A hoist and control method

Abstract

This application provides a hoisting device and control method, belonging to the field of hoisting control technology. The method includes a frame, two sets of grippers, a drive mechanism, and a controller. The two sets of grippers are symmetrically arranged on both sides of the frame, with two grippers in each set, and each gripper slides against the frame. The drive mechanism is connected to both sets of grippers and drives the two grippers in the same set to move closer together to support the lower sides of the bolster beam. Each gripper is equipped with a lifting component for pushing the bottom surface of the bolster beam upwards. The lifting end of the lifting component is equipped with a pressure sensor. The controller is electrically connected to the lifting component and the pressure sensor, receiving pressure parameters from the pressure sensor and generating control commands to control the lifting and lowering of the lifting component, thereby adjusting the jamming state of the bolster beam. The hoisting device and control method provided in this application can ensure the smoothness and safety of the automated hoisting process.

Description

Technical Field

[0001] This application belongs to the field of hoisting control technology, and more specifically, relates to a hoisting device and control method. Background Technology

[0002] As a key load-bearing structure connecting the car body and the bogie, the lifting process of the bolster beam directly affects the safety and overall pace of car body production. In automated bolster beam production lines, the welded bolster beams need to be transferred from the welding fixture to subsequent workstations via a lifting device. However, due to uneven heating during welding, the bolster beams are prone to deformation. Furthermore, the positioning blocks on the welding fixture may have positional deviations after multiple uses, often causing localized interference between the bolster beam and the fixture. This results in severely uneven stress on the four support points during lifting. Existing lifting devices often use rigid linkage structures for their gripping mechanisms, where the height of each gripping point cannot be independently adjusted. When the bolster beam becomes stuck at a certain support point due to deformation or interference, the entire lifting process is forced to stop. Forcibly lifting it can easily cause the bolster beam to tip over or even damage the equipment. This problem is particularly prominent in automated production lines, directly hindering further improvements in production pace. Ensuring the smoothness and safety of the automated lifting process has become an urgent technical challenge. Summary of the Invention

[0003] The purpose of this application is to provide a hoisting device and control method to ensure the smoothness and safety of the automated hoisting process.

[0004] A first aspect of this application provides a hoisting device, comprising: The system consists of a frame, two sets of grippers, a drive mechanism, and a controller. The two sets of grippers are symmetrically arranged on both sides of the frame. Each set has two grippers, and each gripper slides into the frame. The drive mechanism is connected to the two sets of grippers and is used to drive the two grippers in the same set to move closer to each other to support the lower sides of the bolster beam. Each gripper is equipped with a lifting component for pushing the bottom surface of the bolster beam upwards. The lifting end of the lifting component is equipped with a pressure sensor. The controller is electrically connected to the lifting component and the pressure sensor respectively, and is used to receive the pressure parameters of the pressure sensor and generate control commands to control the lifting and lowering of the lifting component, thereby adjusting the jamming state of the bolster beam.

[0005] A second aspect of this application provides a hoisting method, including: During the lifting process of the bolster beam, the pressure signal of each gripper is acquired. The pressure signal is the signal collected by the pressure sensor. The location of the force center of all claws is calculated based on the pressure signal of each claw; If the center of force is within the preset safe range, the current force state of each gripper is maintained to hoist the bolster beam. If the center of force is not within the safe range, stop hoisting the bolster beam, and determine the jacking component to be adjusted based on the center of force. Adjust the jacking component to bring the center of force within the preset safe range. When the center of force is within the preset safe range, the current force state of each gripper is maintained to lift the bolster beam.

[0006] A third aspect of this application provides a controller, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the hoisting method described above.

[0007] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the hoisting method described above.

[0008] The beneficial effects of the hoisting device and control method provided in this application embodiment are as follows: By setting lifting components on the grippers and configuring pressure sensors at the lifting ends of the lifting components, the controller can acquire the pressure parameters between each lifting component and the bottom surface of the bolster beam in real time. Based on these pressure parameters, the controller can analyze the force distribution at the four grippers in real time. When the bolster beam becomes stuck due to welding deformation or interference with the tooling during hoisting, the force at each lifting component will show a significant uneven distribution. The controller can accurately determine the stuck state based on the force analysis results, and then control each lifting component to perform differentiated independent lifting and lowering, fine-tuning the local support height of the bolster beam to change its posture, thereby relieving the stuck state of the bolster beam. Thus, the bolster beam can be safely and smoothly lifted from the tooling without manual intervention, avoiding bolster beam overturning or equipment damage caused by forced lifting, effectively ensuring the smoothness and safety of the automated hoisting process. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A structural block diagram of a gripper provided in an embodiment of this application; Figure 2 A structural block diagram of another gripper provided in one embodiment of this application; Figure 3 This is an overall structural diagram of a servo drive system provided in an embodiment of this application; Figure 4 This is a structural diagram of the gripper and truss provided in an embodiment of this application; Figure 5 A diagram of a single-sided gripper transmission structure provided in an embodiment of this application; Figure 6 A structural diagram showing how a hand grips a bolster beam from a bolster beam welding fixture, according to an embodiment of this application; Figure 7 This is a block diagram of a servo-driven gripper control provided in an embodiment of this application; Figure 8 A schematic flowchart illustrating a hoisting method provided in an embodiment of this application; Figure 9 A schematic diagram showing the location of the force center according to an embodiment of this application; Figure 10 This is a structural block diagram of a hoisting device provided in one embodiment of this application; Figure 11 A schematic block diagram of a controller provided in an embodiment of this application; In the picture: 1. Frame; 11. Pillow beam sensor; 2. Gripper; 21. Flexible block; 3. Drive mechanism; 4. Lifting component; 41. Pressure sensor; 31. Motor; 321. Driving wheel; 322. Driven wheel; 323. Transmission belt; 324. Tensioner wheel; 33. Lead screw assembly; 331. Lead screw; 332. Slide rail; 333. Slider; 6. Pressing component; 7. Pillow beam; 8. Pillow beam welding fixture; 9. Truss; 10. Positioning block. Detailed Implementation

[0011] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0012] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, components with the same structure or function are shown only schematically, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0013] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0014] It should be noted that when an element is referred to as being "set on" another element, it can be directly set on the other element or indirectly set on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0015] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a few" means two or more, unless otherwise explicitly specified.

[0016] Please see Figures 1-6 The illustration shows a hoisting device according to an embodiment of the present invention, including a frame 1, two sets of grippers 2, a drive mechanism 3 and a controller. The two sets of grippers 2 are symmetrically arranged on both sides of the frame 1. Each set of grippers 2 has two grippers, and each gripper 2 is slidably engaged with the frame 1. The drive mechanism 3 is connected to the two sets of grippers 2 respectively, and is used to drive the two grippers 2 in the same set to move closer to each other to support the lower sides of the bolster beam 7. Each gripper 2 is equipped with a lifting component 4 for pushing the bottom surface of the pillow beam 7 upward. The lifting end of the lifting component 4 is equipped with a pressure sensor 41. The controller is electrically connected to the lifting component 4 and the pressure sensor 41 respectively, for receiving the pressure parameters of the pressure sensor 41 and generating control commands to control the lifting and lowering of the lifting component 4, thereby adjusting the jamming state of the pillow beam 7.

[0017] In this embodiment, the hoisting device is installed at the end of the truss 9 and is used to automate the hoisting of the bolster beam 7 in the automated production line for bolster beams. The hoisting device mainly includes a frame 1, two sets of grippers 2, a drive mechanism 3, and a controller. The frame 1, serving as the load-bearing foundation of the entire hoisting device, can be welded from high-strength steel. The two sets of grippers 2 are symmetrically arranged on both sides of the frame 1. Specifically, with reference to the length direction of the frame 1, the two sets of grippers 2 are arranged on the left and right sides of the frame 1, respectively. Each set of grippers 2 consists of two grippers, meaning the entire hoisting device contains a total of four grippers 2, which are spaced apart along the length direction of the frame 1.

[0018] Each gripper 2 slides with the frame 1, allowing it to reciprocate horizontally relative to the frame 1. A drive mechanism 3 is mounted on the frame 1 and connected to both sets of grippers 2. The drive mechanism 3 provides driving force, causing the two grippers 2 in the same set to move closer together or further apart. When the two grippers 2 in the same set move closer together, they can extend from both sides of the bolster beam 7 to its underside, thus supporting the bolster beam 7 and gripping it.

[0019] Each gripper 2 is equipped with a lifting component 4, located at the support portion of the gripper 2, used to push the bottom surface of the bolster beam 7 upwards. The lifting component 4 can be a hydraulic cylinder or an electric push rod, etc., and in this embodiment, a hydraulic cylinder is preferred. A pressure sensor 41 is provided at the lifting end of the lifting component 4, which is used to detect the pressure value between the lifting component 4 and the bottom surface of the bolster beam 7 in real time. The controller is electrically connected to both the lifting component 4 and the pressure sensor 41. During actual hoisting, the bolster beam 7 is placed on the bolster beam welding fixture 8. Due to welding deformation and interference from the positioning block 10, the bolster beam 7 is prone to jamming during hoisting. The controller receives the pressure parameters fed back by each pressure sensor 41 and performs force analysis based on these pressure parameters to determine whether the bolster beam 7 experiences jamming or uneven force during hoisting. When the controller determines that the bolster beam 7 is stuck, it generates corresponding control commands to control each lifting component 4 to lift and lower, thereby adjusting the position of the bolster beam 7 and releasing the stuck state of the bolster beam 7 relative to the bolster beam welding fixture 8, ensuring the safety and stability of the lifting process.

[0020] In this embodiment, the controller can be a programmable logic controller (PLC). The PLC is connected to the main control system of the automatic production line for the sleeper beam to achieve coordinated control between the hoisting device and the automatic production line.

[0021] As can be seen from the above, this embodiment, by setting lifting components 4 on the gripper 2 and configuring pressure sensors 41 at the lifting end of the lifting components 4, allows the controller to acquire pressure parameters between each lifting component 4 and the bottom surface of the bolster beam 7 in real time. Based on these pressure parameters, the controller can analyze the force distribution at the four grippers 2 in real time. When the bolster beam 7 becomes stuck due to welding deformation or interference with the tooling during lifting, the force at each lifting component 4 will show a significant uneven distribution. The controller can accurately determine the stuck state based on the force analysis results, and then control each lifting component 4 to perform differentiated independent lifting and lowering, fine-tuning the local support height of the bolster beam 7 to change the posture of the bolster beam 7, thereby relieving the stuck state of the bolster beam 7. Thus, the bolster beam 7 can be safely and smoothly lifted from the tooling without manual intervention, avoiding the overturning of the bolster beam 7 or equipment damage caused by forced lifting, effectively ensuring the smoothness and safety of the automated lifting process.

[0022] In one embodiment of this application, a pressing member 6 is also provided below the skeleton 1. The pressing member 6 is located between two sets of claws 2. There are two pressing members 6. The two pressing members 6 are used to press against the top two sides of the pillow beam 7 to press the pillow beam 7 tightly onto the claws 2.

[0023] In this embodiment, there are two pressing members 6, which are spaced apart along the length of the frame 1. The pressing members 6 can be pneumatically driven clamping mechanisms, with their clamping ends extending vertically downwards. When the grippers 2 support the lower sides of the bolster beam 7, the clamping ends of the two pressing members 6 press against the top sides of the bolster beam 7 from above, thereby pressing the bolster beam 7 firmly onto the grippers 2. Through the coordinated action of the pressing members 6 and the grippers 2, the bolster beam 7 is clamped between the pressing members 6 and the grippers 2 during the movement of the hoisting device driven by the truss 9. This effectively prevents the bolster beam 7 from shifting due to inertia or vibration, ensuring the stability and safety of the hoisting posture. The movement of the pressing members 6 is also controlled by the controller, and their clamping and releasing actions are executed sequentially and in coordination with the gripping and releasing actions of the grippers 2.

[0024] As can be seen from the above, this embodiment, by setting two pressing members 6 below the frame 1, applies a downward clamping force to the top of the bolster beam 7 during hoisting, so that the bolster beam 7 is firmly clamped between the pressing members 6 and the gripper 2. This structure effectively constrains the vertical displacement of the bolster beam 7 during the high-speed movement of the truss 9, preventing the bolster beam 7 from shifting or even slipping due to acceleration, deceleration or vibration, and significantly enhancing the dynamic stability and safety margin of the hoisting device in automated hoisting scenarios.

[0025] In one embodiment of this application, a pillow beam sensor 11 for detecting the position of the pillow beam 7 is also provided below the frame 1. The pillow beam sensor 11 is electrically connected to the controller and is used to send the position information of the pillow beam 7 to the controller.

[0026] In this embodiment, the bolster beam sensor 11 is installed in the middle of the frame 1, with its detection direction pointing downwards towards the top surface of the bolster beam 7. The bolster beam sensor 11 is electrically connected to the controller. When the bolster beam sensor 11 detects the presence of the bolster beam 7 below, it generates the presence information of the bolster beam 7 and sends it to the controller. After receiving the presence information, the controller uses it as one of the judgment conditions for executing subsequent lifting operations. For example, after the truss 9 drives the lifting device to the gripping position and controls the gripper 2 to clamp, the controller needs to confirm that the bolster beam 7 has been successfully gripped based on the feedback signal from the bolster beam sensor 11 before controlling the truss 9 to rise for lifting, in order to avoid empty gripping or accidental gripping. At the same time, after the truss 9 drives the lifting device to the release position and controls the gripper 2 to release the bolster beam 7, the controller also confirms that the bolster beam 7 has been successfully detached from the lifting device based on the feedback signal from the bolster beam sensor 11, thereby ensuring the logical safety of the entire automated lifting process.

[0027] As can be seen from the above, this embodiment uses the bolster beam sensor 11 to detect the position status of the bolster beam 7 in the hoisting device in real time, providing a reliable logical interlock condition for the automated hoisting process. The sensor signal serves as the pre-judgment basis for the hoisting device to perform key actions such as grabbing, lifting, and releasing, effectively avoiding safety risks caused by empty grabbing, mis-grabbing, or incomplete release, and ensuring the timing correctness and safety of the automated bolster beam hoisting process from the perception layer.

[0028] In one embodiment of this application, the drive mechanism 3 includes a motor 31, a transmission belt assembly, and a lead screw assembly 33. The transmission belt assembly is connected to the output end of the motor 31 and can drive the lead screw assembly 33 to rotate under the action of the motor 31. The lead screw assembly 33 is provided in two sets, and is respectively arranged with two sets of grippers 2. The two grippers 2 in the same set are respectively connected to the output end of the same lead screw assembly 33 and can move closer to each other or away from each other under the drive of the lead screw assembly 33.

[0029] In this embodiment, the motor 31 serves as the power source and is fixedly installed in the middle of the frame 1. The motor 31 can be a servo motor, allowing the controller to precisely control the number of rotations and the rotation angle of the motor 31. The transmission belt assembly is connected to the output end of the motor 31 and can operate under the drive of the motor 31. There are two sets of lead screw assemblies 33, each set corresponding to one of the two sets of grippers 2. Specifically, the two sets of lead screw assemblies 33 are arranged on both sides of the frame 1, and each set of lead screw assemblies 33 is used to drive the corresponding set of grippers 2. The two grippers 2 in the same set are connected to the output end of the same lead screw assembly 33. When the lead screw assembly 33 operates, the two grippers 2 in the same set move closer to each other or further away from each other under the drive of the lead screw assembly 33. Since the two sets of lead screw assemblies 33 are driven by the same motor 31 through the same transmission belt assembly, the two sets of grippers 2 achieve synchronous opening and closing movements, ensuring the consistency of the lifting device's actions when gripping and releasing the bolster beam 7. The controller can precisely control the opening and closing direction and size of the gripper 2 by controlling the forward and reverse rotation and the amount of rotation of the motor 31, so as to adapt to the hoisting requirements of different specifications of the bolster beam 7.

[0030] As can be seen from the above, this embodiment uses a single motor 31 in conjunction with a transmission belt assembly to synchronously drive two sets of lead screw assemblies 33, achieving synchronous opening and closing movements of the four grippers 2. Compared to a dual-motor drive scheme, this structure eliminates the problem of asynchronous movements of the grippers 2 on both sides, while simplifying the control logic and reducing hardware costs. The use of servo motors allows for programmable and precise control of the opening and closing dimensions of the grippers 2, providing a hardware foundation for the automated hoisting of sleeper beams 7 with compatibility with various sizes and specifications.

[0031] In one embodiment of this application, the transmission belt assembly includes a driving pulley 321, a driven pulley 322, and a transmission belt 323. The driving pulley 321 is disposed at the output end of the motor 31. There are two driven pulleys 322, which are respectively disposed on two sets of lead screw assemblies 33. The transmission belt 323 is sleeved on the outer periphery of the driving pulley 321 and the driven pulley 322, and is used to drive the driven pulley 322 to rotate under the action of the driving pulley 321.

[0032] In this embodiment, a transmission belt 323 is fitted around the outer circumference of the driving pulley 321 and the two driven pulleys 322. The driving pulley 321, the driven pulleys 322, and the transmission belt 323 together constitute a belt drive system. When the motor 31 rotates, the driving pulley 321 rotates synchronously with the output end of the motor 31. The driving pulley 321 drives the transmission belt 323 to move through friction, and the transmission belt 323 further drives the two driven pulleys 322 to rotate synchronously. The two driven pulleys 322 respectively transmit rotational power to the corresponding lead screw assembly 33, thereby driving the lead screw assembly 33 to operate. By reasonably selecting the gear ratio between the driving pulley 321 and the driven pulleys 322, the rotational speed and output torque of the driven pulleys 322 can be adjusted to meet the speed and driving force requirements of the opening and closing action of the gripper 2. In this embodiment, the transmission belt 323 can be a synchronous belt, and the corresponding driving pulley 321 and driven pulleys 322 can be synchronous pulleys to ensure the accuracy and synchronicity of the transmission.

[0033] As can be seen from the above, this embodiment adopts a single-stage belt drive structure consisting of a driving pulley 321, a transmission belt 323, and two driven pulleys 322 to synchronously transmit the power of the motor 31 to the two sets of lead screw assemblies 33. This transmission structure is compact, provides smooth transmission, and has low noise. It can ensure that the rotation of the lead screw assemblies 33 on both sides is strictly synchronized, thereby ensuring the synchronous opening and closing accuracy of the two sets of grippers 2, avoiding the skewing of the bolster beam 7 or uneven clamping force caused by asynchronous transmission, while simplifying the transmission chain and improving transmission efficiency.

[0034] In one embodiment of this application, two tensioning wheels 324 are rotatably connected to the frame 1. The two tensioning wheels 324 are located on both sides of the motor 31 and are used to tension the transmission belt 323.

[0035] In this embodiment, the outer periphery of the tensioner 324 abuts against the outer or inner surface of the transmission belt 323 to apply tension to the transmission belt 323. By adjusting the installation position of the tensioner 324, the tension of the transmission belt 323 can be changed, thereby ensuring sufficient friction between the transmission belt 323 and the driving pulley 321 and driven pulley 322, or ensuring proper meshing between the teeth of the synchronous belt and the teeth of the pulleys, preventing slippage, skipping teeth, or loosening and falling off of the transmission belt 323 during operation. In this embodiment, the tensioner 324 can be configured as an eccentric shaft structure, and the position of the tensioner 324 can be easily adjusted by rotating the eccentric shaft, realizing rapid adjustment of the tension of the transmission belt 323.

[0036] As can be seen from the above, this embodiment, by setting two tensioning pulleys 324 on the transmission path and respectively arranging them on both sides of the motor 31, can apply a uniform tension force to the transmission belt 323. This structure effectively prevents the transmission belt 323 from slipping or skipping teeth due to slack during the long-term reciprocating motion of the truss 9, ensuring the accuracy and long-term stability of power transmission, while reducing the maintenance frequency and replacement cost of the transmission belt 323.

[0037] In one embodiment of this application, the lead screw assembly 33 includes a lead screw 331, a slide rail 332, and two sliders 333. The lead screw 331 is rotatably connected to the frame 1 and is arranged perpendicular to the direction of the bolster beam 7. The gripper 2 is provided with a threaded connection part that is threaded onto the outer periphery of the lead screw 331. The slide rail 332 is arranged parallel to the lead screw 331. The two sliders 333 are symmetrically slidably arranged on the slide rail 332, and the two sliders 333 are connected to the two grippers 2 one-to-one.

[0038] In this embodiment, the upper end of each gripper 2 is fixedly connected to both the corresponding connecting part and the slider 333. The connecting part serves as the power input point, and the slider 333 serves as the guide support point. Through the sliding engagement between the slider 333 and the slide rail 332, the gripper 2 is well guided and constrained during movement, ensuring the straightness and stability of the gripper 2's movement. When the lead screw 331 rotates in the forward direction, the two connecting parts drive the two grippers 2 to move closer together; when the lead screw 331 rotates in the reverse direction, the two connecting parts drive the two grippers 2 to move away from each other. The lead screws 331 of the two sets of lead screw assemblies 33 are respectively connected to two driven wheels 322, and rotate synchronously under the drive of the driven wheels 322, thereby realizing the synchronous opening and closing of the two sets of grippers 2.

[0039] As can be seen from the above, this embodiment adopts a screw-nut transmission form in which the lead screw 331 cooperates with the connecting part, and with the guiding structure of the slide rail 332 and the slider 333, the rotational motion of the lead screw 331 is efficiently converted into the linear opening and closing motion of the gripper 2. This transmission pair has a self-locking characteristic, which allows the gripper 2 to reliably stop at any opening position without the need for an additional braking device. At the same time, the cooperation between the slide rail 332 and the slider 333 ensures the linearity of the gripper 2's movement and the repeatability of its positioning, which is beneficial for achieving precise control of the gripping position of the bolster beam 7 and ensuring the stable and reliable operation of the hoisting device in the automated production line.

[0040] In one embodiment of this application, the skeleton 1 is provided with a slider position sensor electrically connected to the controller. The slider position sensor is used to detect the position of slider 333 and generate slider 333 position parameters to be sent to the controller.

[0041] In this embodiment, a slider position sensor is disposed beside the lead screw assembly 33 to detect the real-time position of the slider 333 on the slide rail 332. Specifically, the slider position sensor can be a Hall sensor, a magnetic grating sensor, or a photoelectric sensor, with its detection direction facing the movement path of the slider 333. When the slider 333 slides along the slide rail 332 as the lead screw 331 rotates, the slider position sensor detects the position change of the slider 333 in real time and generates corresponding slider 333 position parameters, which are sent to the controller. Since the slider 333 is connected to the gripper 2 in a one-to-one correspondence, the position of the slider 333 reflects the current position of the gripper 2. By detecting the limit position of the slider inside the lead screw 331 through the slider position sensor, the controller can know whether the opening and closing range of the gripper 2 has reached the mechanical limit, thereby avoiding mechanical collisions or equipment damage caused by the gripper 2 exceeding the limit position in the automatic control logic. In this embodiment, each lead screw assembly 33 is provided with four slider position sensors, which are used to detect the inner and outer limit positions of the two sliders 333, respectively.

[0042] As can be seen from the above, this embodiment uses a slider position sensor to detect the position of slider 333 in real time, enabling the controller to accurately determine the actual opening and closing position of gripper 2 under the drive of screw 331. This sensor provides closed-loop position feedback for the movement of gripper 2, effectively preventing the risk of mechanical collision caused by gripper 2 exceeding its limit stroke, and at the same time providing a reliable basis for the controller to determine whether gripper 2 has reached the preset clamping or releasing position.

[0043] In one embodiment of this application, the skeleton 1 is provided with a hand position sensor electrically connected to the controller. The hand position sensor is used to detect the position of the hand 2 and generate hand position parameters to be sent to the controller.

[0044] In this embodiment, the gripper position sensor is installed on the side or below the frame 1 to directly detect the position of the gripper 2 relative to the frame 1. Unlike the slider position sensor, the gripper position sensor directly uses the gripper 2 itself as the detection object, rather than indirectly reflecting the position of the gripper 2 by detecting the slider 333. The gripper position sensor can take the form of a proximity switch, photoelectric sensor, or laser displacement sensor. When the gripper 2 moves to its limit position under the drive mechanism 3, the gripper position sensor is triggered and generates gripper position parameters, which are sent to the controller. In this embodiment, there are multiple gripper position sensors, corresponding to the limit positions of the gripper 2 when it is fully open and fully clamped, respectively. The slider position sensor and the gripper position sensor work together to form a redundant design. The controller only allows the next lifting operation to be executed when both sets of sensors confirm that the gripper 2 is within the safe position range, thereby improving the safety redundancy of the lifting device.

[0045] As can be seen from the above, this embodiment directly detects the extreme position of the gripper 2 through the gripper position sensor, forming a redundant detection mechanism with the slider position sensor. This dual-verification design effectively avoids the safety hazards caused by the failure of a single sensor. Only when both sets of sensors simultaneously confirm that the gripper 2 is within the safe position range will the controller allow the next action to be executed, thus ensuring the safety and reliability of the hoisting device during automated operation from the perspective of hardware redundancy.

[0046] In one embodiment of this application, the openings of two claws 2 in the same group are arranged opposite each other, and each claw 2 is provided with a flexible block 21 on its side. The flexible block 21 protrudes from the inner sidewall of the claw 2 toward the opening side of the claw 2 and is used to flexibly abut against the sidewall of the pillow beam 7.

[0047] In this embodiment, the two grippers 2 located on the same side of the frame 1 have their supporting parts extending towards the other gripper 2, with their open ends facing each other to form a gripping structure that supports the pillow beam 7 from both sides. Each gripper 2 has a flexible block 21 on its side, which protrudes from the inner wall of the gripper 2 towards its open side. When the two grippers 2 approach each other and clamp the pillow beam 7, the flexible block 21 first contacts the side wall of the pillow beam 7. Due to the elastic deformation capability of the flexible block 21, a flexible abutment is formed between it and the side wall of the pillow beam 7, preventing the rigid part of the gripper 2 from directly contacting the edge of the pillow beam 7. The flexible block 21 can be made of polyurethane, rubber, or other materials with good elasticity and wear resistance. The flexible block 21 increases the friction between the gripper 2 and the pillow beam 7, preventing the pillow beam 7 from slipping during clamping; it also effectively prevents the gripper 2 from causing bumps or indentations to the edge of the pillow beam 7 when clamping, ensuring the surface quality of the pillow beam 7.

[0048] As can be seen from the above, this embodiment achieves flexible contact between the gripper 2 and the side wall of the pillow beam 7 by setting a protruding flexible block 21 on the inner side wall of the gripper 2. This structure not only increases the clamping friction to prevent the pillow beam 7 from slipping, but also uses the elastic deformation of the flexible material to absorb the clamping impact force, effectively avoiding the rigid gripper 2 from causing bumps or indentations to the edge of the pillow beam 7, thus ensuring the reliability of clamping while also protecting the surface of the workpiece.

[0049] Please refer to Figure 7In one specific embodiment, the operator inputs the opening and closing dimensions of the gripper 2 via a touchscreen, and this instruction is sent to the PLC. The PLC converts the target dimensions into the target number of rotations of the servo motor based on a preset motion control algorithm and generates corresponding control instructions, which are then sent to the servo driver. The servo driver drives the servo motor 31 to rotate, and the output shaft of the motor 31 drives the active synchronous pulley 321 to rotate. The active synchronous pulley 321 synchronously drives two driven synchronous pulleys 322 to rotate via a synchronous belt 323. Each driven synchronous pulley 322 drives its corresponding lead screw 331 to rotate, and the lead screw 331 drives each gripper 2 to slide towards each other along the slide rail 332 through threaded engagement, achieving the clamping action. Throughout the entire movement, the encoder built into the servo motor 31 detects the actual rotation angle and speed of the motor 31 in real time and sends the encoder feedback signal to the servo driver. The servo driver performs closed-loop adjustment of the motor 31's operation based on this feedback signal to ensure that the gripper 2 accurately reaches the target opening and closing position. Meanwhile, the controller must receive a signal from the bolster beam sensor 11 indicating that the bolster beam 7 is in place before allowing the gripper 2 to perform its clamping action, in order to avoid empty clamping.

[0050] Please refer to Figure 8 , Figure 8 This is a flowchart illustrating a hoisting method provided in an embodiment of this application. The method can be executed by a controller and may include: S101: During the lifting process of the bolster beam 7, the pressure signal of each gripper 2 is acquired. The pressure signal is the signal collected by the pressure sensor 41.

[0051] In this embodiment, the bolster beam 7 is placed on the bolster beam welding fixture 8, and the four grippers 2 are located below the four corners of the bolster beam 7. When the hoisting device descends to the bolster beam welding fixture 8 under the drive of the truss 9, and the four grippers 2 approach each other and support the sides below the bolster beam 7 under the action of the drive mechanism 3, the truss 9 begins to slowly lift the entire hoisting device, and the bolster beam 7 is gradually lifted. During the lifting process of the bolster beam 7, the controller continuously acquires the pressure signal of each gripper 2. This pressure signal is acquired by the pressure sensor 41 located at the lifting end of each lifting component 4. The pressure sensor 41 converts the acquired analog pressure signal into a digital signal and transmits it to the controller. To ensure that the controller can track the changes in the force state in real time, the controller periodically performs pressure signal acquisition at a preset sampling frequency. This sampling frequency can be configured according to the processing capacity of the controller and the system's response speed requirements. By continuously acquiring the real-time pressure data at each gripper 2, the controller provides a basic data source for subsequent force analysis.

[0052] S102: Calculate the position of the force center of all claws 2 based on the pressure signal of each claw 2.

[0053] In this embodiment, after receiving pressure signals collected by four pressure sensors 41 in each sampling period, the controller calculates the force center positions of all grippers 2 based on these four pressure signals. Specifically, the controller analyzes the force distribution of the four pressure values ​​and calculates the position of the force center in the plane based on the proportion of the pressure value at each gripper 2 to the total pressure. This force center position reflects the force distribution at the four support points of the bolster beam 7 during the lifting process. Figure 9 As shown, the bolster beam welding fixture 8 is equipped with a positioning block 10. Due to the positional deviation of the positioning block 10 and the deformation of the bolster beam 7 during welding, local interference may occur between the bolster beam 7 and the positioning block 10, causing the bolster beam 7 to be stuck at a certain corner or on a certain side during lifting. When the bolster beam 7 is under uniform force, the center of force is located at the geometric center of the four grippers 2; when the bolster beam 7 is stuck on a certain side, the force on that side increases, and the center of force shifts accordingly to that side.

[0054] S103: If the center of force is within the preset safe range, maintain the current force state of each gripper 2 to hoist the bolster beam 7.

[0055] In this embodiment, after calculating the position of the force center, the controller determines whether the position is within a preset safe range. This safe range is a circular or rectangular area preset based on the ideal position of the force center (i.e., the center point when the four grippers 2 are subjected to completely uniform force), combined with the mechanical parameters of the hoisting device and the specifications of the bolster beam 7. Taking this embodiment as an example, the safe range can be set as a circular area with a radius of 100mm centered at the ideal center point (0,0). This radius value can be determined comprehensively based on the allowable offset of the center of gravity of the bolster beam 7 and the stability requirements of the hoisting device, or set based on experience. If the current position of the force center is within this safe range, it indicates that the force distribution of the bolster beam 7 is relatively uniform during the hoisting process, and there is no obvious jamming or uneven loading between the bolster beam 7 and the positioning blocks 10 on the bolster beam welding fixture 8. The controller then maintains the current force state of each gripper 2 (i.e., each lifting component 4 maintains its current extension amount) and continues to control the truss 9 to drive the hoisting device to rise at a uniform speed, smoothly lifting the bolster beam 7 out of the bolster beam welding fixture 8.

[0056] S104: If the position of the stress center is not within the safe range, stop hoisting the bolster beam 7, and determine the jacking member 4 to be adjusted based on the position of the stress center, and adjust the jacking member 4 so that the position of the stress center is within the preset safe range.

[0057] In this embodiment, if the controller determines that the current center of force is not within the aforementioned safe range, it indicates that the bolster beam 7 is stuck or unevenly loaded during lifting. At this time, the controller immediately issues a stop command to halt the upward movement of the truss 9, preventing the bolster beam 7 from overturning or the equipment from being damaged due to forced lifting. Subsequently, the controller determines the lifting components 4 that need adjustment and the adjustment strategy for each lifting component 4 based on the relative relationship between the current center of force and the center point of the safe range. Specifically, the controller analyzes the offset direction of the center of force to determine on which side the bolster beam 7 is stuck, and then determines which lifting components 4 should be adjusted and the adjustment direction and amount for each lifting component 4. After each lifting component 4 performs its lifting action according to the adjustment strategy determined by the controller, the controller re-acquires the pressure signals from each pressure sensor 41 and recalculates the center of force position, again determining whether it has fallen within the safe range. If it still has not fallen within the safe range, the above adjustment process is repeated until the center of force is within the safe range.

[0058] S105: When the center of force is within the preset safe range, maintain the current force state of each gripper 2 to hoist the bolster beam 7.

[0059] In this embodiment, after the above adjustment process, when the controller determines that the position of the force center is within the preset safe range, the controller immediately controls the truss 9 to resume its upward movement, maintaining the current force state of each gripper 2 to continue hoisting the bolster beam 7. At this point, the bolster beam 7 has been smoothly detached from the bolster beam welding fixture 8 and can be hoisted to the target release position under the drive of the truss 9.

[0060] As can be seen from the above, by continuously acquiring the pressure signals of each gripper 2 and calculating the position of the force center during the lifting process of the bolster beam 7, the controller is provided with a basis for real-time quantitative judgment of the jamming state of the bolster beam 7. When the position of the force center is within the safe range, it indicates that the force on each support point of the bolster beam 7 is balanced, and the controller maintains the current state for normal lifting. When the position of the force center exceeds the safe range, it indicates that the bolster beam 7 is jammed due to welding deformation or interference with the welding fixture 8. The controller immediately stops lifting to prevent the bolster beam 7 from overturning or the equipment from being damaged by forced lifting. Then, the lifting is resumed after adjusting the lifting component 4 to restore the position of the force center to the safe range, forming a closed-loop control mechanism of "detection-stop-adjustment-recovery". Thus, this method realizes automatic identification and active adjustment of the jamming state, avoids manual intervention, and effectively maintains the continuous operation of the automated production line while ensuring the safety of lifting.

[0061] In one embodiment of this application, the position of the force center of the gripper 2 is calculated based on the pressure signal of each gripper 2, including: The pressure signals of each gripper 2 are summed to obtain the total pressure signal; The normalized coordinates of the force center position are obtained by calculation based on the pressure signal and the total pressure signal. Normalized coordinates are subjected to exponential smoothing to obtain smoothed coordinates. The smoothed coordinates are mapped to the actual working area to obtain the actual coordinates, and the position corresponding to the actual coordinates is taken as the position of the force center.

[0062] In this embodiment, firstly, the controller collects pressure values ​​from the four pressure sensors 41. , , , Summing gives the total pressure. This total pressure value reflects the combined effect of the current overall weight of the bolster beam 7 and the external constraints it is subjected to. If the total pressure value is zero, it indicates that the bolster beam 7 is not effectively supported, and the controller can directly set the center of force position to the default center point. This will trigger the corresponding security logic.

[0063] Secondly, the controller calculates the proportion of each pressure value in the total pressure, and based on this, calculates the normalized coordinates of the force center position. The calculation method for the normalized coordinates is as follows: The normalized coordinate in the x-direction is equal to the sum of the pressure values ​​of the two right-hand grippers 2 divided by the total pressure, i.e. The closer this value is to 1, the more the center of force is to the right; the normalized coordinate in the y-direction is equal to the sum of the pressure values ​​of the two lower claws 2 divided by the total pressure, i.e. The closer this value is to 1, the lower the center of force is. Through the above calculations, the location of the center of force is mapped to... Within the normalized coordinate space.

[0064] Then, to prevent the calculated value of the force center position from fluctuating drastically due to instantaneous pressure fluctuations caused by electrical noise or mechanical vibration of the pressure sensor 41, the controller performs exponential smoothing on the calculated normalized coordinates. Specifically, for the normalized coordinate value calculated at the current sampling time t... and The controller compares it with the smoothed value of the previous sampling time t-1. and Perform weighted fusion. Smoothing coefficient. The frequency can be determined based on the signal characteristics of the pressure sensor 41 and the system sampling frequency. In this embodiment, it is based on the statistical analysis of the sensor signal noise amplitude during the system debugging phase. The value is set to 0.3, meaning that in the smoothed value at the current moment, the current calculated value accounts for 30%, and the smoothed value at the previous moment accounts for 70%. This smoothing coefficient can effectively filter out high-frequency noise without introducing significant lag.

[0065] Finally, the controller maps the exponentially smoothed normalized coordinates to the physical coordinates of the actual working area. In this embodiment, the coordinate mapping relationship of the actual working area is as follows: the actual coordinate in the X direction is obtained by multiplying the normalized coordinate x by the working area width and subtracting the offset, i.e. This ensures that the value of X ranges from [-200, 200] (unit: mm); the actual coordinate in the Y direction is obtained by multiplying the normalized coordinate y by the working area height and subtracting the offset, i.e. This makes the range of values ​​for Y be . (Unit: mm). Actual coordinates obtained after the above mapping. This is the actual coordinate value of the center of force. The controller uses this coordinate value for subsequent comparison and judgment with the safety range.

[0066] As can be seen from the above, this embodiment transforms four discrete pressure signals into continuous and smooth force center position coordinates through three steps: normalized coordinate calculation, exponential smoothing, and actual coordinate mapping. Exponential smoothing effectively suppresses the interference of sensor noise on the force center calculation results, improving the system's stability under vibration conditions. The normalized calculation method decouples the force center position from the specific weight of the bolster beam 7, ensuring that this method is applicable to hoisting scenarios with bolster beams 7 of different specifications.

[0067] In one embodiment of this application, the lifting member 4 to be adjusted is determined based on the position of the force center, and the lifting member 4 is adjusted, including: Determine the offset direction of the force center position, and identify the lifting member 4 on one side of the offset direction as the lifting member 4 to be adjusted; Control the lifting component 4 to be adjusted to lift individually with a preset lifting stroke; Control the lifting component 4 to be adjusted to retract to the preset lifting stroke; Control all grippers to raise the preset lifting stroke; Calculate the location of the center of force and determine whether the location of the center of force is within a safe range; If the position of the center of force is still not within the safe range, return to the step of determining the offset direction of the center of force and identifying the lifting member 4 on the offset direction as the lifting member 4 to be adjusted, until the position of the center of force is within the safe range.

[0068] In this embodiment, the controller first determines the offset direction of the current force center position relative to the preset safety range. In this embodiment, the preset safety range is set as a circular area centered at an ideal center point (0,0), which is the force center position when the four grippers 2 are subjected to completely uniform force. The controller calculates the offset vector between the current force center position and the ideal center point, and determines the lifting member 4 on one side of the offset direction based on the direction of this offset vector. For example, if the current force center position is (35mm, The value 20mm indicates that the center of force is offset 35mm to the right and 20mm upward relative to the ideal position (the negative Y-axis direction represents upward). The offset direction points to the upper right, and the lifting member 4 located in the upper right region is identified as the lifting member 4 to be adjusted. It should be noted that when the bolster beam 7 is stuck, the stuck side is lower, causing the gripper 2 on that side to bear a greater load, and the center of force is biased towards the stuck side. Therefore, the side with the offset direction is the stuck side. The purpose of lifting the lifting member 4 on this side separately is to raise the stuck side of the bolster beam 7, thereby escaping the interference of the positioning block 10.

[0069] Subsequently, the controller controls the lifting member 4 to be adjusted to lift individually by a preset lifting stroke. In this embodiment, the preset lifting stroke is 2mm, which can be pre-calibrated based on the typical jamming gap between the bolster beam 7 and the positioning block 10 and system debugging experience. After the lifting member 4 to be adjusted is lifted individually by 2mm, the jamming side of the bolster beam 7 is relatively raised, attempting to release or alleviate the jamming state between that side and the positioning block 10.

[0070] Next, the controller controls the lifting component 4 to be adjusted to retract the preset lifting stroke, that is, retract 2mm, so that the lifting component 4 returns to the same height reference position as other lifting components 4.

[0071] Then, the controller controls all grippers 2 to lift the entire assembly by a preset lifting stroke. In this embodiment, the preset lifting stroke is 2mm. Through the overall lifting, the bolster beam 7 is synchronously raised a certain distance in its current state, further disengaging the bolster beam 7 from its original stuck position.

[0072] After completing the individual lifting, retraction, and overall lifting actions, the controller recalculates the current center of force position and determines whether it is within the preset safe range. If the center of force position has fallen within the preset safe range, it indicates that the bolster beam 7 has successfully disengaged and the force condition meets the lifting requirements. The controller then controls all grippers 2 to continue lifting as a whole, continuing the normal lifting process.

[0073] If the position of the center of force is still not within the preset safety range, it indicates that the bolster beam 7 has not completely disengaged from the jam or there is still residual eccentricity. The controller returns to the steps of determining the offset direction of the center of force position, identifying the lifting member 4 on the offset direction side as the lifting member 4 to be adjusted, and repeating the process of individual lifting, retraction, overall lifting, and recalculating the center of force position in sequence. Through multiple iterations, the jam is gradually eliminated until the center of force position falls within the preset safety range.

[0074] In this embodiment, a preset threshold number of iterations is also set to prevent the system from falling into an infinite loop due to severe jamming or other abnormal operating conditions. In this embodiment, the preset threshold number is 5 times, which is preset based on statistical experience of actual jamming conditions on site. If the number of times the above iterative adjustment steps are repeated reaches the preset threshold number and the position of the force center still deviates from the preset safety range, the controller determines that the current jamming state cannot be eliminated by automatic adjustment, and then controls the gripper 2 to stop lifting and issue an alarm signal to prompt the operator to perform manual intervention for inspection and handling to avoid equipment damage or safety accidents.

[0075] As can be seen from the above, this embodiment uses an iterative adjustment strategy to gradually resolve the force eccentricity problem caused by the jamming of the bolster beam 7. In each iteration, only the lifting component 4 on the jammed side is lifted individually, precisely targeting the jammed area and avoiding ineffective adjustments to the non-jammed side. The sequence of lifting, retracting, and then lifting as a whole ensures that the bolster beam 7 can smoothly transition to a new support state after being freed from jamming. The preset number of times threshold and alarm mechanism provide a reliable safety guarantee boundary for the automated hoisting process.

[0076] Corresponding to the hoisting method in the above embodiments, Figure 2 This is a structural block diagram of a hoisting device provided according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. References Figure 2 The hoisting device 20 includes: a pressure acquisition module 21, a force center calculation module 22, a first judgment module 23, a second judgment module 24, and a control module 25.

[0077] The pressure acquisition module 21 is used to acquire the pressure signal of each gripper 2 during the lifting process of the bolster beam 7. The pressure signal is the signal collected by the pressure sensor 41. The force center calculation module 22 is used to calculate the position of the force center of all claws 2 based on the pressure signal of each claw 2; The first judgment module 23 is used to maintain the current force state of each gripper 2 to hoist the bolster beam 7 if the position of the force center is within the preset safety range; The second judgment module 24 is used to stop hoisting the bolster beam 7 if the position of the force center is not within the safe range, and to determine the lifting member 4 to be adjusted based on the position of the force center, and to adjust the lifting member 4 so that the position of the force center is within the preset safe range. The control module 25 is used to maintain the current force state of each gripper 2 to lift the bolster beam 7 when the center of force is within a preset safe range.

[0078] In one embodiment of this application, the force center calculation module is specifically used for: The pressure signals of each gripper 2 are summed to obtain the total pressure signal; The normalized coordinates of the force center position are obtained by calculation based on the pressure signal and the total pressure signal. Normalized coordinates are subjected to exponential smoothing to obtain smoothed coordinates. The smoothed coordinates are mapped to the actual working area to obtain the actual coordinates, and the position corresponding to the actual coordinates is taken as the position of the force center.

[0079] In one embodiment of this application, the second determination module is specifically used for: Determine the offset direction of the force center position, and identify the lifting member 4 on one side of the offset direction as the lifting member 4 to be adjusted; Control the lifting component 4 to be adjusted to lift individually with a preset lifting stroke; Control the lifting component 4 to be adjusted to retract to the preset lifting stroke; Control all grippers 2 to raise the preset lifting stroke; Calculate the location of the center of force and determine whether the location of the center of force is within a safe range; If the position of the center of force is still not within the safe range, return to the step of determining the offset direction of the center of force and identifying the lifting member 4 on the offset direction as the lifting member 4 to be adjusted, until the position of the center of force is within the safe range.

[0080] See Figure 11 , Figure 11 This is a schematic block diagram of a controller provided in one embodiment of this application. Figure 11The controller 300 in this embodiment may include one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memories 304 store computer programs, including program instructions. The processors 301 execute the program instructions stored in the memories 304. Specifically, the processors 301 are configured to invoke the program instructions to perform the functions of the modules in the aforementioned device embodiments, for example... Figure 10 The functions of the pressure acquisition module 21, the force center calculation module 22, the first judgment module 23, the second judgment module 24, and the control module 25 are shown.

[0081] It should be understood that, in the embodiments of this application, the processor 301 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0082] Input device 302 may include a touchpad, a fingerprint sensor (for collecting the user's fingerprint information and fingerprint orientation information), a microphone, etc., and output device 303 may include a display (LCD, etc.), a speaker, etc.

[0083] The memory 304 may include read-only memory and random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include non-volatile random access memory. For example, the memory 304 may also store information such as the location of the force center.

[0084] In specific implementations, the processor 301, input device 302, and output device 303 described in the embodiments of this application can execute the implementation method described in the hoisting method provided in the embodiments of this application, or they can execute the implementation method of the controller described in the embodiments of this application, which will not be repeated here.

[0085] In another embodiment of this application, a computer-readable storage medium is provided. This computer-readable storage medium stores a computer program, which includes program instructions. When executed by a processor, the program instructions implement all or part of the processes in the methods described above. Alternatively, the computer program can instruct related hardware to implement these processes. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0086] The computer-readable storage medium can be an internal storage unit of the controller in any of the foregoing embodiments, such as the controller's hard disk or memory. The computer-readable storage medium can also be an external storage device of the controller, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., mounted on the controller. Furthermore, the computer-readable storage medium can include both internal storage units and external storage devices of the controller. The computer-readable storage medium is used to store computer programs and other programs and data required by the controller. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0087] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0088] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the controller and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed controllers and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces or units, or they may be electrical, mechanical, or other forms of connection.

[0090] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0091] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0092] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hoisting device, characterized in that, The device includes a frame (1), two sets of claws (2), a drive mechanism (3), and a controller. The two sets of claws (2) are symmetrically arranged on both sides of the frame (1). Each set of claws (2) consists of two claws, and each claw (2) is slidably engaged with the frame (1). The drive mechanism (3) is connected to the two sets of claws (2) respectively and is used to drive the two claws (2) in the same set to move closer to each other to support the lower sides of the pillow beam (7). Each gripper (2) is equipped with a lifting member (4) for pushing the bottom surface of the pillow beam (7) upward. The lifting end of the lifting member (4) is equipped with a pressure sensor (41). The controller is electrically connected to the lifting member (4) and the pressure sensor (41) respectively, and is used to receive the pressure parameters of the pressure sensor (41) and generate control commands to control the lifting of the lifting member (4) and thereby adjust the stuck state of the pillow beam (7).

2. The hoisting device according to claim 1, characterized in that, The frame (1) is also provided with a pressing member (6) below it. The pressing member (6) is located between the two sets of claws (2). There are two pressing members (6). The two pressing members (6) are used to press against the top two sides of the pillow beam (7) to press the pillow beam (7) tightly onto the claws (2).

3. The hoisting device according to claim 1, characterized in that, Below the frame (1), there is also a pillow beam sensor (11) for detecting the position status of the pillow beam (7). The pillow beam sensor (11) is electrically connected to the controller and is used to send the position information of the pillow beam (7) to the controller.

4. The hoisting device according to claim 1, characterized in that, The drive mechanism (3) includes a motor (31), a transmission belt assembly, and a lead screw assembly (33). The transmission belt assembly is connected to the output end of the motor (31) and can drive the lead screw assembly (33) to operate under the action of the motor (31). The lead screw assembly (33) is provided in two sets, and is respectively set with two sets of grippers (2). The two grippers (2) in the same set are respectively connected to the output end of the same lead screw assembly (33) and can move closer to each other or further away from each other under the drive of the lead screw assembly (33).

5. The hoisting device according to claim 4, characterized in that, The transmission belt assembly includes a drive pulley (321), a driven pulley (322), and a transmission belt (323). The drive pulley (321) is located at the output end of the motor (31). There are two driven pulleys (322), which are respectively located on two sets of lead screw assemblies (33). The transmission belt (323) is sleeved on the outer periphery of the drive pulley (321) and the driven pulley (322), and is used to drive the driven pulley (322) to rotate under the action of the drive pulley (321).

6. The hoisting device according to claim 5, characterized in that, Two tensioning wheels (324) are rotatably connected to the frame (1). The two tensioning wheels (324) are located on both sides of the motor (31) and are used to tension the transmission belt (323).

7. The hoisting device according to claim 4, characterized in that, The lead screw assembly (33) includes a lead screw (331), a slide rail (332), and two sliders (333). The lead screw (331) is rotatably connected to the frame (1) and is arranged perpendicular to the direction of the pillow beam (7). The gripper (2) is provided with a threaded connection part that is threaded onto the outer periphery of the lead screw (331). The slide rail (332) is arranged parallel to the lead screw (331). The two sliders (333) are symmetrically slidably arranged on the slide rail (332), and the two sliders (333) are connected to the two grippers (2) one-to-one.

8. A lifting method based on the lifting device according to any one of claims 1-7, executed by the controller, characterized in that, include: During the lifting process of the pillow beam (7), the pressure signal of each of the claws (2) is acquired, and the pressure signal is the signal collected by the pressure sensor (41); The position of the force center of all the claws (2) is calculated based on the pressure signal of each claw (2); If the position of the force center is within the preset safety range, the current force state of each of the claws (2) is maintained to hoist the pillow beam (7); If the position of the stress center is not within the safe range, then stop hoisting the pillow beam (7), and determine the lifting member (4) to be adjusted based on the position of the stress center, and adjust the lifting member (4) so ​​that the position of the stress center is within the preset safe range; When the position of the force center is within the preset safety range, the current force state of each of the grippers (2) is maintained to lift the pillow beam (7).

9. The hoisting method as described in claim 8, characterized in that, The calculation of the force center position of all the claws (2) based on the pressure signal of each claw (2) includes: The pressure signals of each of the grippers (2) are summed to obtain the total pressure signal; Based on the pressure signal and the total pressure signal, the normalized coordinates of the position of the force center are obtained by calculation. The normalized coordinates are subjected to exponential smoothing to obtain smoothed coordinates; The smoothed coordinates are mapped to the actual working area to obtain the actual coordinates, and the position corresponding to the actual coordinates is taken as the position of the force center.

10. The hoisting method as described in claim 8, characterized in that, The adjustment of the lifting member (4) based on the position of the force center includes: Determine the offset direction of the force center position, and identify the lifting member (4) on one side of the offset direction as the lifting member (4) to be adjusted; Control the lifting component (4) to be adjusted to lift the preset lifting stroke individually; Control the lifting component (4) to be adjusted to retract the preset lifting stroke; Control all the grippers (2) to lift the preset lifting stroke; Calculate the position of the force center and determine whether the position of the force center is within the safe range; If the position of the force center is still not within the safe range, then return to the step of determining the offset direction of the force center position and determining the lifting member (4) on one side of the offset direction as the lifting member (4) to be adjusted, until the position of the force center is within the safe range.

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