Hoisting dynamic balance adjustment method and hoisting device

Abstract

The present application relates to a method for dynamic balance adjustment of hoisting, which collects the displacement of the output ends of the symmetrical first and second hoisting ropes and the speed of a preset load member. When the center of mass of the load member changes (that is, when the load member tilts), the displacement of the two output ends gradually tends to be the same by controlling the moving speed of the first hoisting rope, thereby restoring the balance of the load member, thereby ensuring that the balance is maintained during the descent process, reducing the possibility of the cleaning equipment being torn at the hoisting position, enabling the cleaning equipment to complete the relevant cleaning work, reducing damage to the gate, and allowing the gate to be used normally.

Description

Technical Field

[0001] The present application relates to the technical field of underwater gate cleaning, and in particular to a method for adjusting the dynamic balance of a hoisting device and a hoisting device. Background Art

[0002] Over time, large seawater culvert intake structures can harbor a large number of marine organisms on the gate sealing surfaces, affecting the seal between the gate and the structure when the gate is closed, posing a safety hazard. Therefore, regular cleaning of marine organisms from the gate sealing surfaces is essential. The existing automated cleaning equipment for PX pumping station gate sealing surfaces requires a hoisting device to lower the rectangular cleaning device along a pre-set track to the bottom of the intake culvert, 15 meters deep. Following the cleaning process, the long strip of cleaning equipment is aligned with the four sealing surfaces of the gate, performing both longitudinal and transverse cleaning.

[0003] However, when traditional lifting equipment is lowering the cleaning equipment, it is difficult to ensure balance during the descent due to the combined effects of the preset track, undercurrents in the water and the buoyancy of the sea water. There is a risk of interference and jamming between the cleaning equipment and the track. In severe cases, it may even cause the lifting part of the cleaning equipment to be torn, making it impossible for the cleaning equipment to complete the relevant cleaning work, thereby causing damage to the gate and affecting the normal use of the gate. Summary of the Invention

[0004] Based on this, it is necessary to provide a hoisting dynamic balance adjustment method and a hoisting device to address the problem that traditional hoisting equipment is difficult to ensure balance during the descent process.

[0005] A method for adjusting the dynamic balance of a hoisting device, comprising:

[0006] Provide at least two lifting ropes and load-bearing equipment;

[0007] After fixing one end of the two suspension ropes, the other ends of the two suspension ropes are symmetrically arranged at two ends of the load-bearing member and fixedly connected to the load-bearing member;

[0008] When the lifting rope drives the load member to move longitudinally, displacements L1 and L2 of the output ends of the two lifting ropes are obtained, the lifting rope with a displacement of L1 is the first lifting rope, and the lifting rope with a displacement of L2 is the second lifting rope;

[0009] The speed of the output end of the first suspension rope is V1, the preset speed of the load member is V0, and V1, L1, and L2 satisfy:

[0010] ;

[0011] in, is the dynamic response constant, is the steady-state response constant.

[0012] In one embodiment, the hoisting dynamic balance adjustment method further includes:

[0013] The speed of the output end of the second suspension rope is V2, and the relationship between V1, V2, L1, L2 and V0 satisfies:

[0014] ;

[0015] .

[0016] In one embodiment, the hoisting dynamic balance adjustment method further includes:

[0017] When the load member is configured as a gate cleaning member, and the gate cleaning member has reached the bottom of the culvert in the longitudinal direction and is in a transverse moving cleaning state;

[0018] Obtaining bearing capacities G1 and G2 of the two suspension ropes, where the bearing capacities of the first suspension rope are G1 and the bearing capacities of the second suspension rope are G2;

[0019] The vertical distance between the output end of the first suspension rope and the first suspension rope fixing point is L3, and the preset vertical distance between the output end of the first suspension rope and the first suspension rope fixing point is L0. The relationship among L3, G1, L0, and G2 satisfies:

[0020] ;

[0021] in, The telescopic capacity of a single rope when descending 15 meters.

[0022] In one embodiment, the hoisting dynamic balance adjustment method further includes:

[0023] The vertical distance between the output end of the second suspension rope and the fixing point of the second suspension rope is L4, and the relationship among L4, L3, G1, L0 and G2 satisfies:

[0024] ;

[0025] .

[0026] The present application also provides a hoisting device, comprising:

[0027] frame; and

[0028] A hoisting assembly, the hoisting assembly being arranged on the frame, the hoisting assembly comprising at least two, each of the hoisting assemblies comprising a drum and a lifting rope, one end of the lifting rope being tied to the drum;

[0029] A gate cleaning piece, the gate cleaning piece is arranged on the frame, and the other ends of the two hanging ropes are fixedly connected to the two ends of the gate cleaning piece;

[0030] A control component is used to adjust the rotation speed of at least one of the reel members, and the control component is arranged at the hoisting component.

[0031] In one embodiment, the control component includes an encoder, and two encoders are provided. The two encoders are respectively arranged at the two reel members. When the rope moves, the encoder is used to respectively collect the distance between the output ends of the two ropes and the reel members, and adjust the speed of the two reel members.

[0032] In one embodiment, the encoder is provided with a first meshing tooth, and the reel member is provided with a second meshing tooth, the first meshing tooth is meshed with the second meshing tooth, the first meshing tooth is rotationally connected with the second meshing tooth, and the rotation axis of the second meshing tooth is the same as the rotation axis of the reel member.

[0033] In one embodiment, the control component further includes a force sensor, and the force sensors include at least two force sensors, which are respectively arranged on the two suspension ropes, and the force sensors are electrically connected to the encoder.

[0034] In one embodiment, universal wheels are provided at the bottom of the frame.

[0035] In one embodiment, the frame is further provided with a support assembly, and the support assembly is provided at the universal wheel, and the support assembly includes:

[0036] a first telescopic rod; and

[0037] a second telescopic rod, wherein the first telescopic rod is sleeved on the second telescopic rod, and the first telescopic rod and the second telescopic rod are slidably connected in a vertical direction;

[0038] A locking member is used to fix the first telescopic rod and the second telescopic rod when the first telescopic rod extends out of the second telescopic rod and is lower than the universal wheel.

[0039] The above-mentioned dynamic balance adjustment method for lifting collects the displacement of the output ends of the symmetrical first and second lifting ropes and the speed of the preset load. When the center of mass of the load changes (that is, when the load is tilted), the displacement of the two output ends gradually tends to be the same by controlling the moving speed of the first lifting rope, thereby restoring the balance of the load, thereby ensuring that the balance is maintained during the descent process, reducing the possibility of the cleaning equipment being torn at the lifting point, enabling the cleaning equipment to complete the relevant cleaning work, reducing damage to the gate, and allowing the gate to be used normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of a method for adjusting the dynamic balance of a hoisting device according to some embodiments of the present application.

[0041] Figure 2 This is a flow chart of a method for dynamic balance adjustment during the hoisting process of some embodiments of the present application.

[0042] Figure 3 This is a flow chart of a method for adjusting the dynamic balance of hoisting during the cleaning process in some embodiments of the present application.

[0043] Figure 4 This is a front view of the lifting device of some embodiments of the present application.

[0044] Figure 5 for Figure 4 A local enlarged schematic diagram of point A in the middle.

[0045] Figure 6 This is a schematic diagram of the three-dimensional structure of the lifting device of some embodiments of the present application.

[0046] Figure 7 for Figure 6 A partial enlarged schematic diagram of point B in the middle.

[0047] Figure 8 for Figure 6 A partial enlarged schematic diagram of point C in the middle.

[0048] Figure Number:

[0049] 100. Lifting device; 110. Frame; 111. Lifting block; 120. Lifting assembly; 1210. Reel; 1211. Second meshing tooth; 1220. Lifting rope; 130. Gate cleaning member; 130a. Initial position; 130b. Lowering position; 1310. Cleaning tool; 1320. Cleaning wheel; 131. Lifting ring; 140. Control assembly; 1410. Encoder; 1420. Force sensor; 1411. First meshing tooth; 1412. Motor; 150. Universal wheel; 160. Support assembly; 1610. First telescopic rod; 1620. Second telescopic rod; 1630. Locking member; 200. Hydropower cable winding device; 300. Electronic control device. DETAILED DESCRIPTION

[0050] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0051] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0052] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0053] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0054] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0055] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0056] See also Figures 1 to 8 , Figure 1 This is a schematic diagram of a method for adjusting the dynamic balance of a hoisting device according to some embodiments of the present application. Figure 2 This is a flow chart of a method for adjusting the dynamic balance of a hoist during a hoisting process according to some embodiments of the present application. Figure 3 This is a flow chart of a method for adjusting the dynamic balance of hoisting during the cleaning process in some embodiments of the present application. Figure 4 This is a front view of the lifting device 100 according to some embodiments of the present application. Figure 5 for Figure 4 A partial enlarged schematic diagram of point A in the middle, Figure 6 Schematic diagram of the three-dimensional structure of the lifting device 100 of some embodiments of the present application. Figure 7 for Figure 6 A partial enlarged schematic diagram of point B in the middle. Figure 8 for Figure 6 A partial enlarged schematic diagram of point C in the middle.

[0057] Please refer again Figure 1 and Figure 2 The present application provides a method for dynamic balance adjustment of a hoist, specifically comprising providing at least two hoisting ropes and a load member, fixing one end of the two hoisting ropes, and symmetrically arranging the other ends of the two hoisting ropes at both ends of the load member and fixedly connected to the load member. When the hoisting ropes drive the load member to move longitudinally, displacements L1 and L2 of the output ends of the two hoisting ropes are obtained. The hoisting rope with a displacement of L1 is a first hoisting rope, and the hoisting rope with a displacement of L2 is a second hoisting rope. The speed of the output end of the first hoisting rope is V1, and the preset speed of the load member is V0. V1, L1, and L2 satisfy the following: ,in, is the dynamic response constant, is the steady-state response constant.

[0058] The above-mentioned dynamic balance adjustment method for lifting collects the displacements of the output ends of one of the symmetrical lifting ropes 1220 and the other lifting rope 1220 and the speed of the preset load part. When the center of mass of the load part changes (that is, when the load part tilts), by controlling the moving speed of one of the lifting ropes 1220, the displacements of the two output ends gradually tend to be the same, and then the load part is restored to balance, thereby ensuring that the balance is maintained during the descent process, reducing the possibility of the cleaning equipment being torn at the lifting point, allowing the cleaning equipment to complete the relevant cleaning work, reducing damage to the gate, and allowing the gate to be used normally.

[0059] Specifically, the present application provides a method for dynamic balance adjustment of a hoisting device, which includes providing at least two hoisting ropes 1220 and a load member, fixing one end of the two hoisting ropes 1220, and then symmetrically placing the other ends of the two hoisting ropes 1220 at both ends of the load member and fixedly connecting them to the load member;

[0060] Optionally, the two lifting ropes 1220 include steel wire ropes, slings, cables and other flexible rope-type lifting parts that can lift the load. The load is the object that needs to be lifted. The specific shape and volume of the load and how to lift the load can be set according to the actual site and usage requirements, and this application does not impose any restrictions on this.

[0061] As one of the preferred embodiments of the present application, the load member is configured as a gate cleaning member 130. The present application provides a lifting device 100, including two drum members 1210 and two lifting ropes 1220. One end of the two lifting ropes 1220 are respectively tied to the corresponding drum members 1210, and the other ends of the two lifting ropes 1220 are symmetrically arranged at both ends of the gate cleaning member 130 and fixedly connected to the gate cleaning member 130. By fixing one end of the two lifting ropes 1220 respectively at both ends of the gate cleaning member 130, it is used to ensure that the displacement of the two ends of the gate cleaning member 130 is roughly the same when it is lifted, thereby preliminarily reducing the possibility of tilting.

[0062] The present application provides a method for adjusting the dynamic balance of a hoisting device, further comprising obtaining displacements L1 and L2 of the output ends of the two hoisting ropes 1220 when the hoisting rope 1220 drives the gate cleaning member 130 to move longitudinally. The hoisting rope 1220 with a displacement of L1 is a first hoisting rope, and the hoisting rope 1220 with a displacement of L2 is a second hoisting rope. The speed of the output end of the first hoisting rope is V1, and the preset speed of the gate cleaning member 130 is V0. V1, L1, and L2 satisfy the following: ,in, is the dynamic response constant, is the steady-state response constant.

[0063] Specifically, in one embodiment, the first hanging rope is configured as the hanging rope 1220 on the left side of the gate cleaning member 130, and the second hanging rope is configured as the hanging rope 1220 on the right side of the gate cleaning member 130, wherein The part is the dynamic response adjustment part, which represents the rate of change of the difference between L1 and L2 over time within a certain period of time. The amount is integrated so that the rate of change at that moment can be targeted in real time during the adjustment process, thereby predicting the dynamic response to the actual change at the next moment. represents the differential of the length L1 of the left hanging rope 1220 and the length L2 of the right hanging rope 1220, represents the differential with respect to time, It represents the differential of the two. Assume that at a certain moment, the rate of change of the length L1 of the left rope 1220 and the length L2 of the right rope 1220 is positive. Let the rate of change be K. Then at the next moment, the true difference in the length of the left rope 1220 and the right rope 1220 is △L= , so if we assume that the time interval is infinitesimal (that is, we differentiate the time t), then In a very short time, it can represent △L. Generally, the time interval of adjustment are relatively small. In one embodiment, the time interval is adjusted It is configured to 20ms. How to configure the adjustment time interval? , can be set according to the on-site experiment and on-site conditions. This application does not limit this. By integrating, the real-time length difference can be more realistically reflected. It can be understood that when the change rate of the rope length L1 of the left side 1220 and the rope length L2 of the right side 1220 is negative at a certain moment, the calculation can be performed according to the same principle. The integration of time increases the adjustment capability of dynamic response, making the dynamic balance adjustment method of hoisting more responsive.

[0064] More specifically, The dynamic response constant is a dynamic response constant. Generally, the dynamic response constant can be adjusted in real time through on-site debugging. It determines the sensitivity of the adjustment. In one embodiment, the dynamic response constant is It is configured to be 1.6. The specific setting of the dynamic response constant can be set according to actual usage, and this application does not impose any restrictions on this.

[0065] Furthermore, in the formula The first part is the steady-state error adjustment part. After multiple dynamic adjustments, the displacement of the output end of the left and right suspension ropes 1220 may still have an error of several millimeters. At this time, the dynamic adjustment cannot completely adjust the displacement of the two output ends to be exactly the same. If the adjustment time interval t is relatively small, It can also be understood as Compensation is made, at this time, Integrate with time t to get The integral value of , and then Subtract, thereby completing the steady-state error adjustment, further ensuring the accuracy of the lifting dynamic balance adjustment method.

[0066] Furthermore, is the steady-state response constant. Generally, the steady-state response constant can be adjusted in real time through on-site debugging. It determines the accuracy after adjustment. In one embodiment, the steady-state response constant The value is between 2 and 3. The specific setting of the steady-state response constant can be set according to actual usage, and this application does not impose any restrictions on this.

[0067] As a preferred embodiment, the hoisting process includes a lifting process and a lowering process. Here, the lowering process is taken as an example to explain how to perform dynamic balance adjustment. Figure 1 As shown, the position of the load part (gate cleaning part 130) before being lowered is the initial position 130a, and the position of the gate cleaning part 130 when being lowered is the lowering position 130b. During the lowering process, the displacement L1 of the output end of the left suspension rope 1220 and the displacement L2 of the output end of the right suspension rope 1220 are obtained. By comparing the relative lengths of L1 and L2, it can be assumed that the set rope length and the set output end movement speed of L2 remain unchanged, and only L1 is adjusted. When L1>L2, the adjustment can be achieved by reducing the output speed V1 of the output end of the left suspension rope 1220; when L1<L2, the adjustment can be achieved by increasing the output speed V1 of the output end of the left suspension rope 1220; when it is detected that L1=L2, the output speed V1 of the output end of the left suspension rope 1220 is kept unchanged, thereby ensuring that the suspension part is not in a tilted state.

[0068] In some specific embodiments, the method for adjusting the dynamic balance of the hoisting further includes: the speed of the output end of the right hoisting rope 1220 is V2, and V2, L1, and L2 satisfy ; .

[0069] Specifically, the speeds V1 and V2 of the output ends of the left and right suspension ropes 1220 and 1220 can also be adjusted simultaneously. Compared with only adjusting the rope speed V1 of the left suspension rope 1220, the sensitivity and accuracy of the two-way adjustment are higher, which helps to make adjustments more stable in a shorter time.

[0070] As a preference, during adjustment, first, the displacement L1 of the output end of the left suspension rope 1220 and the displacement L2 of the output end of the right suspension rope 1220 are obtained, such as Figure 2 As shown, L1 is the distance moved by point P, and L2 is the distance moved by point Q. Then compare the relative lengths of L1 and L2. If L1>L2, the adjustment can be achieved by reducing the output speed V1 of the output end of the left rope 1220 and increasing the output speed V2 of the output end of the right rope 1220; if L1<L2, the adjustment can be achieved by increasing the output speed V1 of the output end of the left rope 1220 and reducing the output speed V2 of the output end of the right rope 1220. Regardless of which adjustment method is adopted, during the dynamic adjustment process, when it is detected that L1=L2, the output speed V1 of the output end of the left rope 1220 and the output speed V2 of the output end of the right rope 1220 are kept unchanged, thereby ensuring that the lifting component is not in a tilted state.

[0071] Please refer again Figure 1 and Figure 3 In some specific embodiments, the hoisting dynamic balance adjustment method further includes, when the load member is configured as a gate cleaning member 130, and the gate cleaning member 130 has reached the bottom of the culvert longitudinally and is in a transverse moving cleaning state, obtaining the bearing forces G1 and G2 of the two lifting ropes, the bearing force of the left lifting rope 1220 is G1, and the bearing force of the right lifting rope 1220 is G2; the vertical distance between the output end of the left lifting rope 1220 and the fixed point of the left lifting rope 1220 is L3, and the preset vertical distance between the output end of the left lifting rope 1220 and the fixed point of the left lifting rope 1220 is L0, and the relationship between L3, G1, L0, and G2 satisfies: in, The telescopic capacity of a single rope when descending 15 meters.

[0072] Specifically, through the formula Part of the load is used to determine the center of gravity of the load, through the formula Calculate the vertical distance between the center of mass and the fixed point of the sling 1220 on the left (that is, the distance from the reel 1210 on the left). Specifically, The telescopic capacity of a single rope is 15 meters lowered. In one embodiment, Take 1.2, optionally, It can be directly measured on site through experiments. How to set it up The value of is not limited in this application.

[0073] More specifically, according to ,right Adjustment is made so that when the gate cleaning member 130 has reached the bottom of the culvert longitudinally and is in a horizontal moving cleaning state, the length of the suspension rope 1220 at both ends of the gate cleaning member 130 can be automatically adjusted. For example, when the gate cleaning member 130 moves left and right, Figure 2 As shown, the left side suspension rope 1220 can be configured as the left side suspension rope 1220. When lowering, since the lengths of the left side suspension rope 1220 and the right side suspension rope 1220 are the same (if they are not the same, they will tilt when lowered), when the gate cleaning part 130 moves to the left, the gate cleaning part 130 will tilt to the left. At this time, L0 is configured as the displacement of point G. At this time, the bearing capacity G1 at the left end will be relatively large. Therefore, by reducing the length of the left side suspension rope 1220 through the above-mentioned adjustment method, the possibility of the gate cleaning part 130 tilting during the cleaning process can be reduced; when the right side suspension rope is configured as the left side suspension rope 1220, by the same token, the possibility of the gate cleaning part 130 tilting during the cleaning process can be reduced by increasing the length of the left side suspension rope 1220, thereby further reducing the possibility of the gate cleaning part 130 tipping over or not being able to be cleaned.

[0074] In some specific embodiments, the method for adjusting the dynamic balance of the hoisting further includes a vertical distance L4 between the output end of the right hoisting rope 1220 and the fixed point of the right hoisting rope 1220 (that is, the distance from the right reel 1210), and the relationship among L4, G1, L0, and G2 satisfies: .

[0075] Specifically, the distances L3 and L4 between the output ends of the left and right suspension ropes 1220 and the fixed point can also be adjusted simultaneously. Compared with only adjusting the distance L3 of the left suspension rope 1220, the sensitivity and accuracy of the two-way adjustment are higher, reducing the possibility of one of the suspension ropes 1220 being broken.

[0076] Preferably, during adjustment, first obtain the bearing capacity G1 of the left suspension rope 1220 and the bearing capacity G2 of the right suspension rope 1220, and then compare the relative lengths of G1 and G2. If G1>G2, the adjustment can be achieved by reducing the distance L3 of the left suspension rope 1220 and increasing the distance L4 of the right suspension rope 1220; if G1<G2, the adjustment can be achieved by increasing the distance L3 of the left suspension rope 1220 and reducing the distance L4 of the right suspension rope 1220. Regardless of which adjustment method is adopted, during the dynamic adjustment process, when it is detected that G1=G2, the distance L3 of the left suspension rope 1220 and the distance L4 of the right suspension rope 1220 are kept unchanged, thereby reducing the possibility of the gate cleaning piece 130 being in a tilted state during the cleaning process.

[0077] Please refer again Figure 3 、 Figure 4 as well as Figure 5 As a preferred embodiment of the present application, the present application also provides a lifting device 100 for realizing the above-mentioned lifting dynamic balance adjustment method, the lifting device 100 includes a frame 110, a lifting component 120, a gate cleaning component 130 and a control component 140, the lifting component 120 is arranged on the frame 110, the lifting component 120 includes at least two, each lifting component 120 includes a drum component 1210 and a lifting rope 1220, one end of the lifting rope 1220 is tied to the drum component 1210, the gate cleaning component 130 is arranged on the frame 110, and the other ends of the two lifting ropes 1220 are fixedly connected to both ends of the gate cleaning component 130, the control component 140 is used to adjust the moving speed of the output end of at least one lifting rope 1220, and the control component 140 is arranged at the lifting component 120.

[0078] When the valve cleaning component tilts, the above-mentioned lifting device 100 adjusts the rotation speed of one of the reel components 1210 through the control component 140, thereby controlling the moving speed of the output ends of the two lifting ropes 1220, so that the displacement of the output ends of the two lifting ropes 1220 remains the same, thereby allowing the valve cleaning component to regain balance.

[0079] Specifically, the drum component 1210 includes a cable drum, a rope retractor, a wire drum and other components that can retract the rope by rotating themselves. The specific component selected as the drum component 1210 is set according to actual usage requirements, and this application does not impose any restrictions on this. More specifically, in one embodiment, the frame 110 is provided with a hanging block 111, and the gate cleaning piece 130 is provided with a hanging ring 131. The number of the hanging block 111, the hanging ring 131 and the hanging rope 1220 is set to the same. One end of the hanging rope 1220 is tied to the drum piece 1210, and the other end is fixedly connected to the hanging block 111. The hanging ring 131 and the hanging block 111 are fixedly connected by bolts. Furthermore, the gate cleaning piece 130 can be set at the bottom according to the conventional setting. In one embodiment, the gate cleaning piece 130 is correspondingly provided with a cleaning tool 1310, and a cleaning wheel 1320 is provided under the cleaning tool 1310, which is used to allow the gate cleaning piece 130 to move freely in the horizontal direction while also cleaning the gate.

[0080] Please refer again Figure 6 、 Figure 7 as well as Figure 8 In some specific embodiments, the control component 140 includes an encoder 1410. Two encoders 1410 are provided, and the two encoders 1410 are respectively arranged at the two reel members 1210. When the rope 1220 moves, the encoder 1410 is used to respectively collect the distance between the output ends of the two ropes 1220 and the reel member 1210, and adjust the speed of the two reel members 1210.

[0081] Specifically, the moving distance of the output ends of the two suspension ropes 1220 is collected by the encoder 1410 and converted into a speed instruction, thereby adjusting the rotation speed of the reel 1210, and then controlling the moving speed of the output ends of the two suspension ropes 1220, thereby ensuring that the moving distance of the output ends of the two suspension ropes 1220 is the same, thereby reducing the possibility of the gate cleaning component 130 tilting.

[0082] More specifically, in one embodiment, the control component 140 also includes an inclinometer, which is arranged on the frame 110 and electrically connected to the encoder 1410. The angle reading of the inclinometer is used to determine whether the gate cleaning component 130 is in a tilted state. The encoder 1410 then receives the command signal of the inclinometer, and converts the electrical signal into a speed command to adjust the rotation speed of the drum component 1210, thereby ensuring that the output ends of the two suspension ropes 1220 move the same distance, thereby reducing the possibility of the gate cleaning component 130 tilting.

[0083] In some specific embodiments, the encoder 1410 is provided with a first meshing tooth 1411, and the reel member 1210 is provided with a second meshing tooth 1211. The first meshing tooth 1411 is meshed with the second meshing tooth 1211. The first meshing tooth 1411 is rotationally connected with the second meshing tooth 1211, and the rotation axis of the second meshing tooth 1211 is the same as the rotation axis of the reel member 1210.

[0084] Optionally, the first meshing teeth 1411 and the second meshing teeth 1211 include mutually meshing gears, worm gears, and helical gears. Specifically, the first meshing teeth 1411 and the second meshing teeth 1211 are configured as mutually meshing gears, wherein the rotation axis of the second meshing teeth 1211 is the same as the rotation axis of the reel member 1210. More specifically, in some embodiments, the encoder 1410 is also provided with a motor 1412, and the output end of the motor 1412 is fixedly connected to the first meshing teeth 1411. The encoder 1410 controls the speed of the motor 1412 through a speed instruction to control the speed of the first meshing teeth 1411, thereby affecting the speed of the second meshing teeth 1211, and then controlling the rotation rate of the reel member 1210, ensuring that the output ends of the two suspension ropes 1220 move the same distance, thereby reducing the possibility of tilting of the gate cleaning member 130.

[0085] Furthermore, in one embodiment, the cleaning action instruction can also be encoded in advance into the encoder 1410, so that when the gate cleaning member 130 is cleaning, the motor 1412 can cooperate with the gate cleaning member 130. In other words, when the gate cleaning member 130 has cleaned the bottom surface of the gate and needs to clean the middle part of the gate, the motor 1412 can control the reel member 1210 to reverse and re-lift the gate cleaning member 130 until the entire cleaning action is completed.

[0086] In some specific embodiments, the control component 140 further includes a force sensor 1420 . The force sensors 1420 include at least two force sensors 1420 . The two force sensors 1420 are respectively disposed on the two suspension ropes 1220 . The force sensors 1420 are electrically connected to the encoder 1410 .

[0087] Specifically, the bearing capacity includes the tension along the rope direction or the gravity exerted on one end of the gate cleaning member 130. In some embodiments, when the gate cleaning member 130 is lowered and starts the cleaning action, the gate cleaning member 130 needs to move in the horizontal direction. At this time, the rope length of the suspension rope 1220 needs to be adjusted to prevent the suspension rope 1220 from interfering with the gate cleaning member 130. The force sensor 1420 can collect the bearing capacity exerted on the two suspension ropes 1220, and send the bearing capacity signal to the encoder 1410, thereby converting the bearing capacity signal into a speed instruction, and then controlling the rotation rate of the drum member 1210 to ensure that the output ends of the two suspension ropes 1220 move the same distance, thereby reducing the possibility of the gate cleaning member 130 tilting.

[0088] In some specific embodiments, universal wheels 150 are provided at the bottom of the frame 110 . Specifically, by providing the universal wheels 150 , the frame 110 can be moved freely, thereby increasing the portability of the lifting device 100 .

[0089] In some specific embodiments, the frame 110 is further provided with a support assembly 160, which includes a first telescopic rod 1610, a second telescopic rod and a locking member 1630. The first telescopic rod 1610 is sleeved on the second telescopic rod 1620, and the first telescopic rod 1610 and the second telescopic rod 1620 are slidably connected in the vertical direction. The locking member 1630 is used to fix the first telescopic rod 1610 and the second telescopic rod 1620 when the first telescopic rod 1610 extends out of the second telescopic rod 1620 and is lower than the universal wheel 150.

[0090] Specifically, the first telescopic rod 1610 and the second telescopic rod 1620 are locked and fixed by the locking member 1630, so that when the lifting device 100 needs to be fixed, it will not slip due to the presence of the universal wheel 150, thereby increasing the stability of the lifting device 100.

[0091] In some specific embodiments, a water and electricity cable winding device 200 and an electric control device 300 are also provided on the frame 110. The water and electricity cable winding device 200 is connected to the gate cleaning component 130, and the electric control device 300 is connected to the encoder 1410. The water and electricity cable winding device 200 is used to provide cleaning liquid and electricity to the gate cleaning component 130, and the electric control device 300 is used to provide power to the encoder 1410 and the motor 1412 in the encoder 1410, thereby further reducing the footprint of the lifting device, increasing the space utilization of the lifting device, and facilitating the daily use of the lifting device.

[0092] Please refer again Figures 1 to 8 As a preferred embodiment of the present application, when this embodiment works, it is performed according to the following steps:

[0093] (1) Move the hoisting device 100 by means of the universal wheels 150 provided at the bottom of the frame 110. After the hoisting device 100 is moved to the designated location, slide the second telescopic rod 1620 out of the first telescopic rod 1610, and use the locking member 1630 to secure the first telescopic rod 1610 and the second telescopic rod 1620.

[0094] (2) The two ends of the gate cleaning member 130 are fixedly connected to the lifting ropes 1220 in the lifting components 120 provided on both sides.

[0095] (3) Starting the motor 1412 in the encoder 1410, thereby driving the reel 1210 to rotate and lowering the gate cleaning member 130;

[0096] (4) According to the information collected by the encoder 1410, the relevant information is converted into a speed instruction according to: ;, the rotation speeds of the two reel members 1210 are adjusted respectively to ensure that the gate cleaning member 130 does not tilt;

[0097] (5) When the gate cleaning member 130 reaches the bottom of the culvert, the force sensor 1420 is activated. According to the information collected by the force sensor 1420, the relevant information is converted into a speed instruction. According to: , the rotation speeds of the two reel members 1210 are adjusted respectively to ensure that the gate cleaning member 130 does not tilt during the cleaning process;

[0098] (6) The gate cleaning member 130 starts to clean the gate. At this time, according to the preset instructions in the encoder 1410, when the bottom part of the gate is cleaned, the motor 1412 performs appropriate reverse rotation, thereby lifting the gate cleaning member 130 again, and then cleaning the middle or upper part of the gate;

[0099] (7) When the gate cleaning member 130 is cleaned, the motor 1412 in the encoder 1410 is started, thereby driving the reel member 1210 to rotate and lifting the gate cleaning member 130;

[0100] (8) Repeat step (4) until the gate cleaning member 130 is completely lifted;

[0101] (9) After unlocking the locking member 1630, the hoisting device 100 is returned to its original position using the universal wheel 150 to wait for the next hoisting or lowering of the gate cleaning member 130.

[0102] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A lifting device, characterized in that: The hoisting device (100) comprises: a frame (110); and A hoisting assembly (120), the hoisting assembly (120) being arranged on the frame (110), the hoisting assembly (120) comprising at least two, each of the hoisting assemblies (120) comprising a reel (1210) and a hoisting rope (1220), one end of the hoisting rope (1220) being tied to the reel (1210); A gate cleaning member (130), the gate cleaning member (130) is arranged on the frame (110), and the other ends of the two hanging ropes (1220) are fixedly connected to both ends of the gate cleaning member (130); a control assembly (140), the control assembly (140) being used to adjust the rotation speed of at least one of the reel members (1210), the control assembly (140) being disposed at the hoisting assembly (120); The control component (140) includes an encoder (1410), and two encoders (1410) are provided. The two encoders (1410) are respectively arranged at the two reel members (1210). When the suspension rope (1220) moves, the encoders (1410) are used to respectively collect the distance between the output ends of the two suspension ropes (1220) and the reel member (1210), and adjust the speed of the two reel members (1210); The bottom of the frame (110) is provided with a universal wheel (150); The frame (110) is further provided with a support assembly (160), wherein the support assembly (160) is provided at the universal wheel (150), and the support assembly (160) comprises: a first telescopic rod (1610); and a second telescopic rod (1620), wherein the first telescopic rod (1610) is sleeved on the second telescopic rod (1620), and the first telescopic rod (1610) and the second telescopic rod (1620) are slidably connected in a vertical direction; A locking member (1630) is used to fix the first telescopic rod (1610) and the second telescopic rod (1620) when the first telescopic rod (1610) extends beyond the second telescopic rod (1620) and is lower than the universal wheel (150).

2. The hoisting device according to claim 1, characterized in that: The encoder (1410) is provided with a first meshing tooth (1411), and the reel member (1210) is provided with a second meshing tooth (1211), the first meshing tooth (1411) is meshed with the second meshing tooth (1211), the first meshing tooth (1411) and the second meshing tooth (1211) are rotationally connected, and the rotation axis of the second meshing tooth (1211) is the same as the rotation axis of the reel member (1210).

3. The hoisting device according to claim 1, characterized in that: The control component (140) further includes a force sensor (1420), and the force sensor (1420) includes at least two force sensors (1420). The two force sensors (1420) are respectively arranged on the two suspension ropes (1220), and the force sensors (1420) are electrically connected to the encoder (1410).

4. A method for adjusting the dynamic balance of a hoisting device, characterized in that: The hoisting device of claim 1 is used to perform hoisting dynamic balance adjustment, and the hoisting dynamic balance adjustment method specifically includes: Provide at least two lifting ropes and load-bearing equipment; After fixing one end of the two suspension ropes, the other ends of the two suspension ropes are symmetrically arranged at two ends of the load-bearing member and fixedly connected to the load-bearing member; When the lifting rope drives the load member to move longitudinally, displacements L1 and L2 of the output ends of the two lifting ropes are obtained, the lifting rope with a displacement of L1 is the first lifting rope, and the lifting rope with a displacement of L2 is the second lifting rope; The speed of the output end of the first suspension rope is V1, the preset speed of the load member is V0, and V1, L1, and L2 satisfy: ； in, is the dynamic response constant, is the steady-state response constant; The speed of the output end of the second suspension rope is V2, and the relationship between V1, V2, L1, L2 and V0 satisfies: ； 。 5. The method for adjusting the dynamic balance of hoisting according to claim 4, characterized in that: The hoisting dynamic balance adjustment method also includes: When the load member is configured as a gate cleaning member, and the gate cleaning member has reached the bottom of the culvert in the longitudinal direction and is in a transverse moving cleaning state; Obtaining bearing capacities G1 and G2 of the two suspension ropes, where the bearing capacities of the first suspension rope are G1 and the bearing capacities of the second suspension rope are G2; The vertical distance between the output end of the first suspension rope and the first suspension rope fixing point is L3, and the preset vertical distance between the output end of the first suspension rope and the first suspension rope fixing point is L0. The relationship among L3, G1, L0, and G2 satisfies: ； in, The telescopic capacity of a single rope when descending 15 meters.

6. The method for dynamic balance adjustment of hoisting according to claim 5, characterized in that: The hoisting dynamic balance adjustment method also includes: The vertical distance between the output end of the second suspension rope and the fixing point of the second suspension rope is L4, and the relationship among L4, L3, G1, L0 and G2 satisfies: ； 。

Images