Rotating equipment with anti-sway device, lifting equipment and anti-sway method

Abstract

The present invention discloses a rotating device with an anti-sway device, a lifting device and an anti-sway method. The rotating device with the anti-sway device comprises a rotating platform and an anti-sway device. The rotating platform can rotate horizontally and is provided with a main beam. A lifting device is provided on the top of the main beam. The lifting device can move vertically to lift a heavy object. The anti-sway device comprises a frame body fixed relative to the rotating platform, a reel arranged on the frame body, a steel rope connected to the reel and the heavy object, and a power source capable of driving the reel to reel in to adjust the extended length of the steel rope. The fixed end of the steel rope is connected to the reel, and the movable end of the steel rope is connected to the heavy object. The reel is driven by the power source to reel in to adjust the extended length of the steel rope, so that during the vertical movement of the lifting device to lift the heavy object and the rotation of the rotating platform, the steel rope can apply a certain traction force to the heavy object to slow down or even avoid the shaking of the heavy object during the lifting and moving process.

Description

Technical Field

[0001] The invention relates to the technical field of mobile lifting equipment, and in particular to a slewing equipment with an anti-sway device, a lifting equipment and an anti-sway method. Background Art

[0002] In the existing lifting equipment with rotating motion, during the process of lifting heavy objects, the lifting device is easily affected by external forces and causes the heavy objects to shake. Moreover, during the rotating motion, due to the action of centrifugal force, both the load and the picking device inevitably move outward. As the rotating speed changes, the amplitude of the outward swing also changes accordingly, causing the load and the picking device to continuously shake in the normal direction, making it impossible to accurately position the heavy objects.

[0003] Therefore, how to slow down or even avoid the shaking of heavy objects during lifting and moving is a technical problem that technicians in this field need to solve at present. Summary of the invention

[0004] The purpose of the present invention is to provide a slewing device, a lifting device and an anti-sway method with an anti-sway device, which can reduce or even avoid the shaking problem during the lifting and moving of heavy objects.

[0005] To achieve the above object, the present invention provides a rotary device with an anti-sway device, comprising:

[0006] The revolving platform can rotate horizontally and is provided with a main beam, and a lifting device is provided on the top of the main beam. The lifting device can move vertically to lift heavy objects;

[0007] The anti-sway device includes a frame fixed relative to the rotating platform, a reel arranged on the frame, a steel rope connected to the reel and the weight, and a power source capable of driving the reel to reel in to adjust the extension length of the steel rope.

[0008] Preferably, there are two sets of anti-sway devices, which are located on both sides of the main beam, so that one steel rope is connected to one side of the weight, and the other steel rope is connected to the other side of the weight.

[0009] Preferably, a sliding device is further included, and the sliding device includes:

[0010] A mobile frame detachably connected to the main beam;

[0011] The pulleys arranged at both ends of the movable frame can be rotatably connected, and the movable end of the steel rope passes around the top of the corresponding pulley to connect the heavy object.

[0012] Preferably, a plurality of mounting positions are provided on the main beam, the mounting positions are evenly arranged along the length direction of the main beam, and all the mounting positions include at least two coaxially arranged mounting holes;

[0013] The mobile rack includes:

[0014] A rotating shaft capable of being inserted into a corresponding mounting hole, wherein the rotating shaft is provided with a fixing position and a pulley position for pulley installation;

[0015] The fixing member is detachably connected to the fixing position to limit the axial movement of the rotating shaft.

[0016] Preferably, it also includes a position detector arranged on the main beam, the position detector can detect the height of the heavy object, and the anti-sway device also includes a controller, the controller is connected to the power source, the controller can obtain the detection information of the position detector and drive the operation of the power source.

[0017] Preferably, the power source is a torque motor, and the torque motor is connected to a reducer.

[0018] A lifting device comprises the above-mentioned slewing device with an anti-sway device.

[0019] An anti-sway method, applicable to the above-mentioned rotating equipment with an anti-sway device, comprising:

[0020] Install two sets of anti-sway devices on the slewing platform;

[0021] Install the sliding device on the main beam, and make the two pulleys installed on both sides of the sliding device be in the preset positions;

[0022] Pass the movable ends of the two steel ropes through the corresponding pulleys and fix them on both sides of the weight, and the movable ends of the two steel ropes are at the same height;

[0023] The lifting device is turned on to lift the weight and the power source is controlled by the controller to reel in the steel rope with a first preset force, so that the pulling force of the weight on the steel rope is balanced with the first preset force.

[0024] Preferably, the step of starting the lifting device to lift the weight and controlling the power source through the controller to wind up the steel rope with a first preset force so that the pulling force of the weight on the steel rope is balanced with the first preset force also includes:

[0025] The position detector detects that the weight moves to a preset height;

[0026] The slewing platform drives the main beam and the weight to rotate on the same horizontal plane, and controls the power source through the controller to reel in the steel rope with a second preset force, so that the pulling force of the weight on the steel rope is balanced with the second preset force.

[0027] Preferably, the steps of starting the lifting device to lift the weight and controlling the power source through the controller to wind up the steel rope with a first preset force so that the pulling force of the weight on the steel rope is balanced with the first preset force include:

[0028] Adjust the power source to drive the reel to rotate in a positive direction with a first preset force;

[0029] When the tension of the active end of the steel rope is less than the tension of the reel, the reel rotates forward to reel in the steel rope;

[0030] When the tension at the active end of the steel rope is less than the tension of the reel, the steel rope pulls the reel to rotate in the opposite direction to increase the length of the steel rope;

[0031] When the tension at the active end of the steel rope is equal to the tension of the reel, the reel is in a balanced state.

[0032] Compared with the above background technology, the rotary device with anti-sway device provided by the present invention has the following beneficial effects:

[0033] The anti-sway device is installed on the revolving platform, the fixed end of the steel rope is connected to the reel, and the movable end of the steel rope is connected to the weight. The reel is driven by a power source to reel in to adjust the extended length of the steel rope, so that the lifting device can move vertically to lift the weight and the revolving platform can rotate. The steel rope can exert a certain traction force on the weight to slow down or even avoid shaking during the lifting and moving of the weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a rotary device with an anti-sway device provided in an embodiment of the present invention;

[0036] Figure 2 A schematic structural diagram of a rotating device with an anti-sway device provided in an embodiment of the present invention from another perspective.

[0037] in:

[0038] 100-slewing platform, 110-main beam, 120-lifting device, 121-lifting rope, 122-lifting head, 123-steel chain, 130-weight;

[0039] 200-anti-sway device, 210-steel rope, 220-pulley. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0042] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the position or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as a limitation of the present invention.

[0043] The purpose of the present invention is to provide a slewing device, a lifting device and an anti-sway method with an anti-sway device, which can reduce or even avoid the shaking problem during the lifting and moving of heavy objects.

[0044] See also Figure 1 and Figure 2 To achieve the above objectives, the present invention provides a rotating device with an anti-sway device 200 , including a rotating platform 100 and an anti-sway device 200 .

[0045] The revolving platform 100 can rotate horizontally and is provided with a main beam 110 . A lifting device 120 is provided on the top of the main beam 110 . The lifting device 120 can move vertically to lift a heavy object 130 .

[0046] Among them, the lifting device 120 includes a lifting rope 121 that can move vertically and a lifting head 122 arranged at the bottom of the lifting rope 121. The lifting head 122 can usually be connected to the heavy object 130. The distance between the lifting head 122 and the top of the main beam 110 is changed by winding the lifting rope 121 for lifting the heavy object 130.

[0047] In this embodiment, in order to make the center of gravity of the heavy object 130 located on the central axis of the lifting head 122, two steel chains 123 are added to the lifting head 122 and are passed through the lifting head 122. The two ends of one steel chain 123 are respectively connected to the two corners on a diagonal line of the top surface of the heavy object 130, and the two ends of the other steel chain 123 are respectively connected to the two corners on the other diagonal line of the top surface of the heavy object 130, so that the steel chain 123 is connected to the four corners of the heavy object 130, and the distance between the four corners of the heavy object 130 and the lifting head 122 is automatically adjusted by the center of gravity of the heavy object 130, thereby increasing the stability during the lifting process.

[0048] The anti-sway device 200 includes a frame fixed relative to the rotating platform 100, a reel arranged on the frame, a steel rope 210 connected to the reel and the weight 130, and a power source that can drive the reel to reel in to adjust the extension length of the steel rope 210. The power source is specifically a torque motor, and the torque motor is connected to a reducer.

[0049] The anti-sway device 200 is installed on the rotating platform 100, the fixed end of the steel rope 210 is connected to the reel, and the movable end of the steel rope 210 is connected to the weight 130. The reel is driven by a power source to reel in to adjust the extension length of the steel rope 210, so that during the vertical movement of the lifting device 120 to lift the weight 130 and the rotation of the rotating platform 100, the steel rope 210 can apply a certain traction force to the weight 130 to slow down or even avoid the shaking of the weight 130 during the lifting and moving process.

[0050] Adjust the torque of the torque motor. At this time, the torque motor of the anti-sway device 200 automatically works according to the set torque. When the counterweight rises or falls, the wind causes the weight 130 to swing or sway, and the force on the steel rope 210 will change. When the force on the steel rope 210 is too large, the torque acting on the movable end of the steel rope 210 is greater than the torque value set by the torque motor. At this time, the reel releases the rope until the torque at the movable end of the steel rope 210 matches the torque value of the torque motor; when the force on the steel rope 210 is too small, the torque acting on the movable end of the steel rope 210 is less than the torque value set by the torque motor. At this time, the reel reels the rope until the torque at the movable end of the steel rope 210 matches the torque value of the torque motor.

[0051] In this embodiment, there are two sets of anti-sway devices 200, which are located on both sides of the main beam 110, so that one steel rope 210 is connected to one side of the weight 130, and the other steel rope 210 is connected to the other side of the weight 130.

[0052] The movable ends of the steel ropes 210 in the two sets of anti-sway devices 200 are respectively tied to the left and right sides of the weight 130, and the steel ropes 210 are used to maintain the balance of the weight 130 in the left and right directions. Specifically, when the weight 130 is deflected to the left by an external force, the steel rope 210 on the right will be dragged in a taut state and continue to extend, and the winding force of the steel rope 210 by the power source will continue to act on the steel rope 210 to slow down or even offset the external force that causes the weight 130 to deflect to the left; when the weight 130 is deflected to the right by an external force, the steel rope 210 on the right will be dragged in a taut state and continue to extend, and the winding force of the steel rope 210 by the power source will continue to act on the steel rope 210 to slow down or even offset the external force that causes the weight 130 to deflect to the right.

[0053] Among them, the rotating equipment with an anti-sway device 200 also includes a sliding device, which includes a moving frame detachably connected to the main beam 110, and pulleys 220 rotatably arranged at both ends of the moving frame, and the movable end of the steel rope 210 passes around the top of the corresponding pulley 220 to connect the weight 130.

[0054] By setting the reversing pulley 220, the direction of the force applied by the steel rope 210 to the weight 130 can be changed, and the height of the pulley 220 can be set higher than the preset height for lifting the weight 130, so that the force applied by the steel rope 210 to the weight 130 has a component in the vertical direction, thereby improving the efficiency of lifting the weight 130. At the same time, by using the reversing pulley 220, it is possible to avoid the steel rope 210 being connected to the weight 130 in a straight line, thereby reducing the space occupied by the entire equipment.

[0055] A plurality of mounting positions are provided on the main beam 110, and the mounting positions are evenly arranged along the length direction of the main beam 110, and all mounting positions include at least two coaxially arranged mounting holes; the movable frame includes a rotating shaft that can be inserted into the corresponding mounting hole, and a fixing member, and the rotating shaft is provided with a fixing position and a pulley 220 position for installing the pulley 220; the fixing member is detachably connected to the fixing position to limit the axial movement of the rotating shaft, and the rotating shaft can be inserted into different mounting positions according to actual needs to adjust the height of the pulley 220.

[0056] In some embodiments, the rotating equipment with the anti-sway device 200 also includes a position detector arranged on the main beam 110, and the position detector can detect the height of the heavy object 130. The anti-sway device 200 also includes a controller, which is connected to the power source. The controller can obtain the detection information of the position detector and drive the operation of the power source.

[0057] During the lifting process, the position detector detects the height of the weight 130 once every preset time period (for example, 1 second) (that is, the sampling frequency can be set to 1 second). The calculation module can obtain the detection results of two adjacent times of the position detector, and calculate the distance difference between the connection position of the steel rope 210 and the weight 130 and the corresponding pulley 220 during this process. When the judgment module determines that the distance difference is greater than the length of the steel rope 210 wound by the reel within the preset time period, the controller controls the power source to increase the output torque in the next time period to accelerate the winding of the steel rope 210 by the reel. When the judgment module determines that the distance difference is less than the length of the steel rope 210 wound by the reel within the preset time period, the controller controls the power source to reduce the output torque in the next time period to slow down the winding of the steel rope 210 by the reel. When the power source drives the reel to wind the steel rope 210 and keeps the steel rope 210 in a taut state, the controller controls the power source to maintain the first preset force.

[0058] A lifting device includes the slewing device with the anti-sway device 200 as described above, and also has the beneficial effects of the slewing device with the anti-sway device 200 as described above.

[0059] In addition, an anti-sway method is also included, which is suitable for the above-mentioned rotating equipment with an anti-sway device 200, and the anti-sway method includes: installing two sets of anti-sway devices 200 on the rotating platform 100; installing a sliding device on the main beam 110, and making the two pulleys 220 installed on both sides of the sliding device in a preset position; passing the movable ends of the two steel ropes 210 through the corresponding pulleys 220 and then fixing them on both sides of the weight 130, and the movable ends of the two steel ropes 210 are at the same height; opening the lifting device 120 to lift the weight 130 and controlling the power source through the controller to reel in the steel rope 210 with a first preset force, so that the pulling force of the weight 130 on the steel rope 210 is balanced with the first preset force.

[0060] Among them, the step of opening the lifting device 120 to lift the weight 130 and controlling the power source through the controller to reel in the steel rope 210 with a first preset force, so that the tension of the weight 130 on the steel rope 210 is balanced with the first preset force, also includes: detecting through a position detector that the weight 130 moves to a preset height; the rotating platform 100 drives the main beam 110 and the weight 130 to rotate on the same horizontal plane, and controlling the power source through the controller to reel in the steel rope 210 with a second preset force, so that the tension of the weight 130 on the steel rope 210 is balanced with the second preset force.

[0061] The magnitudes of the first preset force and the second preset force are both constants, and their specific values ​​may be related to the actual weight of the weight 130. For example, the magnitude of the first preset force is 0.1 to 0.2 times the gravity of the weight 130, and the magnitude of the second preset force is 0.08 to 0.15 times the gravity of the weight 130.

[0062] It should be noted that the steps of turning on the lifting device 120 to lift the weight 130 and controlling the power source through the controller to reel in the steel rope 210 with a first preset force, so that the tension of the weight 130 on the steel rope 210 is balanced with the first preset force, include: adjusting the power source to drive the reel to rotate forward with the first preset force; when the tension at the active end of the steel rope 210 is less than the tension of the reel, the reel rotates forward to reel in the steel rope 210; when the tension at the active end of the steel rope 210 is less than the tension of the reel, the steel rope 210 pulls the reel to rotate in the opposite direction to increase the length of the steel rope 210; when the tension at the active end of the steel rope 210 is equal to the tension of the reel, the reel is in a balanced state.

[0063] In this specification, relational terms such as first and second are used merely to distinguish one entity from other entities, but do not necessarily require or imply any such actual relationship or order between these entities.

[0064] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0065] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. A rotary device with an anti-sway device, characterized in that: include: A rotating platform (100) is capable of horizontal rotation and is provided with a main beam (110), a top of the main beam (110) is provided with a lifting device (120), and the lifting device (120) is capable of vertical movement to lift a heavy object (130); The anti-sway device (200) comprises a frame fixedly arranged relative to the rotating platform (100), a reel arranged on the frame, a steel rope (210) connected to the reel and the weight (130), and a power source capable of driving the reel to reel in order to adjust the extension length of the steel rope (210); The anti-sway device (200) further comprises a position detector arranged on the main beam (110), the position detector being capable of detecting the height of the weight (130), and the anti-sway device (200) further comprises a controller connected to the power source, the controller being capable of acquiring detection information of the position detector and driving the operation of the power source.

2. The rotary device with anti-sway device according to claim 1, characterized in that: The anti-sway device (200) is provided in two sets, and the two sets of the anti-sway device (200) are located on both sides of the main beam (110), so that one of the steel ropes (210) is connected to one side of the weight (130), and the other of the steel ropes (210) is connected to the other side of the weight (130).

3. The rotary device with anti-sway device according to claim 2, characterized in that: Also included is a sliding device, the sliding device comprising: A movable frame detachably connected to the main beam (110); The pulleys (220) are rotatably arranged at both ends of the movable frame, and the movable end of the steel rope (210) passes around the top of the corresponding pulley (220) to connect with the weight (130).

4. The rotary device with anti-sway device according to claim 3, characterized in that: The main beam (110) is provided with a plurality of mounting positions, the mounting positions are evenly arranged along the length direction of the main beam (110), and all the mounting positions include at least two coaxially arranged mounting holes; The mobile frame comprises: A rotating shaft capable of being inserted into the corresponding mounting hole, the rotating shaft being provided with a fixing position and a pulley (220) position for mounting the pulley (220); A fixing member is detachably connected to the fixing position to limit the axial movement of the rotating shaft.

5. The rotary device with an anti-sway device according to any one of claims 1 to 4, characterized in that: The power source is specifically a torque motor, and the torque motor is connected to a reducer.

6. A lifting device, characterized in that: The invention comprises a rotating device with an anti-sway device as described in any one of claims 1 to 5 above.

7. An anti-sway method, applicable to the rotary equipment with an anti-sway device as claimed in any one of claims 1 to 5, characterized in that: include: Installing two sets of the anti-sway devices (200) on the rotating platform (100); Installing a sliding device on the main beam (110), and making two pulleys (220) installed on both sides of the sliding device be in preset positions; The movable ends of the two steel ropes (210) are passed through the corresponding pulleys (220) and then fixed to the two sides of the weight (130), and the movable ends of the two steel ropes (210) are at the same height; The lifting device (120) is turned on to lift the weight (130), and the power source is controlled by a controller to reel in the steel rope (210) with a first preset force, so that the pulling force of the weight (130) on the steel rope (210) is balanced with the first preset force.

8. The anti-sway method according to claim 7, characterized in that: After the step of starting the lifting device (120) to lift the weight (130) and controlling the power source through a controller to reel in the steel rope (210) with a first preset force so that the pulling force of the weight (130) on the steel rope (210) is balanced with the first preset force, the method further comprises: Detecting, by a position detector, that the weight (130) moves to a preset height; The revolving platform (100) drives the main beam (110) and the weight (130) to rotate on the same horizontal plane, and controls the power source through the controller to reel in the steel rope (210) with a second preset force, so that the pulling force of the weight (130) on the steel rope (210) is balanced with the second preset force.

9. The anti-sway method according to claim 7, characterized in that: The step of starting the lifting device (120) to lift the weight (130) and controlling the power source through a controller to reel in the steel rope (210) with a first preset force so that the pulling force of the weight (130) on the steel rope (210) is balanced with the first preset force comprises: Adjusting the power source to drive the reel to rotate in a positive direction with the first preset force; When the tension of the movable end of the steel rope (210) is less than the tension of the reel, the reel rotates forward to reel in the steel rope (210); When the tension of the movable end of the steel rope (210) is less than the tension of the reel, the steel rope (210) pulls the reel to rotate in the opposite direction to increase the length of the steel rope (210); When the tension of the movable end of the steel rope (210) is equal to the tension of the reel, the reel is in a balanced state.

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