Omni-directional adjustable movable lifting lug and collaborative lifting method

Abstract

The invention discloses an omni-directional adjustable movable lifting lug and a collaborative lifting method, and the movable lifting lug comprises a telescopic carrying pole main body module, a omni-directional movable lifting lug module, a safety locking module, a safety monitoring module and a control system, the telescopic carrying pole main body module is of a drawer type telescopic structure formed by connecting a nested sliding block with a sliding rail and a main body frame; a lifting lug sliding block of a linear moving mechanism of the multidirectional movable lifting lug module is nested on a sliding rail and is driven by a motor to linearly move along the sliding rail, the motor of an angle compensation mechanism is connected with an internal worm and turbine system through a speed reducer, and a worm output shaft is connected with a lifting hook through a cross shaft universal joint; the control system is connected with all the sensors and the executing mechanisms, the optimal position and angle of the lifting lug are automatically calculated according to component parameters and real-time monitoring data of the safety monitoring module, all the modules are driven to execute adjusting actions, locking is conducted through the safety locking module, intelligent multi-directional accurate adjusting of the lifting lug is achieved, and the lifting flexibility and the operation efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of building construction, more specifically, relates to a full-range adjustable movable lifting lug and a collaborative hoisting method. BACKGROUND

[0002] In the field of building construction, the hoisting and installation of steel structure plant wall skin systems and modular building components is a core link that determines the quality, safety and efficiency of the project, especially in scenarios that require efficient, safe and precise completion of large wall component hoisting or modular assembly hoisting. The pros and cons of the technical solution are directly related to the overall construction progress and engineering delivery standards. With the development of modern buildings towards scale and modularization, large wall components and modular assemblies are increasingly widely used. Such components are often large in size and heavy in weight, which puts high requirements on the stability, precision and safety of the hoisting process. Therefore, the development of efficient hoisting technology suitable for this scenario has become a key requirement for promoting the quality and efficiency of the construction industry. However, the current existing technology for this scenario has many defects that are difficult to overcome, which seriously hinders the improvement of construction quality and efficiency. In terms of hoisting and installation mode, the traditional high-altitude bulk method needs to complete the installation of wall skin columns, purlins and braces in the air one by one. Welding and hoisting operations are all in the high-altitude environment, which not only greatly increases the risk of high-altitude operations, but also makes it difficult to guarantee the installation precision due to the limited high-altitude operation space, with a straightness error often ≥5mm. At the same time, the labor cost is significantly increased, and the single process time is increased by 30% compared to ground operation. Some overall installation methods transfer a large amount of work to the ground, reducing the amount of high-altitude work, such as the patent document with publication number CN101864831A. The steel structure plant wall skin overall installation method proposed by this invention assembles the overall wall skin on the ground and then hoists it, which improves the construction efficiency to a certain extent. However, this method relies only on a winch and a fixed pulley system, and cannot flexibly adjust the hoisting angle and lifting point position. When the center of gravity of the component shifts or the site conditions change and the hoisting posture needs to be fine-tuned, it is difficult to achieve precise control, and there are still installation precision and construction safety hazards. For example, the patent document with publication number CN221479251U discloses an adjustable lifting lug and a balanced lifting appliance, which can adjust the position of the lifting lug through rolling and limiting components to improve stability and universality, but the adjustment range is limited, and only left-right inclination and small-range movement can be achieved, which cannot meet the multi-angle and large-span adjustment requirements and is suitable for single scene. For example, the patent document with publication number CN213569173U discloses an angle-adjustable assembly type lifting lug, which reduces welding hazards through bolt connection and adjusts the angle of the lug plate to avoid rope cutting, but the angle adjustment method is single and cannot achieve multi-dimensional flexible adjustment, and lacks measures to deal with uneven stress and overload, with extremely low safety redundancy. The existing lifting appliance has limited multi-dimensional adjustment, generally lacks safety redundancy design, and it is difficult to give timely warning when the load is abnormal, further increasing the risk of hoisting. These problems jointly lead to low installation efficiency, insufficient safety, and difficulty in guaranteeing the quality of components in the factory building. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the present application provides a full-range adjustable movable lifting lug and a cooperative hoisting method. The drawer-type telescopic structure is automatically adjusted by the control system to intelligently drive the length of the lifting lug pole, the movable lifting lug can be flexibly linearly moved along the slide rail and multi-angle adjusted through the linear movement module and the angle compensation module, which can adapt to different specifications of components and complex working conditions, realize intelligent and automatic hoisting, improve safety, and improve installation efficiency and installation precision.

[0004] To achieve the above-mentioned purpose, according to one aspect of the present application, the present application provides a full-range adjustable movable lifting lug, comprising: a telescopic pole main module, a multi-directional movable lifting lug module, a safety locking module, a safety monitoring module and a control system, wherein, The telescopic pole main module comprises a slide rail and a main frame, which are connected through a nested slide block to form a drawer-type telescopic structure; The multi-directional movable lifting lug module comprises a linear movement mechanism and an angle compensation mechanism. The lifting lug slide block of the linear movement mechanism is nested on the slide rail, and a micro servo motor is installed on both sides of the lifting lug slide block. The output shaft of the motor is connected with a driving gear. A rack is arranged on the side surface of the slide rail and engaged with the gear. The angle compensation mechanism is provided with a servo motor on the outside. The motor is connected with the output shaft of one end of an internal worm through a reducer. A turbine is rigidly connected with the output shaft of the worm. The other end of the output shaft of the worm is connected with a lifting hook through a cross shaft universal joint; The safety locking module comprises a slide rail limiting block arranged at the end of the slide rail, an automatic locking actuator for locking the nested slide block and the slide rail, and a spring pin arranged on the side surface of the lifting lug slide block; The safety monitoring module comprises various sensors for collecting in real time the stress, angle and displacement parameters of the lifting lugs, the control system is connected with the sensors and the actuators, the optimal lifting lug position and angle are automatically calculated according to the component parameters and the real-time monitoring data, and each module is driven to perform the adjustment action, so that the lifting lug is intelligently controlled to realize multi-directional adjustment.

[0005] Further, the telescopic lifting lug body module further comprises a high-precision servo motor and a ball screw transmission system, the servo motor is connected with the ball screw through a shaft coupling, and the ball screw nut is fixed on the nested slider.

[0006] Further, the main frame along the slide rail is evenly distributed with positioning holes.

[0007] Further, the automatic locking actuator comprises an electromagnetic push rod and a locking pin, the locking pin penetrates through the nested slider and the positioning hole of the slide rail, and the locking pin is provided with an anti-dropping spring.

[0008] Further, the top end of the spring-loaded pin on the side of the lifting lug slider is in a hemispherical structure, and the bottom is connected with a return spring.

[0009] Further, the inner wall of the slide rail is polished and coated with a wear-resistant coating.

[0010] Further, it further comprises an audible and visual alarm, According to another aspect of the present application, the present application provides a method for cooperatively hoisting a full-range adjustable lifting lug, which is used for the full-range adjustable lifting lug described above, and characterized in that the method comprises the following steps: S100: Assembling the wall covering column, purlin and bracing into an integral wall covering on the ground; S200: Inputting the hoisting component parameters into the control system to generate an initial hoisting scheme, and adjusting the length of the lifting lug through the drawer-type telescopic structure; S300: The linear movement mechanism of the multi-directional adjustable lifting lug module moves to a preset position along the slide rail, the spring pin is automatically clamped into the positioning hole for preliminary locking, the angle of the lifting hook is adjusted through the angle compensation mechanism and is self-locked, so that the lifting hook is accurately connected with the hoisting point of the component; S400: Slowly hoisting the assembled wall covering system to a certain height from the ground and standing for a period of time, the control system receives the sensor data to analyze and determine whether there is unilateral overload or angle anomaly and takes adjustment measures, and finally forms a stable hoisting posture; S500: The control system issues a formal hoisting instruction, the component is uniformly lifted to the specified position and is fixed, after the component is fixed, the control system issues an unloading instruction, the lifting lug gradually releases the load, and each actuator is reset in turn, thereby completing the hoisting process.

[0011] Further, in step S400, whether an abnormality exists and the corresponding measures taken are as follows: If no abnormality exists, the lifting is normal; If there is uneven load, the control system starts dynamic adjustment: for the overloaded lifting lug, the linear movement mechanism is driven to fine-tune towards the center of gravity of the component, while the symmetrical lifting lug is moved in the opposite direction, and the load is balanced by changing the force arm; during the adjustment process, the angle compensation module corrects the hook pitch angle in real time to offset the angle deviation caused by movement, and the cross shaft universal joint synchronously resolves the torsional stress; If the component inclination angle is detected to be abnormal, the system preferentially drives the angle compensation module to control the rotation of the worm gear mechanism of the corresponding lifting lug, and the hook angle is compensated through the output shaft and the universal joint transmission until the inclination angle sensor feedbacks that the inclination angle is ≤1°.

[0012] Further, in step S200, the hoisting component parameters include weight, size, center of gravity coordinates, and hoisting safety threshold; and the initial hoisting scheme includes the number of lifting lugs, the distance between the lifting lugs, and the angle of the lifting lugs.

[0013] Overall, compared with the prior art, the above technical solutions conceived by the present application can achieve the following beneficial effects: 1. The omnidirectional adjustment movable lifting lug and the collaborative hoisting method of the present application include a telescopic shoulder pole main module, a multidirectional movable lifting lug module, a safety locking module, a safety monitoring module, and a control system. The control system analyzes and sends instructions to the multidirectional movable lifting lug module through the real-time monitoring feedback of the multi-sensor detection module, and realizes the automatic and accurate adjustment of the position and multidirectional angle of the lifting lug through the linear movement module and the angle compensation module. This solves the problems of low efficiency, poor precision, poor adjustment flexibility, and safety hazards caused by relying on manual adjustment of traditional lifting lugs, and improves the intelligent level of hoisting operations and the installation precision of components.

[0014] 2. The omnidirectional adjustment movable lifting lug and the collaborative hoisting method of the present application adjust the length of the lifting lug shoulder pole through the drawer-type telescopic structure of the telescopic shoulder pole main module and the precise adjustment of the length by using a servo motor and a ball screw transmission, thereby solving the problem of fixed length of the lifting lug shoulder pole in traditional lifting lugs and the inability to adapt to components of different widths. The present application meets the hoisting needs of components of different sizes such as wall skins, and significantly improves the versatility and adjustment precision of the equipment.

[0015] 3. The omnidirectional adjustable movable lifting lug and the cooperative lifting method of the present application realize the automatic adjustment of the linear position of the lifting lug through the transmission of the lifting lug slider gear of the linear movement module and the sliding rail rack, flexibly adjust the distance between the lifting points, make the load evenly distributed on the preset lifting points, effectively control the lifting deformation of the thin wall skin and special-shaped components, ensure the structural integrity and appearance flatness after installation, realize the multidirectional angle adjustment of the lifting lug through the worm and turbine of the angle compensation module and the cross shaft universal joint, accurately compensate the deviation caused by the gravity center deviation or attitude change of the component, solve the adaptation problem of special-shaped components and non-standard lifting points, ensure the stable attitude of the component during lifting, and improve the flexibility and precision of the lifting lug adjustment.

[0016] 4. The omnidirectional adjustable movable lifting lug and the cooperative lifting method of the present application lock the telescopic structure through the electromagnetic push rod control locking pin, lock the linear movement module through the spring pin, form double locking, realize overtravel early warning and emergency braking through the pressure sensor and proximity switch of the limiting block, provide double insurance, effectively prevent the accidental displacement and overtravel sliding of the lifting lug during lifting, and improve the safety redundancy and lifting safety.

[0017] 5. The omnidirectional adjustable movable lifting lug and the cooperative lifting method of the present application complete all component assembly operations on the ground, and then realize overall lifting by using the stable bearing capacity of the adjustable lifting lug, complete accurate positioning at one time, solve the problems of large amount of high-altitude operation and high safety risk in traditional steel structure wall skin lifting, and improve the installation efficiency and safety. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a planar structure schematic diagram of an omnidirectional adjustable movable lifting lug according to an embodiment of the present application; Figure 2 It is a three-dimensional structure schematic diagram of an omnidirectional adjustable movable lifting lug according to an embodiment of the present application; Figure 3 It is a device detail structure schematic diagram of an omnidirectional adjustable movable lifting lug according to an embodiment of the present application; Figure 4 It is a mechanical principle schematic diagram of a lifting lug angle compensation module according to an embodiment of the present application; Figure 5 It is a flowchart of an omnidirectional adjustable movable lifting lug cooperative lifting method according to an embodiment of the present application.

[0019] In all the drawings, the same reference signs represent the same technical features, specifically: 1 - telescopic shoulder pole main module, 11 - sliding rail, 111 - positioning hole, 12 - main body frame, 13 - telescopic structure, 2 - multidirectional movable lifting lug module, 21 - linear movement module, 22 - angle compensation module, 221 - worm, 222 - turbine, 223 - cross shaft universal joint, 224 - lifting hook, 225 - anti-skid texture knob, 31 - sliding rail limiting block. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, inside, outside, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0022] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope of the present application.

[0023] In the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or further includes elements inherent to such a process, method, article or apparatus. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the process, method, article or apparatus including the elements.

[0024] Embodiment 1 As Figures 1-4As shown, this embodiment of the invention provides a fully adjustable movable lifting lug, including a telescopic spreader main module 1, a multi-directional movable lifting lug module 2, a safety locking module, a safety monitoring module, and a control system. The telescopic spreader main module provides the load-bearing foundation and linear adjustment track for the overall device. The multi-directional movable lifting lug module includes a linear movement mechanism and an angle compensation mechanism. The linear movement mechanism adjusts the position along the spreader slide rail, and the angle compensation mechanism enables multi-dimensional attitude adjustment. The safety locking module locks the lifting lug position after adjustment to prevent displacement during hoisting. The safety monitoring module collects parameters such as lifting lug stress, angle, and displacement in real time. Through the control system, it links with each adjustment module. When uneven load or abnormal angle is detected, the control system drives the multi-directional movable lifting lug module to perform dynamic fine-tuning, while the safety locking module maintains a double-locked state, forming a closed-loop control of "adjustment-locking-monitoring-re-adjustment," achieving precise full-range adjustment of the lifting lug.

[0025] The retractable flat pole main module includes a slide rail 11, a main frame 12, and nested sliders.

[0026] The slide rail 11 has an "I" or dovetail cross-section and is made of 6061-T6 aluminum alloy or surface-hardened 45# steel. Its length can be customized according to actual needs. Positioning holes 111 are evenly distributed along the slide rail 11, providing a track for the lifting lugs to move and bear the lifting load. The main frame 12 is a rectangular tube, also with positioning holes 111 distributed on it, with the spacing matching that of the positioning holes on the slide rail. The slide rail 11 is inserted into both ends of the main frame 12 and connected through the nested sliders to form a drawer-type telescopic structure 13. The length of the lifting lugs is adjusted using this drawer-type telescopic structure to adapt to different wall widths. An automatic locking actuator fixes the position of the telescopic section to prevent slippage. A high-precision servo motor and ball screw transmission system are also included. The motor is connected to the ball screw via a coupling, and the ball screw nut is fixed to the nested slider. When the control system issues a length adjustment command, the servo motor receives a pulse signal and rotates forward or backward, driving the ball screw to rotate, causing the slider to move precisely along the slide rail, thus achieving the telescopic extension and retraction of the main frame. Meanwhile, the displacement sensor installed on the slider feeds the position data back to the control system in real time, forming a closed-loop control to ensure that the telescopic length error does not exceed ±0.5mm.

[0027] The multi-orientation active lifting lug module comprises a linear movement module 21 and an angle compensation module 22. The lifting lug slider in the linear movement module 21 is nested on the slide rail 11 with a gap, and the gap is controlled within a very small range (≤0.1 mm). The gap can avoid excessive shaking during sliding to affect the positioning accuracy, and prevent the card from being stuck due to the small gap. The gap ensures the smoothness of the movement process. The inner wall of the slide rail 11 is polished and coated with a wear-resistant coating to ensure smooth sliding of the lifting lug slider. Micro servo motors are installed on both sides of the lifting lug slider. The motor output shaft is connected to the driving gear. The rack meshing with the driving gear is arranged on the side surface of the slide rail 11. The side surface is also provided with a spring release pin which is linked with the electromagnetic release device. The top of the spring release pin is in a hemispherical structure which is in close contact with the inner wall of the positioning hole 111. The bottom of the spring release pin is connected with a return spring, which has the automatic response ability of “pressing to unlock - releasing to lock”. When the motor is started, the electromagnetic device is energized to attract the spring release pin and compress the return spring, thereby releasing the temporary locking. The lifting lug slider moves along the slide rail 11 under the drive of the servo motor. After moving to the position, the electromagnetic device is de-energized, and the spring release pin is automatically locked into the positioning hole 111 to form stable locking.

[0028] The angle compensation module 22 is a rotating compass type adjusting mechanism, which adopts a traditional worm and gear system or a gear and rack transmission. The angle compensation module 22 comprises a worm 221, a turbine 222, a cross shaft universal joint 223, a lifting hook 224 and an anti-skid texture knob 225. The inside of the anti-skid texture knob 225 is provided with a servo motor. The motor is connected to one end of the output shaft of the internal worm 221 through a reducer. The turbine 222 is rigidly connected to the output shaft. The other end of the output shaft of the worm 221 is connected to the lifting hook 224 through the cross shaft universal joint 223. The cross shaft universal joint 223 has a horizontal rotation degree of freedom, which can realize multi-directional angle adjustment of the lifting lug. When the angle of the lifting lug needs to be adjusted, the motor rotates and drives the worm 221 to rotate after being decelerated by the reducer. When the motor fails, the anti-skid texture knob 225 can be manually rotated. The worm 221 and the turbine 222 are in meshing transmission. The turbine 222 drives the output shaft to rotate synchronously. The rotation of the output shaft is converted into the arc swing of the lifting hook 224 through the cross shaft universal joint 223, forming a power transmission path of “knob - worm - turbine - output shaft - lifting hook”. The power transmission path realizes the up-down angle compensation adjustment of the lifting lug, accurately compensates the angle deviation of the component caused by the deviation of the center of gravity or the change of the lifting posture, and improves the adjustment accuracy. After the angle adjustment is completed, the self-locking characteristic of the worm and turbine automatically locks the position of the output shaft, and the pitch angle of the lifting hook 224 is locked, which avoids the accidental change of the angle during the lifting process and ensures the stability of the component posture.

[0029] When the lifting hook 224 is twisted during the lifting process, the universal joint 223 will rotate horizontally to offset the torque transmitted by the lifting hook through its own rotation, avoiding the stress on the output shaft and adapting to the dynamic stability. The safety locking module includes a slide rail limiting block 31, an automatic locking executor 32 and a spring pin, which constitutes a double mechanical locking. The slide rail limiting block 31 is arranged at the end of the slide rail 11, and a pressure sensor and a proximity switch are arranged on the inner side. When the linear moving module approaches the limiting block, the proximity switch sends a pre-warning signal first, and the control system slows down. If the module contacts the block, the pressure sensor triggers an emergency stop signal, the control system immediately cuts off the power supply of the moving drive motor, and starts electromagnetic braking to prevent over-travel sliding and prevent the linear moving module 21 from over-travel sliding. The automatic locking executor includes an electromagnetic push rod and a locking pin. The locking pin is provided with a anti-dropping spring to avoid accidental loosening of the locking pin during operation. The electromagnetic push rod is electrically connected with the control system. The position of the telescopic section is fixed by the automatic locking executor to prevent sliding. When the telescopic section is in place, the control system sends a locking signal, the electromagnetic push rod is powered off, and the locking pin is pushed to penetrate the positioning hole 111 of the nested slider and the slide rail 11 under the action of the internal spring force. When unlocking, the electromagnetic push rod is powered on to generate an electromagnetic force to overcome the spring force, and the locking pin is pulled out of the positioning hole 111, realizing automatic locking and unlocking. The spring pin is linked with the electromagnetic release device to lock the lifting lug slider of the linear moving mechanism.

[0030] The safety monitoring module includes strain gauge sensors, inclination sensors and displacement sensors. Each sensor is installed on the lifting lug or the slide rail to build an intelligent detection system. The sensors collect the position, angle and stress of the lifting lug in real time. Once the stress or angle exceeds the safety threshold, the audible and visual alarm will be automatically triggered.

[0031] The control system connects each sensor and executor through a cable or wireless connection. The model predictive control (MPC) algorithm is adopted. According to the component parameters (weight, size, center of gravity) and real-time monitoring data, the optimal lifting lug position and angle are automatically calculated, and adjustment instructions are sent to each executor to realize precise adjustment and safety locking of the lifting lug position and angle.

[0032] Embodiment 2 As shown in Figure 5 Based on the above lifting lug device, the embodiment of the present application provides a comprehensive adjustment movable lifting lug cooperative hoisting method, which includes the following specific steps: S100: Ground assembly: The wall skin system components (wall skin columns, purlins, braces, etc.) are transported to the assembly site, which must meet the area of not less than 1.5 times the wall skin projection area, the flatness meets the standard through the level detector, the ground bearing capacity meets the requirements of the geological survey report, and the crane travel route and turning radius are planned. When positioning the components, use the total station to determine the wall skin column coordinates, adjust the elevation with adjustable steel pads, temporarily fix with two-way wind ropes, and ensure that the column verticality meets the specification. Assemble in the order of "bottom purlin → brace → corner brace", the purlin is bolted to the wall skin column through the purlin support (the bolt torque meets the design requirements), the brace has a flower basket bolt at both ends to adjust the remaining amount, and the corner brace is connected by double-sided fillet welding (ensure the weld leg size and weld length). Finally, use a 3m ruler with a plug gauge to detect the levelness, measure the straightness of the purlin with a steel wire, and measure the diagonal line with a total station to ensure that all deviations are within the allowable range. S200: Parameter calibration before hoisting and system initialization: Input the hoisting component parameters into the control system, including weight, size, center of gravity coordinates, hoisting safety threshold (maximum stress, angle deviation range), etc. Basic data, the control system automatically calls the pre-stored lifting lug device parameters (slide rail length, adjustment range, sensor accuracy, etc.), combines the hoisting component parameters to generate an initial hoisting plan, including the number of lifting lugs, lug spacing, lug angle, etc. According to the component width, the control system drives the electric telescopic unit of the telescopic pole main module to automatically adjust the length by driving the main frame through the ball screw, and after reaching the position, the automatic locking pin is inserted into the positioning hole to complete the fixation.

[0033] S300: Initial positioning of lifting lugs and attitude pre-adjustment: The control system drives the linear movement mechanism of the multi-directional movable lifting lug module according to the initial hoisting plan: the electromagnetic release device is powered to release the pin lock, the servo motor drives the lifting lug slider to move along the slide rail to the theoretical position through the gear and rack transmission, and after reaching the position, the electromagnetic device is powered off. The pin is automatically inserted into the positioning hole to achieve preliminary positioning; the angle compensation module starts pre-adjustment: the servo motor drives the worm and turbine mechanism, and adjusts the hook angle to the theoretical pitch angle through the cross shaft universal joint; the safety locking module confirms twice: the control system detects the locking pin state sensor signal to ensure that all lifting lugs are mechanically locked, and the proximity switch of the slide rail limit stop enters standby state.

[0034] S400: Hoisting device trial hoisting and intelligent closed-loop debugging: Slowly hoist the assembled wall skin system to a certain height above the ground, and stand still for a period of time. The safety monitoring module collects sensor data. The control system receives sensor data and analyzes, calculates the deviation of the actual load distribution from the theoretical value, and judges whether there is single-sided overload (stress exceeds threshold value by 10%) or angle anomaly (inclination angle > 3°): If there is no anomaly, hoist normally; If there is uneven load, the control system starts dynamic adjustment: for the overloaded lifting lug, drive its linear movement mechanism to fine-tune (step 0.5mm) to the direction of the component's center of gravity, while the symmetrical lifting lug moves in the opposite direction through the change of the force arm to balance the load; during the adjustment process, the angle compensation module real-time corrects the hook pitch angle (±0.1° / time) to offset the angle deviation caused by the movement, and the cross shaft universal joint synchronously resolves the torsional stress; If the component inclination angle is detected to be abnormal, the system preferentially drives the angle compensation module: control the worm gear mechanism of the corresponding lifting lug to rotate, and through the output shaft and the universal joint transmission, the hook generates an angle compensation within ±15° range until the inclination sensor feedbacks that the inclination angle is ≤1°. After each adjustment, the safety locking module keeps the electromagnetic braking state, only releases the local locking during the adjustment moment, and immediately locks again after the adjustment is completed, to ensure the process safety; repeat the adjustment-monitoring cycle until all parameters are within the safety threshold, to form a stable hoisting posture.

[0035] S500: Overall lifting and fixing: the control system issues a formal hoisting instruction, the component starts to rise at a constant speed, the safety monitoring module continuously collects data and transmits it to the control system, and the control system quickly responds and adjusts when dynamic interference occurs during hoisting; the component reaches the specified position and is fixed, the wall skin column bottom connecting plate is welded first to ensure the length of the weld, the hoisting device is removed after the welding strength meets the standard, and finally the wind-resistant truss connecting piece is installed to complete the overall fixation. After the component is fixed, the control system issues an unloading instruction, the lifting lug gradually releases the load, and each actuator resets in turn to complete the hoisting process.

[0036] The cooperative hoisting method of the embodiment realizes the ground pre-assembly of the wall skin system, and through the cooperative mechanism of "parameter presetting - trial hoisting detection - intelligent adjustment - dynamic monitoring", combined with the multi-dimensional adjustment capability and closed-loop control logic of the lifting lug device, it realizes the full-range accurate adjustment of the lifting lug and the automation and intelligentization of the hoisting process, greatly reduces the amount of high-altitude work, significantly improves the safety and accuracy of large component hoisting, and is suitable for efficient hoisting of steel structure plant wall skin, large prefabricated components and other scenes.

[0037] Those skilled in the art will readily understand that the above description is only a preferred embodiment of the present application and is not intended to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A full range adjustable live link, characterized by, The utility model relates to a kind of wall skin lifting device, including: Including: The telescopic pole main module includes slide rail (11) and main body frame (12), and the drawer type telescopic structure is formed by nested slider connection of the two; The multi-directional movable lifting lug module includes linear movement mechanism (21) and angle compensation mechanism (22), the lug slider of the linear movement mechanism (21) is nested on the slide rail (11), the lug slider both sides are installed micro servo motor, motor output shaft connects driving gear, the slide rail (11) side is arranged rack and engages with gear, the outer side of the angle compensation mechanism (22) is equipped with servo motor, motor is connected with inside worm (221) one end output shaft by speed reducer, worm (221) output shaft is rigidly connected with turbine (222), the other end of worm (221) output shaft is connected with lifting hook (224) by cross axle universal joint (223); The safety locking module includes slide rail limiting stopper (31) arranged at the end of the slide rail (11), automatic locking actuator (42) locking the nested slider and the slide rail (11) and spring pin arranged on the side of the lug slider; The safety monitoring module includes multiple sensors, which real-time collect lug stress, angle, displacement parameters, the control system connects each sensor and execution mechanism, calculates the optimal lug position and angle according to component parameters and real-time monitoring data, and drives each module to execute adjustment action, to control the intelligent multi-directional adjustment of the lug.

2. A full-adjustment activity ear according to claim 1, characterized in that, The telescopic pole main module further includes high-precision servo motor and ball screw transmission system, the servo motor is connected with the ball screw through the shaft coupling, and the ball screw nut is fixed on the nested slider.

3. A full-adjustment activity ear according to claim 2, characterized in that, Along the slide rail (11) and the main body frame (12) are equally spaced positioning holes (111).

4. A full-adjustment activity ear according to claim 3, characterized in that, The automatic locking actuator includes electromagnetic push rod and locking pin, the locking pin penetrates the positioning hole (111) of the nested slider and the slide rail (11), and the locking pin is provided with anti-dropping spring.

5. A full-adjustment activity ear according to claim 4, characterized in that, The top end of the spring pin on the side of the lug slider is hemispherical structure and the bottom is connected with return spring.

6. A full-adjustment activity ear according to claim 5, characterized in that, The inner wall of the slide rail (11) is polished and coated with wear-resistant coating.

7. A full range adjustable lifting ear according to any one of claims 1 to 6, wherein, It also includes a sound and light alarm.

8. A synergic lifting method for adjusting a lifting ear in all directions, for implementing a lifting ear in all directions as claimed in any one of claims 1-7, characterized in that, The utility model relates to a kind of wall skin lifting device, including: S100: in ground, wall skin column, purlin, bracing is assembled into integral wall skin; S200: in control system input hoisting component parameter, generate initial hoisting scheme, and the length of lug pole is adjusted by drawer type telescopic structure; S300: the linear movement mechanism of multi-directional movable lifting lug module is moved to preset position along slide rail, and spring pin is automatically locked in positioning hole initially, the angle of lifting hook is adjusted and self-locked by angle compensation mechanism, so that the lifting hook is accurately connected with component lifting point; S400: the wall skin system assembled is slowly lifted to a certain height from ground and is placed for a period of time, control system receives sensor data analysis and judges whether there is single side overload or angle anomaly and takes adjustment measure, finally forms stable hoisting posture; S500: The control system issues a formal hoisting instruction, the component is uniformly lifted to the specified position and fixed, after the component is fixed, the control system issues an unloading instruction, the lifting lugs gradually release the load, and each actuator is reset in turn to complete the component hoisting.

9. A synergistic method of hoisting a full range of adjustable lifting lugs according to claim 8, characterized in that, In step S400, whether there is an abnormality and the corresponding measures taken are as follows: If there is no abnormality, the lifting is normal; If there is uneven load, the control system starts dynamic adjustment: for the overloaded lifting lug, drive its linear moving mechanism to fine-tune towards the center of gravity of the component, while the symmetrical lifting lugs are moved in the opposite direction, and the load is balanced by changing the force arm; During the adjustment process, the angle compensation module corrects the hook pitch angle in real time to offset the angle deviation caused by movement, and the cross shaft universal joint synchronously resolves the torsional stress; If the component inclination angle is detected to be abnormal, the system preferentially drives the angle compensation module to control the worm and turbine mechanism of the corresponding lifting lug to rotate, and the hook angle is compensated through the transmission of the output shaft and the universal joint until the inclination sensor feedback inclination angle ≤1°.

10. A synergistic method of hoisting a full range of adjustable lifting lugs as claimed in claim 8, wherein, In step S200, the hoisting component parameters include weight, size, center of gravity coordinates, and hoisting safety threshold; the initial hoisting scheme includes the number of lifting lugs, the distance between lifting lugs, and the angle of lifting lugs.

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