Intelligent cooperative four-column derrick system

Abstract

The invention relates to the technical field of power transmission line tower construction equipment, in particular to an intelligent cooperative four-column derrick system. The device comprises an adjusting pulley used for supporting an internal suspension derrick stay wire, an adjusting supporting leg installed and supported on an iron tower main material and used for installing the adjusting pulley and driving the adjusting pulley to keep dynamic balance, and an induction system connected with the adjusting pulley and the adjusting supporting leg through a control data wire or a transmission mechanism. And the adjusting pulley and the adjusting support leg are controlled and adjusted to keep dynamic balance by sensing load change. Through cooperative control of the adjusting pulley and the adjusting supporting leg, the system can adjust the state of each component in real time, keep dynamic balance of an internal suspension derrick stay wire and effectively improve the stability and safety of the whole structure of the iron tower, and a high-performance processor is arranged in the control center and is connected with execution components of the adjusting pulley and the adjusting supporting leg through a control wire. Load changes are monitored in real time, actions are adjusted, and stability and response speed of dynamic balance are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line tower assembly construction equipment, and in particular to an intelligent collaborative four-column holding pole system. Background Art

[0002] An internally suspended guy wire boom is a temporary support device commonly used in large-scale structural hoisting projects such as power, communications, and bridges. Its typical structure includes a main boom, the bottom of which is hinged to the foundation, and the top is connected to the ground anchor via multiple guy wires, forming a stable spatial force system. During construction, the following method is usually adopted: first, a lattice boom is assembled on the ground, and its bottom is firmly hinged or anchored to the foundation. According to design requirements, multiple high-strength steel wire ropes are symmetrically arranged along the top of the boom, and the other ends are anchored to ground anchor points to form a stable spatial system. The length and tension of the guy wires are adjusted manually or mechanically by winches to make the boom reach the desired inclination angle and posture. The pulley block or winch at the top of the boom is used for lifting heavy objects. The guy wires are adjusted to accurately control the lifting path and the inclination angle of the boom. During the lifting process, the guy wire tension is adjusted in real time to correct the boom posture according to working conditions.

[0003] Although this method offers advantages such as a simple structure and flexible assembly, it has the following significant shortcomings in actual engineering applications: the guy wires themselves are susceptible to wind loads. Wind fluctuations can cause the guy wires to vibrate and shift, which in turn causes the top of the boom to sway, affecting the stability and precision of the lifting operation. This is particularly evident in wind-prone areas such as elevated and open areas. Traditional guy wire boom systems only achieve changes in the boom's inclination angle through uniaxial adjustment of the guy wires. This effectively only provides single-degree-of-freedom control, making it difficult to precisely adjust the boom's multi-dimensional spatial posture, limiting its adaptability to complex lifting conditions. Current systems primarily rely on manual adjustment based on experience and lack real-time response and compensation mechanisms for disturbances such as wind and dynamic loads. This results in easy trajectory deviation during the lifting process, increasing safety risks and making it difficult to meet high-precision lifting and safety margin requirements. The guy wire tension and posture adjustment process requires frequent work stops and manual corrections, and the coordination of multiple guy wires is difficult. The adjustment process is time-consuming and labor-intensive, seriously impacting the overall construction progress and making it difficult to adapt to the needs of modern, rapid construction and automated operations. Summary of the Invention

[0004] In order to solve the problem of weak anti-interference ability of the existing internally suspended wire-drawn pole holding system and realize precise adjustment of the multi-degree-of-freedom spatial posture of the pole holding system, the present invention provides an intelligent collaborative four-column pole holding system.

[0005] The present invention provides an intelligent collaborative four-column mast system that adopts the following technical solutions: An intelligent collaborative four-column mast system, comprising: Adjust the pulley to support the inner suspension pole cable; The adjusting leg is installed and supported on the tower main member, and is used for installing the adjusting pulley and driving the adjusting pulley to keep dynamic balance; The induction system is connected with the adjusting pulley and the adjusting leg through a control data wire or a transmission mechanism, and is used for controlling the adjusting pulley and the adjusting leg to keep dynamic balance by inducing load changes.

[0006] Through the dynamic coordinated adjustment of the adjusting pulley and the adjusting leg, the system can flexibly distribute and adjust the tension cable stress in a multidimensional space, effectively resist external disturbances such as wind load and dynamic load, significantly improve the structural stability of the pole and the hoisting load, reduce the shaking amplitude, improve the operation safety, and intelligently link the adjusting leg and the pulley. The system overcomes the limitations of the traditional single-degree-of-freedom adjustment of the tension cable pole, can realize multi-degree-of-freedom precise adjustment of the spatial posture of the pole, meets the requirements of complex working conditions and high-precision construction, and can monitor the load changes of each support point in real time. The induction system can automatically drive the adjusting pulley and the adjusting leg to dynamically compensate, so that the pole and the tension cable are always in an optimal stress and balanced state, greatly reducing the trajectory deviation caused by sudden loads such as wind and hoisting, and effectively ensuring the safety and reliability of hoisting operations.

[0007] Further, the adjusting pulley is movably installed on the installation plate, and a dynamic leveling mechanism is installed at the bottom of the installation plate. The dynamic leveling mechanism includes two groups of electric push rods. The dynamic leveling mechanism controls the inclination angle of the installation plate by controlling the extension and retraction of the two groups of electric push rods.

[0008] The extension and retraction of the two groups of electric push rods can quickly and accurately adjust the inclination angle of the installation plate, ensure that the adjusting pulley keeps the best stress direction and position in space, improve the posture control precision of the entire pole system, and the dynamic leveling mechanism can respond to the load change information transmitted by the induction system in real time. The dynamic leveling mechanism actively adjusts the angle of the installation plate, effectively compensates for the dynamic disturbance caused by wind load and hoisting load, maintains the dynamic balance of the system, reduces structural vibration and shaking, and realizes fine position control of the adjusting pulley by dynamically adjusting the inclination angle of the installation plate. The dynamic leveling mechanism driven by the electric push rod can be integrated with the intelligent control system to realize automatic adjustment without human intervention, reduce the frequency of manual adjustment and labor intensity, speed up the construction progress, and meet the modern intelligent construction requirements.

[0009] Further, the adjusting pulley is movably installed on the installation plate through a slide rail, and the adjusting pulley is drivingly connected with a servo motor and slides along the slide rail under the driving of the servo motor.

[0010] The servo motor is used to drive the pulley to slide along the slide rail, which can achieve high-precision position control, ensure that the adjusting pulley can move accurately along the predetermined trajectory, and improve the force adjustment accuracy of the entire boom system. The servo motor has good positioning performance and stable step angle. The system can achieve repeated and consistent adjustment actions, ensuring that the adjusting pulley can reliably return to the set position under different loads and working conditions, thereby improving system stability. The servo motor drive mode responds quickly and can quickly adjust the pulley position according to the feedback signal of the sensing system, realizing dynamic real-time adjustment, adapting to changes in wind load, hoisting load, etc., and improving the dynamic adaptability of the system.

[0011] Furthermore, a gear is installed on the adjusting pulley, and a rack is provided on the slide rail. The adjusting pulley and the slide rail are meshed and connected through the gear and the rack.

[0012] Through the meshing structure of the gear and rack, the rotational motion is converted into smooth and controllable linear motion, so that the adjusting pulley can be adjusted along the slide rail with high precision, ensuring the synchronization and accuracy of the pulley movement, improving the accuracy and controllability of the system adjustment, and achieving gapless transmission through tooth pitch matching.

[0013] Furthermore, the adjusting legs are distributed and installed at the four corners of the mounting plate on which the adjusting pulley is installed, and are symmetrically distributed and installed along two diagonal lines. A telescopic column is telescopically provided on the adjusting legs.

[0014] The adjustment legs are distributed at the four corners of the mounting plate and are symmetrically distributed along the two diagonals, which can make the force on each support point of the mounting plate more uniform when bearing loads, significantly improving the stability of the overall structure. Telescopic columns are set on the legs to realize flexible adjustment of the leg height. The leg length can be quickly adjusted according to the on-site terrain, height or work requirements to adapt to different installation environments or uneven ground conditions, thereby improving the adaptability and practicality of the system. The legs symmetrically arranged at the four corners are combined with the telescopic column adjustment to achieve precise horizontal adjustment and positioning of the mounting plate, facilitate rapid leveling of the equipment, help improve the working accuracy of the subsequent adjustment mechanism, and ensure the overall adjustment effect of the equipment.

[0015] Furthermore, the adjustment legs and telescopic columns are respectively controlled by ball screws and hydraulic cylinders for extension and contraction. The ball screws are used for coarse adjustment of the extension and contraction amounts of the adjustment legs and telescopic columns, and the hydraulic cylinders are used for fine adjustment of the extension and contraction amounts of the adjustment legs and telescopic columns. The ball screws and hydraulic cylinders are connected to displacement sensors via control wires. The displacement sensors monitor the extension and contraction amounts of the adjustment legs and telescopic columns and control the operation of the ball screws and hydraulic cylinders.

[0016] The ball screw is responsible for coarse adjustment and can quickly adjust the extension and retraction within a large range. The hydraulic cylinder is responsible for fine adjustment and can achieve fine adjustment. The two work together to make the extension and retraction control of the adjustment legs and telescopic columns have both speed advantages and ensure high precision and high stability of the adjustment. The coarse adjustment is driven by a ball screw, which has a simple structure and high efficiency, and can quickly complete large adjustments; the fine adjustment is driven by a hydraulic cylinder, which has smooth adjustment and sensitive response, and can quickly correct small deviations, thereby improving the overall adjustment speed and operating efficiency. The extension and retraction amount are monitored in real time through the displacement sensor, and the adjustment status is fed back. The operation of the ball screw and hydraulic cylinder is accurately controlled in combination with the control wire to achieve closed-loop automatic control, reduce human intervention, and improve the intelligence level and stability of the system. The real-time monitoring and closed-loop control of the displacement sensor effectively prevent excessive extension or position deviation, and ensure the safety of the leg extension and retraction action.

[0017] Furthermore, a counterweight block is slidingly provided inside the adjusting leg, and the counterweight block is controlled to slide along the length direction of the adjusting leg by a linear transmission mechanism. A friction adjustment component is provided at the telescopic connection node between the adjusting leg and the telescopic column, and the friction adjustment component controls the friction size at the contact between the adjusting leg and the telescopic column by clamping or expanding. An electromagnetic damper is provided in the telescopic column, and the electromagnetic damper controls the size of the elastic telescopic resistance between the adjusting leg and the telescopic column by controlling the size of the electromagnetic force.

[0018] The counterweight block can flexibly adjust its position in the support leg through the linear transmission mechanism according to the actual working conditions, realize dynamic adjustment of the center of gravity, effectively improve the stability of the overall structure, and reduce the risk of equipment overturning. It is particularly suitable for application environments with large load changes or complex terrain. The friction adjustment component can adjust the contact friction between the support leg and the telescopic column as needed. It can reduce friction to facilitate sliding during adjustment, and increase friction to lock the position after positioning to prevent slippage caused by external force or vibration, ensure the reliable positioning of the support leg and telescopic column, and improve the working safety of the equipment. An electromagnetic damper is set in the telescopic column, which can realize real-time and stepless adjustment of the telescopic motion resistance by controlling the size of the electromagnetic force. This not only can adaptively adjust the damping size according to the actual load and working conditions, optimize the shock absorption and buffering effects, reduce impact and vibration, but also improve the adaptability and service life of the equipment in harsh environments.

[0019] Furthermore, a support is provided at the bottom end of the adjusting leg, the adjusting leg is connected to and installed on the main material of the iron tower through the support, and the adjusting leg is connected to the support through a ball joint.

[0020] The ball hinge connection allows the adjustment leg to have a certain degree of rotational freedom in multiple directions, reducing stress concentration at the connection point and improving the durability and safety of the overall structure. Through the connection between the support and the main material of the tower, the installation of the adjustment leg is more stable and easy to disassemble and assemble. The ball hinge connection structure simplifies the installation process, facilitates on-site adjustment of the leg angle and direction, achieves more precise support positioning, and improves construction efficiency.

[0021] Furthermore, the sensing system includes a control center having a built-in control processor, and the control center is connected to the control execution components of the adjustment pulley and the adjustment leg through a control wire.

[0022] The control center has a built-in control processor that can receive and process signals from various sensors in real time, centrally manage the movements of the adjusting pulley and adjusting legs, improve the overall intelligence level and response speed of the system, and realize automatic adjustment and precise control. The control center is connected to the actuators of the adjusting pulley and adjusting legs through control wires to ensure that each actuator coordinates its movements according to the predetermined program, avoid synchronization problems caused by control delays or errors, and ensure the stability and safety of equipment operation. The control processor has monitoring and feedback functions, and can detect the working status of the adjusting pulley and leg control actuators in real time, detect anomalies in time and provide feedback, facilitate remote diagnosis and maintenance, and improve the operation and maintenance efficiency of the system. The built-in control processor has certain computing and communication capabilities, which is convenient for integrating more sensors or actuators, supporting future expansion of system functions and software upgrades, and improving the flexibility and sustainable development capabilities of the system.

[0023] Furthermore, an optical sensor component is installed on the side of the adjusting pulley, and the optical sensor component is used to sense the tilt angle of the adjusting pulley. The optical sensor component is connected to the control center through a data wire.

[0024] The optical sensing component can detect the tilt angle of the pulley non-contact and continuously, providing high-resolution and high-precision real-time data to ensure accurate perception of the adjustment pulley status. The sensing data is transmitted to the control center in real time through the data line. The control processor can quickly analyze the tilt status of the pulley, adjust the adjustment legs and pulley movements in time, realize closed-loop control, and improve the system's adjustment accuracy and dynamic response performance.

[0025] In summary, the present invention has the following beneficial technical effects: 1. Through the coordinated control of the adjustment pulley and the adjustment leg, the system can adjust the status of each component in real time, maintain the dynamic balance of the internal suspension arm cable, and effectively improve the stability and safety of the overall structure of the tower.

[0026] 2. The telescopic control method combining ball screw and hydraulic cylinder is adopted to achieve high-precision adjustment of the extension and contraction of the legs and telescopic columns to meet the needs of fine adjustment under different working conditions.

[0027] 3. Two sets of electric push rods control the inclination angle of the mounting plate, and the dynamic leveling mechanism ensures the precise positioning of the adjustment pulley installation, enhancing the stability and responsiveness of the system.

[0028] 4. Through the meshing of gears and racks and the drive of the servo motor, the adjusting pulley slides along the slide rail to achieve high-precision positioning, ensuring the stability and smoothness of the adjustment action.

[0029] 5. Adjust the sliding counterweight block inside the support leg and adjust the counterweight position through linear transmission to optimize the system's center of gravity and mechanical properties, and improve the equipment's earthquake and wind resistance.

[0030] 6. Combined with the adjustment of contact friction by the friction adjustment component and the electronic control of telescopic resistance by the electromagnetic damper, efficient response and damping adjustment of the elastic extension and contraction between the adjustment legs and the telescopic column can be achieved, thereby enhancing the system's anti-vibration and shock absorption capabilities.

[0031] 7. The bottom end of the adjustment leg is connected to the support through a ball joint to achieve flexible rotation in multiple directions, which is conducive to adapting to the slight deformation of the tower structure and reducing stress concentration.

[0032] 8. The control center has a built-in high-performance processor, which is connected to the actuators of the adjustment pulley and the adjustment leg through control wires to monitor load changes and adjust actions in real time to ensure the stability and response speed of dynamic balance.

[0033] 9. An optical sensor component is installed on the side of the adjustment pulley to sense the pulley tilt angle non-contactly. The data is transmitted to the control center in real time to improve the adjustment accuracy and dynamic response capability.

[0034] 10. Each functional module has a clear structure and clear division of labor, which facilitates fault diagnosis, maintenance management and future system upgrades and expansions, and enhances the sustainable development capabilities of the overall system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the adjustable support leg of the present invention; Figure 3 It is a front view structural schematic diagram of the present invention.

[0036] Description of reference numerals: 1. Adjusting pulley, 11. Mounting plate, 111. Dynamic leveling mechanism, 12. Slide rail, 13. Rack, 2. Adjusting legs, 21. Telescopic column, 22. Support, 23. Counterweight, 24. Friction adjustment assembly, 25. Electromagnetic damper, 3. Sensing system, 31. Control center, 32. Optical sensing assembly. DETAILED DESCRIPTION

[0037] The following will be combined with the Figure 1-Figure 3 The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] Example 1: The embodiment of the present invention discloses an intelligent collaborative four-column holding pole system, referring to Figure 1 and Figure 3 ,include: Adjust pulley 1, used to support the inner suspension pole cable; The adjusting leg 2 is installed and supported on the main material of the tower, and is used to install the adjusting pulley 1 and drive the adjusting pulley 1 to maintain dynamic balance; The sensing system 3 connects the adjusting pulley 1 and the adjusting leg 2 via a control data wire or a transmission mechanism, and is used to control and adjust the adjusting pulley 1 and the adjusting leg 2 to maintain dynamic balance by sensing load changes.

[0040] Fix the adjusting leg 2 to the preset installation position of the tower main material, and ensure that the adjusting leg 2 is firmly connected with the tower main material during installation to avoid loosening or displacement. Use fasteners that meet the design requirements to fix it. After installation, tighten the connecting part to ensure the safety and stability of the structure. Install the adjusting pulley 1 on the reserved installation interface of the adjusting leg 2 to ensure that the adjusting pulley 1 can rotate freely and its bearing is well lubricated to avoid jamming during operation. The installation of the adjusting pulley 1 should ensure that the pull line operation path is smooth without interference or abnormal friction. Connect the control data wire or transmission mechanism of the sensing system 3 to the adjusting pulley 1 and the adjusting leg 2. The connection method should meet the system design requirements to ensure stable and accurate signal transmission. After wiring, perform a function test on the sensing system 3 to confirm that the load change can be accurately sensed and fed back.

[0041] After installation, turn on the system for debugging under no-load and loaded conditions, and observe the dynamic balance adjustment effect of the adjusting pulley 1 and the adjusting leg 2. According to the adjustment feedback, fine-tune the position of the adjusting leg 2 or the pulley parameters to achieve the ideal dynamic balance state.

[0042] Turn on the sensing system 3 according to the operating procedures, start the load sensing and adjustment function, and the system automatically monitors the load change of the inner-suspended pole pull line and adjusts dynamically through the adjusting pulley 1 and the adjusting leg 2. When the load changes, the sensing system 3 feeds back in real time and drives the adjusting pulley 1 and the adjusting leg 2 to adjust the position or tension, maintaining the dynamic balance of the pull line. The operator can view the adjustment status and load data in real time through the control terminal to ensure normal operation of the system.

[0043] Regularly check the lubrication of the adjusting pulley 1 to prevent bearing wear or jamming, and check the fastening state of the adjusting leg 2 to ensure its firmness and reliability. Regularly calibrate the sensing system 3 to ensure the accuracy of load detection.

[0044] During installation, strictly follow the design drawings and safety specifications to avoid system failure or safety accidents due to improper installation.

[0045] The movement range of the adjusting pulley 1 and the adjusting leg 2 should meet the design limits to prevent damage to the equipment due to exceeding the range.

[0046] The cables and transmission mechanisms of the sensing system 3 should be well protected to prevent environmental factors from affecting their normal operation.

[0047] If abnormal vibration, noise or load is found during use, stop immediately for inspection and troubleshooting before continuing operation.

[0048] Pay special attention to the emergency stop function of the system to ensure that the power can be quickly cut off in emergency situations to ensure the safety of personnel and equipment.

[0049] Example 2: On the basis of Example 1, the following is added: Reference Figure 1 and Figure 3 The adjusting pulley 1 is controlled to move and is installed on the mounting plate 11. A dynamic leveling mechanism 111 is installed at the bottom of the mounting plate 11. The dynamic leveling mechanism 111 includes two groups of electric push rods. The dynamic leveling mechanism 111 controls the tilt angle of the mounting plate 11 by controlling the extension and retraction of the two groups of electric push rods.

[0050] Reference Figure 1 and Figure 3 The adjusting pulley 1 is slidably mounted on the mounting plate 11 through a slide rail 12 . The adjusting pulley 1 is connected to a servo motor and slides along the slide rail 12 driven by the servo motor.

[0051] Reference Figure 1 and Figure 3 A gear is installed on the adjusting pulley 1, and a rack 13 is provided on the slide rail 12. The adjusting pulley 1 and the slide rail 12 are meshed and connected through the gear and the rack 13.

[0052] The adjusting pulley 1 is connected to the servo motor through a planetary reduction gear set, and cooperates with the grating scale displacement sensor installed in the middle section of the slide rail to control the pulley position accuracy within the range of ±2cm.

[0053] Fix the mounting plate 11 to the main structure of the equipment to ensure that the mounting surface is horizontal and stable. Install the dynamic leveling mechanism 111 at the reserved position at the bottom of the mounting plate 11. The mechanism includes two sets of electric push rods. One end of each set of electric push rods is hinged to the bottom of the mounting plate 11, and the other end is fixed to the equipment foundation or support frame. Connect the power line and control signal line of the electric push rod to the control system to ensure that the push rods can be independently or synchronously extended and retracted. Install the slide rail 12 along the specified direction of the mounting plate 11 and fix it with bolts or buckles. Ensure the straightness and firmness of the slide rail, install the rack 13 at the corresponding position of the slide rail 12, ensure that the rack is parallel to the slide rail, the meshing surface is clean and free of impurities, install the adjusting pulley 1 on the slide rail 12, ensure that the pulley guide part can slide smoothly, install the gear on the adjusting pulley 1, make the gear mesh with the rack 13 on the slide rail 12, fix the servo motor on the mounting plate 11 or the adjusting pulley bracket, connect the gear on the adjusting pulley 1 through the coupling to realize power transmission, and connect the power supply and control line of the servo motor to the main control system.

[0054] After power is turned on, test the telescopic function of the two sets of electric push rods respectively, confirm that the tilt adjustment of the mounting plate 11 is normal, test the servo motor to drive the adjustment pulley 1 to move along the slide rail 12, ensure that the gear and rack engage smoothly, without jamming or abnormal sound, check that all mechanical connections are firm and the electrical connections are safe and reliable.

[0055] The control system power is turned on, the system performs self-checking, confirms that each component is working properly, and according to the requirements, the initial inclination angle adjustment of the mounting plate 11 is realized by controlling the extension and retraction of the two groups of electric push rods. The system starts the servo motor to drive the gear of the adjusting pulley 1 to mesh with the rack, realizing the smooth sliding of the pulley along the slide rail 12. The operator can set the target position of the pulley, and the system automatically and accurately positions. During operation, according to the actual operation requirements or load changes, the dynamic leveling mechanism adjusts the inclination angle of the mounting plate 11 in real time, and the adjusting pulley 1 can be moved at any time as needed to realize collaborative work or equipment adjustment.

[0056] Example 3: Based on example 1, increase: Referring to Figure 1 and Figure 3 , the adjusting legs 2 are distributed and installed at the four corners of the mounting plate 11 on which the adjusting pulley 1 is installed, and are symmetrically distributed and installed along two pairs of diagonal lines. The adjusting legs 2 are provided with telescopic columns 21 which are telescopically arranged on the adjusting legs 2.

[0057] Referring to Figure 1 and Figure 3 , the adjusting legs 2 and the telescopic columns 21 are respectively controlled in extension and retraction by ball screws and hydraulic cylinders. The ball screws are used for coarse adjustment of the extension and retraction amount of the adjusting legs 2 and the telescopic columns 21, and the hydraulic cylinders are used for fine adjustment of the extension and retraction amount of the adjusting legs 2 and the telescopic columns 21. The ball screws and the hydraulic cylinders are connected to a displacement sensor through control wires. The displacement sensor monitors the extension and retraction amount of the adjusting legs 2 and the telescopic columns 21 and controls the operation of the ball screws and the hydraulic cylinders.

[0058] When one side adjusting leg 2 is extended, the opposite diagonal adjusting leg 2 is synchronously retracted. According to the differential pressure of the adjusting legs, the compensation amount is dynamically adjusted to form a reverse inclination angle compensation torque.

[0059] Referring to Figure 2 , a counterweight 23 is slidably arranged in the adjusting leg 2. The counterweight 23 is controlled to slide along the length direction of the adjusting leg 2 through a linear transmission mechanism. A friction adjusting assembly 24 is arranged at the extension and retraction connection joint of the adjusting leg 2 and the telescopic column 21. The friction adjusting assembly 24 controls the friction size at the contact between the adjusting leg 2 and the telescopic column 21 by clamping or expanding. An electromagnetic damper 25 is arranged in the telescopic column 21. The electromagnetic damper 25 controls the elastic extension and retraction resistance size between the adjusting leg 2 and the telescopic column 21 by controlling the electromagnetic force size.

[0060] The counterweight 23 slides along the column axis to offset the wind load inertia force. The electromagnetic damper 25 suppresses transverse vibration by adjusting the magnetic field. The friction adjusting assembly 24 adjusts the friction coefficient of the anchoring surface of the adjusting leg 2 by voltage regulation.

[0061] Referring to Figure 1and Figure 3 The bottom end of the adjusting leg 2 is provided with a support 22, and the adjusting leg 2 is connected to and installed on the main material of the tower through the support 22. The adjusting leg 2 is connected to the support 22 through a ball joint.

[0062] The hydraulic cylinder and displacement sensor respond to external load changes in real time and fine-tune the compensation amount.

[0063] The four adjusting legs 2 are respectively installed at the four corners of the mounting plate 11 and are symmetrically distributed along the two diagonals. This distribution method can ensure that the structure is evenly stressed and improve the overall stability. A support 22 is provided at the bottom end of each adjusting leg 2. The support 22 is firmly connected to the main material of the tower through a ball joint to achieve flexible adjustment in multiple directions, which is convenient for subsequent leveling and support. A telescopic column 21 is slidably installed inside each adjusting leg 2. The telescopic adjustment is achieved between the adjusting leg 2 and the telescopic column 21 through the coordinated use of a ball screw and a hydraulic cylinder. The ball screw realizes coarse adjustment and the hydraulic cylinder is responsible for fine adjustment. The ball screw and the hydraulic cylinder are connected to the displacement sensor through a control wire to ensure the accuracy and synchronization of the two-stage adjustment.

[0064] A slidable counterweight 23 is provided in the adjusting leg 2, and its position is controlled by a linear transmission mechanism. The counterweight 23 moves along the length direction of the adjusting leg 2 to optimize the structural center of gravity and local force, thereby improving the overall stability. A friction adjustment component 24 is installed at the telescopic connection node between the adjusting leg 2 and the telescopic column 21. The friction force at the contact point is adjusted by tightening or expanding to meet the damping requirements under different working conditions. An electromagnetic damper 25 is integrated inside the telescopic column 21 to achieve real-time adjustment of the elastic telescopic resistance by controlling the magnitude of the electromagnetic force.

[0065] Connect the control lines of all sensors, drivers, and adjustment components to the main control system. After installation, test the functions of each component step by step to ensure sensitive movements, accurate signals, and stable system operation.

[0066] Start the main control system to automatically detect the status of the ball screw, hydraulic cylinder, displacement sensor, counterweight transmission mechanism, friction adjustment assembly and electromagnetic damper to ensure that all components are ready. According to the target position and load conditions, first perform coarse adjustment through the ball screw to achieve a large range of telescopic adjustment of the adjustment leg 2 and the telescopic column 21. Then use the hydraulic cylinder to perform fine adjustment to achieve precise positioning and leveling. The displacement sensor continuously monitors the telescopic amount, and the main control system adjusts the telescopic action in a closed loop.

[0067] According to the force or stability requirements of the tower structure, the counterweight block 23 is moved through the linear transmission mechanism to optimize the center of gravity distribution of the support legs and improve the overall stability and anti-overturning ability of the equipment. According to the operating status, the friction force at the connection between the support legs 2 and the telescopic column 21 is controlled and adjusted through the friction adjustment component 24 to flexibly respond to different operating environments and dynamic loads. By adjusting the electromagnetic force of the electromagnetic damper 25, precise control of the elastic telescopic resistance is achieved, thereby improving the impact resistance and vibration absorption capabilities.

[0068] During operation, the main control system collects data from various sensors in real time and automatically adjusts the leg extension and retraction, counterweight position and damping parameters as needed to ensure the equipment continues to operate safely and smoothly.

[0069] Example 4: On the basis of Example 1, the following is added: Reference Figure 1 and Figure 3 The sensing system 3 includes a control center 31, which has a built-in control processor. The control center 31 is connected to the control execution components of the adjustment pulley 1 and the adjustment leg 2 through a control wire.

[0070] Reference Figure 1 and Figure 3 An optical sensing component 32 is installed on the side of the adjusting pulley 1. The optical sensing component 32 is used to sense the tilt angle of the adjusting pulley 1. The optical sensing component 32 is connected to the control center 31 through a data wire.

[0071] The optical sensing component 32 is composed of a laser radar and a reflective target.

[0072] The control center 31 adopts a closed-loop control algorithm based on fuzzy PID. It dynamically calculates the telescopic compensation amount of the four groups of columns by real-time analysis of the optical sensor component 32 and adjustment of the vibration frequency signal of the electromagnetic damper 25 and the load distribution data of the leg pressure sensor, and adjusts the sliding distance of the counterweight block 23 and the magnetic field strength of the electromagnetic damper 25 according to the telescopic compensation amount.

[0073] Start the sensing system 3, the control center 31 initializes the control processor, executes the self-test program, and confirms that the optical sensing component 32 and the control execution component are in normal status. The optical sensing component 32 collects the inclination angle of the adjusting pulley 1 in real time, and transmits the detection data to the control center 31 through the data line. The control center 31 uses the built-in control processor to perform data analysis and processing based on the received inclination angle data, determines the posture deviation of the adjusting pulley 1, and calculates the adjustment amount of the adjusting leg 2. The control center 31 sends instructions through the control wire to drive the control execution components of the adjusting pulley 1 and the adjusting leg 2 to achieve precise adjustment of the pulley and the leg, so as to achieve the purpose of automatic leveling and stabilizing the structure. The system continuously monitors the changes in the inclination angle of the adjusting pulley 1, and the control center 31 adjusts the execution instructions in real time to achieve dynamic closed-loop control and ensure the stability and safety of the equipment operation.

[0074] Taking diagonal vibration as an example, if the ground vibration is transmitted along the direction of the diagonal column, the control center 31 first starts the reverse compensation mode: the telescopic column 21 of one of the adjusting legs 2 drives the slide rail 12 to raise its height, prompting the lifting pulley to climb; at the same time, the telescopic column 21 of the diagonal adjusting leg 2 synchronously shortens the slide rail height to balance the torque, and the electromagnetic dampers 25 of the two diagonal columns in the vertical vibration direction switch to the energy absorption mode to suppress the vibration transmission in the non-diagonal direction. The slide rail 12 is combined with the real-time feedback of the optical sensor component 32, and the control center 31 adjusts the height of the adjusting pulley 1 to automatically compensate for the inclination of the tower to ensure the accuracy of the lifting path.

[0075] For load disturbances in non-diagonal directions, the system adopts a decomposition and collaborative control strategy. The control center 31 decomposes the external load into diagonal components and vertical components. The two diagonal adjustment legs 2 groups offset the influence of the diagonal components by adjusting the height difference of the slide rail 12. The other two adjustment legs 2 enhance the friction coefficient of the anchoring surface of the adjustment leg 2 through the friction adjustment component 24 to limit the vertical displacement. At the same time, the movable counterweight block 23 slides along the axis of the column to generate an inertia torque opposite to the direction of the wind load, further suppressing the lateral drift of the adjustment pulley 1.

[0076] The above content is merely an example and explanation of the structure of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the scope defined by the structure of the invention, they should all fall within the scope of protection of the present invention.

Claims

1. An intelligent collaborative four-column mast system, characterized in that: include: An adjusting pulley (1) is used to support the inner suspension pole pull wire; An adjusting leg (2) is installed and supported on the main material of the iron tower, and is used to install the adjusting pulley (1) and drive the adjusting pulley (1) to maintain dynamic balance; The induction system (3) is connected to the adjustment pulley (1) and the adjustment leg (2) via a control data wire or a transmission mechanism, and is used to control and adjust the adjustment pulley (1) and the adjustment leg (2) to maintain dynamic balance by inducing load changes.

2. The intelligent collaborative four-column mast system according to claim 1, characterized in that: The regulating pulley (1) is controlled to move and is mounted on the mounting plate (11). A dynamic leveling mechanism (111) is mounted on the bottom of the mounting plate (11). The dynamic leveling mechanism (111) includes two sets of electric push rods. The dynamic leveling mechanism (111) controls the inclination angle of the mounting plate (11) by controlling the extension and contraction of the two sets of electric push rods.

3. The intelligent collaborative four-column mast system according to claim 2, characterized in that: The regulating pulley (1) is slidably mounted on the mounting plate (11) via a slide rail (12). The regulating pulley (1) is connected to a servo motor and slides along the slide rail (12) driven by the servo motor.

4. The intelligent collaborative four-column mast system according to claim 3, characterized in that: A gear is mounted on the adjusting pulley (1), a rack (13) is provided on the slide rail (12), and the adjusting pulley (1) and the slide rail (12) are meshedly connected via the gear and the rack (13).

5. The intelligent collaborative four-column mast system according to claim 1, characterized in that: The adjusting legs (2) are distributed and installed at the four corners of the mounting plate (11) on which the adjusting pulley (1) is installed, and are symmetrically distributed and installed along two diagonal lines. A telescopic column (21) is telescopically provided on the adjusting legs (2).

6. The intelligent collaborative four-column mast system according to claim 5, characterized in that: The adjusting leg (2) and the telescopic column (21) are respectively controlled by a ball screw and a hydraulic cylinder for extension and contraction. The ball screw is used for coarse adjustment of the extension and contraction amount of the adjusting leg (2) and the telescopic column (21). The hydraulic cylinder is used for fine adjustment of the extension and contraction amount of the adjusting leg (2) and the telescopic column (21). The ball screw and the hydraulic cylinder are connected to a displacement sensor via a control wire. The displacement sensor monitors the extension and contraction amount of the adjusting leg (2) and the telescopic column (21) and controls the operation of the ball screw and the hydraulic cylinder.

7. The intelligent collaborative four-column mast system according to claim 6, characterized in that: A counterweight (23) is slidingly provided in the adjusting leg (2), and the counterweight (23) is controlled by a linear transmission mechanism to slide along the length direction of the adjusting leg (2). A friction adjustment component (24) is provided at the telescopic connection node between the adjusting leg (2) and the telescopic column (21), and the friction adjustment component (24) controls the friction size at the contact point between the adjusting leg (2) and the telescopic column (21) by clamping or expanding. An electromagnetic damper (25) is provided in the telescopic column (21), and the electromagnetic damper (25) controls the size of the elastic telescopic resistance between the adjusting leg (2) and the telescopic column (21) by controlling the size of the electromagnetic force.

8. The intelligent collaborative four-column mast system according to claim 7, characterized in that: A support (22) is provided at the bottom end of the adjusting leg (2), the adjusting leg (2) is connected to and mounted on the main material of the iron tower via the support (22), and the adjusting leg (2) is connected to the support (22) via a ball joint.

9. The intelligent collaborative four-column mast system according to claim 1, characterized in that: The sensing system (3) includes a control center (31), wherein the control center (31) has a built-in control processor, and the control center (31) is connected to the control execution components of the adjustment pulley (1) and the adjustment leg (2) via a control wire.

10. The intelligent collaborative four-column mast system according to claim 9, characterized in that: An optical sensing component (32) is installed on the side of the regulating pulley (1), and the optical sensing component (32) is used to sense the tilt angle of the regulating pulley (1). The optical sensing component (32) is connected to the control center (31) via a data wire.

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