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KR-102963153-B1 - AUTOMATIC HORIZONTAL LIFTING APPARATUS AND LIFTING METHOD USING THE SAME

KR102963153B1KR 102963153 B1KR102963153 B1KR 102963153B1KR-102963153-B1

Abstract

The present invention relates to an automatic horizontal lifting device and a lifting method using the same. It comprises a lifting beam, a lifting member positioned on the lifting beam and connected to a lifting target to lift the lifting target, a crane connecting member positioned to move in the longitudinal direction on the upper part of the lifting beam and connected to a crane, and a linear moving device that moves in the longitudinal direction of the lifting beam. By automatically adjusting the center of gravity during movement while lifting a long lifting target, such as a guided missile, the device can safely move the long lifting target, such as a guided missile, while maintaining a horizontal position during lifting, thereby significantly increasing the safety of lifting and moving operations for the lifting target.

Inventors

  • 한동균
  • 이규상

Assignees

  • 한화에어로스페이스 주식회사

Dates

Publication Date
20260508
Application Date
20220525

Claims (12)

  1. Lifting beam; A lifting member positioned on the above lifting beam and connected to the object to be lifted to lift the object to lift; A crane connecting member positioned to be movable in the longitudinal direction at the upper part of the lifting beam and connected to a crane; A guide plate provided in the center area of the upper surface of the lifting beam; A linear moving device that moves the crane connecting member along the longitudinal direction of the lifting beam on the guide plate; A first tilt sensor unit for detecting the tilt of the lifting beam; A second tilt sensor unit located at the lower part of the lifting beam to detect the tilt of the lifting target; A first lifting height adjustment unit that adjusts the height of the first lifting support member through a linear actuator; A second lifting height adjustment unit that adjusts the height of the second lifting support unit through a linear actuator; A tilt sensor moving device located at the lower part of the lifting beam and moving the second tilt sensor unit in the longitudinal direction of the lifting beam through a linear actuator; A first lifting position moving unit that moves the first lifting height adjusting unit in the longitudinal direction of the lifting beam; and A second lifting position moving unit that moves the second lifting height adjusting unit in the longitudinal direction of the lifting beam; comprising The above linear moving device is, A movable screw that is screw-coupled through the crane connecting member and is rotatably positioned on the guide plate along the longitudinal direction of the lifting beam; and It includes a screw rotation motor installed on one side wall of the guide plate to rotate the movable screw, and The crane connecting member moves along a pair of guide beams connecting both side walls of the guide plate along the longitudinal direction, The crane connecting member has the pair of guide beams and the movable screw penetrating side by side at the same height, and the movable screw is positioned between the pair of guide beams. The lifting member comprises a first lifting support member located on one side of the lifting beam and supporting a portion of the lower side of the lifting object, and a second lifting support member located on the other side of the lifting beam and supporting a portion of the lower side of the lifting object. The first tilt sensor unit transmits the detected tilt information of the lifting beam to the control unit, and The above control unit is, The tilt of the lifting beam detected by the first tilt sensor unit is received, and the crane connecting member is moved by the linear moving device to adjust the tilt of the lifting beam to a preset tilt; and the tilt of the lifting object detected by the second tilt sensor unit is received, and the heights of the first lifting support unit and the second lifting support unit are adjusted respectively by the first lifting height adjustment unit and the second lifting height adjustment unit to level the lifting object. An automatic horizontal lifting device characterized by the first lifting position moving part and the second lifting position moving part moving the first lifting height adjusting part and the second lifting height adjusting part in the length direction of the lifting beam in correspondence with various lengths of the object to be lifted.
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  9. A lifting preparation step of connecting a first lifting support member and a second lifting support member provided at both ends of a lifting beam to each end of the object to be lifted; A lifting step of connecting the lifting beam to a crane using a crane connecting member movably provided on the lifting beam, and lifting the object to be lifted by the crane; A first tilt measurement step for measuring the tilt of the lifting beam using a first tilt sensor unit in the above lifting step; A first slope verification step for verifying whether the slope measured in the first slope measurement step is a preset slope; A first tilt adjustment step for adjusting the tilt of the lifting beam by moving the crane connecting member in the longitudinal direction on a guide plate provided in the center area of the upper surface of the lifting beam if the tilt confirmed in the first tilt confirmation step is not a preset tilt; If the inclination confirmed in the first inclination verification step is a preset inclination, a transfer step of lifting the object to be lifted and moving it to a preset position via a crane; A second tilt detection step for detecting the tilt of the lifting object by measuring the distance between the lifting beam and the lifting object while moving a second tilt sensor unit, which is a laser distance measuring sensor, in the longitudinal direction of the lifting beam through a tilt sensor moving device at the bottom of the lifting beam after the first tilt adjustment step; and If the tilt of the lifting object detected in the second tilt detection step is not a preset tilt, the control unit receives the tilt of the lifting object detected by the second tilt sensor unit and adjusts the heights of the first lifting support unit and the second lifting support unit, respectively, using the first lifting height adjustment unit and the second lifting height adjustment unit to match the tilt of the lifting object to a preset tilt; comprising a second tilt adjustment step. The above first tilt adjustment step is, The crane connecting member is moved along a pair of guide beams connecting both side walls of the guide plate, and The crane connecting member has the pair of guide beams and the movable screw penetrating side by side at the same height, and the movable screw is positioned between the pair of guide beams. The above first tilt verification step detects the tilt of the lifting beam using the above first tilt sensor unit, detects the tilt in real time during lifting, and transmits it to the control unit that controls the movement of the crane connecting member. In the first tilt adjustment step, when the tilt deviates from a preset range through the tilt confirmed in real time by the first tilt sensor unit, the control unit moves the crane connecting member in the length direction of the lifting beam to adjust the tilt of the lifting beam horizontally. A lifting method characterized by the first lifting position moving part and the second lifting position moving part moving the first lifting height adjusting part and the second lifting height adjusting part in the length direction of the lifting beam in correspondence with various lengths of the object to be lifted.
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  12. In claim 9, After the second tilt adjustment step, the first tilt measurement step, the first tilt verification step, the first tilt adjustment step, the second tilt detection step, and the second tilt adjustment step are performed again in sequence to adjust the lifting object horizontally, and A lifting method characterized by the above transfer step moving the lifting target to a preset position using the crane when the inclination of the lifting beam and the inclination of the lifting target are both positioned horizontally.

Description

Automatic Horizontal Lifting Apparatus and Lifting Method Using the Same The present invention relates to an automatic horizontal lifting device and a lifting method using the same, and more specifically, to an automatic horizontal lifting device capable of automatically maintaining a horizontal position by detecting an inclination when lifting a long object, such as a guided missile, with a crane, and a lifting method using the same. Generally, long objects to be lifted, such as guided missiles, are lifted while connected to a lifting beam that is lifted by a crane. A lifting device including a lifting beam connects the object to be lifted to the lifting beam, lifts the beam with a crane to lift the object, and moves it to a preset position. A lifting device including a lifting beam has been proposed to be configured to lift long objects, such as guided missiles, while maintaining a horizontal position, by aligning the lifting device with the center of gravity of the object. However, conventional lifting devices, including lifting beams, applied a method of changing the position of the lifting point by machining holes at various locations on the lifting beam, which had the problem of being unable to adjust the center of gravity while lifting a guided missile. In addition, conventional lifting devices including lifting beams had a problem in that the center of gravity could not be precisely adjusted because the drilling spacing was limited due to structural issues with the lifting beam. In particular, since the external shape of the missile is not symmetrical or uniform for handling and operation, it must be lifted to the center of gravity of the missile during assembly and handling. However, existing lifting devices require manual movement of the lifting position to the center of gravity to maintain horizontal stability after lifting the missile with a crane, so there were inconveniences and difficulties in lifting with conventional lifting devices including lifting beams. In other words, when moving large guided missiles to a lifting location using conventional lifting devices, there is a problem in that it requires time to change the jigs, and there is a significant risk of major accidents occurring during handling due to operator error. In addition, since the lifting device had to be manufactured according to the shape of the guided missile, there were problems such as increased manufacturing costs, additional time, and space. FIG. 1 is a perspective view illustrating one embodiment of an automatic horizontal lifting device according to the present invention. FIG. 2 is a side view illustrating an embodiment of an automatic horizontal lifting device according to the present invention. FIG. 3 is an enlarged view illustrating an embodiment of a linear moving device in an embodiment of an automatic horizontal lifting device according to the present invention. FIG. 4 is a side view illustrating another embodiment of an automatic horizontal lifting device according to the present invention. FIGS. 5 and 6 are drawings illustrating an example of operation of an automatic horizontal lifting device according to the present invention. FIG. 7 is a flowchart illustrating one embodiment of a lifting method according to the present invention. The present invention will be described in more detail below. Preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings as follows. Prior to the detailed description of the present invention, terms and words used in the specification and claims described below should not be interpreted as being limited to their ordinary or dictionary meanings. Accordingly, the embodiments described in the specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all technical concepts of the present invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application. FIG. 1 is a perspective view illustrating an embodiment of an automatic horizontal lifting device according to the present invention, FIG. 2 is a side view illustrating an embodiment of an automatic horizontal lifting device according to the present invention, and FIG. 3 is an enlarged view illustrating an embodiment of a linear moving device (400) in an embodiment of an automatic horizontal lifting device according to the present invention. An embodiment of an automatic horizontal lifting device according to the present invention will be described in detail below with reference to FIGS. 1 to 3. One embodiment of the automatic horizontal lifting device according to the present invention includes a lifting beam (100) that is arranged lengthwise along the length of the lifting target (10), and the lifting beam (100) is connected to a crane. It should be noted that a crane is a known mecha