A parallel flexible rope automatic leveling sling and leveling method thereof

Abstract

The present invention belongs to the field of automatic hoisting technology and relates to a parallel-type flexible-cable automatic leveling sling and a leveling method thereof, comprising: a lifting ring mounting frame, multiple ropes, multiple rope driving mechanisms, a main platform, a counterweight platform, multiple connecting pieces, multiple counterweight moving mechanisms, and multiple slings, wherein the first ends of the ropes are fixedly connected to the lifting ring mounting frame, the multiple ropes are arranged radially symmetrically, the rope driving mechanisms are slidably connected to the second ends of the ropes, the main platform is located below the lifting ring mounting frame, the multiple rope driving mechanisms are installed on the top surface of the main platform, the counterweight platform is located below the main platform, and the multiple counterweight moving mechanisms are radially symmetrically installed on the top surface of the counterweight platform. The present invention achieves the purpose of automatically adjusting the center of gravity of a spacecraft in real time to level the spacecraft during the lifting stage, thereby greatly improving the lifting efficiency of the spacecraft.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic hoisting, and in particular to a parallel-type flexible-rope automatic leveling sling and a leveling method thereof. Background Art

[0002] Leveling slings are widely used in the transportation and assembly processes of various large-scale equipment. Especially in the process of spacecraft assembly, testing and experimentation (AIT), it is often necessary to adjust the components to the desired posture in order to meet the needs of docking and assembly operations, so leveling slings are often needed. Leveling slings are of great use value in the loading and unloading and transportation of spacecraft components, box installation and large payload installation. With the continuous development of the aerospace industry, the size, complexity and variety of aerospace products have increased significantly. The quality, accuracy and safety requirements of the operation in the spacecraft AIT process have made a qualitative leap. Horizontal adjustment slings that can adapt to spacecraft with different centers of mass have gradually become an important direction for the development of spacecraft slings.

[0003] Currently, for lifting operations involving unknown spacecraft center of mass, traditional hoists typically consist of beams connected by cables. The lifting process relies heavily on human experience, resulting in issues such as unquantifiable component position adjustment, low positioning accuracy, unstable operation, and low adjustment efficiency. Furthermore, the need for hoisting position adjustment is difficult to achieve. Existing automatic leveling hoists have a low degree of automation and insufficient scalability, leaving room for improvement in both operational safety and efficiency during spacecraft lifting. Therefore, research on automatic leveling hoists and their leveling mechanisms is highly valuable. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a parallel flexible rope automatic leveling sling and a leveling method thereof, which can automatically adjust the position of the lifting ring mounting frame and the center of gravity of the spacecraft when lifting the spacecraft, thereby achieving smooth lifting and installation.

[0005] The sling of the present invention uses a rope-driven counterweight adjustment mechanism. The nut is rotated by the lead screw to drive the rope to extend and retract, achieving large vertical and horizontal displacements of the lifting platform. Small compensation offsets of the lifting platform are achieved by moving the position of the lifting ring mounting frame and the counterweight. During the movement, the tilt sensor on the main platform determines whether the sling is horizontal. This method can achieve the purpose of real-time adjustment of the spacecraft's center of gravity and leveling the spacecraft during the lifting phase, greatly improving the spacecraft lifting efficiency. A transfer interface is designed below the counterweight platform to connect different expansion platforms, realizing the versatility of the sling.

[0006] During actual operation, the rope will deflect as it moves on the pulley, and changes in rope length will cause changes in the position of the eye mount. The adjustment process requires moving the overhead crane, which affects adjustment accuracy and leads to large errors in spacecraft leveling. To address this problem, the present invention proposes a coarse-and-fine adjustment mode. When the eccentricity range is small, the movement of the counterweight block achieves rapid and accurate leveling. This method improves the leveling accuracy of the entire system, achieving automatic leveling of the lifting platform and smooth lifting and installation of the spacecraft.

[0007] The technical solution adopted by the present invention to solve the technical problem is:

[0008] The first aspect of the present invention is to provide a parallel flexible rope automatic leveling sling, comprising: a lifting ring mounting frame, multiple ropes, multiple rope driving mechanisms, a main platform, a counterweight platform, multiple connecting members, multiple counterweight moving mechanisms, and multiple slings, wherein a lifting ring is installed at the center position of the top surface of the lifting ring mounting frame; the rope has a first end and a second end, the first end of the rope is fixedly connected to the lifting ring mounting frame, and the multiple ropes are arranged radially symmetrically; the rope driving mechanism is slidably connected to the second end of the rope, each rope driving mechanism is connected to a rope, and the multiple rope driving mechanisms are arranged radially symmetrically; the main platform is located below the lifting ring mounting frame, and the multiple rope driving mechanisms are installed on the top surface of the main platform; the counterweight platform is located below the main platform; the multiple connecting members are radially symmetrically installed between the main platform and the counterweight platform; the multiple counterweight moving mechanisms are radially symmetrically installed on the top surface of the counterweight platform; the multiple slings are radially symmetrically installed on the bottom surface of the counterweight platform.

[0009] Furthermore, the rope drive mechanism includes: a support plate, a screw and its drive, a movable frame, and a pulley. The first end of the screw is connected to the screw drive, and the screw drive is installed on the top surface of the support plate. The second end of the screw is supported by the screw support frame, and a screw nut is engaged with the screw; the movable frame is fixedly connected to the screw nut, and the second end of the rope is fixedly connected to the movable frame; the pulley is installed on one side of the movable frame, and the rope passes around the pulley.

[0010] Furthermore, the counterweight moving mechanism includes: an X-axis lead screw and its drive, a Y-axis lead screw and its drive, and a plurality of counterweight blocks, the first end of the X-axis lead screw is connected to the X-axis lead screw drive, the two ends of the X-axis lead screw are supported by a lead screw bracket, the X-axis lead screw drive and the lead screw bracket are both fixedly mounted on the top surface of the counterweight platform; the Y-axis lead screw and the X-axis lead screw are arranged crosswise, the first end of the Y-axis lead screw is connected to the Y-axis lead screw drive, the second end of the Y-axis lead screw is supported by a lead screw bracket, the Y-axis lead screw drive and the lead screw bracket are both fixedly mounted on the top surface of the counterweight platform; the counterweight blocks are evenly mounted on the lead screw nuts of the X-axis lead screw and the Y-axis lead screw.

[0011] Furthermore, the rope drive mechanism also includes: an arc guide rail, a connecting shaft, and a flange bearing, the arc guide rail is installed on the top surface of the main platform, and the slider of the arc guide rail is fixedly connected to the bottom surface of the support plate; the connecting shaft passes through the main platform, and the connecting shaft is vertically arranged, having an upper end and a lower end, and the upper end of the connecting shaft is fixedly connected to the bottom surface of the support plate. The flange bearing is installed on the bottom surface of the main platform, and the flange bearing is connected to the lower end of the connecting shaft.

[0012] Furthermore, the rope driving mechanism further comprises: a linear guide rail, the linear guide rail is mounted on the top surface of the support plate, and a slider of the linear guide rail is fixedly connected to the movable frame.

[0013] Furthermore, it also includes an auxiliary guide rail, which is installed on the top surface of the counterweight platform, and the slider of the auxiliary guide rail is connected to the counterweight block.

[0014] Furthermore, an inclination sensor is installed at the center of the top surface of the main platform.

[0015] Furthermore, a tension sensor is installed at the end where the sling is connected to the counterweight platform.

[0016] The second aspect of the present invention is to provide a leveling method for the above-mentioned parallel flexible rope automatic leveling spreader, the steps of which are as follows:

[0017] (1) Move the movable frame and the counterweight in the device to their initial positions;

[0018] (2) Connect the spacecraft to the multiple lifting straps below the counterweight platform, hang the lifting rope of the overhead crane on the lifting ring of the device lifting ring mounting frame, and slowly lift it;

[0019] (3) Detect the status of the inclination sensor at the main platform and the tension sensor at the sling, and read the sensor values ​​to determine whether the angle meets the horizontality requirement. If so, continue lifting. If not, determine whether the angle range meets the fine adjustment range value;

[0020] (4) If the angle range does not meet the fine adjustment range value, the optimal support plate action is solved according to the leveling algorithm. The specific steps are as follows:

[0021] ① Determine the eccentric position of the main platform based on the tilt angle measured by the inclination sensor;

[0022] ② Select the optimal adjustment scheme according to the eccentric position, and then adjust the support plate movement according to the adjustment algorithm;

[0023] (5) When the screw rotates to move the moving frame, the rope is extended and retracted along the direction of movement of the moving frame through the pulley. The change in rope length causes the rope angle to change, so that the entire support plate rotates in a small range along the arc guide rail with the connecting shaft as the axis, and the rope also slides on the pulley;

[0024] (6) The system monitors the inclination sensor at the main platform and the tension sensor at the sling in real time to determine whether the angle meets the fine adjustment range value. If not, the mobile frame continues to move and the rope continues to extend and retract until the sling meets the fine adjustment range value. If so, fine adjustment begins;

[0025] (7) Start adjusting the position of the counterweight block on the counterweight platform according to the leveling algorithm. The specific steps are as follows:

[0026] ① Determine the eccentric position of the spreader platform based on the tilt angle measured by the inclination sensor;

[0027] ②Adjust the position of the counterweight according to the adjustment algorithm based on the eccentric position;

[0028] (8) When fine-tuning step (7), the system monitors the data fed back by the inclination sensor at the main platform and the tension sensor at the sling in real time. If the levelness of the sling does not meet the requirements, step (7) is continued until the levelness of the sling meets the requirements; if the levelness of the sling meets the requirements, the spacecraft is started to be lifted.

[0029] The advantages and positive effects of the present invention are:

[0030] 1. The present invention adopts a rope-driven and counterweighted attitude adjustment mechanism. The nut is moved by rotating the screw to drive the rope to extend and retract, and the rope length is changed for initial adjustment. The deviation range of the spacecraft center of mass can be quickly reduced, and precise leveling is achieved by changing the position of the counterweight block. The adjustment process is continuous and stable, and the purpose of automatically adjusting the center of gravity of the spacecraft in real time to level the spacecraft during the spacecraft lifting stage is achieved, which greatly improves the spacecraft lifting efficiency.

[0031] 2. The method of hoisting and adjusting the posture of the parallel flexible rope automatic leveling sling of the present invention realizes dynamic and continuous posture adjustment, has a simple structure, and is flexible and fast in posture adjustment, thereby improving the accuracy and stability of the entire hoisting system, and improving the hoisting efficiency. It is safe, reliable, energy-saving, environmentally friendly, and easy to operate.

[0032] 3. The present invention has a simple operation process and a highly scalable device structure, which can meet the needs of operators with different levels and experiences, and greatly improves the safety and efficiency of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a three-dimensional structural diagram of a leveling spreader according to an embodiment of the present invention;

[0034] Figure 2 is a three-dimensional structural diagram of a rope driving mechanism of a leveling spreader according to an embodiment of the present invention;

[0035] Figure 3 A three-dimensional structural diagram of an arc guide rail and a connecting shaft of a leveling spreader according to an embodiment of the present invention;

[0036] Figure 4 3D is a perspective structural diagram of a counterweight moving mechanism of a leveling spreader according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0039] A parallel type flexible rope automatic leveling sling comprises: a lifting ring mounting frame 1, a plurality of ropes 2, a plurality of rope driving mechanisms 3, a main platform 7, a counterweight platform 8, a plurality of connecting parts 10, a plurality of counterweight moving mechanisms 11, and a plurality of slings 9.

[0040] The main body of the eyebolt mounting frame 1 is triangular, with an eyebolt 1-1 installed at the center of the top surface, and three rope lock buckles installed radially symmetrically on the bottom surface for fixing the rope 2.

[0041] Preferably, there are three ropes 2, each having a first end and a second end. The first end of the rope 2 is connected to the rope lock of the eye mount 1, and the multiple ropes 2 are arranged radially symmetrically; the rope driving mechanism 3 is slidably connected to the second end of the rope 2, each rope driving mechanism 3 is connected to a rope 2, and the three rope driving mechanisms 3 are arranged radially symmetrically.

[0042] The main platform 7 is located below and parallel to the lifting ring mounting frame 1, and the multiple rope drive mechanisms 3 are installed on the top surface of the main platform 7. The counterweight platform 8 is located below and parallel to the main platform 7. Multiple counterweight movement mechanisms 11 are radially symmetrically installed on the top surface of the counterweight platform 8; and the multiple lifting belts 9 are radially symmetrically installed on the bottom surface of the counterweight platform 8.

[0043] In order to connect the main platform 7 and the counterweight platform 8, a plurality of connectors 10 are evenly spaced and installed between the main platform 7 and the counterweight platform 8. The connectors 10 are connecting columns, and the upper and lower ends of the connecting columns are made into flange connection parts.

[0044] like Figure 2 As shown, the rope drive mechanism 3 is used to pull the rope 2, including: a support plate 3-1, a screw 3-4 and its drive, a movable frame 3-7, and a pulley 3-8. The first end of the screw 3-4 is connected to the screw drive, and the screw drive is installed on the top surface of the support plate 3-1. The second end of the screw 3-4 is supported by a screw support frame 3-6, and a screw nut 3-5 is engaged with the screw 3-4; the movable frame 3-7 is fixedly connected to the screw nut 3-5, and the second end of the rope 2 is fixedly connected to the movable frame 3-7; the pulley 3-8 is installed on one side of the movable frame 3-7, and the rope 2 passes around the pulley 3-8, and the pulley 3-8 is supported and fixed on the top surface of the support plate 3-1 by a pulley bracket 3-12.

[0045] The screw drive includes a servo motor 3-2, a reducer 3-3, the output shaft of the servo motor 3-2 is connected to the reducer 3-3 through a coupling, the servo motor 3-2 is supported and fixed on the top surface of the support plate 3-1 through a motor bracket 3-9, the reducer 3-3 is supported and fixed on the top surface of the support plate 3-1 through a reducer bracket 3-10, and the first end of the screw 3-4 is connected to the reducer 3-3.

[0046] like Figure 3 As shown, in order to achieve left and right offset of the rope 2, the rope drive mechanism 3 further includes: an arcuate guide rail 4, a connecting shaft 6, and a flange bearing 5. The arcuate guide rail 4 is mounted on the top surface of the main platform 7, and the slider of the arcuate guide rail 4 is fixedly connected to the bottom surface of the support plate 3-1. The connecting shaft 6 passes through the main platform 7. The connecting shaft 6 is vertically arranged and has an upper end and a lower end. The upper end of the connecting shaft 6 is fixedly connected to the bottom surface of the support plate 3-1. The flange bearing 5 is mounted on the bottom surface of the main platform 7 and is connected to the lower end of the connecting shaft 6.

[0047] In order to limit the moving direction of the movable frame 3-7, the rope drive mechanism 3 also includes: a linear guide rail 3-11, and there are two linear guide rails 3-11, which are installed in parallel and at intervals on the top surface of the support plate 3-1, and the sliders of the linear guide rails 3-11 are fixedly connected to the two ends of the movable frame 3-7.

[0048] like Figure 4 As shown, the counterweight moving mechanism 11 includes: an X-axis lead screw 11-2 and its drive, a Y-axis lead screw 11-3 and its drive, and a plurality of counterweight blocks 11-1. The first end of the X-axis lead screw 11-2 is connected to the X-axis lead screw drive, and the second end of the X-axis lead screw 11-2 is supported by a lead screw bracket 11-5. The X-axis lead screw drive and the lead screw bracket 11-5 are both fixedly mounted on the top surface of the counterweight platform; the Y-axis lead screw 11-3 is arranged crosswise with the X-axis lead screw 11-2, the first end of the Y-axis lead screw 11-3 is connected to the Y-axis lead screw drive, and the second end of the Y-axis lead screw 11-3 is supported by a lead screw bracket 11-5. The Y-axis lead screw drive and the lead screw bracket 11-5 are both fixedly mounted on the top surface of the counterweight platform;

[0049] The X-axis and Y-axis screw drives are driven by X-axis servo motor 11-7 and Y-axis servo motor 11-4, respectively. X-axis servo motor 11-7 and Y-axis servo motor 11-4 are connected to X-axis screw 11-2 and Y-axis screw 11-3, respectively, via coupling 11-6. Both ends of X-axis screw 11-2 and Y-axis screw 11-3 are supported by screw brackets 11-5.

[0050] The counterweights 11-1 are evenly mounted on the screw nuts of the X-direction lead screw 11-2 and the Y-direction lead screw 11-3. Preferably, two counterweights 11-1 are mounted on the X-direction lead screw 11-2, and two counterweights 11-1 are mounted on the Y-direction lead screw 11-3.

[0051] In order to limit the moving direction of the counterweight 11-1, an auxiliary guide rail 11-8 is also included. The auxiliary guide rail 11-8 is installed on the top surface of the counterweight platform 8. The slider of the auxiliary guide rail 11-8 is connected to the counterweight 11-1. There are two auxiliary guide rails 11-8, one on each side of the counterweight 11-1.

[0052] The working method of the above-mentioned parallel flexible rope automatic leveling spreader adopts the following steps:

[0053] (1) Move the movable frame 3-7 and the counterweight 11-1 in the device to their initial positions;

[0054] (2) Connect the spacecraft to the multiple lifting straps 9 below the counterweight platform 8, hang the lifting rope of the overhead crane on the lifting ring 1-1 of the device lifting ring mounting frame 1, and slowly lift it;

[0055] (3) Detect the status of the inclination sensor at the main platform 7 and the tension sensor at the sling 9, and read the sensor values ​​to determine whether the angle meets the horizontality requirement. If so, continue lifting. If not, determine whether the angle range meets the fine adjustment range value;

[0056] (4) If the angle range does not meet the fine adjustment range value, the optimal support plate 3-1 action is solved according to the leveling algorithm. The specific steps are as follows:

[0057] ① Determine the eccentric position of the main platform 7 based on the tilt angle measured by the inclination sensor;

[0058] ② Select the optimal adjustment scheme according to the eccentric position, and then adjust the action of the support plate 3-1 according to the adjustment algorithm;

[0059] (5) When the screw 3-4 rotates to move the moving frame 3-7, the rope 2 is extended and retracted along the moving direction of the moving frame 3-7 through the pulley 3-8. The change in the length of the rope 2 causes the angle of the rope 2 to change, so that the entire support plate 3-1 rotates in a small range along the arc guide rail 4 with the connecting shaft 6 as the axis, and the rope 2 also slides on the pulley 3-8;

[0060] (6) The system monitors the inclination sensor at the main platform 7 and the tension sensor at the sling 9 in real time to determine whether the angle meets the fine adjustment range value. If not, the moving frame 3-7 continues to move and the rope 2 continues to extend and retract until the sling meets the fine adjustment range value. If so, fine adjustment begins;

[0061] (7) Start adjusting the position of the counterweight 11-1 on the counterweight platform 8 according to the leveling algorithm. The specific steps are as follows:

[0062] ① Determine the eccentric position of the spreader platform based on the tilt angle measured by the inclination sensor;

[0063] ②Adjust the position of the counterweight 11-1 according to the adjustment algorithm based on the eccentric position;

[0064] (8) When fine-tuning step (7), the system monitors the data fed back by the inclination sensor at the main platform 7 and the tension sensor at the sling 9 in real time. If the levelness of the sling does not meet the requirements, step (7) is continued until the levelness of the sling meets the requirements; if the levelness of the sling meets the requirements, the spacecraft is started to be lifted.

[0065] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A parallel type flexible rope automatic leveling spreader, characterized in that: include: A lifting ring mounting frame (1), wherein a lifting ring (1-1) is mounted at the center of the top surface of the lifting ring mounting frame (1); A plurality of ropes (2), the ropes (2) having a first end and a second end, the first end of the ropes (2) being fixedly connected to the eye mounting frame (1), and the plurality of ropes (2) being arranged in radial symmetry; A plurality of rope drive mechanisms (3), the rope drive mechanisms (3) being slidably connected to the second end of the rope (2), each rope drive mechanism (3) being connected to a rope (2), and the plurality of rope drive mechanisms (3) being arranged in radial symmetry; A main platform (7), the main platform (7) is located below the eye mounting frame (1), and the plurality of rope drive mechanisms (3) are mounted on the top surface of the main platform (7); A counterweight platform (8), the counterweight platform (8) being located below the main platform (7); A plurality of connecting members (10), wherein the plurality of connecting members (10) are radially symmetrically installed between the main platform (7) and the counterweight platform (8); A plurality of counterweight moving mechanisms (11), the plurality of counterweight moving mechanisms (11) being radially symmetrically mounted on the top surface of the counterweight platform (8); A plurality of slings (9), the plurality of slings (9) being radially symmetrically mounted on the bottom surface of the counterweight platform (8); The rope driving mechanism (3) comprises: Support plate (3-1); A lead screw (3-4) and a drive thereof, wherein a first end of the lead screw (3-4) is connected to the lead screw drive, the lead screw drive is mounted on the top surface of the support plate (3-1), a second end of the lead screw (3-4) is supported by a lead screw support frame (3-6), and a lead screw nut (3-5) is engaged and connected to the lead screw (3-4); A movable frame (3-7), the movable frame (3-7) being fixedly connected to the lead screw nut (3-5), and the second end of the rope (2) being fixedly connected to the movable frame (3-7); A pulley (3-8), the pulley (3-8) being installed on one side of the movable frame (3-7), the rope (2) passing around the pulley (3-8), and the pulley (3-8) being supported and fixed on the top surface of the support plate (3-1) via a pulley bracket (3-12); The rope drive mechanism (3) further comprises: An arc-shaped guide rail (4), the arc-shaped guide rail (4) being mounted on the top surface of the main platform (7), and the slider of the arc-shaped guide rail (4) being fixedly connected to the bottom surface of the support plate (3-1); A connecting shaft (6), the connecting shaft (6) passes through the main platform (7), the connecting shaft (6) is vertically arranged, has an upper end and a lower end, and the upper end of the connecting shaft (6) is fixedly connected to the bottom surface of the support plate (3-1); A flange bearing (5), the flange bearing (5) is mounted on the bottom surface of the main platform (7), and the flange bearing (5) is connected to the lower end of the connecting shaft (6).

2. The parallel flexible rope automatic leveling spreader according to claim 1, characterized in that: The counterweight moving mechanism (11) comprises: An X-direction lead screw (11-2) and a drive thereof, wherein a first end of the X-direction lead screw (11-2) is connected to the X-direction lead screw drive, a second end of the X-direction lead screw (11-2) is supported by a lead screw bracket, and the X-direction lead screw drive and the lead screw bracket are both fixedly mounted on the top surface of the counterweight platform; A Y-direction lead screw (11-3) and a drive thereof, wherein the Y-direction lead screw (11-3) and the X-direction lead screw (11-2) are arranged crosswise, a first end of the Y-direction lead screw (11-3) is connected to the Y-direction lead screw drive, a second end of the Y-direction lead screw (11-3) is supported by a lead screw bracket, and the Y-direction lead screw drive and the lead screw bracket are both fixedly mounted on the top surface of the counterweight platform; A plurality of counterweight blocks (11-1) are provided, wherein the counterweight blocks (11-1) are evenly mounted on the screw nuts of the X-direction screw (11-2) and the Y-direction screw (11-3).

3. The parallel flexible cable automatic leveling spreader according to claim 2, characterized in that: The rope drive mechanism (3) further comprises a linear guide rail (3-11), wherein the linear guide rail (3-11) is mounted on the top surface of the support plate (3-1), and a slider of the linear guide rail (3-11) is fixedly connected to the movable frame (3-7).

4. The parallel flexible cable automatic leveling spreader according to claim 3, characterized in that: It also includes an auxiliary guide rail (11-8), which is installed on the top surface of the counterweight platform (8), and a slider of the auxiliary guide rail (11-8) is connected to the counterweight block (11-1).

5. The parallel flexible cable automatic leveling spreader according to claim 1, characterized in that: An inclination sensor is installed at the center of the top surface of the main platform (7).

6. The parallel flexible cable automatic leveling spreader according to claim 1, characterized in that: A tension sensor is installed at the end where the sling (9) is connected to the counterweight platform (8).

7. The leveling method of the parallel flexible cable automatic leveling spreader according to any one of claims 2 to 4, comprising the following steps: S1, moving the movable frame (3-7) and the counterweight (11-1) in the device to their initial positions; S2, connect the spacecraft to the multiple slings (9) below the counterweight platform (8), hang the sling rope of the overhead crane on the sling ring (1-1) of the device sling ring mounting frame (1), and slowly lift it; S3, detecting the status of the inclination sensor at the main platform (7) and the tension sensor at the sling (9), and reading the sensor values ​​to determine whether the angle meets the horizontality requirement. If so, continue lifting. If not, determine whether the angle range meets the fine adjustment range value. S4: If the angle range does not meet the fine adjustment range value, the optimal support plate (3-1) action is solved according to the leveling algorithm. The specific steps are as follows: ① Determine the eccentric position of the main platform (7) based on the tilt angle measured by the inclination sensor; ② Select the optimal adjustment scheme according to the eccentric position, and adjust the support plate (3-1) according to the adjustment algorithm; S5, when the lead screw (3-4) rotates to move the movable frame (3-7), the rope (2) is extended and retracted along the moving direction of the movable frame (3-7) through the pulley (3-8), and the angle of the rope (2) changes due to the change in the length of the rope (2), so that the entire support plate (3-1) rotates in a small range along the arc guide rail (4) with the connecting shaft (6) as the axis, and the rope (2) also slides on the pulley (3-8); S6, the system monitors the inclination sensor at the main platform (7) and the tension sensor at the sling (9) in real time to determine whether the angle meets the fine adjustment range value. If not, the moving frame (3-7) continues to move and the rope (2) continues to extend and retract until the sling meets the fine adjustment range value. If it meets the range value, fine adjustment begins; S7, start adjusting the position of the counterweight block (11-1) on the counterweight platform (8) according to the leveling algorithm, the specific steps are as follows: ① Determine the eccentric position of the spreader platform based on the tilt angle measured by the inclination sensor; ② Adjust the position of the counterweight (11-1) according to the adjustment algorithm based on the eccentric position; When fine-tuning step S7, the system monitors the data fed back by the inclination sensor at the main platform (7) and the tension sensor at the sling (9) in real time. If the levelness of the sling does not meet the requirements, step S7 is continued until the levelness of the sling meets the requirements; if the levelness of the sling meets the requirements, the spacecraft is started to be lifted.

Images