Testing device and method for hoisting, lifting and transporting module

Abstract

The invention provides a test device and method for module hoisting, lifting and transporting, and relates to the field of module hoisting. Comprising an upper computer and a cuboid frame. A transverse and longitudinal adjusting mechanism is arranged on the top face of the cuboid frame, a bearing plate is installed on the transverse and longitudinal adjusting mechanism, and the transverse and longitudinal adjusting mechanism is used for adjusting the transverse position and the longitudinal position of the bearing plate. The lower portion of the bearing plate is connected with a crossed roller bearing assembly through a first steel wire rope, the lower portion of the crossed roller bearing assembly is connected with a leveling mechanism, a to-be-hoisted module is installed on the leveling mechanism, and an anti-swing mechanism and a lifting mechanism are arranged on the bearing plate. The upper computer is electrically connected with the transverse and longitudinal adjusting mechanism, the crossed roller bearing assembly, the leveling mechanism, the anti-swing mechanism and the lifting mechanism. The module can be accurately hoisted, the gravity center of the to-be-hoisted module is stable, the swing angle of the to-be-hoisted module can be measured, and a reference basis is provided for matching of a control system and power of hoisting equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of module hoisting, and particularly to a test device and method for module hoisting, lifting and transportation. Background Art

[0002] In the construction field, modular integrated building is a modern integrated building method, which divides the building structure into standardized modules, prefabricates and produces them in a factory, and then assembles them into a complete building. Limited by the large weight, complex structure and high protection requirements of module buildings, the difficulty of hoisting, lifting, controlling and transporting has been greatly upgraded.

[0003] Currently, the hoisting, lifting, controlling and transporting work of modules mainly adopts the form of manual cooperation with tower cranes, which is not only time-consuming and laborious, but also has great potential safety hazards. Moreover, the hoisted module will swing violently, the center of gravity is unstable, and the hoisting ropes are entangled during hoisting, which greatly affects the hoisting effect, is prone to potential safety hazards, and cannot timely adjust the power system of the control system of the hoisting equipment. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, an embodiment of the present invention provides a test device and method for module hoisting, lifting and transportation. The technical solution is as follows:

[0005] A test device for module hoisting, lifting and transportation includes: a host computer, a cuboid frame and a load-bearing plate;

[0006] A horizontal and vertical adjustment mechanism is arranged on the top surface of the cuboid frame, and the load-bearing plate is installed on the horizontal and vertical adjustment mechanism. The horizontal and vertical adjustment mechanism is used to adjust the horizontal position and vertical position of the load-bearing plate; the load-bearing plate is connected to a crossed roller bearing assembly through a first steel wire rope below, and the crossed roller bearing assembly is connected to a leveling mechanism below. The leveling mechanism is used to level the module to be hoisted; a swing elimination mechanism and a lifting mechanism are arranged on the load-bearing plate. The swing elimination mechanism eliminates the swing of the first steel wire rope, and the lifting mechanism is used to lift the module to be hoisted; the host computer is electrically connected to the horizontal and vertical adjustment mechanism, the crossed roller bearing assembly, the leveling mechanism, the swing elimination mechanism and the lifting mechanism.

[0007] Optionally, the horizontal and vertical adjustment mechanism includes a horizontal movement motor and a vertical movement motor. The top surface of the rectangular parallelepiped frame is a rectangular frame. At both ends of one width side of the rectangular frame, the horizontal movement motors are provided. One end of a first lead screw is connected to the output end of the horizontal movement motor, and the other end of the first lead screw is installed at one end of the other width side of the rectangular frame through a fixed seat. The two first lead screws are arranged in parallel. A first slider and a second slider are installed on each first lead screw. The horizontal movement motor drives the first slider and the second slider to move synchronously on the first lead screw;

[0008] First slide rails are provided on both length sides of the rectangular frame. The two first sliders are connected by a first square tube. Both ends of the first square tube are slidably connected to the two first slide rails through sliding blocks. The two second sliders are connected by a second square tube. Both ends of the second square tube are slidably connected to the two first slide rails through sliding blocks. The first square tube and the second square tube are parallel. One end of the first square tube and one end of the second square tube are connected with a first horizontal fixing plate. The other end of the first square tube and the other end of the second square tube are connected with a second horizontal fixing plate. The first horizontal fixing plate and the second horizontal fixing plate are parallel. The vertical movement motor is provided on the first horizontal fixing plate. One end of a second lead screw is connected to the output end of the vertical movement motor, and the other end of the second lead screw is installed on the second horizontal fixing plate through a fixed seat; A third slider and a fourth slider are installed on the second lead screw. The vertical movement motor drives the third slider and the fourth slider to move synchronously on the second lead screw;

[0009] The third slider and the fourth slider are installed at the top end of the load-bearing plate. Second slide rails are provided on the top surfaces of the first square tube and the second square tube. Both sides of the load-bearing plate are slidably connected to the two second slide rails through sliding blocks respectively;

[0010] The moving first slider and second slider drive the load-bearing plate to move horizontally through the first square tube and the second square tube. The moving third slider and fourth slider drive the load-bearing plate to move vertically through the sliding blocks sliding on the second slide rails;

[0011] A first laser distance sensor is installed at the bottom end of the load-bearing plate, and a second laser distance sensor is installed on the bottom surface of the first square tube.

[0012] Optionally, the anti-sway mechanism includes a first lifting motor and two swing angle measurement components. The output end of the first lifting motor is connected to one end of a first winding drum. The other end of the first winding drum is installed on the load-bearing plate through a fixed seat. A fixed pulley is installed on the load-bearing plate. A through hole is formed in the load-bearing plate. A first steel wire rope is wound around the first winding drum. One end of the first steel wire rope passes through the fixed pulley and the through hole and is connected to the crossed roller bearing assembly below the load-bearing plate;

[0013] The two swing angle measurement components are installed at the bottom end of the load-bearing plate, and the two swing angle measurement components are arranged perpendicular to each other. The first steel wire rope passes through the two swing angle measurement components, and the two swing angle measurement components respectively measure the swing angles of the first steel wire rope in two directions.

[0014] Optionally, the two swing angle measurement components are respectively a first swing angle measurement component and a second swing angle measurement component. The first swing angle measurement component includes two relatively and symmetrically arranged first fixing blocks. A first rotary encoder is arranged on one of the first fixing blocks. A first swing angle measurement piece group is rotatably connected between the two first fixing blocks. The first swing angle measurement piece group includes two relatively and symmetrically arranged first swing angle measurement pieces. The first steel wire rope passes between the two first swing angle measurement pieces. The swinging first steel wire rope drives the first swing angle measurement piece group to swing around the axis of the first swing angle measurement component; the first rotary encoder is electrically connected to the first swing angle measurement piece group and is used to measure the swing angle of the first swing angle measurement piece group;

[0015] The second swing angle measurement component includes two relatively and symmetric second fixing blocks. A second rotary encoder is arranged on one of the second fixing blocks. A second swing angle measurement piece group is rotatably connected between the two second fixing blocks. The second swing angle measurement piece group includes two relatively and symmetrically arranged second swing angle measurement pieces. The first steel wire rope passes between the two second swing angle measurement pieces. The swinging first steel wire rope drives the second swing angle measurement piece group to swing around the axis of the second swing angle measurement component; the second rotary encoder is electrically connected to the second swing angle measurement piece group and is used to measure the swing angle of the second swing angle measurement piece group;

[0016] The second swing angle measurement piece group is located above the first swing angle measurement piece group, and the second swing angle measurement piece group is perpendicular to the first swing angle measurement piece group.

[0017] Optionally, the lifting mechanism includes two second lifting motors which are installed at the bottom of the load-bearing plate. A second drum is rotatably connected between the output ends of the two second lifting motors. A second steel wire rope bypasses a first movable pulley, and one end of the second steel wire rope is connected to the bottom end of the load-bearing plate while the other end is connected to one end of the second drum. A third steel wire rope bypasses a second movable pulley, and one end of the third steel wire rope is connected to the bottom end of the load-bearing plate while the other end is connected to the other end of the second drum. The first movable pulley and the second movable pulley are installed on the top surface of the crossed roller bearing assembly. The first movable pulley and the second movable pulley are opposite and symmetrically arranged. The second lifting motor drives the second drum to rotate, and the second steel wire rope and the third steel wire rope are wound around the second drum to pull the crossed roller bearing assembly to move in the vertical direction.

[0018] Optionally, the crossed roller bearing assembly includes a top plate, a slewing motor and a crossed roller bearing. The slewing motor is arranged inside the crossed roller bearing. The fixed end of the slewing motor is installed on the top plate and connected to the outer ring of the crossed roller bearing. The output end of the slewing motor is connected to the inner ring of the crossed roller bearing. The inner ring of the crossed roller bearing is connected to the leveling mechanism fixing plate.

[0019] Optionally, the leveling mechanism includes four electric cylinders. The fixed ends of the four electric cylinders are installed at the bottom end of the crossed roller bearing assembly. A metal rod is connected between the telescopic ends of two adjacent electric cylinders. A hoisting plate is installed between two opposite metal rods. An inclination sensor is installed on the hoisting plate. The module to be hoisted is installed below the metal rod.

[0020] A test method for module hoisting, lifting and transportation, which is applied to the test device for module hoisting, lifting and transportation, the method includes:

[0021] S1. Control the transverse and longitudinal adjustment mechanism through the host computer according to the position of the module to be hoisted, so that the load-bearing plate moves directly above the module to be hoisted;

[0022] S2. Install the module to be hoisted below the metal rod of the leveling mechanism; the host computer controls the telescoping of the electric cylinders according to the data of the inclination sensor, so that the metal rod and the module to be hoisted are kept horizontal;

[0023] S3. The host computer controls the slewing motor to start, driving the module to be hoisted to rotate;

[0024] S4. The host computer controls the start of the first lifting motor and the second lifting motor. While driving the module to be lifted upward, the first reel rotates to keep the first steel wire rope taut. The first swing angle measurement component and the second swing angle measurement component measure the swing angles of the module to be lifted in two directions and feed them back to the host computer.

[0025] Optionally,

[0026] In S1, the step of controlling the horizontal and longitudinal adjustment mechanism by the host computer according to the position of the module to be lifted to move the load-bearing plate directly above the module to be lifted includes:

[0027] The host computer controls the start of the horizontal movement motor to drive the first slider and the second slider to slide. The first slider and the second slider drive the load-bearing plate to move horizontally along the first slide rail to the horizontal position of the module to be lifted through the first square tube and the second square tube. The host computer controls the start of the vertical movement motor to drive the third slider and the fourth slider to slide. The third slider and the fourth slider drive the load-bearing plate to slide along the second slide rail to the vertical position of the module to be lifted.

[0028] Optionally, in S4, the step that the host computer controls the start of the first lifting motor and the second lifting motor. While driving the module to be lifted upward, the first reel rotates to keep the first steel wire rope taut. The first swing angle measurement component and the second swing angle measurement component measure the swing angles of the module to be lifted in two directions and feed them back to the host computer includes:

[0029] The host computer controls the start of the second lifting motor to drive the second reel to rotate. The second steel wire rope and the third steel wire rope are wound on the second reel to drive the module to be lifted upward. The host computer controls the start of the first lifting motor. The first reel rotates. One end of the first steel wire rope is wound on the first reel. The first steel wire rope remains taut while the module to be lifted rises. The first steel wire rope passes through the first swing angle measurement piece group and the second swing angle measurement piece group, and drives the first swing angle measurement piece group to swing around the axis of the first swing angle measurement component, drives the second swing angle measurement piece group to swing around the axis of the second swing angle measurement component. The first rotary encoder measures the swing angle of the first swing angle measurement piece group and feeds the result back to the host computer. The second rotary encoder measures the swing angle of the second swing angle measurement piece group and feeds the result back to the host computer.

[0030] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0031] The technical solution of the present invention has a simple structure and is easy to use. By using the host computer to control the horizontal and vertical adjustment mechanisms, the position of the hoisting module can be accurately determined, reducing labor costs, saving time, and reducing potential safety hazards. In this solution, the first steel wire rope and the first drum are configured to perform a rigid-flexible conversion on the lifting of the hoisting module, enabling the first steel wire rope to have tension and remain taut during the lifting process, reducing the swing of the hoisting module. The swing angle measurement component is provided in this solution to accurately measure the swing angle of the hoisting module and feedback it to the host computer. Based on the data from the host computer, the power equipment and control system of the device can be iteratively adjusted. For example, a hoisting motor of a different model can be replaced to make the hoisting module more compatible with the power equipment of the device, resulting in a better hoisting effect. The leveling mechanism designed in this solution can keep the hoisting module in a horizontal state at all times, ensuring hoisting stability. The cross-roller bearing combined with the motor is designed for hoisting in this solution, which can prevent the hoisting ropes from winding, ensuring a good hoisting effect and reducing potential safety hazards.

[0032] The device can conduct simulation experiments on the actual hoisting situation, including anti-sway control tests for the hoisting platform, real-time automatic leveling control tests for the hoisting platform, and self-disturbance rejection stability improvement tests for the hoisting platform. Applying the experimental results to the actual scenario can greatly improve the hoisting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of a test device for module hoisting, lifting, and transportation provided by the present invention;

[0035] Figure 2 It is a schematic structural diagram of the horizontal and vertical mechanisms of a test device for module hoisting, lifting, and transportation provided by the present invention;

[0036] Figure 3 For Figure 2 the enlarged view at A in

[0037] Figure 4 It is a schematic structural diagram of the lifting mechanism and the swing angle measurement component of a test device for module hoisting, lifting, and transportation provided by the present invention;

[0038] Figure 5 It is a schematic structural diagram of the cross-roller bearing assembly of a test device for module hoisting, lifting, and transportation provided by the present invention;

[0039] Figure 6Schematic diagram of the leveling mechanism of a test device for module hoisting, lifting and transportation provided by the present invention.

[0040] Reference numerals:

[0041] 1, cuboid frame; 2, horizontal and longitudinal leveling mechanism; 3, crossed roller bearing assembly; 4, load-bearing plate; 5, leveling mechanism; 11, horizontal movement motor; 12, first lead screw; 13, first slide rail; 14, first slider; 15, second slider; 16, first square tube; 17, second square tube; 18, second slide rail; 19, longitudinal movement motor; 20, second lead screw; 21, third slider; 22, fourth slider; 31, first wire rope; 32, second wire rope; 33, third wire rope; 34, top plate; 35, crossed roller bearing; 36, leveling mechanism fixing plate;

[0042] 41, fixed pulley; 42, first lifting motor; 43, first winding drum; 44, second laser distance sensor; 45, first laser distance sensor; 46, second lifting motor; 47, second winding drum; 48, first fixing block; 481, first rotary encoder; 482, first swing angle measurement piece group; 49, second fixing block; 491, second rotary encoder; 492, second swing angle measurement piece group; 51, electric cylinder; 52, metal rod; 53, inclination sensor. Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0044] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Similarly, the terms such as "a", "an" or "the" do not denote a quantity limitation, but mean that there is at least one. The terms such as "include" or "comprise" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connect" or "be connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0045] It should be noted that the terms "upper", "lower", "left", "right", "front", "rear", etc. used in the present invention are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0046] As Figures 1-6 shown, a test device for module hoisting and lifting transportation is provided, including a host computer, a cuboid frame 1, and a load-bearing plate 4. The number of cuboid frames 1 is at least one and they are vertically placed. The top surface of the top cuboid frame 1 is a rectangular frame. A horizontal and vertical adjustment mechanism 2 is provided on the top surface of the rectangular frame. A load-bearing plate 4 is installed on the horizontal and vertical adjustment mechanism 2. The horizontal and vertical adjustment mechanism 2 is used to adjust the horizontal position and vertical position of the load-bearing plate 4; the load-bearing plate 4 is connected to a crossed roller bearing assembly 3 through a first steel wire rope 31 below. The crossed roller bearing assembly 3 is connected to a leveling mechanism 5 below. A module to be hoisted is installed on the leveling mechanism 5. The leveling mechanism 5 is used to level the module to be hoisted; a swing elimination mechanism and a lifting mechanism are provided on the load-bearing plate 4. The swing elimination mechanism eliminates the swing of the first steel wire rope 31. The lifting mechanism is used to lift the module to be hoisted; the host computer is electrically connected to the components in the horizontal and vertical adjustment mechanism 2, the crossed roller bearing assembly 3, the leveling mechanism 5, the swing elimination mechanism, and the lifting mechanism.

[0047] As Figures 2 to 3 shown, the horizontal and vertical adjustment mechanism 2 includes a horizontal movement motor 11 and a vertical movement motor 19. Horizontal movement motors 11 are provided at both ends of one width side of the rectangular frame. The output end of the horizontal movement motor 11 is connected to one end of a first lead screw 12. The other end of the first lead screw 13 is installed at one end of the other width side of the rectangular frame through a fixed seat. The two first lead screws 12 are arranged in parallel. A first slider 14 and a second slider 15 are installed on each first lead screw 12. The two horizontal movement motors 11 are synchronously driven. The two horizontal movement motors 11 drive the two first sliders 14 and the two second sliders 15 to move synchronously on the two first lead screws 12.

[0048] First slide rails 13 are provided on both length sides of the rectangular frame. Two first sliders 14 are connected by a first square tube 16. Both ends of the first square tube 16 are slidably connected to the two first slide rails 13 through sliders respectively. Two second sliders 15 are connected by a second square tube 17. Both ends of the second square tube 17 are slidably connected to the two first slide rails 13 through sliders respectively. The first square tube 16 and the second square tube 17 are parallel. One end of the first square tube 16 and one end of the second square tube 17 are connected with a first horizontal fixing plate. The other end of the first square tube 16 and the other end of the second square tube 17 are connected with a second horizontal fixing plate. The first horizontal fixing plate and the second horizontal fixing plate are parallel. A longitudinal movement motor 19 is provided on the first horizontal fixing plate. One end of a second lead screw 20 is connected to the output end of the longitudinal movement motor 19. The other end of the second lead screw 20 is installed on the second horizontal fixing plate through a fixing seat; A third slider 21 and a fourth slider 22 are installed on the second lead screw 20. The longitudinal movement motor 19 drives the third slider 21 and the fourth slider 22 to move synchronously on the second lead screw 20;

[0049] The third slider 21 and the fourth slider 22 are installed at the top end of the load-bearing plate 4. Second slide rails 18 are provided on the top surfaces of both the first square tube 16 and the second square tube 17. Both sides of the load-bearing plate 4 are slidably connected to the two second slide rails 18 through sliders respectively; In one embodiment, third square tubes and fourth square tubes are respectively provided on both sides of the bottom end of the load-bearing plate. Both ends of the third square tube are slidably connected to the two second slide rails 18 through sliders respectively. Both ends of the fourth square tube are slidably connected to the two second slide rails 18 through sliders respectively, so that the load-bearing plate 4 can slide on the two slide rails 18.

[0050] The moving first slider 14 and second slider 15 drive the load-bearing plate 4 to move horizontally (move along the length direction of the rectangular frame) through the first square tube 16 and the second square tube 17. The moving third slider 21 and fourth slider 22 drive the load-bearing plate 4 to move longitudinally (move along the width direction of the rectangular frame) by sliding on the second slide rails 18 through sliders;

[0051] A first laser distance sensor 45 is installed at the bottom end of the load-bearing plate 4. In one embodiment, a first laser distance sensor 45 is installed at the bottom end of the third square tube. The first laser sensor 45 is used to measure the longitudinal movement displacement of the load-bearing plate 4. A second laser distance sensor 44 is installed on the bottom surface of the first square tube 16. The second laser sensor 44 is used to measure the horizontal movement displacement of the load-bearing plate 4. Setting the laser distance sensors can prevent the load-bearing plate 4 from colliding with the cuboid frame or the square tubes.

[0052] As Figures 3 to 4As shown in the figure, the anti-swing mechanism includes a first lifting motor 42 and two swing angle measurement components. One end of the output shaft of the first lifting motor 42 is connected to one end of a first winding drum 43, and the other end of the first winding drum 43 is installed on the top surface of a load-bearing plate 4 through a fixed seat. A fixed pulley 41 is installed on the load-bearing plate 4, and a through hole is formed in the load-bearing plate 4. One end of a first steel wire rope 31 is wound around the first winding drum 43, and one end of the first steel wire rope 31 bypasses the fixed pulley 41 and passes through the through hole to be connected to a crossed roller bearing assembly 3 below the load-bearing plate 4. When the first lifting motor 42 is started, the first winding drum 43 rotates to pull the first steel wire rope 31 to drive the module to be hoisted connected to the crossed roller bearing assembly 3 to rise. During this period, due to the cooperation of the first winding drum 43 and the fixed pulley 41, the first steel wire rope 31 has a certain tension, converting from flexible to rigid, and the first steel wire rope 31 is always in a taut state during the pulling of the module to be hoisted. The two swing angle measurement components are installed at the bottom end of the load-bearing plate 4, and the two swing angle measurement components are arranged perpendicular to each other. The first steel wire rope 31 passes through the through hole and then passes through the two swing angle measurement components, and the two swing angle measurement components respectively measure the swing angles of the first steel wire rope 31 in two directions.

[0053] The two swing angle measurement components are respectively a first swing angle measurement component and a second swing angle measurement component. The first swing angle measurement component includes two relatively and symmetrically arranged first fixing blocks 48. A first rotary encoder 481 is arranged on one of the first fixing blocks 48. A first swing angle measurement piece group 482 is rotatably connected between the two first fixing blocks 48. The first swing angle measurement piece group 482 includes two relatively and symmetrically arranged first swing angle measurement pieces. The first steel wire rope 31 passes between the two first swing angle measurement pieces, and the swinging first steel wire rope 31 drives the first swing angle measurement piece group 482 to swing around the axis of the first swing angle measurement component. The first rotary encoder 481 is electrically connected to the first swing angle measurement piece group 482 and is used to measure the swing angle of the first swing angle measurement piece group 482 in one direction.

[0054] The second swing angle measurement component includes two relatively and symmetric second fixing blocks 49. A second rotary encoder 491 is arranged on one of the second fixing blocks 49. A second swing angle measurement piece group 492 is rotatably connected between the two second fixing blocks 49. The second swing angle measurement piece group 492 includes two relatively and symmetrically arranged second swing angle measurement pieces. The first steel wire rope 31 passes between the two second swing angle measurement pieces, and the swinging first steel wire rope 31 drives the second swing angle measurement piece group 492 to swing around the axis of the second swing angle measurement component. The second rotary encoder 491 is electrically connected to the second swing angle measurement piece group 492 and is used to measure the swing angle of the second swing angle measurement piece group 492 in the other direction. The second swing angle measurement piece group 492 is located above the first swing angle measurement piece group 482, and the second swing angle measurement piece group 492 is perpendicular to the first swing angle measurement piece group 482.

[0055] The lifting mechanism includes two second lifting motors 46 which are installed at the bottom of the load-bearing plate 4. A second winding drum 47 is rotatably connected between the output ends of the two second lifting motors 46. The second steel wire rope 32 bypasses the first movable pulley, and one end of the second steel wire rope is connected to the bottom end of the load-bearing plate 4, and the other end is connected to one end of the second winding drum 47. The third steel wire rope 33 bypasses the second movable pulley, and one end of the third steel wire rope is connected to the bottom end of the load-bearing plate 4, and the other end is connected to the other end of the second winding drum 47. The first movable pulley and the second movable pulley are installed on the top surface of the top plate 34 of the crossed roller bearing assembly 3. The first movable pulley and the second movable pulley are opposite and symmetrically arranged. The second lifting motor 46 drives the second winding drum 47 to rotate, and the second steel wire rope 32 and the third steel wire rope 33 are wound around the second winding drum 47 to pull the crossed roller bearing assembly 3 and the module to be hoisted to move in the vertical direction.

[0056] As Figure 5 shown, the crossed roller bearing assembly 3 includes a top plate 34, a slewing motor and a crossed roller bearing 35. The slewing motor is arranged inside the crossed roller bearing 35. The fixed end of the slewing motor is installed on the bottom surface of the top plate 34 and is connected to the outer ring of the crossed roller bearing 35. The output end of the slewing motor is connected to the inner ring of the crossed roller bearing 35. The bottom surface of the inner ring of the crossed roller bearing 35 is connected to the leveling mechanism fixing plate 36.

[0057] As Figure 6 shown, the leveling mechanism 5 includes four electric cylinders 51. The fixed ends of the four electric cylinders 51 are installed at the bottom end of the leveling mechanism fixing plate 36. A metal rod 52 is connected between the telescopic ends of two adjacent electric cylinders. The four metal rods 52 form a II shape. A hoisting plate is installed between two opposite metal rods 52. An inclination sensor 53 is installed on the hoisting plate. The module to be hoisted is installed below the metal rod 52. After the module to be hoisted is connected below the metal rod 52, due to the center of gravity problem, the metal rod 52 is deflected. The inclination sensor 53 measures the deflection and feeds it back to the upper computer. The upper computer controls the telescopic movement of the electric cylinder 51 connected to the deflected metal rod 52 to keep the metal rod 52 horizontal and the module to be hoisted also horizontal.

[0058] The upper computer is electrically connected to the lateral movement motor 11, the longitudinal movement motor 19, the first lifting motor 42, the second lifting motor 46, the slewing motor, the electric cylinder 51, the inclination sensor 53, the first swing angle measuring assembly and the second swing angle measuring assembly.

[0059] As Figures 1 to 6 shown, a test method for module hoisting, lifting and transportation includes:

[0060] S1. According to the position of the module to be hoisted, control the horizontal and longitudinal adjustment mechanism through the upper computer to move the load-bearing plate 4 to directly above the module to be hoisted;

[0061] The host computer controls the horizontal movement motor 11 to start, driving the first slider 14 and the second slider 15 to slide. The first slider 14 and the second slider 15 drive the load-bearing plate 4 to move horizontally along the first slide rail 13 to the horizontal position of the module to be hoisted. The host computer controls the vertical movement motor 19 to start, driving the third slider 21 and the fourth slider 22 to slide. The third slider 21 and the fourth slider 22 drive the load-bearing plate 4 to slide along the second slide rail 18 to the vertical position of the module to be hoisted.

[0062] S2. Install the module to be hoisted under the metal rod 52 of the leveling mechanism 5; the host computer controls the telescopic cylinder 51 connected to the inclined metal rod 52 according to the data of the inclination sensor 53 to keep the metal rod 52 and the module to be hoisted horizontal.

[0063] S3. The host computer controls the rotary motor to start, driving the module to be hoisted to rotate to prevent the first steel wire rope 31, the second steel wire rope 32 and the third steel wire rope 33 from winding around each other.

[0064] S4. The host computer controls the first lifting motor 42 and the second lifting motor 46 to start synchronously. While driving the module to be hoisted to rise, the first reel 43 rotates to keep the first steel wire rope 31 taut; the first swing angle measuring component and the second swing angle measuring component measure the swing angles of the module to be hoisted in two directions and feedback them to the host computer.

[0065] The host computer controls the second lifting motor 46 to start, driving the second reel 47 to rotate. The second steel wire rope 32 and the third steel wire rope 33 are wound around the second reel 47 to drive the module to be hoisted to move upward; the host computer controls the first lifting motor 42 to start, the first reel 43 rotates, one end of the first steel wire rope 31 is wound around the first reel 43, and the first steel wire rope 31 remains taut while rising with the module to be hoisted. The first steel wire rope 31 passes through the first swing angle measuring piece group 482 and the second swing angle measuring piece group 492, and drives the first swing angle measuring piece group 482 to swing around the axis of the first swing angle measuring component, driving the second swing angle measuring piece group 492 to swing around the axis of the second swing angle measuring component. The first rotary encoder 481 measures the swing angle of the first swing angle measuring piece group 482 and feeds the result back to the host computer, and the second rotary encoder 491 measures the swing angle of the second swing angle measuring piece group 492 and feeds the result back to the host computer. Different models of lifting motors can be replaced according to the measured swing angles to make the lifting effect better.

[0066] Example 1

[0067] The size of this test device is scaled up in equal proportion to obtain the actual hoisting platform. The specific ratio is the size of this test device: the size of the actual hoisting platform = 1:11.

[0068] This test device drives the load-bearing plate 4 with the hoisting module to move horizontally and vertically through the horizontal movement motor 11 and the vertical movement motor 19 in order to simulate the hoisting movement process of the actual hoisting platform. This test device can conduct anti-sway control tests for the hoisting platform, real-time automatic leveling control tests for the hoisting platform, self-disturbance rejection stability improvement tests for the hoisting platform, and image recognition and positioning tests.

[0069] Image recognition and positioning test:

[0070] By installing a camera and a laser range finder sensor on the load-bearing plate 4, the camera and the laser range finder sensor are electrically connected to the upper computer. The laser range finder sensor is used to sense the position of the load-bearing plate 4 and thus sense the position of the module to be hoisted. The camera captures the image information of the module to be hoisted and transmits it to the upper computer, so that the upper computer can perform image recognition and positioning on the module to be hoisted below the load-bearing plate 4 and determine the position where the module to be hoisted is located.

[0071] Anti-sway control test for the hoisting platform:

[0072] The horizontal movement motor 11 and the vertical movement motor 13 drive the load-bearing plate 4 to drive the module to be hoisted to move. The first laser sensor 45 is used to measure the longitudinal movement displacement of the load-bearing plate 4, and the second laser range finder sensor 44 is used to measure the horizontal movement displacement of the load-bearing plate 4. While the hoisting module is moving, the first lifting motor 42 and the second lifting motor 46 lift the module to be hoisted. During the lifting process, the module to be hoisted swings, and the first wire rope 31 swings accordingly and touches the first swing angle measurement piece group 482 and the second swing angle measurement piece group 492. The first rotary encoder 481 and the second rotary encoder 491 measure the swing angles of the first wire rope 31 in two directions to obtain the swing angle of the module to be hoisted. Appropriate power equipment is replaced according to the swing angle to ensure a better lifting effect.

[0073] Real-time automatic leveling control test for the hoisting platform:

[0074] Install the module to be hoisted under the metal rod 52 of the leveling mechanism 5; the upper computer controls the telescoping of the electric cylinder 51 connected to the inclined metal rod 52 according to the data of the inclination sensor 53 to keep the metal rod 52 and the module to be hoisted horizontal.

[0075] Self-disturbance rejection stability improvement test for the hoisting platform:

[0076] The host computer controls the synchronous start of the first lifting motor 42 and the second lifting motor 46. While driving the module to be lifted upward, the first winding drum 43 rotates to keep the first steel wire rope 31 taut. By using auxiliary tools such as a fan to create external interference, the module to be lifted will swing and tilt under the interference. The first rotary encoder 481 and the second rotary encoder 491 measure the swing angles of the first steel wire rope 31 in two directions and feed the data back to the host computer. The inclination sensor 53 measures the deflection data of the metal rod 52. The host computer controls the telescoping of the electric cylinder 51 connected to the deflected metal rod 52 according to the deflection data, so that the metal rod 52 and the module to be lifted are kept horizontal. The host computer judges the stability of the lifting platform during lifting according to the measurement data of the first rotary encoder 481, the second rotary encoder 491 and the inclination sensor 53.

[0077] The structure of this solution is simple and easy to use. Using the host computer to control the horizontal and vertical adjustment mechanism can accurately determine the position of the lifting module, reduce labor costs, save time, and reduce potential safety hazards. Moreover, this solution sets the first steel wire rope in cooperation with the first winding drum to perform rigid-flexible conversion on the lifting of the lifting module, so that the first steel wire rope has tension and is always in a taut state during the lifting process, reducing the swing of the lifting module. This solution sets the swing angle measurement component to accurately measure the swing angle of the lifting module and feed it back to the host computer. According to the data of the host computer, the power equipment and control system of this device can be iteratively adjusted to make the lifting module more matched with the power equipment of this device and improve the lifting effect. This solution designs a leveling mechanism to keep the lifting module in a horizontal state all the time, ensuring the lifting stability. This solution designs the use of crossed roller bearings combined with motors for lifting, which can prevent the lifting ropes from winding, ensure good lifting effects, and reduce potential safety hazards.

[0078] This device can conduct simulation experiments on the actual lifting situation, and can conduct anti-sway control tests of the lifting platform, real-time automatic leveling control tests of the lifting platform, and self-disturbance rejection stability improvement tests of the lifting platform. Applying the experimental results to the actual scenario can greatly improve the lifting efficiency.

[0079] The following points need to be explained:

[0080] (1) The attached drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0081] (2) For clarity, in the attached drawings used to describe the embodiments of the present invention, the thickness of the layer or region is enlarged or reduced, that is, these attached drawings are not drawn according to the actual ratio. It can be understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element can be "directly" on or under the other element or there can be intermediate elements.

[0082] (3) Without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other to obtain new embodiments.

[0083] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An experimental device for module hoisting, lifting and transportation, characterized in that Comprising: A host computer, a cuboid frame, and a load-bearing plate; A horizontal and vertical adjustment mechanism is provided on the top surface of the cuboid frame, and the load-bearing plate is installed on the horizontal and vertical adjustment mechanism. The horizontal and vertical adjustment mechanism is used to adjust the horizontal position and vertical position of the load-bearing plate; the lower part of the load-bearing plate is connected to a crossed roller bearing assembly through a first steel wire rope, the lower part of the crossed roller bearing assembly is connected to a leveling mechanism, and a module to be hoisted is installed on the leveling mechanism. The leveling mechanism is used to level the module to be hoisted; a swing elimination mechanism and a lifting mechanism are provided on the load-bearing plate. The swing elimination mechanism eliminates the swing of the first steel wire rope, and the lifting mechanism is used to lift the module to be hoisted; the host computer is electrically connected to the horizontal and vertical adjustment mechanism, the crossed roller bearing assembly, the leveling mechanism, the swing elimination mechanism, and the lifting mechanism.

2. The test device for module hoisting, lifting and transportation according to claim 1, wherein The horizontal and vertical adjustment mechanism includes a horizontal movement motor and a vertical movement motor. The top surface of the cuboid frame is a rectangular frame. At both ends of one width side of the rectangular frame, the horizontal movement motors are provided. The output end of the horizontal movement motor is connected to one end of a first lead screw, and the other end of the first lead screw is installed at one end of the other width side of the rectangular frame through a fixed seat. A first slider and a second slider are installed on each first lead screw. The horizontal movement motor drives the first slider and the second slider to move synchronously on the first lead screw; First slide rails are provided on both length sides of the rectangular frame. The two first sliders are connected through a first square tube. The two ends of the first square tube are slidably connected to the two first slide rails through sliders. The two second sliders are connected through a second square tube. The two ends of the second square tube are slidably connected to the two first slide rails through sliders. One end of the first square tube and one end of the second square tube are connected to a first horizontal fixing plate. The other end of the first square tube and the other end of the second square tube are connected to a second horizontal fixing plate. The vertical movement motor is provided on the first horizontal fixing plate. The output end of the vertical movement motor is connected to one end of a second lead screw, and the other end of the second lead screw is installed on the second horizontal fixing plate through a fixed seat; a third slider and a fourth slider are installed on the second lead screw. The vertical movement motor drives the third slider and the fourth slider to move synchronously on the second lead screw; The third slider and the fourth slider are installed at the top end of the load-bearing plate. Second slide rails are provided on the top surfaces of the first square tube and the second square tube. Both sides of the load-bearing plate are slidably connected to the two second slide rails through sliders respectively; The moving first slider and second slider drive the load-bearing plate to move horizontally through the first square tube and the second square tube. The moving third slider and fourth slider drive the load-bearing plate to move vertically through the sliders sliding on the second slide rails; A first laser distance sensor is installed at the bottom end of the load-bearing plate, and a second laser distance sensor is installed on the bottom surface of the first square tube.

3. The test device for module hoisting and lifting transportation according to claim 1, characterized in that, The anti-swing mechanism includes a first lifting motor and two swing angle measurement components. The output end of the first lifting motor is connected to one end of a first winding drum. The other end of the first winding drum is installed on the load-bearing plate through a fixed seat. A fixed pulley is installed on the load-bearing plate. A through hole is formed in the load-bearing plate. A first steel wire rope is wound around the first winding drum. One end of the first steel wire rope passes through the fixed pulley and the through hole and is connected to the crossed roller bearing assembly below the load-bearing plate. The two swing angle measurement components are installed at the bottom end of the load-bearing plate, and the two swing angle measurement components are arranged perpendicular to each other. The first steel wire rope passes through the two swing angle measurement components, and the two swing angle measurement components respectively measure the swing angles of the first steel wire rope in two directions.

4. The test device for module hoisting, lifting and transportation according to claim 3, characterized in that The two swing angle measurement components are respectively a first swing angle measurement component and a second swing angle measurement component. The first swing angle measurement component includes two relatively and symmetrically arranged first fixing blocks. A first rotary encoder is arranged on one of the first fixing blocks. A first swing angle measurement piece group is rotatably connected between the two first fixing blocks. The first swing angle measurement piece group includes two relatively and symmetrically arranged first swing angle measurement pieces. The first steel wire rope passes between the two first swing angle measurement pieces. The swinging first steel wire rope drives the first swing angle measurement piece group to swing around the axis of the first swing angle measurement component. The first rotary encoder is electrically connected to the first swing angle measurement piece group and is used to measure the swing angle of the first swing angle measurement piece group. The second swing angle measurement component includes two relatively and symmetric second fixing blocks. A second rotary encoder is arranged on one of the second fixing blocks. A second swing angle measurement piece group is rotatably connected between the two second fixing blocks. The second swing angle measurement piece group includes two relatively and symmetrically arranged second swing angle measurement pieces. The first steel wire rope passes between the two second swing angle measurement pieces. The swinging first steel wire rope drives the second swing angle measurement piece group to swing around the axis of the second swing angle measurement component. The second rotary encoder is electrically connected to the second swing angle measurement piece group and is used to measure the swing angle of the second swing angle measurement piece group. The second swing angle measurement piece group is located above the first swing angle measurement piece group, and the second swing angle measurement piece group is perpendicular to the first swing angle measurement piece group.

5. The test device for module hoisting, lifting and transportation according to claim 1, characterized in that, The lifting mechanism includes two second lifting motors which are installed at the bottom of the load-bearing plate. A second drum is rotatably connected between the output ends of the two second lifting motors. A second steel wire rope bypasses the first movable pulley, and one end of the second steel wire rope is connected to the bottom end of the load-bearing plate, and the other end is connected to one end of the second drum. A third steel wire rope bypasses the second movable pulley, and one end of the third steel wire rope is connected to the bottom end of the load-bearing plate, and the other end is connected to the other end of the second drum. The first movable pulley and the second movable pulley are installed on the top surface of the crossed roller bearing assembly. The second lifting motor drives the second drum to rotate, and the second steel wire rope and the third steel wire rope are wound around the second drum to pull the crossed roller bearing assembly to move in the vertical direction.

6. The test device for module hoisting, lifting and transportation according to claim 1, characterized in that, The crossed roller bearing assembly includes a top plate, a slewing motor and a crossed roller bearing. The slewing motor is arranged inside the crossed roller bearing. The fixed end of the slewing motor is installed on the top plate and connected to the outer ring of the crossed roller bearing. The output end of the slewing motor is connected to the inner ring of the crossed roller bearing. The inner ring of the crossed roller bearing is connected to the leveling mechanism fixing plate.

7. The test device for module hoisting, lifting and transportation according to claim 1, wherein The leveling mechanism includes four electric cylinders. The fixed ends of the four electric cylinders are installed at the bottom end of the crossed roller bearing assembly. A metal rod is connected between the telescopic ends of two adjacent electric cylinders. A hoisting plate is installed between two opposite metal rods. An inclination sensor is installed on the hoisting plate. The module to be hoisted is installed below the metal rod.

8. A test method for module hoisting, lifting and transportation, characterized in that, Applied to the test device for module hoisting, lifting and transporting according to any one of claims 1 to 7, the method includes: S1. Control the horizontal and longitudinal adjustment mechanism through the host computer according to the position of the module to be hoisted, so that the load-bearing plate moves directly above the module to be hoisted. S2. Install the module to be hoisted below the metal rod of the leveling mechanism; the host computer controls the telescoping of the electric cylinders according to the data of the inclination sensor, so that the metal rod and the module to be hoisted are kept horizontal. S3. The host computer controls the slewing motor to start and drives the module to be hoisted to rotate. S4. The host computer controls the start of the first lifting motor and the second lifting motor. While driving the module to be hoisted to rise, the first drum rotates to keep the first steel wire rope taut; the first swing angle measuring component and the second swing angle measuring component measure the swing angles of the module to be hoisted in two directions and feedback them to the host computer.

9. According to the test method for module hoisting, lifting and transporting according to claim 8, characterized in that In S1, the controlling the horizontal and longitudinal adjustment mechanism through the host computer according to the position of the module to be hoisted, so that the load-bearing plate moves directly above the module to be hoisted includes: The host computer controls the start of the lateral movement motor to drive the first slider and the second slider to slide. The first slider and the second slider drive the load-bearing plate to move laterally along the first slide rail to the lateral position of the module to be hoisted through the first square pipe and the second square pipe. The host computer controls the start of the longitudinal movement motor to drive the third slider and the fourth slider to slide, and the third slider and the fourth slider drive the load-bearing plate to slide along the second slide rail to the longitudinal position of the module to be hoisted.

10. The test method for module hoisting and lifting transportation according to claim 8, wherein, In S4, the host computer controls the start of the first lifting motor and the second lifting motor. While driving the module to be hoisted to rise, the first drum rotates to keep the first steel wire rope taut. The first swing angle measurement component and the second swing angle measurement component measure the swing angles of the module to be hoisted in two directions and feedback them to the host computer, including: The host computer controls the start of the second lifting motor to drive the second drum to rotate. The second steel wire rope and the third steel wire rope are wound around the second drum to drive the module to be hoisted to move upward. The host computer controls the start of the first lifting motor. The first drum rotates. One end of the first steel wire rope is wound around the first drum. The first steel wire rope remains taut while the module to be hoisted rises. The first steel wire rope passes through the first swing angle measurement piece group and the second swing angle measurement piece group, and drives the first swing angle measurement piece group to swing around the axis of the first swing angle measurement component, drives the second swing angle measurement piece group to swing around the axis of the second swing angle measurement component. The first rotary encoder measures the swing angle of the first swing angle measurement piece group and feeds the result back to the host computer. The second rotary encoder measures the swing angle of the second swing angle measurement piece group and feeds the result back to the host computer.

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