External hanging type tower crane balancing weight balancing device and balancing method

Abstract

The invention provides an external hanging type tower crane balancing weight balancing device and method, and belongs to the technical field of tower crane counterweights, the external hanging type tower crane balancing weight balancing device comprises a weight box and a suspension arm, the weight box is installed at the tail end of the suspension arm through bolts, the weight box comprises a bottom box, a weight part, an adsorption plate and a top cover, and the inner space of the bottom box is equally divided into four spaces; each space is internally provided with a counterweight piece and an adsorption plate, each counterweight piece comprises a guide rail, a counterweight block and a guide wheel, the electromagnetic control device comprises an outer cover, an outer cover seat, a magnetic disk, a magnetic core and a magnetic block, and the automatic counterweight adjusting system is used for monitoring the balance of the suspension arm in real time and automatically adjusting the balance of the suspension arm based on monitored data. The problems that according to an existing balancing weight fixing device, tedious manual operation is needed, time and labor are wasted, potential safety hazards exist during high-altitude operation, the requirement for rapidly responding to load changes in hoisting operation cannot be met through a fixing mode, and the flexibility and adaptability of a tower crane are limited are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of tower crane counterweights, and in particular relates to an externally mounted tower crane counterweight balancing device and a balancing method. Background Art

[0002] On construction sites, tower cranes are commonly used as lifting equipment, and they are responsible for vertically transporting materials and equipment. The working principle of a tower crane is to lift objects by extending and rotating the boom, and lifting and lowering the hook. In order to ensure the safety and stability of the lifting operation, the balance of the boom must be considered when designing a tower crane.

[0003] In the existing tower crane design, the counterweight is a key component to maintain the balance of the boom. The counterweight is usually located at the boom of the tower crane, and its function is to balance the load on the hook at the other end of the boom through gravity, thereby preventing the tower crane from tipping over due to uneven load.

[0004] However, when hoisting objects of different weights, it is necessary to adjust the number or position of counterweights to maintain the balance of the tower crane. The existing counterweight fixing device often requires cumbersome manual operations, such as tightening or loosening bolts, adding or removing counterweights, etc. This is not only time-consuming and labor-intensive, but also poses a safety hazard when working at high altitudes. Since the traditional counterweight fixing method is relatively fixed, it is impossible to quickly respond to the needs of load changes during hoisting operations, and the flexibility and adaptability of the tower crane are limited. For this reason, an external tower crane counterweight fixing device and a balancing method that can flexibly adjust the counterweight are designed. Summary of the invention

[0005] The embodiments of the present invention provide an external tower crane counterweight balancing device and a balancing method, which solve the problems that the existing counterweight fixing device requires cumbersome manual operation, is time-consuming and labor-intensive, poses a safety hazard when working at high altitudes, and the fixing method cannot quickly respond to the needs of load changes during lifting operations, thereby limiting the flexibility and adaptability of the tower crane.

[0006] In view of the above problems, the technical solution proposed by the present invention is:

[0007] The present invention provides an external tower crane counterweight balancing device, comprising a counterweight box and a boom, wherein the counterweight box is mounted on the tail end of the boom by bolts, the counterweight box comprises a bottom box, a counterweight piece, an adsorption plate and a top cover, the inner space of the bottom box is equally divided into four spaces, each space is provided with a counterweight piece and an adsorption plate, and the top cover is mounted on the upper end of the bottom box by bolts;

[0008] The counterweight comprises a guide track, a counterweight block and a guide wheel, wherein the guide track passes through the counterweight, and the guide wheel is arranged between the guide track and the counterweight block;

[0009] An electromagnetic control device, the electromagnetic control device is arranged on the front, back, left, and right sides of the counterweight box, the electromagnetic control device comprises an outer cover, an outer cover seat, a magnetic disk, a magnetic core and a magnetic block, the outer cover is screwed to the outer cover seat, the magnetic disk is installed inside the outer cover seat, the magnetic core is arranged at the center of the magnetic disk, and the magnetic block is arranged between the magnetic core and the magnetic disk;

[0010] The automatic counterweight adjustment system is used to monitor the balance of the boom in real time when the external tower crane is performing hoisting work, and automatically adjust the balance of the boom based on the monitored data to maintain the balance of the boom.

[0011] As a preferred technical solution of the present invention, the top surfaces of the four counterweights are arranged in a cross shape, the adsorption plate is arranged between the guide rail and the bottom box, the adsorption plate is connected to the inner wall of the bottom box by screws, the guide rail is L-shaped, and the corners of the guide rail are arc-shaped, and the two ends of the guide rail are respectively connected to the adsorption plate and the top cover screws.

[0012] As a preferred technical solution of the present invention, at least two counterweight blocks are arranged on the outer side of the guide track, a movable groove is opened at the center of the counterweight block, the guide wheel is arranged in the movable groove, a connecting rod is arranged between the guide wheel and the counterweight block, the connecting rod passes through the guide wheel and is rotatably connected to the guide wheel, the connecting rod is screwed to the counterweight block, a groove adapted to the guide track is opened on the outer side of the guide wheel, and the guide wheel is rollingly connected to the guide track through the groove.

[0013] As a preferred technical solution of the present invention, the outer cover seat is connected to the bottom box by screws, a plurality of magnetic blocks are arranged inside the magnetic disk, the magnetic core includes two coils and an iron core, a power access port is opened at the outer end of the outer cover for connecting to an external power supply, a power input end of the magnetic core corresponds to the power access port, the power access port provides independent power supplies to the two coils, and an H-bridge circuit is provided between the coil and the power access port, the H-bridge circuit is composed of four switching elements, and controls the direction of current flowing to the two coils.

[0014] As a preferred technical solution of the present invention, the adsorption plate, the counterweight block and the bottom box are all made of magnetic materials, which facilitates the penetration of the magnetic field and acts on the adsorption plate, and the outer cover and the outer cover seat are both made of non-magnetic materials.

[0015] As a preferred technical solution of the present invention, the automatic counterweight adjustment system includes a boom state acquisition module, a data processing module and a counterweight instruction module;

[0016] The boom state acquisition module is used to collect the state of the boom during hoisting work. The boom state acquisition module includes a level meter, a weight sensor and a GPS sensor, and monitors the level, load and displacement data of the boom through the sensors;

[0017] The data processing module is used to receive data from the boom state acquisition unit, and process and analyze the data. The data processing module includes a boom center of gravity analysis unit, a boom balance requirement analysis unit, a counterweight requirement analysis unit, and a counterweight block position monitoring unit;

[0018] The boom gravity center analysis unit uses the received data to analyze the gravity center position of the tower crane according to the weight and position of the hoisted object, and determines the balance state of the tower crane;

[0019] The boom balance demand analysis unit analyzes the difference between the real-time position data of the center of gravity and the initial balance point of the tower crane to determine whether the tower crane is in a balanced state;

[0020] The counterweight requirement analysis unit analyzes the value of the counterweight that needs to be reduced or increased according to the difference data, and determines the counterweight amount that needs to be adjusted;

[0021] The counterweight position monitoring unit is used to monitor the real-time position of the counterweight in the counterweight box and determine how to move the counterweight to restore balance;

[0022] The counterweight instruction module is used to control the use of the electromagnetic control device. The counterweight instruction module includes an adsorption instruction, a release instruction and a magnetic pole direction conversion instruction, and controls the change of the magnetic field in the electromagnetic control device according to different instructions.

[0023] As a preferred technical solution of the present invention, the detailed processing steps of the data processing module include:

[0024] Step a, analyzing the real-time center of gravity of the tower crane using the PLS algorithm according to the data of the weight sensor and the GPS sensor, calculating the deviation between the center of gravity of the boom and the initial center of gravity value, comparing the real-time center of gravity position with the initial balance point of the tower crane, if the center of gravity position is different from the initial balance point, the boom is in an unbalanced state;

[0025] Step b, according to the deviation of the center of gravity position, calculate the weight of the counterweight that needs to be adjusted. If the center of gravity moves forward, the counterweight of the counterweight box needs to be increased backward. If the center of gravity moves backward, the counterweight of the counterweight box needs to be forward. Determine the specific counterweight that needs to be increased or decreased to restore the balance of the tower crane;

[0026] Step c, real-time monitoring of the position of the counterweight block in the counterweight box, forming a specific moving instruction according to the calculated moving distance and direction of the counterweight block, moving the counterweight block through the electromagnetic control device, and moving the counterweight block to the target position to compensate for the deviation of the center of gravity position and restore the balance state of the tower crane;

[0027] Step e: after the counterweight block is moved to the new position, the boom gravity center analysis unit is used to verify whether the tower crane has recovered its balance. If the tower crane has not recovered its balance, the above steps are repeated until the tower crane reaches a balanced state.

[0028] On the other hand, a balancing method for an external tower crane counterweight balancing device comprises the following steps:

[0029] S1, determine the counterweight scheme according to the external tower crane boom and the specified load value, and install the counterweight box at the tail end of the boom to keep the boom balanced during the lifting process;

[0030] S2, when the tower crane is in operation, the balance state of the boom and the weight of the hoisted object are continuously monitored by the automatic counterweight adjustment system;

[0031] S3, processing and analyzing the real-time data of the boom according to the data processing module, judging the balance state, and determining whether the counterweight needs to be adjusted;

[0032] S4, if adjustment is required, a control instruction is sent to the electromagnetic adsorption device according to the calculated movement value of the counterweight block to control the movement of the counterweight block in the corresponding area of ​​the counterweight box for counterweighting until the boom is restored to balance;

[0033] S5, the system continues to monitor and form a closed-loop control until the lifting work is completed.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] (1) The present invention realizes boom balance by automatically monitoring and adjusting the position of the counterweight block through the automated counterweight adjustment system, thereby significantly improving the efficiency of tower crane operation and reducing downtime caused by balance adjustment;

[0036] (2) The present invention uses an electromagnetic control device to accurately control the movement of the counterweight block, and accurately controls the counterweight block through the electromagnetic principle, thereby reducing the danger that may occur due to manual adjustment of the counterweight;

[0037] (3) The present invention forms a closed-loop control that can continuously monitor and adjust until a balanced state is reached, thereby simplifying the operation process and reducing the skill requirements of the operator.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of an external tower crane counterweight balancing device disclosed in the present invention;

[0040] Figure 2 It is a schematic diagram of the disassembled structure of a counterweight box of an external tower crane counterweight balancing device disclosed in the present invention;

[0041] Figure 3 It is a schematic diagram of the overall structure of a counterweight component of an external tower crane counterweight balancing device disclosed in the present invention;

[0042] Figure 4 It is a schematic diagram of the structure of part A of the overall structural diagram of a counterweight component of an external tower crane counterweight balancing device disclosed in the present invention;

[0043] Figure 5 It is a schematic diagram of the disassembled structure of an electromagnetic control device of an external tower crane counterweight balancing device disclosed in the present invention;

[0044] Figure 6 It is a schematic diagram of the installation of an external tower crane counterweight balancing device and an external tower crane boom disclosed in the present invention;

[0045] Figure 7 It is a block diagram of an automatic counterweight adjustment system of an external tower crane counterweight balancing device disclosed in the present invention;

[0046] Figure 8 It is a flow chart of a balancing method of an external tower crane counterweight balancing device disclosed in the present invention;

[0047] Description of reference numerals: 100, counterweight box; 101, bottom box; 102, counterweight member; 1021, guide rail; 1022, counterweight block; 1023, moving groove; 1024, guide wheel; 1025, connecting rod; 1026, groove; 103, adsorption plate; 104, top cover;

[0048] 200, electromagnetic control device; 201, outer cover; 202, outer cover seat; 203, magnetic disk; 204, magnetic core; 205, magnetic block; 206, power supply inlet;

[0049] 300, boom;

[0050] 400, automatic adjustment counterweight system; 401, boom status acquisition module; 4011, level; 4012, weight sensor; 4013, GPS sensor; 402, data processing module; 4021, boom center of gravity analysis unit; 4022, boom balance demand analysis unit; 4023, counterweight demand analysis unit; 4024, counterweight block position monitoring unit; 403, counterweight instruction module; 4031, adsorption instruction; 4032, release instruction; 4033, magnetic pole direction conversion instruction. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0056] Embodiment 1

[0057] See attached Figure 1-7 As shown, the present invention provides a technical solution: an external tower crane counterweight balancing device, comprising a counterweight box 100 and a boom 300, the counterweight box 100 is installed at the tail end of the boom 300 by bolts, the counterweight box 100 comprises a bottom box 101, a counterweight piece 102, an adsorption plate 103 and a top cover 104, the inner space of the bottom box 101 is equally divided into four spaces, each space is provided with a counterweight piece 102 and an adsorption plate 103, and the top cover 104 is installed at the upper end of the bottom box 101 by bolts;

[0058] The counterweight 102 includes a guide track 1021, a counterweight block 1022 and a guide wheel 1024. The guide track 1021 passes through the counterweight, and the guide wheel 1024 is arranged between the guide track 1021 and the counterweight block 1022.

[0059] The electromagnetic control device 200 is arranged on the front, back, left, and right sides of the counterweight box 100. The electromagnetic control device 200 includes an outer cover 201, an outer cover seat 202, a magnetic disk 203, a magnetic core 204, and a magnetic block 205. The outer cover 201 is screwed to the outer cover seat 202, the magnetic disk 203 is installed inside the outer cover seat 202, the magnetic core 204 is arranged at the center of the magnetic disk 203, and the magnetic block 205 is arranged between the magnetic core 204 and the magnetic disk 203;

[0060] The automatic adjustment counterweight system 400 is used to monitor the balance of the boom 300 in real time when the external tower crane is performing hoisting work, and automatically adjust the balance of the boom 300 based on the monitored data to keep the boom 300 balanced.

[0061] The embodiment of the present invention is also implemented through the following technical solutions.

[0062] In an embodiment of the present invention, the top surfaces of the four counterweights 102 are arranged in a cross shape. For example, when the counterweight box 100 is square, the four spaces separated by the counterweights 102 make the counterweight box 100 in the shape of a field. The adsorption plate 103 is arranged between the guide rail 1021 and the bottom box 101, and the adsorption plate 103 is screwed to the inner wall of the bottom box 101. The guide rail 1021 is L-shaped, and the corners of the guide rail 1021 are arc-shaped. The two ends of the guide rail 1021 are respectively screwed to the adsorption plate 103 and the top cover 104. The lower end of the guide rail 1021 is arranged near the bottom of the adsorption plate 103, and the upper end is arranged near the center of the top cover 104, so that the counterweight block 1022 can be vertically and horizontally displaced in the counterweight box 100 to adjust the counterweight.

[0063] In an embodiment of the present invention, at least two counterweights 1022 are arranged on the outer side of the guide track 1021, a movable groove 1023 is opened at the center of the counterweight 1022, a guide wheel 1024 is arranged in the movable groove 1023, a connecting rod 1025 is arranged between the guide wheel 1024 and the counterweight 1022, the connecting rod 1025 passes through the guide wheel 1024, and is rotatably connected to the guide wheel 1024, the connecting rod 1025 is screwed to the counterweight 1022, a groove 1026 adapted to the guide track 1021 is opened on the outer side of the guide wheel 1024, the guide wheel 1024 is rollingly connected to the guide track 1021 through the groove 1026, and the counterweight 1022 installs the guide wheel 1024 on the inner side of the movable groove 1023 through the connecting rod 1025 , and there are 2 of them. The guide wheels 1024 move along both sides of the guide track 1021 through the grooves 1026 and rotate on the outer surface of the connecting rod 1025 to realize the guided movement of the counterweight 1022. The guide wheels 1024 are made of rubber and move more stably. After the counterweight 1022 reaches the predetermined position, the electromagnetic control device 200 is used to maintain a stable magnetic force, thereby limiting the position of the guide wheels 1024 and ensuring that the counterweight 1022 remains stationary after reaching the predetermined position. A PID controller is configured to adjust the switching elements in the H-bridge circuit to keep the magnetic force of the electromagnet constant. When the magnetic force of the electromagnet deviates from the set point, the PID controller will adjust the duty cycle of the PWM signal to increase or decrease the current passing through the electromagnet to keep the magnetic force stable.

[0064] In the embodiment of the present invention, the outer cover 202 is screwed to the bottom box 101, a plurality of magnetic blocks 205 are arranged inside the magnetic disk 203, and the magnetic blocks 205 enhance the magnetic properties of the electromagnetic control device 200, the magnetic core 204 includes two coils and an iron core, and a power access port 206 is provided at the outer end of the outer cover 201 for connecting to an external power source, and the power input end of the magnetic core 204 corresponds to the power access port 206, and the power access port 206 provides independent power to the two coils, and an H-bridge circuit is provided between the coil and the power access port 206, and the H-bridge circuit is composed of four switching elements to control the direction in which the current flows to the two coils. By controlling the H-bridge circuit, The power-on state of each coil is controlled independently. When the counterweight 1022 needs to be adsorbed, the H-bridge circuit makes the current directions in the two coils the same, generating an enhanced magnetic field. When the position of the counterweight 1022 needs to be changed, the H-bridge circuit changes the current directions in the two coils, so that the magnetic fields generated by the two coils are in opposite directions. The purpose of this is to change the direction of the magnetic pole, thereby pushing the counterweight 1022 to move in the opposite direction along a predetermined trajectory or direction. The pulse width modulation technology is used to control the power-on time of the electromagnet to achieve precise adjustment of the magnetic force. By changing the duty cycle of the PWM signal, the moving speed of the counterweight 1022 can be smoothly adjusted;

[0065] The specific operation of the H-bridge circuit to change the moving direction of the counterweight 1022 is as follows:

[0066] The H-bridge circuit controls the current in the two coils so that they generate magnetic fields in the same direction, thereby attracting the counterweight 1022. In order to push the counterweight 1022 to move in the opposite direction, the H-bridge circuit changes the current direction of one of the coils while keeping the current direction of the other coil unchanged, or changes the current directions of the two coils at the same time but makes them opposite. The magnetic fields generated by the two coils are in opposite directions, and the directions of the magnetic poles change accordingly. The generated force will push the counterweight 1022 to move in the opposite direction, thereby achieving the adsorption and release of the counterweight 1022, accurately controlling the movement direction of the counterweight 1022, and achieving more flexible and precise dynamic balance adjustment.

[0067] In addition, the H-bridge circuit includes four switching elements (which may be transistors, MOSFETs or IGBTs, etc.), two electromagnetic coils (used to generate a magnetic field to control the counterweight 1022), a power input port and a control key (i.e., the counterweight instruction module 403), the positive pole of the power input port is connected to one diagonal end point of the H-bridge (for example, connected to switch element a and switch element c), the negative pole of the power input port is connected to the other diagonal end point of the H-bridge (for example, connected to switch element b and switch element d), one end of the electromagnetic coil is connected to one side of the H-bridge (for example, one end of coil A is connected to the connection point of switch element a and switch element b), the other end of the electromagnetic coil is connected to the opposite side of the H-bridge (for example, the other end of coil A is connected to the connection point of switch element c and switch element d), and switch element a and Switching element b is connected in series, and at one end of the control coil A, switching element c and switching element d are connected in series. At the other end of the control coil A, switching element a and switching element c are connected in parallel and connected to the positive pole of the power supply. Switching element b and switching element d are connected in parallel and connected to the negative pole of the power supply. When switching element a and switching element d are turned on, and switching element b and switching element c are turned off, the current flows from the positive pole of the power supply to one end of coil A, passes through coil A, and then flows to the negative pole of the power supply. Coil A generates a magnetic field in one direction. When switching element b and switching element c are turned on, and switching element a and switching element d are turned off, the current flows through coil A in the opposite direction, generating a magnetic field in the opposite direction. By controlling the on and off of the switching elements, the direction of the current in the coil can be changed, thereby changing the direction of the magnetic field, thereby achieving the adsorption and pushing of the counterweight 1022.

[0068] In an embodiment of the present invention, the adsorption plate 103, the counterweight block 1022 and the bottom box 101 are all made of magnetic materials, which facilitates the penetration of the magnetic field. When the magnetic field generated by the electromagnetic control device 200 reaches the magnetic material, the magnetic field will interact with the magnetic material. The magnetic field of the electromagnetic control device 200 forms a closed magnetic circuit inside the magnetic material of the counterweight box 100, so that the magnetic force can act on the adsorption plate 103 and act on the adsorption plate 103. The outer cover 201 and the outer cover seat 202 are both non-magnetic materials.

[0069] In an embodiment of the present invention, the automatic counterweight adjustment system 400 includes a boom state acquisition module 401, a data processing module 402 and a counterweight instruction module 403;

[0070] The boom state acquisition module 401 is used to collect the state of the boom 300 during the hoisting operation. The boom state acquisition module 401 includes a level meter 4011, a weight sensor 4012 and a GPS sensor 4013. The sensors are used to monitor the level, load and displacement data of the boom 300.

[0071] The data processing module 402 is used to receive data from the state acquisition unit of the boom 300, and process and analyze the data. The data processing module 402 includes a boom center of gravity analysis unit 4021, a boom balance requirement analysis unit 4022, a counterweight requirement analysis unit 4023, and a counterweight position monitoring unit 4024;

[0072] The boom gravity center analysis unit 4021 uses the received data to analyze the gravity center position of the tower crane according to the weight and position of the hoisted object, and determines the balance state of the tower crane;

[0073] The boom balance demand analysis unit 4022 analyzes the difference between the real-time position data of the center of gravity and the initial balance point of the tower crane to determine whether the tower crane is in a balanced state;

[0074] The counterweight requirement analysis unit 4023 analyzes the value of counterweight that needs to be reduced or increased according to the difference data, and determines the counterweight amount that needs to be adjusted;

[0075] The counterweight position monitoring unit 4024 is used to monitor the real-time position of the counterweight 1022 in the counterweight box 100 and determine how to move the counterweight 1022 to restore balance;

[0076] The counterweight instruction module 403 is used to control the use of the electromagnetic control device 200 and is wirelessly connected to the electromagnetic control device 200. The counterweight instruction module 403 includes an adsorption instruction 4031, a release instruction 4032 and a magnetic pole direction conversion instruction 4033, and controls the change of the magnetic field in the electromagnetic control device 200 according to different instructions.

[0077] In an embodiment of the present invention, the detailed processing steps of the data processing module 402 include:

[0078] Step a, using the PLS algorithm to analyze the real-time center of gravity of the tower crane based on the data of the weight sensor 4012 and the GPS sensor 4013, and calculating the deviation between the center of gravity of the boom 300 and the initial center of gravity value, and comparing the real-time center of gravity position with the initial balance point of the tower crane. If there is a difference between the center of gravity position and the initial balance point, the boom 300 is in an unbalanced state;

[0079] Step b, according to the deviation of the center of gravity position, calculate the weight of the counterweight that needs to be adjusted. If the center of gravity moves forward, the counterweight of the counterweight box 100 needs to be increased backward. If the center of gravity moves backward, the counterweight of the counterweight box 100 needs to be forward. Determine the specific counterweight that needs to be increased or decreased to restore the balance of the tower crane;

[0080] The specific weight-balancing steps are as follows:

[0081] Step b1, according to the deviation of the tower crane's center of gravity, center of gravity deviation = real-time center of gravity position - initial balance point position;

[0082] Step b2, the torque required for the center of gravity deviation can be obtained by the formula: required torque = center of gravity deviation * load weight of the boom 300;

[0083] Step b3, calculate the distance that the counterweight block 1022 needs to move in each area: moving distance a area = (required compensation torque a area) / (weight of counterweight block 1022 * influence factor of position change of counterweight block 1022), where the influence factor refers to the change in torque generated by the counterweight block 1022 moving a unit distance, and a refers to one of the four areas in the counterweight box 100;

[0084] Step b4, determining the specific moving positions of the counterweight blocks 1022 in the four areas according to the calculated moving distances, and allocating the calculated moving distances to specific counterweight blocks 1022. It may be necessary to move one or more counterweight blocks 1022 to ensure that the movement of the counterweight blocks 1022 is within the designed limit range and does not cause the counterweight blocks 1022 in the counterweight box 100 to interfere with each other or exceed the boundaries of the counterweight box 100;

[0085] Assuming that it is found through monitoring that the center of gravity is offset forward and to the right, the counterweight 1022 needs to be adjusted backward and to the left. It is calculated that the torque required to be compensated backward is 5000 kg / m, and the torque required to be compensated to the left is 3000 kg / m. Assuming that each counterweight 1022 weighs 500 kg, the torque change caused by moving 1 meter is 500 kg / m; calculate the moving distance of the counterweight 1022: backward moving distance = 5000 kg·m / (500 kg*1m / kg) = 10 meters, left moving distance = 3000 kg·m / (500 kg×1m / kg) = 6 meters; select an appropriate counterweight 1022 in the rear area and move it backward for 10 meters, select an appropriate counterweight 1022 in the left area and move it to the left for 6 meters, and the movement of the counterweight 1022 needs to be carried out step by step;

[0086] Step c, real-time monitoring of the position of the counterweight block 1022 in the counterweight box 100, and forming a specific moving instruction according to the calculated moving distance and direction of the counterweight block 1022, the instruction including the number of the counterweight block 1022, the moving distance and the moving direction (front and back / left and right), and moving the counterweight block 1022 by the electromagnetic control device 200 to move the counterweight block 1022 to the target position to compensate for the deviation of the center of gravity position and restore the balance state of the tower crane;

[0087] Step e, after the counterweight block 1022 moves to the new position, the boom center of gravity analysis unit 4021 is used to verify whether the tower crane has restored its balance, including the boom 300 angle, load weight, center of gravity position, etc. If the tower crane balance has not been restored, repeat the above steps until the tower crane reaches a balanced state, and the electromagnetic control device 200 releases the counterweight block 1022. After confirming that the counterweight block 1022 is stable, the electromagnetic control device 200 is turned off.

[0088] In addition, the design of the electromagnetic control device 200 and the counterweight box 100 needs to take into account the load and electromagnetic compatibility of the tower crane boom to avoid conflicts with other accessories. When conflicts exist, they can be resolved through shielding, filtering, balancing circuits, etc.

[0089] Embodiment 2

[0090] See attached Figure 8 As shown, an embodiment of the present invention further provides a balancing method for an external tower crane counterweight balancing device, comprising the following steps:

[0091] S1, determining a counterweight scheme according to the external tower crane boom 300 and the specified load value, and installing the counterweight box 100 at the tail end of the boom 300 to keep the boom 300 balanced during the hoisting process;

[0092] S2, when the tower crane is in operation, the balance state of the boom 300 and the weight of the hoisted object are continuously monitored by automatically adjusting the counterweight system 400;

[0093] S3, processing and analyzing the real-time data of the boom 300 according to the data processing module 402, judging the balance state, and determining whether the counterweight needs to be adjusted;

[0094] S4, if adjustment is needed, a control instruction is sent to the electromagnetic adsorption device according to the calculated movement value of the counterweight block 1022 to control the counterweight block 1022 in the corresponding area of ​​the counterweight box 100 to move for counterweighting until the boom 300 is balanced;

[0095] S5, the system continuously monitors and forms a closed-loop control until the lifting work is completed, and regularly maintains the counterweight box 100 and the electromagnetic control device 200.

[0096] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0097] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to a specific order or hierarchy.

[0098] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0099] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0100] The steps of the method or algorithm described in conjunction with the embodiments herein can be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module can be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk 203, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. The ASIC can be located in a user terminal. Of course, the processor and the storage medium can also be present in a user terminal as discrete components.

[0101] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0102] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. An external tower crane counterweight balancing device, characterized in that: The invention comprises a counterweight box (100) and a boom (300), wherein the counterweight box (100) is mounted on the tail end of the boom (300) by means of bolts, and the counterweight box (100) comprises a bottom box (101), a counterweight member (102), an adsorption plate (103) and a top cover (104), wherein the internal space of the bottom box (101) is equally divided into four spaces, each of which is provided with a counterweight member (102) and an adsorption plate (103), and the top cover (104) is mounted on the upper end of the bottom box (101) by means of bolts; The counterweight (102) comprises a guide track (1021), a counterweight block (1022) and a guide wheel (1024); the guide track (1021) passes through the counterweight, and the guide wheel (1024) is arranged between the guide track (1021) and the counterweight block (1022); An electromagnetic control device (200), the electromagnetic control device (200) being arranged on the front, back, left and right sides of the counterweight box (100), the electromagnetic control device (200) comprising an outer cover (201), an outer cover seat (202), a magnetic disk (203), a magnetic core (204) and a magnetic block (205), the outer cover (201) being screwed to the outer cover seat (202), the magnetic disk (203) being installed inside the outer cover seat (202), the magnetic core (204) being arranged at the center of the magnetic disk (203), and the magnetic block (205) being arranged between the magnetic core (204) and the magnetic disk (203); An automatic counterweight adjustment system (400) is used to monitor the balance of a boom (300) in real time when an external tower crane is performing a hoisting operation, and to automatically adjust the balance of the boom (300) based on the monitored data to maintain the balance of the boom (300).

2. The external tower crane counterweight balancing device according to claim 1 is characterized in that: The top surfaces of the four counterweights (102) are arranged in a cross shape, the adsorption plate (103) is arranged between the guide rail (1021) and the bottom box (101), the adsorption plate (103) is screwed to the inner wall of the bottom box (101), the guide rail (1021) is L-shaped, and the corners of the guide rail (1021) are arc-shaped, and the two ends of the guide rail (1021) are respectively screwed to the adsorption plate (103) and the top cover (104).

3. The external tower crane counterweight balancing device according to claim 2, characterized in that: At least two counterweights (1022) are arranged on the outer side of the guide track (1021); a movable groove (1023) is provided at the center of the counterweight (1022); the guide wheel (1024) is arranged in the movable groove (1023); a connecting rod (1025) is provided between the guide wheel (1024) and the counterweight (1022); the connecting rod (1025) passes through the guide wheel (1024) and is rotatably connected to the guide wheel (1024); the connecting rod (1025) is screwed to the counterweight (1022); a groove (1026) adapted to the guide track (1021) is provided on the outer side of the guide wheel (1024); the guide wheel (1024) is rollingly connected to the guide track (1021) through the groove (1026).

4. The external tower crane counterweight balancing device according to claim 3 is characterized in that: The outer cover seat (202) is screwed to the bottom box (101); a plurality of magnetic blocks (205) are arranged inside the magnetic disk (203); the magnetic core (204) includes two coils and an iron core; a power supply inlet (206) is provided at the outer end of the outer cover (201) for connecting to an external power supply; the power input end of the magnetic core (204) corresponds to the power supply inlet (206); the power supply inlet (206) provides independent power to the two coils; and an H-bridge circuit is provided between the coils and the power supply inlet (206); the H-bridge circuit is composed of four switching elements for controlling the direction in which current flows to the two coils.

5. The external tower crane counterweight balancing device according to claim 4, characterized in that: The adsorption plate (103), the counterweight block (1022) and the bottom box (101) are all made of magnetic materials, which facilitates the penetration of the magnetic field and acts on the adsorption plate (103); the outer cover (201) and the outer cover seat (202) are both made of non-magnetic materials.

6. The external tower crane counterweight balancing device according to claim 5, characterized in that: The automatic counterweight adjustment system (400) comprises a boom state acquisition module (401), a data processing module (402) and a counterweight instruction module (403); The boom state acquisition module (401) is used to acquire the state of the boom (300) during the hoisting operation, and the boom state acquisition module (401) comprises a level meter (4011), a weight sensor (4012) and a GPS sensor (4013), and the level, load and displacement data of the boom (300) are monitored through the sensors; The data processing module (402) is used to receive data from the boom (300) state acquisition unit, and perform processing and analysis, wherein the data processing module (402) comprises a boom center of gravity analysis unit (4021), a boom balance requirement analysis unit (4022), a counterweight requirement analysis unit (4023), and a counterweight block position monitoring unit (4024); The boom gravity center analysis unit (4021) uses the received data to analyze the gravity center position of the tower crane according to the weight and position of the hoisted object, and determines the balance state of the tower crane; The boom balance demand analysis unit (4022) analyzes the difference between the real-time position data of the center of gravity and the initial balance point of the tower crane to determine whether the tower crane is in a balanced state; The counterweight requirement analysis unit (4023) analyzes the value of the counterweight that needs to be reduced or increased according to the difference data, and determines the counterweight amount that needs to be adjusted; The counterweight position monitoring unit (4024) is used to monitor the real-time position of the counterweight (1022) in the counterweight box (100) and determine how to move the counterweight (1022) to restore balance; The counterweight instruction module (403) is used to control the use of the electromagnetic control device (200), and the counterweight instruction module (403) includes an adsorption instruction (4031), a release instruction (4032) and a magnetic pole direction conversion instruction (4033), and controls the change of the magnetic field in the electromagnetic control device (200) according to different instructions.

7. The external tower crane counterweight balancing device according to claim 6, characterized in that: The detailed processing steps of the data processing module (402) include: Step a, analyzing the real-time center of gravity of the tower crane using the PLS algorithm based on the data of the weight sensor (4012) and the GPS sensor (4013), calculating the deviation between the center of gravity of the boom (300) and the initial center of gravity value, and comparing the real-time center of gravity position with the initial balance point of the tower crane. If there is a difference between the center of gravity position and the initial balance point, the boom (300) is in an unbalanced state; Step b, according to the deviation of the center of gravity position, the weight of the counterweight that needs to be adjusted is calculated. If the center of gravity moves forward, the counterweight of the counterweight box (100) needs to be increased backward. If the center of gravity moves backward, the counterweight of the counterweight box (100) needs to be forward. The specific weight of the counterweight that needs to be increased or decreased is determined to restore the balance of the tower crane; Step c, monitoring the position of the counterweight block (1022) in the counterweight box (100) in real time, generating a specific moving instruction according to the calculated moving distance and direction of the counterweight block (1022), and moving the counterweight block (1022) by means of the electromagnetic control device (200) to a target position to compensate for the deviation of the center of gravity position and restore the balance state of the tower crane; Step e: after the counterweight block (1022) is moved to a new position, the boom gravity center analysis unit (4021) is used to verify whether the tower crane has regained balance. If the tower crane has not regained balance, the above steps are repeated until the tower crane reaches a balanced state.

8. A balancing method for an externally mounted tower crane counterweight balancing device, applied to an externally mounted tower crane counterweight balancing device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, determining a counterweight scheme according to the external tower crane boom (300) and a specified load value, and installing a counterweight box (100) at the tail end of the boom (300) to maintain the balance of the boom (300) during the hoisting process; S2, when the tower crane is in operation, the balance state of the boom (300) and the weight of the hoisted object are continuously monitored by the automatic counterweight adjustment system (400); S3, processing and analyzing the real-time data of the boom (300) according to the data processing module (402), judging the balance state, and determining whether the counterweight needs to be adjusted; S4, if adjustment is required, sending a control instruction to the electromagnetic adsorption device according to the calculated movement value of the counterweight block (1022), so as to control the counterweight block (1022) in the corresponding area of ​​the counterweight box (100) to move for counterweighting until the boom (300) is restored to balance; S5, the system continues to monitor and form a closed-loop control until the lifting work is completed.

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