A linkage combined hoisting system and a control method thereof

Abstract

The present application relates to a kind of linkage combined hoisting system and its control method, including frame body;First crane unit, it includes first mobile mechanism, first hook mechanism and first drive mechanism, the first mobile mechanism is movably connected with the frame body, the first hook mechanism is arranged in the first mobile mechanism, first drive mechanism is used to drive the first mobile mechanism action;Second crane unit, it includes second mobile mechanism, second hook mechanism and second drive mechanism, the second crane unit is movably connected with the frame body, second hook mechanism is arranged in second mobile mechanism;Sensor unit, it includes the first sensor component of configuration in first crane unit, and the second sensor component of configuration in second crane unit.The present application can be in the precision, reliability and operation efficiency when synchronously act, can obtain greater promotion, and more suitable for hoisting such as aircraft fuselage section and the like precision special component.

Description

TECHNICAL FIELD

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

[0002] In the process of manufacturing an airplane, various components of the airplane fuselage need to be assembled. Hoisting operation is an indispensable link for hoisting the fuselage components from one station to another on the production line, or assembling the fuselage components with the wings, tail and other components. In addition, in the process of repairing an airplane, the airplane fuselage sometimes needs to be disassembled or reassembled. At this time, hoisting operation can be used to disassemble the fuselage components from the airplane for repair or replacement, and then reassemble them on the airplane. Similarly, in the process of transporting an airplane, hoisting operation is also indispensable when the airplane needs to be transported from one place to another. Through hoisting operation, the airplane can be hoisted from the ground to the transport vehicle or airplane, realizing the safe transportation of the airplane. Since the size of the airplane fuselage components is usually large, and has some asymmetric structure, the load center of gravity is unevenly distributed, and the fuselage has the characteristics of high value, high precision and easy damage, etc., therefore, the requirements for hoisting equipment and process are very high.

[0003] However, the structure and control mode of the traditional hoisting equipment are relatively simple, mainly relying on the experience and proficiency of the operator, and multiple operators need to be equipped to work cooperatively, and most of the actions are completed by manual operation, therefore, the control precision is relatively low, the hoisting operation efficiency is low, and the safety is poor. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to overcome the deficiencies in the prior art, and to provide a multi-hook linkage combined crane and a control method thereof, which can greatly improve the precision, reliability and operation efficiency during synchronous operation, and is more suitable for hoisting precision special components such as airplane fuselage sections.

[0005] To solve the above technical problems, the present application provides a linkage combined hoisting system, comprising,

[0006] a frame body;

[0007] a first hoist unit, comprising a first moving mechanism, a first hook mechanism and a first driving mechanism, the first moving mechanism is movably connected with the frame body, the first hook mechanism is arranged on the first moving mechanism in a lifting manner, and the first driving mechanism is used to drive the first moving mechanism to act;

[0008] A second crane unit comprising a second moving mechanism, a second hook mechanism and a second driving mechanism, the second crane unit being movably connected with the frame body, the second hook mechanism being arranged on the second moving mechanism in a lifting manner, and the second driving mechanism being configured to drive the second moving mechanism to move;

[0009] A sensor unit comprising a first sensor assembly arranged on the first crane unit and a second sensor assembly arranged on the second crane unit;

[0010] A control unit comprising a first control module, a second control module and a general control module, the general control module being communicatively connected with the first control module and the second control module; the first control module being connected with the first crane unit, the first control module being configured to acquire position information, speed information and load information of the first crane unit through the first sensor assembly and send the information to the general control module, the general control module being configured to process the information and output a first control signal to the first crane unit to control the first crane unit to move; the second control module being connected with the second crane unit, the second control module being configured to acquire position information, speed information and load information of the second crane unit through the second sensor assembly and send the information to the general control module, the general control module being configured to process the information and output a second control signal to the second crane unit to control the second crane unit to move; wherein the first crane unit and the second crane unit move synchronously.

[0011] In an embodiment of the present application, the first moving mechanism comprises a first trolley, a first lower trolley and a first upper trolley, the first trolley being movably connected with the frame body, the first trolley being driven to move in a first direction; the first lower trolley being movably connected with the first trolley, the first lower trolley being driven to move in a second direction, the first upper trolley being movably connected with the first lower trolley, the first upper trolley being driven to move in the first direction, the second direction being perpendicular to the first direction.

[0012] In an embodiment of the present application, the second moving mechanism comprises a second trolley and a second small trolley, the second trolley being movably connected with the frame body, the second trolley being driven to move in the first direction, the second small trolley being movably connected with the second trolley, the second small trolley being driven to move in the second direction; the second hook mechanism being arranged on the second small trolley in a lifting manner.

[0013] In one embodiment of the present application, the first lower trolley is provided with two, and the two first lower trolleys are arranged on the first large trolley along the second direction; the first upper trolley is provided with four, and two first upper trolleys are arranged on each first lower trolley along the first direction; and the first hook mechanism comprises four first hook assemblies, and each first upper trolley is provided with one first hook assembly.

[0014] In one embodiment of the present application, the second trolley is provided with two, and the two second trolleys are slidingly arranged on the second large trolley along the second direction; and the second hook mechanism comprises two groups of second hook assemblies, and each second trolley is provided with one second hook assembly.

[0015] In one embodiment of the present application, the first crane unit further comprises a first large trolley driving motor for driving the first large trolley to run, a first lower trolley driving motor for driving the first lower trolley to run, and a first upper trolley driving motor for driving the first upper trolley to run; and the second crane unit comprises a second large trolley driving motor for driving the second large trolley, and a second trolley driving motor for driving the second trolley.

[0016] In one embodiment of the present application, the first control module further comprises a first positioning system connected with the first crane unit and the first sensor assembly to position the first crane unit; and the second control module further comprises a second positioning system connected with the second crane unit and the second sensor assembly to position the second crane unit.

[0017] The present application further provides a linkage combined hoisting control method, which utilizes the linkage combined hoisting system as described in Embodiment I to perform hoisting operation on an object, and the control method comprises the following steps:

[0018] Connecting the first crane unit and the second crane unit with the object;

[0019] Controlling the first crane unit and the second crane unit to run;

[0020] Collecting position information, speed information and load information of the first crane unit, uploading to a general control module, performing data processing through the general control module, and outputting a first control signal to the first crane unit; collecting position information, speed information and load information of the second crane unit, uploading to the general control module, performing data processing through the general control module, and outputting a second control signal to the second crane unit, so that the first crane unit and the second crane unit move synchronously.

[0021] In an embodiment of the present application, when the first crane unit and the second crane unit are running, the method further comprises a positioning step, the positioning step comprising: presetting a target position, the total control module acquiring real-time positions of the first crane unit and the second crane unit, comparing the target position, to control the running direction, running speed and running distance of the first crane unit and the second crane unit, and when approaching the target position, controlling the first crane unit and the second crane unit to run at a reduced speed until stopping at the target position.

[0022] In an embodiment of the present application, when the first crane unit and the second crane unit are running, the method further comprises a leveling step, the leveling step comprising: presetting a first target height and a second target height, collecting position information of the first hook mechanism by a first sensor assembly and uploading to the total control module, the total control module controlling the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism by a second sensor assembly and uploading to the total control module, the total control module controlling the second hook mechanism to be located at the second target height.

[0023] In an embodiment of the present application, when the first crane unit and the second crane unit are running, the method further comprises a load protection step, the load protection step comprising: presetting a target load value, the total control module collecting load values of the first hook mechanism and the second hook mechanism, stopping running when the deviation of the collected load values from the target load value exceeds a specified range, and the total control module issuing an alarm prompt.

[0024] The above technical solution of the present application has the following advantages compared with the prior art:

[0025] The linkage combined hoisting system comprises a frame body, 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 body, the control unit comprises a first control module, a second control module and a ground total control module, the first control module is used for centralized control of the first crane unit, and the second control module is used for centralized control of the second crane unit; 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, the first control module is connected with the first sensor assembly to obtain position information, speed information and load information of the first crane unit and transmit the information to the total control module, the second control module is connected with the second sensor assembly to obtain position information, speed information and load information of the second crane unit and transmit the information to the total control module, and the total control module outputs control instructions to the first crane unit and the second crane unit respectively after processing the obtained data, so as to control the first crane unit and the second crane unit to act respectively, and make the first hook mechanism and the second hook mechanism be able to work synchronously to stably hoist the object to be hoisted. The linkage combined hoisting system of the application cooperates the mechanical structure and the electrical control system, adopts the high-precision sensor unit, cooperates the first crane unit and the second crane unit to realize the efficient and safe hoisting operation, compared with the traditional linkage operation mode which depends on the experience judgment of the operator, the first crane unit and the second crane unit of the application can be greatly improved in the aspects of the precision, reliability and operation efficiency when synchronously acting, and are more suitable for hoisting the precise special parts such as the aircraft fuselage section. The application has the advantages of simple operation, high intelligence, can effectively reduce the risk of human operation errors, and improves the safety of hoisting operation. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to make the content of the application more easily understood, the application will be further described in detail below according to specific embodiments of the application and in conjunction with the drawings, in which.

[0027] Fig. 1 is a schematic diagram of the overall structure of the preferred embodiment of the application.

[0028] Fig. 2 is a schematic diagram of the speed+position closed-loop control method of the preferred embodiment of the application.

[0029] Fig. 3 is an architecture diagram of the control system of the preferred embodiment of the application.

[0030] The description reference signs are as follows: 100, first part; 200, second part; 1, first crane unit; 10, support beam; 11, first large vehicle; 12, first lower trolley; 13, first upper trolley; 14, first hook assembly; 2, second crane unit; 21, second large vehicle; 22, second trolley; 23, second hook assembly. DETAILED DESCRIPTION

[0031] The application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the application and implement it. The embodiments are not intended to limit the application.

[0032] In the crane material handling industry, with the subdivision of the application industry, the conventional crane cannot fully meet the special industry and environment. Based on the principles of scientificity, safety, professionalism and universality, the application proposes a linkage combined crane equipment suitable for special large components, and the application objects include but are not limited to the fuselage section of a large aircraft. Embodiment one

[0033] Reference Figs. 1 to 3 As shown in the figure, the application discloses a linkage combined crane system, which comprises a mechanical structure and a matched electrical control system.

[0034] 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.

[0035] Specifically, the linkage combined crane system comprises a frame body, the frame body comprises at least two support beams 10 extending in a first direction, and the two support beams 10 are arranged in parallel.

[0036] The linkage combined crane system further comprises a first crane unit 1, the first crane unit 1 comprises a first moving mechanism, a first hook mechanism and a first driving mechanism, the first moving mechanism is movably connected with the frame body, the first hook mechanism is arranged to be lifted and lowered on the first moving mechanism, and the first driving mechanism is used to drive the first moving mechanism to act.

[0037] The linkage combined crane system further comprises a second crane unit 2, the second crane unit 2 comprises a second moving mechanism, a second hook mechanism and a second driving mechanism, the second crane unit is movably connected with the frame body, the second hook mechanism is arranged to be lifted and lowered on the second moving mechanism, and the second driving mechanism is used to drive the second moving mechanism to act.

[0038] In the lifting operation, the first hook mechanism is connected with the first part 100, and the second hook mechanism is connected with the second part 200, so that the first hook mechanism and the second hook mechanism cooperate with each other to perform the lifting operation on the object to be lifted.

[0039] Further, the linkage combined lifting system further comprises a sensor unit, which comprises a first sensor assembly arranged on the first crane unit and a second sensor assembly arranged on the second crane unit.

[0040] Specifically, the first sensor assembly comprises a first displacement sensor, a first load sensor and a first distance sensor, and the second sensor assembly comprises 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.

[0041] The linkage combined lifting system further comprises a control unit, which comprises a first control module, a second control module and a general control module, and the general control module is arranged on the ground. The general control module is communicatively connected with the first control module and the second control module respectively to perform data transmission.

[0042] In detail, the first control module is communicatively connected with the first crane unit, and the first control module can obtain the position information, speed information and load information of the first crane unit through the first sensor assembly and send them to the general control module. After data processing, the general control module outputs a first control signal to the first crane unit to control the action of the first crane unit.

[0043] The second control module is communicatively connected with the second crane unit, and the second control module can obtain the position information, speed information and load information of the second crane unit through the second sensor assembly and send them to the general control module. After data processing, the general control module outputs a second control signal to the second crane unit to control the action of the second crane unit.

[0044] It should be noted that, in order to ensure consistency and stability when performing lifting actions, the first crane unit and the second crane unit need to act synchronously.

[0045] It can be seen that the linkage combined crane system comprises a frame body, 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 body, the control unit comprises a first control module, a second control module and a ground total control module, the first control module is used for centralized control of the first crane unit, and the second control module is used for centralized control of the second crane unit; 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, the first control module is connected with the first sensor assembly to obtain position information, speed information and load information of the first crane unit and transmit the information to the total control module, the second control module is connected with the second sensor assembly to obtain position information, speed information and load information of the second crane unit and transmit the information to the total control module, and the total control module outputs control instructions to the first crane unit and the second crane unit respectively after processing the obtained data, so as to control the first crane unit and the second crane unit to act respectively, so that the first hook mechanism and the second hook mechanism can work synchronously to perform stable lifting work on the object to be lifted. The linkage combined crane system of the present application cooperates the mechanical structure with the electrical control system, adopts high-precision sensor units, cooperates the first crane unit and the second crane unit to realize efficient and safe lifting work, compared with the traditional linkage operation mode which depends on the experience of operators to judge, the first crane unit and the second crane unit of the present application can greatly improve the precision, reliability and operation efficiency when acting synchronously, and are more suitable for lifting precise special parts such as aircraft fuselage sections. The present application is simple to operate and has high intelligence, which can effectively reduce the risk of human operation errors, thereby improving the safety of lifting work.

[0046] The communication connection mode between the total control module and the first control module and the second control module includes but is not limited to wireless communication connection.

[0047] Further, the first moving mechanism comprises a first large trolley 11, a first lower trolley 12 and a first upper trolley 13. The first large trolley 11 is slidingly connected with the frame body and is driven to move along a first direction. The first lower trolley 12 is slidingly connected with the first large trolley 11 and is driven to move along a second direction. The first upper trolley 13 is slidingly connected with the first lower trolley 12 and is driven to move along the first direction. The first hook mechanism is arranged on the first upper trolley 13. It is to be noted that the second direction is perpendicular to the first direction.

[0048] Further, the second moving mechanism comprises a second large trolley 21 and a second trolley 22. The second large trolley 21 is slidingly connected with the frame body and is driven to move along the first direction. The second trolley 22 is slidingly connected with the second large trolley 21 and is driven to move along the second direction. The second hook mechanism is arranged on the second trolley 22.

[0049] As a preferred embodiment, the first lower trolley 12 is provided with two first lower trolleys 12, which are arranged on the first large trolley 11 along the second direction and are driven to move along the second direction.

[0050] Further, the first upper trolley 13 is provided with four first upper trolleys 13, two of which are arranged on each first lower trolley 13 along the first direction. In detail, the first hook mechanism comprises four first hook assemblies 14, one of which is arranged on each first upper trolley 13.

[0051] As a preferred embodiment, the second trolley 22 is provided with two second trolleys 22, which are slidingly arranged on the second large trolley 21 along the second direction. The second hook mechanism comprises two second hook assemblies 23, one of which is arranged on each second trolley 22.

[0052] In this way, four first hook assemblies 14 are arranged to lift the first part (front part of the fuselage section), and two second hook assemblies 23 are arranged to lift the second part (tail end of the fuselage section), so as to perform simultaneous lifting operation.

[0053] In detail, the first crane unit further comprises a first trolley drive motor for driving the first trolley 11 to move, a first lower car drive motor for driving the first lower car 12 to move, and a first upper car drive motor for driving the first upper car 13 to move. The second crane unit comprises a second trolley drive motor for driving the second trolley 21 to move, and a second lower car drive motor for driving the second lower car 22 to move. Correspondingly, each of the above-mentioned drive motors is provided with a frequency converter.

[0054] In detail, the first control module further comprises a first positioning system connected with the first crane unit 1 and the first sensor assembly for positioning the first crane unit. The second control module further comprises a second positioning system connected with the second crane unit 2 and the second sensor assembly for positioning the second crane unit.

[0055] As a preferred embodiment, the first control module adopts PLC centralized control and communicates with the frequency converters of the drive mechanisms. A high-precision displacement sensor (with an accuracy of 1mm) is used to measure the real-time position. Each of the first hook assemblies is provided with a lifting drive motor and an absolute value encoder, and the first trolley, the first lower car and the first upper car are provided with a laser range finder and a BPS coded band range finder, which are redundant to each other to ensure the accuracy of the measurement data. In order to improve the accuracy of the output of the frequency converter, the drive motor is further provided with an incremental encoder for speed closed-loop control. The operator for giving input signals is a wireless remote controller, and the first control module further comprises an alarm and an indicator for auxiliary indication or judgment.

[0056] The second control module has a similar composition to the first control module.

[0057] The total control module is installed on the ground and comprises a cable for wireless communication with the first control module and the second control module, a trolley line power supply system of the first crane unit and the second crane unit, and a total PLC control system, so as to cooperate with the first control module and the second control module to perform precise algorithm control, realize linkage synchronization, one-key leveling, hook tensioning, load balancing, positioning and other intelligent control.

[0058] The total control module is provided with an HMI touch screen, which can perform state monitoring, human-computer interaction, setting of system input / output process parameters, and further comprises a remote diagnosis module and the like. In detail, the data of the first control module and the second control module are transmitted to the ground total control module in a wireless communication manner, and the algorithm control is completed in the total PLC control system.

[0059] Specifically, the linkage combined hoisting system of the present application 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 stop automatically. The working principle is that the real-time position of each mechanism running in the program is compared with the preset target position of the positioning point, including judging the running direction, distance, speed, etc. When the target position is detected, it will automatically slow down in multiple stages until it stops at the preset point. In actual operation, there is a positioning point selection on the remote control panel. First, select the desired position point, such as selecting the trolley position 1. Operate the trolley control rocker left / right. When the distance from the trolley position 1 is far away, it will run at a higher speed. When it approaches the preset position, it will automatically slow down and stop. After reaching the position, if manual fine tuning is still needed, the positioning position selection needs to be turned off first, then operated. During the process, the operator always needs to operate the trolley control rocker to give, when encountering dangerous situations, release the rocker or press the emergency stop, the crane will stop to ensure safety.

[0060] The linkage combined hoisting system of the present application also has a one-key leveling function. According to the hoisting process, 4 groups of first hook assemblies + 2 groups of second hook assemblies are required to run in synchronization mode. In order to improve the work 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 by the position sensor arranged on each mechanism to perform leveling and positioning. When the operator activates the one-key leveling mode on the remote control and gives the hook running signal, the 4 groups of first hook assemblies will simultaneously rise / descend to the preset hoisting horizontal position and stop automatically, and be at the same height. At the same time, during operation, it will define 1 group of first hook assemblies as the master and the other 3 groups of first hook assemblies as the slave, control the speed and position of the slave and the master to match, real-time adjustment, ensure that the deviation of leveling is within the controllable range. The one-key leveling operation process of the 2 groups of second hook assemblies is also the same.

[0061] The linkage combined hoisting system of the present application also has a load balancing protection function. When the crane is running in synchronization, if any hook assembly carries a load that is more than or less than 30% of its average load, the system will stop and alarm, and after manual adjustment, it can continue to run in synchronization. This function can be turned on or off through the remote control. Each hook assembly is equipped with a load sensor that can measure the load in real time and collect the load analog quantity to the PLC. When the load of a hook is greater than the set value or the load difference between the hooks is too large, the system will stop running and alarm. In this way, it can avoid the imbalance or overload caused by too large load deviation, and prevent the hoisting from tilting or shifting.

[0062] The linkage combined hoisting system also has a hook tensioning function. When the hook is mounted, the hook wire rope is originally in a slack state. After manual mounting is completed, the hook tensioning button on the remote controller is pressed, the hook is automatically lifted at a slow speed, and stops when the wire rope changes from a slack state to a stressed state. The load value is read into the PLC system for calculation, and the load value can be adjusted. Meanwhile, the load tensioning values of the six hook assemblies are set to be the same, and when the six hooks are all tensioned, synchronous operation can be started, thereby avoiding the imbalance of the stress of the six hook assemblies.

[0063] The linkage combined hoisting system also has a function of preventing skewing and oblique lifting. The fixed end of the wire rope of the hook mechanism is provided with an anti-outside-pulling oblique lifting detection device, and the detection device is provided with a corresponding angle sensor. When it is detected that the wire rope deflection angle is too large and exceeds the set range, an alarm is issued and the lifting is prevented from continuing, thereby playing a safety protection role.

[0064] The linkage combined hoisting system also has a regional protection and obstacle avoidance protection function. A control room is arranged on the ground in the running area of the trolley, and the trolley is required to avoid collision with the control room when entering the area. Each mechanism in the system is provided with a distance sensor to collect and calculate the real-time position of the operation, and the coordinates of the control room area which needs to be prevented from colliding are preset in the program. When it is detected that the trolley is in a dangerous area of the control room, the trolley needs to be slowed down and then stopped, and the trolley can continue to run only after the lifting and the trolley run to a safe distance. In addition, when the trolley is above the control room, the hook is not allowed to descend above the control room until the trolley moves to a safe area.

[0065] In addition, the linkage combined hoisting system also has functions of safety monitoring and fault diagnosis, and can monitor the operation signals, positions, speeds and motors of the crane, and record fault logs and operation logs, so as to provide preventive maintenance suggestions for engineers. When a fault occurs, a professional engineer can remotely guide on-site maintenance through remote connection with the system.

[0066] In the specific application process, the linkage combined hoisting system can complete the process flow of the aircraft fuselage section from the incoming goods unloading area to the incoming goods temporary storage area to the lean docking assembly station to the lean out-of-frame station to the finished product temporary storage area to the finished product delivery area, including hoisting and precision assembly operations. Example two

[0067] The application also discloses a linkage combined hoisting control method, which utilizes the linkage combined hoisting system as described in example one to perform hoisting operations on an object to be hoisted. Specifically, the control method comprises,

[0068] connecting the first hoist unit 1 and the second hoist unit 2 with the object;

[0069] Controlling the first crane unit 1 and the second crane unit 2 to run;

[0070] Collecting position information, speed information and load information of the first crane unit 1, uploading to the general control module, performing data processing through the general control module, and outputting a first control signal to the first crane unit 1; collecting position information, speed information and load information of the second crane unit 2, uploading to the general control module, performing data processing through the general control module, and outputting a second control signal to the second crane unit 2, so that the first crane unit 1 and the second crane unit 2 move synchronously.

[0071] When the first crane unit 1 and the second crane unit 2 run, the positioning step further comprises: presetting a target position, the general control module acquiring real-time positions of the first crane unit 1 and the second crane unit 2, comparing with the target position, controlling the running direction, running speed and running distance of the first crane unit 1 and the second crane unit 2, and controlling the first crane unit 1 and the second crane unit 2 to run at a reduced speed when approaching the target position until stopping at the target position.

[0072] When the first crane unit 1 and the second crane unit 2 run, the leveling step further comprises: presetting a first target height and a second target height, collecting position information of the first hook mechanism through a first sensor assembly and uploading to the general control module, the general control module controlling the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism through a second sensor assembly and uploading to the general control module, the general control module controlling the second hook mechanism to be located at the second target height.

[0073] When the first crane unit 1 and the second crane unit 2 run, the load protection step further comprises: presetting a target load value, the general control module collecting load values of the first hook mechanism and the second hook mechanism, stopping running when the deviation of the collected load values from the target load value exceeds a specified range, and the general control module issuing an alarm prompt.

[0074] The linkage combined hoisting system with multiple hooks has the following advantages:

[0075] 1. The present application can realize high-precision multi-hook point synchronous linkage operation, compared with the traditional linkage mode relying on the experience judgment of the operator, the precision, reliability and operation efficiency of the synchronous linkage are greatly improved.

[0076] 2. The operation of the present application is simple, the intelligent degree is high, the risk of human operation failure is reduced, and the safety of the equipment is improved. For example, the automatic synchronization control algorithm, one-key leveling, automatic positioning, automatic obstacle avoidance, hook tensioning, anti-swing, anti-inclined pulling and inclined load balancing functions greatly reduce the requirements for operators and improve the safety of the equipment.

[0077] 3. The present application has high adaptability to complex working conditions. The first crane unit includes four groups of hook assemblies, and the second crane unit includes two groups of hook assemblies. Each mechanism can move freely, and the six groups of hook assemblies can generate 15 different groupings for linkage. Thus, different grouping modes can be flexibly selected according to different hoisting action requirements. At the same time, for later process mode adjustment and parameter optimization, the hardware, program and operation interface parameters do not need to be changed.

[0078] 4. The data maintenance of the present application is more transparent. With the man-machine interface and the ground general control PLC remote diagnosis module, the running process data can be recorded in real time, thereby improving the maintenance efficiency of faults.

[0079] In the description of the present application, it should be understood that the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0080] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific situation.

[0081] Obviously, the above embodiments are only examples for clear illustration, and are not limited to the implementation. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the implementation is not required or can not be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A linked modular hoisting system, characterized by: The utility model relates to a crane system, comprising, a frame body; a first crane unit comprising a first moving mechanism, a first hook mechanism and a first driving mechanism, the first moving mechanism is movably connected with the frame body, the first hook mechanism is arranged on the first moving mechanism, and the first driving mechanism is used for driving the first moving mechanism to act; a second crane unit comprising a second moving mechanism, a second hook mechanism and a second driving mechanism, the second crane unit is movably connected with the frame body, the second hook mechanism is arranged on the second moving mechanism, and the second driving mechanism is used for driving the second moving mechanism to act; a sensor unit comprising a first sensor assembly arranged on the first crane unit and a second sensor assembly arranged on the second crane unit; a control unit comprising a first control module, a second control module and a general control module, 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 position information, speed information and load information of the first crane unit through the first sensor assembly and sends the information to the general control module, the general control module processes data and outputs a first control signal to the first crane unit to control the first crane unit to act; the second control module is connected with the second crane unit, the second control module obtains position information, speed information and load information of the second crane unit through the second sensor assembly and sends the information to the general control module, the general control module processes data and outputs a second control signal to the second crane unit to control the second crane unit to act; wherein the first crane unit and the second crane unit act synchronously; the first moving mechanism comprises a first trolley, a first lower trolley and a first upper trolley, the first trolley is slidably connected with the frame body, and the first trolley is driven to move along a first direction; the first lower trolley is slidably connected with the first trolley, and the first lower trolley is driven to move along a second direction; the first upper trolley is slidably connected with the first lower trolley, and the first upper trolley is driven to move along the first direction; the first hook mechanism is arranged on the first upper trolley, and the second direction is perpendicular to the first direction; the second moving mechanism comprises a second trolley and a second trolley, the second trolley is slidably connected with the frame body, and the second trolley is driven to move along the first direction; the second trolley is slidably connected with the second trolley, and the second trolley is driven to move along the second direction; the second hook mechanism is arranged on the second trolley; The first lower trolley is provided with two, and the two first lower trolleys are arranged on the first large trolley along the second direction; the first upper trolley is provided with four, and two first upper trolleys are arranged on each first lower trolley along the first direction; the first hook mechanism comprises four first hook assemblies, and each first upper trolley is provided with one first hook assembly.

2. A linked modular hoisting system according to claim 1, wherein: The second trolley is provided with two, and the two second trolleys are slidingly arranged on the second large trolley along the second direction; the second hook mechanism comprises two groups of second hook assemblies, and each second trolley is provided with one second hook assembly.

3. A linked modular hoisting system according to claim 1, wherein: The first crane unit further comprises a first large trolley driving motor for driving the first large trolley to run, a first lower trolley driving motor for driving the first lower trolley to run, and a first upper trolley driving motor for driving the first upper trolley to run; The second crane unit comprises a second large trolley driving motor for driving the second large trolley, and a second trolley driving motor for driving the second trolley.

4. A linked modular hoisting system according to claim 1, wherein: The first control module further comprises a first positioning system connected with the first crane unit and the first sensor assembly to position the first crane unit; the second control module further comprises a second positioning system connected with the second crane unit and the second sensor assembly to position the second crane unit.

5. A method of gang combined hoist control, the method comprising: The control method comprises, connecting the first crane unit and the second crane unit with the object; controlling the first crane unit and the second crane unit to run; collecting position information, speed information and load information of the first crane unit and uploading to a total control module, performing data processing through the total control module, and outputting a first control signal to the first crane unit; collecting position information, speed information and load information of the second crane unit and uploading to the total control module, performing data processing through the total control module, and outputting a second control signal to the second crane unit, so that the first crane unit and the second crane unit act synchronously.

6. A linkage combination hoist control method according to claim 5, wherein: When the first crane unit and the second crane unit run, the positioning step further comprises: presetting a target position, the total control module acquiring real-time positions of the first crane unit and the second crane unit, comparing with the target position to control running direction, running speed and running distance of the first crane unit and the second crane unit, and controlling the first crane unit and the second crane unit to run at a reduced speed when approaching the target position until stopping at the target position.

7. A linkage combination hoist control method according to claim 5, wherein: The first crane unit and the second crane unit when operating, further comprising a leveling step, the leveling step comprising, presetting a first target height and a second target height, collecting position information of the first hook mechanism by a first sensor assembly and uploading to the total control module, the total control module controlling the first hook mechanism to be located at the first target height; collecting position information of the second hook mechanism by a second sensor assembly and uploading to the total control module, the total control module controlling the second crane mechanism to be located at the second target height.

8. A linkage combination hoist control method according to claim 5, wherein: The first crane unit and the second crane unit when operating, further comprising a load protection step, the load protection step comprising, presetting a target load value, the total control module collecting load values of the first hook mechanism and the second hook mechanism, stopping operation when the deviation of the collected load value from the target load value exceeds a specified range, and the total control module issuing an alarm prompt.

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