Automatic positioning system for hoisting

Abstract

The invention relates to the technical field of automatic positioning, in particular to an automatic positioning system for hoisting. A lifting frame; the positioning mechanism is used for determining the moving path of the lifting hook, calculating the lifting moving path according to the space coordinates of the to-be-placed area detected by the laser emitting element, and adjusting the shape of the lifting frame so as to adjust the position of the lifting hook; when the lifting hook reaches the end point of the lifting movement path, the positioning accuracy is judged not to meet the requirement according to the laser reflectivity of the laser emitting element, and according to the detection results of the laser emitting element at different positions on the positioning sliding rail, secondary calibration is carried out on the space coordinates of the to-be-placed area; and the fine adjustment mechanism is used for adjusting the position of the lifting hook when the lifting piece is close to the to-be-placed area, and is also used for adjusting the position of the lifting hook on the adjusting slide rail according to the inclination angle of the lifting piece. The lifting work efficiency and the accuracy of the positioning system are improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic positioning, and in particular to an automatic hoisting positioning system. Background Art

[0002] In the existing technology, the automatic lifting positioning system is a system that uses modern information technology to achieve precise positioning of lifting operations. It usually includes key components such as sensor technology, wireless communication technology, data processing and analysis technology, and control technology. Through the integrated application of these technologies, the system can monitor the position, posture and load status of the lifting equipment in real time, and achieve precise lifting operations through automatic control technology. The existing automatic lifting positioning system combines laser scanning, visual recognition and other sensor technologies to obtain surrounding environment information, provide high-precision three-dimensional spatial positioning data, and ensure the accuracy and safety of lifting operations.

[0003] Chinese Patent Publication No.: CN114506771A discloses an automatic positioning tool for lifting, including: a fixed assembly for fixed connection with ship engine room equipment; a ball joint assembly, including a mounting seat and a movable part, the mounting seat is fixedly connected to the fixed assembly, and the movable part is ball-jointed with the mounting seat; a conical positioning part, whose large diameter section is fixedly connected to the movable part; a first strong magnet, fixedly connected to the end of the small diameter section of the conical positioning part; a second strong magnet, used for fixed connection with the equipment frame. It can be seen that the automatic positioning tool for lifting has the problem of reduced lifting work efficiency due to the inability to determine the lifting work path and reduced positioning accuracy during the lowering process due to the offset of the center of gravity of the object being retrieved. Summary of the invention

[0004] To this end, the present invention provides a method for overcoming the problems in the prior art of reduced hoisting efficiency due to the inability to determine the hoisting work path and reduced positioning accuracy during the lowering process due to the center of gravity offset of the object being retrieved.

[0005] To achieve the above object, the present invention provides a lifting automatic positioning system, comprising:

[0006] A hook is used to hook the lifting parts;

[0007] Lifting frame, used to adjust the position of the hook;

[0008] A positioning mechanism connected to the hanging frame to determine the moving path of the hook, comprising a laser emitting element arranged above the hanging frame to emit a laser beam to the position of the waiting area of ​​the hanging part and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element;

[0009] Wherein, the positioning mechanism is also used to calculate the hoisting movement path according to the spatial coordinates of the area to be placed detected by the laser emitting element, and adjust the shape of the hoisting frame to adjust the position of the hook, and when the hook reaches the end of the hoisting movement path, determine whether the positioning accuracy meets the requirements according to the laser reflectivity of the laser emitting element, and if it does not meet the requirements, perform secondary calibration on the spatial coordinates of the area to be placed according to the detection results of the laser emitting element at different positions on the positioning slide rail;

[0010] A fine-tuning mechanism, which is respectively connected to the hook, the hanging frame and the positioning mechanism, and is used to adjust the position of the hook when the hanging part is close to the waiting area, including an inclined wedge component arranged above the hanging frame to adjust the vertical plane position of the hook according to the secondary calibration result of the spatial coordinates of the waiting area, an adjustment slide rail connected to the hook to adjust the horizontal position of the hook, and an infrared sensor connected to the adjustment slide rail to detect the inclination angle of the hanging part,

[0011] Wherein, the fine-adjustment mechanism is also used to adjust the position of the hook on the adjustment slide rail according to the inclination angle of the hanging component.

[0012] Furthermore, the angled wedge assembly comprises:

[0013] A fixed pulley block, which is arranged at the top of the hanging frame and is used to adjust the lowering height of the hook;

[0014] An upward inclined wedge block connected to the fixed pulley block and used to adjust the position of the fixed pulley block at the top end of the hanging frame;

[0015] A lower inclined wedge block, which is arranged below the upper inclined wedge block and is used to connect the fixed pulley block and the top end of the hanging frame;

[0016] An actuator is connected to the upper inclined wedge block and the lower inclined wedge block respectively, and is used for adjusting the position of the upper inclined wedge block relative to the lower inclined wedge block.

[0017] Furthermore, the fixed pulley block includes a fixed pulley arranged at the top end of the hanging frame and a fixed pulley arranged on one side close to the top end of the hanging frame.

[0018] Furthermore, two movable pulleys are arranged on both sides of the adjusting slide rail.

[0019] Furthermore, the positioning mechanism is used to calculate the distance between the laser emitting element and the position of the to-be-placed area according to the time difference between the laser emitting element emitting and receiving the laser beam to construct the spatial coordinates of the to-be-placed area, and calculate the hoisting movement path according to the spatial coordinates.

[0020] Furthermore, the positioning mechanism is used to determine that the positioning accuracy does not meet the requirements when the laser reflectivity of the laser emitting element is less than a preset laser reflectivity, and to increase the number of detection times by lowering the height of the laser emitting element.

[0021] Furthermore, the increase range of the detection times is determined according to the difference between the preset laser reflectivity and the laser reflectivity.

[0022] Furthermore, the positioning mechanism is used to calculate the average spatial coordinates according to the spatial coordinates of the to-be-placed areas detected by the laser emitting element at different positions on the positioning slide rail, so as to complete the secondary calibration of the spatial coordinates of the to-be-placed areas.

[0023] Furthermore, the fine-tuning mechanism is used to drive the telescopic length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical and horizontal directions.

[0024] Furthermore, the fine-tuning mechanism is used to calculate the inclination angle of the lifting component through the distance between the hook and the edge of the upper surface of the lifting component connected to the lifting rope detected by the infrared sensor, and calculate the center of gravity deviation distance of the lifting component along the direction of the adjusting slide rail according to the inclination angle of the lifting component, and adjust the position of the hook on the adjusting slide rail according to the center of gravity deviation distance.

[0025] Compared with the prior art, the beneficial effects of the present invention lie in that the system of the present invention, by providing a hook, a hoisting frame, a positioning mechanism and a fine-tuning mechanism, performs laser positioning of the area to be placed by the positioning mechanism to determine the moving path of the hook, thereby reducing repeated movement of the hook and thereby increasing the efficiency of the hoisting work; since the transmission torque is large when the hoisting frame adjusts the hook to move along the moving path of the hook, resulting in low positioning accuracy, and the positioning accuracy is reduced due to laser absorption or laser scattering caused by the physical properties of the surface of the area to be placed, the positioning accuracy of the positioning mechanism is improved by performing secondary calibration on the spatial coordinates; since the center of gravity shifts during the retrieval or movement of the hoisting part, resulting in the tilt of the hoisting part, the falling position of the hoisting part is fine-tuned by providing a fine-tuning mechanism, thereby improving the accuracy of the hoisting work results and the positioning accuracy.

[0026] Furthermore, the system of the present invention adjusts the lowering position when the hoisting part approaches the area to be placed by setting a fixed pulley block, an upper inclined wedge block, a lower inclined wedge block and an actuator. The stability of the inclined wedge structure enables accurate adjustment of the lowering position, thereby further increasing the accuracy of positioning.

[0027] Furthermore, the system of the present invention reduces the pulling force of the lifting rope on the hook by setting a fixed pulley group and increasing the number of force-bearing ropes by setting a movable pulley group, thereby increasing the working stability of the hook and further improving the stability of the hook during movement.

[0028] Furthermore, the system of the present invention sets a preset laser reflectivity. Since the surface texture or color of the area to be placed illuminated by the laser beam emitted by the laser emitting element causes scattering or absorption of the laser, the accuracy of laser positioning is reduced. By reducing the height of the laser emitting element and changing the laser emission angle, the spatial coordinates of the area to be placed are calculated and calibrated multiple times, thereby further improving the accuracy of laser positioning.

[0029] Furthermore, the system of the present invention, by setting up infrared sensors, can improve the accuracy of the lowering position of the tilted lifting part during the lowering process by adjusting the position of the hook on the adjusting slide rail, because the uneven friction force on the bottom of the lifting part when being lifted or the centrifugal force generated by the rotation of the lifting frame during movement causes the center of gravity of the lifting part to shift and then cause it to tilt, thereby further improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is an overall structural diagram of the automatic positioning system for hoisting according to an embodiment of the present invention;

[0031] Figure 2 Another angle structural diagram of the automatic hoisting positioning system according to an embodiment of the present invention;

[0032] Figure 3 It is an overall structural block diagram of the automatic hoisting positioning system according to an embodiment of the present invention;

[0033] Figure 4 This is a structural block diagram of the angled wedge assembly of the automatic positioning system for hoisting according to an embodiment of the present invention;

[0034] Explanation of the accompanying numbers: 1-lifting frame, 2-lifting parts, 3-hook, 4-movable pulley, 51-first fixed pulley, 52-second fixed pulley, 6-upper inclined wedge, 7-actuator, 8-lower inclined wedge, 9-laser emitting element, 10-positioning slide rail, 11-lifting wire rope, 12-luffing pulley block, 13-balancing table, 14-turntable, 15-adjusting slide rail, 16-adjusting fixed pulley block. DETAILED DESCRIPTION

[0035] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0037] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0038] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively an overall structural diagram of the automatic hoisting positioning system of an embodiment of the present invention, a structural diagram from another angle, an overall structural block diagram, and a structural block diagram of the wedge assembly. An automatic hoisting positioning system of the present invention comprises:

[0040] A hook is used to hook the lifting parts;

[0041] Lifting frame, used to adjust the position of the hook;

[0042] A positioning mechanism connected to the hanging frame to determine the moving path of the hook, comprising a laser emitting element arranged above the hanging frame to emit a laser beam to the position of the waiting area of ​​the hanging part and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element;

[0043] Wherein, the positioning mechanism is also used to calculate the hoisting movement path according to the spatial coordinates of the area to be placed detected by the laser emitting element, and adjust the shape of the hoisting frame to adjust the position of the hook, and when the hook reaches the end of the hoisting movement path, determine whether the positioning accuracy meets the requirements according to the laser reflectivity of the laser emitting element, and if it does not meet the requirements, perform secondary calibration on the spatial coordinates of the area to be placed according to the detection results of the laser emitting element at different positions on the positioning slide rail;

[0044] A fine-tuning mechanism, which is respectively connected to the hook, the hanging frame and the positioning mechanism, and is used to adjust the position of the hook when the hanging part is close to the waiting area, including an inclined wedge component arranged above the hanging frame to adjust the vertical plane position of the hook according to the secondary calibration result of the spatial coordinates of the waiting area, an adjustment slide rail connected to the hook to adjust the horizontal position of the hook, and an infrared sensor connected to the adjustment slide rail to detect the inclination angle of the hanging part,

[0045] Wherein, the fine-adjustment mechanism is also used to adjust the position of the hook on the adjustment slide rail according to the inclination angle of the hanging component.

[0046] Specifically, the lifting automatic positioning system also includes:

[0047] A balancing platform is arranged below the hanging frame to provide a pulling force of the hanging object with a balancing belt on the hanging frame;

[0048] A luffing pulley block is arranged above the balance platform to adjust the angle between the hoisting frame and the horizontal plane;

[0049] A lifting wire rope is arranged above the balance platform to adjust the height of the hook in the vertical direction;

[0050] The turntable is arranged below the balancing platform and is used to adjust the rotation angle of the hanging frame.

[0051] Specifically, the turntable is driven to rotate by a rotary hydraulic cylinder (not shown in the figure), the lifting wire rope is driven and controlled by a lifting motor (not shown in the figure), and the luffing pulley block is driven and controlled by a luffing hydraulic cylinder (not shown in the figure).

[0052] Specifically, the infrared sensor is a gravity accelerometer that measures the tilt angle of the hanging component relative to the vertical direction.

[0053] Specifically, the laser emitting element is a laser emitter.

[0054] Specifically, infrared sensors control the steering via an electric gimbal connected to the hook.

[0055] In practice, the system of the present invention provides a hook, a hoisting frame, a positioning mechanism and a fine-tuning mechanism. The positioning mechanism is used to perform laser positioning on the area to be placed to determine the moving path of the hook, thereby reducing repeated movements of the hook, thereby increasing the efficiency of the hoisting work. Since the transmission torque is large when the hoisting frame adjusts the hook to move along the moving path of the hook, resulting in low positioning accuracy, and since the laser absorption or laser scattering caused by the physical characteristics of the surface of the area to be placed causes the positioning accuracy to decrease, a secondary calibration of the spatial coordinates is performed to improve the positioning accuracy of the positioning mechanism. Since the center of gravity shifts during the retrieval or movement of the hoisting part, causing the hoisting part to tilt, a fine-tuning mechanism is provided to fine-tune the falling position of the hoisting part, thereby improving the accuracy of the hoisting work results and the positioning accuracy.

[0056] Specifically, the inclined wedge structure includes:

[0057] A fixed pulley block, which is arranged at the top of the hanging frame and is used to adjust the lowering height of the hook;

[0058] An upward inclined wedge block, which is arranged near one side of the top end of the hanging frame and is used to adjust the position of the fixed pulley block at the top end of the hanging frame;

[0059] A lower inclined wedge block, which is arranged below the upper inclined wedge block and is used to connect the fixed pulley block and the top end of the hanging frame;

[0060] An actuator is connected to the upper inclined wedge block and is used to adjust the position of the upper inclined wedge block relative to the lower inclined wedge block.

[0061] In implementation, the system of the present invention adjusts the lowering position when the hoisting part approaches the area to be placed by setting a fixed pulley block, an upper inclined wedge block, a lower inclined wedge block and an actuator. The stability of the inclined wedge structure realizes accurate adjustment of the lowering position, thereby further increasing the accuracy of positioning.

[0062] Specifically, the fixed pulley group includes a first fixed pulley and a second fixed pulley adjacent to the top of the hanging frame for suspending the hook direction, and an adjacent adjusting fixed pulley group arranged on one side close to the top of the hanging frame for changing the hook height.

[0063] In practice, the system of the present invention reduces the pulling force of the lifting rope on the hook by setting a fixed pulley group and increasing the number of force-bearing ropes by setting a movable pulley group, thereby increasing the working stability of the hook and further improving the stability of the hook during movement.

[0064] Specifically, two movable pulleys are arranged on both sides of the adjusting slide rail.

[0065] Specifically, the positioning mechanism is used to calculate the distance between the laser emitting element and the position of the to-be-placed area according to the time difference between the laser emitting element emitting and receiving the laser beam to construct the spatial coordinates of the to-be-placed area, and calculate the hoisting movement path according to the spatial coordinates.

[0066] Specifically, the positioning mechanism is used to determine that the positioning accuracy does not meet the requirements when the laser reflectivity of the laser emitting element is less than a preset laser reflectivity, and to increase the number of detection times by lowering the height of the laser emitting element.

[0067] The increase in the number of detection times is determined according to the difference between the preset laser reflectivity and the laser reflectivity.

[0068] Specifically, the positioning mechanism is used to calculate the average spatial coordinates of the to-be-placed areas according to the spatial coordinates of the to-be-placed areas detected by the laser emitting element at different positions on the positioning slide rail, so as to complete the secondary calibration of the spatial coordinates of the to-be-placed areas.

[0069] Specifically, laser reflectivity is the percentage of laser reflected light intensity to laser incident light intensity.

[0070] In implementation, the general value range of the preset laser reflectivity is [15%, 18%].

[0071] Preferably, the preset laser reflectivity is 16%.

[0072] Specifically, when the difference between the preset laser reflectivity and the laser reflectivity is within 0.5%, the detection times of the laser emitting element increases by 3 times; when the difference between the preset laser reflectivity and the laser reflectivity exceeds 1%, the detection times of the laser emitting element increases by 2 times for every 0.5% exceeding it. For example, when the laser reflectivity is 14.5%, the detection times of the laser emitting element is 1 time, and the detection times of the laser emitting element increases to: 1 time + 3 times + 2 times × 2 = 8 times.

[0073] In practice, the system of the present invention sets a preset laser reflectivity. Since the surface texture or color of the area to be placed illuminated by the laser beam emitted by the laser emitting element causes scattering or absorption of the laser, the accuracy of laser positioning is reduced. By reducing the height of the laser emitting element and changing the laser emission angle, the spatial coordinates of the area to be placed are calculated and calibrated multiple times, thereby further improving the accuracy of laser positioning.

[0074] Specifically, the fine-tuning mechanism is used to drive the telescopic length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical direction and the horizontal direction.

[0075] Specifically, the fine-tuning mechanism is used to calculate the inclination angle of the lifting component by using the distance between the hook and the edge of the upper surface of the lifting component connected to the lifting rope detected by the infrared sensor, and calculate the center of gravity deviation distance of the lifting component along the adjustment slide rail according to the inclination angle of the lifting component, and adjust the position of the hook on the adjustment slide rail according to the center of gravity deviation distance.

[0076] Specifically, the center of gravity offset distance is determined according to the inclination angle of the hoisted object and the length of the hoisting component.

[0077] Specifically, the position of the hook on the adjusting slide rail is adjusted by electric actuators respectively connected to the hook and the adjusting slide rail.

[0078] In practice, the system of the present invention sets an infrared sensor, and due to the uneven friction force on the bottom of the lifting part when it is lifted or the centrifugal force generated by the rotation of the lifting frame during movement, the center of gravity of the lifting part shifts and then it tilts. By adjusting the position of the hook on the adjusting slide rail, the accuracy of the lowering position of the tilted lifting part during the lowering process is improved, thereby further improving the positioning accuracy.

[0079] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A lifting automatic positioning system, characterized in that: include: A hook is used to hook the lifting parts; Lifting frame, used to adjust the position of the hook; A positioning mechanism connected to the hanging frame to determine the moving path of the hook, comprising a laser emitting element arranged above the hanging frame to emit a laser beam to the position of the waiting area of ​​the hanging part and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element; Wherein, the positioning mechanism is also used to calculate the hoisting movement path according to the spatial coordinates of the area to be placed detected by the laser emitting element, and adjust the shape of the hoisting frame to adjust the position of the hook, and when the hook reaches the end of the hoisting movement path, determine whether the positioning accuracy meets the requirements according to the laser reflectivity of the laser emitting element, and if it does not meet the requirements, perform secondary calibration on the spatial coordinates of the area to be placed according to the detection results of the laser emitting element at different positions on the positioning slide rail; A fine-tuning mechanism, which is respectively connected to the hook, the hanging frame and the positioning mechanism, and is used to adjust the position of the hook when the hanging part is close to the waiting area, including an inclined wedge component arranged above the hanging frame to adjust the vertical plane position of the hook according to the secondary calibration result of the spatial coordinates of the waiting area, an adjustment slide rail connected to the hook to adjust the horizontal position of the hook, and an infrared sensor connected to the adjustment slide rail to detect the inclination angle of the hanging part, Wherein, the fine-adjustment mechanism is also used to adjust the position of the hook on the adjustment slide rail according to the inclination angle of the hanging component.

2. The automatic hoisting positioning system according to claim 1, characterized in that: The cam assembly comprises: A fixed pulley block, which is arranged at the top of the hanging frame and is used to adjust the lowering height of the hook; An upward inclined wedge block connected to the fixed pulley block and used to adjust the position of the fixed pulley block at the top end of the hanging frame; A lower inclined wedge block, which is arranged below the upper inclined wedge block and is used to connect the fixed pulley block and the top end of the hanging frame; An actuator is connected to the upper inclined wedge block and the lower inclined wedge block respectively, and is used for adjusting the position of the upper inclined wedge block relative to the lower inclined wedge block.

3. The automatic hoisting positioning system according to claim 2, characterized in that: The fixed pulley block comprises a fixed pulley arranged at the top end of the hanging frame and a fixed pulley arranged at one side close to the top end of the hanging frame.

4. The automatic hoisting positioning system according to claim 3, characterized in that: Two movable pulleys are arranged on both sides of the adjusting slide rail.

5. The automatic hoisting positioning system according to claim 4, characterized in that: The positioning mechanism is used to calculate the distance between the laser emitting element and the position of the waiting area according to the time difference between the laser emitting element emitting and receiving the laser beam to construct the spatial coordinates of the waiting area, and calculate the hoisting movement path according to the spatial coordinates.

6. The automatic hoisting positioning system according to claim 5, characterized in that: The positioning mechanism is used to determine that the positioning accuracy does not meet the requirements when the laser reflectivity of the laser emitting element is less than a preset laser reflectivity, and to increase the number of detection times by lowering the height of the laser emitting element.

7. The automatic hoisting positioning system according to claim 6, characterized in that: The increase range of the detection times is determined according to the difference between the preset laser reflectivity and the laser reflectivity.

8. The automatic hoisting positioning system according to claim 7, characterized in that: The positioning mechanism is used to calculate the average spatial coordinates according to the spatial coordinates of the waiting areas detected by the laser emitting element at different positions on the positioning slide rail, so as to complete the secondary calibration of the spatial coordinates of the waiting areas.

9. The automatic hoisting positioning system according to claim 8, characterized in that: The fine-tuning mechanism is used to drive the telescopic length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical direction and the horizontal direction.

10. The automatic hoisting positioning system according to claim 9, characterized in that: The fine-tuning mechanism is used to calculate the inclination angle of the lifting component by using the distance between the hook and the edge connected to the upper surface of the lifting component and the lifting rope detected by the infrared sensor, and calculate the center of gravity deviation distance of the lifting component along the adjustment slide rail according to the inclination angle of the lifting component, and adjust the position of the hook on the adjustment slide rail according to the center of gravity deviation distance.

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