Lifting appliance capable of automatically adjusting lifting point and mass center and leveling method

Abstract

The invention relates to a lifting appliance capable of automatically adjusting a lifting point and a mass center and a leveling method, the lifting appliance comprises a lifting appliance main body (20), a control system (10) and a storage battery (1), the control system (10) is connected to one end of the lifting appliance main body (20), and the storage battery (1) is connected to the other end of the lifting appliance main body; wherein the lifting appliance main body (20) comprises a lifting beam (14) and two fixed lifting lugs (8), and a pin shaft (11) is arranged below the lifting beam (14); the two fixed lifting lugs (8) are fixedly mounted on the upper surface of the lifting beam (14), and the lifting appliance is characterized in that a lifting point adjusting mechanism (30) and a mass center fine adjustment mechanism (70) are further arranged on the lifting beam (14), the mass center fine adjustment mechanism is controlled by the control system to adjust the mass center of the lifting appliance, and the lifting point adjusting mechanism is controlled by the control system to adjust the position of a lifting point. And the body point and the lifting point of the lifting appliance main body and the lifted object are arranged at set positions. The lifting point adjusting mechanism can meet lifting of products with different mass centers, and the universality of the lifting appliance is improved.

Description

Technical Field

[0001] The invention relates to the field of hoisting operations, and in particular to a hoisting device with automatic adjustment of hoisting points and center of mass and a leveling method, which are particularly suitable for spacecraft hoisting operations. Technical Background

[0002] The center of mass of the product is inconsistent with the center of mass of the sling. Before the traditional sling is used for lifting operations, the lifting point of the sling must be adjusted manually. In addition to one person responsible for crane operation, 3-4 people are required to cooperate in adjusting the sling. The adjustment process requires frequent lifting of the product, and the personnel also need to perform high-altitude operations. After multiple adjustments, it is possible to ensure that the lifting point and the center of mass of the product are in the same horizontal position. The adjustment holes of the lifting points on traditional slings are evenly distributed, making the lifting point adjustment process intermittent and non-continuous. At the same time, the product has different states such as empty and fully loaded, and the center of mass position is also different, resulting in the lifting point and the product center of mass cannot be guaranteed to completely coincide, and the product has a certain degree of tilt during the lifting process. Summary of the invention

[0003] The purpose of the present invention is to provide a sling with automatic adjustment of sling points and center of mass and a leveling method, so as to overcome the defects of the prior art of multiple adjustments, long time and large number of people.

[0004] A sling with automatic adjustment of the lifting point and the center of mass, comprising a sling body 20, a control system 10 and a battery 1, wherein the control system 10 is connected to one end of the sling body 20, and the battery 1 is connected to the other end of the sling body; the sling body 20 comprises a suspension beam 14 and two fixed lifting ears 8, and a pin shaft 11 is installed under the suspension beam 14; the two fixed lifting ears 8 are fixedly installed on the upper surface of the suspension beam 14, and it is characterized in that a lifting point adjustment mechanism 30 and a center of mass fine-tuning mechanism 70 are also provided on the suspension beam 14, the center of mass fine-tuning mechanism is controlled by the control system to adjust the sling's center of mass, and the suspension point position is adjusted by controlling the suspension point adjustment mechanism by the control system, so that the mass points and the lifting points of the sling body and the suspended object are at set positions.

[0005] The center of mass fine-tuning mechanism includes a counterweight 7, a counterweight slider 15, a motor B2-2, a lead screw B5-2, a pair of guide rails B6-2 and an inclination sensor 9, wherein the guide rail B6-2 is installed on the suspension beam 14, a lead screw B5-2 is installed above the middle of the guide rail B6-2, and the motor B2-2 is connected to the right end of the lead screw B5-2, and the motor B2-2 can drive the lead screw B5-2 to rotate; a plurality of counterweight sliders B15 are provided on the guide rail B6-2, a counterweight 7 is fixedly installed on the counterweight slider B15, a lead screw nut is provided in the middle of the counterweight 7, the lead screw B5-2 passes through the lead screw nut of the counterweight 7, and the lead screw B5-2 can drive the counterweight 7 to move left and right when it rotates; inclination sensors 9 are also installed on the left and right ends of the suspension beam 14;

[0006] The hanging point adjustment mechanism includes a pair of elevated guide rails A6-1, a pair of movable lifting ears 3, a pair of movable grooves 12, a motor A2-1 and a lead screw A5-1; the pair of elevated guide rails A6-1 are arranged on the hanging beams 14 on both sides of the guide rail B6-2, the elevated guide rails A6-1 are higher than the guide rail B6-2 by a set distance, a load-bearing beam 17 is arranged at the right end of the two elevated guide rails A6-1, the counterweight block 7 is lower than the load-bearing beam 17, and the counterweight block 7 can move from the guide rail B6-2 under the load-bearing beam 17; both ends of the lead screw A5-1 are fixedly installed on the two load-bearing beams 17; the left end of the lead screw A5-1 is connected with Motor A2-1; a movable groove 12 is installed on each of the two elevated guide rails A6-1, and there is a through hole in the middle of the movable groove 12. The elevated guide rail A6-1 passes through the through hole of the movable groove 12. A movable lifting ear 3 is fixedly installed on each of the two movable grooves 12, and the movable groove 12 can move on the elevated guide rail A6-1; the two movable grooves 12 are connected together by a connecting beam 4, and a screw nut is provided on the connecting beam 4. The screw A5-1 passes through the screw nut on the connecting beam 4 to drive the connecting beam 4 to move left and right, thereby driving the movable groove 12 and the movable lifting ear 3 to move on the elevated guide rail A6-1.

[0007] An upper rack 13 is provided on the lower surface of the elevated guide rail A6-1, a slider is provided on the upper surface, and a lower rack 16 is provided on the lower surface of the through hole of the movable groove 12. When the movable groove 12 is to run on the elevated guide rail A6-1, the lower rack 16 is set at a distance from the upper rack 13, and the movable groove 12 can move on the elevated guide rail A6-1; when the movable groove 12 needs to remain stationary on the elevated guide rail A6-1, the lower rack 16 moves upward so that the lower rack 16 is stuck on the teeth of the upper rack 13, and the movable groove 12 remains stationary on the elevated guide rail A6-1.

[0008] A method for leveling a sling with automatic adjustment of the sling point and the center of mass is performed by using the sling with automatic adjustment of the sling point and the center of mass, characterized in that the method comprises the following steps:

[0009] Step 1: The hand control box sends an adjustment instruction of the movable lifting lug to the wireless transmitting and receiving module of the control system 10;

[0010] Step 2: The wireless transmitting and receiving module sends a command to the processor, and the processor records the position information of the movable lifting lug 3 and sends it to the encoder of the control system 10;

[0011] Step 3: The encoder controls the motor A2-1 to drive the lead screw A5-2 to adjust the position of the movable lifting ear 3, and feeds back the moving distance of the movable lifting ear 3 to the processor of the control system 10;

[0012] Step 4: Use a sling to connect the sling body 20, the object to be hoisted and the crane, lift the sling body, and the inclination sensor 9 collects the inclination state of the hanging beam 14 in real time, and feeds back the inclination angle of the hanging beam 14 to the processor of the control system 10. The processor controls the motor B2-2 to drive the counterweight block 7 to move forward and backward. During the movement of the counterweight block 7, the sling body posture information and the counterweight block position information are updated in real time and fed back to the processor.

[0013] Step 5: Repeat the above steps 1-4 until the level of the sling body 20 and the object being slinged reaches the set range.

[0014] Beneficial effects of the present invention:

[0015] The invention is simple to operate, easy to use, saves manpower, and can improve the lifting efficiency. The lifting point adjustment mechanism can meet the lifting of products with different centers of mass, improving the versatility of the lifting device; the center of mass fine-tuning mechanism can automatically adjust the posture of the lifting device and the lifting object, ensuring that the lifting device and the lifting object are level during the lifting process, improving the lifting efficiency and safety during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a detailed structural schematic diagram of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the movable lifting ear of the present invention;

[0019] Figure 4 It is a partial cross-sectional view of the movable lifting ear of the present invention. DETAILED DESCRIPTION

[0020] The present invention proposes the following technical solutions:

[0021] An automatic leveling method for the sling with automatic adjustment of the sling point and the center of mass, the method comprising the following steps:

[0022] Step 1: The hand control box sends an adjustment instruction of the movable ear to the wireless transmitting and receiving module;

[0023] Step 2: The wireless transmitting and receiving module sends a command to the processor, which records the position information of the active ear 3 and sends it to the encoder

[0024] Step 3: The encoder controls the motor to drive the lead screw to adjust the position of the movable lifting ear 3, and feeds back the moving distance of the movable lifting ear 3 to the processor;

[0025] Step 4: Use a sling to connect the sling body, the object to be hoisted and the crane, lift the sling body, and the inclination sensor collects the tilt state of the sling beam in real time, and feeds back the tilt angle of the sling beam to the processor. The processor controls the motor to drive the counterweight to move forward and backward. During the movement of the counterweight, the sling posture information and the counterweight position information are updated in real time and fed back to the processor.

[0026] Step 5: Repeat the above steps 1-4 until the level of the sling body and the object being hoisted reaches the set range.

[0027] The sling includes a lifting beam, a movable lifting lug, a fixed lifting lug, a motor, a counterweight, an inclination sensor, a connecting beam, a slider, a guide rail, a rack, an adapter plate, a movable slot, a battery, etc. The motor A, the movable lifting lug, the guide rail, the slider, the movable slot, the rack, the lead screw, and the connecting beam constitute a lifting point adjustment mechanism, and the motor B, the lead screw, the guide rail, the slider, the counterweight, and the inclination sensor constitute a center of mass fine-tuning mechanism. The sling is provided with four lifting lugs in total, two of which are fixed on the lifting beam, and the other two are movable lifting lugs. The movable lifting lugs are installed in the movable slot, and the middle of the movable slot and the movable lifting lugs is open. The lifting beam passes through the middle of the movable slot and the movable lifting lugs. The guide rail and the slider are installed on the upper part of the lifting beam, and the upper rack is installed on the lower part. The lower rack is installed on the lower part of the movable lifting lug. The inside of the movable slot is connected to the adapter plate through the front and rear side plates. A push spring is installed between the front and rear side plates of the movable slot and the movable lifting lug. The push plate on the outer side of the movable slot is connected to the connecting beam. The lead screw nut is installed in the middle of the connecting beam and connected to the lead screw. Slide blocks are installed on both sides of the counterweight block, which are fixed to the guide rails on both sides of the lower layer of the hanging beam through the slide blocks. The middle part is connected to the lead screw through a lead screw nut. The lead screw is driven by a motor to drive the counterweight block to move forward and backward along the guide rail.

[0028] The movable lifting ear is flexibly connected to the movable groove, and the movable lifting ear can move in a small range in the movable groove. After lifting, the movable lifting ear is separated from the movable groove, and the lower rack and the upper rack are engaged to lock the position of the movable lifting ear. After landing, the lower rack and the upper rack are separated, the movable lifting ear is released from the suspension beam, and the screw drives the movable groove and the movable lifting ear to move together.

[0029] Four lifting ears are arranged on the upper part of the lifting beam, which are connected to the lifting machinery through a lifting belt. The two movable lifting ears move forward and backward through the slider and guide rail combination on the lifting beam. A row of adjustment holes and two pins are arranged on the lower part. The pins are connected to the lifted object through the lifting belt. The positions of the pins in different holes can be adjusted to meet the lifting requirements of the lifted objects in different lifting positions.

[0030] The control system for the sling with automatic adjustment of the lifting point and center of mass includes an inclination sensor, an encoder, a processor, a manual control box, and a battery; the manual control box remotely sends instructions to the processor through a wireless transmitting and receiving module, and the encoder controls the motor to drive the moving direction and distance of the movable lifting lug; the inclination sensor is installed diagonally on both sides of the hanging beam, collects the tilt state of the hanging beam in real time, and feeds back the tilt angle of the hanging beam to the processor, and the processor controls the motor to drive the counterweight to move forward and backward. The manual control box can control the moving forward and backward movement of the movable lifting lug, cut off the battery power supply in an emergency, and display the moving distance of the movable lifting lug, the remaining battery power, and the inclination angle information of the sling.

[0031] The sling with automatic adjustment of the lifting point and the center of mass is controlled by a remote terminal and an automatic leveling system of the center of mass to adjust the posture of the sling, so as to achieve horizontal lifting of the sling and the object being lifted.

[0032] The invention is described in detail below with reference to the accompanying drawings.

[0033] like Figure 2 , 3 As shown, the lifting device with automatic adjustment of the lifting point and the center of mass is composed of a battery 1, a motor 2, a movable lifting eye 3, a connecting beam 4, a screw 5, a guide rail 6, a counterweight 7, a fixed lifting eye 8, an inclination sensor 9, a control system 10, a pin 11, a movable slot 12, a lower rack 13, a lifting beam 14, a slider 15, an upper rack 16, etc.

[0034] like Figure 2 As shown, the motor B2-2, the screw B5-2, the counterweight 7, the guide rail B6-2, the slider 15, and the inclination sensor 9 constitute a center of mass fine-tuning mechanism. The sliders 15 are installed on both sides of the counterweight 7, which are fixed to the guide rails 6-2 on both sides of the lower layer of the suspension beam through the sliders 15. The middle is connected to the screw B5-2 through a screw nut. The motor B2-2 drives the screw B5-2 to drive the counterweight 7 to move forward and backward along the guide rail B6-2.

[0035] like Figure 3 , 4 As shown, the movable groove 12 is composed of a push side plate 3-2, front and rear side plates 3-5, and a bottom plate 3-6. The suspension point adjustment mechanism is composed of a motor A2-1, a movable lifting ear 3, an adapter plate 3-1, a push side plate 3-2, front and rear side plates 3-5, a slider 3-3, a push spring 3-4, a connecting beam 4, a lead screw A5-1, a guide rail A6-1, an upper rack 13, and a lower rack 16. The sling is provided with four lifting ears, two fixed lifting ears 8 are fixed on the suspension beam, and the other two movable lifting ears 3 are mounted on the upper guide rail A6-1 of the suspension beam 14. The movable lifting ears 3 are installed in the movable groove 12, and the movable groove 12 is connected to the lead screw A5-1 through the connecting beam 4. The lead screw A5-1 is driven by the motor A2-1 to drive the movable lifting ears 3 to move forward and backward along the elevated guide rails A6-1 on both sides of the upper layer of the suspension beam.

[0036] like Figure 2 , 3 As shown, the beam 14 passes through the middle of the moving slot 12 and the movable lifting ear 3, the upper part of the beam 14 is installed with the guide rail A6-1, the slider 3-3, the lower part is installed with the upper rack 13, the lower part of the movable lifting ear 3 is installed with the lower rack 16, the inside of the moving slot 12 is connected to the adapter plate 3-1 through the front and rear side plates 3-5, the front and rear side plates 3-5 of the moving slot and the movable lifting ear 3 are installed with the push spring 3-4, the moving slot push side plate 3-2 is connected to the connecting crossbeam 4, the middle of the connecting crossbeam 4 is installed with a lead screw nut, which is connected to the lead screw A5-1. Before lifting, the hand control box remotely controls the lifting point adjustment mechanism to control the motor A2-1 to drive the lead screw A5-1 to drive the two moving slots 12 and the movable lifting ear 3 to move forward and backward along the guide rail A6-1. The movable lifting ear 3 is flexibly connected to the movable groove 12, and the movable lifting ear 3 can move in a small range in the movable groove 12. After lifting, the movable lifting ear 3 is separated from the slider 3-3 and the adapter plate 3-1, and the front and rear side plates 3-5 and the push spring 3-4 fine-tune the position of the movable lifting ear 3, so that the lower rack fine-tunes the lower rack 16 and the upper rack 13 to engage and lock the movable lifting ear 3.

[0037] Four lifting ears are set on the upper part of the lifting beam 14, which is connected to the lifting machinery through a lifting belt. Multiple adjustment holes and pins 11 are set on the lower part of the lifting beam 14. The pins 11 are connected to the suspended object through the lifting belt. The positions of the pins 11 in different holes can be adjusted to meet the lifting requirements of the suspended objects in different lifting positions.

[0038] The manual control box sends instructions to the control system 10 to control the motor A2-1 to drive the screw A5-1 to drive the moving direction and distance of the movable lifting ear 3. The inclination sensor 9 is diagonally installed on both sides of the hanging beam to detect the inclination state of the hanging beam 14 and feed back the inclination angle of the hanging beam 14 to the control system 10. The processor controls the motor B2-2 to drive the counterweight block 7 to move. The inclination sensor 9 detects and feeds back the posture of the sling in real time until the horizontal degree of the sling and the suspended object reaches the set range.

[0039] The following steps are used to achieve automatic leveling of the sling and the object being hoisted.

[0040] Step 1: The hand control box sends an adjustment instruction of the movable ear 3 to the wireless transmitting and receiving module;

[0041] Step 2: The wireless transmitting and receiving module sends a command to the processor, which records the position information of the active lug 3 and sends it to the encoder

[0042] Step 3: The encoder controls the motor A2-1 to drive the lead screw A5-1 to adjust the position of the movable lifting lug 3, and feeds back the moving distance of the lifting lug to the processor;

[0043] Step 4: Use a sling to connect the sling, the object to be hoisted and the crane, lift the sling, and the inclination sensor 9 collects the inclination state of the hanging beam 14 in real time, and feeds back the inclination angle of the hanging beam 14 to the processor. The processor controls the motor 2-2 to drive the counterweight block 7 to move forward and backward. The sling posture information and the position information of the counterweight block 7 are updated in real time during the movement process and fed back to the processor.

[0044] Step 5: Repeat steps 1-4 above until the level of the sling and the object being hoisted reaches the set range.

[0045] A sling with automatic adjustment of the lifting point and the center of mass, comprising a sling body and a control system, characterized in that the sling body comprises a lifting beam, a movable lifting eye, a movable slot, a fixed lifting eye, a lead screw, a motor, a battery, a counterweight, a slider, a guide rail, a sling point adjustment mechanism, and a center of mass fine-tuning mechanism.

[0046] The sling with automatic adjustment of the lifting point and the center of mass is adjusted through remote control and the center of mass automatic leveling system to achieve simultaneous horizontal lifting of the sling and the object to be lifted.

[0047] The control system includes an inclination sensor, an encoder, a processor, a manual control box, and a battery; the manual control box remotely sends instructions to the processor through a wireless transmitting and receiving module, and the encoder controls the motor to drive the movable lifting lug to move in a direction and distance; the inclination sensor is diagonally installed on both sides of the hanging beam, and the inclination sensor collects the inclination state of the hanging beam in real time, and feeds back the inclination angle of the hanging beam to the processor, and the processor controls the motor to drive the counterweight block to move forward and backward.

[0048] The hand control box can control the forward and backward movement of the movable lifting lug, cut off the power supply of the battery in an emergency, and display information such as the moving distance of the movable lifting lug, the remaining power of the battery, and the tilt angle of the lifting device.

[0049] The hanging point adjustment mechanism includes a movable lifting ear, an upper rack, a lower rack, a movable groove, an adapter plate, a lead screw, a connecting beam, a guide rail, a slider, a pushing spring, a motor, etc.; a groove is opened between the movable groove and the movable lifting ear, and the hanging beam passes through the movable groove and the movable lifting ear. The guide rail and the slider are installed on the upper part of the hanging beam, and the upper rack is installed on the lower part. The lower rack is installed on the lower part of the movable lifting ear. The interior of the movable groove is connected to the adapter plate through the front and rear side plates. A pushing spring is installed between the front and rear side plates of the movable groove and the movable lifting ear. The pushing plate on the outer side of the movable groove is connected to the connecting beam. A lead screw nut is installed in the middle of the connecting beam and connected to the lead screw.

[0050] The movable lifting ear is flexibly connected to the movable groove, and the movable lifting ear can move in a small range in the movable groove. After lifting, the movable lifting ear is separated from the movable groove, and the lower rack and the upper rack are engaged to lock the position of the movable lifting ear. After landing, the lower rack and the upper rack are separated, the movable lifting ear is released from the lifting beam, and the screw drives the movable groove and the movable lifting ear to move together.

[0051] The center of mass fine-tuning mechanism includes a motor, a lead screw, a slider, a guide rail, and a counterweight; sliders are installed on both sides of the counterweight, which is fixed to the guide rails on both sides of the lower layer of the suspension beam through the sliders, and is connected to the lead screw through a lead screw nut in the middle, and the lead screw is driven by the motor to drive the counterweight to move forward and backward along the guide rail.

[0052] A plurality of adjustment holes and pins are arranged at the lower part of the lifting beam. The pins are connected to the suspended object through a lifting belt. The positions of the pins in different holes are adjusted to meet the lifting requirements of the suspended object at different lifting positions.

[0053] A method for leveling a sling with automatic adjustment of a sling point and a center of mass, characterized in that the method comprises the following steps:

[0054] Step 1: The hand control box sends an adjustment instruction of the movable ear to the wireless transmitting and receiving module;

[0055] Step 2: The wireless transmitter and receiver module sends a command to the processor, which records the position information of the active lug and sends it to the encoder

[0056] Step 3: The encoder controls the motor to drive the lead screw to adjust the position of the movable lifting lug, and feeds back the moving distance of the lifting lug to the processor;

[0057] Step 4: Use a sling to connect the sling, the object being hoisted and the crane, lift the sling, and the inclination sensor collects the tilt state of the sling beam in real time, and feeds back the tilt angle of the sling beam to the processor. The processor controls the motor to drive the counterweight to move forward and backward. During the movement of the counterweight, the sling posture information and the counterweight position information are updated in real time and fed back to the processor.

[0058] Step 5: Repeat steps 1-4 above until the level of the sling and the object being hoisted reaches the set range.

[0059] The invention discloses a sling with automatic adjustment of a lifting point and a center of mass and a leveling method, comprising a sling main body and a control system. The sling with automatic adjustment of a lifting point and a center of mass comprises: a lifting beam, a movable lifting eye, a fixed lifting eye, a counterweight, a motor, an inclination sensor, a connecting crossbeam, a slider, a guide rail, a rack, an adapter plate, a movable groove, a pin shaft, a battery, a control system, etc.; a motor A, a movable lifting eye, a rack, a movable groove, a lead screw, and a connecting crossbeam constitute a sling point adjustment mechanism, and a motor B, a lead screw, a counterweight, and an inclination sensor constitute a center of mass fine-tuning mechanism. The sling is provided with four lifting ears, two of which are fixed on the hanging beam, and the other two movable lifting ears are mounted on the upper guide rail of the hanging beam. The movable lifting ears are installed in the movable groove, and the movable groove is connected to the lead screw through the connecting crossbeam. The lifting point adjustment mechanism drives the two movable grooves and the movable lifting ears to move forward and backward along the guide rail through the motor-driven lead screw; the inclination sensor detects the posture of the sling and feeds back to the control system, and controls the center of mass fine-tuning mechanism to drive the counterweight block to move forward and backward along the guide rails on both sides of the lower layer of the hanging beam through the motor-driven lead screw, so as to adjust the center of mass of the sling and the hoisted object. The present invention can realize automatic adjustment of the posture of the sling and the hoisted object, and realize continuous adjustment of the lifting point position, which solves the problem that the traditional sling is difficult to level during the hoisting process, requires multiple people to cooperate in manual adjustment, and has low operating efficiency, thereby improving the hoisting efficiency.

Claims

1. A sling with automatic adjustment of the lifting point and the center of mass, comprising a sling body (20), a control system (10) and a battery (1), wherein the control system (10) is connected to one end of the sling body (20), and the battery (1) is connected to the other end of the sling body; wherein the sling body (20) comprises a sling beam (14) and two fixed lifting ears (8), and a pin shaft (11) is installed under the sling beam (14); the two fixed lifting ears (8) are fixedly installed on the upper surface of the sling beam (14), and characterized in that: A suspension point adjustment mechanism (30) and a center of mass fine-tuning mechanism (70) are also provided on the suspension beam (14). The center of mass fine-tuning mechanism is controlled by a control system to adjust the center of mass of the sling, and the suspension point position is adjusted by a control system to control the suspension point adjustment mechanism, so that the mass points and suspension points of the sling body and the suspended object are at set positions.

2. A sling with automatic adjustment of sling points and center of mass according to claim 1, characterized in that: The center of mass fine-tuning mechanism comprises a counterweight (7), a counterweight slider (15), a motor (B2-2), a lead screw B (5-2), a pair of guide rails B (6-2) and an inclination sensor (9), wherein the guide rail B (6-2) is installed on a suspension beam (14), a lead screw B (5-2) is installed above the middle of the guide rail B (6-2), and a motor B (2-2) is connected to the right end of the lead screw B (5-2), and the motor B (2-2) can drive The movable lead screw B (5-2) rotates; a plurality of counterweight block sliders B (15) are arranged on the guide rail B (6-2); a counterweight block (7) is fixedly mounted on the counterweight block slider B (15); a lead screw nut is arranged in the middle of the counterweight block (7); the lead screw B (5-2) passes through the lead screw nut of the counterweight block (7); when the lead screw B (5-2) rotates, the counterweight block (7) can be driven to move left and right; and inclination sensors (9) are also mounted on the left and right ends of the suspension beam (14).

3. A sling with automatic adjustment of sling points and center of mass according to claim 1, characterized in that: The suspension point adjustment mechanism comprises a pair of elevated guide rails A (6-1), a pair of movable lifting ears (3), a pair of movable grooves (12), a motor A (2-1) and a lead screw A (5-1); the pair of elevated guide rails A (6-1) are arranged on the suspension beams (14) on both sides of the guide rail B (6-2); the elevated guide rails A (6-1) are higher than the guide rail B (6-2) by a set distance; a load-bearing beam (17) is arranged at the right end of the two elevated guide rails A (6-1); the counterweight (7) is lower than the load-bearing beam (17); the counterweight (7) can move from the guide rail B (6-2) below the load-bearing beam (17); the two ends of the lead screw A (5-1) are fixedly mounted on the two load-bearing beams (17); the left end of the lead screw A (5-1) is connected to A motor A (2-1); a movable groove (12) is installed on each of the two elevated guide rails A6 (-1), a through hole is provided in the middle of the movable groove (12), the elevated guide rail A (6-1) passes through the through hole of the movable groove (12), a movable lifting ear (3) is fixedly installed on each of the two movable grooves (12), and the movable groove (12) can move on the elevated guide rail A (6-1); the two movable grooves (12) are connected together by a connecting crossbeam (4), a screw nut is provided on the connecting crossbeam (4), and a screw A (5-1) passes through the screw nut on the connecting crossbeam (4) to drive the connecting crossbeam (4) to move left and right, thereby driving the movable groove (12) and the movable lifting ear (3) to move on the elevated guide rail A (6-1).

4. A sling with automatic adjustment of sling points and center of mass according to claim 2, characterized in that: The elevated guide rail A (6-1) is provided with an upper rack (13) on its lower surface and a slider on its upper surface, and a lower rack (16) is provided on the lower surface of the through hole of the movable groove (12). When the movable groove (12) is to move on the elevated guide rail A (6-1), the lower rack (16) is set at a distance from the upper rack (13), and the movable groove (12) can move on the elevated guide rail A (6-1); and when the movable groove (12) is required to remain stationary on the elevated guide rail A (6-1), the lower rack (16) moves upward so that the lower rack (16) is clamped on the teeth of the upper rack (13), and the movable groove (12) remains stationary on the elevated guide rail A (6-1).

5. A leveling method for automatically adjusting the lifting point and the center of mass using the lifting device with automatic adjustment of the lifting point and the center of mass as described in claims 1 to 5, characterized in that: The method comprises the following steps: Step 1: The hand control box sends an adjustment instruction for the movable lifting lug to the wireless transmitting and receiving module of the control system (10); Step 2: The wireless transmitting and receiving module sends a command to the processor, and the processor records the position information of the movable lifting lug (3) and sends it to the encoder of the control system (10); Step 3: The encoder controls the motor A (2-1) to drive the lead screw A (5-2) to adjust the position of the movable lifting ear (3), and feeds back the moving distance of the movable lifting ear (3) to the processor of the control system (10); Step 4: Use a sling to connect the sling body (20), the object to be hoisted and the crane, lift the sling body, and the inclination sensor (9) collects the inclination state of the sling beam (14) in real time, and feeds back the inclination angle of the sling beam (14) to the processor of the control system (10). The processor controls the motor B (2-2) to drive the counterweight block (7) to move forward and backward. During the movement of the counterweight block (7), the sling body posture information and the counterweight block position information are updated in real time and fed back to the processor. Step 5: Repeat the above steps 1-4 until the level of the sling body (20) and the object being slinged reaches the set range.

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