CN-119503653-B - Hoisting automatic positioning system

CN119503653BCN 119503653 BCN119503653 BCN 119503653BCN-119503653-B

Abstract

The invention relates to the technical field of automatic positioning, in particular to an automatic lifting positioning system which comprises a lifting hook, a lifting frame, a positioning mechanism, a fine adjustment mechanism and a fine adjustment mechanism, wherein the positioning mechanism is used for determining a lifting hook moving path, calculating the lifting hook moving path according to the space coordinates of a to-be-placed area detected by a laser emitting element, adjusting the shape of the lifting frame to adjust the position of the lifting hook, and carrying out secondary calibration on the space coordinates of the to-be-placed area according to detection results of different positions of the laser emitting element on a positioning slide rail when the lifting hook reaches the end point of the lifting moving path according to the laser reflectivity of the laser emitting element when the lifting hook is judged to be inconsistent with the positioning accuracy, and the fine adjustment mechanism is used for adjusting the position of the lifting hook when a lifting piece approaches the to-be-placed area and adjusting the position of the lifting hook according to the inclination angle of the lifting piece. The invention realizes the improvement of the hoisting working efficiency and the accuracy of the positioning system.

Inventors

ZHANG LI
WANG KUN
QI DONGFENG
YUAN LI

Assignees

振天建设集团有限公司
振天建设(湖北)有限公司

Dates

Publication Date: 20260508
Application Date: 20241126

Claims (9)

1. A hoist and mount automatic positioning system, characterized by comprising: The lifting hook is used for hooking the lifting piece; the lifting frame is used for adjusting the position of the lifting hook; The positioning mechanism is connected with the hoisting frame and used for determining a lifting hook moving path, and comprises a laser emitting element and a positioning sliding rail, wherein the laser emitting element is arranged above the hoisting frame and used for emitting laser beams to the position of a region to be placed of the hoisting piece, and the positioning sliding rail is connected with the laser emitting element and used for adjusting the position of the laser emitting element; the positioning mechanism is also used for calculating a hoisting moving path according to the space coordinates of the to-be-placed area detected by the laser emitting element, adjusting the shape of the hoisting frame to adjust the position of the lifting hook, judging whether positioning accuracy meets the requirement according to the laser reflectivity of the laser emitting element when the lifting hook reaches the end point of the hoisting moving path, and carrying out secondary calibration on the space coordinates of the to-be-placed area according to the detection results of the laser emitting element at different positions on the positioning slide rail when the positioning accuracy does not meet the requirement; The fine adjustment mechanism is respectively connected with the lifting hook, the lifting frame and the positioning mechanism and is used for adjusting the position of the lifting hook when the lifting piece approaches to the to-be-placed area, the fine adjustment mechanism comprises a wedge component which is arranged above the lifting frame and is used for adjusting the vertical plane position of the lifting hook according to the secondary calibration result of the space coordinate of the to-be-placed area, an adjusting slide rail which is connected with the lifting hook and is used for adjusting the horizontal position of the lifting hook, and an infrared sensor which is connected with the adjusting slide rail and is used for detecting the inclination angle of the lifting piece, The fine adjustment mechanism is also used for adjusting the position of the lifting hook on the adjusting slide rail according to the inclination angle of the lifting piece; the cam assembly includes: The fixed pulley block is arranged at the top end of the lifting frame and used for adjusting the lowering height of the lifting hook; the upper inclined wedge block is connected with the fixed pulley block and used for adjusting the position of the fixed pulley block at the top end of the hoisting frame; the lower inclined wedge block is arranged below the upper inclined wedge block and is used for connecting the fixed pulley block and the top end of the hoisting frame; And the actuator is respectively connected with the upper wedge block and the lower wedge block and is used for adjusting the position of the upper wedge block relative to the lower wedge block.
2. The hoisting automatic positioning system as claimed in claim 1, wherein the fixed pulley block comprises a fixed pulley provided at the top end of the hoisting frame and a fixed pulley provided at a side close to the top end of the hoisting frame.
3. The hoisting automatic positioning system as claimed in claim 2, wherein two movable pulleys are provided on both sides of the adjusting slide rail.
4. A hoist automatic positioning system as claimed in claim 3, wherein the positioning mechanism is adapted to calculate the distance between the laser emitting element and the position of the region to be placed based on the time difference between the laser emitting element emitting and receiving the laser beam to construct the spatial coordinates of the region to be placed, and to calculate the hoist movement path based on the spatial coordinates.
5. The hoisting automatic positioning system according to claim 4, wherein the positioning mechanism is configured to determine that the positioning accuracy is not satisfactory when the laser reflectivity of the laser emitting element is smaller than a preset laser reflectivity, and increase the number of times of detection by decreasing the height of the laser emitting element.
6. The hoist automatic positioning system of claim 5, characterized in that the magnitude of the increase in the number of detections is determined based on the difference between the preset laser reflectivity and the laser reflectivity.
7. The hoisting automatic positioning system according to claim 6, wherein the positioning mechanism is configured to calculate average spatial coordinates according to spatial coordinates of the plurality of regions to be placed detected by the laser emitting element at different positions on the positioning slide rail, so as to complete secondary calibration of the spatial coordinates of the regions to be placed.
8. The hoist automatic positioning system of claim 7, characterized in that the fine adjustment mechanism is configured to drive the telescopic length of the actuator according to the average spatial coordinates to adjust the position of the hook in the vertical and horizontal directions.
9. The automatic positioning system for hoisting according to claim 8, wherein the fine adjustment mechanism is configured to calculate an inclination angle of the hoisting member from a distance between the upper surface of the hoisting member and a connecting edge of the hoisting rope detected by the infrared sensor, calculate a center of gravity deviation distance of the hoisting member along the direction of the adjustment slide rail according to the inclination angle of the hoisting member, and adjust a position of the hoisting hook on the adjustment slide rail according to the center of gravity deviation distance.

Description

Hoisting automatic positioning system Technical Field The invention relates to the technical field of automatic positioning, in particular to an automatic lifting positioning system. Background In the prior art, the automatic lifting positioning system is a system for realizing accurate positioning of lifting operation by utilizing a modern information technology, and generally comprises key components such as a sensor technology, a wireless communication technology, a data processing and analyzing technology, a control technology and the like, and through the integrated application of the technologies, the system can monitor the position, the gesture and the load state of lifting equipment in real time and realize accurate lifting operation by an automatic control technology. CN114506771a discloses an automatic positioning tool for hoisting, which comprises a fixed component, a spherical hinge component, a conical positioning component, a first powerful magnet and a second powerful magnet, wherein the fixed component is used for being fixedly connected with ship cabin equipment, the spherical hinge component comprises a mounting seat and a movable component, the mounting seat is fixedly connected with the fixed component, the movable component is connected with the mounting seat in a spherical hinge mode, the large-diameter section of the conical positioning component is fixedly connected with the movable component, the first powerful magnet is fixedly connected with the end part of the small-diameter section of the conical positioning component, and the second powerful magnet is used for being fixedly connected with an equipment seat frame. Therefore, the hoisting automatic positioning tool has the problems that the hoisting working efficiency is reduced due to the fact that a hoisting working path cannot be determined, and the positioning accuracy is reduced in the lowering process due to the fact that the gravity center of the called object is shifted. Disclosure of Invention Therefore, the invention provides a lifting device for solving the problems that in the prior art, the lifting working efficiency is reduced due to the fact that a lifting working path cannot be determined, and the positioning accuracy is reduced in the lowering process due to the fact that the gravity center of a lifted object is shifted. To achieve the above object, the present invention provides an automatic positioning system for lifting, comprising: The lifting hook is used for hooking the lifting piece; the lifting frame is used for adjusting the position of the lifting hook; The positioning mechanism is connected with the hoisting frame and used for determining a lifting hook moving path, and comprises a laser emitting element and a positioning sliding rail, wherein the laser emitting element is arranged above the hoisting frame and used for emitting laser beams to the position of a region to be placed of the hoisting piece, and the positioning sliding rail is connected with the laser emitting element and used for adjusting the position of the laser emitting element; the positioning mechanism is also used for calculating the lifting moving path according to the space coordinates of the to-be-placed area detected by the laser emitting element, adjusting the shape of the lifting frame to adjust the position of the lifting hook, judging whether the positioning accuracy meets the requirement according to the laser reflectivity of the laser emitting element when the lifting hook reaches the end point of the lifting moving path, and carrying out secondary calibration on the space coordinates of the to-be-placed area according to the detection results of the laser emitting element at different positions on the positioning slide rail when the positioning accuracy does not meet the requirement; The fine adjustment mechanism is respectively connected with the lifting hook, the lifting frame and the positioning mechanism and is used for adjusting the position of the lifting hook when the lifting piece approaches to the to-be-placed area, the fine adjustment mechanism comprises a wedge component which is arranged above the lifting frame and is used for adjusting the vertical plane position of the lifting hook according to the secondary calibration result of the space coordinate of the to-be-placed area, an adjusting slide rail which is connected with the lifting hook and is used for adjusting the horizontal position of the lifting hook, and an infrared sensor which is connected with the adjusting slide rail and is used for detecting the inclination angle of the lifting piece, The fine adjustment mechanism is further used for adjusting the position of the lifting hook on the adjusting sliding rail according to the inclination angle of the lifting piece. Further, the cam assembly includes: The fixed pulley block is arranged at the top end of the lifting frame and used for adjusting the lowering height of the lifting hook; the upper inclin