Dynamic balance tower crane

Abstract

The embodiment of the invention provides a dynamic balance tower crane. The dynamic balance tower crane comprises a fixed tower body, a tower body rotating structure, a hoisting beam system, a movable balance beam system, an electric control hydraulic oil cylinder, a rotating angle measuring and controlling instrument and an intelligent control system. The tower body rotating structure is arranged at the top of the fixed tower body; the hoisting beam system is fixedly connected to one side of the tower body rotating structure and is provided with a hoisting winch and a hoisting steel wire rope; the movable balance beam is connected to the other side of the tower body rotating structure through double hinge points, and a rotatable balancing weight is arranged at the tail end of the movable balance beam; the two ends of the electric control hydraulic oil cylinder are hinged to the tower body rotating structure and the movable balance beam respectively. And the rotation angle measuring and controlling instrument is arranged on the movable balance beam and is used for detecting an included angle alpha between the movable balance beam and the horizontal plane in real time. According to the technical scheme, the balance state of the tower crane can be improved, intelligent control dynamic balance of the tower crane is achieved, the safety of the tower crane is improved, and meanwhile the lifting capacity and the operation radius of the tower crane can be effectively improved.

Description

Technical Field

[0001] The technology of the present invention belongs to the field of hoisting technology, and particularly relates to a dynamic balance tower crane. Background Art

[0002] In industries such as shipbuilding, construction, and steel structures, tower cranes are often used frequently for hoisting heavy objects. The hoisting beam and the counterweight beam of the existing tower crane are both fixed structures. In the working mode and non-working mode, the tower crane structure is often in an unbalanced state, belonging to a non-dynamic balance tower crane structure.

[0003] When the tower crane is in the non-lifting (hoisting and transporting) working mode, the moment on one side of the fixed balance beam is greater than the moment on one side of the hoisting beam, and the tower crane is in an unbalanced state. When encountering strong convective weather, there are great potential safety hazards.

[0004] When the tower crane is in the lifting working mode, the moment on one side of the fixed balance beam remains unchanged, while the moment on one side of the hoisting beam changes synchronously with the weight of the lifted heavy object and its distance from the center of gravity of the tower crane. The tower crane is still in an unbalanced state. When encountering strong convective weather, there are great potential safety hazards.

[0005] When the tower crane is in the lifting working mode and at the maximum lifting moment, for the safety of the tower crane structure and the hoisting operation process, the difference between the moment on one side of the fixed balance beam and the moment on one side of the hoisting beam shall not exceed its specified limit value. This requires that the moment on one side of the fixed balance beam shall not be too small (there is a minimum value). When the tower crane is in the non-working mode, for the safety of the tower crane structure, the difference between the moment on one side of the fixed balance beam and the moment on one side of the hoisting beam shall not exceed its limit value. This requires that the moment on one side of the fixed balance beam shall not be too large (there is a maximum value). Restricted by the upper and lower limit moments of the balance beam, the hoisting capacity of the tower crane is significantly restricted, the weight of the hoisted goods is relatively light (the hoisting capacity is small), and the horizontal movement range (working radius) of the hoisted goods is small. Summary of the Invention

[0006] The embodiments of the present invention provide a dynamic balance tower crane, which can improve the balance state of the tower crane, realize intelligent control of dynamic balance, improve the safety of the tower crane, and at the same time effectively improve the hoisting capacity and working radius of the tower crane.

[0007] In the embodiments of the present invention, a dynamic balance tower crane is provided, including: a fixed tower body, a tower body rotation structure, a hoisting beam system, a movable balance beam system, an electro-hydraulic cylinder, a rotation angle measuring and controlling instrument, and an intelligent control system;

[0008] The tower body rotation structure is arranged on the top of the fixed tower body;

[0009] The described lifting beam system is fixedly connected to one side of the tower body rotating structure and is equipped with a lifting winch and a lifting wire rope;

[0010] The movable balance beam is connected to the other side of the tower body rotating structure through double hinge points, and a rotatable counterweight is provided at the end of the movable balance beam;

[0011] Both ends of the electro-hydraulic cylinder are respectively hinged to the tower body rotating structure and the movable balance beam;

[0012] The rotation angle measuring and controlling instrument is arranged on the movable balance beam and is used to detect the angle α between the movable balance beam and the horizontal plane in real time;

[0013] The intelligent control system includes: a moment calculation module, a balance control module, and a safety warning module;

[0014] The moment calculation module obtains the tension F1 of the lifting wire rope and the coordinates L1 of the lifted object in real time;

[0015] The balance control module dynamically adjusts the hydraulic cylinder stroke according to the formula G0L0 + F1L1 = G2(L2 + R0cosα);

[0016] The safety warning module triggers an audible and visual alarm when the moment difference exceeds the threshold value;

[0017] Among them, G0 is the gravity of the lifting beam, L0 is the gravity arm of the lifting beam, F1 is the tension of the lifting wire rope, L1 is the tension arm of the lifting wire rope, G2 is the gravity of the counterweight of the movable balance beam, and L2 is the distance from the hinge center of the lifting balance beam to the moment center.

[0018] Further, the rotatable counterweight includes:

[0019] The shaft hole of the rotatable counterweight is eccentrically arranged in the upper half of the counterweight, the middle shaft passes through the device shaft hole and is fixed to the movable balance beam, and the lubricating layer of the rotatable counterweight is arranged in the gap between the shaft hole and the middle shaft;

[0020] The mass ratio of the lower part of the rotatable counterweight > 60%, ensuring that it remains in a plumb state when rotating freely.

[0021] Further, the intelligent control system includes:

[0022] Pre-input the mass G1 of the lifted object and the maximum working radius L1_max;

[0023] Real-time solve the dynamic balance equation: α = arccos[(G0L0 + F1L1) / (G2R0) - L2 / R0];

[0024] Control the stroke of the hydraulic cylinder ΔL = K·(α_target - α_current), where K is the transmission coefficient of the hydraulic system, α_target is the target angle between the movable balance beam and the horizontal plane, and α_current is the real-time angle between the movable balance beam and the horizontal plane;

[0025] When it is detected that α > α_max or F1 > F_max, execute the emergency braking procedure, where α_max is the set threshold of the angle between the movable balance beam and the horizontal plane, and F_max is the set threshold of the tension of the lifting wire rope.

[0026] Furthermore, the torque calculation module includes: a strain type tension sensor, a laser rangefinder, a data fusion unit, and a Kalman filter;

[0027] The strain type tension sensor is integrated at the fixed end of the lifting wire rope;

[0028] The laser rangefinder measures the horizontal displacement L1 of the lifted object in real time;

[0029] The data fusion unit synchronously processes the tension F1 of the heavy wire rope and the coordinates L1 of the lifted object at a sampling rate of 100Hz;

[0030] The Kalman filter is used to eliminate the measurement noise caused by the lifting vibration.

[0031] Furthermore, the electro-hydraulic cylinder includes: a double-acting piston cylinder, a proportional directional valve, an accumulator, and a temperature compensation module;

[0032] The double-acting piston cylinder is equipped with a magnetostrictive displacement sensor;

[0033] The proportional directional valve controls the oil flow accuracy up to ±0.5%;

[0034] The accumulator maintains the balanced state for at least 30 minutes when power is off;

[0035] The temperature compensation module is used to automatically adjust the change of oil viscosity.

[0036] Furthermore, the rotation angle measurement and control instrument includes: a MEMS gyroscope, an optical encoder, a data fusion processor, and a self-calibration module;

[0037] The MEMS gyroscope is used to measure the angular velocity ω;

[0038] The optical encoder is used to detect the angle α between the movable balance beam and the horizontal plane;

[0039] The data fusion processor achieves an angle resolution of 0.1°;

[0040] The self-calibration module is used to automatically correct the angle deviation at zero o'clock every day.

[0041] Further, the tower crane further includes: a safety protection system;

[0042] A wind speed sensor is set to monitor the environmental wind speed in real time, and the wind resistance balance mode is started when V>15m / s;

[0043] An inertial navigation unit is set to detect the swing amplitude of the tower body and trigger reverse compensation control;

[0044] A dual-redundancy CAN bus is set to ensure the reliability of control signal transmission;

[0045] An emergency mechanical locking device is set to fix the angle of the balance beam when the control system fails.

[0046] The beneficial effects brought by the present invention are as follows:

[0047] As can be seen from the above solution, the embodiment of the present invention provides a dynamically balanced tower crane, including: a fixed tower body, a tower body rotation structure, a lifting beam system, a movable balance beam system, an electro-hydraulic cylinder, a rotation angle measuring and controlling instrument, and an intelligent control system. The tower body rotation structure is arranged at the top of the fixed tower body; the lifting beam system is fixedly connected to one side of the tower body rotation structure and is configured with a lifting winch and a lifting steel wire rope; the movable balance beam is connected to the other side of the tower body rotation structure through a double hinge point, and a rotatable counterweight block is arranged at the end of the movable balance beam; both ends of the electro-hydraulic cylinder are respectively hinged to the tower body rotation structure and the movable balance beam; the rotation angle measuring and controlling instrument is arranged on the movable balance beam and is used to detect the included angle α between the movable balance beam and the horizontal plane in real time. The technical solution of the present invention can improve the balance state of the tower crane, realize intelligent control of dynamic balance, improve the safety of the tower crane, and at the same time can effectively improve the lifting capacity and operation radius of the tower crane. Description of the Drawings

[0048] Figure 1 It is a schematic structural diagram of a dynamically balanced tower crane according to an embodiment of the present invention;

[0049] Figure 2 It represents a schematic diagram of the force analysis of the maximum balance moment of the structure of a dynamically balanced tower crane according to an embodiment of the present invention;

[0050] Figure 3 It represents a schematic diagram of the force analysis of the minimum balance moment of the structure of a dynamically balanced tower crane according to an embodiment of the present invention. Detailed Embodiments

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] A smart-controlled movable balance beam is provided on the opposite side of the lifting beam. The smart control system automatically calculates the corresponding instantaneous torque of the balance beam based on the torque of the lifting beam in the non-working mode and the dynamic torque in the working mode of the tower crane. Through the smart control system, the angle α between the balance beam and the horizontal direction is automatically generated according to this instantaneous torque, and the electro-hydraulic control cylinder is intelligently controlled to make it expand and contract to enable the balance beam to reach the required angle α, so that the torques on the lifting beam side and the balance beam side of the tower crane are equal and reach a balanced state. The smart control system can automatically monitor the force magnitude of the lifting wire rope and its lever arm length. At the same time, the smart control system makes the balance beam generate corresponding rotational motion to keep both sides of the tower crane in a balanced state. As the torque on the lifting beam side changes, the torque on the balance beam side is adjusted immediately to keep both sides of the tower crane always in a balanced state.

[0053] As Figures 1 to 3 shown, Figure 1 is a schematic structural diagram of a dynamic balance tower crane according to an embodiment of the present invention, Figure 2 represents a schematic diagram of the maximum balance torque force analysis of a dynamic balance tower crane structure according to an embodiment of the present invention, Figure 3 represents a schematic diagram of the minimum balance torque force analysis of a dynamic balance tower crane structure according to an embodiment of the present invention.

[0054] Figure 1 In, a dynamic balance tower crane includes: a fixed tower body, a tower body rotation structure, a lifting beam system, a movable balance beam system, an electro-hydraulic control cylinder, a rotation angle measuring and controlling instrument, and a smart control system.

[0055] The tower body rotation structure is arranged on the top of the fixed tower body;

[0056] The lifting beam system is fixedly connected to one side of the tower body rotation structure and is equipped with a lifting winch and a lifting wire rope;

[0057] The movable balance beam is connected to the other side of the tower body rotation structure through double hinge points, and a rotatable counterweight is provided at the end of the movable balance beam;

[0058] Both ends of the electro-hydraulic control cylinder are respectively hinged to the tower body rotation structure and the movable balance beam;

[0059] The rotation angle measurement and control instrument is arranged on the movable balance beam and is used to detect the included angle α between the movable balance beam and the horizontal plane in real time;

[0060] The intelligent control system includes: a torque calculation module, a balance control module, and a safety warning module;

[0061] The torque calculation module obtains the tension F1 of the hoisting steel wire rope and the coordinates L1 of the object being lifted in real time;

[0062] The balance control module dynamically adjusts the stroke of the hydraulic cylinder according to the formula G0L0 + F1L1 = G2(L2 + R0cosα);

[0063] The safety warning module triggers an audible and visual alarm when the torque difference exceeds the threshold;

[0064] Wherein, G0 is the gravity of the hoisting beam, L0 is the gravity arm of the hoisting beam, F1 is the tension of the hoisting steel wire rope, L1 is the tension arm of the hoisting steel wire rope, G2 is the gravity of the counterweight of the movable balance beam, and L2 is the distance from the hinge center of the hoisting balance beam to the moment center.

[0065] In an embodiment of the present invention, the rotation angle measurement and control instrument can measure the included angle α between the movable balance beam and the horizontal plane in real time, and display it on the display screen of the electric control cab through the electric control system. When the electric control system automatically and intelligently calculates the included angle α1 between the movable balance beam and the horizontal plane according to the dynamics of the tower crane, it will transmit this information to the rotation angle measurement and control instrument at the same time. The rotation angle measurement and control instrument will issue telescopic commands to the electric control hydraulic cylinder at the same time to make it perform telescopic actions synchronously. At the same time, the rotation angle measurement and control instrument will dynamically measure the included angle α between the movable balance beam and the horizontal plane in real time n , when α n is equal to α1, the rotation action stops, and the tower crane is in a new balance state. All dynamic data and change processes are displayed on the display screen of the electric control cab throughout the process.

[0066] In an embodiment of the present invention, the rotatable counterweight includes:

[0067] The shaft hole of the rotatable counterweight is eccentrically arranged in the upper half of the counterweight. The intermediate shaft passes through the device shaft hole and is fixed to the movable balance beam. The lubricating layer of the rotatable counterweight is arranged in the gap between the shaft hole and the intermediate shaft;

[0068] The mass ratio of the lower part of the rotatable counterweight > 60%, ensuring that it remains in a plumb state during free rotation.

[0069] In another embodiment of the present invention, the intelligent control system includes:

[0070] Pre-input the mass G1 of the object being lifted and the maximum working radius L1_max;

[0071] Real-time calculation of the dynamic balance equation: α = arccos[(G0L0 + F1L1) / (G2R0) - L2 / R0];

[0072] Control the stroke of the hydraulic cylinder ΔL = K·(α_target - α_current), where K is the transfer coefficient of the hydraulic system, α_target is the target angle between the movable balance beam and the horizontal plane, and α_current is the real-time angle between the movable balance beam and the horizontal plane;

[0073] When it is detected that α > α_max or F1 > F_max, execute the emergency braking procedure, where α_max is the set threshold of the angle between the movable balance beam and the horizontal plane, and F_max is the set threshold of the tension of the hoisting wire rope.

[0074] In another embodiment of the present invention, the torque calculation module includes: a strain type tension sensor, a laser rangefinder, a data fusion unit, and a Kalman filter;

[0075] The strain type tension sensor is integrated at the fixed end of the hoisting wire rope;

[0076] The laser rangefinder measures the horizontal displacement L1 of the lifted object in real time;

[0077] The data fusion unit synchronously processes the tension F1 of the heavy wire rope and the coordinate L1 of the lifted object at a sampling rate of 100 Hz;

[0078] The Kalman filter is used to eliminate the measurement noise caused by the hoisting vibration.

[0079] In another embodiment of the present invention, the electro-hydraulic cylinder includes: a double-acting piston cylinder, a proportional reversing valve, an accumulator, and a temperature compensation module;

[0080] The double-acting piston cylinder is equipped with a magnetostrictive displacement sensor;

[0081] The proportional reversing valve controls the oil flow accuracy up to ±0.5%;

[0082] The accumulator maintains the balanced state for at least 30 min when power is off;

[0083] The temperature compensation module is used to automatically adjust the change of oil viscosity.

[0084] In another embodiment of the present invention, the rotation angle measuring and controlling instrument includes: a MEMS gyroscope, an optical encoder, a data fusion processor, and a self-calibration module;

[0085] The MEMS gyroscope is used to measure the angular velocity ω;

[0086] The photoelectric encoder is used to detect the included angle α between the movable balance beam and the horizontal plane;

[0087] The data fusion processor achieves an angular resolution of 0.1°;

[0088] The self-calibration module is used to automatically correct the angle deviation at zero o'clock every day.

[0089] In another embodiment of the present invention, the tower crane further includes: a safety protection system;

[0090] A wind speed sensor is set to monitor the environmental wind speed in real time, and the wind resistance balance mode is started when V > 15 m / s;

[0091] An inertial navigation unit is set to detect the swing amplitude of the tower body and trigger reverse compensation control;

[0092] A dual-redundancy CAN bus is set to ensure the reliability of control signal transmission;

[0093] An emergency mechanical locking device is set to fix the angle of the balance beam when the control system fails.

[0094] Figure 2 In the embodiment of the present invention, the moment center is selected at the intersection position (point O) of the extension line (vertical line) of the center of gravity of the vertical tower body of the tower crane and the extension line (horizontal line) of the center line of the lifting beam. The moments on both sides of the tower crane in dynamic balance are always equal, G0*L0 + G1(F1)*L1 = G2*(L2 + R0*cosα).

[0095] The moment on one side of the lifting beam includes two parts: the moment generated by the self-weight of the lifting beam (a fixed value, its force arm is L0, and the gravity is G0), and the moment generated by the lifting wire rope (a non-fixed value, its force arm is L1, and the tension is F1. When the lifted heavy object is completely lifted, F1 = G1, and in the initial stage of lifting upward and the later stage of lowering the lifted heavy object, F1 < G1). The weight of the hoisting winch and the dragging wire rope is relatively light and is ignored.

[0096] The total moment on one side of the lifting beam = G0*L0 + G1(F1)*L1.

[0097] The weights of the balance beam structure, electro-hydraulic cylinder, and rotation angle measurement and control instrument on one side of the movable balance beam are relatively light and are ignored. The force arm on one side of the movable balance beam = L2 (the distance from the hinge center to the moment center) + L3 (the distance from the hinge center to the center line of the gravity of the counterweight). R0 is the length from the hinge center to the shaft hole of the counterweight (the rotation radius of the center of gravity of the counterweight). The included angle between the movable balance beam and the horizontal plane is α, and the gravity of the counterweight is G2.

[0098] The total moment on one side of the movable balance beam = G2*(L2 + R0*cosα).

[0099] When the dynamic balance tower crane reaches its lifting limit (the total moment on the side of the lifting beam reaches the design limit), the intelligent electric control system synchronously commands the electric control hydraulic cylinder to extend. Under the combined action of the angle rotation measuring and controlling instrument, the movable balance beam is rotated to an angle of 0 degrees with the horizontal plane. At the same time, the intelligent electric control system issues a dual audible and visual warning prompt (the dynamic balance tower crane has reached the lifting limit), attracting the attention of the lifting personnel to prevent them from overloading and causing a lifting accident. At this time, G0*L0 + G1*L1 = G2*(L2 + R0), L3 = R0, and cosα = 1.

[0100] Figure 3 Among them, when the moment generated by the lifting steel wire rope of the dynamic balance tower crane gradually decreases and approaches 0 (in the non-operation mode), the intelligent electric control system synchronously commands the electric control hydraulic cylinder to retract. Under the combined action of the angle rotation measuring and controlling instrument, the movable balance beam is rotated to an angle of its maximum value α_max with the horizontal plane. At this time, the moments on both sides of the dynamic balance tower crane are equal, reaching a balanced state, and their moments are both at the minimum value. At this time, G0*L0 = G2*(L2 + R0*cosα), G1(F1) = 0, and L3 = R0*cosα.

[0101] In an embodiment of the present invention, before hoisting (lifting and transporting), the hoisting personnel input the weight of the heavy object to be lifted into the intelligent electric control system. The intelligent electric control system automatically determines whether its weight exceeds the lifting limit. If it exceeds the lifting limit, the hoisting operation cannot be normally started. When the input weight of the heavy object to be lifted is within the hoisting range, but its maximum hoisting distance (lever arm L1) has a maximum limit value, the intelligent electric control system will display the maximum hoisting distance (lever arm L1) value on the display screen and mark it with a warning color.

[0102] Under the condition of meeting the hoisting requirements, the hoisting personnel operate the tower crane to move the position of the hoisting winch to directly above the heavy object to be lifted and lower the lifting steel wire rope. A firm binding and safe connection are made between the heavy object to be lifted and the lifting steel wire rope. After confirmation, the hoisting is prepared. During the hoisting preparation stage, the dynamic balance system of the dynamic balance tower crane does not act temporarily.

[0103] After the hoisting preparation actions are completed, the hoisting action starts. The hoisting winch begins to gradually tighten the hoisting wire rope upwards, and the tension F1 of the hoisting wire rope gradually increases (until it is completely lifted). The intelligent electric control system continuously detects the real-time data of F1 and controls the electro-hydraulic cylinder to perform a synchronous extension action, always keeping the moments on both sides of the tower crane in balance. At this time, the actual weight (G1) of the lifted heavy object and its coordinates (L1) will be displayed on the display screen in the electric control cab. At the same time, it will display whether it is in a state where hoisting is allowed and the numerical values of its limit coordinates. When the hoisting conditions are met, the operator controls the dynamic balance tower crane to lift the lifted object and transport it to the designated position. During this process, as the value of L1 changes, the angle α between the movable balance beam and the horizontal plane changes synchronously, always keeping the moments on both sides of the tower crane in balance. Then, the hoisting winch releases the lifted heavy object downwards to the designated position. During this process, F1 gradually decreases (until 0), and the angle α between the movable balance beam and the horizontal plane changes synchronously (until its maximum value), always keeping the moments on both sides of the tower crane in balance. Finally, the hoisting wire rope is disengaged from the lifted heavy object, completing one hoisting operation action.

[0104] At the same time when each hoisting operation of the dynamic balance tower crane ends, the intelligent electric control system will automatically control the electro-hydraulic cylinder to perform a contraction action to the minimum balance moment position (the angle α between the movable balance beam and the horizontal plane is the maximum value), keeping the moments on both sides of the tower crane in balance, and defaulting to the non-operation mode.

[0105] In the embodiment of the present invention, when the tower crane is in the non-hoisting operation mode, the moment on one side of the fixed balance beam is equal to the moment on one side of the hoisting beam, and the tower crane is in a balanced state. When encountering strong convective weather, the safety factor of the tower crane itself is high. When the tower crane is in the hoisting operation mode, the moment on one side of the hoisting beam changes synchronously with the change of the weight of the lifted heavy object and its distance from the center of gravity of the tower crane. The moment on one side of the movable balance beam also changes intelligently synchronously, and the tower crane is still in a balanced state. When encountering strong convective weather, the safety factor of the tower crane itself is high. When the tower crane is in the hoisting operation mode or the non-hoisting operation mode, the moment on one side of the movable balance beam is synchronously and real-time intelligently regulated, and the moments on both sides of the tower crane are always in balance, not restricted by the upper and lower limit moments of the balance beam, and the hoisting capacity of the tower crane is effectively improved (including the safe hoisting weight and the operation radius).

[0106] An embodiment of the present invention provides a dynamically balanced tower crane, comprising: a fixed tower body, a tower body rotation structure, a hoisting beam system, a movable balance beam system, an electro-hydraulic cylinder, a rotation angle measuring and controlling instrument, and an intelligent control system. The tower body rotation structure is arranged at the top of the fixed tower body; the hoisting beam system is fixedly connected to one side of the tower body rotation structure and is configured with a hoisting winch and a hoisting steel wire rope; the movable balance beam is connected to the other side of the tower body rotation structure through a double hinge point, and a rotatable counterweight is arranged at the end of the movable balance beam; both ends of the electro-hydraulic cylinder are respectively hinged to the tower body rotation structure and the movable balance beam; the rotation angle measuring and controlling instrument is arranged on the movable balance beam and is used for detecting the included angle α between the movable balance beam and the horizontal plane in real time.

[0107] The technical solution of the present invention can improve the balance state of the tower crane, enable it to achieve intelligent control of dynamic balance, improve the safety of the tower crane, and effectively improve the hoisting capacity and working radius of the tower crane at the same time.

[0108] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of the present technology, several improvements and refinements can be made without departing from the principle of the present invention, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A dynamic balance tower crane, characterized in that, The tower crane includes: a fixed tower body, a tower body rotation structure, a lifting beam system, a movable balance beam system, an electric control hydraulic cylinder, a rotation angle measuring and controlling instrument, and an intelligent control system; The tower body rotation structure is arranged at the top of the fixed tower body; The lifting beam system is fixedly connected to one side of the tower body rotation structure and is equipped with a lifting winch and a lifting steel wire rope; The movable balance beam is connected to the other side of the tower body rotation structure through a double hinge point, and a rotatable counterweight is arranged at the end of the movable balance beam; Both ends of the electric control hydraulic cylinder are hinged to the tower body rotation structure and the movable balance beam respectively; The rotation angle measuring and controlling instrument is arranged on the movable balance beam and is used for real-time detecting the included angle α between the movable balance beam and the horizontal plane; The intelligent control system includes: a torque calculation module, a balance control module, and a safety warning module; The torque calculation module obtains the pulling force F1 of the lifting steel wire rope and the coordinate L1 of the lifted object in real time; The balance control module dynamically adjusts the stroke of the hydraulic cylinder according to the formula G0L0 + F1L1 = G2(L2 + R0cosα); The safety warning module triggers an audible and visual alarm when the torque difference exceeds the threshold; Wherein, G0 is the gravity of the lifting beam, L0 is the gravity arm of the lifting beam, F1 is the pulling force of the lifting steel wire rope, L1 is the pulling force arm of the lifting steel wire rope, G2 is the gravity of the counterweight of the movable balance beam, and L2 is the distance from the hinge center of the lifting balance beam to the moment center.

2. The dynamic balance tower crane according to claim 1, characterized in that, The rotatable counterweight includes: The shaft hole of the rotatable counterweight is eccentrically arranged in the upper half of the counterweight. The middle shaft penetrates through the device shaft hole and is fixed to the movable balance beam. The lubricating layer of the rotatable counterweight is arranged in the gap between the shaft hole and the middle shaft; The mass ratio of the lower part of the rotatable counterweight > 60%, ensuring that it remains in a plumb state during free rotation.

3. A dynamic balance tower crane according to claim 1, characterized in that, The intelligent control system includes: Pre-input the mass G1 of the lifted object and the maximum working radius L1_max; Real-time solve the dynamic balance equation: α = arccos[(G0L0 + F1L1) / (G2R0) - L2 / R0]; Control the stroke ΔL of the hydraulic cylinder = K·(α_target - α_current), where K is the transfer coefficient of the hydraulic system, α_target is the target included angle between the movable balance beam and the horizontal plane, and α_current is the real-time included angle between the movable balance beam and the horizontal plane; When it is detected that α > α_max or F1 > F_max, execute the emergency braking procedure, where α_max is the set threshold of the included angle between the movable balance beam and the horizontal plane, and F_max is the set threshold of the pulling force of the lifting steel wire rope.

4. A dynamic balance tower crane according to claim 1, characterized in that, The torque calculation module includes: a strain type tension sensor, a laser rangefinder, a data fusion unit, and a Kalman filter; The strain type tension sensor is integrated at the fixed end of the lifting steel wire rope; The laser rangefinder measures the horizontal displacement L1 of the lifted object in real time; The data fusion unit synchronously processes the pulling force F1 of the heavy steel wire rope and the coordinate L1 of the lifted object at a sampling rate of 100Hz; The Kalman filter is used to eliminate the measurement noise caused by the vibration during hoisting.

5. A dynamic balance tower crane according to claim 1, characterized in that, The electro-hydraulic cylinder includes: a double-acting piston cylinder, a proportional direction valve, an accumulator, and a temperature compensation module; The double-acting piston cylinder is equipped with a magnetostrictive displacement sensor; The proportional direction valve controls the oil flow accuracy up to ±0.5%; The accumulator maintains the balance state for at least 30 minutes when power is off; The temperature compensation module is used to automatically adjust the change in oil viscosity.

6. A dynamic balance tower crane according to claim 1, characterized in that, The rotation angle measurement and control instrument includes: a MEMS gyroscope, an optical encoder, a data fusion processor, and a self-calibration module; The MEMS gyroscope is used to measure the angular velocity ω; The optical encoder is used to detect the angle α between the movable balance beam and the horizontal plane; The data fusion processor achieves an angle resolution of 0.1°; The self-calibration module is used to automatically correct the angle deviation at zero o'clock every day.

7. A dynamic balance tower crane according to claim 1, characterized in that, The tower crane further includes: a safety protection system; A wind speed sensor is set to monitor the environmental wind speed in real time, and the wind resistance balance mode is started when V > 15 m / s; An inertial navigation unit is set to detect the swing amplitude of the tower body and trigger reverse compensation control; A dual-redundant CAN bus is set to ensure the reliability of control signal transmission; An emergency mechanical locking device is set to fix the angle of the balance beam when the control system fails.

Images