CN-122009992-A - Intelligent hoisting structure of mechanical and electrical automation equipment

CN122009992ACN 122009992 ACN122009992 ACN 122009992ACN-122009992-A

Abstract

The invention belongs to the technical field of hoisting equipment, in particular to an intelligent hoisting structure of mechanical and electrical automation equipment, which comprises a chassis frame, a rotary driving mechanism, a translation assembly and a hoisting tool assembly, the chassis frame is connected with a lower upright post through a rotary driving mechanism, the translation assembly is arranged between the lower upright post and an upper upright post, and a lifting adjusting mechanism matched with the lifting appliance assembly is arranged on the upper side of the upper upright post. The invention designs a passive gravity center self-adapting mechanism for matching the inclined slide rail with the inclined slide block in the lifting appliance assembly. When the lifting appliance is connected with the lifted equipment, the inclined sliding block automatically slides to the gravity center position of the system under the driving of the gravity component, so that the accurate superposition of the lifting point and the gravity center is realized, and the sliding impact is absorbed by the hydraulic buffer. The structure does not need complex transmission parts such as motor lead screws and closed-loop control, and has the obvious advantages of simple structure, high reliability and low maintenance cost.

Inventors

LI HUI
CHEN XUANREN
YANG BIAO
WANG CAIJUN
ZHANG BO
ZHAO WEI
HE XIAODONG

Assignees

山西乾通公路工程机械有限公司

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (10)

1. The intelligent hoisting structure of the mechanical and electrical automation equipment is characterized by comprising a chassis frame (1), a rotary driving mechanism, a translation assembly (3) and a lifting appliance assembly (6), wherein the chassis frame (1) is connected with a lower upright post (2) through the rotary driving mechanism, the translation assembly (3) is arranged between the lower upright post (2) and an upper upright post (4), and a lifting adjusting mechanism matched with the lifting appliance assembly (6) is arranged on the upper side of the upper upright post (4); The four corners of the chassis frame (1) are detachably provided with hydraulic supporting legs (10), the hydraulic supporting legs (10) are provided with balance sensors, the four corners of the bottom surface of the chassis frame (1) and the hydraulic supporting legs (10) are provided with moving wheels (11) in a staggered manner, and the chassis frame (1) is provided with double-shaft inclination sensors (14); a controller (18) which is staggered with the rotary driving mechanism is arranged on the chassis frame (1).
2. The intelligent hoisting structure of the mechanical and electrical automation equipment according to claim 1, wherein the translation assembly (3) comprises a lower stabilizing frame (31), an upper stabilizing frame (32), a screw rod (36) and a translation driving motor (37), the lower stabilizing frame (31) is arranged at the upper end of the lower upright post (2), the upper stabilizing frame (32) is arranged at the lower end of the upper upright post (4) and is positioned above the lower stabilizing frame (31), two sides of the surface of the lower stabilizing frame (31) are detachably provided with translation sliding rails (33), two sides of the bottom surface of the upper stabilizing frame (32) are detachably provided with translation sliding blocks (34), and the translation sliding blocks (34) are in sliding fit with the translation sliding rails (33); The two sides of the screw rod (36) are detachably arranged on the surface of the lower stabilizing frame (31) through bearing blocks and are positioned between the two translation sliding rails (33), one side of the screw rod (36) is connected with an output shaft of a translation driving motor (37) through a coupler, and the translation driving motor (37) is detachably arranged on the surface of the lower stabilizing frame (31); The bottom surface of going up steady rest (32) is provided with synchronizing plate (32 a), install on synchronizing plate (32 a) with screw (36) screw seat, be provided with translation sensor (35) between screw (36) and one of them side translation slide rail (33), translation sensor (35) are installed on the surface of steady rest (31), detection element on translation sensor (35) is installed on synchronizing plate (32 a).
3. The intelligent hoisting structure of the mechano-electric automation equipment according to claim 2, wherein the rotary driving mechanism comprises a slewing bearing (12), a driving gear (15) and a slewing driving motor (16), an inner ring of the slewing bearing (12) is connected to a chassis frame (1) through bolts, a mounting disc (21) is arranged above the slewing bearing (12), the mounting disc (21) is arranged on the lower side of a lower upright post (2), and the mounting disc (21) is connected to an outer ring of the slewing bearing (12) through bolts; A rotary encoder (13) corresponding to the circle center of the slewing bearing (12) is arranged on the chassis frame (1), and the rotary encoder (13) is connected with the mounting plate (21) in a linkage way; the driving gear (15) is meshed with the outer teeth of the slewing bearing (12), the driving gear (15) is installed on an output shaft of the slewing drive motor (16), the slewing drive motor (16) is detachably arranged on the mounting frame (67), and the mounting frame (67) is arranged on the chassis frame (1).
4. The intelligent hoisting structure of mechanical and electrical automation equipment according to claim 1, wherein the lifting adjusting mechanism comprises a main arm (5), hoisting equipment (7) and an amplitude-variable oil cylinder (9), one side of the main arm (5) is hinged on an upper upright (4), the hoisting equipment (7) is detachably arranged at the upper end of the upper upright (4), a hanging wire (8) is wound on the hoisting equipment (7), the free end of the hanging wire (8) is arranged at the bottom surface of the other end of the main arm (5), the lower side of the hanging wire (8) is connected with a hoisting tool assembly (6), a fixed pulley (51) is arranged on the side surface of the other end of the main arm (5), and the fixed pulley (51) is in rolling fit with the hanging wire (8) through an alternate rope penetrating method; The luffing cylinder (9) is arranged below the main arm (5), the fixed end is arranged on the upper upright post (4) through the hinging seat (65 a), and the telescopic end of the luffing cylinder (9) is arranged in the middle of the bottom surface of the main arm (5) through the hinging seat (65 a).
5. The intelligent hoisting structure of mechanical and electrical automation equipment according to claim 4, wherein the hoisting tool assembly (6) comprises a movable pulley (61), an inclined frame (62), a synchronous frame (65) and a mounting frame (67), the movable pulley (61) is arranged below the main arm (5) and is in rolling fit with the hanging wire (8) through an alternate rope threading method, the inclined frame (62) is arranged below the movable pulley (61) and is connected with the movable pulley through bolts, and a gravity center adjusting mechanism is arranged on the inclined frame (62); The synchronous frame (65) is arranged below the gravity center adjusting mechanism and is connected with the gravity center adjusting mechanism, a hinge seat (65 a) connected with the upper side of the mounting frame (67) is arranged on the bottom surface of the synchronous frame (65), a suspension tension sensor (65 b) is arranged on the hinge seat (65 a), and an end executing piece (68) is detachably mounted on the mounting frame (67).
6. The intelligent hoisting structure of mechanical and electrical automation equipment according to claim 5, wherein the gravity center adjusting mechanism comprises an inclined sliding rail (63), an inclined sliding block (64) and two hydraulic buffers (66), the inclined sliding rail (63) is detachably arranged on the bottom surface of the inclined frame (62), and the inclined sliding block (64) is in sliding fit with the inclined sliding rail (63); The two hydraulic buffers (66) are symmetrically arranged on two opposite sides of the inclined frame (62), telescopic ends of the two hydraulic buffers (66) are rotatably arranged on two sides of the synchronous frame (65), a symmetrical fixing frame (17) is arranged on the other opposite side of the inclined frame (62), and fixing ends of the two hydraulic buffers (66) are rotatably arranged on the two fixing frames (17) respectively.
7. The intelligent hoisting structure of mechanical and electrical automation equipment according to claim 6, wherein the inclined frame (62) and the inclined sliding rail (63) are arranged in an inclined manner by 5-15 degrees along the length direction.
8. The intelligent hoisting structure of mechanical and electrical automation equipment according to claim 5, wherein a hoisting tension sensor (61 a) and a wireless inclination sensor (61 b) are arranged on the movable pulley (61); The end effector (68) includes at least one of a hydraulic adaptive clamp, an array of electromagnetic chucks, or a tray spreader.
9. The intelligent hoisting structure of the mechano-electric automation equipment according to claim 1, wherein the controller (18) is a PLC controller (18), and the PLC controller (18) is electrically connected with the double-shaft inclination sensor (14), the balance sensor, the translation sensor (35), the rotary encoder (13), the lifting tension sensor (61 a), the wireless inclination sensor (61 b), the suspension tension sensor (65 b), the translation driving motor (37), the rotation driving motor (16), the hoisting equipment (7), the electromagnetic valve of the amplitude-changing oil cylinder (9) and the driving element of the end effector (68) respectively.
10. The intelligent hoisting structure of mechano-electric automation equipment of claim 9, wherein the PLC controller (18) is configured to perform the following control steps: Step 1, reading chassis inclination angle data acquired by a double-shaft inclination angle sensor (14), and controlling a hydraulic support leg (10) to synchronously stretch out and draw back until the chassis inclination angle is less than or equal to 0.5 degrees; Step 2, receiving an end effector selection instruction, controlling the lifting appliance assembly (6) to move above the effector storage rack, and completing automatic butt joint and locking of an end effector (68); Step 3, controlling the end effector (68) to clamp or adsorb the suspended equipment, controlling the hoisting equipment (7) to hoist, and monitoring the hoisting weight through the hoisting tension sensor (61 a); Step 4, controlling equipment to hover after lifting to be 50mm away from the ground, enabling an inclined sliding block (64) to automatically slide to the gravity center position along an inclined sliding rail (63), and confirming that the stress of each lifting point is balanced through a suspension tension sensor (65 b) after the posture is stable; Step 5, collecting multi-sensor data, outputting a compensation speed instruction to a hoisting device (7) and a rotary motor through Kalman filtering and a fuzzy PID controller (18), and controlling the swing amplitude within +/-3 mm; Step 6, receiving a translation or rotation target instruction, and feeding back in real time through a translation sensor (35) or a rotary encoder (13) to drive a corresponding motor to act until reaching a target position; Step 7, controlling the hoisting equipment (7) to descend, performing deceleration and stop control by measuring the distance through a laser ranging sensor, and controlling the end effector (68) to release or unhook; Step 8, controlling the lifting appliance assembly (6) to reset, recovering the hydraulic supporting legs (10), powering off all executing mechanisms, and entering a standby mode; the PLC controller (18) is further configured to perform at least one safety protection mechanism of overload protection, over-ride warning, and power-off protection.

Description

Intelligent hoisting structure of mechanical and electrical automation equipment Technical Field The invention belongs to the technical field of hoisting equipment, and particularly relates to an intelligent hoisting structure of mechanical and electrical automation equipment. Background At present, in the installation and carrying process of mechanical and electrical automation equipment, a balance crane is widely applied as important auxiliary equipment, and a common pneumatic balance crane or a mechanical balance crane realizes load balance through a pneumatic or spring mechanism, so that an operator can lift and move a heavy object with smaller force, however, when the traditional balance crane faces special-shaped electrical equipment such as a large-sized power distribution cabinet and a precision transformer, the traditional single-point rigid lifting crane is difficult to adapt to gravity center offset due to irregular appearance and changeable gravity center position of the equipment, the equipment is easy to incline in the lifting process, the installation difficulty is increased, damage to equipment shells and internal precision components is possibly caused, meanwhile, the heavy object is easy to swing in the air due to inertia under the manual operation of the traditional balance crane, the positioning accuracy is generally low, and the positioning error is larger, so that the installation efficiency and the safety are seriously influenced especially under a narrow space or a precise installation scene. In recent years, aiming at the problems, some intelligent improvement schemes have been proposed in the prior art, for example, a chinese patent CN106429803a discloses an automatic overturning intelligent lifting appliance, a cross leveling frame is matched with a screw transmission mechanism to realize automatic leveling, and the automatic overturning intelligent lifting appliance has anti-swing and accurate positioning functions, a chinese patent CN111268549B discloses a two-point type self-balancing lifting device, and the position of a lifting point on a hanging beam is automatically adjusted by a position adjuster to realize self-balancing, and the above technical schemes all adopt active adjusting mechanisms such as a motor driving screw or an electric push rod, so that although the problems of gravity center adjustment and anti-swing are solved to a certain extent, the following disadvantages still exist: Firstly, the active adjusting mechanism needs to be provided with a complex transmission system, a sensor and a control algorithm, the structure is complex, the manufacturing cost is high, parts such as a screw transmission mechanism are easy to wear after long-term use, the adjusting precision and the reliability are affected, and particularly, a passive gravity center adjusting structure which can be driven by gravity and does not need an external power source is lacking; Secondly, the implementation modes of anti-swing control in the prior art are mostly functional descriptions, a specific multi-sensor fusion scheme and control parameter disclosure are lacked, the method is difficult to be directly applied to actual engineering application, and accurate pre-judgment and active inhibition of swing postures of a lifting appliance cannot be realized; The chassis of the movable hoisting equipment in the prior art adopts a fixed supporting structure, cannot be automatically leveled according to ground conditions, has poor stability during complex ground operation, has a capsizing risk, and lacks the functions of real-time calculation and early warning of the capsizing moment of the whole hoisting equipment. Therefore, the invention provides an intelligent hoisting structure of mechanical and electrical automation equipment, so as to solve the technical problems. Disclosure of Invention The invention aims to provide an intelligent hoisting structure of mechanical and electrical automation equipment, which can solve the technical problems. The technical scheme adopted by the invention is as follows: The invention provides an intelligent hoisting structure of mechanical and electrical automation equipment, which comprises a chassis frame, a rotary driving mechanism, a translation assembly and a lifting appliance assembly, wherein the chassis frame is connected with a lower upright post through the rotary driving mechanism, the translation assembly is arranged between the lower upright post and an upper upright post, and a lifting adjusting mechanism matched with the lifting appliance assembly is arranged on the upper side of the upper upright post; The four corners of the chassis frame are detachably provided with hydraulic supporting legs, the hydraulic supporting legs are provided with balance sensors, the four corners of the bottom surface of the chassis frame and the hydraulic supporting legs are provided with moving wheels in a dislocation manner, and the chassis frame is provided with a