Anti-winding automatic hoisting equipment and control method

Abstract

The invention discloses anti-winding automatic hoisting equipment and a control method, and belongs to the technical field of hoisting equipment, the anti-winding automatic hoisting equipment comprises hoisting equipment, a lifting device, a lifting device and a control device, the control device plays a role in remote control; the upper end of the connecting assembly is connected to the hoisting equipment; the lifting appliance body is connected with the connecting assembly; the plurality of lifting hook assemblies are uniformly mounted on the lifting appliance body; a control assembly is mounted in the lifting appliance body, is connected with the control device, and can be controlled in a remote control manner; the lower part of the lifting appliance body is connected with a connecting piece, and the lower end of the connecting piece is provided with an automatic unhooking lifting appliance. According to the ton bag unhooking device, automatic unhooking can be achieved, manual operation is not needed, the working efficiency is improved, meanwhile, the ton bag unhooking device is simple in structure and convenient to operate, the ton bag hoisting operation efficiency and the hoisting safety can be greatly improved, and manual use is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of port terminal hoisting equipment, and in particular to an anti-winding automatic hoisting device and a control method thereof. Background Art

[0002] During crane hoisting operations at ports and terminals, chemical solid granular products are often transported in ton bags. International standard ton bags are flexible transport containers that are moisture-proof, dust-proof, radiation-resistant, durable, and secure, while also possessing sufficient structural strength. Ton bags are typically made from polyester fibers such as polypropylene and polyethylene. During transportation, ton bags are hoisted using cranes.

[0003] The components of a crane include the crane frame, gearbox, power transmission system, control system, and spreader. A crane's spreader is the device used to lift heavy objects, with the hook being the most common. Hooking and unhooking are typically done manually.

[0004] Currently, cranes can only lift a small number of items at a time, the lifting speed is slow, and the cooperation of a large number of workers is required, which is time-consuming and labor-intensive.

[0005] In view of this, our company has developed an anti-entanglement automatic lifting equipment, which uses remote control to perform lifting operations, greatly reducing the workload of workers and improving work efficiency, matching the current development of smart ports. Summary of the Invention

[0006] Purpose of the invention: In order to solve the problems in the related art, the present application provides an anti-entanglement automatic lifting equipment, which solves the defects of low lifting efficiency and high work intensity of ton bags in ports.

[0007] To achieve the above object, the present invention provides the following technical solutions: An anti-entanglement and anti-entanglement automatic lifting device, comprising: A lifting device, wherein the lifting device is provided with a lifting device; Control device, which plays the role of remotely controlling the operation of lifting equipment and receiving information feedback; a connecting assembly, the upper end of which is connected to the lifting device, wherein the connecting assembly is a steel cable; a sling body connected to the connecting assembly; An anti-winding component is provided on the upper portion of the connecting component and is used to prevent the connecting component from rotating and winding; A plurality of hook assemblies are evenly installed on the sling body; the hook assembly includes a control assembly installed on the sling body, and the control assembly is connected to the control device; the lower end of the lifting rope is a ton bag; and an automatic unhooking sling is installed on the sling body.

[0008] Furthermore, the anti-winding component includes: The bracket is a circular steel structure with a cross support frame in the middle to prevent the bracket from deforming; A lock hook, one end of which is mounted on the crane, and the bottom of which is rotatably mounted at the intersection of the cross supports via a rotary connector, the rotary connector including an upper connector, a lower connector, and a rotary bearing and a rotary shaft located between the upper connector and the lower connector, wherein the rotary bearing allows relative rotation between the upper connector and the lower connector, the lower connector being mounted at the bottom of the intersection of the cross supports, and the lock hook and the upper connector being welded as one piece; A steel cable support assembly includes a roller and a support portion. The support portion is symmetrically arranged on both sides of the bracket. The roller is installed on the support portion. The roller is provided with a groove that is compatible with the steel cable and a rubber pad.

[0009] Furthermore, the connecting assembly is a plurality of connecting ropes, steel cables or a plurality of connecting frames, and the connecting ropes, steel cables or connecting frames are distributed symmetrically in the center; a ring block is provided between the connecting ropes, steel cables or connecting frames and the lifting equipment, and the ring block is hung on the locking hook, and the connecting ropes, steel cables or connecting frames are laid on the roller; the connecting assembly is connected to the sling body by a bow-shaped shackle.

[0010] Furthermore, the control device is a control component and a battery installed in the spreader body; the battery is connected to the control component; the control device includes a control receiver; and the control receiver is remotely connected to the control device.

[0011] Furthermore, the automatic unhooking sling includes a hook shell, in which a power device is installed to provide power for the unhooking action; a horizontal main shaft is movably installed in the hook shell; a hook is installed on the main shaft, and the hook passes through the lower part of the hook shell; the motor drives the hook through a clutch transmission mechanism.

[0012] Furthermore, the clutch transmission mechanism includes a transmission assembly and a clutch assembly, wherein the transmission assembly transmits power from the power device to the clutch assembly, and the clutch assembly drives the hook.

[0013] Furthermore, the transmission assembly includes a driving gear installed inside the hook housing and a driven gear installed on the main shaft; the driving gear is connected to the motor, and the driving gear meshes with the driven gear; the clutch assembly is installed on the driven gear.

[0014] Furthermore, a limiting device is installed inside the hook housing, and the motor cooperates with the limiting device to control the opening and closing of the hook; the limiting device is connected to the motor through a control module.

[0015] A control method for an anti-winding automatic hoisting device is applied to any of the above-mentioned anti-winding automatic hoisting devices, comprising the following steps: S1: Remote control signal transmission: The control signal is sent to the control receiver on the spreader body through the remote control device; S2: Control signal reception and processing: After receiving the control signal, the control receiver performs signal filtering and decoding, and transmits the processed signal to the control component; S3: Power start: After receiving the signal, the control component starts the battery power supply to provide power to the motor in the automatic unhooking spreader; S4: Motor drive and clutch action: The motor starts, and the control component uses the PID control algorithm to adjust the motor speed and torque based on the control signal received, and transmits power to the clutch component through the transmission component; the clutch component performs corresponding actions based on the status of the control signal (open / closed); The calculation formula of the control quantity u(t) of the PID control algorithm is as follows: u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd * de(t) / dt; Among them, u(t) is the control quantity, e(t) is the deviation, Kp is the proportional gain, Ki is the integral gain, and Kd is the differential gain; S5: Hook action: The clutch assembly drives the hook on the main shaft to rotate, realizing the opening or closing of the hook; S6: Limit control: The limit device monitors the open / closed state of the hook. When the hook reaches the preset limit position, the control module cuts off the power supply to the motor and stops the hook movement. S7: Lifting / unloading operation: According to the status of the hook, the bulk bag is lifted or unloaded.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention effectively avoids the occurrence of rotation and entanglement of the connection component during the hoisting process by providing the anti-entanglement component, thereby ensuring the smooth progress of the hoisting operation.

[0017] The present invention uses an integrated sling to facilitate batch lifting of specific cargo. Furthermore, all self-decoupling hooks can be simultaneously controlled by remote control to automatically release all slings. The semi-automatic decoupling slings of the present invention can be assembled and combined as needed, with the number of slings selected based on the number of cargoes being hoisted. This improves the versatility of the lifting system, increases lifting efficiency, and reduces worker workload.

[0018] The present invention can be used for lifting containers and can also be used for lifting ton bags and the like.

[0019] The present invention can realize opening or closing of a single hook by individually controlling each semi-automatic unhooking spreader through remote control, and further can realize automatic unhooking and automatic lifting of all semi-automatic unhooking spreaders through remote control.

[0020] The semi-automatic unhooking sling in this invention innovatively uses a clutch assembly to achieve automatic unhooking, eliminating the need for manual operation, improving work efficiency and reducing workload. The invention has a simple structure and is easy to operate, significantly improving the efficiency and safety of ton bag lifting operations while reducing the need for manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic structural diagram of the anti-winding component of the present invention.

[0023] Figure 3 It is a side view of the anti-winding component of the present invention.

[0024] Figure 4 Schematic diagram of the external structure of the semi-automatic unhooking spreader in the present invention.

[0025] Figure 5 Schematic diagram of the internal structure of the semi-automatic unhooking spreader in the present invention.

[0026] In the figure: 1. Automatic unhooking sling; 2. Lifting rope; 3. Bow shackle; 4. Connecting assembly; 4-1. Ring stop; 5. Mounting seat; 6. Sling body; 7. Hook housing; 8. Hook; 9. Motor; 10. Battery; 11. Driving gear; 12. Clutch assembly; 13. Main shaft; 14. Driven gear; 151. Bracket; 152. Cross support frame; 153. Lock hook; 154. Rotary connector; 155. Cable support assembly. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0028] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0029] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. Example

[0030] like Figure 1 As shown, an anti-entanglement automatic lifting device of the present invention includes a lifting device, a control device, a connecting component 4, a sling body 6, an anti-entanglement component and a plurality of hook components. The lifting device is provided with a crane for providing lifting power. The control device is used to remotely control the operation of the lifting equipment and receive information feedback. The control device includes a console, which contains an industrial computer. The industrial computer is connected to the controller via remote control. The connecting component 4 adopts a steel cable, the upper end of which is connected to the lifting device, and the lower end is connected to the sling body 6 through a bow-shaped shackle 3. The anti-entanglement component is arranged on the upper part of the connecting component 4 to prevent the connecting component 4 from rotating and entangled. Multiple hook assemblies are evenly installed on the sling body 6 for mounting a lifting rope 2, and the lower end of the lifting rope 2 is connected to a ton bag.

[0031] like Figure 2-3As shown, the anti-winding assembly includes a bracket 151, a locking hook 153 and a steel cable support assembly 155. The bracket 151 is a circular steel structure, and a cross support frame 152 is provided in the middle of the bracket to prevent the bracket 151 from deforming. One end of the locking hook 153 is provided on the crane, and the bottom of the locking hook is rotatably installed at the intersection of the cross support frame 152 through a rotary connector 154. The steel cable support assembly 155 includes a roller and a support part. The support part is symmetrically arranged on both sides of the bracket 151, and the roller is installed on the support part. The roller is provided with a groove adapted to the steel cable and a rubber pad. The connecting assembly 4 is hung on the locking hook 153 through the ring block 4-1, and the connecting assembly 4 is mounted on the roller of the steel cable support assembly 155.

[0032] like Figure 4-5 As shown, the automatic unhooking sling 1 includes a hook housing 7, within which is mounted a motor 9, which provides power for the unhooking action. A transverse main shaft 13 is movably mounted within the hook housing 7. A hook 8 is mounted on the main shaft 13, extending through the lower portion of the hook housing 7. The motor 9 drives the hook 8 via a clutch assembly 12. The clutch assembly 12 comprises a transmission assembly and a clutch assembly 12. The transmission assembly transmits power from the motor 9 to the clutch assembly 12, which then drives the hook 8. The transmission assembly comprises a driving gear 11 mounted within the hook housing 7 and a driven gear 14 mounted on the main shaft 13. The driving gear 11 is connected to the motor 9, which then engages the driven gear 14. The clutch assembly 12 is mounted on the driven gear 14. A limit device is mounted within the hook housing 7, with the motor 9 cooperating with the limit device to control the opening and closing of the hook 8. The limit device is connected to the motor 9 via a control module. A battery 10 provides power to the motor 9.

[0033] When the system is working, the lifting equipment on the crane is connected to the steel cables and the ring blocks to lift the sling body 6 as a whole. Anti-winding components 151 are provided between the steel cables, and each steel cable is clamped on a set of steel cable support components 155 to prevent the two steel cables from being too close and rotating and winding. The setting of the rotary connector 154 allows rotation to a certain extent to avoid danger caused by excessive rotational force. The bow-shaped shackle 3 is connected to the sling body 6 through the steel cable. The semi-automatic unhooking sling 1 is installed on the sling body 6. A controller and a battery 11 are installed in the sling body 6. In addition, the semi-automatic unhooking sling 1 can also be installed on the sling body 6 with chains or steel cables as needed, so as to achieve the overall rapid lifting of multiple cargoes.

[0034] During operation, the crane simultaneously lifts the sling body 6 and the semi-automatic unhooking sling 1 via a steel cable. The semi-automatic unhooking sling 1 is then remotely controlled by a controller, battery 11, and an industrial computer to simultaneously open and close the sling. Furthermore, the controller, battery 11, and semi-automatic unhooking sling 1 can also coordinate to open or close a single hook 8.

[0035] When hooking is required, the entire spreader assembly is moved above the cargo to be hoisted, the lifting rope is manually placed on the hook of the semi-automatic unhooking spreader and the hook is engaged. Then the crane equipment lifts the spreader assembly and all the cargo at the same time. After the cargo is placed on the required carrier or position, the semi-automatic unhooking spreader is remotely controlled to open and disengage the lifting rope, achieving unified unhooking.

[0036] The semi-automatic unhooking spreader of this invention utilizes a creative clutch assembly to achieve automatic unhooking, eliminating the need for manual operation and improving work efficiency. Furthermore, the present invention features a simple structure and convenient operation, significantly improving the efficiency and safety of ton bag hoisting operations while reducing the need for manual labor. Furthermore, the clutch assembly protects the electrical components during continuous operation.

[0037] A control method for anti-entanglement automatic lifting equipment is applied to the above-mentioned semi-automatic simple lifting equipment, comprising the following steps: S1: Remote Control Signal Transmission: A control signal is sent via a remote control device to a control receiver on the spreader body 6. The operator uses the remote control device (e.g., a remote controller) to send commands such as "open hook" or "close hook." The remote control device encodes these commands into control signals and transmits them wirelessly or via other means.

[0038] S2: Control Signal Reception and Processing: After receiving the control signal, the control receiver filters and decodes the signal and transmits the processed signal to the control component. The control receiver (e.g., a wireless receiver) on the spreader body receives the control signal sent by the remote control device. The receiver filters the received signal to remove noise interference and decodes it, converting it into instructions that the control component can understand.

[0039] S3: Power on: After receiving the signal, the control component starts the battery 11 to supply power to the motor 9 in the automatic unhooking spreader 1; S4: Motor drive and clutch action: Motor 9 starts, and the control component uses a PID control algorithm to adjust the speed and torque of motor 9 based on the control signal received. The power is transmitted to clutch component 13 through the transmission component. Clutch component 13 then operates according to the state of the control signal (open / closed). The calculation formula of the control quantity u(t) of the PID control algorithm is as follows: u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd * de(t) / dt Where u(t) is the control variable, e(t) is the deviation, and Kp is the proportional gain. The control variable is adjusted immediately based on the current deviation. The larger the deviation, the larger the adjustment. Ki is the integral gain, which eliminates static errors. If the deviation persists, the integral term gradually increases until the deviation is eliminated. Kd is the differential gain, which predicts the deviation's changing trend and makes adjustments in advance to prevent overshoot. u(t): The controlled variable. This is the output of the PID controller, which drives the motor to adjust the hook's position. For example, u(t) could be the voltage or current supplied to the motor to adjust its speed and torque.

[0040] e(t): Deviation, which is the difference between the actual motor speed and the desired speed.

[0041] Kp, Ki, Kd: Three adjustable parameters used to adjust the performance of the PID controller. The process of adjusting these parameters is called PID tuning.

[0042] The PID controller continuously measures the deviation e(t) and calculates the control variable u(t) according to the above formula to drive the motor to adjust the hook position as close to the desired position as possible. By properly adjusting the three parameters Kp, Ki, and Kd, the system can achieve optimal performance, such as fast response, stable operation, and no steady-state error.

[0043] Application in hoisting system: In this semi-automatic, simplified lifting system, a PID controller is used to precisely control the speed and torque of motor 9, thereby controlling the movement of hook 8. By adjusting the PID parameters, the hook can be opened and closed smoothly, avoiding severe vibration and impact, and improving the safety and efficiency of the lifting.

[0044] S5: Hook action: The clutch assembly 13 drives the hook 8 on the main shaft 14 to rotate, realizing the opening or closing of the hook; S6: Limit control: The limit device 10 monitors the open / closed state of the hook 8. When the hook reaches the preset limit position, the control module cuts off the power supply of the motor 9 and stops the hook movement; S7: Lifting / unloading operation: According to the status of the hook 8, the bulk bag is lifted or unloaded.

[0045] Those skilled in the art will readily identify other embodiments of the present invention upon consideration of the specification and practice. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not invented herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the appended claims.

[0046] It should be understood that the present invention is not limited to the detailed structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An anti-winding and anti-winding automatic lifting equipment, characterized in that: include: A lifting device, wherein the lifting device is provided with a lifting device; Control device, which plays the role of remotely controlling the operation of lifting equipment and receiving information feedback; a connecting assembly, the upper end of which is connected to the lifting device, wherein the connecting assembly is a steel cable; a sling body connected to the connecting assembly; An anti-winding component is provided on the upper portion of the connecting component and is used to prevent the connecting component from rotating and winding; A plurality of hook assemblies are evenly installed on the sling body; the hook assembly includes a control assembly installed on the sling body, and the control assembly is connected to the control device; the lower end of the lifting rope is a ton bag; and an automatic unhooking sling is installed on the sling body.

2. The anti-winding automatic lifting equipment according to claim 1, characterized in that: The anti-winding component comprises: The bracket is a circular steel structure with a cross support frame in the middle to prevent the bracket from deforming; A lock hook, one end of which is mounted on the crane, and the bottom of which is rotatably mounted at the intersection of the cross supports via a rotary connector, the rotary connector including an upper connector, a lower connector, and a rotary bearing and a rotary shaft located between the upper connector and the lower connector, wherein the rotary bearing allows relative rotation between the upper connector and the lower connector, the lower connector being mounted at the bottom of the intersection of the cross supports, and the lock hook and the upper connector being welded as one piece; A steel cable support assembly includes a roller and a support portion. The support portion is symmetrically arranged on both sides of the bracket. The roller is installed on the support portion. The roller is provided with a groove that is compatible with the steel cable and a rubber pad.

3. The anti-winding automatic lifting equipment according to claim 2, characterized in that: The connecting assembly is a plurality of connecting ropes, steel cables or a plurality of connecting frames, and the connecting ropes, steel cables or connecting frames are distributed symmetrically in the center; a ring block is provided between the connecting ropes, steel cables or connecting frames and the lifting equipment, and the ring block is hung on the locking hook, and the connecting ropes, steel cables or connecting frames are laid on the rollers; the connecting assembly is connected to the sling body by a bow-shaped shackle.

4. The anti-winding automatic lifting equipment according to claim 3, characterized in that: The control device is a control component and a battery installed in the spreader body; the battery is connected to the control component; the control device includes a control receiver; the control receiver is connected to the control device remotely.

5. The anti-winding automatic lifting equipment according to claim 1, characterized in that: The automatic unhooking sling includes a hook shell, in which a power device is installed to provide power for the unhooking action; a transverse main shaft is movably installed in the hook shell; a hook is installed on the main shaft, and the hook passes through the lower part of the hook shell; the motor drives the hook through a clutch transmission mechanism.

6. The anti-winding automatic hoisting equipment according to claim 5, characterized in that: The clutch transmission mechanism includes a transmission assembly and a clutch assembly. The transmission assembly transmits power from the power device to the clutch assembly, and the clutch assembly drives the hook.

7. The anti-winding automatic hoisting equipment according to claim 6, characterized in that: The transmission assembly includes a driving gear installed inside the hook housing and a driven gear installed on the main shaft; the driving gear is connected to the motor, and the driving gear meshes with the driven gear; the clutch assembly is installed on the driven gear.

8. The anti-winding automatic hoisting equipment according to claim 7, characterized in that: A limiting device is installed inside the hook housing, and the motor cooperates with the limiting device to control the opening and closing of the hook (8); the limiting device is connected to the motor via a control module.

9. A control method for anti-winding automatic hoisting equipment, applied to the anti-winding automatic hoisting equipment according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Remote control signal transmission: The control signal is sent to the control receiver on the spreader body through the remote control device; S2: Control signal reception and processing: After receiving the control signal, the control receiver performs signal filtering and decoding, and transmits the processed signal to the control component; S3: Power start: After receiving the signal, the control component starts the battery power supply to provide power to the motor in the automatic unhooking spreader; S4: Motor drive and clutch action: The motor starts, and the control component uses the PID control algorithm to adjust the motor speed and torque based on the control signal received, and transmits power to the clutch component through the transmission component. The clutch component performs corresponding actions based on the status of the control signal, such as open / closed; The calculation formula of the control quantity u(t) of the PID control algorithm is as follows: u(t) = Kp * e(t) + Ki * ∫e(t)dt + Kd * de(t) / dt; Among them, u(t) is the control quantity, e(t) is the deviation, Kp is the proportional gain, Ki is the integral gain, and Kd is the differential gain; S5: Hook action: The clutch assembly drives the hook on the main shaft to rotate, realizing the opening or closing of the hook; S6: Limit control: The limit device monitors the open / closed state of the hook. When the hook reaches the preset limit position, the control module cuts off the power supply to the motor and stops the hook movement. S7: Lifting / unloading operation: According to the status of the hook, the bulk bag is lifted or unloaded.

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