relative to the rotation center. Finally, the height value required to adjust the center of gravity position relative to the rotation center is determined, and the displacement sensor 607 is controlled to drive the second driving device 303 to move a predetermined stroke to adjust the overall center of gravity of the container 700 and its cargo 800 to a predetermined height, and then the driving work of the flipping spreader is carried out.

[0119] It should be noted here that the center of gravity of the container 700 and the goods 800 will change with the change of the volume and stacking density of the goods 800. During the process of turning over the container, the center of gravity position will have a certain distance relative to the rotation center position. The product of this distance and the weight of the container and the goods is the driving torque required for turning over. By changing the position of the center of gravity of the goods relative to the rotation center, the driving torque of the rotating mechanism can be adjusted, and the driving torque can be controlled within the design value, improving the adaptability of the spreader to containers of different heights and goods of different densities.

[0120] According to the control method of the fourth and fifth aspects of the present invention, the value for adjusting the overall center of gravity height that can be measured and analyzed is obtained. The controller 604 outputs an instruction to adjust the upper and lower movement of the connecting member 301 on the slewing frame relative to the lower connecting member 302 of the slewing frame 300. Finally, each mechanism cooperates with each other to adjust the overall center of gravity of the container 700 and the goods 800 to the height of the rotation center of the turning mechanism 200.

[0121] The above method is simple in design and easy to operate, effectively detecting the situation of the container 700 and the goods 800 loaded therein in real time, and thereby adjusting its overall height to achieve the purpose of reducing the driving torque, making the turning spreader applicable to various container loading situations and having strong practicability.

[0122] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle described in the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent automatic centering and tilting sling, characterized in that, Including: A suspension bracket, the suspension bracket being U-shaped and having an opening facing downwards; Two flipping mechanisms, the two flipping mechanisms being respectively arranged at two ends of the opening of the suspension bracket; Two slewing frames, the slewing frames being respectively arranged inside the opening of the suspension bracket, one end of the slewing frame being connected to the flipping mechanism, and the other end being used for connecting the upper corner fitting of the container, the length of the slewing frame being telescopic to control the height distance between the top of the container and the flipping mechanism; The flipping mechanism includes: A first driving device, the first driving device being installed at the opening end of the suspension bracket; A slewing bearing, one end of the slewing bearing being connected to the first driving device, and the first driving device driving the slewing bearing to rotate in the vertical direction inside the opening of the suspension bracket; The slewing frame includes: An upper connecting member, with first hinge plates respectively connected to both sides of the upper connecting member; A lower connecting member, one side surface of the lower connecting member being connected to the slewing bearing, with second hinge plates respectively connected to both sides of the lower connecting member, and the lower connecting member being slidably connected to the upper connecting member through a sliding assembly; A second driving device, the second driving device being respectively arranged on both sides of the upper connecting member and the lower connecting member, a first end of the second driving device being connected to the second hinge plate, and a second end of the second driving device being connected to the first hinge plate, controlling the telescopic movement of the second driving device to drive the upper connecting member to approach / away from the lower connecting member; A pin mechanism is installed on the other side of the bottom of the upper connecting member, and the pin mechanism is used for connecting the upper corner fitting of the container.

2. The intelligent automatic centering and flipping sling according to claim 1, wherein, The sliding assembly includes: A guide plate, the guide plate being vertically connected to one side of the bottom of the upper connecting member; A guide groove, a vertically oriented guide groove being formed on the other side surface of the lower connecting member, and the guide plate extending into the guide groove such that the guide plate can move up and down within the guide groove.

3. The intelligent automatic centering and flipping sling according to claim 2, wherein It further includes a hydraulic system, the hydraulic system being arranged on the suspension bracket, and the hydraulic system being used to provide hydraulic power to the first driving device and the second driving device.

4. A control system for the intelligent automatic centering and flipping sling according to any one of claims 1-3, characterized in that, Including: A first optoelectronic radar, the first optoelectronic radar being installed in the middle of the top of the suspension bracket, and being used to scan the stacking contour of the goods inside the container from the middle; Optoelectronic switches, the optoelectronic switches being respectively installed at both ends of the opening of the suspension bracket, and the optoelectronic switches being used to scan the outer contour position of the container; A displacement sensor, the displacement sensor being installed on the second driving device, and the displacement sensor being used to monitor and control the movement stroke of the second driving device; A weight sensor, the weight sensor being installed in the pin mechanism, and the weight sensor being used to detect the weight of the container and the goods inside it; A controller, the controller being installed on the slewing frame, and the controller being used to receive, calculate and process data, and output action instructions.

5. The control system of the intelligent automatic centering and tipping sling according to claim 4, characterized in that, It further includes: A second optoelectronic radar, the second optoelectronic radar being installed on the top of the slewing frame, and being used to assist in scanning the stacking contour of the goods inside the container from both sides.

6. A control system for the intelligent automatic centering and tipping sling according to any one of claims 1-3, characterized in that, Including: A pressure sensor, the pressure sensor being installed on the first driving device, and the pressure sensor being used to detect the actual working pressure magnitude of the first driving device; An encoder, which is installed on the first driving device and is used to monitor and control the rotation angle of the first driving device; A displacement sensor, which is installed on the second driving device and is used to monitor and control the movement stroke of the second driving device; A weight sensor, which is installed in the pivot pin mechanism and is used to detect the weight of the container and the goods inside it; A controller, which is installed on the slewing frame and is used to receive, calculate and process data and output action instructions.

7. A control method for the control system of the intelligent automatic centering and flipping sling according to claim 4, characterized in that, It includes the following steps: S1. The height of the container and the stacking height of the goods are respectively measured by the photoelectric switch and the first photoelectric radar. The controller receives the data of the height of the container and the stacking height of the goods and calculates the volume of the container and the volume of the goods; S2. The controller receives the data measured by the photoelectric switch and the first photoelectric radar, and calculates and analyzes the position of the average stacking height of the goods relative to the rotation center of the tipping mechanism and the position of the lower corner fitting of the container relative to the rotation center of the tipping mechanism; S3. The weight sensor measures the total weight of the container and the goods, and the controller receives the data of the total weight of the container and the goods, and calculates the position of the overall center of gravity of the container and the goods according to the volume of the container and the volume of the goods; S4. The controller calculates the height value required to adjust the position of the overall center of gravity relative to the position of the rotation center according to the position of the average stacking height of the goods relative to the rotation center of the tipping mechanism, the position of the lower corner fitting of the container relative to the rotation center of the tipping mechanism, and the data of the position of the overall center of gravity of the container and the goods; S5. The controller controls the displacement sensor to drive the second driving device to move a predetermined stroke according to the height value required to adjust the position of the overall center of gravity relative to the position of the rotation center.

8. A control method for a control system of the intelligent automatic centering and tipping sling according to claim 6, characterized in that, It includes the following steps: S1. The controller controls the encoder to issue an instruction to control the first driving device to drive the slewing frame to rotate a predetermined angle; S2. The pressure sensor measures the actual working pressure of the first driving device and transmits the data to the controller to calculate the magnitude of the driving torque; S3. The weight sensor measures the total weight of the container and the goods and transmits the data to the controller. The controller analyzes the total weight of the container and the goods and the working force of the first driving device, and calculates the height difference between the position of the center of gravity of the container and the goods relative to the rotation center of the tipping mechanism; S4. The controller calculates the height value required to adjust the position of the overall center of gravity relative to the position of the rotation center according to the height difference, and controls the displacement sensor to drive the second driving device to move a predetermined stroke.

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