Intelligent lifting device and lifting method thereof

Abstract

The present invention relates to an intelligent sling and a lifting method thereof. The intelligent sling is composed of a sling body, a safety protection system, a lifting detection system, and a magnetic locking system. The sling body includes a main beam frame, a main beam, a clamping beam, and a clamp leg. The safety protection system is used to detect the operating state of the sling body, including an ultrasonic sensor, a laser obstacle avoidance sensor, and an inclination sensor. The magnetic locking system is arranged on the clamp of the clamp leg, including an electro-permanent magnet and a load sensor. The lifting detection system includes a material passing sensor, an in-place sensor, and a weighing sensor. The present invention provides an intelligent and highly integrated intelligent sling. Based on the intelligent sensing of various sensors and the precise control of the driving components, the workpiece can be automatically and efficiently transported with high safety and good reliability during actual operation, which can fully meet the current requirements for the automatic lifting of workpieces such as hydraulic support structural parts.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine mechanical equipment production, and more specifically, to an intelligent hoisting device and a hoisting method thereof. Background Art

[0002] Hydraulic support is an important coal mining equipment that uses hydraulic power to achieve lifting, moving and other actions and roof support. It is widely used in coal mines, mine tunnels and tunnel engineering. The three major structural parts of the hydraulic support (top beam, cover beam, base) have a variety of structural forms, and the range of external dimensions and weight variations is large. In the current production process, most of the hydraulic support structural parts are transported by "crane + lifting chain", which has the following problems:

[0003] 1) It is necessary to manually remove the lifting chain and manually control the crane to carry out transportation, which is time-consuming and labor-intensive, resulting in low operating efficiency;

[0004] 2) Due to the heavy weight of the structural parts, the unstable operation of the crane is very likely to cause collisions, which may not only damage the supporting equipment and cause equipment losses, but also affect the safety of the operators and bring great risks to personal safety;

[0005] 3) It is not easy to control the direction of the welding positioner used for welding operations on the upper and lower parts of the structural parts by manual operation. On the one hand, the positioner is difficult to clamp, and on the other hand, the positioning accuracy is poor, resulting in difficult to control welding quality.

[0006] With the rise and popularization of automatic cranes / intelligent cranes, there is an urgent need for a highly integrated intelligent lifting device to meet the requirements of automated lifting of workpieces such as hydraulic support structures. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to propose an intelligent lifting device and a lifting method thereof. The present invention provides the following technical solutions:

[0008] An intelligent lifting device, which is composed of a lifting device body, a safety protection system, a lifting detection system, and a magnetic locking system;

[0009] The main body of the hoist comprises a main beam frame, a main beam, a clamping beam and clamp legs. The main beam frame is used to be connected with the traveling trolley through a lifting mechanism and is driven by a lifting driving component to move up and down. The lower side of the main beam frame is rotatably connected with the main beam through a slewing support. A rotating driving component for driving the main beam to rotate horizontally is arranged at the main beam frame. Two clamping beams vertically distributed to the main beam are movably installed at the lower side of both ends of the main beam. A Y-direction driving component for driving the clamping beam to move is arranged on the main beam. Two clamping legs extending downward are movably installed at the lower side of both ends of the clamping beam. An X-direction driving component for driving the clamping legs to move is arranged on the clamping beam. The moving direction of the clamping beam and the moving direction of the clamping legs are perpendicular to each other in a horizontal plane. The clamping legs comprise a clamping leg body and a clamp located at the bottom of the clamping leg. During lifting, the clamping leg body is used to clamp the outer side of the workpiece, and the clamp is used to contact and lift the bottom of the workpiece.

[0010] The safety protection system is used to detect the operating status of the spreader body, including ultrasonic sensors, laser obstacle avoidance sensors and inclination sensors. The laser obstacle avoidance sensors are installed on both sides of the main beam to detect whether there are obstacles on both sides of the spreader body. The ultrasonic sensor is installed at the bottom of the clamp leg to detect the height position of the spreader body. The inclination sensor is installed on the main beam to detect the horizontal state of the main beam.

[0011] The magnetic locking system includes an electro-permanent magnet and a load sensor. The load sensors are arranged on both sides of the clamp to detect the loading state of the workpiece. The electro-permanent magnet is arranged on the upper side of the clamp to attract the workpiece when the magnet is energized.

[0012] The lifting detection system includes a material passing sensor, an in-place sensor and a weighing sensor. The material passing sensor is arranged at the clamp to detect whether the workpiece passes between the two clamp legs. The in-place sensor is arranged on the upper part of the clamp legs to detect whether the workpiece is clamped in place when the two clamps are close to clamp the workpiece. The weighing sensor is arranged at the connection between the lifting mechanism and the main beam to measure the lifting weight.

[0013] Furthermore, the intelligent lifting equipment also includes a lifting equipment PLC, which is electrically connected to the X-axis driving component, the Y-axis driving component, the rotation driving component, the lifting driving component, the safety protection system, the magnetic locking system, and the lifting detection system.

[0014] Furthermore, the intelligent lifting equipment also includes a pneumatic locking system, the pneumatic locking mechanism includes a pneumatic guide rail lock, a pressure detection sensor and a solenoid valve, an X-axis linear guide rail and an X-axis slide seat slidably installed on the X-axis linear guide rail are provided on the clamping beam, the top of the clamp leg is connected to the X-axis slide seat, and compressed air is supplied to the pneumatic guide rail lock through a pneumatic pipeline by an air compressor installed on an external traveling trolley. The solenoid valve and the pressure detection sensor are arranged on the pneumatic pipeline. The pressure detection sensor is used to detect the pneumatic pipeline pressure. The pneumatic guide rail lock is arranged on the linear guide rail and connected to the clamp leg slide seat, and is used to be unlocked and locked by the solenoid valve.

[0015] Furthermore, the intelligent lifting device also includes a motor positioning control system. The X-axis driving component, the Y-axis driving component and the rotation driving component are all reduction motors. The motor positioning control system includes a proximity sensor and a distance measuring sensor. The proximity sensor is arranged on the upper side of the clamp leg and the upper side of the clamping beam. The lower side of the clamping beam and the lower side of the main beam are respectively provided with sensing blocks at the ends of the two-way stroke of the X-axis driving component and the two-way stroke of the Y-axis driving component. The proximity sensor cooperates with the sensing block to detect whether the X-axis driving component and the Y-axis driving component have reached the end of the motion stroke; the distance measuring sensor is a reflective laser distance measuring sensor. The distance measuring sensor is arranged on the upper side of the clamp leg and the upper side of the clamping beam. The distance measuring sensor lasers of the two clamp legs on the same clamping beam emit toward each other, and the distance measuring sensor lasers on the two clamping beams emit toward each other. Reflectors are arranged in the middle position of the lower side of the clamping beam and the middle position of the lower side of the main beam. The distance measuring sensor is used to cooperate with the reflector to measure the movement displacement of the clamp legs and the clamping beam.

[0016] Furthermore, the motor positioning control system also includes a rotary encoder, which is used to measure and position the rotation angle of the rotary drive component.

[0017] Furthermore, the lifting mechanism includes a folding arm and four movable pulleys. The lifting drive component includes a winch for installation on a traveling trolley. The four movable pulleys are respectively arranged at the corners of the main beam frame. The winch is connected to the movable pulley through a steel wire rope to drive the sling body to move up and down. The folding arm is connected between the main beam frame and the traveling trolley.

[0018] Furthermore, the weighing sensor is located at the central axis of the movable pulley.

[0019] Furthermore, a flashing alarm light is provided on the main body of the hoist, and the flashing alarm light is controlled by the PLC of the hoist to display and warn the load state of the clamp, the clamping state of the clamp legs, the magnetization state of the electropermanent magnet, and the PLC control state.

[0020] A lifting method comprises the following steps:

[0021] S1: The host computer sends the external length, width, height and weight information of the workpiece to be transported to the hoist PLC;

[0022] S2: Drive the main beam frame and the clamp leg to move a preset distance, and control the main beam to rotate a certain angle relative to the main beam frame, and verify the moving distance and rotation angle through the proximity sensor, distance sensor and rotary encoder; control the pneumatic guide rail lock to unlock when the clamp leg starts to move, and control the pneumatic guide rail lock to lock the X-axis linear guide when the clamp leg stops moving;

[0023] S3: Drive the intelligent spreader to descend, and the material passing sensor detects that the workpiece passes between the two clamps and feeds back the material passing signal; after the spreader body descends to the set height at the bottom of the workpiece, the clamp legs are driven to move toward each other in the X direction to clamp, and when the clamp legs touch the outside of the workpiece, the in-place sensor feeds back the clamping signal and stops clamping the clamp legs, and the pneumatic guide rail locks the clamp legs and the X-axis linear guide rail;

[0024] S4: Drive the intelligent lifting device to rise at a low speed. When the clamp moves upward, it contacts the bottom of the workpiece and triggers the load sensor. The load sensor feeds back the load signal. The lifting device PLC controls the electro-permanent magnet to magnetically attract the bottom surface of the workpiece. After the clamp contacts the bottom surface of the workpiece, the magnetic attraction action is completed.

[0025] S5: The PLC of the hoisting device superimposes the material passing signal, clamping signal, load signal and the magnetic signal on the electromagnet to comprehensively determine whether the workpiece is firmly grasped, and then checks the weight through the weighing sensor, and then sends a lifting signal to the crane for lifting;

[0026] S6: The intelligent lifting device carries the workpiece to the destination, executes the motion instruction and the dropping action opposite to the clamping action, first controls the demagnetization of the permanent magnet and then controls the clamp legs to fall to the specified height, so that the clamp is separated from the workpiece, drives the clamp legs to open away to the specified distance along the X direction, controls the intelligent lifting device to rise to the set height, and completes a handling process;

[0027] S7: Repeat the above steps S1-S6 to carry out the next transport cycle.

[0028] Furthermore, the intelligent spreader is protected and avoids obstacles through the safety protection system when it moves. The ultrasonic sensor and laser obstacle avoidance sensor are used to detect whether there are obstacles in the vertical and horizontal paths of the intelligent spreader respectively. When the inclination sensor detects that the horizontal state of the main beam exceeds the set range, an alarm signal is issued and the driving operation and the movement of the spreader body are stopped in time.

[0029] Beneficial effects: The intelligent spreader provided by the present invention is used in conjunction with a crane and can solve the problem of automatic lifting of workpieces with irregular shapes and large weight variations, such as hydraulic support structural parts. The spreader body is integrated with a safety protection system, a lifting detection system, a magnetic locking system, a pneumatic locking system and a motor positioning control system. The spreader PLC realizes communication with the host computer, unified regulation of the spreader body and various subsystems, and the safety protection system realizes the safe obstacle avoidance function of the intelligent spreader during movement, thereby avoiding collisions and safety accidents during operation; a lifting detection system is set up, and the auxiliary clamp legs approach and clamp the workpiece in steps, automatically realizing reliable clamping, and selecting the trigger signals of each key node in the clamping action (material passing signal The clamp uses a magnetic signal, clamping signal, load signal, magnetic signal on the electromagnet and weight verification result of the weighing sensor as the criterion for whether the workpiece is grasped in place, fully ensuring the accuracy and stability of the clamping operation, and avoiding subsequent accidents caused by the workpiece not being grasped firmly or the workpiece being offset; a magnetic locking system is set on the clamp, which is different from the hangers on the market that clamp the workpiece inward to achieve a firm grasp. While the magnetic force is tightly adsorbed, it avoids strong clamping of the workpiece to cause damage to the surface of the workpiece, thereby achieving workpiece protection; the positioning and locking of the clamp legs are achieved through the pneumatic guide rail lock, ensuring that the clamp legs maintain locked clamping for a certain period of time; the motor positioning control system cooperates with the hanger PLC to verify and compare the actual movement displacement and angle of the reduction motor with the set value, so as to achieve accurate positioning and control of the motor movement;

[0030] In addition to the above technical effects, the present invention also has the following significant advantages:

[0031] 1) Intelligent spreader can grab hydraulic support structures of different sizes and structures at will

[0032] The workpiece has good applicability. During the transportation process, it can realize automatic interactive connection with the ground workstation (machining center, welding positioner, etc.), which is convenient for manipulating the direction of the workpiece. While facilitating the clamping of the positioner, it also improves the clamping positioning accuracy, which is conducive to controlling and improving the welding quality.

[0033] 2) Intelligent lifting equipment can carry workpieces for automatic, safe and efficient lifting operations. The structural system is highly integrated and can achieve 24-hour continuous unmanned operation with automatic driving, which greatly improves the automation level of the lifting system;

[0034] 3) The intelligent spreader automatically identifies the material being passed, clamps it in place, triggers the load and magnetically tightens it, preventing the operator from contacting the spreader and the workpiece during the entire process, fully ensuring personal safety and improving production safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a front view of a specific embodiment 1 of an intelligent spreader of the present invention;

[0036] Figure 2 is a side view of a specific embodiment 1 of an intelligent spreader of the present invention;

[0037] Figure 3 It is a structural explosion diagram of a specific embodiment 1 of an intelligent spreader of the present invention;

[0038] Figure 4 yes Figure 3 A magnified view of the structural details at center A;

[0039] Figure 5 It is a front view of the main beam frame in the specific embodiment 1 of an intelligent spreader of the present invention;

[0040] Figure 6 It is a structural exploded diagram of a main beam frame in a specific embodiment 1 of an intelligent spreader of the present invention;

[0041] Figure 7 It is a structural exploded diagram of the main beam in a specific embodiment 1 of an intelligent spreader of the present invention;

[0042] Figure 8 It is a structural exploded diagram of a clamping beam in a specific embodiment 1 of an intelligent spreader of the present invention;

[0043] Fig. 9 yes Figure 8 A magnified view of the structural details at B in the middle;

[0044] Fig.10 It is a structural schematic diagram of a clamp leg in a specific embodiment 1 of an intelligent lifting device of the present invention;

[0045] Fig.11 It is a structural exploded diagram of the clamp legs in a specific embodiment 1 of an intelligent lifting device of the present invention;

[0046] Fig.12 yes Fig.11 A magnified view of the structural details at C in the middle;

[0047] Fig.13 It is a structural schematic diagram of a movable pulley in a specific embodiment 1 of an intelligent lifting device of the present invention;

[0048] Fig.14 It is a structural explosion diagram of a movable pulley in a specific embodiment 1 of an intelligent lifting device of the present invention;

[0049] Figure numerals: 1-main beam frame; 2-main beam; 3-clamping beam; 4-clamp leg; 5-slewing support; 6-folding arm; 7-movable pulley; 8-rotation drive component; 9-Y-axis linear guide; 10-Y-axis drive component; 11-X-axis linear guide; 12-X-axis drive component; 13-X-axis slide block; 14-pneumatic guide rail lock; 15-clamp leg body; 16-clamp; 17-load sensor; 18-electropermanent magnet; 19-pressing block; 20-fixing block; 21-spring bracket; 22-reset spring; 23- Travel switch; 24-wheel body; 25-weighing sensor; 26-pulley bearing; 27-laser obstacle avoidance sensor; 28-tilt sensor; 29-proximity sensor; 30-in-place sensor; 31-sensing block; 32-distance sensor; 33-ultrasonic sensor; 34-flashing alarm light; 35-reflector; 36-Y-axis screw; 37-Y-axis nut; 38-Y-axis slide; 39-X-axis screw; 40-X-axis nut; 41-X-axis slide; 42-connecting plate on clamp leg; 43-feeding sensor. DETAILED DESCRIPTION

[0050] The present invention is described in detail below with reference to the accompanying drawings.

[0051] Specific embodiment 1 of an intelligent spreader of the present invention:

[0052] The intelligent lifting device of the present invention comprises a lifting device body, a safety protection system, a lifting detection system, a magnetic locking system, a lifting device PLC, a pneumatic locking system and a motor positioning control system. Figure 1-Figure 5 As shown, the main body of the spreader includes a main beam frame 1, a main beam 2, a clamping beam 3 and a clamp leg 4 which are arranged in sequence from top to bottom. The main beam frame 1 is connected to the trolley through a lifting mechanism and moves up and down under the action of the lifting drive component; in this embodiment, the lifting mechanism includes a folding arm 6 and four movable pulleys 7. The lifting drive component is mainly a winch installed on the trolley. The four movable pulleys 7 are respectively arranged at the corners of the main beam frame 1 to ensure that the main beam frame is evenly stressed and rises steadily during the lifting process. The winch is connected to the movable pulley through a wire rope and drives the spreader body to move up and down during operation. The folding arm is connected between the main beam frame 1 and the trolley and is extended and retracted as the spreader body rises and falls, playing a role in stability and anti-swaying.

[0053] The lower side of the main beam frame 1 is rotatably connected to the main beam 2 through a slewing support 5, and a rotating driving component 8 for driving the main beam 2 to rotate horizontally is provided at the main beam frame 1. Figure 6 As shown, the rotating drive component 8 is a reduction motor, wherein the inner ring of the slewing support 5 is connected to the main beam frame 1, and the outer ring is connected to the main beam 2, the outer ring of the slewing support 5 is connected to the outer gear ring, and the output end of the rotating drive component 8 drives the outer gear ring to rotate through the gear, thereby causing the main beam 2 to rotate horizontally relative to the main beam frame 1.

[0054] Two clamping beams 3 are installed at the lower sides of both ends of the main beam 2, and are vertically distributed to the main beam. A Y-direction driving component 10 for driving the clamping beams 3 to move is provided on the main beam 2. Figure 7 As shown, the Y-direction driving component 10 is arranged in the middle position of the length direction of the main beam 2 and is a reduction motor; two pairs of Y-direction lead screw nut transmission mechanisms and a Y-direction linear guide 9 extending along the length direction of the main beam 2 are arranged inside the main beam 2, and the Y-direction lead screw nut transmission mechanism includes a Y-direction screw 36 and a Y-direction nut 37, and the Y-direction slide 38 is threadedly matched with the Y-direction screw 36 through the Y-direction nut 37, and maintains a sliding guide match with the Y-direction linear guide 9. The upper end of the clamping beam 3 is connected to the Y-direction slide 38, and the Y-direction driving component 10 drives the two Y-direction screws 36 to rotate and respectively drives the two Y-direction slides 38 and the clamping beam 3 to move toward or away from each other along the Y-direction linear guide 9.

[0055] Two downward extending clamp legs 4 are movably mounted on the lower sides of both ends of the clamp beam 3. The clamp beam 3 is provided with an X-direction driving component 12 for driving the clamp legs 4 to move. The moving directions of the clamp beam 3 and the clamp legs 4 are perpendicular to each other in the horizontal plane. Figure 8 As shown, the X-axis driving component 12 is arranged in the middle of the length direction of the clamping beam 3, and is a reduction motor; two pairs of X-axis screw nut transmission mechanisms and an X-axis linear guide 11 extending along the length direction of the clamping beam 3 are arranged inside the clamping beam 3. The X-axis screw nut transmission mechanism includes an X-axis screw 39 and an X-axis nut 40. The X-axis slide 41 is threadedly engaged with the X-axis screw 39 through the X-axis nut 40, and is connected to the X-axis slide 13 to maintain sliding guide engagement with the X-axis linear guide 11. Fig.10 As shown, the tongs leg 4 includes a tongs leg body 15, a clamp 16 and a tongs leg upper connecting plate 42, wherein the tongs leg body is connected to the X-direction slide 41 through the tongs leg upper connecting plate 42, and the X-direction driving component 12 drives the two X-direction screws 39 to rotate to respectively realize the two X-direction slides 41 and the tongs leg 4 to move toward or away from each other along the X-direction linear guide 11, and the clamp 16 is located at the bottom of the tongs leg, and the clamps 16 of the two tongs legs on the same clamping beam 3 are arranged facing each other. When lifting, the tongs leg body 15 is used to clamp the outside of the workpiece, and the clamp 16 is used to support the bottom of the workpiece and lift the workpiece.

[0056] The safety protection system is used to detect the operating status of the spreader body to ensure safe and barrier-free operation of the spreader body. The safety protection system includes an ultrasonic sensor 33, a laser obstacle avoidance sensor 27 and an inclination sensor 28. Figure 1 and Figure 7As shown, the laser obstacle avoidance sensor 27 is installed on both sides of the main beam 2 to form a fan-shaped detection protection area, which is used to detect whether there are obstacles on both sides of the hoist body. The tilt sensor 28 is installed on the main beam 2 and is used to measure the horizontal state of the main beam 2. The tilt sensor 28 uses a 3-axis tilt sensor to monitor the horizontal state of the hoist body in real time by collecting the angular velocity values, acceleration values ​​and speed values ​​of the X-axis, Y-axis and Z-axis. Once the tilt sensor detects that the horizontal state of the main beam exceeds the set range, it will issue an alarm signal and stop the operation of the crane and the action of the hoist body in time. Fig.11 As shown, the ultrasonic sensor 33 is arranged at the bottom of the clamp leg 4 and is used to detect the height position of the sling body. Once a large sudden change in the distance between the clamp leg and the ground is detected during the descent process, the descent is immediately slowed down and stopped.

[0057] The magnetic locking system includes an electropermanent magnet 18 and a load sensor 33. Fig.10 and 11 As shown, the electro-permanent magnet 18 is arranged on the upper side of the clamp 16, and is used to attract the workpiece when the magnet is energized. The load sensor 33 is arranged on both sides of the clamp, and is used to detect the loading state of the workpiece. The specific structure is as follows Fig.12 As shown, the load sensor 33 includes an outer baffle, a pressure block 19, a fixed block 20, a spring support 21, a reset spring 22 and a travel switch 23. The fixed block 20 is fixed on the clamp 16, the pressure block 19 is connected to the fixed block 20 by sliding up and down, the spring support 21 is arranged below the pressure block 19 and connected to the pressure block 19 through the reset spring 22, the top of the pressure block 19 has a pressure-bearing part, the travel switch 23 is arranged on the clamp 16 at a position below the pressure-bearing part, and the outer baffle is arranged on the outside of the pressure block, the reset spring and the travel switch to prevent accidental touch protection. The pressure block 19 protrudes from the upper surface of the clamp 16 under the action of the reset spring 22 without external pressure. When the workpiece is supported on the clamp, that is, the workpiece is loaded on the clamp, the pressure block 19 is pressed down by the gravity of the workpiece and triggers the travel switch 23, sending a load signal to the hanger PLC.

[0058] The lifting detection system is mainly used to detect whether the workpiece is lifted in place, including a material passing sensor 43, a position sensor 30 and a weighing sensor 25. Fig.11 As shown, the material passing sensor 43 is arranged at the clamp leg 16 and is used to detect whether the workpiece passes between the two clamp legs. The material passing sensor 43 adopts a through-beam type micro photoelectric sensor. When a workpiece passes between the two clamps, the material passing sensor 43 detects the workpiece and feeds back a material passing signal. Figure 3-Figure 4 , Figure 8-Figure 9As shown, the in-position sensor 30 is arranged on the upper part of the clamp leg 4, i.e., on the clamp leg upper connecting plate 42. It adopts a diffuse reflection laser distance sensor to detect whether the clamp legs are in place when the two clamp legs are close to clamp the workpiece. When the clamp legs touch the workpiece, the in-position sensor 30 feeds back the in-position signal to the hoisting device PLC. The weighing sensor 25 is arranged at the connection between the lifting mechanism and the main beam frame to measure the hoisting weight. Figure 13-Figure 14 As shown, the movable pulley includes a wheel frame and a wheel body 24. The weighing sensor 25 is arranged at the central axis of the wheel body 24 and is rotatably connected to the wheel body 24 through the pulley bearing 26. The weighing sensor adopts a shear pin type. Its working principle is that the metal foil resistor is deformed after being subjected to shear force / pressure, and its resistance value changes accordingly. After processing, an analog signal is generated and then the required weight data is generated through an algorithm. The weighing instrument collects the analog signals of the four weighing sensors, measures the weight values ​​of the four weighing points, and finally calculates the total weight value of the hoisting and the difference in the eccentric load weight between the four measuring points, and transmits the data to the sling PLC. The sling PLC compares the collected weight data with the data given by the host computer. If it meets the error range, the next action instruction will be executed. If it does not meet the requirements, the sling will stop and issue an alarm message to indicate that the weighing does not meet the requirements. Similarly, when the weight value deviation of the four measuring points exceeds the set range, the sling will stop and issue an alarm message to indicate that the eccentric load is too large.

[0059] The pneumatic locking mechanism is used to ensure the clamping safety of the clamp legs in the X direction, including a pneumatic guide rail lock 14, a pressure detection sensor and a solenoid valve. The air compressor installed on the external trolley supplies compressed air to the pneumatic guide rail lock 14 through the pneumatic pipeline. The solenoid valve and the pressure detection sensor are set on the pneumatic pipeline. The solenoid valve is controlled by the spreader PLC to control the on and off of the compressed air in the pneumatic pipeline. The pressure detection sensor is used to detect the pressure of the pneumatic pipeline. When the pressure value of the pneumatic pipeline is less than the safety threshold, an alarm signal is sent to the spreader PLC to stop the clamping action urgently. Figure 8-Figure 9 As shown, the pneumatic guide rail lock 14 is arranged on the X-axis linear guide rail 11 and connected to the X-axis slide 41. It can be clamped by compressed air to clamp the X-axis linear guide rail 11, so that the clamp leg 4 can lock and clamp the workpiece; when the solenoid valve is closed and the air supply is stopped, the locking effect of the pneumatic guide rail lock 14 on the X-axis linear guide rail 11 is disconnected, the pneumatic guide rail lock 14 is unlocked, and the clamp leg 4 can continue to move.

[0060] In order to achieve accurate control and positioning of the movement of each reduction motor in the intelligent lifting device, a motor positioning control system is also provided. The motor positioning control system includes a proximity sensor 29, a distance sensor 32 and a rotary encoder, such as Figure 3-4 , Figure 8-Figure 9As shown, proximity sensors 29 are provided on the upper side of the clamp leg 4 and the upper side of the clamping beam 3. Correspondingly, sensing blocks 31 are provided on the lower side of the clamping beam 3 and the lower side of the main beam 2 at the ends of the two-way travel of the X-axis driving component and the two-way travel of the Y-axis driving component. The proximity sensors 29 and the sensing blocks 31 cooperate with each other to detect whether the X-axis driving component and the Y-axis driving component have reached the end of the movement travel. The purpose is to limit the movement travel of the X-axis driving component and the Y-axis driving component. Once the proximity sensor 29 touches the corresponding sensing block 31, the corresponding reduction motor reaches the maximum travel. In order to prevent mechanical obstruction, the hoisting device PLC immediately controls the reduction motor to stop the brake.

[0061] The distance measuring sensor 32 is a reflective laser distance measuring sensor, such as Figure 8 As shown, a distance sensor 32 is provided on the upper side of the clamp leg 4 and the upper side of the clamp beam 3. The lasers of the distance sensors 32 of the two clamp legs 4 on the same clamp beam 3 are emitted toward each other, and the lasers of the distance sensors 32 on the two clamp beams 3 are emitted toward each other. Correspondingly, a reflector 35 is provided at the middle position of the lower side of the clamp beam 3 and the middle position of the lower side of the main beam 2. The distance sensor 32 is used to cooperate with the reflector 35 to measure the movement displacement of the clamp leg 4 and the clamp beam 3, that is, the travel distance of the X-direction drive component and the Y-direction drive component. A rotary encoder is provided to measure and position the rotation angle of the rotary drive component. The hoist PLC compares the feedback data of the distance sensor 32 with the set value, combines direct torque control, and controls the motor torque and speed according to the real-time action displacement of the motor, so as to realize the positioning control of the motor and the precise control of the hoist movement.

[0062] In addition, a four-color flashing alarm light 34 is provided on the clamping beam 3. The flashing alarm light 34 is controlled by the spreader PLC to display and warn the clamp load state, the clamp leg clamping state, the electro-permanent magnet magnetization state, and the PLC control state, so that the operator can timely discover abnormal operation when the intelligent spreader is running. The spreader PLC in the present invention is electrically connected to the X-axis drive component, the Y-axis drive component, the rotation drive component, the lifting drive component, the safety protection system, the magnetic locking system, the lifting detection system, the pneumatic locking system, and the motor positioning control system, and communicates with the host computer, receives the host computer instructions, and cooperates with the driving to perform actions. In addition to executing the task, the spreader PLC monitors the compliance of the task data in real time during the execution of the task. Once an abnormality is found, the movement is immediately cut off. The spreader PLC sends the movement data to the host computer, which is convenient for the host computer to comprehensively monitor the movement state of the intelligent spreader and conduct comprehensive equipment deployment.

[0063] Based on the above-mentioned intelligent lifting device, the present invention also provides a lifting method, comprising the following steps:

[0064] S1: The host computer sends the external length, width, height and weight information of the workpiece to be transported to the hoist PLC.

[0065] S2: Drive the main beam frame and the clamp leg to move a preset distance, and control the main beam to rotate a certain angle relative to the main beam frame, and verify the moving distance and rotation angle through the proximity sensor, distance sensor and rotary encoder; control the pneumatic guide rail lock to unlock when the clamp leg starts to move, and control the pneumatic guide rail lock to lock the X-axis linear guide when the clamp leg stops moving.

[0066] S3: Drive the intelligent hoist to descend, and the material passing sensor detects that the workpiece passes between the two clamps and feeds back the material passing signal; after the hoist body descends to the set height at the bottom of the workpiece, the clamp legs are driven to move toward each other along the X direction to clamp, and when the clamp legs touch the outside of the workpiece, the in-place sensor feeds back the clamping signal and stops clamping the clamp legs, and the pneumatic guide rail locks the clamp legs and the X-axis linear guide rail.

[0067] S4: Drive the intelligent hoist to rise at a low speed. When the clamp moves upward, it contacts the bottom of the workpiece and triggers the load sensor. The load sensor feeds back the load signal. The hoist PLC controls the electro-permanent magnet to magnetically attract the bottom surface of the workpiece and completes the magnetic attraction action after the clamp contacts the bottom surface of the workpiece.

[0068] S5: The hoist PLC superimposes the material passing signal, clamping signal, load signal and the magnetic signal on the electromagnet to comprehensively determine that the workpiece is firmly grasped, and then checks the weight through the weighing sensor, and then sends a lifting signal to the crane for lifting.

[0069] S6: The intelligent lifting device carries the workpiece to the destination, executes the motion instruction and the blanking action opposite to the clamping action, first controls the demagnetization of the permanent magnet and then controls the clamp legs to fall to the specified height, so that the clamp is separated from the workpiece, drives the clamp legs to open away to the specified distance along the X direction, controls the intelligent lifting device to rise to the set height, and completes a transportation process.

[0070] S7: Repeat the above steps S1-S6 to carry out the next transport cycle.

[0071] In steps S1-S7, the intelligent spreader is protected and avoids obstacles through the safety protection system when it moves. The ultrasonic sensor and laser obstacle avoidance sensor are used to detect whether there are obstacles in the vertical and horizontal paths of the intelligent spreader respectively. When the inclination sensor detects that the horizontal state of the main beam exceeds the set range, an alarm signal is issued and the driving operation and the movement of the spreader body are stopped in time.

[0072] The intelligent spreader and the lifting method provided by the present invention are used in conjunction with a crane when in use, and can solve the problem of automatic lifting of workpieces with irregular shapes and large weight variations, such as hydraulic support structural parts. A safety protection system, a lifting detection system, a magnetic locking system, a pneumatic locking system and a motor positioning control system are integrated on the spreader body. The communication with the host computer, the unified regulation of the spreader body and each subsystem are realized through the spreader PLC. The safe obstacle avoidance function of the intelligent spreader during movement is realized through the safety protection system to avoid collisions and safety accidents during operation. A lifting detection system is set up, and the auxiliary clamp legs approach and clamp the workpiece in steps to automatically realize reliable clamping, and select the trigger signals of each key node in the clamping action (material passing The clamp uses a magnetic force locking system to detect whether the workpiece is firmly grasped or not, which is different from the slings on the market that clamp the workpiece inward to achieve a firm grasp. While the magnetic force is tightly adsorbed, it avoids damage to the surface of the workpiece by clamping the workpiece too hard, thereby achieving workpiece protection. The pneumatic guide rail lock is used to position and lock the clamp legs, ensuring that the clamp legs remain locked and clamped for a certain period of time. The motor positioning control system cooperates with the sling PLC to verify and compare the actual displacement and angle of the reduction motor with the set value, thereby achieving accurate positioning and control of the motor movement.

[0073] Based on the above technical effects, the present invention can also achieve the following advantages:

[0074] 1. The intelligent lifting device can grab hydraulic support structural parts of different dimensions and structural forms at will, and has good applicability to workpieces. It can realize automatic interactive connection with ground workstations (machining centers, welding positioners, etc.) during transportation, which is convenient for manipulating the direction of workpieces and clamping the positioners;

[0075] 2. The intelligent lifting device can carry workpieces for automatic, safe and efficient lifting operations. The structural system is highly integrated and can achieve 24-hour continuous unmanned operation with automatic driving, which greatly improves the automation level of the lifting system;

[0076] 3. During the process, the intelligent spreader automatically identifies the material, clamps it in place, triggers the load and tightens it magnetically, preventing the operator from contacting the spreader and the workpiece, fully ensuring personal safety and improving production safety.

[0077] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent spreader, characterized in that: It consists of the lifting device body, safety protection system, lifting detection system, magnetic locking system, and motor positioning control system; The main body of the hoist comprises a main beam frame, a main beam, a clamping beam and clamp legs. The main beam frame is used to be connected with the traveling trolley through a lifting mechanism and is driven by a lifting driving component to move up and down. The lower side of the main beam frame is rotatably connected with the main beam through a slewing support. A rotating driving component for driving the main beam to rotate horizontally is arranged at the main beam frame. Two clamping beams vertically distributed to the main beam are movably installed at the lower side of both ends of the main beam. A Y-direction driving component for driving the clamping beam to move is arranged on the main beam. Two clamping legs extending downward are movably installed at the lower side of both ends of the clamping beam. An X-direction driving component for driving the clamping legs to move is arranged on the clamping beam. The moving direction of the clamping beam and the moving direction of the clamping legs are perpendicular to each other in a horizontal plane. The clamping legs comprise a clamping leg body and a clamp located at the bottom of the clamping leg. During lifting, the clamping leg body is used to clamp the outer side of the workpiece, and the clamp is used to contact and lift the bottom of the workpiece. The safety protection system is used to detect the operating status of the spreader body, including ultrasonic sensors, laser obstacle avoidance sensors and inclination sensors. The laser obstacle avoidance sensors are installed on both sides of the main beam to detect whether there are obstacles on both sides of the spreader body. The ultrasonic sensor is installed at the bottom of the clamp leg to detect the height position of the spreader body. The inclination sensor is installed on the main beam to detect the horizontal state of the main beam. The magnetic locking system includes an electro-permanent magnet and a load sensor. The load sensors are arranged on both sides of the clamp to detect the loading state of the workpiece. The electro-permanent magnet is arranged on the upper side of the clamp to attract the workpiece when the magnet is energized. The lifting detection system includes a material passing sensor, an in-place sensor and a weighing sensor. The material passing sensor is arranged at the clamp to detect whether the workpiece passes between the two clamp legs. The in-place sensor is arranged at the upper part of the clamp legs to detect whether the two clamps are clamped in place when the workpiece is clamped. The weighing sensor is arranged at the connection between the lifting mechanism and the main beam frame to measure the lifting weight. The X-axis driving component, the Y-axis driving component and the rotating driving component are all reduction motors. The motor positioning control system includes a proximity sensor and a distance measuring sensor. The proximity sensor is arranged on the upper side of the clamp leg and the upper side of the clamping beam. The lower side of the clamping beam and the lower side of the main beam are respectively provided with sensing blocks at the ends of the two-way travel of the X-axis driving component and the two-way travel of the Y-axis driving component. The proximity sensor cooperates with the sensing block to detect whether the X-axis driving component and the Y-axis driving component have reached the end of the motion travel. The distance measuring sensor is a reflective laser distance measuring sensor. The distance measuring sensor is arranged on the upper side of the clamp leg and the upper side of the clamping beam. The distance measuring sensor lasers of the two clamp legs on the same clamping beam emit toward each other, and the distance measuring sensor lasers on the two clamping beams emit toward each other. Reflectors are arranged at the middle position of the lower side of the clamping beam and the middle position of the lower side of the main beam. The distance measuring sensor is used to cooperate with the reflector to measure the movement displacement of the clamp leg and the clamping beam.

2. The intelligent spreader according to claim 1, characterized in that: It also includes a hoisting device PLC, which is electrically connected to an X-axis driving component, a Y-axis driving component, a rotation driving component, a lifting driving component, a safety protection system, a magnetic locking system, and a lifting detection system.

3. An intelligent spreader as claimed in claim 1 or 2, characterized in that: It also includes a pneumatic locking system, the pneumatic locking mechanism includes a pneumatic guide rail lock, a pressure detection sensor and a solenoid valve, an X-axis linear guide rail and an X-axis slide seat slidably installed on the X-axis linear guide rail are arranged on the clamping beam, the top of the clamp leg is connected to the X-axis slide seat, and compressed air is supplied to the pneumatic guide rail lock through a pneumatic pipeline by an air compressor installed on an external traveling trolley, the solenoid valve and the pressure detection sensor are arranged on the pneumatic pipeline, the pressure detection sensor is used to detect the pneumatic pipeline pressure, the pneumatic guide rail lock is arranged on the linear guide rail and connected to the clamp leg slide seat, and is used to be unlocked and locked by the solenoid valve.

4. The intelligent spreader according to claim 3, characterized in that: The motor positioning control system also includes a rotary encoder, which is used to measure and position the rotation angle of the rotary drive component.

5. The intelligent spreader according to claim 4, characterized in that: The lifting mechanism includes a folding arm and four movable pulleys. The lifting drive component includes a winch for installation on a traveling trolley. The four movable pulleys are respectively arranged at the corners of the main beam frame. The winch is connected to the movable pulley through a wire rope to drive the hoist body to move up and down. The folding arm is connected between the main beam frame and the traveling trolley.

6. The intelligent spreader according to claim 5, characterized in that: The weighing sensor is located at the central axis of the movable pulley.

7. The intelligent spreader according to claim 5, characterized in that: A flashing alarm light is provided on the main body of the hoist. The flashing alarm light is controlled by the PLC of the hoist to display and warn the clamp load status, clamp leg clamping status, electro-permanent magnet magnetization status and PLC control status.

8. A lifting method using the intelligent lifting device according to any one of claims 1 to 7, characterized in that: The steps include: S1: The host computer sends the external length, width, height and weight information of the workpiece to be transported to the hoist PLC; S2: Drive the main beam frame and the clamp leg to move a preset distance, and control the main beam to rotate a certain angle relative to the main beam frame, and verify the moving distance and rotation angle through the proximity sensor, distance sensor and rotary encoder; control the pneumatic guide rail lock to unlock when the clamp leg starts to move, and control the pneumatic guide rail lock to lock the X-axis linear guide when the clamp leg stops moving; S3: Drive the intelligent spreader to descend, and the material passing sensor detects that the workpiece passes between the two clamps and feeds back the material passing signal; after the spreader body descends to the set height at the bottom of the workpiece, the clamp legs are driven to move toward each other in the X direction to clamp, and when the clamp legs touch the outside of the workpiece, the in-place sensor feeds back the clamping signal and stops clamping the clamp legs, and the pneumatic guide rail locks the clamp legs and the X-axis linear guide rail; S4: Drive the intelligent lifting device to rise at a low speed. When the clamp moves upward, it contacts the bottom of the workpiece and triggers the load sensor. The load sensor feeds back the load signal. The lifting device PLC controls the electro-permanent magnet to magnetically attract the bottom surface of the workpiece. After the clamp contacts the bottom surface of the workpiece, the magnetic attraction action is completed. S5: The PLC of the hoisting device superimposes the material passing signal, clamping signal, load signal and the magnetic signal on the electromagnet to comprehensively determine whether the workpiece is firmly grasped, and then checks the weight through the weighing sensor, and then sends a lifting signal to the crane for lifting; S6: The intelligent lifting device carries the workpiece to the destination, executes the motion instruction and the dropping action opposite to the clamping action, first controls the demagnetization of the permanent magnet and then controls the clamp legs to fall to the specified height, so that the clamp is separated from the workpiece, drives the clamp legs to open away to the specified distance along the X direction, controls the intelligent lifting device to rise to the set height, and completes a handling process; S7: Repeat the above steps S1-S6 to carry out the next transport cycle.

9. A lifting method as claimed in claim 8, characterized in that: When the smart spreader moves, it is protected and avoids obstacles through the safety protection system. The ultrasonic sensor and laser obstacle avoidance sensor are used to detect whether there are obstacles in the vertical and horizontal paths of the smart spreader respectively. When the inclination sensor detects that the horizontal state of the main beam exceeds the set range, an alarm signal is issued and the driving operation and the movement of the spreader body are stopped in time.

Images