Detachable steel structure hoisting gravity center adjusting device

Abstract

The invention provides a detachable steel structure hoisting gravity center adjusting device which comprises a base, a stand column fixing assembly is installed on the base, and the base is detachably connected with a hoisting frame used for hoisting a steel beam through the stand column fixing assembly. The hoisting frame comprises symmetrically-arranged stand columns and a cross beam fixedly installed at the top positions of the sides, close to each other, of the two stand columns, a lifting hook connecting plate is integrally formed at the top of the cross beam, lifting hook holes are formed in the lifting hook connecting plate, and steel beam inserting holes are formed in the bottoms of the stand columns. Through the design of the base, the stand column fixing assembly, the inclination sensor and the balance weight assembly, when the steel beam is hoisted, the gravity center adjusting effect in the hoisting period of the steel beam is achieved, the situation that in the hoisting period of the steel beam, the steel beam inclines due to gravity center shifting and then falls off, and potential safety hazards are caused is effectively avoided, hoisting safety is improved, and the hoisting efficiency is improved. And meanwhile, workers do not need to measure the size, the hoisting operation difficulty is reduced, and the hoisting efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of hoisting equipment, and in particular to a detachable steel structure hoisting gravity center adjusting device. Background Art

[0002] Steel structure workshops are widely used in many fields, including industrial plants, storage facilities, and logistics centers, due to their many advantages, such as fast construction speed, high strength, large span, and recyclable materials. With the continuous development of modern industry, the requirements for efficiency and quality of workshop construction are becoming increasingly higher. Steel structure workshops have become the first choice of many companies due to their unique advantages.

[0003] During the installation of a steel structure factory building, the installation of steel columns is fundamental to the entire construction process. As the main support structure of the factory building, the accuracy and stability of their installation directly impact the structural safety of the entire building. After the steel columns are installed, the next critical step is the hoisting of the steel beams. This requires using a crane to precisely lift the beams above the steel columns and securely connect them to the columns to form a stable framework.

[0004] Traditionally, steel beam hoisting involves tying steel wire ropes around the beam's center and sides before hoisting it with a crane. While this method is simple to operate, it carries numerous safety risks. For example, if the wire ropes are not tied correctly or slip during the hoisting process, the beam could tilt or even fall mid-air, posing a serious threat to on-site construction workers and equipment. Furthermore, once the beam is hoisted, its center of gravity may not be aligned with the lifting point, causing it to wobble in mid-air. This increases the difficulty of docking with the steel columns and reduces construction efficiency.

[0005] To address these issues, specialized lifting frames for steel beam hoisting have gradually emerged on the market. These frames effectively secure steel beams, preventing them from falling during the hoisting process and significantly improving operational safety. However, existing lifting frames still have some drawbacks. During installation, workers must precisely measure the frame's position to ensure it is as close as possible to the beam's center of gravity. If the mounting position deviates from the center of gravity, the beam may shift during hoisting, resulting in excessive tilt angles and hindering precise alignment with the steel columns. This measurement and adjustment process not only increases workers' workload but can also cause hoisting operations to stall, reducing overall construction efficiency. For example, in the construction of large-scale storage and logistics centers, the steel beams are both long and heavy, requiring precise positioning of the lifting frame to ensure stability and safety. Even the slightest deviation in the mounting position can cause the beam to tilt during hoisting, necessitating readjustment of the frame, which undoubtedly wastes considerable time and labor.

[0006] Therefore, how to improve the lifting efficiency and reduce the workload of staff while ensuring the safety of steel beam lifting has become an urgent problem to be solved in the current steel structure factory construction. Summary of the Invention

[0007] In view of the deficiencies in the prior art, the present invention provides a detachable steel structure hoisting center of gravity adjustment device, which solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] The detachable steel structure hoisting gravity center adjustment device comprises a base; a column fixing assembly installed on the outer edge surface of the base; a hoisting frame for hoisting the target steel beam by detachably connecting the column fixing assembly; wherein, the hoisting frame comprises a symmetrically arranged column and a crossbeam, the crossbeam is fixedly installed with the column, and a hook connecting plate is integrally formed on the top; a steel beam insertion hole is provided at the bottom of the column, and a steel beam limiting assembly is installed in the steel beam insertion hole, and the steel beam limiting assembly comprises a limiting slide, a limiting pressure plate, a second limiting screw, a rotating rod and a bevel gear, a mounting hole is provided in the top wall of the steel beam insertion hole, a limiting slide is slidably installed in a vertical direction in the mounting hole, the limiting pressure plate is hingedly connected to the bottom of the limiting slide, a vertical second limiting screw is rotatably installed in the mounting hole, and the second limiting screw is threadedly connected to the limiting slide. A horizontal rotating rod is rotatably installed on the column, one end of the rotating rod extends into the mounting hole and is connected to the second limit screw through a bevel gear; a limit block is hinged on one side of the column and contacts with its bottom, and a limit fixing assembly is installed on the other side for limiting the position between the column and the limit block; a tilt sensor is fixedly installed in the mounting groove at the top position of the base, and a vertical rotating shaft is rotatably installed at the bottom position; the rotating shaft is connected to a rotary drive motor fixed in the base, and a sealing ring plate is integrally formed with the outer wall of the rotating shaft, and a counterweight slide rail is fixedly installed at the bottom of the rotating shaft, and a sliding bracket is slidably installed at the bottom of the counterweight slide rail in a horizontal direction, and a slider driving assembly acting on the sliding bracket is installed on the counterweight slide rail, and a counterweight connecting piece is fixedly installed on the bottom of the sliding bracket, and a balancing counterweight assembly is installed on the counterweight connecting piece.

[0010] The present invention provides a detachable steel structure hoisting center of gravity adjustment device. Compared with the existing technology, it has the following advantages:

[0011] 1. To address the problem that traditional hoisting methods require workers to accurately measure the installation position of the hanging frame to prevent the center of gravity of the steel beam from shifting, which consumes a lot of manpower and time, the present invention uses a bidirectional screw drive motor, a bidirectional threaded rod, and a sliding seat to cooperate with each other to achieve rapid and precise docking of the hanging frame and the steel beam. When installing the hanging frame / hoisting frame, there is no need for manual repeated measurement and adjustment. The bidirectional screw drive motor is controlled by the control system, so that the sliding seat drives the positioning block to accurately move to the position of the locking hole of the column, quickly completing the fixation. Different from the complicated and tedious measurement and positioning process in the prior art, the installation and positioning device of the present invention can effectively shorten the preparation time before hoisting, reduce the workload of workers, thereby improving the overall hoisting efficiency and accelerating the construction progress of the steel structure factory building;

[0012] 2. In order to solve the problem that the steel beam is easy to be swung during the hoisting process in the existing hoisting operation, which leads to the difficulty of docking with the steel column, the present invention proposes a method of cooperating with the limit fixing assembly and the steel beam limit assembly, in which the limit block and the first limit screw cooperate with each other in the limit fixing assembly, which can firmly fix the column and the limit block, and prevent the column from shifting during the hoisting process. At the same time, the limit slide and the limit pressure plate in the steel beam limit assembly can accurately limit the steel beam, ensuring the position accuracy of the steel beam during the hoisting process. Different from the simple fixing method of the existing hanging frame, the present invention uses the synergistic effect of multiple groups of limit structures to fully limit the movement freedom of the steel beam, effectively avoid the shaking and deviation of the steel beam during the hoisting process, ensure the precise docking between the steel beam and the steel column, improve the stability and accuracy of the hoisting operation, and reduce rework and time waste caused by the deviation of the steel beam;

[0013] 3. In order to solve the problem that the center of gravity offset during the existing steel beam lifting process may easily cause the steel beam to tilt and fall off, posing a serious safety hazard, the present invention forms a balance adjustment system by arranging a tilt sensor, a rotary drive motor, a rotating shaft, a counterweight slide rail and a counterweight component and other structural components on the base. When the center of gravity of the steel beam shifts, the tilt sensor transmits a signal to the control system. The system accurately controls the operation of the rotary drive motor according to the degree of offset, drives the rotating shaft to rotate, and at the same time drives the counterweight component to move along the counterweight slide rail in the direction away from the center of gravity offset of the steel beam, and uses the weight of the counterweight block to generate a reverse torque to balance the tilt of the steel beam. Different from the disadvantage of the existing technology that only relies on a fixed lifting frame and is prone to accidents due to position deviation, the present invention can effectively avoid the risk of tilting and falling of the steel beam during lifting, ensure operational safety, and reduce the probability of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 Shows a schematic diagram of the three-dimensional structure of the present invention;

[0016] Figure 2 Shows a schematic diagram of the installation structure of the present invention;

[0017] Figure 3 A schematic diagram of the installation structure of the rotary drive motor of the present invention is shown;

[0018] Figure 4 A schematic diagram of the installation structure of the locking fixture of the present invention is shown;

[0019] Figure 5 A schematic diagram of the installation structure of the hoisting frame of the present invention is shown;

[0020] Figure 6 The present invention shows Figure 5 Enlarged view of point A in the middle;

[0021] Figure 7 A schematic diagram of the installation structure of the position limiting and fixing assembly of the present invention is shown;

[0022] Figure 8 A schematic diagram of the installation structure of the balancing weight assembly of the present invention is shown;

[0023] Figure 9 A schematic diagram of the installation structure of the mobile assembly of the present invention is shown;

[0024] Figure 1: 1. Base; 11. Mounting slot; 12. Tilt sensor; 13. Shaft hole; 14. Shaft; 15. Rotary drive motor; 16. Sealing ring plate; 2. Column fixing assembly; 21. Sliding seat; 22. Pressing block; 23. Positioning block; 231. Receiving slot; 24. Bidirectional threaded rod; 25. Bidirectional screw drive motor; 3. Lifting frame; 31. Column; 311. Column locking hole; 312. Steel beam socket; 313. Mounting hole; 32. Crossbeam; 33. Hook connecting plate; 34. Hook hole; 35. Limit block; 36. Limit fixing assembly; 361. Fixing plate; 362. First limit screw; 363. , limit nut; 37, steel beam limit assembly; 371, limit slide; 372, limit pressure plate; 373, second limit screw; 374, rotating rod; 375, bevel gear; 4, steel beam; 5, counterweight slide rail; 51, sliding bracket; 52, slider drive assembly; 521, mounting screw; 522, slider drive motor; 53, counterweight connector; 6, balancing counterweight assembly; 7, positioning fixing part; 71, elastic telescopic rod; 72, positioning block; 8, moving assembly; 81, fixed bracket; 82, guide pole; 83, fixed block; 84, height adjustment assembly; 841, lifting screw; 842, worm gear; 843, worm. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0026] As an embodiment of the present invention, in order to solve the technical problems in the background technology, the following detachable steel structure hoisting center of gravity adjustment device is provided:

[0027] Combine Figures 1-9As shown, the detachable steel structure hoisting gravity center adjustment device provided by the present invention includes a base 1, a column fixing assembly 2 is installed on the base 1, and a hoisting frame 3 for hoisting a steel beam 4 is detachably connected to the base 1 through the column fixing assembly 2. The hoisting frame 3 includes symmetrically arranged columns 31 and a crossbeam 32 fixedly installed at the top position of two columns 31 close to each other on one side. A hook connecting plate 33 is integrally formed on the top of the crossbeam 32, and the hook connecting plate 33 is opened. A hook hole 34 is provided, and a steel beam socket 312 is provided at the bottom of the column 31. A limit block 35 that can contact its bottom is hinged on one side of the column 31, and a limit fixing component 36 connected to the limit block 35 is installed on the other side of the column 31, which is used to limit the position between the column 31 and the limit block 35. The steel beam 4 can be inserted into the steel beam socket 312, and a steel beam limiting component 37 for limiting the steel beam 4 is installed on the column 31 and located in the steel beam socket 312.

[0028] In one embodiment of the present invention, a mounting groove 11 is provided in the middle position of the top of the base 1, a tilt sensor 12 is fixedly installed on the base 1 and in the mounting groove 11, a rotating shaft hole 13 is provided on the base 1, a vertical rotating shaft 14 is rotatably installed in the middle position of the bottom of the base 1, the top of the rotating shaft 14 extends into the rotating shaft hole 13, a rotating drive motor 15 for driving the rotating shaft 14 to rotate is fixedly installed on the base 1 and in the rotating shaft hole 13, the outer side wall of the rotating shaft 14 is integrally formed with a sealing ring plate 16 that fits with the inner bottom wall of the rotating shaft hole 13, and a rotating shaft hole 13 is symmetrically fixed on both sides of the sealing ring plate 16. A battery is used to power the center of gravity adjustment structure. A counterweight slide rail 5 is fixedly installed at the bottom of the rotating shaft 14. A sliding bracket 51 is installed at the bottom of the counterweight slide rail 5 in a horizontal sliding direction. A slider drive assembly 52 is installed on the counterweight slide rail 5 to act on the sliding bracket 51, which is used to make the sliding bracket 51 slide or stop sliding on the counterweight slide rail 5. A counterweight connector 53 is fixedly installed at the bottom of the sliding bracket 51, and a balancing counterweight assembly 6 is installed on the counterweight connector 53. Specifically, the tilt sensor 12 is electrically connected to an external control system, and the control system is electrically connected to the rotation drive motor 15 and the slider drive assembly 52.

[0029] In one embodiment of the present invention, when the steel beam 4 is hoisted, the limit between the column 31 and the limit block 35 by the limit fixing component 36 is cancelled, and the steel beam 4 is inserted into the steel beam insertion hole 312 at the bottom of the two columns 31. At this time, the limit between the column 31 and the limit block 35 is limited by the limit fixing component 36, and the steel beam 4 is limited by the steel beam limit component 37, so as to realize the positioning of the steel beam 4. At this time, the hook of the external crane is hung between the hook hole 34 and the hook connecting plate 33. The steel beam 4 is hoisted by an external crane. Through the design of the base 1, the column fixing assembly 2, the tilt sensor 12 and the balance weight assembly 6, when the steel beam 4 is hoisted, the base 1 and the two columns 31 are docked and fixed by the column fixing assembly 2, and the center of gravity adjustment structure is installed. During the hoisting of the steel beam 4, when the center of gravity of the steel beam 4 shifts, the base 1 is tilted by the two columns 31. At this time, the tilt sensor 12 detects the tilt of the base 1 and The measured signal is transmitted to the control system, which controls the rotation drive motor 15 to rotate the rotating shaft 14 on the base 1, and controls the slider drive assembly 52 to make the sliding bracket 51 slide on the counterweight slide rail 5, driving the balancing counterweight assembly 6 to move, so that the balancing counterweight assembly 6 moves to the other side away from the center of gravity offset direction of the steel beam 4, that is, the weight of the counterweight block in the balancing counterweight assembly 6 is used to generate a reverse torque to balance the tilt of the steel beam, thereby achieving the effect of adjusting the center of gravity of the steel beam 4 during hoisting, effectively avoiding the situation where the center of gravity offset of the steel beam 4 during the hoisting operation causes the steel beam 4 to tilt and fall off, causing a safety hazard, thereby improving the hoisting safety. At the same time, there is no need for staff to perform dimensional measurement, reducing the difficulty of hoisting operations and improving hoisting efficiency. Preferably, the tilt sensor 12 adopts a universal tilt sensor, such as the low-cost, low-power three-axis acceleration sensor MMA7361L launched by Freescale Corporation of the United States, which is commonly suitable for industrial automation and other fields. Its accuracy is about ±0.5°.

[0030] In one embodiment of the present invention, the balancing weight assembly 6 includes a shielding shell that is detachably mounted on the bottom of the counterweight connector 53. The top of the shielding shell is open, and a counterweight block is provided in the shielding shell. The weight of the shielding shell is increased by the counterweight block, thereby achieving a counterweight effect on the counterweight connector 53. The detachable design between the shielding shell and the counterweight connector 53 allows the balancing weight assembly 6 to be disassembled. When using this center of gravity adjustment structure, it can be replaced with counterweight blocks of different densities according to the weight of the steel beam 4 to be suitable for steel beams 4 of different weights, thereby improving applicability.

[0031] In one embodiment of the present invention, a mounting unit is symmetrically installed on the top of the shielding shell, and the two sides of the counterweight connector 53 extend to the two sides of the counterweight slide rail 5 respectively, and the two sides of the counterweight connector 53 extending to the outside of the counterweight slide rail 5 are provided with through-holes in a horizontal linear array. The mounting unit includes fastening bolts fixed to the top of the shielding shell in a horizontal linear array. The fastening bolts correspond to the through-holes one by one and can movably pass through multiple through-holes. A fastening positioning plate is movably sleeved on the outside of the fastening bolts and above the counterweight connector 53. A fastening nut is threadedly sleeved on the outside of the fastening bolts and above the fastening positioning plate. When in use, when installing the shielding shell and the counterweight connector 53, the multiple fastening bolts on the top of the shielding shell are respectively passed through the multiple through-holes on the counterweight connector 53, and the fastening positioning plates are sleeved on the outside of the multiple fastening bolts located on the same side of the counterweight slide rail 5, and then the fastening nuts are respectively threadedly installed on the outside of the multiple fastening bolts, so that the multiple fastening nuts all form a conflict with the top of the fastening positioning plate, thereby fixing the shielding shell and the counterweight connector 53, which is convenient for installation.

[0032] In one embodiment of the present invention, the slider drive assembly 52 includes a mounting screw 521 that is horizontally and rotatably mounted on the counterweight slide rail 5. The mounting screw 521 is threadedly connected to the sliding bracket 51. A slider drive motor 522 is fixedly mounted on the counterweight slide rail 5 for driving the mounting screw 521 to rotate. The slider drive motor 522 is electrically connected to the control system. When in use, the slider drive motor 522 is controlled to work, which can drive the mounting screw 521 to rotate on the counterweight slide rail 5, thereby driving the sliding bracket 51 to slide on the counterweight slide rail 5.

[0033] Based on the above technical concept, it is understood that in order to achieve real-time detection, accurate calculation and automatic adjustment of the center of gravity offset during steel beam lifting, effectively avoid the risk of steel beam tilting and falling, and improve the safety and stability of the lifting operation, the following control steps are preferably used in specific implementation:

[0034] S1. Collect the base tilt angle for angle calculation:

[0035] S1-1, the preset tilt sensor 12 continuously collects the acceleration components (a) of the base 1 in two orthogonal directions at a frequency of 10 Hz. x ,a y ), which components correspond to the lateral and longitudinal accelerations in the base plane, respectively.

[0036] S1-2. Calculate the tilt angle θ of the base using the collected (dual-axis) acceleration components using the formula:

[0037]

[0038] Where g is the gravitational acceleration constant. It can be understood that the principle of orthogonal decomposition of gravitational acceleration in this example can more accurately reflect the tilt state of the base in a two-dimensional plane. The dual axes are two mutually perpendicular axial directions. In tilt angle detection, the dual-axis acceleration components usually refer to the acceleration components of the base in two orthogonal directions.

[0039] S2. After calculating the tilt angle θ, the data is preliminarily processed using a recursive filtering method to reduce the impact of noise interference on the measurement results and improve the accuracy of angle measurement. The recursive filtering method preferably uses a Kalman filter algorithm to filter the calculated tilt angle θ to reduce noise interference.

[0040] S3. Perform center of gravity adjustment:

[0041] S3-1. Determine the tilt state of the base: pre-set the maximum allowable tilt angle θ of the base in the control system. max , such as according to the length and weight of the steel beam and the specific conditions of the lifting site, θ max Set it to 5°, and compare the real-time calculated tilt angle θ with the preset θ max Compare, if |θ|>θ max , it is determined that the center of gravity of the steel beam is offset, and step S3-2 is executed to trigger the center of gravity adjustment. Otherwise, the real-time monitoring of the tilt state of the base is maintained.

[0042] S3-2. Determine the angle Δθ by which the base needs to rotate based on the current base tilt angle θ. base , so that it returns to a horizontal state, it can be understood that Δθ base The value is equal to the current tilt angle θ, but in the opposite direction.

[0043] S3-3. Control the rotation drive motor 15 to drive the shaft 14 to rotate through the reducer. During the rotation process, the encoder is used to monitor the rotation angle of the shaft 14 in real time, and the angle is fed back to the control system to ensure that the base can be accurately returned to the horizontal position.

[0044] S3-4. Control the displacement of the balancing weight assembly to adjust the center of gravity of the steel beam:

[0045] First, according to the target displacement Δx (calculated based on the proportional relationship between displacement and tilt angle) and the maximum movement time t allowed by the system move (Unit: s), calculate the required speed n of the slider drive motor 522 motor :

[0046]

[0047] Where p is the pitch of the mounting screw 521 (unit: m / revolution). Based on the screw transmission principle, the motor speed can be accurately calculated to ensure that the sliding bracket 51 can complete the target displacement within the specified time.

[0048] Secondly, perform the direction synchronization operation to ensure that the direction of the slider drive motor is consistent with the counterweight movement direction determined in the above counterweight displacement calculation step. If the counterweight needs to move to the right, the motor rotates forward. Conversely, if the counterweight needs to move to the left, the motor rotates reversely.

[0049] Finally, the slider drive motor is controlled to operate according to the calculated speed and direction, driving the sliding bracket to move along the counterweight slide rail, thereby driving the balance counterweight assembly to achieve displacement and adjust the center of gravity of the steel beam. That is, the operation of the slider drive motor drives the installation screw to rotate. Since the installation screw is threadedly connected to the sliding bracket, the rotation of the screw is converted into linear motion of the sliding bracket along the counterweight slide rail, realizing the displacement of the counterweight block, and then adjusting the center of gravity of the steel beam.

[0050] To ensure the safety and reliability of the system, it is necessary to continue with the following S4 step to implement closed-loop fault-tolerant feedback control and ensure that all components of the system are in good working condition. The specific operation process is as follows:

[0051] First, during the movement of the sliding bracket, the tilt sensor continuously monitors the tilt angle θ of the base in real time, and the encoder continuously monitors the rotation angle θ of the shaft. encoder , the displacement of the sliding bracket is monitored by the slider driving motor encoder to jointly constitute the feedback information of the control system;

[0052] Secondly, the control system is based on the feedback of the tilt angle θ and the shaft rotation angle θ encoder , at the set time t out Dynamically adjust the operating status of the rotary drive motor and the slider drive motor:

[0053] When |θ|<θ fine When θ fine To fine-tune the threshold, the control switches the rotation drive motor and the slider drive motor to low-speed operation mode, and makes fine adjustments to improve the adjustment accuracy. At the same time, the shaft rotation angle θ is monitored. encoder To ensure that the adjustment of the rotary drive motor is consistent with the actual return angle of the base to avoid over-adjustment or under-adjustment;

[0054] When |θ|<θ balance And θ encoder When it is close to the set balance angle (theoretically close to zero), θ balance is the balance state threshold, which determines that the center of gravity adjustment has reached the balance state, controls the rotation drive motor and the slider drive motor to stop running, and completes this center of gravity adjustment.

[0055] Based on the above technical concept, if the time t is set out The tilt angle of the inner base fails to converge to the equilibrium state, or θ encoder If the change of does not conform to the expected return trajectory, the abnormal shutdown mechanism is triggered. At this time, the control system stops all motors and sends a fault alarm signal to the operator to avoid accidents caused by system failure. At the same time, in the subsequent center of gravity adjustment cycle after the system restarts, multiple checks are performed on the changing trend of the tilt angle θ and the direction and distance of the counterweight movement to complete the self-check of the entire control system.

[0056] In one embodiment of the present invention, LSTM network prediction is used to perform multiple checks and fault condition judgment. The specific process is as follows:

[0057] First, in the fault-tolerant control processing stage, the characteristic data related to the trajectory of the center of gravity of the steel beam at the current time t is extracted, including at least the inclination angle θ(t) of the base, the angular velocity of the base obtained by calculating the time derivative of the inclination angle θ(t), and the angular velocity of the base. The actual displacement S(t) of the sliding bracket (calculated based on the pulse signal of the slider drive motor and the pitch of the mounting screw) and the actual output torque τ(t) of the rotating drive motor shaft (obtained from the motor driver feedback) constitute the input feature vector

[0058] Since the neural network is sensitive to the scale of the input data, it is necessary to normalize the extracted feature data, such as mapping the tilt angle data to the [-1,1] interval. Where θ max ,θ min are the historical maximum and minimum values of the tilt angle, respectively. At the same time, other feature data are normalized using a similar method, which can accelerate the training process of the LSTM network and improve the training stability. The normalized data is constructed into a time series sample, where for each time step t, the data of the previous n time steps are selected as the input sequence data to predict the center of gravity trajectory of the next m time steps. For example, the data x of the past 10 time steps (corresponding to 0.1 seconds, assuming the sampling frequency is 100Hz) are selected. t-9 ,x t-8 ,…,x t As input, predict the center of gravity trajectory ΔG for the next 3 seconds (corresponding to 300 time steps, assuming a sampling frequency of 100Hz) (t+1) ,ΔG (t+2) ,…,ΔG (t+300) ,This way of constructing sequence data enables the LSTM network to capture the temporal ,dependencies in the data;

[0059] Secondly, construct an LSTM neural network consisting of an input layer, one or more LSTM layers, and an output layer. Use the constructed sequence data to train the LSTM neural network and define a loss function using mean square error to measure the difference between the network's predicted value and the actual value. Update the network's weight parameters through the backpropagation algorithm and optimizer (such as the Adam optimizer) to minimize the loss function. During the training process, continuously iteratively adjust the network parameters until the loss function converges to a satisfactory level or reaches a preset number of training rounds. For example, set the number of training rounds to 100, using 1000 sequence samples for training each round, and observe the loss on the validation set every certain number of rounds to prevent overfitting.

[0060] Again, during the fault-tolerant control process, the latest input feature vector is collected in real time The input feature vector is then subjected to the same data preprocessing steps as during training to obtain a format suitable for input into the LSTM network. The preprocessed input feature vector sequence (such as the data sequence at the current moment and the previous n-1 moments) is input into the trained LSTM network, and the center of gravity trajectory prediction value ΔG(t+T) within a future period of time (such as T = 3 seconds) is calculated and output. It can be understood that ΔG(t+3) represents the displacement of the center of gravity of the steel beam within the next 3 seconds, including the center of gravity displacement prediction values at multiple time points (for example, at certain time intervals). These displacement values reflect the changing trend of the center of gravity in both the longitudinal and transverse directions. If the prediction shows that the center of gravity of the steel beam will continue to shift, the system can accelerate the slider drive motor in advance to quickly move the counterweight block to the appropriate position to suppress the shift. For the rotary drive motor, the system optimizes the adjustment strategy based on the prediction to ensure that the base is stable and quickly returns to the center, and at the same time triggers the adjustment mechanism in advance: ΔG(t+3) is combined with the current tilt angle θ for analysis. If it is predicted that the center of gravity of the steel beam will continue to shift, the center of gravity adjustment mechanism may be triggered. Even if the current θ does not exceed the maximum allowable value θmax, if the center of gravity of the steel beam is predicted to shift significantly, the adjustment is started in advance to avoid excessive shift of the center of gravity of the steel beam;

[0061] Finally, the entire control system is self-checked and judged: First, the future tilt angle change trend predicted by the LSTM neural network is compared with the actually monitored θ: the difference between the predicted tilt angle value and the actual value is compared, and whether the change direction of the two is consistent. If the actual θ continues to increase, and the prediction result shows that it should decrease, or the actual θ change rate is faster than the prediction and exceeds a certain threshold range, it is considered abnormal; secondly, the counterweight movement direction and distance are predicted and compared: the center of gravity trajectory predicted by the LSTM neural network is used to infer the expected counterweight movement direction and distance (that is, the change in the sliding bracket displacement s), and compared with the actually monitored S(t). If the actual counterweight movement direction is opposite to the predicted direction, or the deviation between the actual displacement and the predicted displacement exceeds the set threshold, it is considered abnormal; when it is considered abnormal, the operation of the rotary drive motor and the slider drive motor is stopped immediately to prevent the fault from further expanding, and the self-check of the entire control system is completed to ensure that all components of the system are in good working condition.

[0062] In one embodiment of the present invention, the column fixing assembly 2 includes a sliding seat 21, a clamping block 22, a blocking block 23, a bidirectional threaded rod 24 and a bidirectional screw drive motor 25. The sliding seat 21 is symmetrically and slidably installed on the top of the base 1. The top of the sliding seat 21 is fixedly installed with a clamping block 22 that fits in with the top of the base 1. The two clamping blocks 22 are fixedly installed with a blocking block 23 on the side away from each other. A column clamping hole 311 is provided on the column 31 and below the crossbeam 32. The two blocking blocks 23 can respectively pass through the two column clamping holes 311 and be clamped with the column 31. A horizontal bidirectional threaded rod 24 is rotatably installed on the base 1. The bidirectional threaded rod 24 is threadedly connected to the two sliding seats 21. A bidirectional screw drive for driving the bidirectional threaded rod 24 to rotate is fixedly installed on the base 1. When the motor 25 is in use, when the base 1 and the lifting frame 3 are docked and fixed through the column fixing assembly 2, the base 1 is located between the opposite sides of the two columns 31, and the two clamping blocks 23 are respectively facing the column clamping holes 311 on the two columns 31, the bidirectional screw drive motor 25 is controlled to start, and the bidirectional threaded rod 24 is driven to rotate on the base 1, so that the two sliding seats 21 slide in opposite directions on the base 1 and move away from each other, thereby driving the two clamping blocks 22 away from each other, so that the two clamping blocks 22 respectively form a conflict with the side wall of the two columns 31 that are close to each other. During this period, the two clamping blocks 23 are respectively inserted into the two column clamping holes 311, and the two clamping blocks 23 are respectively clamped and fixed between the two columns 31, so that the docking and fixing effect between the base 1 and the lifting frame 3 can be achieved, and the operation is easy.

[0063] In one embodiment of the present invention, a locking fixture 7 is installed on the locking block 23. When the locking block 23 passes through the column locking hole 311, the locking fixture 7 is used to lock the locking block 23 and the column 31. Through the design of the locking fixture 7, the locking effect of the locking block 23 and the column 31 is achieved, further increasing the connection stability between the locking block 23 and the column 31.

[0064] When the locking cam 72 is in the closed position, the locking cam 73 is in the closed position, and the locking cam 73 is in the closed position, so that the locking cam 73 is in the closed position, and the locking cam 73 is in the closed position, so that the locking cam 73 is in the closed position, and the locking cam 73 is in the closed position, so that the locking cam 73 is in the closed position, and the locking cam 73 is in the closed position, so that the locking cam 73 is in the closed position, When the locking cam 72 is in the closed position, the locking cam 72 is in the closed position, and the two locking cams 72 are in the closed position, so that the two locking cams 72 can be locked in the closed position.

[0065] In one embodiment of the present invention, a moving assembly 8 is installed at the bottom of the counterweight connecting member 53 and on both sides of the shielding shell, which includes a fixed bracket 81 fixedly installed at the bottom of the counterweight connecting member 53, and a vertical guide rod 82 is symmetrically fixed at the bottom of the fixed bracket 81. The two guide rods 82 are externally slidably installed with a fixed block 83 along the axial direction of the guide rod 82, and the bottom of the fixed block 83 is symmetrically mounted with a wheel body. A height adjustment assembly 84 acting on the fixed block 83 is installed on the fixed bracket 81, which is used to make the fixed block 83 slide or stop sliding along the two guide rods 82. When in use, when the center of gravity adjustment structure is moved, the height adjustment assembly 84 of the two groups of moving assemblies 84 is used to make the fixed block 83 slide downward along the two guide rods 82, driving the two wheels at the bottom of the fixed block 83 to move downward to the bottom of the shielding shell, so that the multiple wheels of the two groups of moving assemblies 8 can be pushed The center of gravity adjustment structure is displaced to facilitate the movement of the center of gravity adjustment structure; when it is necessary to dock the shielding shell and the counterweight connector 53, the height adjustment components 84 of the two groups of moving components 8 are used to make the fixed block 83 slide downward along the two guide vertical rods 82, so that the distance between the bottom of the multiple wheel bodies of the two groups of moving components 8 and the bottom of the counterweight connector 53 is greater than the distance between the bottom of the shielding shell and the top of the fastening bolt. At this time, the center of gravity adjustment structure is pushed to displace so that the multiple through-holes on the counterweight connector 53 are respectively located directly above the multiple fastening bolts on the top of the shielding shell. At this time, the height adjustment components 84 of the two groups of moving components 8 are used to make the fixed block 83 slide upward along the two guide vertical rods 82, so that the counterweight connector 53 can slide downward, so that the multiple through-holes on the counterweight connector 53 are respectively arranged on the outside of the multiple fastening bolts, which is convenient for docking between the shielding shell and the counterweight connector 53.

[0066] In one embodiment of the present invention, the height adjustment assembly 84 includes a lifting screw 841 that is vertically and rotatably mounted on the fixed bracket 81. The lifting screw 841 is threadedly connected to the fixed block 83. A worm gear 842 is coaxially fixed to the lifting screw 841. A worm 843 that meshes with the worm gear 842 is rotatably mounted on the fixed bracket 81. When in use, the worm 843 can be rotated to drive the lifting screw 841 to rotate on the fixed bracket 81 through the worm gear 842, which is simple to operate.

[0067] In one embodiment of the present invention, the steel beam limiting assembly 37 includes a limiting slide 371, a limiting pressure plate 372, a second limiting screw 373, a rotating rod 374 and a bevel gear 375. The inner top wall of the steel beam insertion hole 312 is provided with a mounting hole 313. The limiting slide 371 is slidably installed in the vertical direction in the mounting hole 313. The limiting pressure plate 372 is hinged to the bottom of the limiting slide 371. A second vertical limiting screw 373 is rotatably installed in the mounting hole 313. The second limiting screw 373 is threadedly connected to the limiting slide 371. A horizontal rotating rod 374 is rotatably installed on the column 31. One end of the rotating rod 374 extends into the mounting hole 313 and is connected to the second limiting screw 373 through the bevel gear 375. When in use, the steel beam 4 is inserted and When the locking cam 372 is in the unlocked position, the locking cam 373 is in the unlocked position, and the locking cam 373 is locked, so that the locking cam 373 is locked.

[0068] It should be noted that the limiting fixing assembly 36 includes a fixing plate 361 symmetrically fixedly installed at the bottom position of one side of the column 31, and a first limiting screw 362 is hinged on the limiting block 35, which can extend between the two fixing plates 361, and the external thread of the first limiting screw 362 is provided with a limiting nut 363 that can interfere with the top of the two fixing plates 361. When in use, the limiting block 35 is rotated on the column 31 to fit the bottom of the column 31, and then a force is applied to the first limiting screw 362 to rotate it on the limiting block 35 and insert it between the two fixing plates 361. The limiting nut 363 is tightened so that it interferes with the top of the two fixing plates 361, so that the column 31 and the limiting block 35 can be limited.

[0069] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. The detachable steel structure hoisting center of gravity adjustment device is characterized by: include: base; A column fixing assembly installed on the outer edge of the base; a hoisting frame for hoisting the target steel beam through a detachable connection of the column fixing assembly; and a peripheral control system; A tilt sensor is fixed in the mounting groove at the top of the base, and a vertical rotating shaft is rotatably installed at the bottom. The rotating shaft is connected to the rotary drive motor in the base and is provided with a sealing ring plate on its outer wall. A counterweight slide rail is fixed at the bottom of the rotating shaft, and a sliding bracket is movably installed at the bottom of the counterweight slide rail. A slider drive assembly acting on the sliding bracket is installed on the counterweight slide rail. A balancing counterweight assembly is installed at the bottom of the sliding bracket through a counterweight connector. The slider drive assembly includes a slider drive motor. The control system is electrically connected to the tilt sensor, slider drive motor, and rotation drive motor to monitor and adjust the center of gravity offset during the steel beam lifting process. The specific process is as follows: Tilt monitoring: The tilt sensor continuously collects the acceleration components of the base in the horizontal and vertical directions at a preset frequency to calculate the tilt angle of the base; Threshold judgment: The maximum allowable tilt angle of the base is pre-set in the control system. The tilt angle calculated in real time is compared with the maximum allowable tilt angle. If the tilt angle exceeds the maximum allowable tilt angle, it is determined that the center of gravity of the steel beam has shifted, triggering the center of gravity adjustment mechanism. Otherwise, the tilt state of the base is monitored in real time. The center of gravity adjustment mechanism includes: Base return: According to the current tilt angle of the base, the base needs to rotate to a certain angle, and the rotation drive motor is controlled to drive the shaft to rotate. During the rotation process, the shaft rotation angle is monitored in real time and fed back to the control system to ensure that the base can return to a horizontal position. Counterweight adjustment: Calculate the required speed of the slider drive motor based on the preset target displacement and the maximum movement time allowed by the system; perform direction synchronization to ensure that the direction of the slider drive motor is consistent with the determined counterweight movement direction; The control slider drives the motor to run according to the calculated speed and direction, drives the sliding bracket to move along the counterweight slide rail, drives the balancing counterweight assembly to achieve displacement, and adjusts the center of gravity of the steel beam.

2. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: The slider drive assembly includes a mounting screw that is horizontally and rotatably mounted on the counterweight slide rail. The mounting screw is threadedly connected to the sliding bracket. A slider drive motor is fixedly mounted on the counterweight slide rail for driving the mounting screw to rotate.

3. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: The hoisting frame includes symmetrically arranged columns and beams, the beams are fixedly mounted to the columns, and a hook connecting plate is integrally formed on the top of the beams; A steel beam socket is provided at the bottom of the column, and a steel beam limiting assembly is installed in the steel beam socket, wherein the steel beam limiting assembly comprises a limiting slide, a limiting pressure plate, a second limiting screw, a rotating rod and a bevel gear. A mounting hole is provided in the top wall of the steel beam socket, in which a limiting slide is slidably installed in a vertical direction, a limiting pressure plate is hingedly connected to the bottom of the limiting slide, a second limiting screw in a vertical shape is rotatably installed in the mounting hole, and the second limiting screw is threadedly connected to the limiting slide, a horizontal rotating rod is rotatably installed on the column, one end of the rotating rod extends into the mounting hole and is connected to the second limiting screw through a bevel gear; A limiting block in contact with the bottom of the column is hinged on one side, and a limiting fixing component for limiting the position between the column and the limiting block is installed on the other side.

4. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: After adjusting the center of gravity of the steel beam, fault-tolerant control processing is required. The specific operation process is as follows: First, during the movement of the sliding bracket, the tilt sensor continuously monitors the tilt angle θ of the base in real time, and the encoder continuously monitors the rotation angle θ of the shaft. encoder , the displacement of the sliding bracket is monitored by the slider driving motor encoder to jointly constitute the feedback information of the control system; Secondly, the control system is based on the feedback of the tilt angle θ and the shaft rotation angle θ encoder , at the set time t out Dynamically adjust the operating status of the rotary drive motor and the slider drive motor: When |θ|<θ fine When θ fine To fine-tune the threshold, control the rotary drive motor and the slider drive motor to low-speed operation mode and make fine adjustments to improve the adjustment accuracy while monitoring the shaft rotation angle θ. encoder To ensure that the adjustment of the rotary drive motor is consistent with the actual return angle of the base to avoid over-adjustment or under-adjustment; When |θ|<θ balance And θ encoder When it is close to the set balance angle, θ balance is the balance state threshold, which determines that the center of gravity adjustment has reached the balance state, controls the rotation drive motor and the slider drive motor to stop running, and completes this center of gravity adjustment.

5. The detachable steel structure hoisting center of gravity adjustment device according to claim 4, characterized in that: in, If at the set time t out The tilt angle of the inner base fails to converge to the equilibrium state, or θ encoder If the change of does not conform to the expected return trajectory, the abnormal shutdown mechanism is triggered. At this time, the control system stops all motors and sends a fault alarm signal to the operator to avoid accidents caused by system failure. At the same time, in the subsequent center of gravity adjustment cycle after the system restarts, multiple checks are performed on the changing trend of the tilt angle θ and the direction and distance of the counterweight movement to complete the self-check of the entire control system.

6. The detachable steel structure hoisting center of gravity adjustment device according to claim 5, characterized in that: Use LSTM prediction to perform multiple checks and fault condition judgment. The specific process is as follows: First, in the fault-tolerant control processing stage, the characteristic data related to the trajectory of the center of gravity of the steel beam at the current time t is extracted, including at least the tilt angle θ(t) of the base, the angular velocity of the base The actual displacement S(t) of the sliding bracket and the actual output torque τ(t) of the rotating shaft of the rotary drive motor constitute the input feature vector, and the extracted feature data is normalized; The normalized data is constructed into a time series sample, where for each time step t, the data of the previous n time steps are selected as the input sequence data to predict the center of gravity trajectory of the next m time steps; Secondly, build an LSTM neural network consisting of an input layer, one or more LSTM layers, and an output layer, and use the constructed sequence data to train the LSTM neural network; Next, the input feature vector is subjected to the same data preprocessing steps as during training to obtain a format suitable for input into the LSTM network; the preprocessed input feature vector sequence is input into the trained LSTM network, and the center of gravity trajectory prediction value for a period of time in the future is calculated and output; Finally, perform self-check on the entire control system: Compare the difference between the predicted tilt angle value and the actual value, and whether the change direction of the two is consistent. If the actual θ continues to increase while the prediction result shows that it should decrease, or the actual θ changes faster than the prediction and exceeds a certain threshold range, it is considered an anomaly; The center of gravity trajectory predicted by the LSTM neural network is used to infer the expected counterweight movement direction and distance, which are then compared with the actual monitored S(t). If the actual counterweight movement direction is opposite to the predicted direction, or the deviation between the actual displacement and the predicted displacement exceeds the set threshold, it is considered an abnormality. When it is considered abnormal, the operation of the rotary drive motor and the slider drive motor is stopped immediately to prevent the fault from further expanding and complete the self-check of the entire control system.

7. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: The balancing counterweight assembly includes a shielding shell that is detachably mounted on the bottom of the counterweight connector, the top of the shielding shell is open, a counterweight block is provided in the shielding shell, an installation unit is symmetrically mounted on the top of the shielding shell, both sides of the counterweight connector extend to both sides of the counterweight slide rail respectively, and a moving assembly is installed on the bottom of the counterweight connector and on both sides of the shielding shell, which includes a fixed bracket fixedly mounted on the bottom of the counterweight connector, a vertical guide pole symmetrically fixed on the bottom of the fixed bracket, a fixed block is slidably mounted on the outside of the two guide poles along the axis direction of the guide pole, a wheel body is symmetrically mounted on the bearing at the bottom of the fixed block, and a height adjustment assembly acting on the fixed block is installed on the fixed bracket, which is used to make the fixed block slide or stop sliding along the two guide poles.

8. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: The column fixing assembly includes a sliding seat, a clamping block, a clamping block, a bidirectional threaded rod and a bidirectional screw drive motor. The sliding seat is symmetrically slidably installed on the top of the base, and a clamping block that fits in with the top of the base is fixedly installed on the top of the sliding seat. The two clamping blocks are fixedly installed on the sides away from each other. A column clamping hole is opened on the column and below the crossbeam. The two clamping blocks can respectively pass through the two column clamping holes and be clamped with the columns. A horizontal bidirectional threaded rod is rotatably installed on the base, and the bidirectional threaded rod is threadedly connected to the two sliding seats. A bidirectional screw drive motor for driving the bidirectional threaded rod to rotate is fixedly installed on the base.

9. The detachable steel structure hoisting center of gravity adjustment device according to claim 8, characterized in that: The locking block is provided with a locking piece, and when the locking block passes through the locking hole of the column, the locking piece is locked with the column through the locking piece. The locking piece includes an elastic telescopic rod and a positioning block, and the locking block passes through a locking hole of the column. Both sides of the locking block are provided with a receiving groove. When the pressing block is in contact with the column, a side wall of the receiving groove close to the pressing block is flush with the outer wall of the column. A horizontal elastic telescopic rod is fixedly installed on the locking block and located in the receiving groove. The end of the elastic telescopic rod is fixedly installed in the receiving groove and a positioning block that can extend to the outside of the locking block is located. The positioning block extends to one end of the outside of the receiving groove and is away from the side of the pressing block and has an arc surface. The height adjustment assembly includes a lifting screw rod that is vertically and rotatably mounted on the fixing bracket, the lifting screw rod is threadedly connected to the fixing block, a worm gear is coaxially fixed to the lifting screw rod, and a worm gear meshing with the worm gear is rotatably mounted on the fixing bracket.

10. The detachable steel structure hoisting center of gravity adjustment device according to claim 1, characterized in that: The limiting fixing assembly includes a fixing plate symmetrically fixedly installed at the bottom position of one side of the column, a first limiting screw that can extend between the two fixing plates is hinged on the limiting block, and the external thread of the first limiting screw is provided with a limiting nut that can interfere with the top of the two fixing plates.

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