A hoist automatic positioning system

Abstract

The present application relates to the technical field of automatic positioning, and particularly relates to a hoisting automatic positioning system, comprising: a hook; a hoisting frame; a positioning mechanism, used to determine a hoisting moving path, and also used to calculate the hoisting moving path according to the space coordinates of a to-be-placed area detected by the laser emitting element, and adjust the shape of the hoisting frame to adjust the position of the hook, when the hook reaches the end point of the hoisting moving path, if the positioning accuracy is not required according to the laser reflectivity of the laser emitting element, the space coordinates of the to-be-placed area are secondarily calibrated according to the detection results of different positions of the laser emitting element on the positioning slide rail; a fine adjustment mechanism, used to adjust the position of the hook when the hoisting piece is close to the to-be-placed area, and also used to adjust the position of the hook on the adjustment slide rail according to the inclination angle of the hoisting piece. The present application realizes the improvement of hoisting work efficiency and the accuracy of the positioning system.

Description

Technical Field

[0001] This invention relates to the field of automatic positioning technology, and in particular to an automatic positioning system for hoisting. Background Technology

[0002] In existing technologies, automatic hoisting positioning systems are systems that utilize modern information technology to achieve precise positioning during hoisting operations. They typically include 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, attitude, and load status of the hoisting equipment in real time, and achieve precise hoisting operations through automatic control technology. Existing automatic hoisting positioning systems combine sensor technologies such as laser scanning and visual recognition to acquire information about the surrounding environment, providing high-precision three-dimensional spatial positioning data to ensure the accuracy and safety of hoisting operations.

[0003] Chinese Patent Publication No. CN114506771A discloses an automatic hoisting positioning fixture, comprising: a fixed component for fixed connection with ship engine room equipment; a ball joint assembly including a mounting base and a movable component, wherein the mounting base is fixedly connected to the fixed component, and the movable component is ball-jointed to the mounting base; a tapered positioning component, the large-diameter section of which is fixedly connected to the movable component; a first strong magnet fixedly connected to the end of the small-diameter section of the tapered positioning component; and a second strong magnet for fixed connection with the equipment frame. It is evident that this automatic hoisting positioning fixture suffers from problems such as reduced hoisting efficiency due to the inability to determine the hoisting path and decreased positioning accuracy during lowering due to the shift in the center of gravity of the retrieved object. Summary of the Invention

[0004] Therefore, the present invention provides a method to overcome the problems in the prior art where the hoisting work efficiency is reduced due to the inability to determine the hoisting work path and the positioning accuracy during the lowering process is reduced due to the shift of the center of gravity of the retrieved object.

[0005] To achieve the above objectives, the present invention provides an automatic hoisting positioning system, comprising:

[0006] A hook is used to grab and lift components.

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

[0008] A positioning mechanism, which is connected to the lifting frame, is used to determine the movement path of the hook, including a laser emitting element disposed above the lifting frame to emit a laser beam to the position of the lifting part in the area to be placed, and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element;

[0009] The positioning mechanism is also used to calculate the hoisting movement path based on 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. When the hook reaches the end of the hoisting movement path, the positioning accuracy is determined based on the laser reflectivity of the laser emitting element. If the positioning accuracy does not meet the requirements, the spatial coordinates of the area to be placed are recalibrated based on the detection results of the laser emitting element at different positions on the positioning slide rail.

[0010] A fine-tuning mechanism, connected to the hook, the lifting frame, and the positioning mechanism, is used to adjust the position of the hook when the lifting component approaches the placement area. It includes a wedge assembly positioned above the lifting frame to adjust the vertical plane position of the hook based on a secondary calibration of the spatial coordinates of the placement area; an adjusting slide rail connected to the hook to adjust its horizontal position; and an infrared sensor connected to the adjusting slide rail to detect the tilt angle of the lifting component.

[0011] The fine-tuning mechanism is also used to adjust the position of the hook on the adjusting slide rail according to the tilt angle of the hoisting component.

[0012] Furthermore, the wedge assembly includes:

[0013] A fixed pulley block is installed at the top of the hoisting frame to adjust the lowering height of the hook;

[0014] An upper inclined wedge block, which is connected to the fixed pulley block, is used to adjust the position of the fixed pulley block at the top of the hoisting frame;

[0015] The lower inclined wedge block is located below the upper inclined wedge block and is used to connect the fixed pulley block and the top of the hoisting frame;

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

[0017] Furthermore, the fixed pulley assembly includes a fixed pulley disposed at the top of the hoisting frame and a fixed pulley disposed on the side near the top of the hoisting frame.

[0018] Furthermore, two movable pulleys are provided 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 area to be placed based on the time difference between the laser emitting element emitting and receiving the laser beam, so as to construct the spatial coordinates of the area to be placed, and to calculate the hoisting movement path based on 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 detections by reducing the height of the laser emitting element.

[0021] Furthermore, the increase in the number of detections is determined based on the difference between the preset laser reflectivity and the laser reflectivity.

[0022] Furthermore, the positioning mechanism is used to calculate the average spatial coordinates based on the spatial coordinates of several areas to be placed 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 areas to be placed.

[0023] Furthermore, the fine-tuning mechanism is used to drive the extension and retraction 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 tilt angle of the lifting component by measuring the distance between the hook and the edge connecting the upper surface of the lifting component and the lifting rope, which is detected by the infrared sensor; calculate the center of gravity deviation distance of the lifting component along the direction of the adjusting slide rail based on the tilt angle of the lifting component; and adjust the position of the hook on the adjusting slide rail based on the center of gravity deviation distance.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: The system of the present invention, by setting up a hook, a lifting frame, a positioning mechanism, and a fine-tuning mechanism, determines the movement path of the hook by laser positioning of the area to be placed, thereby reducing repeated hook movements and increasing the efficiency of lifting work. Since the large transmission torque of the lifting frame when adjusting the hook along the hook movement path leads to low positioning accuracy, and the laser absorption or scattering caused by the physical characteristics of the surface of the area to be placed also reduces positioning accuracy, the positioning accuracy of the positioning mechanism is improved by performing secondary calibration of the spatial coordinates. Since the lifting component tilts due to center of gravity shift during the retrieval or movement of the lifting component, the fine-tuning mechanism is used to fine-tune the falling position of the lifting component, thereby improving the accuracy of the lifting work results and the positioning accuracy.

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

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

[0028] Furthermore, the system of the present invention, by setting a preset laser reflectivity, addresses the issue that the laser beam emitted by the laser emitting element can cause scattering or absorption of the laser due to the surface texture or color of the area to be placed, leading to a decrease in laser positioning accuracy. 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 an infrared sensor, can improve the accuracy of the lowering position of the tilted hoisting component during the lowering process by adjusting the position of the hook on the adjusting slide rail, which can cause the center of gravity of the hoisting component to shift due to uneven friction force at the bottom when it is being lifted or the centrifugal force generated by the rotation of the hoisting frame during the movement, thereby improving the positioning accuracy. Attached Figure Description

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

[0031] Figure 2 This is another structural view of the automatic hoisting positioning system according to an embodiment of the present invention;

[0032] Figure 3 This 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 wedge assembly of the automatic hoisting positioning system according to an embodiment of the present invention;

[0034] Explanation of reference numerals: 1-Lifting frame, 2-Lifting component, 3-Hook, 4-Moving 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-Balance platform, 14-Turntable, 15-Adjusting slide rail, 16-Adjusting fixed pulley block. Detailed Implementation

[0035] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0036] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0037] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0038] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 The figures shown are, respectively, an overall structural diagram, a structural diagram from another angle, an overall structural block diagram, and a structural block diagram of the wedge assembly of the automatic hoisting positioning system according to an embodiment of the present invention. The present invention provides an automatic hoisting positioning system, comprising:

[0040] A hook is used to grab and lift components.

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

[0042] A positioning mechanism, which is connected to the lifting frame, is used to determine the movement path of the hook, including a laser emitting element disposed above the lifting frame to emit a laser beam to the position of the lifting part in the area to be placed, and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element;

[0043] The positioning mechanism is also used to calculate the hoisting movement path based on 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. When the hook reaches the end of the hoisting movement path, the positioning accuracy is determined based on the laser reflectivity of the laser emitting element. If the positioning accuracy does not meet the requirements, the spatial coordinates of the area to be placed are recalibrated based on the detection results of the laser emitting element at different positions on the positioning slide rail.

[0044] A fine-tuning mechanism, connected to the hook, the lifting frame, and the positioning mechanism, is used to adjust the position of the hook when the lifting component approaches the placement area. It includes a wedge assembly positioned above the lifting frame to adjust the vertical plane position of the hook based on a secondary calibration of the spatial coordinates of the placement area; an adjusting slide rail connected to the hook to adjust its horizontal position; and an infrared sensor connected to the adjusting slide rail to detect the tilt angle of the lifting component.

[0045] The fine-tuning mechanism is also used to adjust the position of the hook on the adjusting slide rail according to the tilt angle of the hoisting component.

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

[0047] A balance platform, located below the lifting frame, is used to provide tension on the lifting frame from the load lifted by the balance belt;

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

[0049] The hoisting wire rope is set above the balance platform to adjust the height of the hook in the vertical direction;

[0050] The turntable, located below the balance platform, is used to adjust the rotation angle of the hoisting frame.

[0051] Specifically, the turntable is driven to rotate by a rotary hydraulic cylinder (not shown in the figure), the hoisting wire rope is driven and controlled by a hoisting 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 hoisted component relative to the vertical direction.

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

[0054] Specifically, the infrared sensor controls the steering via an electric pan-tilt unit connected to the hook.

[0055] In implementation, the system of this invention, by setting up a hook, a lifting frame, a positioning mechanism, and a fine-tuning mechanism, determines the movement path of the hook by laser positioning of the area to be placed, reducing repeated hook movements and thus increasing the efficiency of the lifting work. Since the large transmission torque of the lifting frame when adjusting the hook along the hook's movement path leads to low positioning accuracy, and the laser absorption or scattering caused by the physical characteristics of the surface of the area to be placed further reduces positioning accuracy, secondary calibration of the spatial coordinates improves the positioning accuracy of the positioning mechanism. Since the center of gravity shifts during the retrieval or movement of the lifted component, causing it to tilt, the fine-tuning mechanism fine-tunes the falling position of the lifted component, improving both the accuracy of the lifting results and the accuracy of the positioning.

[0056] Specifically, the wedge structure includes:

[0057] A fixed pulley block is installed at the top of the hoisting frame to adjust the lowering height of the hook;

[0058] An upper inclined wedge block, which is located near the top of the hoisting frame, is used to adjust the position of the fixed pulley block at the top of the hoisting frame;

[0059] The lower inclined wedge block is located below the upper inclined wedge block and is used to connect the fixed pulley block and the top of the hoisting frame;

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

[0061] In practice, the system of the present invention is equipped with a fixed pulley block, an upper inclined wedge block, a lower inclined wedge block, and an actuator. By setting the upper and lower inclined wedge blocks, the lowering position is adjusted when the hoisting part approaches the area to be lowered. The stability of the inclined wedge structure enables accurate adjustment of the lowering position, further increasing the accuracy of positioning.

[0062] Specifically, the fixed pulley assembly includes a first fixed pulley and a second fixed pulley located at the top of the hoisting frame for suspending the hook direction, and an adjacent adjustable fixed pulley assembly located near the top of the hoisting frame for changing the hook height.

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

[0064] Specifically, two movable pulleys are provided 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 area to be placed based on the time difference between the laser emitting element emitting and receiving the laser beam, so as to construct the spatial coordinates of the area to be placed, and to calculate the hoisting movement path based on 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 detections by reducing the height of the laser emitting element.

[0067] The increase in the number of detections is determined based on the difference between the preset laser reflectivity and the laser reflectivity.

[0068] Specifically, the positioning mechanism is used to calculate the average spatial coordinates based on the spatial coordinates of several areas to be placed 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 areas to be placed.

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

[0070] In practice, the typical range of preset laser reflectivity is [15%, 18%].

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

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

[0073] In practice, the system of the present invention sets a preset laser reflectivity. Due to the influence of the surface texture or color of the area to be placed by the laser beam emitted by the laser emitting element, the laser is scattered or absorbed, which leads to a decrease in the accuracy of laser positioning. 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 extension and retraction length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical and horizontal directions.

[0075] Specifically, the fine-tuning mechanism is used to calculate the tilt angle of the lifting component by measuring the distance between the hook and the edge connecting the upper surface of the lifting component and the lifting rope, which is detected by an infrared sensor; calculate the center of gravity deviation distance of the lifting component along the direction of the adjusting slide rail based on the tilt angle of the lifting component; and adjust the position of the hook on the adjusting slide rail based on the center of gravity deviation distance.

[0076] Specifically, the center of gravity offset distance is determined based on the tilt angle of the suspended object and the length of the lifting component.

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

[0078] In practice, the system of the present invention uses an infrared sensor to detect uneven friction at the bottom of the hoisting component during lifting or centrifugal force generated by the rotation of the hoisting frame during movement, which causes the center of gravity of the hoisting component to shift and thus tilt. By adjusting the position of the hook on the adjusting slide rail, the accuracy of the lowering position of the tilted hoisting component during the lowering process is improved, thereby further improving the positioning accuracy.

[0079] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

Claims

1. An automatic positioning system for hoisting, characterized in that, include: A hook is used to grab and lift components. Lifting frame, used to adjust the position of the lifting hook; A positioning mechanism, which is connected to the lifting frame, is used to determine the movement path of the hook, including a laser emitting element disposed above the lifting frame to emit a laser beam to the position of the lifting part in the area to be placed, and a positioning slide rail connected to the laser emitting element to adjust the position of the laser emitting element; The positioning mechanism is also used to calculate the hoisting movement path based on 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. When the hook reaches the end of the hoisting movement path, it determines whether the positioning accuracy meets the requirements based on the laser reflectivity of the laser emitting element. If it does not meet the requirements, it performs secondary calibration of the spatial coordinates of the area to be placed based on the detection results of the laser emitting element at different positions on the positioning slide rail. A fine-tuning mechanism, connected to the hook, the lifting frame, and the positioning mechanism, is used to adjust the position of the hook when the lifting component approaches the placement area. It includes a wedge assembly positioned above the lifting frame to adjust the vertical plane position of the hook based on a secondary calibration of the spatial coordinates of the placement area; an adjusting slide rail connected to the hook to adjust its horizontal position; and an infrared sensor connected to the adjusting slide rail to detect the tilt angle of the lifting component. The fine-tuning mechanism is also used to adjust the position of the hook on the adjusting slide rail according to the tilt angle of the hoisting component; The wedge assembly includes: A fixed pulley block is installed at the top of the hoisting frame to adjust the lowering height of the hook; An upper inclined wedge block, which is connected to the fixed pulley block, is used to adjust the position of the fixed pulley block at the top of the hoisting frame; The lower inclined wedge block is located below the upper inclined wedge block and is used to connect the fixed pulley block and the top of the hoisting frame; An actuator, which is connected to the upper inclined wedge and the lower inclined wedge respectively, is used to adjust the position of the upper inclined wedge relative to the lower inclined wedge.

2. The automatic hoisting positioning system according to claim 1, characterized in that, The fixed pulley assembly includes a fixed pulley located at the top of the hoisting frame and a fixed pulley located on the side near the top of the hoisting frame.

3. The automatic hoisting positioning system according to claim 2, characterized in that, Two movable pulleys are provided on both sides of the adjusting slide rail.

4. The automatic hoisting positioning system according to claim 3, characterized in that, The positioning mechanism is used to calculate the distance between the laser emitting element and the area to be placed based on the time difference between the laser emitting element emitting and receiving the laser beam, so as to construct the spatial coordinates of the area to be placed, and to calculate the hoisting movement path based on the spatial coordinates.

5. The automatic hoisting positioning system according to claim 4, 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 the preset laser reflectivity, and to increase the number of detections by reducing the height of the laser emitting element.

6. The automatic hoisting positioning system according to claim 5, characterized in that, The increase in the number of detections is determined based on the difference between the preset laser reflectivity and the laser reflectivity.

7. The automatic hoisting positioning system according to claim 6, characterized in that, The positioning mechanism is used to calculate the average spatial coordinates based on the spatial coordinates of several areas to be placed 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 areas to be placed.

8. The automatic hoisting positioning system according to claim 7, characterized in that, The fine-tuning mechanism is used to drive the extension and retraction length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical and horizontal directions.

9. The automatic hoisting positioning system according to claim 8, characterized in that, The fine-tuning mechanism is used to calculate the tilt angle of the lifting component by measuring the distance between the hook and the edge connecting the upper surface of the lifting component and the lifting rope, which is detected by an infrared sensor; to calculate the center of gravity deviation distance of the lifting component along the direction of the adjusting slide rail based on the tilt angle of the lifting component; and to adjust the position of the hook on the adjusting slide rail based on the center of gravity deviation distance.

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