Self-adaptive lifting system

Abstract

The present invention discloses a sling system with self-adaptive lifting points, which relates to the technical field of heavy object lifting, and includes a frame-type sling and a control module, wherein the frame-type sling includes a sling frame, a floating sling beam, a floating sling point, a first oil cylinder and a second oil cylinder, wherein a plurality of floating sling beams are provided and arranged and distributed along the length direction of the sling frame, the length of the floating sling beam extends along the width direction of the sling frame, the floating sling point is connected to the floating sling beam in a sliding manner and the sliding direction is parallel to the length direction of the floating sling beam, the first oil cylinder is installed on the sling frame, and the telescopic end of the first oil cylinder is fixedly connected to the floating sling beam, the second oil cylinder is installed on the floating sling beam, and the telescopic end of the second oil cylinder is fixedly connected to the floating sling point, the floating sling point is installed with a distance sensor, and the first oil cylinder, the second oil cylinder and the distance sensor are electrically connected to the control module respectively. The present application can improve the convenience of use of the sling.

Description

Technical Field

[0001] The present application relates to the technical field of heavy object lifting, and in particular to a lifting device system with adaptive lifting points. Background Art

[0002] When heavy objects, especially large heavy objects such as containers, need to be moved, lifting equipment such as quay cranes and tower cranes are often used.

[0003] like Figure 1 As shown, the upper part is a front view of the sling, and the lower part is a top view of the sling; currently, the lifting points of slings on the market are mostly fixed. When lifting different products, it is necessary to manually change the position of the slings to adapt, which makes the lifting equipment relatively inconvenient to use. Therefore, this application proposes a new technical solution. Summary of the invention

[0004] In order to improve the ease of use of a sling, the present application provides a sling system with adaptive sling points.

[0005] The present application provides a sling system with self-adaptive sling points, which adopts the following technical solutions:

[0006] A sling system with self-adaptive lifting points, comprising a frame-type sling and a control module, wherein the frame-type sling comprises a sling frame, a floating sling beam, a floating sling point, a first oil cylinder and a second oil cylinder, wherein a plurality of floating sling beams are provided and are arranged and distributed along the length direction of the sling frame, the length of the floating sling beam extends along the width direction of the sling frame, the floating sling point is slidably connected to the floating sling beam and the sliding direction is parallel to the length direction of the floating sling beam, the first oil cylinder is installed on the sling frame, and the telescopic end of the first oil cylinder is fixedly connected to the floating sling beam, the second oil cylinder is installed on the floating sling beam, and the telescopic end of the second oil cylinder is fixedly connected to the floating sling point, the floating sling point is installed with a distance sensor, and the first oil cylinder, the second oil cylinder and the distance sensor are electrically connected to the control module respectively;

[0007] Wherein, the control module is configured as follows:

[0008] If the lifting equipment in place trigger information is received, the lifting point distribution data of the container is obtained;

[0009] Searching in a preset floating lifting point allocation scheme database based on the lifting point distribution data of the container to determine a matching floating lifting point allocation scheme;

[0010] Based on the floating lifting point allocation scheme, the target position of the floating lifting point is compared with the current floating lifting point position, and the corresponding cylinder 1 and cylinder 2 are controlled to move according to the comparison result and each floating lifting point is moved to the target position.

[0011] Optionally, it further includes brackets respectively fixedly connected to the two long side parts of the spreader frame, a linear motor installed on the bracket, and a distance sensor fixedly connected to the slide of the linear motor, wherein the detection end of the distance sensor faces the inner side of the spreader frame and is tilted downward, the linear motor and the distance sensor are respectively electrically connected to the control module, and the control module obtains the distribution data of the lifting points of the container, which includes:

[0012] If the lifting device is in place trigger information is received, the linear motor drives the distance measuring sensor to move according to the preset data collection route, and the distance value of the distance measuring sensor is recorded at the same time;

[0013] Record the distance value based on the time axis and generate a scanning waveform;

[0014] Compare the scanned waveform with a preset standard waveform diagram, and determine the type of the container based on the comparison result;

[0015] The preset database is searched according to the type of container to obtain the matching lifting point distribution position data.

[0016] Optionally, it further includes a suspension point force detection unit, the suspension point force detection unit is used to detect the force data of the floating suspension point, the suspension point force detection unit is electrically connected to the control module, and the control module is further configured as follows:

[0017] If the feedback signal from the cylinder 1 and the cylinder 2 after the floating suspension point position adjustment is received, the force data of each floating suspension point is obtained;

[0018] If the force data of the floating lifting point exceeds the preset force threshold in the area of ​​the sling frame, the response of the lifting action will be terminated and a preset alarm prompt will be output.

[0019] Optionally, the control module is further configured as:

[0020] If the force data of a floating hanging point exceeds the preset force threshold in the area of ​​the sling frame, the preset force threshold distribution area data of the sling frame is retrieved, and the floating hanging point is moved to another area where the force threshold is greater than the force threshold of the current position, and the movement rules include: distance priority rule.

[0021] Optionally, the control module is further configured as:

[0022] If a lifting demand instruction is received, the pre-connected port declaration database is searched based on the demand instruction to determine the matching container type and cargo information loaded in the container;

[0023] Based on the container type and cargo information, a preset estimated analysis is performed to obtain the overall estimated weight of the container and the estimated position of the lifting point that matches the estimated weight;

[0024] Based on the overall estimated weight of the container, the estimated position of the container's lifting points, and the current distribution position of the floating lifting points, the pre-adjustment parameters of each floating lifting point are calculated, and the cylinders 1 and 2 are used to drive each floating lifting point to move to the estimated position.

[0025] Optionally, the control module is further configured as:

[0026] If an alarm is generated, the container type, port declaration and stress data when the threshold is exceeded corresponding to the alarm are recorded, and an abnormality report is generated.

[0027] Optionally, the floating hanging beam is slidably connected to a slider, the telescopic end of the second oil cylinder is fixedly connected to the slider, the floating hanging point is fixedly connected to the slider, the hanging point force detection unit is a weighing sensor, and the hanging point force detection unit is arranged between the slider and the floating hanging point.

[0028] Optionally, it also includes a display, which is electrically connected to the control module. The control module is configured to: call a pre-stored three-dimensional model according to the container type, mark and update the position of the floating lifting point in the three-dimensional model, and display it through the display.

[0029] In summary, the present application includes the following beneficial technical effects: according to the different positions of the container lifting points, the actions of cylinder one and cylinder two are controlled respectively, and then the various floating lifting points on the sling frame are automatically adjusted so that the floating lifting points can adapt to the container lifting points, thereby improving the convenience of the sling. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the prior art.

[0031] Figure 2 It is a top view of the hanger frame of the embodiment of the present application.

[0032] Figure 3 It is a schematic diagram of the connection structure of the floating suspension point of an embodiment of the present application.

[0033] Figure 4 It is a schematic diagram of the control structure of an embodiment of the present application.

[0034] Figure 5 It is a side view of the bracket of the embodiment of the present application.

[0035] Explanation of the reference numerals: 1. sling frame; 2. floating sling point; 3. floating sling beam; 4. cylinder one; 5. cylinder two; 6. control module; 31. slider; 7. distance sensor; 8. bracket; 81. linear motor; 82. distance measuring sensor; 83. sling point force detection unit; 9. display. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1-5 This application is described in further detail.

[0037] The embodiment of the present application discloses a sling system with adaptive sling points.

[0038] Reference Figure 2 The sling system with self-adaptive lifting point includes a frame type sling and a control module 6, wherein the frame type sling includes a sling frame 1, a floating sling beam 3, a floating sling point 2, a cylinder 1 4 and a cylinder 2 5, wherein a plurality of floating sling beams 3 are provided, the length direction of the floating sling beam 3 is consistent with the width direction of the sling frame 1, a plurality of floating sling beams 3 are arranged and distributed along the length direction of the sling frame 1, and the bottom of the floating sling beam 3 is slidably connected to the upper surface of the sling frame 1 by setting a mounting slide block 31. A plurality of cylinders 1 4 are provided and the number is at least the same as the number of floating sling beams 3. In this embodiment, the number of cylinders 1 4 is twice the number of floating sling beams 3, and the cylinders 1 4 are evenly distributed on both sides of the length direction of the sling frame 1, wherein the cylinder body of the cylinder 1 4 is fixedly installed on the sling frame 1 by bolts, and the telescopic end of the cylinder 1 4 is fixed to the slide block 31 at the end of the floating sling beam 3, thereby driving the floating sling beam 3 to move along the length direction of the sling frame 1.

[0039] Reference Figure 3 and Figure 4 In this embodiment, multiple floating suspension points 2 are provided, and the floating suspension points 2 are provided along the length direction of the floating suspension beam 3. The upper surface of the floating suspension beam 3 is slidably connected with a slider 31, and the bottom of the floating suspension point 2 is installed on the slider 31. Two floating suspension points 2 are provided on one floating suspension beam 3. The cylinder body of the oil cylinder 2 5 is fixedly installed on the floating suspension beam 3 by bolts, and the telescopic end of the oil cylinder 2 5 is fixed on the slider 31 of the floating suspension point 2, thereby driving the floating suspension point 2 to move. A distance sensor 7 for detecting its position is installed on each floating suspension point 2. The oil cylinder 1 4, the oil cylinder 2 5 and the distance sensor 7 are electrically connected to the control module 6 respectively, and the control module 6 includes a PLC controller.

[0040] Reference Figure 4 and Figure 5 , the side walls on both sides of the length direction of the sling frame 1 are respectively fixedly connected with horizontal brackets 8 by bolts, and the brackets 8 are arranged along the length direction of the sling frame 1, and the brackets 8 are fixedly connected with linear motors 81 by bolts, and the slide of the linear motor 81 is fixedly installed with a distance sensor 82, and the detection end of the distance sensor 82 faces the inner side of the sling frame 1 and tilts downward. The linear motor 81 and the distance sensor 82 are respectively electrically connected to the control module 6.

[0041] Wherein, the control module 6 is configured as follows:

[0042] 1) If the lifting equipment is in place trigger information is received, the lifting point distribution data of the container is obtained;

[0043] It can be understood that the spreader in place trigger information means that the operator has moved the spreader to the top of the container, and then the operator triggers the button, indicating that the spreader is in place, and the corresponding container's lifting point distribution data is obtained.

[0044] 2) Based on the container's lifting point distribution data, search in the preset floating lifting point 2 allocation scheme database to determine a matching floating lifting point 2 allocation scheme;

[0045] It is understandable that, since the positions of the lifting points to be set for different types of containers are different, an adaptive floating lifting point 2 allocation scheme is generated according to the positions of the lifting points of different containers and is pre-stored in the database.

[0046] 3) Based on the floating lifting point 2 allocation plan, the target position of the lifting point is compared with the current position of the floating lifting point 2 (difference), and the corresponding cylinder 1 4 and cylinder 2 5 are controlled to move (extend or retract) according to the comparison result and each floating lifting point 2 is moved to the target position.

[0047] Through the above settings, according to different container lifting point positions, the actions of cylinder 1 4 and cylinder 2 5 are controlled respectively, and then the floating lifting points 2 on the spreader frame 1 are automatically adjusted so that the floating lifting points 2 can adapt to the container lifting points, thereby improving the convenience of the spreader.

[0048] The control module 6 obtains the lifting point distribution data of the container, which includes:

[0049] If the container arrival trigger information is received, the linear motor 81 drives the distance measuring sensor 82 to move according to the preset data collection route, and the distance value of the distance measuring sensor 82 is recorded at the same time;

[0050] Record the distance value based on the time axis and generate a scanning waveform;

[0051] Compare the scanned waveform with a preset standard waveform diagram, and determine the type of the container based on the comparison result;

[0052] The preset database is searched according to the type of container to obtain the matching lifting point distribution position data.

[0053] It can be understood that the linear motor 81 drives the distance measuring sensor 82 to slide along the length direction of the sling frame 1, and at the same time the distance measuring sensor 82 samples the distance value. After the data sampling is completed according to the expected data collection route, a scanning waveform is generated according to the sampled data, and the standard waveform diagram is compared to determine the type of container, and the container type-hanging point distribution position relationship data table pre-stored in the database is searched to obtain the current container's hanging point distribution position data.

[0054] Reference Figure 3 and Figure 4 Since the floating hanging point 2 can be moved, and the force strength at each position on the sling frame 1 is different, in order to prevent the floating hanging point 2 from being overstressed and causing the sling frame 1 to deform, the following is set: The system also includes a hanging point force detection unit 83, which is a weighing sensor and is installed between the slider 31 and the floating hanging point 2. It is used to detect the force data of the floating hanging point 2. The hanging point force detection unit 83 is electrically connected to the control module 6 and the control module 6 is configured as follows:

[0055] If the feedback signal from the oil cylinder 1 4 and the oil cylinder 2 5 after the position adjustment of the floating suspension point 2 is received, the force data of each floating suspension point 2 is obtained;

[0056] If the force data of the floating lifting point 2 exceeds the preset force threshold of the corresponding area of ​​the lifting device frame 1, the response of the lifting action is terminated and a preset alarm prompt is output.

[0057] It can be understood that the sling frame 1 is divided into multiple areas according to the size and weight of different sling frames 1, and the maximum force strength of the floating lifting point 2 in each area of ​​the sling frame 1 is calculated to form the force threshold distribution area data. When the weight detected by the weight sensor of the floating lifting point 2 is greater than the maximum force strength at this position of the sling frame 1, an alarm is issued and the lifting action is stopped. Example: The distance between the floating beam 3 and the center of the sling frame 1 is L. According to the force magnitude F at different positions of this sling frame 1, the maximum weight value Fmax of the lifting point in this area is set. If F>Fmax, the system will issue an alarm and stop the lifting action.

[0058] In order to adjust the position of the floating suspension point 2 as quickly as possible and resume operation after the lifting action is stopped, the control module 6 is further configured as follows:

[0059] If the force data of a floating hanging point 2 exceeds the preset force threshold in the area of ​​the sling frame 1, the preset force threshold distribution area data of the sling frame 1 is retrieved, and the floating hanging point 2 is moved to another area where the force threshold is greater than the force threshold of the current position, and the movement rules include: distance priority rule.

[0060] It can be understood that since the force thresholds in different areas of the sling frame 1 are different, the floating hanging point 2 that exceeds the force threshold will be moved toward another area with a larger force threshold. At the same time, the distance priority rule means that the closer the distance, the higher the priority, so the floating hanging point 2 is moved to an area with a relatively close distance, which will not affect the overall balance of the sling frame 1.

[0061] In another embodiment of the present application, in order to improve the adjustment efficiency of the floating suspension point 2 and shorten the adjustment time, the floating suspension point 2 is adjusted in advance, so the control module 6 is further configured as follows:

[0062] 1) If a lifting demand instruction is received, a search is performed in the pre-connected port declaration database based on the demand instruction to determine the matching container type and the cargo information loaded in the container; it is understandable that the lifting demand instruction can be on a preset human-computer interaction platform. Before lifting, the operator inputs the number of the specified container to be lifted, and searches the port declaration database according to the container number to be lifted to obtain the matching container type and the cargo information loaded in the container, and the cargo information includes the type of cargo and the weight of the cargo.

[0063] 2) Based on the container type and cargo information, a preset estimated analysis is performed to obtain the overall estimated weight of the container and the estimated position of the lifting point that matches the estimated weight; it can be understood that the weight of the corresponding container itself is searched in the pre-stored database according to the container type, so that the overall estimated weight of the container can be obtained by adding the weight of the container itself to the weight of the cargo. Since containers are usually pre-set with multiple lifting points with lifting rings, the appropriate lifting point position can be estimated according to the weight to be lifted.

[0064] 3) Based on the overall estimated weight of the container, the estimated position of the container's lifting point and the current distribution position of the floating lifting point 2, the pre-adjustment parameters of each floating lifting point 2 are calculated, and the cylinder 1 4 and the cylinder 2 5 drive each floating lifting point 2 to move to the estimated position.

[0065] Take two lifting points and two floating lifting points 2 of the container as an example: the coordinates of the estimated positions of the two lifting points of the container are (10, 1) and (20, 1) respectively. If the position coordinates of the floating lifting point 2 are (9, 1) and (15, 1), the preset parameters of the two floating lifting points 2 are: for the first point: one displacement in the X-axis direction; for the second point: five displacements in the X-axis direction.

[0066] Through the above-mentioned arrangement, before the sling is moved into position, the type of container and cargo information are obtained according to the number of the container to be lifted, and the pre-adjustment parameters of each floating lifting point 2 are calculated according to the maximum force strength that each area of ​​the sling frame 1 can withstand, so as to pre-adjust the estimated position of each floating lifting point 2, shorten the subsequent adjustment time, and prevent the floating lifting point 2 from being directly damaged when the container is actually lifted.

[0067] In order to better record the alarm situation, the control module 6 is also configured as follows:

[0068] If an alarm is generated, the container type, port declaration and stress data when the threshold is exceeded corresponding to the alarm are recorded, and an abnormality report is generated.

[0069] Reference Figure 4 In order to visualize the position of each floating lifting point 2 for easy observation by personnel, the system further includes a display 9, which is electrically connected to the control module 6. The control module 6 is configured to call a pre-stored three-dimensional model according to the container type, mark and update the position of the floating lifting point 2 in the three-dimensional model, and display it through the display 9.

[0070] It is understandable that each container type corresponds to a three-dimensional model and is pre-stored in the database, so that the three-dimensional model can be displayed through the display 9, so that the operator can see the position of the floating lifting point 2 more intuitively.

[0071] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A sling system with self-adaptive sling points, characterized in that: The invention comprises a frame-type sling and a control module (6), wherein the frame-type sling comprises a sling frame (1), a floating sling beam (3), a floating sling point (2), a first cylinder (4) and a second cylinder (5), wherein a plurality of the floating sling beams (3) are arranged and distributed along the length direction of the sling frame (1), the length of the floating sling beam (3) extends along the width direction of the sling frame (1), the floating sling point (2) is slidably connected to the floating sling beam (3) and the sliding direction is parallel to the length direction of the floating sling beam (3), the first cylinder (4) is installed on the sling frame (1), and the telescopic end of the first cylinder (4) is fixedly connected to the floating sling beam (3), the second cylinder (5) is installed on the floating sling beam (3), and the telescopic end of the second cylinder (5) is fixedly connected to the floating sling point (2), the floating sling point (2) is installed with a distance sensor (7), and the first cylinder (4), the second cylinder (5) and the distance sensor (7) are respectively electrically connected to the control module (6); Wherein, the control module (6) is configured as follows: If the lifting equipment in place trigger information is received, the lifting point distribution data of the container is obtained; Searching in a preset floating lifting point (2) allocation scheme database based on the lifting point distribution data of the container to determine a matching floating lifting point (2) allocation scheme; Based on the floating lifting point (2) allocation plan, the target position of the floating lifting point (2) is compared with the current position of the floating lifting point (2), and the corresponding cylinder 1 (4) and cylinder 2 (5) are controlled to move according to the comparison result to move each floating lifting point (2) to the target position; It also includes brackets (8) respectively fixedly connected to the two long side parts of the spreader frame (1), a linear motor (81) installed on the bracket (8), and a distance sensor (82) fixedly connected to the slide of the linear motor (81), wherein the detection end of the distance sensor (82) faces the inner side of the spreader frame (1) and is tilted downward, and the linear motor (81) and the distance sensor (82) are respectively electrically connected to a control module (6), and the control module (6) obtains the distribution data of the lifting points of the container, which includes: If the lifting device in place trigger information is received, the linear motor (81) is driven to move the distance measuring sensor (82) according to the preset data collection route, and the distance value of the distance measuring sensor (82) is recorded at the same time; Record the distance value based on the time axis and generate a scanning waveform; Compare the scanned waveform with a preset standard waveform diagram, and determine the type of the container based on the comparison result; The preset database is searched according to the type of container to obtain the matching lifting point distribution position data.

2. The self-adaptive sling system according to claim 1, characterized in that: It also includes a suspension point force detection unit (83), the suspension point force detection unit (83) is used to detect force data of the floating suspension point (2), the suspension point force detection unit (83) is electrically connected to the control module (6), and the control module (6) is further configured as follows: If a signal is received from the first cylinder (4) and the second cylinder (5) after the position adjustment of the floating suspension point (2) is completed, the force data of each floating suspension point (2) is obtained; If the force data of the floating lifting point (2) exceeds a preset force threshold value in the area of ​​the lifting device frame (1), the response of the lifting action is terminated and a preset alarm prompt is output.

3. The self-adaptive sling system according to claim 2, characterized in that: The control module (6) is further configured as: If the force data of a floating hanging point (2) exceeds the preset force threshold in the area of ​​the sling frame (1), the preset force threshold distribution area data of the sling frame (1) is retrieved, and the floating hanging point (2) is moved to another area where the force threshold is greater than the force threshold of the current position, and the movement rules include: distance priority rule.

4. The self-adaptive sling system according to claim 3, characterized in that: The control module (6) is further configured as: If a lifting demand instruction is received, the pre-connected port declaration database is searched based on the demand instruction to determine the matching container type and cargo information loaded in the container; Based on the container type and cargo information, a preset estimated analysis is performed to obtain the overall estimated weight of the container and the estimated position of the lifting point that matches the estimated weight; Based on the overall estimated weight of the container, the estimated position of the container's lifting point and the current distribution position of the floating lifting point (2), the pre-adjustment parameters of each floating lifting point (2) are calculated, and the cylinder 1 (4) and the cylinder 2 (5) are driven to move each floating lifting point (2) to the estimated position.

5. The self-adaptive sling system according to claim 4, characterized in that: The control module (6) is further configured as: If an alarm is generated, the container type, port declaration and stress data when the threshold is exceeded corresponding to the alarm are recorded, and an abnormality report is generated.

6. The self-adaptive sling system according to claim 2, characterized in that: The floating hanging beam (3) is slidably connected to a slider (31), the telescopic end of the second oil cylinder (5) is fixedly connected to the slider (31), the floating hanging point (2) is fixedly connected to the slider (31), the hanging point force detection unit (83) is a weighing sensor, and the hanging point force detection unit (83) is arranged between the slider (31) and the floating hanging point (2).

7. The self-adaptive sling system according to claim 4, characterized in that: It also includes a display (9), the display (9) being electrically connected to the control module (6), the control module (6) being configured to call a pre-stored three-dimensional model according to the container type, mark and update the position of the floating lifting point (2) in the three-dimensional model, and display it through the display (9).

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