Windproof stabilizer for large-span hoisting equipment

Abstract

The windproof stabilizer comprises a tower crane body, a suspension arm damper, an elastic water bag and a control system, the position of the damper is adjusted in the length direction of a suspension arm through an electric sliding rail, the counterweight ratio of the elastic water bag is adjusted through an elastic rocker arm, and the damper and the elastic water bag work cooperatively to restrain wind vibration of the suspension arm so as to prevent wind vibration of the suspension arm. The control system adopts a self-adaptive intelligent algorithm, fuses wind load sensing and suspension arm strain monitoring, analyzes the wind vibration characteristics of the tower crane in real time and actively optimizes a windproof strategy, the system architecture is based on the Internet of Things technology, full-life-cycle intelligent management, part modularization and reliable design of the windproof device are achieved, long-period maintenance-free operation in a complex environment is ensured, and the system has a wide application prospect. The safety and intelligent level of the tower crane can be improved, construction safety is guaranteed, the equipment utilization rate is increased, high-quality development of the building industry is promoted, and a safe and comfortable construction environment is created for front-line workers.

Description

Technical Field

[0001] The invention relates to a windproof stabilizer for large-span hoisting equipment, and in particular to a windproof stabilizer for large-span hoisting equipment applied in the technical field of hoisting equipment. Background Art

[0002] With the continuous development of modern construction projects, large-span and high-rise buildings are increasing, which puts higher requirements on the performance of hoisting equipment used in the construction process. Tower cranes are the most commonly used vertical transportation equipment in construction, and their safe and stable operation has a vital impact on the quality and progress of the project. However, due to their tall structure and long boom span, tower cranes are prone to swing and overturning accidents under severe wind load conditions, which brings huge hidden dangers to construction safety and equipment operation.

[0003] Chinese invention patent CN105293301B discloses a construction engineering machinery that realizes active protection of the tower crane under strong wind conditions by arranging electric telescopic rods, rope stretching devices and counterweight lifting devices on the crane arm and the balance arm. The invention can quickly install and remove the counterweight block when a typhoon comes or other strong wind conditions, and bend the crane arm and the balance arm to reduce the wind-exposed area and keep the center of gravity of the tower stable. However, the invention mainly optimizes the design of the overall stability of the tower crane, and does not take into account the wind-resistant measures for local structures such as the boom. Especially in the case of an extra-long boom, the counterweight device is difficult to effectively suppress the wind vibration response of the boom.

[0004] Chinese invention patent CN106241632B discloses a tower crane with a stable structure. By arranging cables and extension frames on the outside of the tower body, the cables are used to provide additional horizontal tension, thereby increasing the balance moment of the tower crane and improving the overall stability of the tower crane. The invention has good structural versatility and is easy to install and disassemble, and can meet the applicable requirements of tower cranes of different models. However, the invention mainly enhances the anti-overturning ability of the tower crane from the perspective of the force on the tower body, and lacks consideration for the active wind protection and vibration control of the boom structure. Under the stimulation of strong winds or gusts, the dynamic response of the ultra-long boom is likely to exceed the restraint capacity of the cable.

[0005] In summary, the existing wind-proof stabilization technologies for tower cranes mostly focus on passive structural reinforcement and overall counterweight balance, but lack active protection for the core components of the tower cranes, especially the lack of special vibration damping design for the boom structure, making it difficult to adapt to the increasingly harsh construction environment and rising performance requirements. With the continuous emergence of large-span and high-rise buildings, ultra-long boom tower cranes have become the main force in construction, and traditional passive stabilization measures have been unable to guarantee their safe and reliable operation under extreme wind loads. It is urgent to develop an intelligent and active wind-proof and vibration-reduction technology that optimizes the design of the wind-vibration characteristics of the tower crane boom, improves the comprehensive wind-proof performance of the tower crane, reduces its risk of instability, and thus ensures the safe, efficient, and economical operation of construction. Summary of the invention

[0006] In view of the deficiencies of the above-mentioned prior art, the present invention proposes a windproof stabilizer for large-span hoisting equipment, which aims to improve the active wind-proof capability of the boom structure, accurately control the action of the windproof device according to the real-time wind load and boom response, suppress the vibration of the boom, and maintain the stability of the tower crane.

[0007] In order to solve the above problems, the present invention provides a windproof stabilizer for large-span lifting equipment, including a tower crane, a plurality of brackets are fixedly connected in the boom of the tower crane, and the plurality of brackets are fixedly connected to the same slide rail at one end away from the boom of the tower crane, the slide rail is located in the central hollow part of the boom and extends along its length direction, a plurality of dampers are slidably connected to the outer end of the slide rail, a plurality of dampers are fixedly connected to branch pipes, a plurality of branch pipes are fixedly connected to the same main pipe at one end away from the dampers, a water pump system is fixedly connected to one end of the main pipe close to the tower body of the tower crane, the water pump system is electrically connected to a controller, a plurality of wind direction and wind speed sensors are also fixedly connected to the boom of the tower crane, a fiber Bragg grating is fixedly connected in the slide rail, and the wind direction and wind speed sensors and the fiber Bragg grating are both electrically connected to the controller.

[0008] In the above-mentioned wind-proof stabilizer for large-span lifting equipment, accurate perception, real-time analysis, active suppression and online optimization of the wind-vibration characteristics of the tower crane boom can be achieved.

[0009] As a further improvement of the present application, the damper includes three drive wheels distributed in a circular array around the outer end of the slide rail, one drive wheel is located at the bottom end of the slide rail and the other two drive wheels are located at both ends of the slide rail. The outer ends of the three drive wheels are provided with the same sliding bracket, and the drive wheels and the sliding bracket are both made of high-strength, corrosion-resistant materials.

[0010] As a further improvement of the present application, the three driving wheel shafts are rotatably connected to the sliding bracket, the two driving wheel shafts located at both ends of the sliding rail pass through the sliding bracket, and the passing parts are fixedly connected to the motor, which is used to drive the damper to slide along the sliding rail.

[0011] As a further improvement of the present application, the motor is electrically connected to the controller, the motor housing is fixedly connected to the sliding bracket, and a lifting ring is fixedly connected to the bottom end of the sliding bracket, and the lifting ring is used to connect and fix the elastic rocker arm.

[0012] As another improvement of the present application, an elastic rocker arm is fixedly connected to the lifting ring, and counterweight cylinders are fixedly connected to both ends of the elastic rocker arm. A through hole is opened at one end of the counterweight cylinder away from the elastic rocker arm, and the diameter of the through hole is smaller than the diameter of the elastic rocker arm.

[0013] As another improved supplement of the present application, an elastic water bag is provided in the counterweight cylinder, and a connecting pipe connected to the top of the branch pipe is fixedly connected in the elastic rocker arm. The connecting pipe runs through the elastic rocker arm, and the running parts are fixedly connected to the elastic water bag to realize water flow and weight adjustment.

[0014] As another improved supplement of the present application, solenoid valves are fixedly connected to both ends of the connecting pipe, and the solenoid valves are electrically connected to the controller. The branch pipe, the main pipe and the connecting pipe are all porous structures, and the porous structures are respectively provided with liquid inlet holes and reflux holes to achieve precise control of the liquid.

[0015] As another improvement of the present application, a communication module is provided on the controller, and the communication module has line communication and wireless communication functions. The controller can obtain local meteorological information through the meteorological system. The control system adopts fuzzy control and adaptive control algorithms, combined with the wind data and fiber Bragg grating data of the wind direction and wind speed sensors, to automatically adjust the position of the damper and the weight of the elastic rocker arm to ensure the stability of the lifting equipment. The fiber Bragg grating monitoring system monitors the deformation and vibration of the boom in real time, and transmits the data wirelessly to the control system, and performs comprehensive analysis and adjustment in combination with the wind data of the wind direction and wind speed sensors. The controller adjusts the position of the damper and the weight of the elastic rocker arm in real time according to the wind data and the boom deformation data to balance the stability of the tower crane under different wind conditions.

[0016] In summary, this application has the following beneficial effects:

[0017] A working method of a windproof stabilizer for large-span hoisting equipment comprises the following steps:

[0018] S1. The controller monitors wind data and boom deformation data in real time. The wind data is collected by multiple wind speed and direction sensors, and the boom deformation data is collected by fiber Bragg gratings;

[0019] S2, transmitting the wind force data and boom deformation data to a controller;

[0020] S3, obtaining meteorological data through the meteorological system and combining it with real-time wind data for analysis;

[0021] S4, the controller analyzes the data and calculates the optimal position and weight of the damper;

[0022] S5, slide along the slide rail to the optimal position by adjusting the damper;

[0023] S6. Use the water pump system to charge and discharge water into the elastic water bag of the damper through the branch pipe and the main pipe to adjust the weight of the damper;

[0024] S7. Continuously adjust the position and weight of the damper according to real-time monitoring data to ensure the stability of the tower crane under different wind conditions;

[0025] S8. Through the controller self-learning function, the control algorithm is optimized based on historical data to improve the system response speed and stability.

[0026] In summary, this application has the following beneficial effects:

[0027] 1. The boom damper and the slide rail realize stepless adjustment of the damper in the length direction of the boom. The optimal working position of the damper can be quickly adjusted according to the actual wind load conditions, so that its damping force is always in the same direction as the boom vibration speed, thereby maximizing the dissipation of the boom's wind vibration energy. At the same time, the damper and the slide rail are connected by precision bearings, which are flexible in movement, accurate in positioning, and timely in response, which can significantly improve the boom vibration suppression effect.

[0028] 2. The elastic rocker arm and the counterweight cylinder realize the flexible adjustment of the counterweight weight. The water filling and discharge volume of the water bag in the counterweight cylinder can be quickly changed according to the real-time deformation of the boom, so that the counterweight force is always opposite to the deformation trend of the boom, thereby effectively suppressing the low-frequency and large-scale vibration of the boom. At the same time, the nonlinear stiffness characteristics of the elastic rocker arm can provide a gradually increasing restoring force when the boom undergoes a large deformation, preventing the boom from becoming unstable.

[0029] 3. The elastic rocker arm can fully absorb and dissipate the vibration energy of the boom. At the same time, the porous structure design of the pipeline can effectively buffer the pulsation of water flow, avoid the water hammer effect, and ensure the smooth operation of the system. The anti-corrosion material selection and sealing ring design of the pipeline can effectively prevent pipeline leakage and aging, and increase the service life of the system.

[0030] 4. The hierarchical decoupling design of the control system realizes the independent control of the lateral and longitudinal suppression of the boom vibration, and can accurately control the dominant vibration mode of the boom to avoid control blind spots and coupling instability. At the same time, the control system adopts an adaptive intelligent algorithm, which can autonomously learn and optimize the control strategy according to the actual working conditions and historical data of the tower crane, so that the vibration reduction effect of the wind stabilizer is constantly optimized.

[0031] 5. The reasonable selection and optimized layout of sensors realize the accurate perception and real-time monitoring of the wind vibration characteristics of the tower crane, providing a reliable basis for the intelligent decision-making of wind protection strategies. The wind speed sensor adopts the principle of four-probe ultrasonic wind measurement, which can realize three-dimensional detection of wind speed and direction, and adapt to harsh construction environments. The fiber grating strain sensor adopts wavelength division multiplexing technology, which can realize distributed measurement of strain within the full size range of the boom and grasp the overall deformation state of the boom.

[0032] 6. The high integration of software and hardware platforms has built an IoT architecture covering the perception layer, network layer, and application layer, which can realize the remote monitoring, fault diagnosis, intelligent operation and maintenance and other full life cycle management functions of the windproof stabilizer. The local controller adopts an industrial-grade embedded system with high reliability and high execution efficiency. The edge computing gateway adopts a high-performance industrial computer, which can realize fast data processing and real-time strategy optimization on site. The cloud management platform adopts a distributed cluster architecture, which can provide powerful functions such as massive data storage, high-concurrency computing, and intelligent analysis and decision-making. Based on the seamless collaboration of software and hardware, the windproof stabilizer is always in the healthiest and most efficient working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural diagram of the damper of this application;

[0034] Figure 2 A top view of the damper of the present application;

[0035] Figure 3 For this application Figure 2 Middle AA section view;

[0036] Figure 4 A partial exploded view of this application;

[0037] Figure 5 This is the appearance structure diagram of the damper of this application;

[0038] Figure 6 This is the overall structure diagram of this application;

[0039] Figure 7 The usage status of this application Figure 1 ;

[0040] Figure 8 The usage status of this application Figure 2 ;

[0041] Fig. 9 For this application Figure 8 Middle BB section view;

[0042] Fig.10 For this application Fig. 9 Enlarged view of point D in the middle;

[0043] Fig.11 For this application Fig. 9 Middle CC section view;

[0044] Fig.12 The usage status of this application Figure 3 .

[0045] Description of the numbers in the figure:

[0046] 1. Bracket; 2. Slide rail; 3. Damper; 4. Branch pipe; 5. Main pipe; 6. Driving wheel; 7. Sliding bracket; 8. Motor; 9. Lifting ring; 10. Elastic rocker arm; 11. Counterweight cylinder; 12. Elastic water bag; 13. Connecting pipe. DETAILED DESCRIPTION

[0047] Four implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0048] The first implementation method:

[0049] Figure 1-Figure 12 It is shown that this embodiment provides a windproof stabilizer for large-span hoisting equipment, including a tower crane. A plurality of brackets 1 are fixedly connected in the boom of the tower crane, and a plurality of brackets 1 are fixedly connected to the same slide rail 2 at one end away from the boom of the tower crane. The slide rail 2 is located in the central hollow part of the boom and extends along its length. Specifically, the bracket 1 is welded with steel and has a triangular structure. A reinforcing rib is provided at the connection with the boom to improve the connection strength and stability. The number of brackets 1 is set according to the length of the boom and the stress conditions, and is generally not less than 3. In this embodiment, it is set to 5.

[0050] The slide rail 2 is made of high-strength, corrosion-resistant stainless steel, and has a T-shaped cross section with grooves on both sides for cooperating with the driving wheel 6 of the damper 3. The slide rail 2 is fixed to the bracket 1 by bolt connection, and the horizontality of the slide rail 2 is adjusted by adjusting the tightness of the bolts.

[0051] The outer end of the slide rail 2 is slidably connected to a plurality of dampers 3, each of which is fixedly connected to a branch pipe 4, and the ends of the plurality of branch pipes 4 away from the dampers 3 are fixedly connected to the same main pipe 5. The number of dampers 3 is the same as the number of brackets 1 and is equidistantly distributed. Each damper 3 is connected to the main pipe 5 through a branch pipe 4 to form a parallel hydraulic system.

[0052] The damper 3 includes three driving wheels 6 arranged in a circular array around the outer end of the slide rail 2, one of which is located at the bottom of the slide rail 2, and the other two are located on both sides of the slide rail 2. The outer ends of the three driving wheels 6 are provided with a same sliding bracket 7, and the driving wheels 6 and the sliding bracket 7 are both made of high-strength, corrosion-resistant materials, preferably stainless steel or aluminum alloy. The driving wheel 6 adopts a double-row angular contact ball bearing structure, the inner ring is fixed to the rotating shaft, and the outer ring is fixed to the sliding bracket 7, which can realize seamless cooperation and flexible rotation of the driving wheel 6 and the slide rail 2.

[0053] Furthermore, the rotating shafts of the three driving wheels 6 are all rotatably connected to the sliding bracket 7. The rotating shafts of the two driving wheels 6 at both ends of the slide rail 2 penetrate the sliding bracket 7, and the penetrating parts are fixedly connected with motors 8. The motor 8 is used to drive the damper 3 to slide along the slide rail 2, and a stepper motor or a servo motor can be selected according to the actual force requirements. The model and parameters of the motor 8 are determined according to the weight and movement speed requirements of the damper 3. The motor 8 is connected to the rotating shaft of the driving wheel 6 through a coupling and fixed by a key connection.

[0054] The motor 8 is electrically connected to the controller, and adopts a closed-loop control method with encoder feedback to achieve accurate control of the position and speed of the damper 3. The controller is provided with a position control unit and a speed control unit, which are used to control the target position and movement speed of the damper 3 respectively.

[0055] The motor 8 housing is fixedly connected to the sliding bracket 7 by bolts, which is convenient for disassembly and replacement. A lifting ring 9 is fixedly connected to the bottom end of the sliding bracket 7, and the lifting ring 9 is used to connect and fix the elastic rocker arm 10. The lifting ring 9 is made of high-strength alloy steel, and is vertically fixed to the elastic rocker arm 10, and can rotate freely within 360° in the horizontal plane. A bearing is provided at the connection between the lifting ring 9 and the elastic rocker arm 10, and a sealing ring is installed to prevent water and impurities from entering.

[0056] In this embodiment, a plurality of wind direction and wind speed sensors are fixedly connected to the tower crane boom, which are respectively used to detect the wind direction and wind speed data of the environment in which the tower crane is located. The wind direction and wind speed sensors are ultrasonic, which can meet the needs of real-time detection. The wind direction and wind speed sensors are electrically connected to the controller through a bus, and the collected data is transmitted to the controller in real time for analysis and processing.

[0057] In addition, a fiber grating sensor is fixedly connected to the slide rail 2 to monitor the deformation and vibration of the boom. It can cover the entire length range of the boom. The sensor converts the collected optical signal into an electrical signal and transmits it to the controller through a wireless communication module. The controller is equipped with a special signal demodulation unit that can restore the received electrical signal to deformation and vibration data, providing a basis for subsequent stable control.

[0058] When working, the controller predicts the wind load that the tower crane may be subjected to based on the data collected by the wind direction and speed sensors and the weather forecast information provided by the meteorological system. At the same time, the controller receives and analyzes the arm deformation data fed back by the fiber grating sensor in real time to evaluate the force state and deformation trend of the arm.

[0059] When the wind load or boom deformation exceeds the preset safety threshold, the controller immediately starts the damper 3 for active compensation. The controller outputs control instructions through the position control unit, and the drive motor 8 drives the damper 3 to slide along the slide rail 2 to the optimal compensation position. At the same time, the speed control unit adjusts the speed of the motor 8 to match the movement speed of the damper 3 with the boom deformation rate to avoid overshoot or instability.

[0060] As the damper 3 moves, the water in the elastic water bag 12 will flow along with it. In this process, the porous structure of the main pipe 5 and the branch pipe 4 can adjust the speed and flow of the water flow to avoid the water hammer effect. The change of the counterweight weight will be transmitted to the boom through the elastic rocker arm 10, forming a reverse compensation force for the wind load. Under the combined action of the movement of the damper 3 and the elastic water bag 12, the swing and deformation of the tower crane can be controlled within a safe range.

[0061] It should be noted that the controller uses a combination of fuzzy control and adaptive control to automatically adjust the control strategy and parameter thresholds according to the actual working conditions and environmental factors of the tower crane. The system has a self-learning function and can continuously optimize the control model by accumulating historical data to improve control accuracy and response speed.

[0062] The above is a detailed description of the windproof stabilizer for large-span hoisting equipment of this embodiment. The stabilizer has a simple structure, low cost, and a wide range of applications, and can significantly improve the windproof performance and operation safety of tower cranes.

[0063] The second implementation method:

[0064] Figure 1-Figure 12 It is shown that, based on the first embodiment, an elastic rocker arm 10 is fixedly connected to the lifting ring 9, and a counterweight cylinder 11 is fixedly connected to both ends of the elastic rocker arm 10. The elastic rocker arm 10 is made of a highly elastic material, preferably an elastic steel wire rope with an elastic modulus of not less than 200GPa. The length of the elastic rocker arm 10 is determined according to the span of the boom and the weight of the counterweight, and is generally 5 to 20m. The two ends of the elastic rocker arm 10 are fixed to the counterweight cylinder 11 by threaded connection, and an anti-loosening device is provided at the connection to prevent loosening in a vibrating environment.

[0065] The counterweight cylinder 11 is provided with a through hole at one end away from the elastic rocker arm 10, and the diameter of the through hole is smaller than the diameter of the elastic rocker arm 10, so as to ensure that the elastic water bag 12 in the counterweight cylinder 11 will not fall off. Specifically, the counterweight cylinder 11 is made of carbon fiber composite material, and has a cylindrical shape, and its length is equivalent to the diameter of the elastic rocker arm 10. The inner wall of the counterweight cylinder 11 is coated with a layer of lightweight heat-insulating material to delay the influence of temperature changes on the sealing performance of the elastic water bag 12. The inner wall of the through hole is coated with a layer of anti-corrosion material, and is equipped with a piston-type sealing ring, which fits tightly with the outer wall of the elastic rocker arm 10, and can maintain the airtightness of the counterweight cylinder 11 when the elastic rocker arm 10 rotates and retracts.

[0066] Furthermore, a plurality of elastic water bags 12 are provided in the counterweight cylinder 11. The elastic water bags 12 are in a ring shape and can be mounted on the elastic rocker arm 10. The elastic water bags 12 are made of high-strength TPU film material, and the surface is coated with a nano-waterproof coating, so that they are not easily damaged when repeatedly filled and discharged with water. A certain gap is reserved between the elastic water bag 12 and the inner wall of the counterweight cylinder 11 to facilitate the deformation of the elastic water bag 12.

[0067] In this embodiment, six elastic water bags 12 are arranged in the counterweight cylinder 11, and a certain amount of water is filled in the elastic water bags 12 to be used as counterweights. The size of the elastic water bags 12 is determined according to the inner diameter and length of the counterweight cylinder 11, and a small amount of inert gas is also injected into the elastic water bags 12 to maintain a certain internal pressure and prevent them from breaking easily.

[0068] A connecting pipe 13 connected to the top of the branch pipe 4 is fixedly connected inside the elastic rocker arm 10. The connecting pipe 13 passes through the elastic rocker arm 10, and the passing part is fixedly connected to the elastic water bag 12 to achieve directional flow of water. Specifically, the connecting pipe 13 is made of stainless steel seamless pipe. The connecting pipe 13 and the elastic water bag 12 are connected in a flexible manner, and can be deformed with the elastic water bag 12 when the water is filled or discharged, and the water pumping efficiency is improved by vacuum assistance.

[0069] The connecting pipe 13 is provided with a flow control valve for adjusting the flow and speed of suction and drainage of each elastic water bag 12. The connecting pipe 13 is connected to the branch pipe 4 by a flange, which has good sealing performance and is easy to disassemble and assemble. The connecting pipe 13 and the elastic rocker arm 10 are fixed by a clamp, which can keep the position of the connecting pipe 13 stable when the elastic rocker arm 10 is deformed.

[0070] Both ends of the connecting pipe 13 are fixedly connected with a solenoid valve, which is electrically connected to the controller and is used to control the water inlet or outlet of each counterweight cylinder 11. The rated pressure of the solenoid valve is not less than 1.0 MPa, and the closing time is not more than 1s to meet the demand for rapid water filling and discharge.

[0071] The branch pipe 4, the main pipe 5 and the connecting pipe 13 are all porous structures, and the porous structures are respectively provided with liquid inlet holes and reflux holes to achieve directional control and smooth transition of water flow. The aperture of the porous structure is determined according to the pipeline diameter and flow rate requirements, generally 1 to 5 mm. The liquid inlet holes and reflux holes are staggered, with a number ratio of 1:1, and are arranged in a regular hexagonal array with an angle of 60°. The inner wall of the hole is polished to reduce fluid resistance.

[0072] When the windproof stabilizer of this embodiment is working, the controller determines the required counterweight weight of each counterweight cylinder 11 according to the wind force and the arm deformation data. Then, the controller sends control instructions to each solenoid valve in a certain time sequence to open or close it according to the set flow rate.

[0073] When the weight cylinder 11 needs to be increased in weight, the solenoid valve is opened, and the water pump pumps water through the main pipe 5 and the branch pipe 4 into the connecting pipe 13, and then enters the elastic water bag 12 through the liquid inlet hole. The porous structure can evenly distribute the water flow to each elastic water bag 12, and by adjusting the ratio of the liquid inlet hole to the reflux hole, the water filling rate is controlled to prevent the elastic water bag 12 from being overfilled and ruptured.

[0074] When the weight cylinder 11 needs to be unweighted, the solenoid valve opens, and the water in the elastic water bag 12 enters the connecting pipe 13 through the reflux hole under the action of gravity, and then flows back to the water pump through the branch pipe 4 and the main pipe 5. The reflux process is smooth, and there will be no problem of water hammer effect caused by sudden water release.

[0075] It is worth mentioning that a water pressure balance device and a safety reflux valve are also provided at one end of the main pipe 5 near the tower crane. The water pressure balance device includes an air bag and a pressure sensor. The water pressure in the pipeline is adjusted by the compression and expansion of the air bag, and closed-loop control is implemented according to the feedback signal of the pressure sensor to maintain the pipeline pressure within a safe range. The safety reflux valve is used to quickly release pressure under extreme working conditions and safely drain the water in the pipeline to the ground.

[0076] In summary, the elastic water bag 12 of this embodiment can achieve accurate and continuous counterweight adjustment, and through the design of the elastic water bag 12 and the porous pipeline, the impact and vibration during the filling and discharging of water are effectively reduced, and the stability and reliability of the system are improved. At the same time, the setting of the air pressure balance and safety reflux device further ensures the safe operation of the equipment. The elastic water bag 12 has a reasonable structure and flexible control, and is suitable for tower cranes of different tonnages and spans.

[0077] The third implementation method:

[0078] Figure 1-Figure 12It is shown that this embodiment provides a control system for a windproof stabilizer for large-span hoisting equipment. A communication module is provided on the controller, and the communication module has line communication and wireless communication functions. Line communication adopts the industrial Ethernet protocol, and the transmission rate is not less than 100Mbps, which can realize reliable communication between the controller and each execution unit. Wireless communication adopts 4G or 5G communication technology, which can upload the collected data to the cloud platform in real time and receive remote commands. The communication module has a built-in watchdog circuit and a data encryption unit, which can effectively prevent communication interruption or data leakage.

[0079] The controller can connect to the external meteorological system through the communication module to obtain meteorological information of the area where the tower crane is located, including wind direction, wind speed, temperature, air pressure and other data. The meteorological system uses a MEMS micro-electromechanical sensor array, which is arranged at different heights and directions around the tower crane to achieve three-dimensional and grid-based meteorological monitoring. The meteorological data is updated once a second and processed through a data fusion algorithm to obtain the wind conditions of various parts of the tower crane. The controller compares and verifies the meteorological data with the wind data collected by the local sensor to improve the accuracy of risk warning.

[0080] The controller uses an industrial computer based on ARM architecture, which has high-performance computing and real-time control capabilities. The controller has built-in risk assessment module, motion control module and adaptive decision module, which are used for risk warning, actuator control and control strategy optimization respectively.

[0081] The risk assessment module comprehensively analyzes meteorological data, wind data and boom deformation data, and calculates the dynamic response and instability risk of the tower crane in combination with the structural parameters and current working conditions of the tower crane. This module uses multi-body dynamics modeling methods to accurately analyze the nonlinear response of the tower crane under wind loads, and provides structural stress cloud maps and deformation trend predictions, providing a basis for the formulation of wind protection strategies.

[0082] The control system adopts a control strategy combining fuzzy control and adaptive control. The motion control module takes the wind-vibration fuzzy controller as the core, and outputs the fuzzy control quantity of the displacement of damper 3 and the weight of the counterweight according to the risk assessment results. The input variables of the fuzzy controller are the measured wind force and boom vibration level, and the output variables are the relative displacement of damper 3 and the change of the weight of the counterweight. The fuzzy control rule base is constructed based on expert experience and a large amount of simulation test data, and can be adjusted and optimized online according to the actual wind characteristics of the tower crane.

[0083] At the same time, the motion control module also has a built-in adaptive correction unit, which uses an adaptive neural network algorithm to adaptively correct the output of the fuzzy controller. The correction unit uses the attenuation effect of the tower crane's vibration response as a performance indicator, collects the acceleration and displacement data of the tower crane in real time, and automatically adjusts the correction coefficient of the damper 3 movement and counterweight control, so that the tower crane can achieve the best vibration reduction effect under different wind conditions.

[0084] The adaptive decision module uses a reinforcement learning algorithm to autonomously optimize the structural parameters and control strategy of the controller according to the historical working conditions and control effects of the tower crane. The module regards risk warning, fuzzy control and adaptive correction as a complete decision-making process, takes the overturning instability and structural damage of the tower crane as the learning goal, and finds the optimal controller design parameters and control rule combination through continuous trial and error and experience accumulation. The adaptive decision module performs online tuning of the controller at regular intervals and writes the optimization results into the controller's parameter registers and rule base to achieve adaptive evolution of the control strategy.

[0085] The tower crane boom is also fixed with multiple wind direction and wind speed sensors to collect wind data from all parts of the tower crane in real time and transmit the data to the controller. The wind direction and wind speed sensor adopts the principle of four-probe ultrasonic wind measurement, equipped with heating, dustproof and anti-corrosion functions, and can adapt to harsh construction environments. The sensor has a range of 0-50m / s, a resolution of 0.1m / s, a sampling frequency of 1Hz, and an accuracy better than ±0.5m / s. The sensor is connected to the controller via bus communication, which can realize the synchronous collection and fusion analysis of multi-point wind measurement data.

[0086] A fiber Bragg grating strain sensor array is fixedly connected to the slide rail 2 to monitor the deformation and vibration response of the tower crane arm. The fiber optic sensor uses wavelength division multiplexing technology to integrate multiple sensor units on one optical fiber to achieve large-scale, multi-point distributed measurement. The sensor has a measurement range of ±2000με, a resolution of 1με, and a sampling frequency of 200Hz, which can meet the needs of tower crane dynamic response analysis.

[0087] The optical fiber Bragg grating sensor array and the controller use a hybrid optoelectronic communication method to convert the optical signal collected by the sensor into a digital signal and transmit it to the controller via industrial Ethernet. At the same time, the controller also uploads the sensor data to the cloud platform regularly through the wireless communication module for remote monitoring and big data analysis. The cloud platform uses a distributed computing and storage architecture to summarize and analyze the monitoring data of multiple tower cranes, explore the wind characteristics and instability laws of the tower crane group, and form a regional wind warning system.

[0088] When working, the wind direction and speed sensor and the fiber Bragg grating strain sensor array collect the wind load data and structural response data of the tower crane in real time, and transmit them to the controller through wired or wireless communication. The risk assessment module of the controller analyzes and calculates the collected data to determine the instability risk level of the tower crane. When the risk level exceeds the preset threshold, the motion control module immediately starts the wind protection mode, controls the damper 3 and the elastic water bag 12 to work together, and suppresses the unsafe vibration of the tower crane.

[0089] The motion control process of the damper 3 and the elastic water bag 12 adopts a combination of fuzzy control and adaptive control. The motion displacement and counterweight weight of the damper 3 can be automatically adjusted according to the actual wind conditions of the tower crane boom, and the control effect can be optimized through the adaptive correction unit, so that the tower crane can quickly attenuate the wind vibration response and return to a safe and stable state.

[0090] It should be noted that the controller adopts triple fault tolerance and dual backup design, which can effectively cope with extreme weather and sudden failures. Once the main control unit fails, the backup control unit can complete the switch within 100ms and continue to perform the wind control task. The controller also has a power-off protection function. In the event of a power outage or emergency, it can control the damper 3 and the elastic water bag 12 to automatically reset, so that the tower crane enters a safe locking state.

[0091] In summary, the windproof stabilizer control system provided in this embodiment integrates advanced sensing technology, communication technology and artificial intelligence algorithms, and can realize accurate perception, real-time analysis and active control of the wind vibration characteristics of the tower crane. The system can not only significantly improve the windproof ability of a single tower crane, but also continuously optimize the control strategy through data mining and knowledge accumulation, thereby achieving joint prevention and control of multiple tower crane groups in the region. In addition, the control system also has functions such as remote monitoring, fault diagnosis and predictive maintenance, which can maximize the operation safety and construction efficiency of the tower crane.

[0092] The fourth implementation method:

[0093] Figure 1-Figure 12 It is shown that this embodiment provides a control method for a windproof stabilizer for large-span hoisting equipment, comprising the following steps:

[0094] Step S1, the controller monitors wind data and boom deformation data in real time, the wind data is collected by a plurality of wind speed and direction sensors, and the boom deformation data is collected by a fiber Bragg grating strain sensor array.

[0095] Specifically, wind speed and direction sensors and fiber Bragg grating strain sensors are installed at key locations such as the front, middle and tail of the tower crane boom. The wind speed and direction sensors collect wind data every 1 second, including parameters such as wind speed, wind direction and wind pressure. The fiber optic sensor continuously collects boom strain data at a frequency of 200 Hz and converts the wavelength signal into strain value through a distributed demodulation unit.

[0096] The collected wind force data and strain data are transmitted to the controller in real time via industrial Ethernet. The controller has a built-in signal processing module that can filter, denoise and extract features from the original data to obtain the wind load feature vector and strain response vector of each part of the tower crane. At the same time, the controller also uploads the feature vector data to the cloud platform through the wireless communication module for big data analysis and risk warning.

[0097] Step S2, transmitting the wind force data and boom deformation data to the controller, the controller inputs the wind force characteristic vector and strain response vector into the wind vibration simulation model, and calculates the dynamic response of the tower crane under the current wind load in real time, including physical quantities such as displacement, velocity, acceleration and structural stress.

[0098] The wind-induced vibration simulation model uses the finite element method that takes into account geometric nonlinearity and material nonlinearity, simplifies the tower crane into a three-dimensional beam unit model, and uses the substructure method for dynamic order reduction. The initial parameters of the model are determined based on the design drawings and material properties of the tower crane, and are calibrated using modal test data.

[0099] The simulation model uses the wind eigenvector as input, solves the nonlinear dynamic equation of the tower crane through numerical integration, and obtains the physical response of each node of the tower crane. The calculation process uses an explicit-implicit hybrid integration algorithm, which can improve the calculation efficiency while ensuring numerical stability. The simulation results are compared with the measured strain response vector, and the model parameters are continuously corrected through the data assimilation method to keep the simulation results dynamically consistent with the actual situation.

[0100] Step S3, obtaining meteorological data through the meteorological system, and combining it with the real-time wind data for analysis, the controller compares the dynamic response data of the tower crane with the safety threshold, and automatically determines the risk level of the tower crane.

[0101] The controller has a built-in risk assessment rule library, which includes the safety thresholds of various types of tower cranes at different wind speeds, as well as color indications and sound and light alarms corresponding to different risk levels. When the displacement, acceleration or stress response of the tower crane exceeds the corresponding threshold, the controller automatically updates the risk level of the tower crane and sends warning information to the on-site operators through the communication module.

[0102] When the risk level is low (such as green or yellow warning), the controller evaluates the risk level every 10 minutes and uploads the evaluation results to the cloud platform; when the risk level is high (such as orange or red warning), the controller evaluates the risk level every 1 minute, uploads the evaluation results to the cloud platform in real time, and triggers the alarm device to issue an on-site alarm.

[0103] Step S4, the controller analyzes the data, calculates the optimal position and weight of the damper 3. When the risk level exceeds the allowable range, the controller immediately starts the active wind protection mode, calculates the optimal motion displacement of the damper 3 and the optimal weight ratio of the elastic water bag 12, and sends the control command to the electronic control execution unit.

[0104] The motion control of the damper 3 adopts an adaptive fuzzy PID control algorithm. The controller adjusts the parameters of the PID controller online according to the dynamic response data and risk level of the tower crane, and determines the target position of the damper 3 through fuzzy reasoning. The controller outputs a PWM signal, and the drive motor 8 drives the damper 3 to move along the slide rail, and realizes closed-loop control of the displacement through the displacement sensor and encoder, with an accuracy better than ±2mm.

[0105] The weight adjustment of the elastic water bag 12 adopts the water-liquid ratio control method. The controller calculates the optimal weight ratio of the elastic water bag 12, that is, the amount of water charged and discharged from the elastic water bag 12 in each weight cylinder 11, according to the instability trend of the tower crane and the actual displacement of the damper 3. The controller outputs a 4-20mA standard current signal to control the opening of the solenoid valve, and realizes closed-loop control of the weight ratio through the flow meter and liquid level meter, with an accuracy better than 1%.

[0106] Step S5, by adjusting the damper 3 to slide along the slide rail to the optimal position, the damper 3 suppresses the wind vibration response of the tower crane. The damper 3 generates a damping force in the opposite direction of the wind load excitation through relative movement with the boom, dissipating the vibration energy of the tower crane; the elastic water bag 12 device adjusts the dynamic characteristics of the tower crane by changing the counterweight ratio to avoid resonance instability.

[0107] The controller adopts a master-slave control strategy, with the motion control of the damper 3 as the main control and the weight adjustment of the elastic water bag 12 as the auxiliary control. When the motion displacement of the damper 3 reaches the limit, the controller automatically switches to the elastic water bag 12 as the main control to avoid a control blind spot.

[0108] At the same time, the controller also uses a hierarchical decoupling control method to control the lateral vibration and longitudinal vibration of the tower crane separately. The lateral vibration is mainly caused by changes in wind direction and wind speed, and the longitudinal vibration is mainly caused by the lifting and amplitude adjustment of the boom. The controller automatically matches the movement direction of the damper 3 and the layout of the elastic water bag 12 according to the dominant mode of vibration, realizing three-dimensional control of the tower crane vibration.

[0109] Step S6, using the water pump system to fill or release water into the elastic water bag 12 of the damper 3 through the branch pipe 4 and the main pipe 5, adjusting the weight controller of the damper 3 according to the measured response data of the tower crane, automatically correcting the control parameters of the elastic water bag 12 of the damper 3, and feeding the correction results back to the risk assessment module and the wind vibration simulation module for updating the risk judgment rule library and optimizing the simulation model parameters.

[0110] Specifically, the controller uses a radial basis neural network algorithm, takes the displacement of damper 3, weight ratio, wind speed and vibration response as sample data, and conducts online training on the input-output relationship of the controller to obtain a corrected control rule library. At the same time, the controller also regularly uploads sample data to the cloud platform, optimizes the control strategy using a deep reinforcement learning algorithm, and sends the learning results to the local controller to achieve self-iteration and continuous evolution of the control system.

[0111] Step S7, continuously adjust the position and weight of the damper 3 according to the real-time monitoring data to ensure the stability of the tower crane under different wind conditions. The controller is connected to the tower crane group control system through the communication module. According to the on-site construction progress and the wind conditions of the nearby tower cranes, the wind protection strategy is jointly formulated, and data and instructions are exchanged in real time with the controllers of the surrounding tower cranes to achieve joint prevention and control of multiple tower cranes in the area.

[0112] When a tower crane is in a high-risk state, the controller immediately sends an early warning signal to the group control system. The group control system automatically adjusts the construction plan and site layout according to the level and duration of the early warning signal, and coordinates other tower cranes to take emergency measures, such as locking, sheltering or evacuating, to avoid multiple crane chain instability accidents.

[0113] At the same time, the controller also regularly reports the wind control effect and energy consumption statistics of the machine to the group control system. The group control system summarizes and analyzes the data of each tower crane, explores risk patterns and energy-saving potential, and formulates the optimal operation plan for the tower crane group in the area. The plan is verified by virtual simulation through the digital twin system and finally sent to each tower crane controller for execution.

[0114] Step S8: Through the self-learning function of the controller, the control algorithm is optimized based on historical data to improve the system response speed and stability. The controller has fault diagnosis and fault-tolerant control functions, which can realize fault warning, isolation and self-healing of the windproof stabilizer.

[0115] The controller collects the current, voltage, temperature and other state parameters of the damper 3 and the elastic water bag 12, and timely discovers potential faults such as mechanical wear and hydraulic leakage through relevant analysis and trend prediction. Once a fault occurs, the controller immediately cuts off the power supply of the faulty unit and starts the backup unit to continue working, while sending a fault report to the cloud platform to quickly locate and isolate the fault.

[0116] For common faults, such as sensor failure and communication interruption, the controller can automatically select the corresponding emergency strategy based on the fault diagnosis results and activate backup hardware or redundant algorithms to ensure the continuous and reliable operation of the windproof stabilizer.

[0117] For complex faults, such as mechanism jamming and system instability, the controller can receive online guidance from the cloud platform expert system through remote communication. The expert system provides the controller with the best repair plan based on global monitoring data and historical fault cases. After the plan is screened and verified by the controller, it is converted into executable control instructions, and the fault repair is implemented through the automation device to achieve self-recovery and re-learning of the windproof stabilizer.

[0118] In summary, the control method provided in this embodiment is based on real-time monitoring data, relies on simulation analysis, takes risk assessment as the starting point, and realizes active perception, intelligent decision-making and precise execution of the tower crane wind stabilizer through adaptive control and intelligent optimization. This method makes full use of modern information technologies such as the Internet of Things, cloud computing and artificial intelligence to build a full life cycle intelligent management and control system covering single-machine monitoring, group control collaboration and remote operation and maintenance. It can improve the safety, reliability and economy of tower cranes, and provide strong support for the digital transformation and intelligent upgrading of construction.

[0119] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A windproof stabilizer for large-span hoisting equipment, characterized in that: The invention comprises a tower crane, wherein a plurality of brackets (1) are fixedly connected inside a tower crane arm, and the ends of the plurality of brackets (1) away from the tower crane arm are fixedly connected to a same slide rail (2), the slide rail (2) is located in a central hollow part of the arm and extends along its length direction, the outer end of the slide rail (2) is slidably connected to a plurality of dampers (3), the plurality of dampers (3) are all fixedly connected to branch pipes (4), the ends of the plurality of branch pipes (4) away from the dampers (3) are fixedly connected to a same main pipe (5), the end of the main pipe (5) close to the tower crane body is fixedly connected to a water pump system, the water pump system is electrically connected to a controller, the tower crane arm is also fixedly connected to a plurality of wind direction and wind speed sensors, the slide rail (2) is fixedly connected to a fiber Bragg grating, and the wind direction and wind speed sensor and the fiber Bragg grating are both electrically connected to the controller.

2. A windproof stabilizer for large-span hoisting equipment according to claim 1, characterized in that: The damper (3) comprises three driving wheels (6) which are arranged in a circular array around the outer end of the slide rail (2), wherein one driving wheel (6) is located at the bottom end of the slide rail (2) and the other two driving wheels (6) are located at both ends of the slide rail (2), and the outer ends of the three driving wheels (6) are provided with a same sliding bracket (7), and the driving wheels (6) and the sliding bracket (7) are both made of high-strength, corrosion-resistant materials.

3. The windproof stabilizer for large-span hoisting equipment according to claim 2 is characterized in that: The rotating shafts of the three driving wheels (6) are all rotatably connected to the sliding bracket (7); the rotating shafts of the two driving wheels (6) located at both ends of the sliding rail (2) penetrate the sliding bracket (7); and the penetrated parts are fixedly connected to a motor (8); the motor (8) is used to drive the damper (3) to slide along the sliding rail (2).

4. The windproof stabilizer for large-span hoisting equipment according to claim 3 is characterized in that: The motor (8) is electrically connected to the controller, the housing of the motor (8) is fixedly connected to the sliding bracket (7), the bottom end of the sliding bracket (7) is fixedly connected with a lifting ring (9), and the lifting ring (9) is used to connect and fix the elastic rocker arm (10).

5. The windproof stabilizer for large-span hoisting equipment according to claim 4, characterized in that: The lifting ring (9) is fixedly connected to an elastic rocker arm (10), and both ends of the elastic rocker arm (10) are fixedly connected to counterweight cylinders (11). The counterweight cylinders (11) are provided with through holes at one end away from the elastic rocker arm (10), and the diameter of the through holes is smaller than the diameter of the elastic rocker arm (10).

6. A windproof stabilizer for large-span hoisting equipment according to claim 5, characterized in that: An elastic water bag (12) is arranged in the counterweight cylinder (11), and a connecting pipe (13) connected to the top of the branch pipe (4) is fixedly connected in the elastic rocker arm (10). The connecting pipe (13) passes through the elastic rocker arm (10), and the passing parts are fixedly connected to the elastic water bag (12) to realize the flow of water and weight adjustment.

7. A windproof stabilizer for large-span hoisting equipment according to claim 6, characterized in that: Both ends of the connecting pipe (13) are fixedly connected to electromagnetic valves, and the electromagnetic valves are electrically connected to a controller. The branch pipe (4), the main pipe (5) and the connecting pipe (13) are all porous structures, and the porous structures are respectively provided with liquid inlet holes and reflux holes to achieve precise control of the liquid.

8. The windproof stabilizer for large-span hoisting equipment according to claim 1, characterized in that: The controller is provided with a communication module having line communication and wireless communication functions. The controller can obtain local meteorological information through the meteorological system. The control system adopts fuzzy control and adaptive control algorithms, combines wind data and fiber Bragg grating data from wind direction and wind speed sensors, and automatically adjusts the position and weight of the damper (3) to ensure the stability of the hoisting equipment.

9. The windproof stabilizer for large-span hoisting equipment according to claim 1, characterized in that: The fiber Bragg grating monitoring system monitors the deformation and vibration of the boom in real time, and transmits the data wirelessly to the control system, and performs comprehensive analysis and adjustment in combination with the wind data of the wind direction and wind speed sensor. The controller adjusts the position and weight of the damper (3) in real time according to the wind data and the boom deformation data, so as to balance the stability of the tower crane under different wind conditions.

10. A working method of a windproof stabilizer for large-span hoisting equipment according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The controller monitors wind data and boom deformation data in real time. The wind data is collected by multiple wind speed and direction sensors, and the boom deformation data is collected by fiber Bragg gratings; S2, transmitting the wind force data and boom deformation data to a controller; S3, obtaining meteorological data through the meteorological system and combining it with real-time wind data for analysis; S4, the controller analyzes the data and calculates the optimal position and weight of the damper (3); S5, sliding along the slide rail to an optimal position by adjusting the damper (3); S6, using a water pump system to charge or discharge water into the elastic water bag (12) of the damper (3) through the branch pipe (4) and the main pipe (5), so as to adjust the weight of the damper (3); S7. Continuously adjust the position and weight of the damper (3) according to the real-time monitoring data to ensure the stability of the tower crane under different wind conditions; S8. Through the controller self-learning function, the control algorithm is optimized based on historical data to improve the system response speed and stability.

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