Counterweight device, gantry crane and hoisting method

Abstract

The invention relates to the technical field of cranes, and discloses a counterweight device, a gantry crane and a hoisting method.The counterweight device comprises a counterweight assembly and a counterweight beam, the counterweight assembly comprises a main counterweight and a counterweight beam, and the counterweight beam is connected with the main counterweight; the adjusting assembly comprises an adjusting balance weight and a driving mechanism, the adjusting balance weight is movably arranged on the balance weight beam, and the driving mechanism is connected with the adjusting balance weight. The position of the adjusting balance weight on the balance weight beam can be changed through the driving mechanism; the overall gravity center of the suspension arm assembly is flexibly adjusted, so that the gravity center of the suspension arm assembly and the comprehensive gravity center of materials tend to move horizontally in the amplitude variation process, then the amplitude variation force in the working process can be reduced, and the maximum output power of main working parts can be reduced by reducing the peak value of the amplitude variation force and the fluctuation of force in the amplitude variation process; and the working part with smaller power can meet the use requirement, and meanwhile, the energy consumption of the working part during working is also reduced.

Description

Technical Field

[0001] This invention relates to the field of crane technology, specifically to counterweight devices, gantry cranes, and lifting methods. Background Technology

[0002] A gantry crane is a large-scale boom-type lifting machine, named for its portal-shaped base. It mainly consists of a boom, A-frame, slewing platform, base, and traveling mechanism, and can run along ground tracks, making it an important piece of equipment in modern material handling systems. The counterweight of a gantry crane is usually fixed to the tail of the balance beam. During the crane's luffing process, the boom swings, causing the balance beam to swing as well, achieving balance by changing the counterweight arm.

[0003] Currently, in existing gantry cranes, once the geometric dimensions of the balance beam, tie rod, and boom are determined, the balancing capacity of the balancing mechanism in the entire crane is also determined. During actual operation, the luffing force of the gantry crane changes in a curve, and the luffing force differs greatly between the maximum and minimum amplitudes. To meet the luffing force of this changing form, the crane not only needs to use high-power motors, reducers, and brakes, but also consumes a lot of energy during operation, resulting in high operating costs. Summary of the Invention

[0004] This invention provides a counterweight device, a gantry crane, and a lifting method to solve the problem of high operating costs of existing gantry cranes.

[0005] In a first aspect, the present invention provides a counterweight device applied to the boom assembly of a gantry crane, comprising: The counterweight assembly includes a main counterweight and a counterweight beam extending along a first direction. One end of the counterweight beam is connected to the main counterweight, and the other end forms a connecting end. The connecting end is hinged to the boom via a connecting rod. The counterweight beam has a fulcrum for hinged to the machine body, and the fulcrum is located between the main counterweight and the connecting end. The adjustment assembly includes an adjustment counterweight and a drive mechanism. Along a first direction, the adjustment counterweight is movably disposed on the counterweight beam and is located between the main counterweight and the fulcrum. The drive mechanism is connected to the adjustment counterweight and is used to drive the adjustment counterweight to move, thereby changing the center of gravity of the counterweight assembly and thus changing the center of gravity of the entire boom balance system.

[0006] Beneficial effects: By installing an adjustment component on the counterweight beam and changing the position of the counterweight on the counterweight beam through a drive mechanism, the overall center of gravity of the counterweight assembly can be changed. As the center of gravity of the counterweight assembly changes, the overall center of gravity of the boom assembly will also change. When the gantry crane is working, the overall center of gravity of the boom assembly can be flexibly adjusted according to the weight of the material being transported and the luffing state, so that the combined center of gravity of the boom assembly and the material tends to move horizontally during the luffing process. This reduces the luffing force during operation. By reducing the peak value of the luffing force and the force fluctuation during the luffing process, the maximum output power of the main working components can be reduced. Using working components with lower power can meet the usage requirements while also reducing the energy consumption of the working components during operation, effectively solving the problem of high operating costs of existing gantry cranes.

[0007] In one alternative embodiment, a guide groove is provided on the counterweight beam, the guide groove extends along a first direction, at least a portion of the adjustable counterweight is located in the guide groove, and the adjustable counterweight is guided and engaged with the guide groove.

[0008] Beneficial effects: The guide groove can effectively guide and constrain the movement of the adjustment counterweight, thereby improving the stability and reliability of the adjustment counterweight movement process.

[0009] In one alternative embodiment, the adjusting counterweight has a rotatable roller located in a guide groove, and the adjusting counterweight moves along the guide groove via its own roller.

[0010] Beneficial effects: By setting rollers, the friction between the adjusting counterweight and the guide groove can be effectively reduced when the adjusting counterweight moves, so that the adjusting counterweight can move more smoothly and quickly, which can improve the efficiency and sensitivity of center of gravity adjustment.

[0011] In one optional embodiment, the counterweight beam includes two first beam segments and a second beam segment disposed between the two first beam segments, the first beam segments extending along a first direction, and the two first beam segments being fixedly connected by the second beam segment; Each first beam segment is equipped with a guide groove, and the adjustment counterweight works in conjunction with two guide grooves. The adjustment counterweight is equipped with at least one roller for each guide groove.

[0012] Beneficial effects: This type of counterweight beam can effectively support the adjustment components while guiding the movement of the adjustment counterweight in a more balanced and stable manner.

[0013] In one alternative embodiment, the drive mechanism includes at least one drive cylinder having a drive end that can extend and retract along a first direction, the drive cylinder being pivotally hinged to the main counterweight, and the drive end being connected to the adjustable counterweight.

[0014] Beneficial effects: The drive cylinder is simple and reliable, and easy to process and manufacture.

[0015] In one optional embodiment, the counterweight device further includes a position sensor and a controller. The position sensor is disposed on the main counterweight and located on one side of the adjustment component. The position sensor is used to detect the position of the adjustment counterweight. The controller is electrically connected to the position sensor and the drive mechanism respectively to control the drive state of the drive mechanism.

[0016] Beneficial effects: The sensor can accurately detect the position of the counterweight, ensuring the accuracy of the counterweight position. The controller can flexibly and quickly control the drive mechanism to change the position of the counterweight according to the working status of the gantry crane.

[0017] Secondly, the present invention also provides a gantry crane, comprising: a frame; a boom, which is swayably mounted on the frame; the aforementioned counterweight device, wherein the counterweight beam of the counterweight device is hinged to the frame via its own fulcrum, and the connecting end of the counterweight beam is hinged to the boom via a connecting rod; and a power unit, which is mounted on the frame and drivenly connected to the boom.

[0018] In one alternative implementation, it also includes a pressure sensor, a weight detector, an amplitude detector, and a material attitude sensor; The weight detector is used to detect the weight of the material, the amplitude detector is used to detect the luffing angle of the crane boom, and the material attitude sensor is used to detect the attitude of the material.

[0019] Thirdly, the present invention also provides a lifting method using the above-mentioned gantry crane, which includes: simulating the luffing force of the gantry crane during luffing to obtain the luffing force variation law. Based on the law of change of luffing force, the drive mechanism of the gantry crane is driven to move the counterweight when the gantry crane is in different luffing states. By changing the center of gravity of the counterweight device, the luffing force of the gantry crane during luffing is reduced.

[0020] Beneficial effects: By changing the position of the adjusting counterweight, when the luffing force of the gantry crane increases during luffing, the adjusting counterweight can be moved in the direction of reducing the luffing force, which can effectively reduce the luffing force of the gantry crane in various states.

[0021] In one optional implementation, based on the obtained luffing force variation law, the step of driving the gantry crane's drive mechanism to move the adjusting counterweight during different luffing states of the gantry crane, thereby reducing the luffing force during luffing by changing the center of gravity of the counterweight device, includes: enabling the counterweight device's controller to acquire the gantry crane's state information, including: the weight information of the material being transported by the gantry crane, the material's transport posture information, the luffing amplitude information of the gantry crane, the force information of the pressure sensor, the luffing direction information of the gantry crane about to undergo luffing, and the set parameter information of the gantry crane's balance system; the controller calculating the optimal position for the adjusting counterweight based on the state information; and the drive mechanism driving the adjusting counterweight to move towards the optimal position.

[0022] Beneficial effects: After acquiring various working status information, the controller can calculate the relevant working status information to determine the position of the counterweight when adjusting it so that the center of gravity of the relevant components of the boom is closest to the overall center of gravity of the material in the horizontal height, given the current posture of the gantry crane. At this point, the counterweight can be moved toward that position, making the reduction of amplitude force more accurate and obvious. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a top view of a counterweight device according to an embodiment of the present invention; Figure 2 for Figure 1 A cross-sectional view of the counterweight device at point AA; Figure 3 This is a schematic diagram of the structure of a gantry crane according to an embodiment of the present invention; Figure 4 This invention relates to a lifting method for obtaining the variation law of amplitude force.

[0025] Explanation of reference numerals in the attached figures: 1. Counterweight assembly; 101. Main counterweight; 102. Counterweight beam; 1021. Connecting end; 1022. Support point; 1023. Guide groove; 1024. First beam segment; 1025. Second beam segment; 2. Adjustment components; 201. Adjustment counterweight; 2011. Roller; 202. Drive mechanism; 2021. Drive cylinder; 3. Body; 4. Lifting boom; 5. Connecting rod; 6. Pressure sensor; X, the first direction. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In related technologies, during the luffing process of a gantry crane, theoretically, the center of gravity of the main working mechanism at the top changes approximately in a straight line to reduce the luffing force; however, this is difficult to achieve in practice. For example... Figure 4 The diagram shows the torque variation of the luffing force under different working conditions of a gantry crane in related technologies. The luffing force changes curvilinearly and can be understood as the resistance of the gantry crane during operation. The direction of the luffing force differs under different luffing states; it can be either tensile or compressive. The sign of the luffing force indicates its direction. Figure 4 It is known that the luffing force of a gantry crane fluctuates greatly during operation. In addition, the luffing force also changes when the lifting weight changes. The swaying during luffing and slewing also leads to changes in the luffing force. All these factors combined make it difficult for gantry cranes in related technologies to effectively control the luffing force.

[0028] Because the amplitude change force is large and difficult to control, it not only leads to a large consumption of electrical energy during the amplitude change process, but also generates a large impact during the operation of mechanical components such as gears and racks, which will cause abnormal noises during the amplitude change process.

[0029] The following is combined with Figures 1 to 4 The following describes embodiments of the present invention.

[0030] According to an embodiment of the present invention, in one aspect, a counterweight device is provided for use in the boom assembly of a gantry crane. The counterweight device includes: a counterweight assembly 1 and an adjustment assembly 2.

[0031] The counterweight assembly 1 includes a main counterweight 101 and a counterweight beam 102 extending along a first direction X. One end of the counterweight beam 102 is connected to the main counterweight 101, and the other end forms a connecting end 1021. The connecting end 1021 is hinged to the lifting arm 4 via a connecting rod 5. The counterweight beam 102 has a fulcrum 1022 for hinged to the body 3. The fulcrum 1022 is located between the main counterweight 101 and the connecting end 1021. Adjustment component 2 includes an adjustment counterweight 201 and a drive mechanism 202. Along the first direction X, the adjustment counterweight 201 is movably disposed on the counterweight beam 102. The adjustment counterweight 201 is located between the main counterweight 101 and the fulcrum 1022. The drive mechanism 202 is connected to the adjustment counterweight 201 and is used to drive the adjustment counterweight 201 to move, thereby changing the center of gravity of the counterweight component 1 and thus changing the center of gravity of the entire boom balance system.

[0032] By applying the counterweight device of this embodiment, an adjustment component 2 is set on the counterweight beam 102. By changing the position of the adjustment counterweight 201 on the counterweight beam 102 through the drive mechanism 202, the overall center of gravity of the counterweight component 1 can be changed. As the center of gravity of the counterweight component 1 changes, the overall center of gravity of the boom assembly will also change. When the gantry crane is working, the overall center of gravity of the boom assembly can be flexibly adjusted according to the weight of the material being transported and the luffing state, so that the center of gravity of the boom assembly and the combined center of gravity of the material tend to move horizontally during the luffing process. This can reduce the luffing force during the working process. By reducing the peak value of the luffing force and the force fluctuation during the luffing process, the maximum output power of the main working components can be reduced. Using working components with lower power can meet the usage requirements while also reducing the energy consumption of the working components during operation, effectively solving the problem of high operating costs of existing gantry cranes.

[0033] It should be noted that, in this embodiment, the first direction X refers to Figure 1 The direction of the "X" indicated by the middle arrow is also the extension direction of the counterweight beam 102.

[0034] In this embodiment, the driving mechanism 202 drives the adjustment counterweight 201 to move and change the center of gravity of the counterweight component 1, thereby changing the center of gravity of the entire boom balancing system. The boom balancing system here refers to the boom balancing system in the crane composed of the counterweight device and related components. The counterweight device in this embodiment can make the center of gravity of the boom balancing system tend to be horizontal.

[0035] In addition, by using the counterweight device of this embodiment, the center of gravity of the counterweight component 1 can be changed, so that the center of gravity of the boom component and the overall center of gravity of the material can be better matched during the luffing process. The maximum luffing force during the operation of the original gantry crane can be reduced by more than 30%. Since the counterweight device of this embodiment can reduce the peak value of the luffing force and the force fluctuation during the luffing process, the operation of the gantry crane can be made more stable. It can effectively reduce the vibration generated during the luffing process, thus improving the overall life of the equipment and improving the comfort of operation.

[0036] In addition, since the counterweight device can reduce the peak value of the luffing force and the force fluctuation during the luffing process, it can also reduce the impact generated during the acceleration and deceleration of the gantry crane. This not only reduces the peak current of the motor and the impact on the power grid, but also reduces the noise generated during operation. Therefore, the counterweight device also plays a significant role in energy saving and noise reduction.

[0037] In one embodiment, a guide groove 1023 is provided on the counterweight beam 102. The guide groove 1023 extends along the first direction X. At least a portion of the adjusting counterweight 201 is located in the guide groove 1023. The adjusting counterweight 201 and the guide groove 1023 are guided and cooperated. Through the guide groove 1023, the movement process of the adjusting counterweight 201 can be effectively guided and constrained, thereby improving the stability and reliability of the movement process of the adjusting counterweight 201.

[0038] Specifically, there is no limitation on the specific dimensions of the guide groove 1023. It can be a rectangular groove or a U-shaped groove. The guide groove 1023 can be designed to accommodate only a part of the adjusting counterweight 201 or to allow the adjusting counterweight 201 to enter completely. It can be flexibly selected according to the requirements.

[0039] In addition, there are no restrictions on the specifications and dimensions of the main counterweight 101, counterweight beam 102 and adjusting counterweight 201. Since there are many specifications and weights of gantry cranes and different application scenarios, the design can be carried out according to the actual use requirements.

[0040] In one embodiment, the adjusting weight 201 has a rotatable roller 2011 located in the guide groove 1023. The adjusting weight 201 moves along the guide groove 1023 via its own roller 2011. By setting the roller 2011, the friction between the adjusting weight 201 and the guide groove 1023 during movement can be effectively reduced, allowing the adjusting weight 201 to move more smoothly and quickly, thereby improving the efficiency and sensitivity of the center of gravity adjustment.

[0041] There is no limit to the number of rollers 2011; there can be one or more, depending on the usage requirements.

[0042] Preferably, such as Figure 2 As shown, there are two rollers 2011, which are spaced apart along the first direction X. This type of roller 2011 can effectively support the adjustment counterweight 201, and the manufacturing cost is also low.

[0043] In one embodiment, the counterweight beam 102 includes two first beam segments 1024 and a second beam segment 1025 disposed between the two first beam segments 1024. The first beam segments 1024 extend along a first direction X, and the two first beam segments 1024 are fixedly connected by the second beam segment 1025. Each first beam segment 1024 is provided with a guide groove 1023. The adjusting counterweight 201 cooperates with two guide grooves 1023 at the same time. The adjusting counterweight 201 is provided with at least one roller 2011 corresponding to each guide groove 1023. This type of counterweight beam 102 can effectively support the adjusting component 2 while guiding the movement of the adjusting counterweight 201 in a more balanced and stable manner.

[0044] Specifically, such as Figure 2 As shown, the two guide grooves 1023 are symmetrically arranged along an axis of symmetry parallel to the first direction X.

[0045] In one embodiment, the drive mechanism 202 includes at least one drive cylinder 2021. The drive cylinder 2021 has a drive end that can extend and retract along a first direction X. The drive cylinder 2021 is pivotally hinged to the main counterweight 101. The drive end is connected to the adjusting counterweight 201. The drive cylinder 2021 is simple and reliable in form and easy to process and manufacture.

[0046] Specifically, such as Figure 1 As shown, the drive mechanism 202 includes two drive cylinders 2021 spaced apart. This arrangement of the drive cylinders 2021 allows for a more stable and reliable drive of the adjusting counterweight 201, and makes the force on the adjusting counterweight 201 more balanced when it moves.

[0047] It can be understood that, as an alternative implementation, the drive mechanism 202 can also drive the adjustment counterweight 201 to move via a drive cylinder 2021. In order to improve the force balance of the adjustment counterweight 201 under this drive form, a connecting frame with a triangular structure can be provided between the adjustment counterweight 201 and the drive cylinder 2021. Two corners of the connecting frame are hinged to the adjustment counterweight 201, and the third corner is connected to the drive end of the drive cylinder 2021.

[0048] Furthermore, the specific form of the drive cylinder 2021 is not limited; it can be a pneumatic cylinder, a hydraulic cylinder, or other drive components that can achieve reciprocating drive, such as an electric motor.

[0049] In one embodiment, the counterweight device further includes a position sensor and a controller. The position sensor is disposed on the main counterweight 101 and located on one side of the adjustment component 2. The position sensor is used to detect the position of the adjustment counterweight 201. The controller is electrically connected to the position sensor and the drive mechanism 202 respectively to control the drive state of the drive mechanism 202. The sensor can accurately detect the position of the adjustment counterweight 201 to ensure the position accuracy of the adjustment counterweight 201. The controller can flexibly and quickly control the drive mechanism 202 to change the position of the adjustment counterweight 201 according to the working state of the gantry crane.

[0050] According to an embodiment of the present invention, in another aspect, a gantry crane is also provided, which includes: a body 3, a lifting boom 4, the aforementioned counterweight device, and a power device.

[0051] The boom 4 is swayably mounted on the body 3; the counterweight beam 102 of the counterweight device is hinged to the body 3 through its own fulcrum 1022, and the connecting end 1021 of the counterweight beam 102 is hinged to the boom 4 through the connecting rod 5; the power unit is mounted on the body 3 and is driven by the boom 4.

[0052] In one embodiment, the gantry crane further includes a pressure sensor 6, a weight detector, an amplitude detector, and a material attitude sensor; The weight detector is used to detect the weight of the material, the amplitude detector is used to detect the luffing angle of the boom 4, and the material attitude sensor is used to detect the attitude of the material.

[0053] Specifically, the body 3 is connected to the lifting arm 4 via a connecting rod. The pressure sensor 6 is located at the connection point between the connecting rod and the lifting arm 4. The pressure sensor 6 is a pin-type pressure sensor, which can detect both the tension and the pressure at that location.

[0054] According to an embodiment of the present invention, in another aspect, a lifting method is also provided, using the above-described gantry crane, comprising: The luffing force of the gantry crane during luffing was simulated to obtain the variation law of the luffing force; Based on the obtained law of change of luffing force, when the gantry crane is in different luffing states, the drive mechanism 202 of the gantry crane drives the adjustment counterweight 201 to move, thereby changing the center of gravity of the counterweight device to reduce the luffing force of the gantry crane during luffing.

[0055] By changing the position of the adjusting counterweight 201, when the luffing force of the gantry crane increases during luffing, the adjusting counterweight 201 can be moved in the direction of reducing the luffing force, which can effectively reduce the luffing force of the gantry crane in various states.

[0056] In one embodiment, the step of reducing the luffing force of the gantry crane during different luffing states by causing the drive mechanism 202 of the gantry crane to drive the adjusting counterweight 201 to move, thereby changing the center of gravity of the counterweight device, includes: The counterweight device controller acquires the status information of the gantry crane, including: the weight information of the material being transported by the gantry crane, the transport posture information of the material, the luffing amplitude information of the gantry crane, the force information of the pressure sensor, the luffing direction information of the gantry crane when it is about to luff, and the set parameter information of the gantry crane's balance system. The controller calculates the optimal position for adjusting counterweight 201 based on the status information. The drive mechanism 202 drives the adjustment counterweight 201 to move toward the optimal position.

[0057] After acquiring various working status information, the controller calculates the relevant working status information to determine the position of the counterweight 201 when adjusting it to make the center of gravity of the relevant components of the boom 4 and the overall center of gravity of the material closest in horizontal height, given the current posture of the gantry crane. At this point, the counterweight 201 can be moved toward this position, making the reduction of amplitude force more accurate and obvious.

[0058] It should be noted that the information of the direction of the luffing change of the gantry crane is the luffing trend. The luffing trend is transmitted by the operator through the control lever or automatically predicted based on the current position of the lifting point.

[0059] The information about the luffing direction of a gantry crane before it undergoes a luffing change includes both the luffing direction and the slewing direction.

[0060] The control process is described below: At the moment the material is lifted, the material has just left the ground. In this state, there is usually no rotation or amplitude change. The controller simultaneously acquires the weight information of the material being transported, the amplitude change information of the gantry crane, and the force information of the pressure sensor. At this time, the controller calculates the optimal position of the counterweight 201 through geometric calculation (that is, when the counterweight 201 is in this position, the amplitude change force approaches zero). At the same time, the force status of the pressure sensor will be fed back to the controller in real time, forming a closed-loop control.

[0061] Information includes the weight of the transported material, the transport posture of the material, the luffing range of the gantry crane, the force information of the pressure sensor, the luffing direction of the gantry crane before it undergoes a luffing change, and the combined parameter information of the gantry crane's balancing system.

[0062] When the luffing begins, the operator's movements using the control lever will transmit information such as the luffing direction and slewing direction to the controller. At the same time, the crane's motor speed information can be converted into speed and acceleration by the program and transmitted to the controller. The program in the controller can determine the real-time position of the movable counterweight through a preset algorithm. Meanwhile, the controller will make predictions based on the direction of the luffing movement and the signals from the control lever, and combine the force information from the pressure sensor in real time to form a closed-loop control. The controller program initially provides the optimal threshold based on the actual operating conditions of the crane. For example, it controls the pressure of the pressure sensor within ±15 tons, which allows the slope of the amplitude force variation curve to be controlled within a certain range, thereby reducing the amplitude force.

[0063] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A counterweight device applied to the boom assembly of a gantry crane, characterized in that, include: The counterweight assembly (1) includes a main counterweight (101) and a counterweight beam (102) extending along a first direction (X). One end of the counterweight beam (102) is connected to the main counterweight (101), and the other end forms a connecting end (1021). The connecting end (1021) is hinged to the boom (4) via a connecting rod (5). The counterweight beam (102) has a fulcrum (1022) for hinged to the fuselage (3). The fulcrum (1022) is located between the main counterweight (101) and the connecting end (1021). The adjustment component (2) includes an adjustment counterweight (201) and a drive mechanism (202). Along the first direction (X), the adjustment counterweight (201) is movably disposed on the counterweight beam (102). The adjustment counterweight (201) is located between the main counterweight (101) and the fulcrum (1022). The drive mechanism (202) is connected to the adjustment counterweight (201). The drive mechanism (202) is used to drive the adjustment counterweight (201) to move, thereby changing the center of gravity of the counterweight component (1) and thus changing the center of gravity of the entire boom balance system.

2. The counterweight device according to claim 1, characterized in that, The counterweight beam (102) is provided with a guide groove (1023), the guide groove (1023) extends along the first direction (X), at least a portion of the adjusting counterweight (201) is located in the guide groove (1023), and the adjusting counterweight (201) is guided and cooperated with the guide groove (1023).

3. The counterweight device according to claim 2, characterized in that, The adjusting counterweight (201) has a rotatable roller (2011) located in the guide groove (1023), and the adjusting counterweight (201) moves along the guide groove (1023) by means of its own roller (2011).

4. The counterweight device according to claim 3, characterized in that, The counterweight beam (102) includes two first beam segments (1024) and a second beam segment (1025) disposed between the two first beam segments (1024). The first beam segments (1024) extend along the first direction (X), and the two first beam segments (1024) are fixedly connected by the second beam segment (1025). Each of the first beam segments (1024) is provided with a guide groove (1023), and the adjusting counterweight (201) cooperates with two of the guide grooves (1023) at the same time. The adjusting counterweight (201) is provided with at least one roller (2011) for each of the guide grooves (1023).

5. The counterweight device according to any one of claims 1 to 4, characterized in that, The drive mechanism (202) includes at least one drive cylinder (2021) having a drive end that can extend and retract along the first direction (X), the drive cylinder (2021) being pivotally hinged to the main counterweight (101), and the drive end being connected to the adjusting counterweight (201).

6. The counterweight device according to any one of claims 1 to 4, characterized in that, The counterweight device also includes a position sensor and a controller. The position sensor is disposed on the main counterweight (101) and located on one side of the adjustment component (2). The position sensor is used to detect the position of the adjustment counterweight (201). The controller is electrically connected to the position sensor and the drive mechanism (202) respectively to control the drive state of the drive mechanism (202).

7. A gantry crane, characterized in that, include: fuselage (3); The lifting boom (4) is swayably mounted on the machine body (3); The counterweight device according to any one of claims 1 to 6, wherein the counterweight beam (102) of the counterweight device is hinged to the body (3) through its own fulcrum (1022), and the connecting end (1021) of the counterweight beam (102) is hinged to the lifting arm (4) through the connecting rod (5); The power unit is located on the body (3) and is driven to connect with the boom (4).

8. The gantry crane according to claim 7, characterized in that, It also includes a pressure sensor (6), a weight detector, an amplitude detector, and a material attitude sensor; The weight detector is used to detect the weight of the material, the amplitude detector is used to detect the amplitude angle of the lifting arm (4), and the material attitude sensor is used to detect the attitude of the material.

9. A lifting method using the gantry crane as described in claim 7 or 8, characterized in that, include: The luffing force of the gantry crane during luffing was simulated to obtain the variation law of the luffing force; According to the above, to obtain the law of change of amplitude force, when the gantry crane is in different amplitude states, the drive mechanism (202) of the gantry crane drives the adjustment counterweight (201) to move, thereby changing the center of gravity of the counterweight device to reduce the amplitude force when the gantry crane is in amplitude change.

10. The lifting method according to claim 9, characterized in that, According to the method for obtaining the variation law of the luffing force, the steps of driving the adjustment counterweight (201) of the gantry crane to move by the drive mechanism (202) of the gantry crane in different luffing states, thereby changing the center of gravity of the counterweight device to reduce the luffing force of the gantry crane during luffing include: The controller of the counterweight device acquires the status information of the gantry crane, which includes: the weight information of the material being transported by the gantry crane, the transport posture information of the material, the luffing amplitude information of the gantry crane, the force information of the pressure sensor, the luffing direction information of the gantry crane about to undergo a luffing change, and the set parameter information of the gantry crane's balance system. The controller calculates the optimal position that the adjusting weight (201) should be in based on the status information; The drive mechanism (202) drives the adjustable counterweight (201) to move toward the optimal position.

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