Self-balancing hanging bracket based on mass distribution

Abstract

The invention discloses a self-balancing hanging bracket based on mass distribution, and relates to the technical field of building construction equipment, the self-balancing hanging bracket comprises a rectangular frame, force sensors, a dynamic adjusting mechanism and a hanging mechanism, the interior of the rectangular frame is fixedly connected with a grating frame, the force sensors are fixedly installed at the corners of the top end of the rectangular frame at equal intervals, and the dynamic adjusting mechanism is arranged on the rectangular frame; and the lifting mechanism is used for adjusting the overall balance and is arranged on the grating frame. By means of the arrangement mode that the grating frame, the force sensor, the dynamic adjusting mechanism, the object lifting mechanism and the controller are matched with one another, the system can flexibly adapt to concrete module units of different sizes and mass distribution, a hanging bracket does not need to be customized for a specific module, module shaking is restrained through real-time sensing and dynamic balance adjustment, the impact and falling risks are reduced, and the safety of the system is improved. The construction safety is guaranteed, meanwhile, the construction efficiency is improved, the whole system is high in automation degree, intelligent sensing and automatic response can be achieved, and manual intervention is not needed.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, and in particular to a self-balancing hanger based on mass distribution. Background Technology

[0002] The hoisting frame is suitable for hoisting concrete module units of different sizes and weight distributions in new industrialized building scenarios, and is especially suitable for scenarios with high requirements for hoisting stability and precision in modular construction of high-rise buildings.

[0003] Currently, the hoisting technology solutions for building concrete modular units are mainly divided into two categories: one is the solution without auxiliary devices, which directly uses steel wire ropes to lock the four corners of the modular unit for hoisting operations, lacking any balance adjustment measures; the other is the simple hanging frame solution, which uses a simple hanging frame welded from ordinary steel, which only has the function of basic bearing and lacks the core capability of automatic weight balancing.

[0004] Both of these approaches have significant drawbacks: they pose high safety risks, as the modular units are prone to swaying and imbalance, which could lead to accidents such as collisions with construction workers or falls, and could also damage surrounding materials and equipment. They also lack balance, are greatly affected by wind and gravity disturbances, and have poor horizontal stability. They require a significant investment of manpower and resources, and multiple ground protection measures are often needed to ensure safety, which increases construction costs. In addition, they have low installation efficiency, and the alignment of the modular units is difficult, often requiring repeated manual adjustments, which prolongs the construction period. Summary of the Invention

[0005] The purpose of this invention is to provide a self-balancing hanger based on mass distribution to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a self-balancing hanger based on mass distribution, comprising:

[0007] A rectangular frame, wherein a grid frame is fixedly connected inside the rectangular frame;

[0008] Force sensors are fixedly installed at equal intervals at the top corners of a rectangular frame;

[0009] A dynamic adjustment mechanism, mounted on a rectangular frame, is used to adjust the overall balance;

[0010] A lifting mechanism, which is mounted on a grid frame, is used to lift objects from multiple points.

[0011] Preferably, the dynamic adjustment mechanism includes:

[0012] The motor is fixedly installed inside the mounting slots at the bottom corners of the rectangular frame.

[0013] A drive rod is provided, and through slots are equally spaced on the rectangular frame. The drive rod is rotatably disposed inside the through slots, and the output end of the motor is connected to the drive rod for transmission.

[0014] A slider, located inside a through groove, and the slider and a drive rod form a lead screw drive;

[0015] A balance block, which is slidably fitted onto the outside of a rectangular frame, and a slider is fixedly connected to the inner wall of the balance block;

[0016] A cleaning component, located inside the balance block, is used to clean the through groove and the drive rod.

[0017] Preferably, the cleaning component includes:

[0018] A fixing plate is fixedly connected to the top and bottom ends of the inner wall of the through groove, and a guide groove is provided on the outer wall of the fixing plate;

[0019] A sliding block, wherein the interior of the balance block is provided with an elastic groove, and the sliding block is located inside the elastic groove;

[0020] An extrusion rod, one end of which is fixedly connected to a sliding block, and the other end of which is slidably inserted into the inner wall of an elastic groove;

[0021] A guide cylinder is rotatably disposed between the extrusion rods, and the guide cylinder cooperates with the inner cavity of the guide groove.

[0022] The first compression spring is equidistantly disposed inside the elastic groove.

[0023] Preferably, one end of the first compression spring is fixedly connected to the sliding block, and the other end of the first compression spring is fixedly connected to the inner wall of the elastic groove.

[0024] Preferably, the cleaning component further includes:

[0025] A cleaning pipe, which is symmetrically and fixedly connected to the outer wall of the balance block;

[0026] The airbag has symmetrically arranged air delivery slots inside the balance block, and the airbag is fixedly connected to the inside of the air delivery slots. A one-way valve is provided at one end of the airbag that connects to the cleaning pipe.

[0027] An extrusion plate, which is fixedly connected to one end of the airbag, is used to extrude and stretch the airbag;

[0028] The filter screen is embedded inside the L-shaped groove that connects to the outside of the extrusion plate.

[0029] A push rod, one end of which is fixedly connected to the extrusion plate, and the other end of which is slidably inserted into the inner cavity of the sliding block;

[0030] The extrusion block is fixedly connected to the top and bottom of the push rod, and the top and bottom of the inner wall of the sliding block are provided with inclined grooves for the extrusion block to slide.

[0031] Preferably, a controller is fixedly connected to the top of the grid frame, and the controller is used to receive signals from the force sensor to control the start and stop of the motor.

[0032] Preferably, the lifting mechanism includes:

[0033] A fixed cylinder has a cross groove at its bottom end, and the grid frame is slidably inserted into the inner cavity of the cross groove.

[0034] A connecting cylinder, the bottom end of which is fixedly connected to a hook;

[0035] A connecting rod is fixedly connected to the top of a connecting cylinder at equal intervals, and the bottom of the fixed cylinder is provided with connecting holes at equal intervals for mate with the connecting rod.

[0036] A snap-fit ​​assembly, disposed inside the fixed cylinder, is used to limit the displacement of the connecting rod.

[0037] Preferably, the snap-fit ​​assembly includes:

[0038] The connecting rod has an arc-shaped groove on the inner wall of the connecting hole and a snap-fit ​​hole on the outer wall of the connecting rod. One end of the snap-fit ​​rod is slidably inserted into the inner cavity of the arc-shaped groove, and the other end of the snap-fit ​​rod is slidably inserted into the inner cavity of the snap-fit ​​hole.

[0039] A rotating plate, wherein the rotating plate is disposed at the top of the fixed cylinder;

[0040] A synchronizing rod, one end of which is fixedly connected to a rotating plate, and the other end of which passes through a fixed cylinder and is fixedly connected to a snap-fit ​​rod;

[0041] The second compression spring has one end fixedly connected to the snap-fit ​​rod and the other end fixedly connected to the inner wall of the snap-fit ​​groove.

[0042] Preferably, the snap-fit ​​assembly further includes:

[0043] The counterweight block has a counterweight groove inside the fixed cylinder, and the counterweight block is located inside the counterweight groove.

[0044] A pull rod, one end of which is fixedly connected to a rotating plate, and the other end of which is fixedly connected to a counterweight;

[0045] A positioning rod is fixedly connected to the top of the rotating plate, and the top of the fixed cylinder is provided with positioning holes at equal intervals for cooperating with the positioning rod.

[0046] The third compression spring is sleeved on the outside of the pull rod.

[0047] Preferably, each of the top corners of the grid frame is fixedly connected with a lifting ring for connecting to the lifting rope of the crane.

[0048] The technical effects and advantages of this invention are as follows:

[0049] (1) This invention utilizes the coordinated setup of grid frame, force sensor, dynamic adjustment mechanism, lifting mechanism and controller. Through its grid structure and detachable lifting point design, it improves adaptability and can flexibly adapt to concrete module units of different sizes and mass distributions. There is no need to customize the lifting frame for specific modules, which effectively lowers the threshold for promotion. In terms of safety, the system suppresses module shaking and reduces the risk of impact and fall through real-time sensing and dynamic balance adjustment, ensuring construction safety and improving construction efficiency. Its precise positioning ability reduces the frequency of manual adjustment. The whole system has a high degree of automation and can realize intelligent sensing and automatic response. There is no need for manual intervention in balance adjustment, which reduces the intensity of operation and effectively reduces the overall cost, making it suitable for large-scale promotion and application.

[0050] (2) The present invention utilizes the coordinated arrangement of motor, drive rod, slider, balance block and cleaning component. Under the drive of motor, the balance block can make horizontal displacement on the rectangular frame to achieve the overall balance of the lifting device. At the same time, the cleaning component can blow air into the drive rod and the space inside the drive rod slot, thereby avoiding the mechanism jamming caused by the accumulation of dust, debris and impurities, ensuring the long-term stable operation of the dynamic adjustment mechanism, reducing the maintenance frequency and downtime, and further ensuring the continuity and safety of the lifting operation. Attached Figure Description

[0051] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0052] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 This is a top view of the internal structure of the present invention;

[0054] Figure 3 This is a top view of the internal structure of the balance block in this invention;

[0055] Figure 4This is a partial structural diagram of the sliding block of the present invention;

[0056] Figure 5 For the present invention Figure 3 Enlarged structural diagram at point A in the middle;

[0057] Figure 6 This is a schematic diagram of the internal structure of the lifting mechanism of the present invention from the front.

[0058] Figure 7 This is a bottom view of the fixed cylinder structure of the present invention;

[0059] Figure 8 This is a top view of the internal structure of the fixed cylinder of the present invention.

[0060] In the attached image:

[0061] 1. Rectangular frame; 2. Grid frame; 3. Force sensor; 4. Dynamic adjustment mechanism; 41. Motor; 42. Drive rod; 43. Slider; 44. Balance block; 45. Cleaning assembly; 451. Fixing plate; 452. Sliding block; 453. Extrusion rod; 454. Guide cylinder; 455. First compression spring; 456. Cleaning tube; 457. Airbag; 458. Extrusion plate; 459. Filter screen; 4510. Push rod; 4511. Extrusion block; 5. Lifting mechanism; 51. Fixing cylinder; 52. Connecting cylinder; 53. Connecting rod; 54. Snap-fit ​​assembly; 541. Snap-fit ​​rod; 542. Rotating plate; 543. Synchronizing rod; 544. Second compression spring; 545. Counterweight; 546. Pull rod; 547. Positioning rod; 548. Third compression spring; 55. Hook; 6. Controller; 7. Lifting ring. Detailed Implementation

[0062] 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, and 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.

[0063] This invention provides, for example Figures 1-8 The self-balancing hanger based on mass distribution shown includes a rectangular frame 1, a force sensor 3, a dynamic adjustment mechanism 4, and a lifting mechanism 5. A grid frame 2 is fixedly connected inside the rectangular frame 1. The force sensor 3 is fixedly installed at equal intervals at the top corners of the rectangular frame 1. The dynamic adjustment mechanism 4 is set on the rectangular frame 1 to adjust the overall balance. The lifting mechanism 5 is set on the grid frame 2 to lift objects at multiple points.

[0064] Specifically, the dynamic adjustment mechanism 4 includes a motor 41, a drive rod 42, a slider 43, a balance block 44, and a cleaning component 45. Mounting slots are provided at the bottom corners of the rectangular frame 1. The motor 41 is fixedly installed inside the mounting slot. Through slots are equidistantly provided on the rectangular frame 1. The drive rod 42 is rotatably positioned inside the through slot. The output end of the motor 41 is connected to the drive rod 42. The slider 43 is located inside the through slot, forming a screw drive with the drive rod 42. The balance block 44 is slidably fitted onto the outside of the rectangular frame 1. The slider 43 is fixedly connected to the inner wall of the balance block 44. The cleaning component 45 is located inside the balance block 44 and is used to clean the through slots and the drive rod 42. Data is collected by the force sensor 3, and the controller 6 processes the collected data, thereby controlling the motors 41 at the four corners to start and stop accordingly. This allows the drive rod 42 to move the slider 43, thus allowing the balance block 44 to move on the rectangular frame 1, facilitating the balancing of the entire lifting device, reducing the risk of impact and fall, and ensuring construction safety.

[0065] Furthermore, the cleaning component 45 includes a fixed plate 451, a sliding block 452, a pressing rod 453, a guide cylinder 454, and a first compression spring 455. The fixed plate 451 is fixedly connected to the top and bottom ends of the inner wall of the through groove. A guide groove is formed on the outer wall of the fixed plate 451, and an elastic groove is formed inside the balance block 44. The sliding block 452 is located inside the elastic groove. One end of the pressing rod 453 is fixedly connected to the sliding block 452, and the other end of the pressing rod 453 is slidably inserted into the inner wall of the elastic groove. The guide cylinder 454 is rotatably disposed between the pressing rods 453, guiding... The cylinder 454 and the inner cavity of the guide groove cooperate with each other. The first compression spring 455 is equidistantly arranged inside the elastic groove. One end of the first compression spring 455 is fixedly connected to the sliding block 452, and the other end of the first compression spring 455 is fixedly connected to the inner wall of the elastic groove. The first compression spring 455 always provides a stable elastic force to the extrusion rod 453 through the sliding block 452, so that the guide cylinder 454 can be closely attached to the inner wall of the guide groove. The inner wall of the guide groove is wavy, which facilitates the horizontal reciprocating movement of the sliding block 452 during displacement.

[0066] Furthermore, the cleaning assembly 45 also includes a cleaning tube 456, an airbag 457, a squeezing plate 458, a filter screen 459, a push rod 4510, and a squeezing block 4511. The cleaning tube 456 is symmetrically fixedly connected to the outer wall of the balance block 44. The balance block 44 has symmetrically opened air supply grooves inside. The airbag 457 is fixedly connected to the inside of the air supply groove. A one-way valve is provided at one end of the airbag 457 that connects to the cleaning tube 456. The squeezing plate 458 is fixedly connected to one end of the airbag 457 for squeezing and stretching the airbag 457. The squeezing plate 458 has an L-shaped groove that connects to the outside inside. The filter screen 459 is embedded in the inside of the L-shaped groove. One end of the push rod 4510 is fixedly connected to the squeezing plate 458, and the other end of the push rod 4510 slides through the inner cavity of the sliding block 452. The extrusion block 4511 is fixedly connected to the top and bottom of the push rod 4510. The top and bottom of the inner wall of the sliding block 452 are provided with inclined grooves for sliding with the extrusion block 4511. When the sliding block 452 moves back and forth in the horizontal direction, the push rod 4510 can be driven to move back and forth in the horizontal direction through the extrusion block 4511, thereby stretching and extruding the airbag 457. This allows the cleaning tube 456 to blow air into the inside of the through groove and the outer wall of the drive rod 42 when the slider 43 is displaced. This avoids the mechanism jamming caused by the accumulation of dust, debris and impurities, ensures the long-term stable operation of the dynamic adjustment mechanism 4, reduces the maintenance frequency and downtime, and further ensures the continuity and safety of the hoisting operation.

[0067] Furthermore, a controller 6 is fixedly connected to the top of the grid frame 2. The controller 6 is used to receive signals from the force sensor 3 to control the start and stop of the motor 41. The force sensors 3 at the four corners synchronously collect real-time force data during the hoisting process. The total mass and center of mass coordinates of the whole are calculated by the data fusion algorithm in the controller 6. When the gravity distribution is uneven or there is external disturbance, the force difference of each sensor exceeds the set threshold (≥5%). The system starts the balance adjustment program. That is, the controller 6 calculates the required counterweight adjustment amount based on the force and torque balance equation and the center of mass offset, and determines the sliding direction and distance of each balance block 44 on the four sides of the rectangular frame 1. The servo drive system accurately executes the adjustment command, drives the drive rod 42 to rotate through the motor 41, and drives the balance block 44 to perform displacement compensation for the center of mass offset through the slider 43, so that the center of mass of the whole frame coincides with the center line of the tower crane hook, and achieves static and dynamic balance.

[0068] The core of the self-balancing hanger's control system is an integrated controller 6, which mainly adopts a programmable logic controller (PLC) or an embedded industrial computer. It is fixedly installed at the top center of the grid frame 2. Four force sensors 3 (preferably high-precision strain gauge or piezoelectric sensors) are rigidly connected to the top corners of the rectangular frame 1. The signal output terminal of each force sensor 3 is connected to the analog input module of the controller 6 through a shielded cable to realize real-time and synchronous data acquisition. The controller 6 has a built-in digital output module, which is connected to each servo motor 41 through a servo driver to form a closed-loop position control system.

[0069] The controller 6 synchronously reads the real-time measurement values ​​of the four force sensors 3 at a fixed sampling period (e.g., 10ms), denoted as F1, F2, F3, and F4. The total mass M is obtained by the ratio of the sum of the forces at the four suspension points to the gravitational acceleration g, calculated using the following formula:

[0070]

[0071] Where g is the local gravitational acceleration, which can be preset in controller 6;

[0072] Establish a two-dimensional coordinate system on the plane containing the rectangular grid frame 2: with the center of the grid frame 2 as the origin O, the length direction as the X-axis, and the width direction as the Y-axis. Assume that the fixed position coordinates of the four force sensors 3 in the coordinate system are known, namely (x1,y1), (x2,y2), (x3,y3), and (x4,y4).

[0073] According to the principle of static torque balance, the coordinates of the center of mass of the entire system can be calculated by the following formula:

[0074]

[0075] ;

[0076] The controller 6 has a preset dynamic threshold ε, for example, set to 5% of the theoretical total weight of the hoisting load. ;

[0077] The system calculates in real time the offset between the current centroid (X,Y) and the target equilibrium point (i.e., the projection point of the tower crane hook centerline on the hanger plane, usually set as the origin of the coordinate system O(0,0)): ΔX=X-0, ΔY=Y-0.

[0078] When the condition is met If the imbalance is determined to be caused by uneven gravity distribution or disturbance, the balance adjustment program will be automatically activated.

[0079] Adjustment calculation model (based on force and torque balance equations):

[0080] Four independently controllable balancing blocks 44 are symmetrically arranged on the four sides of the rectangular frame 1. To simplify the control model, the mass of each of the four balancing blocks 44 is set to be m, and each balancing block 44 can only move in a straight line along the side of the rectangular frame 1 (X-axis or Y-axis direction).

[0081] The specific arrangements are as follows:

[0082] Balance blocks A and B are located on the X-axis (i.e., moving along the length direction), initially symmetrically located on both sides of the origin, with coordinates (-A, 0) and (+B, 0) respectively.

[0083] Balance blocks C and D are located on the Y-axis (i.e., moving along the width direction), and are initially symmetrically located on both sides of the origin, with coordinates (0, -C) and (0, +D) respectively.

[0084] By adjusting the positions of the four balance blocks 44 (let the displacements after adjustment be ΔA, ΔB, ΔC, ΔD respectively), the new center of mass of the entire system (module unit + hanger + balance block 44) coincides with the origin.

[0085] Establish a system of equations:

[0086] Based on the fact that the resultant torque in the X and Y directions is zero before and after the system adjustment, the following equilibrium equations can be established:

[0087] For torque balance in the X direction:

[0088]

[0089] That is, the unbalanced torque of the module unit + the torque generated by the balance block B (positive) + the torque generated by the balance block A (negative) = 0

[0090] For torque balance in the Y direction:

[0091]

[0092] That is, the unbalanced torque of the module unit + the torque generated by the balance block D (positive) + the torque generated by the balance block C (negative) = 0.

[0093] Where ΔA, ΔB, ΔC, and ΔD are the displacements of the balance block 44 that need to be solved (including direction; positive values ​​indicate movement in the positive direction of the coordinate axis).

[0094] To obtain a unique solution and optimize adjustment efficiency, controller 6 adopts the following allocation strategy:

[0095] Coaxial reverse symmetrical adjustment principle: Prioritize driving the two balance blocks 44 on the same axis to move in opposite directions with equal amount, so as to change the center of mass of the system on the axis as quickly as possible, while avoiding the introduction of additional rotational torque.

[0096] Detailed solution:

[0097] For the X-axis adjustment: Let If ΔX > 0, the instructions are: ΔB = -ΔX, ΔA = +ΔX; if ΔX < 0, the instructions are the opposite.

[0098] For the Y-axis adjustment: Let If ΔY>0, the instructions are: ΔD=-ΔY, ΔC=+ΔY; if ΔY<0, the instructions are the opposite.

[0099] The controller 6 will use the calculated displacement commands ΔA, ΔB, ΔC, ΔD to drive the corresponding motor 41 to execute through the position closed-loop servo system.

[0100] After the displacement is completed, the system immediately resamples the data from force sensor 3, calculates the new centroid offsets ΔX' and ΔY', and determines whether the conditions are met. If the conditions are not met, the current centroid offset and the position of the balance block 44 are used as the new initial state, and the above adjustment calculations and actions are iteratively executed until the equilibrium state is reached or the preset maximum number of safe iterations is reached. This process achieves rapid convergence from the initial unbalanced state to the equilibrium state and can continuously resist dynamic disturbances.

[0101] Specifically, the lifting mechanism 5 includes a fixed cylinder 51, a connecting cylinder 52, a connecting rod 53, and a snap-fit ​​assembly 54. The bottom end of the fixed cylinder 51 is provided with a cross groove, and the grid frame 2 is slidably inserted into the inner cavity of the cross groove. The bottom end of the connecting cylinder 52 is fixedly connected with a hook 55. The connecting rod 53 is fixedly connected to the top end of the connecting cylinder 52 at equal intervals. The bottom end of the fixed cylinder 51 is provided with connecting holes at equal intervals for cooperating with the connecting rod 53. The snap-fit ​​assembly 54 is set inside the fixed cylinder 51 to limit the displacement of the connecting rod 53. The fixed cylinder 51 and the connecting cylinder 52 can be fixed together by the snap-fit ​​assembly 54, and the position of the connection between the fixed cylinder 51 and the connecting cylinder 52 can be controlled at will. Thus, it can be fixed at different cross intersection positions on the grid frame 2, so as to flexibly adapt to concrete module units of different sizes and weight distributions.

[0102] Furthermore, the snap-fit ​​assembly 54 includes a snap-fit ​​rod 541, a rotating plate 542, a synchronizing rod 543, and a second compression spring 544. An arc-shaped groove is formed on the inner wall of the connecting hole, and a snap-fit ​​hole is formed on the outer wall of the connecting rod 53. One end of the snap-fit ​​rod 541 is slidably inserted into the inner cavity of the arc-shaped groove, and the other end of the snap-fit ​​rod 541 is slidably inserted into the inner cavity of the snap-fit ​​hole. The rotating plate 542 is disposed at the top of the fixed cylinder 51, and one end of the synchronizing rod 543 is fixedly connected to the rotating plate 542. The synchronizing rod 543... The other end passes through the fixed cylinder 51 and is fixedly connected to the snap-fit ​​rod 541. One end of the second compression spring 544 is fixedly connected to the snap-fit ​​rod 541, and the other end of the second compression spring 544 is fixedly connected to the inner wall of the snap-fit ​​groove. The second compression spring 544 always provides a stable elastic force to the snap-fit ​​rod 541, so that the snap-fit ​​rod 541 can be stably snapped into the snap-fit ​​hole, thereby fixing the connecting rod 53 inside the fixed cylinder 51 and ensuring that the fixed cylinder 51 and the connecting cylinder 52 can be connected together.

[0103] Furthermore, the snap-fit ​​assembly 54 also includes a counterweight 545, a pull rod 546, a positioning rod 547, and a third compression spring 548. The fixed cylinder 51 has a counterweight groove inside, with the counterweight 545 located inside the groove. One end of the pull rod 546 is fixedly connected to the rotating plate 542, and the other end is fixedly connected to the counterweight 545. The positioning rod 547 is fixedly connected to the top of the rotating plate 542, and the top of the fixed cylinder 51 has equidistant positioning holes for engaging the positioning rod 547. The third compression spring 548 is sleeved on the outside of the pull rod 546. The third compression spring 548 always provides a stable downward elastic force to the rotating plate 542 on the pull rod 546 through the counterweight 545, so that the positioning rod 547 can be stably engaged with the positioning hole. After the positioning rod 547 is engaged with the positioning hole at different positions, the engaging rod 541 and the engaging hole can be kept engaged or disengaged, which is convenient for adjusting the fixed position of the fixing cylinder 51 and the connecting cylinder 52 and for easy use.

[0104] Each of the top corners of the grid frame 2 is fixedly connected with a lifting ring 7 for connecting to the lifting rope of the crane.

[0105] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A self-balancing hanger based on mass distribution, characterized in that, include: A rectangular frame (1) is fixedly connected to a grid frame (2) inside the rectangular frame (1); Force sensor (3), the force sensor (3) is fixedly installed at equal intervals at the top corner of the rectangular frame (1); A dynamic adjustment mechanism (4) is provided on a rectangular frame (1) for adjusting the overall balance; The lifting mechanism (5) is mounted on the grid frame (2) and is used to lift objects from multiple points.

2. The self-balancing hanger based on mass distribution according to claim 1, characterized in that, The dynamic adjustment mechanism (4) includes: The motor (41) is provided with mounting slots at the bottom corners of the rectangular frame (1), and the motor (41) is fixedly installed inside the mounting slots. The drive rod (42) is provided with through slots at equal intervals on the rectangular frame (1). The drive rod (42) is rotatably disposed inside the through slots. The output end of the motor (41) is connected to the drive rod (42) in a transmission connection. The slider (43) is located inside the through groove, and the slider (43) and the drive rod (42) form a screw drive; The balance block (44) is slidably sleeved on the outside of the rectangular frame (1), and the slider (43) is fixedly connected to the inner wall of the balance block (44); A cleaning component (45) is disposed inside the balance block (44) and is used to clean the through groove and the drive rod (42).

3. The self-balancing hanger based on mass distribution according to claim 2, characterized in that, The cleaning component (45) includes: A fixing plate (451) is fixedly connected to the top and bottom of the inner wall of the through groove, and a guide groove is provided on the outer wall of the fixing plate (451). The sliding block (452) has an elastic groove inside the balance block (44), and the sliding block (452) is located inside the elastic groove; A pressing rod (453) is provided, one end of which is fixedly connected to a sliding block (452), and the other end of which is slidably inserted into the inner wall of an elastic groove. A guide cylinder (454) is rotatably disposed between the extrusion rods (453), and the guide cylinder (454) cooperates with the inner cavity of the guide groove; The first compression spring (455) is equidistantly disposed inside the elastic groove.

4. The self-balancing hanger based on mass distribution according to claim 3, characterized in that, One end of the first compression spring (455) is fixedly connected to the sliding block (452), and the other end of the first compression spring (455) is fixedly connected to the inner wall of the elastic groove.

5. A self-balancing hanger based on mass distribution according to claim 3, characterized in that, The cleaning component (45) also includes: Cleaning pipe (456), the cleaning pipe (456) is symmetrically fixedly connected to the outer wall of the balance block (44); The airbag (457) has symmetrically arranged air delivery grooves inside the balance block (44), and the airbag (457) is fixedly connected to the inside of the air delivery groove. A one-way valve is provided at one end of the airbag (457) that connects to the cleaning pipe (456). An extrusion plate (458) is fixedly connected to one end of the airbag (457) and is used to extrude and stretch the airbag (457). The filter screen (459) is provided with an L-shaped groove inside the extrusion plate (458) that connects to the outside, and the filter screen (459) is embedded inside the L-shaped groove; Push rod (4510), one end of which is fixedly connected to extrusion plate (458), and the other end of which is slidably inserted into the inner cavity of sliding block (452); The extrusion block (4511) is fixedly connected to the top and bottom of the push rod (4510). The top and bottom of the inner wall of the sliding block (452) are provided with inclined grooves for sliding the extrusion block (4511).

6. The self-balancing hanger based on mass distribution according to claim 2, characterized in that, The top of the grid frame (2) is fixedly connected to a controller (6), which is used to receive the signal from the force sensor (3) to control the start and stop of the motor (41).

7. The self-balancing hanger based on mass distribution according to claim 1, characterized in that, The hoisting mechanism (5) includes: The fixed cylinder (51) has a cross groove at its bottom end, and the grid frame (2) is slidably inserted into the inner cavity of the cross groove. A connecting cylinder (52) is fixedly connected to a hook (55) at its bottom end; Connecting rod (53), the connecting rod (53) is fixedly connected to the top of the connecting cylinder (52) at equal intervals, and the bottom end of the fixed cylinder (51) is provided with connecting holes for cooperating with the connecting rod (53) at equal intervals; A snap-fit ​​assembly (54) is disposed inside the fixed cylinder (51) to limit the displacement of the connecting rod (53).

8. The self-balancing hanger based on mass distribution according to claim 7, characterized in that, The snap-fit ​​assembly (54) includes: The connecting rod (541) has an arc-shaped groove on the inner wall of the connecting hole and a snap-fit ​​hole on the outer wall of the connecting rod (53). One end of the snap-fit ​​rod (541) is slidably inserted into the inner cavity of the arc-shaped groove, and the other end of the snap-fit ​​rod (541) is slidably inserted into the inner cavity of the snap-fit ​​hole. A rotating plate (542) is disposed at the top of a fixed cylinder (51); Synchronous rod (543), one end of which is fixedly connected to rotating plate (542), and the other end of which passes through fixed cylinder (51) and is fixedly connected to snap rod (541); The second compression spring (544) has one end fixedly connected to the snap-fit ​​rod (541) and the other end fixedly connected to the inner wall of the snap-fit ​​groove.

9. A self-balancing hanger based on mass distribution according to claim 8, characterized in that, The snap-fit ​​assembly (54) further includes: The counterweight (545) is located inside the counterweight groove of the fixed cylinder (51); A pull rod (546), one end of which is fixedly connected to a rotating plate (542), and the other end of which is fixedly connected to a counterweight (545); Positioning rod (547), the positioning rod (547) is fixedly connected to the top of the rotating plate (542), and the top of the fixed cylinder (51) is provided with positioning holes at equal intervals for cooperating with the positioning rod (547); A third compression spring (548) is sleeved on the outside of the pull rod (546).

10. A self-balancing hanger based on mass distribution according to claim 1, characterized in that, Each of the top corners of the grid frame (2) is fixedly connected with a lifting ring (7) for connecting to the lifting rope of the crane.

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