Linkage combined type hoisting system and control method thereof

Abstract

The invention relates to a linkage combined type hoisting system and a control method thereof. The linkage combined type hoisting system comprises a frame body, the first crane unit comprises a first moving mechanism, a first lifting hook mechanism and a first driving mechanism, the first moving mechanism is movably connected with the frame body, the first lifting hook mechanism is arranged on the first moving mechanism in a lifting mode, and the first driving mechanism is used for driving the first moving mechanism to act; the second crane unit comprises a second moving mechanism, a second lifting hook mechanism and a second driving mechanism, the second crane unit is movably connected with the frame body, and the second lifting hook mechanism is arranged on the second moving mechanism in a lifting mode; the sensor unit comprises a first sensor assembly arranged on the first crane unit and a second sensor assembly arranged on the second crane unit. According to the invention, the precision, the reliability and the operation efficiency during synchronous action can be greatly improved, and the lifting device is more suitable for lifting precise special parts such as aircraft fuselage sections.

Description

Technical Field

[0001] The present invention relates to the technical field of hoisting equipment, and in particular to a linkage combined lifting system and a control method thereof. Background Art

[0002] In the aircraft manufacturing process, the various parts of the aircraft fuselage need to be assembled. Lifting operations are an indispensable part of it, which is used to lift the fuselage parts from one station of the production line to another, or to assemble the fuselage parts with other parts such as wings and tails. In addition, during the aircraft maintenance process, the aircraft fuselage sometimes needs to be disassembled or reassembled. At this time, lifting operations are needed to remove the fuselage parts from the aircraft, repair or replace them, and then reinstall them on the aircraft. Similarly, during the aircraft transportation process, when the aircraft needs to be transported from one location to another, lifting operations are also indispensable. Through lifting operations, the aircraft can be lifted from the ground to the transport vehicle or aircraft to achieve safe transportation of the aircraft. Since the size of the aircraft fuselage parts is usually large and has some asymmetric structures, the load center of gravity distribution is uneven, and the fuselage also has the characteristics of high value, high precision and easy damage, the requirements for lifting equipment and processes are very high.

[0003] However, the structure and control method of traditional lifting equipment are relatively simple, mainly relying on the experience and proficiency of the operator, and requiring multiple operators to work together. Most actions are completed manually. Therefore, the control accuracy is relatively low, the lifting operation efficiency is low, and the safety is poor. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a multi-hook linkage combined crane and a control method thereof, which can greatly improve the accuracy, reliability and operating efficiency during synchronous action, and is more suitable for lifting precision special components such as aircraft fuselage sections.

[0005] In order to solve the above technical problems, the present invention provides a linkage combined lifting system, comprising: Frame; A first crane unit comprises a first moving mechanism, a first hook mechanism and a first driving mechanism, wherein the first moving mechanism is movably connected to the frame, the first hook mechanism is lifted and lowered on the first moving mechanism, and the first driving mechanism is used to drive the first moving mechanism to move; A second crane unit, comprising a second moving mechanism, a second hook mechanism and a second driving mechanism, wherein the second crane unit is movably connected to the frame, the second hook mechanism is lifted and lowered on the second moving mechanism, and the second driving mechanism is used to drive the second moving mechanism to move; a sensor unit comprising a first sensor assembly configured on the first crane unit, and a second sensor assembly configured on the second crane unit; A control unit, comprising a first control module, a second control module and a general control module, wherein the general control module is communicatively connected with the first control module and the second control module; the first control module is connected with the first crane unit, the first control module obtains the position information, speed information and load information of the first crane unit through the first sensor component, and sends the information to the general control module, after the general control module processes the data, it outputs a first control signal to the first crane unit to control the movement of the first crane unit; the second control module is connected with the second crane unit, the second control module obtains the position information, speed information and load information of the second crane unit through the second sensor component, and sends the information to the general control module, after the general control module processes the data, it outputs a second control signal to the second crane unit to control the movement of the second crane unit; wherein, the first crane unit and the second crane unit move synchronously.

[0006] In one embodiment of the present invention, the first moving mechanism includes a first trolley, a first lower trolley and a first upper trolley, the first trolley is slidably connected to the frame, and the first trolley is driven to move in a first direction; the first lower trolley is slidably connected to the first trolley, and the first lower trolley is driven to move in a second direction, the first upper trolley is slidably connected to the first lower trolley, and the first upper trolley is driven to move in the first direction, the first hook mechanism is lifted and lowered on the first upper trolley, and the second direction is perpendicular to the first direction.

[0007] In one embodiment of the present invention, the second moving mechanism includes a second trolley and a second trolley, the second trolley is slidably connected to the frame, the second trolley is driven to move along the first direction, the second trolley is slidably connected to the second trolley, the second trolley is driven to move along the second direction; the second hook mechanism is lifted and lowered on the second trolley.

[0008] In one embodiment of the present invention, two first lower trolleys are provided, and the two first lower trolleys are arranged on the first large trolley along the second direction; four first upper trolleys are provided, and each of the first lower trolleys is equipped with two first upper trolleys, and two first upper trolleys are arranged on the first lower trolley along the first direction; the first hook mechanism includes four first hook assemblies, and each of the first upper trolleys is equipped with one first hook assembly.

[0009] In one embodiment of the present invention, two second trolleys are provided, and the two second trolleys are slidably provided on the second large trolley along the second direction; the second hook mechanism includes two groups of second hook assemblies, and each second trolley is equipped with one second hook assembly.

[0010] In one embodiment of the present invention, the first crane unit also includes a first trolley drive motor for driving the first trolley, a first lower trolley drive motor for driving the first lower trolley, and a first upper trolley drive motor for driving the first upper trolley; the second crane unit includes a second trolley drive motor for driving the second trolley, and a second trolley drive motor for driving the second trolley.

[0011] In one embodiment of the present invention, the first control module also includes a first positioning system, which is connected to the first crane unit and the first sensor assembly to position the first crane unit; the second control module also includes a second positioning system, which is connected to the second crane unit and the second sensor assembly to position the second crane unit.

[0012] The present invention also provides a linkage combined lifting control method, using a linkage combined lifting system as described in the first embodiment to perform a lifting operation on an object, the control method includes: connecting the first crane unit and the second crane unit to the object; Controlling the operation of the first crane unit and the second crane unit; The position information, speed information and load information of the first crane unit are collected, uploaded to the main control module, data are processed by the main control module, and a first control signal is output to the first crane unit; the position information, speed information and load information of the second crane unit are collected, uploaded to the main control module, data are processed by the main control module, and a second control signal is output to the second crane unit, so that the first crane unit and the second crane unit move synchronously.

[0013] In one embodiment of the present invention, when the first crane unit and the second crane unit are in operation, a positioning step is also included. The positioning step includes presetting a target position, and the general control module obtains the real-time positions of the first crane unit and the second crane unit, and compares them with the target position to control the running direction, running speed and running distance of the first crane unit and the second crane unit. When approaching the target position, the first crane unit and the second crane unit are controlled to decelerate until they stop at the target position.

[0014] In one embodiment of the present invention, when the first crane unit and the second crane unit are in operation, a leveling step is also included, and the leveling step includes: presetting a first target height and a second target height, collecting position information of the first hook mechanism through a first sensor component, and uploading it to the main control module, and the main control module controls the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism through a second sensor component, and uploading it to the main control module, and the main control module controls the second crane mechanism to be located at the second target height.

[0015] In one embodiment of the present invention, when the first crane unit and the second crane unit are in operation, a load protection step is also included. The load protection step includes presetting a target load value, and the general control module collects the load values ​​of the first hook mechanism and the second hook mechanism. When the deviation between the collected load value and the target load exceeds a specified range, the operation is stopped and the general control module issues an alarm.

[0016] The above technical solution of the present invention has the following advantages compared with the prior art: The linkage combined lifting system described in the present invention includes a frame, a first crane unit, a second crane unit, a sensor unit and a control unit, wherein the first crane unit and the second crane unit are movably arranged on the frame, and the control unit includes a first control module, a second control module and a ground general control module, the first control module is used to centrally control the first crane unit, and the second control module is used to centrally control the second crane unit; the sensor unit includes a first sensor component configured on the first crane unit, and a second sensor component configured on the second crane unit, the first control module is connected to the first sensor component to obtain the position information, speed information and load information of the first crane unit, and transmits it to the general control module, the second control module is connected to the second sensor component to obtain the position information, speed information and load information of the second crane unit, and transmits it to the general control module, and the general control module outputs control instructions to the first crane unit and the second crane unit respectively after processing the acquired data, thereby controlling the actions of the first crane unit and the second crane unit respectively, so that the first hook mechanism and the second hook mechanism can operate synchronously to perform stable lifting operations on the object to be lifted. The linkage combined lifting system of the present invention cooperates with the mechanical structure and the electrical control system, adopts a high-precision sensor unit, and cooperates with the first crane unit and the second crane unit to achieve efficient and safe lifting operations. Compared with the traditional linkage operation mode that relies on the operator's experience and judgment, the precision, reliability and operating efficiency of the first crane unit and the second crane unit of the present invention during synchronous action can be greatly improved, and it is more suitable for lifting precision special parts such as aircraft fuselage sections. The operation of the present invention is simple, the degree of intelligence is high, and it can effectively reduce the risk of errors caused by human operation, thereby improving the safety of lifting operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of a speed+position closed-loop control method according to a preferred embodiment of the present invention.

[0020] Figure 3 It is an architectural diagram of a control system of a preferred embodiment of the present invention.

[0021] Explanation of the reference numerals in the specification: 100, first part; 200, second part; 1, first crane unit; 10, supporting beam; 11, first trolley; 12, first lower trolley; 13, first upper trolley; 14, first hook assembly; 2, second crane unit; 21, second trolley; 22, second trolley; 23, second hook assembly. DETAILED DESCRIPTION

[0022] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0023] In the crane material handling industry, with the subdivision of the application industry, conventional cranes can no longer fully meet the needs of special industries and environments. Based on the principles of scientificity, safety, professionalism and versatility, the present invention proposes a linkage combined lifting equipment suitable for special large components, and the application objects include but are not limited to the fuselage sections of large aircraft. Embodiment 1

[0024] Reference Figures 1 to 3 As shown, the present invention discloses a linkage combined lifting system, including a mechanical structure and an electrical control system matched therewith.

[0025] In this embodiment, the object to be lifted is the fuselage of a large aircraft, which has a first part 100 and a second part 200 along the length direction.

[0026] Specifically, the linkage combined lifting system includes a frame, and the frame includes at least two support beams 10 extending along a first direction, and the two support beams 10 are arranged in parallel.

[0027] The linked combined lifting system also includes a first crane unit 1, which includes a first moving mechanism, a first hook mechanism and a first driving mechanism. The first moving mechanism is movably connected to the frame, the first hook mechanism is lifted and lowered on the first moving mechanism, and the first driving mechanism is used to drive the first moving mechanism to move.

[0028] The linked combined lifting system also includes a second crane unit 2, which includes a second moving mechanism, a second hook mechanism and a second driving mechanism. The second crane unit is movably connected to the frame, the second hook mechanism is lifted and lowered on the second moving mechanism, and the second driving mechanism is used to drive the second moving mechanism to move.

[0029] During lifting operations, the first hook mechanism is connected to the first part 100, and the second hook mechanism is connected to the second part 200, so that the first hook mechanism and the second hook mechanism cooperate with each other to perform lifting operations on the object to be lifted.

[0030] Furthermore, the linked combined lifting system also includes a sensor unit, and the sensor unit includes a first sensor component configured on the first crane unit, and a second sensor component configured on the second crane unit.

[0031] Specifically, the first sensor assembly includes a first displacement sensor, a first load sensor and a first distance sensor, and the second sensor assembly includes a second displacement sensor, a second load sensor and a second distance sensor. In this way, the first displacement sensor can monitor the displacement information of each mechanism in the first crane unit, the first load sensor can monitor the load weight of the first hook mechanism, and the first distance sensor can monitor the real-time position of each mechanism in the first crane unit. Correspondingly, the second displacement sensor can monitor the displacement information of each mechanism in the second crane unit, the second load sensor can monitor the load weight of the second hook mechanism, and the second distance sensor can monitor the real-time position of each mechanism in the second crane unit.

[0032] The linkage combined lifting system also includes a control unit, which includes a first control module, a second control module and a general control module, wherein the general control module is disposed on the ground and the general control module is respectively connected to the first control module and the second control module for data transmission.

[0033] In detail, the first control module is communicatively connected to the first crane unit. The first control module can obtain the position information, speed information and load information of the first crane unit through the first sensor component, and send it to the main control module. After data processing, the main control module outputs a first control signal to the first crane unit to control the action of the first crane unit.

[0034] The second control module is communicatively connected to the second crane unit. The second control module can obtain the position information, speed information and load information of the second crane unit through the second sensor component and send it to the main control module. After data processing, the main control module outputs a second control signal to the second crane unit to control the action of the second crane unit.

[0035] It should be noted that in order to ensure consistency and stability when performing the lifting action, the first crane unit and the second crane unit need to move synchronously.

[0036] It can be known that a linkage combined lifting system to be protected by the present invention includes a frame, a first crane unit, a second crane unit, a sensor unit and a control unit, wherein the first crane unit and the second crane unit are movably arranged on the frame, and the control unit includes a first control module, a second control module and a ground general control module, the first control module is used to centrally control the first crane unit, and the second control module is used to centrally control the second crane unit; the sensor unit includes a first sensor component configured on the first crane unit, and a second sensor component configured on the second crane unit, the first control module is connected to the first sensor component to obtain the position information, speed information and load information of the first crane unit, and transmits it to the general control module, the second control module is connected to the second sensor component to obtain the position information, speed information and load information of the second crane unit, and transmits it to the general control module, and the general control module outputs control instructions to the first crane unit and the second crane unit respectively after processing the acquired data, thereby controlling the actions of the first crane unit and the second crane unit respectively, so that the first hook mechanism and the second hook mechanism can operate synchronously to perform stable lifting operations on the object to be lifted. The linkage combined lifting system of the present invention cooperates with the mechanical structure and the electrical control system, adopts a high-precision sensor unit, and cooperates with the first crane unit and the second crane unit to achieve efficient and safe lifting operations. Compared with the traditional linkage operation mode that relies on the operator's experience and judgment, the precision, reliability and operating efficiency of the first crane unit and the second crane unit of the present invention during synchronous action can be greatly improved, and it is more suitable for lifting precision special parts such as aircraft fuselage sections. The operation of the present invention is simple, the degree of intelligence is high, and it can effectively reduce the risk of errors caused by human operation, thereby improving the safety of lifting operations.

[0037] The communication connection mode between the main control module and the first control module and the second control module includes but is not limited to wireless communication connection.

[0038] Further, the first moving mechanism includes a first trolley 11, a first lower trolley 12 and a first upper trolley 13, the first trolley 11 is slidably connected to the frame, and the first trolley 11 is driven to move along a first direction; the first lower trolley 12 is slidably connected to the first trolley 11, and the first lower trolley 12 is driven to move along a second direction, the first upper trolley 13 is slidably connected to the first lower trolley 12, and the first upper trolley 13 is driven to move along the first direction, and the first hook mechanism is lifted and lowered on the first upper trolley 13. It should be noted that the second direction is perpendicular to the first direction.

[0039] Furthermore, the second moving mechanism includes a second trolley 21 and a second trolley 22, the second trolley 21 is slidably connected to the frame, the second trolley 22 is driven to move along the first direction, the second trolley 22 is slidably connected to the second trolley 21, and the second trolley 22 is driven to move along the second direction; the second hook mechanism is lifted and lowered on the second trolley 22.

[0040] As a preferred embodiment, two first lower carts 12 are provided, the two first lower carts 12 are arranged on the first large vehicle 11 along the second direction, and the two first lower carts 12 can be driven to move along the second direction.

[0041] Further, the first upper trolley 13 is provided with four, and each of the first lower trolleys 13 is provided with two of the first upper trolleys 13, and the two first upper trolleys 13 are provided along the first direction on the first lower trolley 12. In detail, the first hook mechanism includes four first hook assemblies 14, and each of the first upper trolleys 13 is provided with one of the first hook assemblies 14.

[0042] As a preferred embodiment, two second trolleys 22 are provided, and the two second trolleys 22 are slidably disposed on the second large vehicle 21 along the second direction. The second hook mechanism includes two sets of second hook assemblies 23, and each second trolley 22 is equipped with one second hook assembly 23.

[0043] In this arrangement, four groups of the first hook assemblies 14 lift the first part (the front part of the fuselage section), and two groups of the second hook assemblies 23 lift the second part (the tail end of the fuselage section), and the lifting operation is performed simultaneously.

[0044] In detail, the first crane unit further includes a first trolley drive motor for driving the first trolley 11, a first lower trolley drive motor for driving the first lower trolley 12, and a first upper trolley drive motor for driving the first upper trolley 13. The second crane unit includes a second trolley drive motor for driving the second trolley 21, and a second trolley drive motor for driving the second trolley 22. Accordingly, each of the above-mentioned drive motors is equipped with a frequency converter.

[0045] Specifically, the first control module further includes a first positioning system, which is connected to the first crane unit 1 and the first sensor assembly to position the first crane unit. The second control module further includes a second positioning system, which is connected to the second crane unit 2 and the second sensor assembly to position the second crane unit.

[0046] As a preferred embodiment, the first control module adopts PLC centralized control and connects the frequency converters of each driving mechanism through communication. A high-precision displacement sensor (accuracy to 1mm level) is used to measure the real-time position. Each group of the first hook assembly is equipped with a lifting drive motor and an absolute encoder, and the first trolley, the first lower trolley and the first upper trolley are equipped with a laser rangefinder and a BPS encoding belt ranging. These two ranging methods are redundant to ensure the accuracy of the measurement data. At the same time, in order to improve the accuracy of the inverter output, the drive motor is also equipped with an incremental encoder for speed closed-loop control. The operator for the given input signal is a wireless remote control, and the first control module also includes an alarm and an indicator light for auxiliary indication or judgment.

[0047] The second control module has a similar structure to the first control module.

[0048] The general control module is installed on the ground, and includes a cable for wireless communication with the first control module and the second control module, a busbar power supply system of the first crane unit and the second crane unit, and a general PLC control system, so as to cooperate with the first control module and the second control module for precise algorithm control, and can realize linkage synchronization, one-button leveling, hook tensioning, load balancing, positioning and other intelligent controls.

[0049] The master control module is equipped with an HMI touch screen, which can perform status monitoring, human-computer interaction, setting of system input / output process parameters, and also includes a remote diagnosis module, etc. Specifically, the data of the first control module and the second control module are transmitted to the ground master control module by wireless communication, and the algorithm control is completed in the master PLC control system.

[0050] Specifically, the linkage combined lifting system of the present invention has a positioning function. The trolley has 3 position points, the trolley has 2 position points, and the lifting has 1 position point. When the positioning mode is activated, it will accurately run to the positioning point and then stop automatically. The working principle is that the real-time position of each mechanism is compared and calculated with the preset target position of the positioning point in the program, including judging the running direction, distance, speed, etc. When it is detected that it is close to the target position, it will automatically decelerate and run in multiple stages until it stops slowly at the preset point. In actual operation, there is a positioning point selection on the remote control panel. First select the required position point, such as selecting the trolley position 1, and operate the trolley control joystick to move left / right. When it is far away from the trolley position 1, it will run at a higher speed until it approaches the preset position, and then it will automatically decelerate and stop. After it is in place, if manual fine-tuning is still required, it is necessary to turn off the positioning position selection first, and then operate. During the process, the operator always needs to operate the trolley control joystick to set. When encountering an emergency such as danger, release the joystick or take an emergency stop, and the vehicle will stop to ensure safety.

[0051] The linkage combined lifting system of the present invention also has a one-key leveling function. According to the lifting process, it is necessary to have 4 groups of first hook assemblies + 2 groups of second hook assemblies in synchronous operation mode. In order to improve the operating efficiency of the operator and ensure that multiple hooks are in the same horizontal initial position, a one-key leveling function is configured. Real-time measurement is performed through position sensors set in each mechanism to perform leveling and positioning. During operation, when the operator activates the one-key leveling mode on the remote control and gives the hook operation signal, the 4 groups of first hook assemblies will rise / descend to the preset lifting horizontal position at the same time and stop automatically, and be at the same height. At the same time, during operation, 1 group of first hook assemblies will be defined as the host, and the other 3 groups of first hook assemblies will be defined as slaves. The speed and position of the slaves will be controlled to match those of the host, and adjusted in real time to ensure that the leveling deviation is within a controllable range. The one-key leveling operation process for the 2 groups of the second hook assemblies is the same.

[0052] The linkage combined lifting system of the present invention also has a load balancing protection function. When the crane is in linkage and synchronous operation, if the load-bearing weight of any hook assembly exceeds or is lower than 30% of its average load-bearing weight, the crane will stop and give an alarm prompt, and can continue to run synchronously after manual adjustment. This function can be turned on or off by the remote control. Each group of hook assemblies is equipped with a load sensor, which can measure the load in real time and collect the load simulation quantity to the PLC respectively. The program performs calculation and comparison. When a certain hook is greater than the set value, or when the load difference between the hook groups is detected to be too large, the operation will be stopped and an alarm will be given. This avoids imbalance or overload caused by excessive load deviation, and avoids the occurrence of lifting tilt or displacement.

[0053] The linkage combined lifting system of the present invention also has a hook tensioning function. When the hook is mounted, the hook wire rope is originally in a relaxed state. After the manual mounting is completed, press the hook tensioning button on the remote control, and the hook will automatically rise slowly until the wire rope changes from a relaxed state to a stressed state, then it will stop. The stressed load value is read into the PLC system for calculation, and the load value can be adjusted. At the same time, the load tensioning values ​​of the six groups of hook assemblies are set to be the same. When the six groups of hooks are tensioned, the synchronous operation can be started, thereby avoiding the situation where the six groups of hook assemblies are subjected to unbalanced forces.

[0054] The linkage combined lifting system of the present invention also has the function of preventing slanting and pulling. The fixed end of the wire rope of the hook mechanism is equipped with an anti-outward pulling and slanting detection device, which is equipped with a corresponding angle sensor. When it is detected that the deflection angle of the wire rope is too large and exceeds the set range, an alarm is issued and the lifting is stopped to play a safety protection role.

[0055] The linkage combined lifting system of the present invention also has regional protection and obstacle avoidance protection functions. A control room is provided on the ground of the trolley operation area, and it is required that the vehicle cannot collide with the control room when entering the area. Each mechanism in the system is equipped with a distance sensor to collect and calculate the real-time position of the operation, and the coordinates of the control room area that needs to be prevented from collision are preset into the program. When it is detected that the trolley is in a dangerous area from the control room, it is necessary to slow down and then stop until the lifting and trolley run to a safe distance, and then the trolley can continue to run. In addition, when the trolley is above the control room, the hook is not allowed to descend above the control until the trolley moves to a safe area.

[0056] In addition, the linkage combined lifting system also has functions such as safety monitoring and fault diagnosis, which can monitor the crane's operating signals, position, speed, motor, and record fault logs and operating logs to facilitate engineers to make preventive maintenance recommendations. When a fault occurs, professional engineers can remotely guide on-site repairs through the remote connection system.

[0057] In the specific application process, the linkage combined lifting system can complete the process flow of the aircraft fuselage section from the incoming material unloading area → the incoming material temporary storage area → the lean docking assembly station → the lean outside the rack station → the finished product temporary storage area → the finished product shipping area, including lifting and fine assembly operations. Embodiment 2

[0058] The present invention also discloses a linkage combined lifting control method, which utilizes a linkage combined lifting system as described in the first embodiment to perform a lifting operation on an object to be lifted. Specifically, the control method includes: Connecting the first crane unit 1 and the second crane unit 2 to the object; Control the operation of the first crane unit 1 and the second crane unit 2; The position information, speed information and load information of the first crane unit 1 are collected, uploaded to the main control module, data are processed by the main control module, and a first control signal is output to the first crane unit 1; the position information, speed information and load information of the second crane unit 2 are collected, uploaded to the main control module, data are processed by the main control module, and a second control signal is output to the second crane unit 2, so that the first crane unit 1 and the second crane unit 2 move synchronously.

[0059] When the first crane unit 1 and the second crane unit 2 are in operation, a positioning step is also included. The positioning step includes presetting a target position, and the general control module obtains the real-time positions of the first crane unit 1 and the second crane unit 2, and compares them with the target position to control the running direction, running speed and running distance of the first crane unit 1 and the second crane unit 2. When approaching the target position, the first crane unit 1 and the second crane unit 2 are controlled to decelerate until they stop at the target position.

[0060] When the first crane unit 1 and the second crane unit 2 are in operation, a leveling step is also included, and the leveling step includes: presetting a first target height and a second target height, collecting position information of the first hook mechanism through a first sensor component, and uploading it to the main control module, and the main control module controls the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism through a second sensor component, and uploading it to the main control module, and the main control module controls the second crane mechanism to be located at the second target height.

[0061] When the first crane unit 1 and the second crane unit 2 are in operation, a load protection step is also included. The load protection step includes presetting a target load value, and the general control module collects the load values ​​of the first hook mechanism and the second hook mechanism. When the deviation between the collected load value and the target load exceeds a specified range, the operation is stopped and the general control module issues an alarm.

[0062] The linkage combined lifting system with multiple hooks of the present invention has the following advantages: 1. The present invention can realize high-precision multi-hanging point synchronous linkage operation. Compared with the traditional linkage mode that relies on the operator's experience and judgment, the synchronization accuracy, reliability and operating efficiency are greatly improved; 2. The invention is easy to operate and highly intelligent, which reduces the risk of human error and improves the safety of the equipment. For example, it is equipped with automatic synchronous control algorithm, one-key leveling, automatic positioning, automatic obstacle avoidance, hook tensioning, anti-swaying, anti-skewed load balancing and other functions, which greatly reduces the requirements for operators and improves the safety of the equipment.

[0063] 3. Facing complex working conditions, the present invention has high adaptability. The first crane unit includes four sets of hook assemblies, and the second crane unit includes two sets of hook assemblies. And each mechanism can move freely. These six sets of hook assemblies can generate 15 different groups for linkage. Therefore, the grouping mode can be flexibly selected according to different lifting action requirements. At the same time, for the later process mode adjustment, parameter optimization, etc., there is no need to change the hardware, and the program and operation interface parameters can be updated.

[0064] 4. The data maintenance of the present invention is more transparent, and is equipped with a human-machine interaction interface and a ground master control PLC remote diagnosis module, which can record the operation process data in real time, thereby improving the maintenance efficiency of faults.

[0065] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A linkage combined lifting system, characterized in that: include, Frame; A first crane unit comprises a first moving mechanism, a first hook mechanism and a first driving mechanism, wherein the first moving mechanism is movably connected to the frame, the first hook mechanism is lifted and lowered on the first moving mechanism, and the first driving mechanism is used to drive the first moving mechanism to move; A second crane unit, comprising a second moving mechanism, a second hook mechanism and a second driving mechanism, wherein the second crane unit is movably connected to the frame, the second hook mechanism is lifted and lowered on the second moving mechanism, and the second driving mechanism is used to drive the second moving mechanism to move; a sensor unit comprising a first sensor assembly configured on the first crane unit, and a second sensor assembly configured on the second crane unit; A control unit, comprising a first control module, a second control module and a general control module, wherein the general control module is communicatively connected with the first control module and the second control module; the first control module is connected with the first crane unit, the first control module obtains the position information, speed information and load information of the first crane unit through the first sensor component, and sends the information to the general control module, after the general control module processes the data, it outputs a first control signal to the first crane unit to control the movement of the first crane unit; the second control module is connected with the second crane unit, the second control module obtains the position information, speed information and load information of the second crane unit through the second sensor component, and sends the information to the general control module, after the general control module processes the data, it outputs a second control signal to the second crane unit to control the movement of the second crane unit; wherein, the first crane unit and the second crane unit move synchronously.

2. A linkage combined lifting system according to claim 1, characterized in that: The first moving mechanism includes a first trolley, a first lower trolley and a first upper trolley. The first trolley is slidably connected to the frame, and the first trolley is driven to move in a first direction; the first lower trolley is slidably connected to the first trolley, and the first lower trolley is driven to move in a second direction; the first upper trolley is slidably connected to the first lower trolley, and the first upper trolley is driven to move in the first direction. The first hook mechanism is lifted and lowered on the first upper trolley, and the second direction is perpendicular to the first direction.

3. A linkage combined lifting system according to claim 2, characterized in that: The second moving mechanism includes a second trolley and a second trolley, the second trolley is slidably connected to the frame, the second trolley is driven to move along the first direction, the second trolley is slidably connected to the second trolley, and the second trolley is driven to move along the second direction; the second hook mechanism is lifted and lowered on the second trolley.

4. A linkage combined lifting system according to claim 2, characterized in that: There are two first lower trolleys, and the two first lower trolleys are arranged on the first large trolley along the second direction; there are four first upper trolleys, and each of the first lower trolleys is equipped with two first upper trolleys, and the two first upper trolleys are arranged on the first lower trolley along the first direction; the first hook mechanism includes four first hook assemblies, and each of the first upper trolleys is equipped with one first hook assembly.

5. A linkage combined lifting system according to claim 3, characterized in that: There are two second trolleys, and the two second trolleys are slidably arranged on the second large trolley along the second direction; the second hook mechanism includes two groups of second hook assemblies, and each second trolley is equipped with one second hook assembly.

6. A linkage combined lifting system according to claim 3, characterized in that: The first crane unit further includes a first trolley drive motor for driving the first trolley to operate, a first lower trolley drive motor for driving the first lower trolley to operate, and a first upper trolley drive motor for driving the first upper trolley to operate; The second crane unit includes a second trolley drive motor for driving the second trolley and a second trolley drive motor for driving the second trolley.

7. A linkage combined lifting system according to claim 1, characterized in that: The first control module also includes a first positioning system, which is connected to the first crane unit and the first sensor assembly to position the first crane unit; the second control module also includes a second positioning system, which is connected to the second crane unit and the second sensor assembly to position the second crane unit.

8. A linkage combined lifting control method, characterized in that: Using a linkage combined lifting system as described in any one of claims 1 to 7 to perform lifting operations on objects, the control method includes: connecting the first crane unit and the second crane unit to the object; Controlling the operation of the first crane unit and the second crane unit; The position information, speed information and load information of the first crane unit are collected, uploaded to the main control module, data are processed by the main control module, and a first control signal is output to the first crane unit; the position information, speed information and load information of the second crane unit are collected, uploaded to the main control module, data are processed by the main control module, and a second control signal is output to the second crane unit, so that the first crane unit and the second crane unit move synchronously.

9. A linkage combined lifting control method according to claim 8, characterized in that: When the first crane unit and the second crane unit are in operation, a positioning step is also included. The positioning step includes presetting a target position, and the main control module obtains the real-time positions of the first crane unit and the second crane unit, and compares them with the target position to control the running direction, running speed and running distance of the first crane unit and the second crane unit. When approaching the target position, the first crane unit and the second crane unit are controlled to decelerate until they stop at the target position.

10. A linkage combined lifting control method according to claim 8, characterized in that: When the first crane unit and the second crane unit are in operation, a leveling step is also included. The leveling step includes: presetting a first target height and a second target height, collecting position information of the first hook mechanism through a first sensor component, and uploading it to the main control module, and the main control module controls the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism through a second sensor component, and uploading it to the main control module, and the main control module controls the second crane mechanism to be located at the second target height.

11. A linkage combined lifting control method according to claim 8, characterized in that: When the first crane unit and the second crane unit are in operation, a load protection step is also included. The load protection step includes presetting a target load value, and the general control module collects the load values ​​of the first hook mechanism and the second hook mechanism. When the deviation between the collected load value and the target load exceeds a specified range, the operation is stopped and the general control module issues an alarm.

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