针对传统吊具可操作性不强、安全性差的特点设计了一种可自动调节水平式吊具。该吊具可根据被吊物当前姿态自动调整主吊点运动趋势,实现被吊物调平;也可以自动计算被吊产品质心,并根据计算结果调整主吊点最终位置,实现被吊物的调平。最后,基于以上两种控制策略,对该吊具控制系统进行了设计。 For the traditional spreader operability is not strong, poor security features designed to automatically adjust the horizontal spreader. The spreader can adjust the movement tendency of the main lifting point automatically according to the current posture of the object to be hoisted, leveling the object to be suspended, automatically calculate the center of mass of the product to be suspended, and adjust the final position of the main lifting point according to the calculation result, Leveling. Finally, based on the above two control strategies, the spreader control system was designed.