Angle-adjustable hoisting tool and method

Abstract

The invention discloses an angle-adjustable hoisting tool and method. The angle-adjustable hoisting tool comprises a first attitude sensor, a second attitude sensor and a lifting device, wherein the first attitude sensor is mounted on an equipment butt-joint surface of butt-joint equipment; the second attitude sensor is mounted on the bushing butt joint surface of the high-voltage bushing; the hoisting device is arranged at the middle section of the auxiliary lifting rope pulled by the lifting hook; the remote controller is electrically connected with the hoisting device and comprises a liquid crystal display screen for dynamically displaying included angle data at the equipment butt joint surface and included angle data at the sleeve butt joint surface; the hoisting tool is applied to the installation scene of the high-voltage bushing of the transformer substation, single-hoisting of a single crane is successfully realized, the problems that an existing bushing hoisting tool usually needs cooperation of multiple persons, two cranes need to be used in a two-point double-hoisting method, the difficulty is high, and the precision is poor are solved, and the problems that a lever block needs to be used in two-point single-hoisting hoisting, and the hoisting efficiency is high are solved. The labor intensity is large, the danger coefficient is high, and the operation efficiency is low.

Description

Technical Field

[0001] The invention relates to a lifting tool, and in particular to an angle-adjustable lifting tool and method. Background Art

[0002] With the rapid development of my country's power system, high-voltage power transmission and distribution equipment such as power transformers, circuit breakers and combined electrical appliances have been widely used in the industry. The high-voltage bushings of these power facilities, especially porcelain bushings, need to be hoisted during replacement. During the hoisting process, the bushing needs to be tilted at a certain angle, but due to the complex and changeable working environment and the large mass of the bushing itself, the hoisting process often takes a long time, and it is very easy to have accidents such as bumps during the process. Any bumps on the surface of the bushing may have an adverse effect on its insulation performance, thereby threatening the safe and stable operation of the power system.

[0003] The existing lifting methods and corresponding shortcomings are as follows:

[0004] 1. Single-point hoisting: This method is limited by the porcelain material of the high-voltage bushing. During the hoisting process, it is necessary to avoid collision, extrusion, and overturning. During single-point hoisting, there is only one contact point between the porcelain skirt and the sling. The force is too concentrated, the porcelain skirt is prone to breakage at the contact point, and it is difficult to adjust the angle.

[0005] 2. Two-point double-lifting method: Two-point double-lifting method refers to setting two force points on the high-voltage bushing, and completing the lifting operation through the cooperation of two cranes to lift the high-voltage bushing to the specified position and angle. This method can adjust the inclination angle of the bushing, but it requires the use of two cranes, which is costly, difficult to cooperate with each other, and low operating efficiency.

[0006] 3. Two-point single-lifting: Take a sling and tie it to the top of the casing and hang it on the crane hook, and tie the other sling to the casing flange through a hand chain hoist. Use a crane to lift the casing to the specified height, and then adjust the sling force length through the hand chain hoist to change the casing inclination angle. This method can complete the lifting operation with one crane, but it requires personnel to adjust the hoist in the air, which poses certain safety risks.

[0007] Therefore, it is urgent to design a new type of lifting tool, which should be able to easily and relatively accurately adjust the inclination angle of the casing to ensure safe and efficient lifting operations. Summary of the invention

[0008] In order to solve the deficiencies of the above-mentioned technology, the present invention provides a lifting tool with adjustable angle.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is: a lifting tool with adjustable angle, comprising:

[0010] a first attitude sensor mounted on a device docking surface of the docking device;

[0011] A second attitude sensor mounted on a bushing butt joint surface of the high voltage bushing;

[0012] A lifting device installed in the middle section of the auxiliary lifting rope pulled by the hook;

[0013] A remote controller electrically connected to the hoisting device comprises a liquid crystal display screen for dynamically displaying the angle data at the device docking surface and the angle data at the sleeve docking surface.

[0014] Furthermore, the hoisting device is respectively connected to the first posture sensor, the second posture sensor, and the remote controller through wireless signal communication;

[0015] The first attitude sensor integrates a first gyroscope sensor, a first wireless communication module, a first battery, a first power management circuit, and a first central processing unit. The first power management circuit also has a first power switch and a first voltage stabilizing circuit within its framework.

[0016] The second posture sensor integrates a second gyroscope sensor, a second wireless communication module, a second battery, a second power management circuit, and a second central processing unit. The second power management circuit also has a second power switch and a second voltage stabilizing circuit within its framework.

[0017] Furthermore, the hook also pulls a main lifting rope, and the free ends of the main lifting rope and the auxiliary lifting rope are respectively hoisted at two end positions of the high-voltage bushing.

[0018] Further, the first central processing unit is equipped with an I2C interface and an SPI interface;

[0019] The first gyroscope sensor is connected to the first central processor via an I2C interface;

[0020] The first wireless communication module is connected to the first central processor via an SPI interface.

[0021] Further, the second central processing unit is equipped with an I2C interface and an SPI interface;

[0022] The second gyro sensor is connected to the second central processor via an I2C interface;

[0023] The second wireless communication module is connected to the second central processor via the SPI interface.

[0024] Further, the hoisting device includes a third wireless communication module, a third battery, a third power management circuit, a third central processing unit, a stepper motor, a motor control circuit, and a fourth wireless communication module;

[0025] The third power management circuit has a third power switch and a DC / DC circuit in its framework, and the motor control circuit has a driver chip and a dual-bridge driver integrated in its framework;

[0026] The motor control circuit is used to drive the stepper motor to rotate.

[0027] Furthermore, the DC / DC circuit converts the voltage of the third battery into one path for powering the third wireless communication module and the third central processing unit, and another path for powering the stepping motor and the motor control circuit.

[0028] Furthermore, the remote controller includes a fourth central processing unit, a fifth wireless communication module, a liquid crystal display screen, a fourth power management circuit, and a fourth battery.

[0029] Furthermore, the LCD screen adopts a color LCD screen. When the parallelism between the device docking surface and the casing docking surface is greater than 15°, the angle value is displayed in green font on the LCD screen; when the parallelism between the device docking surface and the casing docking surface is greater than 5° and less than or equal to 15°, the angle value is displayed in yellow font on the LCD screen; when the parallelism between the device docking surface and the casing docking surface is less than or equal to 5°, the angle value is displayed in red font on the LCD screen and is accompanied by flashing.

[0030] A method for hoisting a tool with adjustable angle, comprising the following steps:

[0031] First, install the first attitude sensor in parallel on the equipment docking surface, and install the second attitude sensor in parallel on the bushing docking surface; install the lifting device on the auxiliary lifting rope connecting the hook and the high-voltage bushing, and the auxiliary lifting rope is wound around the stepping motor; turn on the first power switch of the first attitude sensor, turn on the second power switch of the second attitude sensor, turn on the third power switch of the lifting device, and then start the system;

[0032] Secondly, the remote controller sends a command to start the angle adjustment to the hoisting device, and after the fourth wireless communication module receives the command to start the angle adjustment and the third central processor successfully parses the command, the third wireless communication module calls the first attitude sensor and the second attitude sensor for measuring the tilt angle data;

[0033] Again, the first attitude sensor sequentially receives the message through the first wireless communication module, the first central processor parses the message, and the first gyroscope sensor reads the angle, and then obtains the angle θ and transmits it back to the hoisting device; the second attitude sensor sequentially receives the message through the second wireless communication module, the second central processor parses the message, and the second gyroscope sensor reads the angle, and then obtains the angle β and transmits it back to the hoisting device;

[0034] From this, the hoisting device receives the message sent by the first posture sensor and the second posture sensor through the third wireless communication module, and parses the message through the central processor to obtain the angle θ and the angle β, and then uses the angle θ and the angle β to calculate the stepper motor rotation angle α, and then controls the stepper motor rotation angle α through the motor control circuit to adjust the length of the auxiliary hoisting rope; at the same time, the hoisting device receives the message sent by the first posture sensor and the second posture sensor through the third wireless communication module, and parses the message through the central processor to obtain the angle θ and the angle β, and then sends it to the remote control through the fourth wireless communication module. After parsing by the fourth central processor, the remote control displays the angle between the casing docking surface and the equipment docking surface in a graphical manner through the LCD screen;

[0035] Finally, when the casing docking surface and the equipment docking surface are in a parallel state, a command to stop adjusting the angle is sent to the lifting device through the remote control. After the lifting device receives the stop command and the third central processor successfully parses the command, it stops calling the inclination angle data of the first attitude sensor and the second attitude sensor, and stops adjusting the motor angle, and the work is completed.

[0036] An angle-adjustable lifting tool and method are used in the installation scenario of high-voltage bushings in substations. The tool successfully realizes single-lifting by a single crane, which not only solves the problem that existing bushing lifting tools usually require the cooperation of multiple people, and the two-point double-lifting method requires the use of two cranes, which is difficult and has poor precision, but also solves the problem that two-point single-lifting requires the use of a lever hoist, which has high labor intensity, high risk factor, and low operating efficiency. A three-axis acceleration sensor is used for angle sampling, and a microprocessor is used to adjust the angle of a stepper motor, which can achieve precise positioning of the docking surface. The angle error between the docking equipment docking surface and the high-voltage bushing docking surface can reach <0.1°, and the operating efficiency is increased by 5 times. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is the initial state of lifting.

[0038] Figure 2 It is the target state of hoisting.

[0039] Figure 3 This is a diagram showing the composition of a lifting device that can automatically adjust the angle.

[0040] Figure 4 This is a diagram of the first posture sensor composition.

[0041] Figure 5 This is a diagram of the composition of the first power management circuit.

[0042] Figure 6 This is a diagram of the second posture sensor composition.

[0043] Figure 7 This is a diagram of the composition of the second power management circuit.

[0044] Figure 8 This is a diagram of the lifting device composition.

[0045] Fig. 9 This is a diagram of the composition of the third power management circuit.

[0046] Fig.10 This is the composition diagram of the motor control circuit.

[0047] Fig.11 This is a schematic diagram of the assembly of the first posture sensor.

[0048] Fig.12 This is a schematic diagram of the assembly of the second posture sensor.

[0049] Fig.13 This is the assembly diagram of the lifting device.

[0050] Fig.14 This is a diagram of the remote control components.

[0051] In the figure:

[0052] 1. first attitude sensor; 11. first gyroscope sensor; 12. first wireless communication module; 13. first battery; 14. first power management circuit; 15. first central processing unit; 141. first power switch; 142. first voltage stabilizing circuit;

[0053] 2. second attitude sensor; 21. second gyro sensor; 22. second wireless communication module; 23. second battery; 24. second power management circuit; 25. second central processing unit; 241. second power switch; 242. second voltage stabilizing circuit;

[0054] 3. Hoisting device; 31. Third wireless communication module; 32. Third battery; 33. Third power management circuit; 34. Third central processing unit; 35. Stepper motor; 36. Motor control circuit; 37. Fourth wireless communication module; 331. Third power switch; 332. DC / DC circuit; 361. Driver chip; 362. Dual-bridge driver;

[0055] 4. remote control; 41. fourth central processing unit; 42. fifth wireless communication module; 43. liquid crystal display; 44. fourth power management circuit; 45. fourth battery.

[0056] 5. Hook; 6. Main lifting rope; 7. Auxiliary lifting rope; 8. High-voltage bushing; 81. Bushing docking surface; 9. Docking equipment; 91. Equipment docking surface. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0058] like Figure 1-13 As shown together, this embodiment is about the lifting tool with adjustable angle, including: a first posture sensor 1, installed on the equipment docking surface 91 of the docking device 9 to sense the angle between the equipment docking surface 91 and the vertical plane; a second posture sensor 2, installed on the bushing docking surface 81 of the high-voltage bushing 8 to sense the angle between the bushing docking surface 81 and the vertical plane; a lifting device 3, installed in the middle section of the auxiliary lifting rope 7 pulled by the hook 5 to adjust the length of the auxiliary lifting rope 7; a remote control 4, sending a start-stop angle adjustment command to the lifting device 3, and receiving the angle data of the equipment docking surface 91 and the bushing docking surface 81 uploaded by the lifting device 3, and displaying it in real time through the LCD screen 43.

[0059] Based on the above structure, this embodiment essentially designs a two-point single-lift electric angle-adjustable lifting tool, which lifts the high-voltage bushing 8 from the ground to a specified height (the height required for actual operation) in a horizontal posture, and monitors the angle θ of the docking part through the posture sensor 1, and the posture sensor 2 monitors the angle β of the lifting equipment, and sends the angle values ​​θ and β to the lifting device 3 at the same time. After receiving the angles θ and β, the lifting device 3 adjusts the length of the auxiliary lifting rope 7 until β+θ=90°. The posture of the lifting device 3 at this time is the target tilt angle.

[0060] Preferably, Figure 1 The figure shows the initial state of hoisting. The hook 5 is still pulling the main hoisting rope 6. The free ends of the main hoisting rope 6 and the auxiliary hoisting rope 7 are hoisted at the two ends of the high-voltage bushing 8 respectively. The auxiliary hoisting rope 7 is electrically adjusted in length through the hoisting device 3 to adjust the inclination angle of the high-voltage bushing 8, and finally achieves the following Figure 2 The status of the hoisting target is shown.

[0061] like Figure 3 As shown, the lifting device 3 is respectively connected to the first posture sensor 1, the second posture sensor 2, and the remote control 4 through wireless signal communication. It can be understood that the first posture sensor 1 and the second posture sensor 2 respectively transmit the angle values ​​calculated by themselves to the lifting device 3.

[0062] like Figure 4 As shown, the first posture sensor 1 integrates a first gyroscope sensor 11, a first wireless communication module 12, a first battery 13, a first power management circuit 14, and a first central processing unit 15. The framework of the first power management circuit 14 also includes a first power switch 141 and a first voltage stabilizing circuit 142.

[0063] Preferably, the first gyro sensor 11 is connected to the first central processor 15 via an I2C interface. In this embodiment, the first gyro sensor 11 specifically uses an MPU6050 chip, which integrates a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and an expandable digital motion processor DMP;

[0064] The first wireless communication module 12 is connected to the first central processor 15 via an SPI interface. In this embodiment, the first wireless communication module 12 uses a CC1101 wireless module, which has a frequency lower than 1 GHz and is a short-distance wireless communication chip for extremely low power RF applications, where RF is the abbreviation of Radio Frequency. The functions of the first wireless communication module 12 include data packet processing, data buffering, burst transmission, and received signal strength indication (RSSI), and the specific working frequency band is 387.0 MHz to 464.0 MHz.

[0065] The first battery 13 is implemented in a manner of supplying power to the first gyro sensor 11, the first wireless communication module 12, and the first central processor 15. The first battery 13 is preferably a 300mAh / 3.7V polymer lithium battery;

[0066] like Figure 5 As shown, the first power switch 141 of the first power management circuit 14 is implemented in a manner of controlling the opening and closing of the power supply circuit, and the first voltage stabilizing circuit 142 converts and stabilizes the 3.7V voltage output by the first battery 13 to DC3.3V, and then supplies the first gyro sensor 11, the first wireless communication module 12, and the first central processor 15;

[0067] The first central processor 15 specifically adopts the STM32F103C8T6 chip of STMicroelectronics, the operating voltage of the chip is DC3.3V, and is equipped with an I2C interface and an SPI interface. As described above, the first central processor 15 is connected to the gyroscope sensor 11 through the I2C interface to read the angle value of the gyroscope sensor 11. The first central processor 15 also communicates with the first wireless communication module 12 through the SPI interface to send the read angle value of the first gyroscope sensor 11 to the lifting device 3.

[0068] like Figure 6 As shown, the second posture sensor 2 integrates a second gyroscope sensor 21, a second wireless communication module 22, a second battery 23, a second power management circuit 24, and a second central processing unit 25. The second power management circuit 24 also has a second power switch 241 and a second voltage stabilizing circuit 242 within its framework.

[0069] Preferably, the second gyro sensor 21 is connected to the second central processor 25 via an I2C interface. In this embodiment, the second gyro sensor 21 specifically uses an MPU6050 chip, which integrates a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and an expandable digital motion processor DMP;

[0070] The second wireless communication module 22 is connected to the second central processor 25 via an SPI interface. In this embodiment, the second wireless communication module 22 uses a CC1101 wireless module, which has a frequency lower than 1 GHz and is a short-range wireless communication chip for extremely low power RF applications. RF is the abbreviation of Radio Frequency, and the working frequency band is specifically 387.0 MHz to 464.0 MHz. Thus, the second wireless communication module 22 has the same working contents as the first wireless communication module 12, including data packet processing, data buffering, burst transmission, and received signal strength indication (RSSI).

[0071] The second battery 23 is implemented in a manner of supplying power to the second gyro sensor 21, the second wireless communication module 22, and the second central processor 25. The second battery 23 is preferably a 300mAh / 3.7V polymer lithium battery;

[0072] like Figure 7 As shown, the second power switch 241 of the second power management circuit 24 is implemented in a manner of controlling the opening and closing of the power supply circuit, and the second voltage stabilizing circuit 242 converts and stabilizes the 3.7V voltage output by the first battery 13 to DC3.3V, and then supplies the second gyro sensor 21, the second wireless communication module 22, and the second central processor 25;

[0073] The second central processor 25 specifically adopts the STM32F103C8T6 chip of STMicroelectronics, the operating voltage of the chip is DC3.3V, and is equipped with an I2C interface and an SPI interface. As described above, the second central processor 25 is equipped with an I2C interface and an SPI interface. The second central processor 25 is connected to the second gyroscope sensor 21 via the I2C interface to read the angle value of the second gyroscope sensor 21, and the second central processor 25 sends the read angle value of the second gyroscope sensor 21 to the lifting device 3 via the SPI interface.

[0074] like Figure 8 As shown, the hoisting device 3 includes a third wireless communication module 31, a third battery 32, a third power management circuit 33, a third central processor 34, a stepper motor 35, a motor control circuit 36, and a fourth wireless communication module 37. The third power management circuit 33 has a third power switch 331 and a DC / DC circuit 332 in its framework. Fig.10As shown, a driving chip 361 and a dual-bridge driver 362 are integrated in the frame of the motor control circuit 36 ​​.

[0075] Preferably, the third wireless communication module 31 adopts the same CC1101 wireless module as the first wireless communication module 12 and the second wireless communication module 22, and the working frequency band of the third wireless communication module 31 is 387.0MHz to 464.0MHz. The third wireless communication module 31 receives and buffers the data messages uploaded by the first wireless communication module 12 and the second wireless communication module 22, and then connects and transmits the received data messages to the third central processor 34 through the SPI interface;

[0076] The third central processor 34 adopts the STM32F103C8T6 processor of STMicroelectronics, the working voltage of the chip is DC3.3V, and it has an I2C interface and an SPI interface. The third central processor 34 communicates with the third wireless communication module 31 through the SPI port to receive the data message uploaded by the third wireless communication module 31 for protocol analysis, and obtains the angle data of the first posture sensor 1 and the second posture sensor 2 through the analysis, and calculates the rotation angle required by the stepping motor 35 according to the angle data;

[0077] The motor control circuit 36 ​​is implemented in a manner to drive the stepping motor 35 to rotate;

[0078] The fourth wireless communication module 37 adopts a communication module that is compatible with the remote control 4, and is used to receive the start and stop angle adjustment commands issued by the remote control 4, and upload the angle data of the first posture sensor 1 and the second posture sensor 2 to the fifth wireless communication module 42. The fourth wireless communication module 37 and the fifth wireless communication module 42 both adopt the E01C-ML01SP4 domestic 2.4GHz wireless data transmission and receiving module, which is a small-sized 2.4GHz patch-type wireless module with a maximum transmission power of 100mW independently developed based on the domestic SI24R1 chip as the core, and has a built-in power amplifier (PA) and a low-noise amplifier (LNA) on the original basis, so that the maximum transmission power reaches 100mW while the receiving sensitivity is further improved. The overall communication stability is greatly improved compared to products without power amplifiers and low-noise amplifiers, and it is a very short data message wireless communication application scenario.

[0079] like Fig.14 As shown, the remote controller 4 includes a fourth central processor 41, a fifth wireless communication module 42, a liquid crystal display 43, a fourth power management circuit 44 and a fourth battery 45, wherein the fourth central processor 41 adopts a domestic CM32M101A-B128LQFP64 processor, and the CM32M101A microcontroller adopts a high-performance 32-bit ARM Cortex TM-M4F core, integrated floating point unit (FPU) and digital signal processing (DSP), supports parallel computing instructions, the highest working frequency is 108MHz, the power supply voltage is 1.8V to 3.6V, and provides a variety of power consumption modes for users to choose, which meets the requirements of low-power handheld remote control applications. The fourth central processor 41 communicates with the fifth wireless communication module 42 through the SPI port, and receives the angle data of the first posture sensor 1 and the second posture sensor 2 uploaded by the fourth wireless communication module 37; wherein the fourth central processor 41 communicates with the LCD screen 43 through the serial port, and sends the received angle data of the first posture sensor 1 and the second posture sensor 2 to the LCD screen 43 for graphical display; the fourth battery 45 adopts a remote control dedicated lithium battery with a charging voltage of DC7.4V and a capacity of 2000mAh. It can be understood that the fourth battery 45 is a rechargeable battery.

[0080] Further, such as Fig. 9 As shown, the third power switch 331 of the third power management circuit 33 controls the opening and closing of the power supply circuit, and the DC / DC circuit 332 is responsible for converting the 12V voltage output by the third battery 32 into DC3.3V and DC24V, wherein the DC3.3V voltage provides power to the third wireless communication module 31 and the third central processor 34, and the DC24V provides power to the stepper motor 35 and the motor control circuit 36.

[0081] Furthermore, the driving chip 361 of the motor control circuit 36 ​​adopts the single-chip stepper motor control integrated circuit L297, which is suitable for the control of bipolar two-phase stepper motors or four-phase unipolar stepper motors; the dual-bridge driver 362 uses the L298 chip. It should be noted that this chip is a high-voltage, high-current dual full-bridge driver used to accept standard TTL logic level signals and drive inductive loads.

[0082] According to the above structural setting, the detailed implementation process of this embodiment is as follows:

[0083] First, the first posture sensor 1 is installed on the docking device 9, and Fig.11 As shown, the first attitude sensor 1 is installed parallel to the equipment docking surface 91; similarly, the second attitude sensor 2 is installed on the high-voltage bushing 8, and Fig.12 As shown, the second posture sensor 2 is specifically installed parallel to the sleeve docking surface 81;

[0084] Secondly, the hoisting device 3 is installed on the auxiliary hoisting rope 7 connecting the hook 5 and the high-voltage bushing 8, and the auxiliary hoisting rope 7 is wound around the flange wheel of the stepping motor 35, and then the length of the auxiliary hoisting rope 7 is adjusted by the forward and reverse rotation of the stepping motor 35;

[0085] Again, turn on the first power switch 141 of the first posture sensor 1, turn on the second power switch 241 of the second posture sensor 2, turn on the third power switch 331 of the hoisting device 3, and start the system;

[0086] Furthermore, a command to start angle adjustment is sent to the hoisting device 3 by manually controlling the handheld remote controller 4;

[0087] Furthermore, after the fourth wireless communication module 37 of the lifting device 3 receives the start angle adjustment command from the remote control 4, the command is transmitted to the third central processor 34 of the lifting device 3. After the third central processor 34 successfully parses the command, the third wireless communication module 31 of the lifting device 3 calls for the tilt angle data from the first posture sensor 1 and the second posture sensor 2.

[0088] Further, the first wireless communication module 12 of the first attitude sensor 1 receives the message sent by the hoisting device 3, performs data buffering, and then transmits it to the first central processor 15. After the first central processor 15 parses the message and parses out the data call command, it reads the angle data of the first gyroscope sensor 11 through the I2C interface and calculates the angle data of the first gyroscope sensor 11. Fig.11 The angle θ shown in the figure constitutes a message, which is transmitted to the first wireless communication module 12 through the SPI port, and finally sent to the hoisting device 3 by the first wireless communication module 12;

[0089] Further, the second wireless communication module 22 of the second attitude sensor 2 receives the message sent by the hoisting device 3, performs data buffering, and then transmits it to the second central processor 25. After the second central processor 25 parses the message and parses out the data call command, it reads the angle data of the second gyroscope sensor 21 through the I2C interface and calculates the angle data of the second gyroscope sensor 21. Fig.12 The angle β shown in the figure constitutes a message, which is transmitted to the second wireless communication module 22 through the SPI port, and finally sent to the hoisting device 3 by the second wireless communication module 22;

[0090] Furthermore, the third wireless communication module 31 of the hoisting device 3 receives the message sent by the first posture sensor 1 and the second posture sensor 2 and forwards it to the third central processor 34, which parses the message to parse out the angle θ and the angle β;

[0091] Further, after the angles θ and β are analyzed, a calculation is performed to calculate the rotation angle α of the stepper motor, and then the stepper motor 35 is controlled to rotate at the angle α through the motor control circuit 36 ​​to adjust the length of the auxiliary suspension rope 7;

[0092] Further, repeat the telemetry data call test step to verify whether the casing interface 81 and the equipment interface 91 are parallel. Fig.13As shown, when β+θ=90°, the casing butt joint surface 81 and the equipment butt joint surface 91 are exactly parallel; if β+θ≠90°, continue the above angle adjustment steps until the casing butt joint surface 81 and the equipment butt joint surface 91 reach a exactly parallel state of β+θ=90°;

[0093] Further, after the hoisting device 3 receives the angle data of the first attitude sensor 1 and the second attitude sensor 2 through the third wireless communication module 31, it sends it to the fifth wireless communication module 42 of the remote controller 4 through the fourth wireless communication module 37. After the fourth central processor 41 analyzes the angle data received by the fifth wireless communication module 42, it controls the LCD screen 43 through the serial port to display the angle between the casing docking surface 81 and the equipment docking surface 91 in a graphical manner;

[0094] In actual use, when the parallelism of the equipment docking surface 91 and the casing docking surface 81 is greater than 15°, the angle value is displayed in green font; when the parallelism of the equipment docking surface 91 and the casing docking surface 81 is greater than 5° and less than or equal to 15°, the angle value is displayed in yellow font; when the parallelism of the equipment docking surface 91 and the casing docking surface 81 is less than or equal to 5°, the angle value is displayed in red font and flashes to remind the operator to pay attention.

[0095] Finally, when the sleeve docking surface 81 and the equipment docking surface 91 are in a parallel state, a command to stop adjusting the angle is sent to the lifting device 3 through the remote control 4. After the fourth wireless communication module 37 of the lifting device 3 receives the stop command sent by the remote control 4, it is transmitted to the third central processor 34 of the lifting device 3. After the third central processor 34 successfully parses the command, it stops calling the inclination angle data of the first attitude sensor 1 and the second attitude sensor 2, and stops adjusting the motor angle, and the work is completed.

[0096] The present application discloses an angle-adjustable lifting tool, which successfully realizes single-lift lifting by a single crane. It not only solves the problem that the existing casing lifting tools usually require the cooperation of multiple people, and the two-point double-lifting method requires the use of two cranes, which is difficult and has poor precision, but also solves the problem that the two-point single-lifting lifting requires the use of a lever hoist, which has high labor intensity, high risk factor and low operating efficiency. A three-axis acceleration sensor is used for angle sampling, and a microprocessor is used to adjust the angle of the stepper motor, so that precise positioning of the docking surface can be achieved. The angle error between the docking equipment docking surface and the high-voltage casing docking surface can reach <0.1°, and the operating efficiency is increased by 5 times.

[0097] The above implementation modes are not limitations of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the scope of the technical solution of the present invention also belong to the protection scope of the present invention.

Claims

1. A lifting tool with adjustable angle, characterized in that: include: A first posture sensor (1) mounted on a device docking surface (91) of a docking device (9); A second attitude sensor (2) mounted on a bushing butt joint surface (81) of a high-voltage bushing (8); A lifting device (3) installed in the middle section of an auxiliary lifting rope (7) pulled by a lifting hook (5); A remote controller (4) electrically connected to the lifting device (3), the remote controller (4) comprising a liquid crystal display screen (43) for dynamically displaying angle data at the device docking surface (91) and angle data at the sleeve docking surface (81).

2. The angle-adjustable lifting tool according to claim 1, characterized in that: The hoisting device (3) is respectively connected to the first posture sensor (1), the second posture sensor (2), and the remote controller (4) through wireless signal communication; The first attitude sensor (1) integrates a first gyro sensor (11), a first wireless communication module (12), a first battery (13), a first power management circuit (14), and a first central processing unit (15); the first power management circuit (14) also has a first power switch (141) and a first voltage stabilizing circuit (142) within its framework; The second attitude sensor (2) is integrated with a second gyro sensor (21), a second wireless communication module (22), a second battery (23), a second power management circuit (24), and a second central processing unit (25); the second power management circuit (24) is also provided with a second power switch (241) and a second voltage stabilizing circuit (242) within its framework.

3. The angle-adjustable lifting tool according to claim 1, characterized in that: The hook (5) also pulls a main lifting rope (6), and the free ends of the main lifting rope (6) and the auxiliary lifting rope (7) are respectively hoisted at two end positions of the high-voltage bushing (8).

4. The angle-adjustable lifting tool according to claim 2, characterized in that: The first central processor (15) is equipped with an I2C interface and an SPI interface; The first gyro sensor (11) is connected to the first central processor (15) via an I2C interface; The first wireless communication module (12) is connected to the first central processor (15) via an SPI interface.

5. The angle-adjustable lifting tool according to claim 2, characterized in that: The second central processing unit (25) is equipped with an I2C interface and an SPI interface; The second gyro sensor (21) is connected to the second central processor (25) via an I2C interface; The second wireless communication module (22) is connected to the second central processing unit (25) via an SPI interface.

6. The angle-adjustable lifting tool according to claim 5, characterized in that: The hoisting device (3) comprises a third wireless communication module (31), a third battery (32), a third power management circuit (33), a third central processing unit (34), a stepping motor (35), a motor control circuit (36), and a fourth wireless communication module (37); The frame of the third power management circuit (33) is provided with a third power switch (331) and a DC / DC circuit (332), and the frame of the motor control circuit (36) is integrated with a driver chip (361) and a dual-bridge driver (362); The motor control circuit (36) is used to drive the stepping motor (35) to rotate.

7. The angle-adjustable lifting tool according to claim 6, characterized in that: The DC / DC circuit (332) converts the voltage of the third battery (32) into one path for powering the third wireless communication module (31) and the third central processing unit (34), and another path for powering the stepping motor (35) and the motor control circuit (36).

8. The angle-adjustable lifting tool according to claim 1, characterized in that: The remote controller (4) comprises a fourth central processing unit (41), a fifth wireless communication module (42), a liquid crystal display screen (43), a fourth power management circuit (44), and a fourth battery (45).

9. The angle-adjustable lifting tool according to claim 8, characterized in that: The liquid crystal display screen (43) is a color liquid crystal screen. When the parallelism between the device docking surface (91) and the casing docking surface (81) is greater than 15°, the angle value is displayed in green font on the liquid crystal display screen (43); when the parallelism between the device docking surface (91) and the casing docking surface (81) is greater than 5° and less than or equal to 15°, the angle value is displayed in yellow font on the liquid crystal display screen (43); when the parallelism between the device docking surface (91) and the casing docking surface (81) is less than or equal to 5°, the angle value is displayed in red font on the liquid crystal display screen (43) and is accompanied by flashing.

10. The method for installing an angle-adjustable lifting tool according to any one of claims 1 to 9, characterized in that: The following steps are involved: First, a first posture sensor (1) is installed in parallel on the equipment docking surface (91), and a second posture sensor (2) is installed in parallel on the bushing docking surface (81); a hoisting device (3) is installed on a supporting rope (7) connecting a hook (5) and a high-voltage bushing (8), and the supporting rope (7) is wound around a stepping motor (35); a first power switch (141) of the first posture sensor (1) is turned on, a second power switch (241) of the second posture sensor (2) is turned on, and a third power switch (331) of the hoisting device (3) is turned on, thereby starting the system operation; Secondly, a command for starting angle adjustment is sent to the hoisting device (3) through the remote controller (4), and after the fourth wireless communication module (37) receives the command for starting angle adjustment and transmits it to the third central processor (34) for successful analysis of the command, the third wireless communication module (31) calls for tilt angle data from the first attitude sensor (1) and the second attitude sensor (2); Next, the first attitude sensor (1) sequentially receives the message through the first wireless communication module (12), the first central processor (15) analyzes the message, and the first gyroscope sensor (11) reads the angle, thereby obtaining the angle θ and transmitting it back to the hoisting device (3); the second attitude sensor (2) sequentially receives the message through the second wireless communication module (22), the second central processor (25) analyzes the message, and the second gyroscope sensor (21) reads the angle, thereby obtaining the angle β and transmitting it back to the hoisting device (3); Next, the hoisting device (3) receives the message sent by the first posture sensor (1) and the second posture sensor (2) through the third wireless communication module (31), and parses the message through the central processor (34) to obtain the angle θ and the angle β, then uses the angle θ and the angle β to calculate the stepper motor rotation angle α, and then controls the stepper motor (35) to rotate the angle α through the motor control circuit (36), so as to adjust the length of the auxiliary hoisting rope (7); at the same time, the hoisting device (3) receives the message sent by the first posture sensor (1) and the second posture sensor (2) through the third wireless communication module (31), and parses the message through the central processor (34) to obtain the angle θ and the angle β, and then sends the message to the remote controller (4) through the fourth wireless communication module (37), and the remote controller (4) parses the message through the fourth central processor (41) and displays the angle between the casing docking surface (81) and the equipment docking surface (91) in a graphical manner through the liquid crystal display (43); Finally, when the casing docking surface (81) and the equipment docking surface (91) are in a parallel state, a command to stop adjusting the angle is sent to the hoisting device (3) through the remote control (4). After the hoisting device (3) receives the stop command and the third central processor (34) successfully parses the command, it stops calling the tilt angle data of the first attitude sensor (1) and the second attitude sensor (2), and stops adjusting the motor angle, and the work is completed.

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