Hoisting position and posture adjustment system and hoisting apparatus

Abstract

A hoisting position and posture adjustment system and a hoisting apparatus. The hoisting apparatus comprises the hoisting position and posture adjustment system, wherein the hoisting position and posture adjustment system comprises a posture adjustment device (20), a hoisting frame (11), a horizontal-displacement adjustment device (13) and a lifting spreader (12) which are sequentially arranged in a vertical direction, the lifting spreader (12) being connected to the hoisting frame (11) or the horizontal-displacement adjustment device (13) and configured to connect to a hoisted object (300); the horizontal-displacement adjustment device (13) is connected to the hoisting frame (11) and is configured to adjust the horizontal position of the hoisted object (300); and the posture adjustment device (20) is connected to the hoisting frame (11) and is configured to adjust the posture of the hoisted object (300), so as to keep the hoisted object (300) in a horizontal posture. By means of the cooperation of the horizontal-displacement adjustment device and the posture adjustment device, the hoisting position and posture adjustment system of the present application can automatically fine-tune the position and posture of a hoisted object, such that the amount of manual participation can be significantly reduced, thereby facilitating a reduction in labor costs and safety risks; moreover, the hoisted object can be accurately placed at a target position, thereby reducing the dependence on workers.

Description

Lifting posture adjustment system and lifting equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311871021.6 and invention name “Lifting posture adjustment system and lifting equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of hoisting technology, and more specifically, relates to a hoisting posture adjustment system and hoisting equipment. Background Art

[0003] In industrial production and construction, frequent product hoisting is often required. Modular construction is a recently emerging building method characterized by high efficiency, environmental friendliness, and low noise levels. Modules are large in size and carry a high load capacity, reaching dimensions of up to 3m x 3m x 12m and weighing 20-35 tons. During on-site hoisting, tower cranes can only transport modules to the vicinity of the designated target point. Final leveling and installation require four to five construction workers on-site, relying on coordination between ground signalers, assembly personnel, and crane operators. For example, a ground signaler directly observes module position errors and relays the target position to the crane operator, who then maneuvers the crane to achieve the desired position. However, given the crane's large size, module position control accuracy and response speed are not ideal, especially for small adjustments. Therefore, in applications requiring high positioning accuracy, assemblers are required to be located under the module and drag it with a traction rope to achieve fine movement and meet accuracy requirements. This process is not only time-consuming and labor-intensive, but also because construction workers need to work in high altitudes and confined spaces. If there are no adequate safety protection measures during the operation, the construction workers may be exposed to the risk of being hit or squeezed by large-sized and heavy-loaded modules.

[0004] As can be seen from this, achieving accurate module placement requires significant intervention from construction workers and relies heavily on the proficiency and experience of crane operators and other ground crew members. This not only increases labor costs and safety risks, but also reduces efficiency and performance consistency. Furthermore, because modular building construction is a relatively new construction method, the professional workforce is still incomplete, and workers are not highly skilled and skilled. This makes mistakes more likely, increasing module assembly time and delaying the schedule. This leads to errors in installation and splicing, further impacting the splicing of upper modules. Technical issues

[0005] The purpose of the embodiments of the present application is to provide a lifting posture adjustment system and lifting equipment to solve the technical problems in the prior art that the accurate placement of modules of modular buildings is time-consuming and labor-intensive, with high labor costs and significant safety hazards. Technical Solutions

[0006] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a lifting posture adjustment system for adjusting the posture of the lifting object, including a posture adjustment device, a lifting frame, a horizontal displacement adjustment device and a lifting tool arranged in sequence along the vertical direction, the lifting tool is connected to the lifting frame or the horizontal displacement adjustment device, and is used to connect the lifting object; the horizontal displacement adjustment device is connected to the lifting frame, and is used to adjust the horizontal position of the lifting object; the posture adjustment device is connected to the lifting frame, and is used to adjust the posture of the lifting object so that the lifting object maintains a horizontal posture.

[0007] The beneficial effect of the lifting posture adjustment system provided by the present application is that, compared with the existing technology, when in use, the lifting posture adjustment system is connected to the boom of the lifting equipment, and the sling is used to connect to the lifting object, so that the lifting equipment can lift the lifting object, the horizontal displacement adjustment device can adjust the horizontal position of the lifting object, and the posture adjustment device can adjust the posture of the lifting object so that the lifting object maintains a horizontal posture. In this way, through the cooperation of the horizontal displacement adjustment device and the posture adjustment device, the lifting object can be adjusted to the desired posture so that the lifting object can be accurately placed in the target position. The above-mentioned technical solution can be used to automatically fine-tune the posture of the lifting object, saving time and effort, and can greatly reduce the amount of manual participation, which is conducive to reducing labor costs and safety risks, and can accurately place the lifting object in the target position, reducing dependence on the worker's proficiency and experience.

[0008] Optionally, the sling includes a plurality of slings, one end of each of the slings is connected to different positions of the horizontal displacement adjusting device, and the other end of each of the slings is used to connect to different positions of the hoisted object.

[0009] Optionally, the horizontal displacement adjustment device includes a first movable platform connected to the sling and used to drive the sling to reciprocate along a first horizontal direction, and a second movable platform connected to the first movable platform and used to drive the sling to reciprocate along a second horizontal direction, the second movable platform is connected to the lifting frame, and the angle between the second horizontal direction and the first horizontal direction is greater than 0° and less than 180°.

[0010] Optionally, a first translation guide rail is provided on the second movable platform, a first driver is provided on the first movable platform, and the first driver and the first translation guide rail are slidably engaged along the first horizontal direction; and / or,

[0011] The hanging frame is provided with a second translation guide rail, and the second movable platform is provided with a second driver. The second driver is slidably engaged with the second translation guide rail along the second horizontal direction.

[0012] Optionally, the lifting posture adjustment system also includes a horizontal steering device for adjusting the horizontal orientation of the hoisted object, and the horizontal steering device is connected to the top of the posture adjustment device, or the horizontal steering device is connected between the lifting frame and the horizontal displacement adjustment device, or the horizontal steering device is connected between the horizontal displacement adjustment device and the sling.

[0013] Optionally, the horizontal steering device includes a support member, a rotation drive mechanism provided on the support member, and a rotating shaft connected to the rotation drive mechanism, and one end of the rotating shaft is connected to the posture adjustment device.

[0014] Optionally, the support member includes a first support plate and a second support plate connected to each other, the second support plate is provided with an axis hole for the rotating shaft to movably pass through, and the rotation drive mechanism is arranged between the first support plate and the second support plate.

[0015] Optionally, the horizontal steering device is connected to the top end of the posture adjustment device, and the posture adjustment device includes a plurality of ropes and a plurality of hoisting mechanisms for respectively retracting and releasing the plurality of ropes, and the plurality of ropes are distributed at intervals along the circumference of the hoisting frame, and the ropes are connected to the hoisting frame and the horizontal steering device.

[0016] Optionally, the posture adjustment device also includes multiple pulleys, which are connected to the horizontal steering device, and multiple hoisting mechanisms are arranged on the lifting frame. Multiple ropes are respectively wound around the multiple pulleys, and one end of the multiple ropes is respectively connected to the multiple hoisting mechanisms, and the other ends of the multiple ropes are all connected to the lifting frame.

[0017] Optionally, the number of the ropes and the hoisting mechanisms is at least three, at least three hoisting mechanisms are concentrated in the middle of the hanging frame, and at least three ends of the ropes away from the hoisting mechanisms are respectively connected to different positions on the edge of the hanging frame.

[0018] Optionally, the horizontal displacement adjustment device includes a mass block slidably arranged on the hanging frame and a horizontal driving mechanism for driving the mass block to move horizontally, the horizontal driving mechanism is arranged on the hanging frame, and the sling is connected to the hanging frame.

[0019] Optionally, the horizontal steering device includes a support member and a rotating shaft movably connected to the support member, the axial direction of the rotating shaft is parallel to the vertical direction, the rotating shaft can rotate around its own axis relative to the support member, the rotating shaft is connected to each of the ropes, and the lifting posture adjustment system also includes a plurality of thrusters, and the plurality of thrusters are arranged on the lifting frame or the hoisted object, and the thrusters cooperate with each other to drive the rotating shaft to rotate around its own axis relative to the support member.

[0020] Optionally, the hoisting posture adjustment system further includes a plurality of thrusters, and the plurality of thrusters are arranged on the hoisting frame or the hoisted object.

[0021] The present application also provides a lifting device, comprising any of the lifting posture adjustment systems described above. Beneficial effects

[0022] The beneficial effect of the lifting posture adjustment system provided by the present application is that: compared with the existing technology, by adopting the above-mentioned lifting posture adjustment system to assist in lifting the lifting object, when adjusting the posture of the lifting object, the lifting object can be adjusted to the desired posture through the cooperation of the horizontal displacement adjustment device and the posture adjustment device, so that the lifting object can be accurately placed in the target position. The above-mentioned technical solution is adopted to realize automatic fine-tuning of the posture of the lifting object, which saves time and effort, can greatly reduce the amount of manual participation, is conducive to reducing labor costs and safety risks, and can accurately place the lifting object in the target position, reducing the dependence on the worker's proficiency and experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] FIG1 is a schematic diagram of the three-dimensional structure of a lifting posture adjustment system provided in an embodiment of the present application;

[0025] FIG2 is a schematic diagram of the three-dimensional structure of the horizontal displacement adjustment device shown in FIG1 ;

[0026] FIG3 is a partial structural diagram of a lifting posture adjustment system provided in an embodiment of the present application, in which the horizontal displacement adjustment device and the lifting device are omitted;

[0027] FIG4 is a schematic structural diagram of the hoisting mechanism shown in FIG3 ;

[0028] FIG5 is an exploded structural diagram of the horizontal steering device shown in FIG1 ;

[0029] FIG6 is a schematic diagram of a partial structure of the horizontal steering device shown in FIG5 ;

[0030] FIG7 is a diagram illustrating a process of adjusting the posture of a hoisted object by a hoisting posture adjustment system according to an embodiment of the present application;

[0031] FIG8 is a diagram showing a posture adjustment process of a hoisting object by a hoisting posture adjustment system provided in another embodiment of the present application.

[0032] Among them, the reference numerals in the figures are:

[0033] 100. Hoisting posture adjustment system; 200. Boom; 210. Hook; 300. Hoisted object; 11. Hoisting frame; 12. Hoisting device; 121. Hoisting rope; 13. Horizontal displacement adjustment device; 131. First mobile platform; 132. Second mobile platform; 133. First translation guide rail; 134. First actuator; 135. Second translation guide rail; 136. Second actuator; 14. Second measuring instrument; 15. Mass block; 20. Posture adjustment device; 21. Rope; 22. Hoisting mechanism; 221. Base frame; 22 2. Reel; 223. Rotary drive; 23. Pulley; 30. Horizontal steering device; 31. Support member; 311. First support plate; 312. Second support plate; 32. Rotary drive mechanism; 33. Rotating shaft; 34. Transmission mechanism; 35. Adapter block; 36. Lifting ring; 40. Thruster; 51. Force point of boom; 53. Center of gravity of assembly; 54. Center of gravity of hoisted object; 55. Center of gravity of mass block; k, translation amount; h, displacement; F1, vertical direction; F2, first horizontal direction; F3, second horizontal direction. Modes for Carrying Out the Invention

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is 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 this application and are not intended to limit this application.

[0035] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0037] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] Please refer to Figures 1 to 6 together, and the lifting posture adjustment system 100 provided in the embodiment of the present application will now be described. The lifting posture adjustment system 100 is connected to the boom 200 of the lifting equipment, and is used to fine-tune the posture of the lifting object 300. The posture of the lifting object 300 includes but is not limited to the horizontal posture, horizontal position, horizontal orientation and height position of the lifting object 300. The lifting posture adjustment system 100 is mainly used in the lifting scene of prefabricated building parts, and assists the lifting equipment in lifting work, such as the lifting of modules of modular buildings. The modules can be prefabricated wall panels, prefabricated floor slabs, prefabricated bridges, etc. made of prefabricated and solidified reinforced concrete. Of course, it can also be used in scenes such as port container loading and unloading and lowering of offshore platform depth devices, and has a wide range of applications.

[0039] Please refer to Figure 1. The lifting posture adjustment system 100 includes a posture adjustment device 20, a lifting frame 11, a horizontal displacement adjustment device 13 and a sling 12 arranged in sequence along the vertical direction F1. The sling 12 is connected to the lifting frame 11 or the horizontal displacement adjustment device 13 and is used to connect the lifting object 300; the horizontal displacement adjustment device 13 is connected to the lifting frame 11 and is used to adjust the horizontal position of the lifting object 300; the posture adjustment device 20 is connected to the lifting frame 11 and is used to adjust the posture of the lifting object 300 so that the lifting object 300 maintains a horizontal posture.

[0040] The sling 12 is used for being detachably connected to the hoisted object 300 . The hoisted object 300 is connected via the sling 12 to achieve lifting of the hoisted object 300 .

[0041] The horizontal displacement adjustment device 13 drives the sling 12 to move in the horizontal direction, and the sling 12 then drives the hoisted object 300 to move in the horizontal direction, so as to fine-tune the horizontal position of the hoisted object 300 so that the hoisted object 300 is aligned with the target position in the vertical direction F1. The horizontal position refers to the horizontal position of the hoisted object 300 when the hoisting equipment is static.

[0042] Because the posture adjustment device 20 is connected to the hoisting frame 11, the hoisting frame 11 is connected to the horizontal displacement adjustment device 13, the horizontal displacement adjustment device 13 is connected to the sling 12, and the sling 12 is connected to the hoisted object 300, the posture adjustment device 20 can fine-tune the posture of the hoisted object 300 through the hoisting frame 11, the horizontal displacement adjustment device 13, and the sling 12, so that the hoisted object 300 is in a horizontal posture when static. For example, when the hoisted object 300 is in an inclined posture relative to the horizontal plane, the posture adjustment device 20 can adjust the hoisted object 300 to a horizontal posture. The horizontal posture can be, but is not limited to, when the contact surface of the hoisted object 300 is parallel to the target position, such as when the bottom surface of a module of a modular building is parallel to the top surface of the building. In this way, through the cooperation of the horizontal displacement adjustment device 13 and the posture adjustment device 20, the hoisting object 300 can be adjusted to the desired posture so that the hoisting object 300 can be accurately placed at the target position. For example, the hoisting object 300 can be located directly above the target position in a horizontal posture in the vertical direction, so that the hoisting object 300 can be accurately placed at the target position.

[0043] Compared with the prior art, the lifting posture adjustment system 100 provided in the present application is connected to the lifting arm 200 of the lifting equipment during use, and the sling 12 is used to connect to the lifting object 300, so that the lifting equipment can lift the lifting object 300, the horizontal displacement adjustment device 13 can adjust the horizontal position of the lifting object 300, and the posture adjustment device 20 can adjust the posture of the lifting object 300 so that the lifting object 300 maintains a horizontal posture. In this way, through the cooperation of the horizontal displacement adjustment device 13 and the posture adjustment device 20, the lifting object 300 can be adjusted to the desired posture so that the lifting object 300 can be accurately placed in the target position. The above-mentioned technical solution can be used to automatically fine-tune the posture of the lifting object 300, which saves time and effort, can greatly reduce the amount of manual participation, is conducive to reducing labor costs and safety risks, and can accurately place the lifting object in the target position, reducing the dependence on the worker's proficiency and experience.

[0044] 2 , the shape of the hanging frame 11 can be, but is not limited to, a rectangle, a triangle, or a circle. In the embodiment of the present application, the hanging frame 11 is a rectangular frame.

[0045] In some embodiments of the present application, the sling 12 includes a plurality of slings 121, one end of each of the slings 121 is connected to different positions of the horizontal displacement adjustment device 13, and the other ends of each of the slings 121 are used to connect to different positions of the hoisted object 300. The use of multiple slings 121 connected to the horizontal displacement adjustment device 13 and the hoisted object 300 effectively improves the load-bearing performance of the sling 12 on the hoisted object 300, thereby effectively ensuring the reliability of the hoisting posture adjustment system 100 in lifting the hoisted object 300. In addition, one end of each of the slings 121 is connected to different positions of the horizontal displacement adjustment device 13, and the other ends of each of the slings 121 are used to connect to different positions of the hoisted object 300, so that the horizontal displacement adjustment device 13 and the hoisted object 300 are subjected to a more uniform force, and the hoisted object 300 is less likely to shake significantly relative to the horizontal displacement adjustment device 13.

[0046] Furthermore, the lengths of the lifting ropes 121 are the same, and the multiple lifting ropes 121 are equidistantly spaced along the circumferential edge of the horizontal displacement adjustment device 13. When the multiple lifting ropes 121 are connected to the hoisting object 300, the multiple lifting ropes 121 are equidistantly spaced along the circumferential edge of the hoisting object 300, so that the horizontal displacement adjustment device 13 and the hoisting object 300 are subjected to more uniform force.

[0047] Optionally, there are four lifting ropes 121, one end of each of which is connected to the four corners of the horizontal displacement adjustment device 13, and the other end of each of which is connected to the four corners of the hoisted object 300. Of course, the number of lifting ropes 121 can also be two, three, or five, etc., and the specific number can be determined according to usage requirements.

[0048] The material of the suspension rope 121 can be but is not limited to steel wire rope or synthetic fiber rope. The steel wire rope is made of multiple strands of steel wires twisted together, and has the characteristics of high strength, wear resistance, corrosion resistance, and strong anti-twisting performance. The synthetic fiber rope is made of synthetic fiber and has the characteristics of lightness, high strength, wear resistance, corrosion resistance, and anti-static.

[0049] It should be noted that there are many ways to connect the lifting rope 121 and the lifting object 300, as long as the lifting object 300 can be stably connected to the lifting rope 121. For example, a hook can be provided on the lifting rope 121 to hook the hanging ring on the lifting object 300.

[0050] In other embodiments, the sling 12 may have other structures that can only stably sling the hoisted object 300 to the hoisting posture adjustment system. For example, the sling may also have a structure that can be buckled with the hoisted object 300.

[0051] In some embodiments of the present application, referring to Figures 1 and 2, the horizontal displacement adjustment device 13 includes a first movable platform 131 connected to the sling 12 and used to drive the sling 12 to reciprocate along the first horizontal direction F2, and a second movable platform 132 connected to the first movable platform 131 and used to drive the sling 12 to reciprocate along the second horizontal direction F3. The second movable platform 132 is connected to the lifting frame 11, and the angle between the second horizontal direction and the first horizontal direction is greater than 0° and less than 180°. When the horizontal position of the hoisted object 300 needs to be adjusted, the first movable platform 131 can be used to drive the sling 12 to move along the first horizontal direction F2 or in a direction parallel to the first horizontal direction F2, and the sling 12 drives the hoisted object 300 to move along the first horizontal direction F2 or in a direction parallel to the first horizontal direction F2 to adjust the position of the hoisted object 300 in the first horizontal direction F2; the second movable platform 132 can be used to drive the first movable platform 131 to move along the second horizontal direction F3 or in a direction parallel to the second horizontal direction F3, and the first movable platform 131 drives the sling 12 to move along the second horizontal direction F3 or in a direction parallel to the second horizontal direction F3 to adjust the position of the hoisted object 300 in the second horizontal direction F3. In this way, the horizontal position of the hoisted object 300 can be accurately adjusted through the cooperation between the first movable platform 131 and the second movable platform 132.

[0052] Optionally, the second horizontal direction F3 is perpendicular to the first horizontal direction F2.

[0053] In some embodiments of the present application, a first translation rail 133 is provided on the second movable platform 132. The length of the first translation rail 133 extends along the first horizontal direction F2. A first driver 134 is provided on the first movable platform 131. The first driver 134 slides in conjunction with the first translation rail 133 along the first horizontal direction F2. When the first driver 134 moves along the first translation rail 133, it drives the first movable platform 131 to reciprocate along the first horizontal direction F2.

[0054] Optionally, the first translation guide rail 133 is a groove-type structure, which may be a T-slot, a dovetail groove, etc. The first translation guide rail 133 is opened at the bottom of the second movable platform 132, and the first driver 134 is arranged at the top of the first movable platform 131. The first driver 134 is movable along the first horizontal direction F2 and is arranged in the first translation guide rail 133, so that the first driver 134 can move back and forth along the first horizontal direction F2 in the first translation guide rail 133.

[0055] There may be one or more first translation rails 133, and one or more first drivers 134. Optionally, there are two first translation rails 133, which are spaced apart and arranged in parallel along the second horizontal direction F3. There are four first drivers 134, two of which are spaced apart along the first horizontal direction F2 and slideably engage with one of the first translation rails 133 along the first horizontal direction F2, and the other two first drivers 134 are spaced apart along the first horizontal direction F2 and slideably engage with the other first translation rail 133 along the first horizontal direction F2.

[0056] In some embodiments, the hanging frame 11 is provided with a second translation rail 135 extending along the second horizontal direction F3. The second movable platform 132 is provided with a second driver 136 that slides along the second translation rail 135 along the second horizontal direction F3. Thus, when the second driver 136 moves along the second translation rail 135, it drives the second movable platform 132 to reciprocate along the second horizontal direction F3.

[0057] Optionally, the second translation guide rail 135 is a groove-type structure, which can be a T-slot, a dovetail groove, etc. The second translation guide rail 135 is opened at the bottom of the lifting frame 11, and the second driver 136 is arranged at the top of the second movable platform 132. The second driver 136 is movable along the second horizontal direction F3 and is arranged in the second translation guide rail 135, so that the second driver 136 can move back and forth along the second horizontal direction F3 in the second translation guide rail 135.

[0058] There may be one or more second translation rails 135, and one or more second drivers 136. Optionally, there are two second translation rails 135, which are spaced apart and arranged in parallel along the first horizontal direction F2, and four second drivers 136, two of which are spaced apart along the second horizontal direction F3 and slideably engage with one of the second translation rails 135 along the second horizontal direction F3, and the other two second drivers 136 are spaced apart along the second horizontal direction F3 and slideably engage with the other second translation rail 135 along the second horizontal direction F3.

[0059] The first movable platform 131 and the second movable platform 132 can also be linear motors or the like.

[0060] It should be noted that the horizontal displacement adjustment device 13 may further include a third mobile platform and / or a fourth mobile platform. The third mobile platform is used to drive the hoisted object 300 to reciprocate along a third horizontal direction, and the fourth mobile platform is used to drive the hoisted object 300 to reciprocate along a fourth horizontal direction. The first horizontal direction, the second horizontal direction, the third horizontal direction, and the fourth horizontal direction are neither perpendicular nor parallel to each other. It is understood that the horizontal displacement adjustment device 13 may include multiple mobile platforms for achieving movement of the hoisted object 300 along different horizontal directions to more accurately adjust the horizontal position of the hoisted object 300.

[0061] The hoisting posture adjustment system 100 also includes a horizontal steering device 30 for adjusting the horizontal orientation of the hoisted object 300. The horizontal steering device 30 is connected to the top of the posture adjustment device 20, or is connected between the hoisting frame 11 and the horizontal displacement adjustment device 13, or is connected between the horizontal displacement adjustment device 13 and the sling 12. It is understood that there is no specific limitation on the installation location of the horizontal steering device 30, as long as it does not affect the function of the horizontal steering device 30 or other devices.

[0062] In this embodiment, the horizontal steering device is connected to the top of the posture adjustment device, and the horizontal steering device 30 is connected to the boom 200 of the lifting equipment. For example, a lifting ring 36 can be provided on the horizontal steering device 30, and the lifting ring 36 is buckled with the hook 210 of the boom 200. Since the hook 210 of the boom 200 cannot rotate in the horizontal direction when the lifting equipment is in a stationary state, the horizontal steering device 30 drives the posture adjustment device 20 to rotate in the horizontal direction. The posture adjustment device 20 drives the horizontal displacement adjustment device 13 to rotate in the horizontal direction. The horizontal displacement adjustment device 13 drives the hoisted object 300 to rotate in the horizontal direction to adjust the horizontal orientation of the hoisted object 300 so that the hoisted object 300 is aligned with the target position in the horizontal direction. The horizontal orientation refers to the specific orientation of each circumferential side surface of the hoisted object 300 in the horizontal direction.

[0063] In some embodiments of the present application, referring to FIG. 1 , the posture adjustment device 20 is used to adjust the height of the suspended object 300. Specifically, the posture adjustment device 20 drives the suspension frame 11 and the horizontal displacement adjustment device 13 away from or toward the horizontal steering device 30 in the vertical direction F1 to fine-tune the height of the suspended object 300. For example, when the suspended object 300 needs to be placed at a target location, the posture adjustment device 20 drives the suspension frame 11 to descend, which in turn drives the horizontal displacement adjustment device 13 to descend. The adjustment mechanism drives the sling 12 to descend, and the sling 12 drives the suspended object 300 to descend until the suspended object 300 is placed at the target location.

[0064] The above technical solution can fine-tune the height position of the hoisted object 300 through the posture adjustment device 20, so that the hoisted object 300 can be placed at the target position more stably.

[0065] In some embodiments of the present application, please refer to Figure 3, the posture adjustment device 20 includes a plurality of ropes 21, and a plurality of hoisting mechanisms 22 for respectively retracting and releasing the plurality of ropes 21. The plurality of ropes 21 are distributed at intervals along the circumference of the hoisting frame 11. The ropes 21 are connected to the hoisting frame 11 and the horizontal steering device 30, or the ropes 21 are connected to the hoisting frame 11 and the hook 210 of the boom 200.

[0066] When the tilted hoisted object 300 needs to be adjusted to a horizontal position, at least some of the hoisting mechanisms 22 reel in or release the ropes 21 to which they are connected to adjust the length of the ropes 21 until the hoisted object 300 reaches a horizontal position. When the hoisted object 300 is in a horizontal position and the height of the hoisted object 300 needs to be fine-tuned, each hoisting mechanism 22 reels in or releases the ropes 21 to which they are connected to adjust the length of each rope 21. When the ropes 21 shorten or lengthen, they drive the horizontal displacement adjustment device 13 and the hoisted object 300 to rise or fall until the hoisted object 300 reaches the desired height.

[0067] In some embodiments of the present application, the posture adjustment device 20 further includes a plurality of pulleys 23, the pulleys 23 being connected to the horizontal steering device 30 or the hook 210 of the boom 200, the plurality of hoisting mechanisms 22 being disposed on the hanging frame 11, the plurality of ropes 21 being respectively wound around the plurality of pulleys 23, the plurality of ropes 21 having one end connected to the plurality of hoisting mechanisms 22, and the plurality of ropes 21 having the other ends connected to the hanging frame 11. During the process of adjusting the length of the ropes 21, the ropes 21 are guided by the pulleys 23, effectively preventing the ropes 21 from deviating and facilitating the winding and releasing of the ropes 21. In addition, since the hoisting mechanism 22 is disposed on the hanging frame 11, one end of the rope 21 is connected to the hoisting mechanism 22, and the other end of the rope 21 is connected to the hanging frame 11, which is equivalent to both ends of the rope 21 being connected to the hanging frame 11, effectively ensuring the stability and reliability of the connection between the posture adjustment device 20 and the horizontal displacement adjustment device 13.

[0068] Furthermore, multiple hoisting mechanisms 22 are centrally arranged in the middle of the hanging frame 11, and multiple ropes 21 are connected to different positions of the peripheral edge of the hanging frame 11 after passing one end away from the hoisting mechanism 22 around the corresponding pulley 23.

[0069] In some embodiments of the present application, the number of ropes 21 and hoisting mechanisms 22 is three, at least three hoisting mechanisms 22 are concentrated in the middle of the hanging frame 11, and at least three ends away from the hoisting mechanisms 22 are respectively connected to different positions on the edge of the hanging frame 11.

[0070] Optionally, the number of the ropes 21 and the number of the hoisting mechanisms 22 are four, the four hoisting mechanisms 22 are centrally arranged in the middle of the hanging frame 11, and the ends of the four ropes 21 away from the hoisting mechanisms 22 are respectively connected to the four corners of the hanging frame 11.

[0071] Furthermore, the number of the pulleys 23 is also four, and the four ropes 21 are respectively wound around the four pulleys 23 .

[0072] It should be noted that in some other embodiments, multiple hoisting mechanisms 22 may be arranged on the hoisting frame 11 along the circumference of the hoisting frame 11, one end of the multiple ropes 21 are respectively connected to the multiple hoisting mechanisms 22, and the other ends of the multiple ropes 21 are fixedly connected to the horizontal steering device 30.

[0073] In some embodiments of the present application, referring to FIG4 , the hoisting mechanism 22 includes a base frame 221 mounted on the hoisting frame 11, a reel 222 rotatably mounted on the base frame 221, and a rotary driver 223 fixedly mounted on the base frame 221. The output shaft of the rotary driver 223 is coaxially connected to the reel 222. The rotary driver 223 is configured to drive the reel 222 to rotate. When the reel 222 rotates, the rope 21 is reeled in or released. Optionally, the rotary driver 223 may be, but is not limited to, a servo motor.

[0074] In some embodiments of the present application, referring again to FIG. 3 , the posture adjustment device 20 further includes a first measuring instrument and multiple second measuring instruments 14 disposed on the hoisting frame 11. The first measuring instrument is used to measure the posture of the hoisting frame 11. For example, the first measuring instrument can measure whether the hoisting frame 11 is tilted or horizontal relative to the horizontal plane. Furthermore, since the lengths of the suspension ropes 121 are equal, the posture of the hoisting frame 11 can represent the posture of the suspended object 300. The multiple second measuring instruments 14 are located at different positions on the hoisting frame 11. Each second measuring instrument 14 is used to measure the relative positional relationship between its own position on the hoisting frame 11 and the horizontal steering device 30. This relative positional relationship can be, but is not limited to, the distance between the position of the second measuring instrument 14 on the hoisting frame 11 and the horizontal steering device 30. This allows the length of the rope 21 located on the same side of the second measuring instrument 14 from the hoisting frame 11 to the horizontal steering device 30 to be determined.

[0075] It can be understood that the external system controller compares the posture data measured by the first measuring instrument with the desired posture data to obtain the angle and direction of rotation of the hoisting frame 11. Combined with the measurement data of each second measuring instrument 14, the length of each rope 21 that needs to be adjusted is obtained. The system controller then converts the length of each rope 21 that needs to be adjusted into the angle of rotation required by each rotation driver 223, and the rotation driver 223 executes the operation. Similarly, when adjusting the height position of the hoisted object 300, the length change of each rope 21 can be calculated by obtaining the posture of the hoisting frame 11, the relative positional relationship between the hoisting frame 11 and the horizontal steering device 30, and the desired height change. The system controller then sends a corresponding rotation command to each rotation driver 223 to adjust the hoisted object 300 to the desired height position.

[0076] Optionally, the first measuring instrument may be, but is not limited to, an inertial measurement unit (imu), etc., and the second measuring instrument 14 may be, but is not limited to, a linear potentiometer, etc.

[0077] Please refer to FIG7 for an exemplary description of the posture adjustment of the hoisted object 300. In the a1 state of FIG7 , the assembly formed by the hoisting frame 11, the sling 12, the horizontal displacement adjustment device 13 and the hoisting object 300 is in an inclined posture, that is, the hoisting frame 11 and the hoisting object 300 are both in an inclined posture, and the center of gravity 53 of the assembly is on the virtual extension line of the boom force point 51 in the vertical direction F1, that is, the center of gravity 53 of the assembly is directly below the boom force point 51; the assembly is adjusted to a horizontal posture by the posture adjustment device 20, that is, the hoisting frame 11 is adjusted to a horizontal posture by the posture adjustment device 20. When the hoisting frame 11 is in a horizontal posture, the hoisting object 300 is also in a horizontal posture accordingly, as shown in the a2 state of FIG7 ; when the horizontal position of the hoisting object 300 needs to be adjusted, the amount and direction of movement of the center of gravity 54 of the hoisting object 300 relative to the center of gravity 53 of the assembly in the horizontal direction are calculated, and the first mobile platform 131 and the second mobile platform 131 are used to adjust the horizontal position of the hoisting object 300. 2 cooperates to move the hoisted object 300 to the desired horizontal position. After the horizontal position of the hoisted object 300 is changed, the center of gravity position of the hoisted object 300 relative to the hoisting frame 11 changes, thereby changing the mass distribution of the assembly. However, since in a stationary state, the center of gravity 53 of the assembly is always on the virtual extension line of the boom force point 51 in the vertical direction F1, that is, the center of gravity 53 of the assembly is directly below the boom force point 51. Therefore, after the horizontal position of the hoisted object 300 is changed, the assembly as a whole changes from a horizontal posture to an inclined posture, as shown in state a3 of FIG7 ; the assembly is adjusted to a horizontal posture by the posture adjusting device 20, that is, the hoisting frame 11 is adjusted to a horizontal posture by the posture adjusting device 20, as shown in state a4 of FIG8 ; according to the displacement h required by the hoisted object 300 in the vertical direction F1, the length of the rope 21 from the hoisting frame 11 to the horizontal steering device 30 is adjusted to adjust the hoisted object 300 to a desired height position, as shown in state a5 of FIG8 . Finally, according to the error, the position of the hoisted object 300 is repeatedly adjusted through the cooperation between the posture adjustment device 20 and the horizontal displacement adjustment device 13 until the hoisted object 300 is adjusted to the desired posture with high precision.

[0078] It should be noted that the horizontal displacement adjustment device 13 can also suppress oscillations when the lifting posture adjustment system 100 swings violently. Specifically, when the hanging frame 11 swings, the reaction force generated by the coordinated movement of the first mobile platform 131 and the second mobile platform 132 on the hanging frame 11 can offset the oscillating kinetic energy generated by the hanging frame 11.

[0079] In some embodiments of the present application, referring to FIG5 , a horizontal steering device 30 includes a support member 31, a rotary drive mechanism 32 disposed on the support member 31, and a rotating shaft 33 connected to the rotary drive mechanism 32. One end of the rotating shaft 33 is connected to the posture adjustment device 20. The support member 31 primarily serves as a support. A lifting ring 36 is disposed on the support member 31. The rotary drive mechanism 32 is used to drive the rotating shaft 33 to rotate horizontally. The rotating shaft 33, in turn, drives the hoisted object 300 to rotate horizontally through the posture adjustment device 20 and the horizontal displacement adjustment device 13, thereby adjusting the horizontal position of the hoisted object 300.

[0080] In some embodiments of the present application, the support member 31 includes a first support plate 311 and a second support plate 312 that are connected to each other. The second support plate 312 is located below the first support plate 311. The second support plate 312 has an axial hole for the rotation shaft 33 to movably pass through. One end of the rotation shaft 33 extends through the axial hole to below the second support plate 312. The rotation drive mechanism 32 is disposed between the first support plate 311 and the second support plate 312. By disposing the rotation drive mechanism 32 between the first support plate 311 and the second support plate 312, the rotation drive mechanism 32 is not exposed, which can better protect the rotation drive mechanism 32 and effectively ensure the service life and performance of the rotation drive mechanism 32.

[0081] Specifically, the first support plate 311 is screwed to the second support plate 312, and a first accommodation space for accommodating the rotation drive mechanism 32 is formed between the first support plate 311 and the second support plate 312. Optionally, the rotation drive mechanism 32 may be, but is not limited to, a servo motor.

[0082] In some embodiments, the horizontal steering device 30 also includes a transmission mechanism 34, which is arranged on the support member 31. The transmission mechanism 34 is connected to the output shaft of the rotation drive mechanism 32 and the rotating shaft 33. It can be understood that the rotation drive mechanism 32 transmits power to the rotating shaft 33 through the transmission mechanism 34 to drive the rotating shaft 33 to rotate.

[0083] Furthermore, the transmission mechanism 34 is disposed between the first support plate 311 and the second support plate 312. Specifically, a second accommodation space for accommodating the transmission mechanism 34 is formed between the first support plate 311 and the second support plate 312, and the second accommodation space is communicated with the first accommodation space.

[0084] Optionally, the transmission mechanism 34 may be, but is not limited to, a worm gear mechanism, as long as it can convert the rotational motion of the rotation drive mechanism 32 along the vertical direction F1 into the rotational motion of the rotating shaft 33 along the horizontal direction relative to the support member 31 .

[0085] In some embodiments, referring to FIG6 , the horizontal steering device 30 includes an adapter block 35 connected to one end of a rotating shaft 33. The adapter block 35 is connected to the end of the rotating shaft 33 extending below the support member 31, and each pulley 23 is connected to the adapter block 35. Optionally, each pulley 23 and the adapter block 35 are welded, or each pulley 23 and the adapter block 35 are integrally formed.

[0086] In some embodiments of the present application, please refer to Figure 8. On the basis that the posture adjustment device 20 includes multiple ropes 21 connected to the hoisting frame 11 and the horizontal steering device 30, and multiple hoisting mechanisms 22 for respectively retracting and releasing the multiple ropes 21, the horizontal displacement adjustment device 13 includes a mass block 15 slidably set on the hoisting frame 11 and a horizontal driving mechanism for driving the mass block 15 to move horizontally. The horizontal driving mechanism is set on the hoisting frame 11, and the sling 12 is connected to the hoisting frame 11, that is, the hoisted object 300 is connected to the hoisting frame 11 through the sling 12. In the b1 state of FIG8 , the hoisted object 300 is in a horizontal posture. When the horizontal position of the hoisted object 300 needs to be adjusted, the horizontal drive mechanism drives the mass block 15 to move horizontally on the hoisting frame 11. When the mass block 15 moves horizontally on the hoisting frame 11, the position of the center of gravity 55 of the mass block 15 relative to the hoisting frame 11 changes, thereby changing the mass distribution of the assembly formed by the hoisting frame 11, the sling 12, the horizontal displacement adjustment device 13 and the hoisted object 300, and causing the center of gravity 53 of the hoisting assembly to change. However, since the center of gravity 53 of the assembly is always at the force point 55 of the boom in a static state, the center of gravity 53 of the assembly is always at the force point 55 of the boom in a static state. 1 is on the virtual extension line in the vertical direction F1, that is, the center of gravity 53 of the assembly is directly below the force point 51 of the boom, so that when the mass block 15 moves horizontally on the hanging frame 11, the assembly moves in the direction opposite to the moving direction of the mass block 15, thereby adjusting the hoisted object 300 to the desired horizontal position. At this time, the assembly is in an inclined posture, that is, the hoisted object 300 is in an inclined posture, as shown in state b2 of Figure 8; then the assembly is adjusted to a horizontal posture by the posture adjustment device 20, so that the hoisted object 300 is located directly above the target position in a horizontal posture in the vertical direction F1, as shown in state b3 of Figure 8.

[0087] In some embodiments of the present application, please refer to FIG. 3 again. The hoisting posture adjustment system 100 further includes a plurality of thrusters 40 . The plurality of thrusters 40 are disposed on the hoisting frame 11 or on the hoisted object 300 .

[0088] The thrusters 40 are spaced apart along the circumference of the hoisting frame 11. When the hoisting frame 11 is in a horizontal position, the thrusters 40 are oriented in different horizontal directions. The thrusters 40 are configured to provide swing damping for the hoisting posture adjustment system 100, that is, to provide the hoisting posture adjustment system 100 with the ability to suppress oscillations, thereby reducing the amplitude of the hoisting posture adjustment system 100. In addition, the thrusters 40 are also configured to cooperate with the horizontal steering device 30 to control the steering of the horizontal displacement adjustment device 13 and the hoisted object 300.

[0089] Specifically, the thrusters 40 include propeller blades and a rotary drive element for driving the propeller blades. The rotary drive element drives the propeller blades to rotate, thereby providing thrust in a direction opposite to the swing direction of the rig posture adjustment system 100. The system controller calculates the speed of the rig 11 based on data measured by the inertial measurement unit. Based on this, the system controller calculates the desired damping force and direction to be provided by each thruster 40. The propeller blade rotational speed and pitch angle are then calculated, and the rotary drive element executes these calculations to achieve oscillation suppression.

[0090] Optionally, the rotary drive member may be, but is not limited to, a motor.

[0091] The present application also provides a lifting device, including the lifting posture adjustment system 100 of any of the above-described embodiments. A horizontal steering device 30 is connected to the lifting device's boom 200. The lifting device may include, but is not limited to, a tower crane, a gantry crane, a crawler crane, a truck crane, an overhead crane, a stacker, and an industrial robot.

[0092] Compared with the prior art, the lifting equipment provided by the present application adopts the above-mentioned lifting posture adjustment system 100 to assist in lifting the lifting object 300. When adjusting the posture of the lifting object 300, the horizontal displacement adjustment device 13 and the posture adjustment device 20 cooperate to adjust the lifting object 300 to the desired posture, so that the lifting object 300 can be accurately placed in the target position. The above-mentioned technical solution is adopted to realize automatic fine-tuning of the posture of the lifting object 300, which saves time and effort, can greatly reduce the amount of manual participation, is conducive to reducing labor costs and safety risks, and can accurately place the lifting object in the target position, reducing the dependence on the worker's proficiency and experience.

[0093] In addition, the lifting posture adjustment system 100 can be directly connected to the boom 200 of the lifting equipment. For example, by hooking the lifting ring 36 of the lifting posture adjustment system 100 with the hook 210 of the boom 200, the lifting work can be carried out without making major changes to the structure of the existing lifting equipment. No manual intervention or only a small amount of manual intervention is required in the lifting control of the lifting object 300 by the lifting equipment in the final stage. For example, when a small amount of manual intervention is required, when the lifting equipment moves the lifting object 300 to the desired range near the target position and orientation, the ground staff only needs to identify the position and direction errors of the lifting object 300 through vision or software assistance, and send it to the system controller. Then the system controller controls the lifting posture adjustment system 100 to automatically compensate for the posture error of the lifting object 300.

[0094] The hoisting posture adjustment system 100 can improve the control capability of existing hoisting equipment on the movement of the hoisted object 300, as follows:

[0095] 1. The existing lifting equipment itself does not have the ability to control the degrees of freedom of the lifting object 300, while the lifting posture adjustment system 100 can control the degrees of freedom of the lifting object 300, that is, it can fine-tune the posture of the lifting object 300.

[0096] 2. The hoisting posture adjustment system 100 is beneficial to improving the control accuracy and response time of the hoisting equipment on the degree of freedom of the hoisted object 300.

[0097] 3. The hoisting posture adjustment system 100 can provide swing damping to improve the dynamic performance of the hoisting process.

[0098] 4. Assisted lifting is performed through the lifting posture adjustment system 100, effectively reducing the dependence on workers during the lifting process and effectively ensuring the consistency of the placement posture of multiple identical lifting objects 300.

[0099] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A hoisting pose adjustment system for adjusting the pose of a hoisted object; characterized in that, It includes an attitude adjustment device, a lifting frame, a horizontal displacement adjustment device, and a lifting tool arranged in sequence along the vertical direction. The lifting tool is connected to the lifting frame or the horizontal displacement adjustment device and is used to connect the lifted object; the horizontal displacement adjustment device is connected to the lifting frame and is used to adjust the horizontal position of the lifted object; the attitude adjustment device is connected to the lifting frame and is used to adjust the attitude of the lifted object so that the lifted object maintains a horizontal attitude.

2. The hoisting pose adjustment system according to claim 1, characterized in that: The lifting tool includes a plurality of lifting ropes. One ends of the plurality of lifting ropes are connected to different positions of the horizontal displacement adjustment device, and the other ends of the plurality of lifting ropes are used to connect different positions of the lifted object.

3. The hoisting posture adjustment system according to claim 1, characterized in that: The horizontal displacement adjustment device includes a first moving platform connected to the lifting tool and used to drive the lifting tool to reciprocate along the first horizontal direction, and a second moving platform connected to the first moving platform and used to drive the lifting tool to reciprocate along the second horizontal direction. The second moving platform is connected to the lifting frame, and the included angle between the second horizontal direction and the first horizontal direction is greater than 0° and less than 180°.

4. The hoisting posture adjustment system according to claim 3, characterized in that: A first translation guide rail is arranged on the second moving platform, and a first driver is arranged on the first moving platform. The first driver is slidably matched with the first translation guide rail along the first horizontal direction; and / or, A second translation guide rail is arranged on the lifting frame, and a second driver is arranged on the second moving platform. The second driver is slidably matched with the second translation guide rail along the second horizontal direction.

5. The hoisting posture adjustment system according to any one of claims 1-4, characterized in that: It further includes a horizontal steering device for adjusting the horizontal orientation of the lifted object. The horizontal steering device is connected to the top end of the attitude adjustment device, or the horizontal steering device is connected between the lifting frame and the horizontal displacement adjustment device, or the horizontal steering device is connected between the horizontal displacement adjustment device and the lifting tool.

6. The hoisting pose adjustment system according to claim 5, wherein: The horizontal steering device includes a support member, a rotation drive mechanism arranged on the support member, and a rotating shaft drivingly connected to the rotation drive mechanism. One end of the rotating shaft is connected to the attitude adjustment device.

7. The hoisting position and attitude adjustment system according to claim 6, characterized in that: The support member includes a first support plate and a second support plate connected to each other. The second support plate is provided with a shaft hole for the rotating shaft to pass through movably, and the rotation drive mechanism is arranged between the first support plate and the second support plate.

8. The hoisting pose adjustment system according to claim 5, characterized in that: The horizontal steering device is connected to the top end of the attitude adjustment device. The attitude adjustment device includes a plurality of ropes and a plurality of hoisting mechanisms for respectively winding and unwinding the plurality of ropes. The plurality of ropes are distributed at intervals along the circumference of the lifting frame, and the ropes are connected to the lifting frame and the horizontal steering device.

9. The hoisting pose adjustment system according to claim 8, characterized in that: The attitude adjustment device further includes a plurality of pulleys. The pulleys are connected to the horizontal steering device. The plurality of hoisting mechanisms are all arranged on the lifting frame. The plurality of ropes are respectively wound around the plurality of pulleys, and one ends of the plurality of ropes are respectively connected to the plurality of hoisting mechanisms, and the other ends of the plurality of ropes are all connected to the lifting frame.

10. The hoisting posture adjustment system according to claim 8, characterized in that: The number of the ropes and the winch mechanisms is at least three. At least three of the winch mechanisms are centrally arranged in the middle of the lifting frame, and one ends of at least three of the ropes, which are far away from the winch mechanisms, are respectively connected to different positions on the edge of the lifting frame.

11. The hoisting pose adjustment system according to claim 8, characterized in that: The horizontal displacement adjusting device includes a mass block slidably arranged on the lifting frame and a horizontal driving mechanism for driving the mass block to move horizontally. The horizontal driving mechanism is arranged on the lifting frame, and the lifting tool is connected to the lifting frame.

12. The hoisting pose adjustment system according to claim 8, wherein: The horizontal steering device includes a support member and a rotating shaft movably connected to the support member. The axial direction of the rotating shaft is parallel to the vertical direction, and the rotating shaft can rotate relative to the support member around its own axis. The rotating shaft is connected to each of the ropes. The lifting posture adjustment system further includes a plurality of thrusters. The plurality of thrusters are arranged on the lifting frame or on the lifted object, and by the cooperation of the thrusters, the rotating shaft is driven to rotate relative to the support member around its own axis.

13. The hoisting pose adjustment system according to any one of claims 1-4, characterized in that: The lifting posture adjustment system further includes a plurality of thrusters. The plurality of thrusters are arranged on the lifting frame or on the lifted object.

14. A hoisting device, characterized in that, It includes the lifting posture adjustment system according to any one of claims 1-13.

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