Component gantry crane and fine adjustment balance control method thereof

Abstract

The component gantry crane and fine adjustment balance control method thereof disclosed by the application realize high-precision displacement adjustment of components through fine adjustment devices to improve hoisting precision, reduce engineering cost, ensure controllable stress of hoisting ropes and improve safety performance of assembly operation under the premise of improving construction efficiency, and have important popularization value for installation of large subway stations. The component gantry crane comprises a portal, two groups of omni-directional fine-adjustable hoisting trolley devices are movably arranged on the top of the portal, the two groups of omni-directional fine-adjustable hoisting trolley devices respectively vertically suspend adjustable balance hoisting devices, the adjustable balance hoisting devices are installed on a cross beam in the vertical direction, four groups of hoisting device force adjusting devices are installed on the cross beam, and hoisting ropes of the hoisting device force adjusting devices suspend prefabricated components; the omni-directional fine-adjustable hoisting trolley device comprises an upper trolley lifting part borne on a lower trolley running device and an upper trolley translation mechanism; running between the upper trolley translation mechanism and the lower trolley running device is perpendicular in the horizontal direction.

Description

Technical Field

[0001] This invention relates to a gantry crane for hoisting and installing ultra-large irregularly shaped components and its fine-tuning balance control method, belonging to the field of rail transit and mechanical design. Background Technology

[0002] Existing gantry cranes are conventional equipment used for hoisting large prefabricated components. With the rapid development of domestic rail transit technology, subway stations using prefabricated structure design and construction methods have been widely used.

[0003] Because prefabricated station components are typically oversized and irregularly shaped, their positions must be strictly controlled during on-site installation, requiring extremely high assembly precision. Traditional gantry cranes are prone to inaccuracies in such assembly and hoisting operations. This necessitates a large on-site workforce, and manual correction consumes significant manpower and resources, resulting in low overall construction efficiency. Furthermore, the hoisting of these oversized and irregularly shaped components requires precise adjustment of the lifting rope tension based on the design data of the lifting point stress to ensure stable lifting and prevent stress damage to the components. However, existing gantry cranes struggle to adjust the lifting rope tension, making it difficult to meet the requirements for construction safety and stability in complex on-site construction conditions.

[0004] The aforementioned patent application, application number CN202110610248.X, entitled "An Adjustable Lifting Device for the Installation of Prefabricated Subway Station Roof Panels and Its Application," utilizes hydraulic hooks that can be independently controlled. Each hook is kept under a set lifting weight to achieve balanced lifting of the roof panel components. This patent discloses a method for monitoring the force on the lifting ropes and fine-tuning the opening size of the prefabricated station's high-arch roof panel by controlling the hook force. However, it still cannot achieve the precision and flexibility required for gantry cranes to lift large components. Furthermore, the direct detection of the lifting rope force by the hooks is susceptible to factors such as wind loads, making the detected force values ​​prone to instability. Therefore, there are still significant technical shortcomings in terms of lifting safety.

[0005] In summary, existing technologies have low actual construction and installation accuracy, unstable hook force, and inability to accurately detect and promptly improve the force on the lifting rope. When assembling high-precision subway station components, the accuracy needs to be adjusted manually, and construction safety and economy cannot be guaranteed.

[0006] In view of the above, this patent application is hereby filed. Summary of the Invention

[0007] The component gantry crane and its fine-tuning balance control method described in this invention aim to solve the problems existing in the prior art by proposing to achieve high-precision displacement adjustment through a fine-tuning device to improve hoisting accuracy. This reduces project costs while improving construction efficiency, and ultimately ensures controllable force on the hoisting rope and improves the safety performance of assembly operations. It has important promotional value for the installation technology design of large subway stations.

[0008] To achieve the above design objectives, the gantry crane includes a gantry frame, and two sets of omnidirectional adjustable lifting trolley devices are movably installed on the top of the gantry frame. The two sets of omnidirectional adjustable lifting trolley devices are vertically suspended by adjustable balance spreaders, which are vertically installed on the crossbeam.

[0009] The aforementioned omnidirectional adjustable lifting trolley device includes an upper trolley lifting section and an upper trolley translation mechanism supported on a lower trolley running device; the upper trolley translation mechanism runs on a lower first track via a first traveling mechanism at its bottom, and the lower trolley running device runs along a track at the top of the gantry via a second traveling mechanism at its bottom, and the running of the upper trolley translation mechanism and the lower trolley running device is perpendicular to each other in the horizontal direction;

[0010] The upper trolley lifting section includes a bracket mounted on the upper trolley translation mechanism, a lifting running motor and a reducer, and an upper trolley pulley beam lifting fine adjustment device axially mounted on the bracket and driven by the running motor and reducer;

[0011] The upper trolley pulley beam lifting fine-tuning device includes two sets of pulley beams arranged in opposite directions. A lifting fixed pulley group is erected between the two sets of pulley beams. A hook is suspended at the free end of the lifting fixed pulley group. A set of hydraulic oil jacks is vertically connected to the bottom of each set of pulley beams. Both sets of hydraulic oil jacks are fixedly installed on the bracket to jointly drive the lifting fixed pulley group to lift vertically.

[0012] The upper trolley translation mechanism includes a frame with a first traveling mechanism mounted at the bottom, and an array of side-mounted hydraulic cylinders fixedly connected to the lower trolley running device. The drive ends of the array of side-mounted hydraulic cylinders are symmetrically connected to both sides of the frame.

[0013] The adjustable balance lifting device includes a slewing bearing and a number of lifting force adjustment devices symmetrically mounted on the crossbeam;

[0014] The lifting device includes a lifting support spanning and fixed to a crossbeam, two sets of hydraulic cylinders, a lifting block, a pulley, and a pulley support. Two sets of lifting ropes lift prefabricated components through the pulleys. The lifting block is integrated with the central bearing of the pulley and is located outside the pulley support. A gravity sensor is located below the pulley support, and a hydraulic cylinder is located below the gravity sensor. The hydraulic cylinder drives the lifting block to change position, thereby adjusting the height of the lifting ropes. Vertically distributed lifting adjustment slots are provided on both sides of the lifting support, and the lifting block passes through and is accommodated in the lifting adjustment slots.

[0015] The lower trolley running device includes a lower trolley support with a first track at the top, and a second traveling mechanism driven by a servo geared motor at the bottom of the lower trolley support; under the drive of the servo geared motor, the lower trolley running device runs horizontally in a direction parallel to the crossbeam.

[0016] The gantry is a double-beam structure, with each set of omnidirectionally adjustable lifting trolley devices straddling and sliding on the track at the top of the double beams.

[0017] The top of the slewing support is symmetrically connected to two sets of hooks of the omnidirectional adjustable lifting trolley device. The bottom of the slewing support is fixedly installed at the horizontal center of the crossbeam. The slewing support is driven by a servo geared motor to drive the crossbeam to rotate 360° in the horizontal direction relative to the gantry.

[0018] Based on the above structural design for the component gantry crane, this application also proposes the following component gantry crane fine-tuning balance control method: two sets of all-round fine-tuning lifting trolley devices that can simultaneously or individually adjust the suspension posture of the precast components are set at the top of the gantry. The two sets of all-round fine-tuning lifting trolley devices together vertically suspend the adjustable balance lifting device. The adjustable balance lifting device is installed vertically on the crossbeam. Four sets of lifting device force adjustment devices are installed on the side of the crossbeam, and the lifting rope suspends the precast components.

[0019] The suspension posture includes the longitudinal and lateral positions in the horizontal direction and the height position in the vertical direction;

[0020] The omnidirectional adjustable lifting trolley device moves along the longitudinal and transverse tracks relative to the gantry to adjust the lifting position of the precast component in the horizontal direction; when the precast component arrives at the installation position, each omnidirectional adjustable lifting trolley device adjusts the lifting height of the hook along the vertical direction through the hydraulic jack to finely adjust the vertical height of one end of the precast component to achieve precise positioning.

[0021] The adjustable balance hanger is set at the horizontal center of the crossbeam. The adjustable balance hanger can drive the crossbeam to rotate in the horizontal direction to adjust the positioning of the precast components.

[0022] The weight data carried by the suspension rope is monitored in real time by a gravity sensor. The position of the pulley support frame is changed by a hydraulic cylinder, which drives the lifting block to move the central bearing of the pulley. The vertical length of the suspension rope is adjusted to fine-tune the actual suspension height of the precast component, thereby adjusting the load of the suspension rope.

[0023] Set the vertical lifting and lowering stroke of the hydraulic jack to no more than 2mm per stroke, and set the total lifting and lowering stroke to 100-150mm.

[0024] In summary, the advantages of the aforementioned gantry crane and its fine-tuning balance control method are:

[0025] 1. This application reduces manual intervention during component hoisting, effectively improving component installation efficiency and enabling comprehensive and high-precision installation of ultra-large prefabricated components. It provides a convenient, reliable, and applicable solution for the automated and intelligent operation of gantry cranes used in prefabricated subway station construction, and has significant implications for the promotion of intelligent applications of gantry cranes.

[0026] 2. This application proposes a high-precision fine-tuning gantry crane for balancing components. By adopting an all-around fine-tuning lifting trolley, it realizes fine-tuning control in the longitudinal and transverse horizontal directions and vertical lifting process during hoisting, thereby effectively maintaining hoisting balance and significantly improving the hoisting accuracy when hoisting large prefabricated components. It can replace manual on-site adjustment of component positions and has high safety and operability in on-site hoisting construction.

[0027] 3. This application employs an adjustable balance lifting device to monitor the stress on the lifting rope in real time, thereby making timely adjustments to ensure the smooth and safe lifting of components. It is particularly suitable for the construction of prefabricated subway stations with high assembly accuracy requirements, resulting in higher construction efficiency and reducing project costs. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the gantry crane described in this application;

[0029] Figure 2 Is it like this? Figure 1 The front view shown;

[0030] Figure 3 This is a structural schematic diagram of a fully adjustable lifting trolley device;

[0031] Figure 4 Is it like this? Figure 3 The side view shown;

[0032] Figure 5 This is a schematic diagram of the lifting and fine-tuning device for the upper trolley pulley beam;

[0033] Figure 6 Is it like this? Figure 5The front view shown;

[0034] Figure 7 Is it like this? Figure 5 The side view shown;

[0035] Figure 8 This is a diagram showing the operating status of the lifting gear force adjustment device;

[0036] Figure 9-1 and Figure 9-2 These are schematic diagrams of the structure and partial cross-section of the lifting gear force adjustment device;

[0037] As shown in the attached diagram, the components include: 1. A fully adjustable lifting trolley device; 2. An adjustable balance hoist; 3. A gantry frame; 4. A laser level; 5. A crossbeam; 6. A hoisting rope; 7. Precast components; 12. An upper trolley lifting section; 13. An upper trolley translation mechanism; 14. A lower trolley running device; 121. A support frame; 122. An upper trolley pulley beam lifting fine-tuning device; 123. A lifting and running motor and reducer; 1221. A pulley beam; 1222. A hydraulic jack; 1223. A hook; and a lifting mechanism. Fixed pulley block 1224, frame 130, first traveling mechanism 131, first track 132, side top cylinder 133, lower trolley support 141, second traveling mechanism 142, servo geared motor 143, slewing support 21, servo geared motor 211, lifting force adjustment device 22, force adjustment bracket 220, hydraulic cylinder 221, gravity sensor 222, lifting block 223, lifting adjustment groove 224, pulley 225, pulley bracket 226; Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments, and the technical solutions in the embodiments will be clearly and completely described.

[0039] Example 1, such as Figure 1 As shown in Figure 9, the gantry crane for the components includes a gantry frame 3. Two sets of movable, omnidirectional, finely adjustable lifting trolley devices 1 are installed on the top of the gantry frame 3. The two sets of omnidirectional, finely adjustable lifting trolley devices 1 are vertically suspended by adjustable balance lifting devices 2. The adjustable balance lifting devices 2 are vertically installed on the crossbeam 5. Four sets of lifting device force adjustment devices 22 are installed on the side of the crossbeam 5, and the lifting ropes 6 suspend the prefabricated components 7.

[0040] The omnidirectional adjustable lifting trolley device 1 includes an upper trolley lifting part 12 and an upper trolley translation mechanism 13, which are supported on the lower trolley running device 14.

[0041] The upper trolley translation mechanism 13 runs on the first track 132 via the first traveling mechanism 131 at its bottom;

[0042] The lower trolley running device 14 runs along the track at the top of the gantry 3 via the second traveling mechanism 142 at its bottom, and the running between the upper trolley translation mechanism 13 and the lower trolley running device 14 is perpendicular to each other in the horizontal direction.

[0043] The upper trolley lifting section 12 includes a bracket 121 mounted on the upper trolley translation mechanism 13, a lifting running motor and a reducer 123, and an upper trolley pulley beam lifting fine adjustment device 122 axially mounted on the bracket 121 and driven by the running motor and reducer 123;

[0044] The upper trolley pulley beam lifting fine-tuning device 122 includes two sets of pulley beams 1221 arranged in opposite directions. A lifting fixed pulley group 1224 is erected between the two sets of pulley beams 1221. A hook 1223 is suspended from the free end of the lifting fixed pulley group 1224. A set of hydraulic jacks 1222 is vertically connected to the bottom of each set of pulley beams 1221. Both sets of hydraulic jacks 1222 are fixedly installed on the bracket 121 to jointly drive the lifting fixed pulley group 1224 to lift vertically.

[0045] The vertical driving force output of the hydraulic jack 1222 can drive the hook 1223 to rise and fall (through the adjustable balance lifting device 2) to adjust the vertical height and position of one end of the precast component 7. When the hydraulic jacks 1222 of the two sets of all-round adjustable lifting trolley devices 1 rise and fall at the same time, even if the precast component 7 is an ultra-large component, it can still achieve fine adjustment of its rise and fall during the lifting process and finally achieve balance. The above fine adjustment is a frequency conversion control method. That is, when the precast component 7 arrives at the installation position, the lifting fixed pulley group 1224 is raised and lowered by two sets of hydraulic jacks 1222 at the same time to adjust the precise positioning of the precast component 7.

[0046] Furthermore, the vertical lifting and lowering stroke of the hydraulic jack 1222 can be set to no more than 2mm per stroke, and the total lifting and lowering stroke can be set to 100-150mm to optimize the adjustment action for precise installation and positioning, thus making it suitable for the installation process of tenon and mortise joints in prefabricated subway station components.

[0047] The upper trolley translation mechanism 13 includes a frame 130 with a first walking mechanism 131 mounted on the bottom, and four sets of side-top cylinders 133 fixedly connected to the lower trolley running device 14. The drive ends of the four sets of side-top cylinders 133 are symmetrically connected to both sides of the frame 130.

[0048] Furthermore, the operation of the upper trolley translation mechanism 13 is perpendicular to the horizontal direction of the crossbeam 5;

[0049] Furthermore, in order to improve the horizontal displacement adjustment accuracy of the upper trolley translation mechanism 13, the stroke range of each set of side top cylinders 133 is 300-350mm;

[0050] The lower trolley running device 14 includes a lower trolley support 141 with a first track 132 on the top, and a second walking mechanism 142 driven by a servo reduction motor 143 at the bottom of the lower trolley support 141; under the drive of the servo reduction motor 143, the lower trolley running device 14 runs in the horizontal direction parallel to the crossbeam 5.

[0051] Furthermore, the aforementioned servo geared motor 143 adopts dual-speed motor frequency conversion control so that the distance of each jog of the lower trolley running device 14 does not exceed 3mm during slow frequency conversion operation.

[0052] The gantry 3 is a double beam structure, and each set of fully adjustable lifting trolley devices 1 is mounted across and slides on the track at the top of the double beams.

[0053] Furthermore, two sets of laser levels 4 are symmetrically installed at the lower part of the gantry 3 to jointly inspect the horizontal status of the suspended precast components 7;

[0054] Furthermore, the two sets of omnidirectional fine-tunable lifting trolley devices 1 can adopt frequency conversion speed regulation control, which can lift simultaneously or lift independently;

[0055] The adjustable balancing hoist 2 is located at the horizontal center of the crossbeam 5, and its top is symmetrically connected to two sets of hooks 1223 of the omnidirectionally adjustable lifting trolley device 1. It is a multi-functional rotating hoist, capable of 360-degree rotation and possessing an anti-sway function; specifically,

[0056] The adjustable balance lifting device 2 includes a slewing support 21 and four sets of lifting force adjustment devices 22 symmetrically installed on the crossbeam 5. The bottom of the slewing support 21 is fixedly installed at the horizontal center of the crossbeam 5. The slewing support 21 is driven by a servo reduction motor 211 to drive the crossbeam 5 to rotate within 360 degrees in the horizontal direction relative to the gantry 3.

[0057] The lifting device 22 includes a lifting bracket 220 spanning and fixed to the crossbeam 5, two sets of hydraulic cylinders 221, a lifting block 223, a pulley 225, a pulley bracket 226, and two sets of lifting ropes 6 respectively lifting components 7 through the pulleys 225;

[0058] The lifting block 223 is integrated with the middle bearing of the pulley 225 and is located outside the pulley bracket 226. The gravity sensor 222 is located below the pulley bracket 226, and the hydraulic cylinder 221 is located below the gravity sensor 222. The hydraulic cylinder 221 drives the lifting block 223 to change position, thereby adjusting the height of the hoisting rope.

[0059] Vertically distributed lifting adjustment slots 224 are provided on both sides of the force adjustment bracket 220, and the lifting block 223 passes through and is accommodated in the lifting adjustment slots 224.

[0060] The gravity sensor 222 is used to display the weight data carried by each set of suspension ropes 6 in real time. When the force on the suspension rope 6 (i.e. the hook 1223) is not as expected or the suspension rope 6 is not under force, the height of the lifting block 223 in the lifting adjustment groove 224 can be adjusted by the hydraulic cylinder 221 to fine-tune the actual suspension height of the prefabricated component 7, thereby adjusting the load on the suspension rope 6.

[0061] Based on the structural design of the gantry crane with the above-mentioned components, this application also proposes the following method for fine-tuning and controlling the balance of the gantry crane:

[0062] Two sets of all-round adjustable lifting trolley devices 1 are set on the top of the gantry 3, which can adjust the suspension posture of the precast component 7 simultaneously or individually. The two sets of all-round adjustable lifting trolley devices 1 together suspend the adjustable balance lifting device 2 vertically. The adjustable balance lifting device 2 is installed vertically on the crossbeam 5. Four sets of lifting force adjustment devices are installed on the side of the crossbeam 5, and the lifting rope suspends the precast component 7.

[0063] The suspension posture includes the longitudinal and lateral positions in the horizontal direction and the height position in the vertical direction;

[0064] The omnidirectional adjustable lifting trolley device 1 runs along the longitudinal and transverse tracks relative to the gantry 3 to adjust the lifting position of the precast component 7 in the horizontal direction; when the precast component 7 arrives at the installation position, each set of omnidirectional adjustable lifting trolley devices 1 adjusts the lifting height of the hook 1223 in the vertical direction through the hydraulic jack 1222 to finely adjust the vertical height of one end of the precast component 7 to achieve precise positioning.

[0065] The adjustable balance hanger 2 is set at the horizontal center of the crossbeam 5. The adjustable balance hanger 2 can drive the crossbeam 5 to rotate in the horizontal direction to adjust the positioning of the precast component 7.

[0066] The weight data carried by the suspension rope 6 is monitored in real time by the gravity sensor 222. The lifting block 223 driven by the hydraulic cylinder 221 drives the lifting operation of the central bearing of the pulley 225 to adjust the vertical length of the suspension rope 6 to fine-tune the actual suspension height of the prefabricated component 7, thereby adjusting the load of the suspension rope 6.

[0067] Furthermore, the vertical lifting and lowering stroke of the hydraulic jack 1222 is set to not exceed 2mm per stroke, and the total lifting and lowering stroke is set to 100-150mm.

[0068] Furthermore, the omnidirectional adjustable lifting trolley device 1 includes an upper trolley lifting part 12 supported on the lower trolley running device 14, and an upper trolley translation mechanism 13. The upper trolley translation mechanism 13 and the lower trolley running device 14 operate perpendicularly in the horizontal direction, thereby enabling the omnidirectional adjustable lifting trolley device 1 to make fine adjustments to the prefabricated component 7 in the longitudinal and transverse directions during hoisting.

[0069] Furthermore, the upper trolley lifting section 12 includes an upper trolley pulley beam lifting fine-tuning device 122 axially mounted on the support 121 and driven by a running motor and a reducer 123. The upper trolley pulley beam lifting fine-tuning device 122 includes two sets of opposing pulley beams 1221, with a lifting fixed pulley group 1224 mounted between the two sets of pulley beams 1221. A hook 1223 is suspended from the free end of the lifting fixed pulley group 1224. Each set of pulley beams 1221... A set of hydraulic jacks 1222 are vertically connected to the bottom of 221. Both sets of hydraulic jacks 1222 are fixedly installed on the bracket 121 to jointly drive the lifting pulley group 1224 to lift vertically. Through the output of the vertical driving force of the hydraulic jacks 1222, the hook 1223 is lifted and lowered to adjust the vertical height and position balance of one end of the prefabricated component 7, thereby realizing the lifting fine adjustment and optimizing the assembly accuracy during hoisting, making it more suitable for components such as mortise and tenon joints that require precise installation.

[0070] Furthermore, the upper trolley translation mechanism 13 includes a frame 130 and four sets of side-top cylinders 133 symmetrically connected to both sides of the frame 130 at the drive end, with each set of side-top cylinders 133 having a stroke range of 300-350mm.

[0071] Furthermore, the lower trolley running device 14 runs in a direction parallel to the crossbeam 5, and during slow frequency conversion operation, the lower trolley running device 14 moves no more than 3mm each time.

[0072] Furthermore, two sets of laser levels 4 are symmetrically installed at the lower part of the gantry 3 to jointly inspect the horizontal status of the suspended precast components 7; the laser level 4 can detect the horizontal status of the components and work with the adjustable balance hanger 2 to improve the level of intelligence and reduce manual labor during the installation of the precast components 7, thereby improving the installation accuracy accordingly.

[0073] Furthermore, the adjustable balance lifting device 2 is set at the horizontal center of the crossbeam 5, and includes a slewing support 21 and four sets of lifting device force adjustment devices 22 symmetrically installed on the crossbeam 5; the slewing support 21 is driven by a servo reduction motor 211 to drive the crossbeam 5 to rotate within 360 degrees in the horizontal direction relative to the gantry 3.

[0074] The lifting device 22 includes a lifting bracket 220 spanning and fixed to the crossbeam 5, two sets of hydraulic cylinders 221, a lifting block 223, a pulley 225, and a pulley bracket 226. The lifting rope 6 is supported in the lifting bracket 220 through the pulley 225. The lifting block 223 is integrated with the middle bearing of the pulley 225 and is located outside the pulley bracket 226. The gravity sensor 222 is located below the pulley bracket 226. The hydraulic cylinder 221 is located below the gravity sensor 222. The hydraulic cylinder 221 supports the change in position of the pulley support bracket 226, thereby driving the lifting block 223 to move the middle bearing of the pulley 225 up and down, thus adjusting the height of the lifting rope.

[0075] Vertically distributed lifting adjustment slots 224 are provided on both sides of the force adjustment bracket 220, and the lifting block 223 passes through and is accommodated in the lifting adjustment slots 224.

[0076] When the force on the suspension rope 6 is not as expected or when the suspension rope 6 is not under force, the height of the lifting block 223 in the lifting adjustment groove 224 is adjusted by the hydraulic cylinder 221 to fine-tune the actual suspension height of the prefabricated component 7, thereby adjusting the load on the suspension rope 6.

[0077] A gravity sensor 222 is installed in the adjustable balance lifting device 2, which can intelligently control the force on the lifting device and avoid safety problems caused by uneven force on the lifting rope 6. At the same time, by optimizing the force on the lifting device, construction safety is ensured and the safety hazards caused by different pre-embedded conditions of the lifting device are reduced. In addition, by fine-tuning the force on the lifting rope, the lifting points of the components can be uniformly stressed in accordance with the design requirements, thereby ensuring the balance and stability of the components.

[0078] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A component gantry crane, characterized in that: Including the gantry, two sets of omnidirectional adjustable lifting trolley devices are movably installed on the top of the gantry. The two sets of omnidirectional adjustable lifting trolley devices suspend adjustable balance spreaders vertically. The adjustable balance spreaders are installed vertically on the crossbeam. The aforementioned omnidirectional adjustable lifting trolley device includes an upper trolley lifting section and an upper trolley translation mechanism supported on a lower trolley running device; the upper trolley translation mechanism runs on a lower first track via a first traveling mechanism at its bottom, and the lower trolley running device runs along a track at the top of the gantry via a second traveling mechanism at its bottom, and the running of the upper trolley translation mechanism and the lower trolley running device is perpendicular to each other in the horizontal direction; The upper trolley lifting section includes a bracket mounted on the upper trolley translation mechanism, a lifting running motor and a reducer, and an upper trolley pulley beam lifting fine adjustment device axially mounted on the bracket and driven by the running motor and reducer; The upper trolley pulley beam lifting fine-tuning device includes two sets of pulley beams arranged in opposite directions. A lifting fixed pulley group is erected between the two sets of pulley beams. A hook is suspended at the free end of the lifting fixed pulley group. A set of hydraulic oil jacks is vertically connected to the bottom of each set of pulley beams. Both sets of hydraulic oil jacks are fixedly installed on the bracket to jointly drive the lifting fixed pulley group to lift vertically. The upper trolley translation mechanism includes a frame with a first traveling mechanism mounted at the bottom, and an array of side-mounted hydraulic cylinders fixedly connected to the lower trolley running device. The drive ends of the array of side-mounted hydraulic cylinders are symmetrically connected to both sides of the frame. The adjustable balance lifting device includes a slewing bearing and a number of lifting force adjustment devices symmetrically mounted on the crossbeam; The lifting device includes a lifting support spanning and fixed to a crossbeam, two sets of hydraulic cylinders, a lifting block, a pulley, and a pulley support. Two sets of lifting ropes lift prefabricated components through the pulleys. The lifting block is integrated with the central bearing of the pulley and is located outside the pulley support. A gravity sensor is located below the pulley support, and a hydraulic cylinder is located below the gravity sensor. The hydraulic cylinder drives the lifting block to change position, thereby adjusting the height of the lifting ropes. Vertically distributed lifting adjustment slots are provided on both sides of the lifting support, and the lifting block passes through and is accommodated in the lifting adjustment slots.

2. The component gantry crane according to claim 1, characterized in that: The lower trolley running device includes a lower trolley support with a first track at the top, and a second traveling mechanism driven by a servo geared motor at the bottom of the lower trolley support; under the drive of the servo geared motor, the lower trolley running device runs horizontally in a direction parallel to the crossbeam.

3. The component gantry crane according to claim 1, characterized in that: The gantry is a double-beam structure, with each set of omnidirectionally adjustable lifting trolley devices straddling and sliding on the track at the top of the double beams.

4. The component gantry crane according to claim 1, characterized in that: The top of the slewing support is symmetrically connected to two sets of hooks of the omnidirectional adjustable lifting trolley device. The bottom of the slewing support is fixedly installed at the horizontal center of the crossbeam. The slewing support is driven by a servo geared motor to drive the crossbeam to rotate 360° in the horizontal direction relative to the gantry.

5. The fine-tuning balance control method for a gantry crane as described in any one of claims 1 to 4, characterized in that: Two sets of omnidirectional fine-adjustable lifting trolley devices are installed at the top of the gantry, which can simultaneously or individually adjust the suspension posture of the precast components. The two sets of omnidirectional fine-adjustable lifting trolley devices together vertically suspend the adjustable balance lifting device. The adjustable balance lifting device is installed vertically on the crossbeam. Four sets of lifting device force adjustment devices are installed on the side of the crossbeam, and the lifting rope suspends the precast components. The suspension posture includes the longitudinal and lateral positions in the horizontal direction and the height position in the vertical direction; The omnidirectional adjustable lifting trolley device moves along the longitudinal and transverse tracks relative to the gantry to adjust the lifting position of the precast component in the horizontal direction; when the precast component arrives at the installation position, each omnidirectional adjustable lifting trolley device adjusts the lifting height of the hook along the vertical direction through the hydraulic jack to finely adjust the vertical height of one end of the precast component to achieve precise positioning. The adjustable balance hanger is set at the horizontal center of the crossbeam. The adjustable balance hanger can drive the crossbeam to rotate in the horizontal direction to adjust the positioning of the precast components. The weight data carried by the suspension rope is monitored in real time by a gravity sensor. The position of the pulley support frame is changed by a hydraulic cylinder, which drives the lifting block to move the central bearing of the pulley. The vertical length of the suspension rope is adjusted to fine-tune the actual suspension height of the precast component, thereby adjusting the load of the suspension rope.

6. The component gantry crane fine-tuning balance control method according to claim 5, characterized in that: Set the vertical lifting and lowering stroke of the hydraulic jack to no more than 2mm per stroke, and set the total lifting and lowering stroke to 100-150mm.

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