A self-balancing hoisting mechanism and method for double-joint derrick construction

Abstract

The present application relates to hoisting construction technology field, concretely is a kind of self-balancing hoisting mechanism and method for double rocker arm pole construction, including main rod and the rocker arm being symmetrically rotationally connected to its both sides, further include balance adjusting system, it includes gravity adjusting member being set on rocker arm and the sensing member for detecting the moment difference of two sides rocker arm;Gravity adjusting member includes at least two flexible liquid storage units being spaced apart along the length direction of rocker arm, and driver connected and driven flexible liquid storage unit occurs deformation;Driver is configured to be able to synchronously drive at least two flexible liquid storage units to generate different deformation, to change the centroid distribution of each flexible liquid storage unit, to realize the adjustment of the overall gravity of this side rocker arm;Connecting pipe, it is at least communicated between two flexible liquid storage units, and controllable valve is equipped on connecting pipe;Controllable valve at least has the first valve position of making two flexible liquid storage units mutually isolated and the second valve position of making two flexible liquid storage units mutually communicated.

Description

Technical Field

[0001] This invention relates to the field of hoisting construction technology, specifically to a self-balancing hoisting mechanism and method for double-rocker boom hoisting. Background Technology

[0002] The double-arm gantry crane is a special lifting equipment widely used in the erection of transmission line towers, construction of large bridge towers, and hoisting of tall structures. Its typical structure includes a vertical main pole, symmetrically hinged arms on both sides of the main pole, luffing pulley blocks for driving the luffing of the arms, and lifting pulley blocks for hoisting heavy objects. During construction, the two arms can perform hoisting operations independently, enabling simultaneous or alternating hoisting of tower materials, crossarms, and other components, significantly improving construction efficiency.

[0003] However, in actual hoisting operations, the weight of the components being hoisted on both sides often differs (e.g., one side hoists a crossbeam while the other hoists auxiliary materials), or the boom angles and lifting point radii on both sides are different, leading to an imbalance in the overturning moment on both sides of the main pole. If this imbalance is not compensated for in time, it can cause the main pole to tilt and the hoisted load to swing, affecting the accuracy of hole positioning; in severe cases, it can lead to the entire hoist overturning, causing a major safety accident.

[0004] To address the aforementioned issues, various self-balancing solutions have emerged in the prior art. For example, Chinese patent application CN121429234A discloses a self-balancing double-rocker-arm ground-mounted pole balancing mechanism, which employs a PLC controller, servo motor, steel cable, and hydraulic controller as auxiliary components, achieving self-balancing adjustment through an electronic control system. While these solutions achieve automatic balancing to a certain extent, they rely on complex sensors, controllers, and hydraulic actuators, resulting in high system costs, response delays, and susceptibility to electromagnetic interference and oil leaks in field construction environments, leading to insufficient reliability.

[0005] Another technical approach employs hydraulic linkage control. For example, Chinese patent application CN118026000A uses a hydraulic power source to drive four sets of actuators to control the luffing trolley and lifting trolley respectively, achieving linkage control of the double-rocker arm landing boom and real-time monitoring and adjustment of off-center load. However, this solution still relies on the active control of the hydraulic power source and actuators, resulting in high system complexity and lacking passive vibration suppression functionality.

[0006] For example, Chinese patent CN122059347A proposes an auxiliary installation and hoisting device and method for automatic liquid balancing of a lifting pole. This device has multiple counterweight water tanks installed on both sides of the rocker arm, and uses a water pump to transfer water from one tank to another to adjust the center of gravity. While this solution avoids mechanical slippage of the counterweights, it still requires an external power source (water pump) and a complex piping system. Furthermore, the counterweight adjustment range is limited by the water tank volume, making flexible multi-mode control impossible.

[0007] Furthermore, none of the above solutions take into account the vibration of the boom caused by wind load or the swing of the load during the hoisting process, and they lack effective passive damping function, resulting in poor stability of the load.

[0008] Some existing technologies employ purely mechanical eccentric mass adjustment, such as setting a flip-up counterweight on the rocker arm and changing the suspension position of the counterweight manually or electrically. While these solutions are simple in structure, they suffer from low adjustment precision, inconvenient operation, and the inability to achieve continuous online adjustment, making them unsuitable for precise lifting requirements.

[0009] In summary, existing double-rocker boom self-balancing technologies generally suffer from the following shortcomings: First, the adjustment method is singular, relying either solely on changing the counterweight position or solely on transferring the counterweight mass, limiting the adjustment range and flexibility; second, the system is complex, depending on active components such as sensors, controllers, hydraulic pumps, or electric water pumps, resulting in poor reliability and high energy consumption; third, it lacks vibration suppression functions that work in conjunction with counterweight adjustment, failing to effectively attenuate the sway of the boom and the suspended load during the balance maintenance phase. Therefore, this application proposes a self-balancing lifting mechanism and method for double-rocker boom construction. Summary of the Invention

[0010] The purpose of this invention is to provide a self-balancing hoisting mechanism and method for double-rocker boom construction, so as to solve the problems mentioned in the background art.

[0011] To achieve the above objectives, the present invention provides the following technical solution: a self-balancing hoisting mechanism for double-rocker arm gantry construction, comprising a main rod and rocker arms symmetrically rotatably connected to both sides thereof, and further comprising:

[0012] The balance adjustment system includes a center of gravity adjustment component mounted on the rocker arm and a sensor for detecting the torque difference between the two rocker arms.

[0013] The center of gravity adjustment component includes at least two flexible liquid storage units spaced apart along the length of the rocker arm, and a driver that connects to and drives the flexible liquid storage units to deform.

[0014] The actuator is configured to synchronously drive at least two of the flexible liquid storage units to produce different deformations, thereby changing the center of mass distribution of each flexible liquid storage unit and thus adjusting the overall center of gravity of the rocker arm on that side.

[0015] A connecting pipe is provided between at least two of the flexible liquid storage units, and a controllable valve is provided on the connecting pipe; the controllable valve has at least a first valve position that isolates the two flexible liquid storage units from each other and a second valve position that connects them to each other.

[0016] Preferably, the at least two flexible liquid storage units include an end flexible counterweight water tank disposed at the end of the rocker arm and a root flexible counterweight water tank disposed at the root of the rocker arm, and a bracket for supporting the end flexible counterweight water tank and the root flexible counterweight water tank is fixedly connected along the length of the rocker arm.

[0017] Preferably, the actuator includes an actuator fixedly connected to the bracket and an actuating rod driven by the actuator to perform linear motion. The two ends of the actuating rod are respectively connected to the end flexible counterweight water tank and the root flexible counterweight water tank through push-pull heads. The actuating rod synchronously executes the actuator's drive to apply different deformations to the two flexible counterweight water tanks, thereby causing the center of gravity of the liquid in the two flexible counterweight water tanks to shift in the same direction.

[0018] Preferably, the controllable valve includes a valve housing installed inside the connecting pipe, a valve stem slidably disposed inside the valve housing, a first interface and a second interface respectively communicating with the two flexible liquid storage units, and a servo push rod for driving the valve stem to move is installed on one side of the valve housing. By driving the valve stem to move, the communication state between the first interface and the second interface can be switched.

[0019] Preferably, a first throttling orifice plate and a second throttling orifice plate are respectively installed in the first interface and the second interface. The valve housing is also provided with a first backflow hole that allows liquid to flow out of the first interface and then back to the first interface. The valve housing is also provided with a second backflow hole that allows liquid to flow out of the second interface and then back to the second interface.

[0020] Preferably, the surface of the valve stem is provided with a first switching valve plate and an inner and outer tangent valve plate. By driving the valve stem to move, the first switching valve plate can selectively block the first interface and the first reflux hole, or the second switching valve plate can selectively block the second interface and the second reflux hole, thereby forming different liquid passages.

[0021] Preferably, the valve body is also provided with a connection port, which is connected to an external water tank through a connecting hose. The valve stem is also provided with inner and outer slit valve plates. By moving the valve stem, the inner and outer slit valve plates can be controlled to block or open the connection port, so as to connect or disconnect the fluid channel between the external water tank and at least two flexible liquid storage units.

[0022] Preferably, both the end flexible counterweight water tank and the root flexible counterweight water tank are equipped with water pressure sensors.

[0023] Preferably, the main rod is equipped with a luffing pulley block for adjusting the amplitude of the rocker arm, and a lifting pulley block is installed at the end of the rocker arm, the lifting pulley block controlling the lifting and lowering of the hook.

[0024] This invention also provides a self-balancing hoisting method for double-rocker boom construction, comprising the following steps:

[0025] S1. The difference in load-bearing torque between the two rocker arms is detected by the sensor.

[0026] S2. When it is necessary to increase the counterweight of a rocker arm on one side, start the driver on that side to drive the two flexible liquid storage units so that the center of gravity of the liquid inside both moves towards the end of the rocker arm.

[0027] S3. When further adjustment of the counterweight is required, control the controllable valve to connect the two flexible liquid storage units, and use the pressure difference between the two to make the liquid flow from the squeezed flexible liquid storage unit to the stretched flexible liquid storage unit to achieve liquid mass transfer.

[0028] S4. When it is necessary to suppress rocker arm vibration, control the controllable valve to make the liquid in a flexible liquid storage unit form a self-circulating damping through the reflux orifice, or to make two flexible liquid storage units connected through the throttling orifice plate to generate damping.

[0029] S5. When it is necessary to increase or decrease the overall counterweight, control the controllable valve to open the external water source and select to inject or discharge the fluid in the flexible liquid storage unit.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. By setting up a flexible counterweight water tank at the end and a flexible counterweight water tank at the root in conjunction with the actuator, the rapid transfer of counterweight liquid and adjustment of the center of gravity are realized. The pressure sensor is used to monitor the pressure change in the flexible counterweight water tank in real time. Combined with the precise control of the actuator, closed-loop feedback control of counterweight adjustment is realized, which improves the accuracy of counterweight adjustment, effectively ensures the balance and stability of the double rocker arm boom during the hoisting operation, and reduces the safety risks caused by improper counterweight.

[0032] 2. Directional liquid transfer between the end flexible counterweight tank and the root flexible counterweight tank is achieved through connecting pipes and a controllable valve. When the two flexible tanks are simultaneously stretched / compressed, the pressure difference drives the liquid to flow from the high-pressure tank to the low-pressure tank through the first and second throttling orifice plates, creating a dual effect of center of gravity shift and mass transfer. This multiplies the change in overturning moment per adjustment. The first and second throttling orifice plates, along with the first and second backflow holes within the valve housing, form a purely mechanical damping channel. When the controllable valve is in its first working position, the liquid in both tanks reciprocates through the throttling orifice plates as the rocker arm swings, efficiently converting vibrational kinetic energy into heat energy and suppressing overall swaying. The connection to the external tank via the connecting port and hose ensures that the total counterweight mass on the rocker arm is no longer fixed. When encountering sudden strong winds or asymmetrical oversized components, liquid can be quickly injected into the external water tank to increase weight; after hoisting is completed or during emergency unloading, the counterweight liquid can be drained back into the external water tank to restore the rocker arm to a light-load state. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0034] Figure 2 This is a schematic diagram of the rocker arm in this invention;

[0035] Figure 3 This is a schematic diagram of the bracket structure in this invention;

[0036] Figure 4 This is a schematic diagram of the external water tank and bracket in this invention;

[0037] Figure 5 This is a schematic diagram of the flexible liquid storage unit in this invention;

[0038] Figure 6 This is a schematic diagram of the internal structure of the valve housing in this invention;

[0039] Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A;

[0040] Figure 8 This is a schematic diagram of the structure of the first throttling orifice plate in this invention.

[0041] In the diagram: 100, main rod; 101, rocker arm; 102, luffing trolley block; 103, hook; 104, lifting trolley block; 200, bracket; 201, end flexible counterweight water tank; 202, root flexible counterweight water tank; 203, actuator; 204, actuator rod; 205, water pressure sensor; 206, push-pull head; 300, connecting pipe; 301, valve body; 302, servo push rod; 303, valve stem; 304, first switching valve plate; 305, inner and outer cutting valve plates; 306, second switching valve plate; 307, first throttling orifice plate; 308, first backflow hole; 309, second backflow hole; 310, second throttling orifice plate; 400, external water tank; 401, connecting hose; 402, connection port; 403, flow meter. Detailed Implementation

[0042] 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.

[0043] Example 1: Please refer to Figure 1 - Figure 8 The present invention provides a technical solution: a self-balancing hoisting mechanism for double rocker arm pole construction, including a main pole 100 and rocker arms 101 symmetrically rotatably connected to both sides thereon. A variable amplitude pulley block 102 for adjusting the amplitude of the rocker arms 101 is installed on the main pole 100. A lifting pulley block 104 is installed at the end of the rocker arms 101. The lifting pulley block 104 controls the lifting and lowering of the hook 103.

[0044] The lifting mechanism also includes a balance adjustment system to automatically maintain system stability when the lifting weights on both sides are uneven. This system includes a center-of-gravity adjustment component mounted on the rocker arm 101 and a sensor for detecting the torque difference between the two rocker arms 101. The sensor detects the torque difference on the two rocker arms 101 in real time, providing control signals for balance adjustment.

[0045] The center of gravity adjustment component includes at least two flexible liquid storage units spaced apart along the length of the rocker arm 101, and an actuator that connects to and drives the flexible liquid storage units to deform.

[0046] The actuator is configured to synchronously drive at least two flexible liquid storage units to produce different deformations, thereby changing the center of mass distribution of each flexible liquid storage unit and thus adjusting the overall center of gravity of the rocker arm 101 on that side.

[0047] The system includes at least two flexible liquid storage units, including an end flexible counterweight water tank 201 located at the end of the rocker arm 101 and a root flexible counterweight water tank 202 located at the root of the rocker arm 101. The end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 serve as storage containers for the counterweight liquid. The liquid inside them can flow and redistribute when subjected to external forces, thereby changing the position of the center of mass of the counterweight system. A bracket 200 for supporting the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 is fixedly connected along the length of the rocker arm 101. A water pressure sensor 205 is installed in both the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202. The water pressure sensor 205 is used to monitor the pressure change of the liquid inside the water tank in real time, and provides feedback on the deformation degree and liquid distribution state of the water tank through the pressure signal, providing precise adjustment parameters for the control system.

[0048] The actuator includes an actuator 203 fixedly connected to the bracket 200 and an actuator rod 204 driven by the actuator 203 to perform linear motion. The two ends of the actuator rod 204 are connected to the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 respectively through push-pull heads 206. The actuator rod 204 synchronously executes the drive of the actuator 203 to apply different deformations to the two flexible counterweight water tanks, thereby causing the center of gravity of the liquid in the two flexible counterweight water tanks to shift in the same direction.

[0049] Specifically, the actuator 204 synchronously executes the drive of the actuator 203 to apply different deformations to the two flexible counterweight tanks, thereby causing the centers of gravity of the liquids in the two flexible counterweight tanks to shift in the same direction. Specifically, when it is necessary to increase the counterweight of the rocker arm 101, the actuator 203 drives the actuator 204 to move towards the root, while stretching the root flexible counterweight tank 202 and compressing the end flexible counterweight tank 201; conversely, when it is necessary to reduce the counterweight, the actuator 203 drives the actuator 204 to move towards the end, while compressing the root flexible counterweight tank 202 and stretching the end flexible counterweight tank 201.

[0050] It is worth mentioning that the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 are filled with liquid, which is water, hydraulic oil or high viscosity damping fluid.

[0051] Different liquids offer different technical effects:

[0052] Water: Low cost, moderate density, suitable for counterweight adjustment under general working conditions;

[0053] Hydraulic oil: It has good lubrication and rust prevention properties and is suitable for working conditions that require long-term stable operation;

[0054] High-viscosity damping fluid: can provide additional damping effect, effectively suppress liquid sloshing during the counterweight adjustment process, and improve system stability.

[0055] In use, the hook 103 at the end of the rocker arm 101 can hook up the heavy object and, in cooperation with the lifting trolley block 104, hook up the heavy object to carry out lifting operations. The main rod 100 is equipped with a luffing trolley block 102 connected to the end of the rocker arm 101, which is used to adjust the luffing position of the main rod 100.

[0056] When the load shifts due to different weights being lifted by the hooks 103 on both sides, the torque sensor adjusts the balance by judging the load torque on the rocker arms 101 on both sides. When the left or right rocker arm 101 needs to be counterweighted, the flexible counterweight water tanks 201 at the end and the flexible counterweight water tank 202 at the root of the rocker arm 101, respectively, will transfer the gravity.

[0057] The specific operation process is as follows:

[0058] Step 1: Determine the counterweight requirement

[0059] When one side of the rocker arm 101 is lifting a heavy object, causing the torque on that side to increase, the torque sensor detects that the torque difference between the two sides exceeds a preset threshold, and the control system determines that the rocker arm 101 on that side needs to be counterweighted.

[0060] Step 2: Driver Startup

[0061] The control system sends a command to the actuator 203 on the rocker arm 101 on that side, and the actuator 203 starts to work, driving the actuator rod 204 to move towards the root along the length direction of the rocker arm 101.

[0062] Step 3: Deformation of the flexible water tank

[0063] The two ends of the actuating rod 204 are connected to the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 respectively through the push-pull head 206. The action of the actuating rod 204 will simultaneously stretch the root flexible counterweight water tank 202 and squeeze the end flexible counterweight water tank 201.

[0064] Step 4: Liquid center of gravity shift

[0065] When the end flexible counterweight water tank 201 is squeezed, the volume of the liquid inside decreases but the mass remains unchanged, the liquid density increases, and the center of gravity of the liquid is closer to the end of the rocker arm 101, thereby increasing the counterweight torque on that side.

[0066] When the flexible counterweight water tank 202 at the root is stretched, the volume of the liquid inside increases, the liquid distribution becomes more dispersed, and the center of gravity of the liquid shifts towards the end of the rocker arm 101, further enhancing the counterweight effect.

[0067] Step 5: Verification of the counterweight effect

[0068] Water pressure sensor 205 monitors the pressure changes in the two water tanks in real time, and the control system determines whether the counterweight adjustment has achieved the expected effect based on the pressure signal. When the torque difference between the two sides drops to a safe range, actuator 203 stops working, and the counterweight adjustment is completed.

[0069] Step Six: Remove the counterweight

[0070] When the hoisting operation is completed or when it is necessary to reduce the counterweight, the control system reverses the operation of the actuator 203, drives the actuator 204 to move towards the end, and at the same time squeezes the root flexible counterweight water tank 202 and stretches the end flexible counterweight water tank 201, so that the liquid center of gravity returns to the initial position.

[0071] In summary, by setting up an end flexible counterweight water tank 201 and a root flexible counterweight water tank 202 in conjunction with a drive, rapid transfer of counterweight liquid and adjustment of center of gravity are achieved. The water pressure sensor 205 monitors the pressure changes in the flexible counterweight water tank in real time. Combined with the precise control of the actuator 203, closed-loop feedback control of counterweight adjustment is realized, improving the accuracy of counterweight adjustment, effectively ensuring the balance and stability of the double rocker arm boom during hoisting operations, and reducing the safety risks caused by improper counterweight.

[0072] Example 2: Please refer to Figure 1 - Figure 8 The present invention also provides a technical solution that differs from the technical solution of embodiment one by adding a connecting pipe 300 connecting the two flexible liquid storage units and a controllable valve, thereby expanding to multiple fluid control modes.

[0073] A self-balancing hoisting mechanism for double-rocker boom construction further includes a connecting pipe 300, which is connected between at least two flexible liquid storage units, and a controllable valve is provided on the connecting pipe 300; the controllable valve has at least a first valve position that isolates the two flexible liquid storage units from each other and a second valve position that connects the two units to each other.

[0074] The controllable valve includes a valve housing 301 installed inside the connecting pipe 300. A valve stem 303 is slidably disposed inside the valve housing 301. The valve housing 301 is provided with a first interface and a second interface that are respectively connected to two flexible liquid storage units. A servo push rod 302 that drives the valve stem 303 to move is installed on one side of the valve housing 301. By driving the valve stem 303 to move, the connection state between the first interface and the second interface can be switched. The servo push rod 302 adopts a high-precision electric or hydraulic servo mechanism, which can realize the precise switching and positioning of the valve stem 303 between multiple working positions.

[0075] Furthermore, a first orifice plate 307 and a second orifice plate 310 are respectively installed in the first and second interfaces. The valve housing 301 also has a first backflow hole 308 that allows liquid to flow out of the first interface and then back to the first interface. The valve housing 301 also has a second backflow hole 309 that allows liquid to flow out of the second interface and then back to the second interface. The main function of the first orifice plate 307 and the second orifice plate 310 is to generate controllable fluid resistance during the liquid flow process, form a damping effect, and effectively absorb and dissipate the vibration energy of the system.

[0076] Furthermore, the surface of the valve stem 303 is provided with a first switching valve plate 304 and an inner and outer tangent valve plate 305. By driving the valve stem 303 to move, the first switching valve plate 304 can selectively block the first interface and the first reflux hole 308, or the second switching valve plate 306 can selectively block the second interface and the second reflux hole 309, thereby forming different liquid passages. The first reflux hole 308 and the second reflux hole 309 respectively form independent circulation channels for the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202, which are used to realize the self-circulation damping function of the single-sided water tank.

[0077] Furthermore, the valve body 301 is also provided with a connection port 402, which is connected to an external water tank 400 through a connecting hose 401. A flow meter 403 is provided on the connecting hose 401 to monitor the flow rate of the liquid being injected or discharged. The valve stem 303 is also provided with an inner and outer cut valve plate 305. By moving the valve stem 303, the inner and outer cut valve plate 305 can be controlled to block or open the connection port 402, so as to connect or disconnect the fluid channel between the external water tank 400 and at least two flexible liquid storage units.

[0078] By moving the valve stem 303 to different positions using the servo push rod 302, at least five operating modes can be achieved:

[0079] In the first working position, the bidirectional damping mode is as follows: neither the first switching valve plate 304 nor the second switching valve plate 306 blocks the first and second interfaces, and the inner and outer cutting valve plates 305 close the connection port 402. At this time, the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 are bidirectionally connected through the first throttling orifice plate 307 and the second throttling orifice plate 310. When the rocker arm 101 vibrates, the liquid flows back and forth between the two water tanks and passes through the throttling orifice plate, producing a damping effect and consuming vibration energy.

[0080] In the second working position, the end tank self-circulation damping mode: the first switching valve 304 blocks the first interface, cutting off the passage between the end tank and the connecting pipe, while simultaneously opening the first backflow hole 308; the second switching valve 306 blocks the second interface and the second backflow hole 309, isolating the root tank; the inner and outer cutting valves 305 close the connection port 402. At this time, the liquid in the end flexible counterweight tank 201 can only flow out from the first interface and return to the tank itself through the first backflow hole 308, forming a single-tank self-circulation. During the circulation process, the liquid flows through the first throttling orifice plate 307, generating damping and suppressing the swaying of the end tank.

[0081] In the third working position, the root water tank self-circulation damping mode: the second switching valve plate 306 blocks the second interface and simultaneously opens the second backflow hole 309; the first switching valve plate 304 blocks the first interface and the first backflow hole 308, thus isolating the end water tank. At this time, the liquid in the root flexible counterweight water tank 202 forms self-circulation damping through the second interface, the second throttling orifice plate 310, and the second backflow hole 309.

[0082] The fourth working position, external water tank injection / discharge mode: the inner and outer cutting valve plates 305 open the connection port 402, and at the same time, the valve stem 303 moves to a position where the first interface or the second interface is connected to the connection port 402. Depending on the specific position of the valve stem, it is possible to connect only the end water tank, only the root water tank, or both. At this time, the liquid in the external water tank 400 can be injected into the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202 through the connecting hose 401, the connection port 402, and the valve body 301 to increase the counterweight; conversely, squeezing the flexible counterweight water tank can pump its internal liquid back into the external water tank 400 to decrease the counterweight.

[0083] Fifth working position, fully isolated mode: all valve plates are sealed with their corresponding interfaces, backflow holes, and connection ports 402. The end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 are completely isolated, and neither is connected to the external water tank 400. At this time, the two water tanks are independent and are adjusted only by changing the center of gravity position through the deformation drive mechanism in Embodiment 1.

[0084] Specifically, when the end flexible counterweight tank 201 or the root flexible counterweight tank 202 is compressed, liquid can be transferred from the compressed flexible counterweight tank to the stretched flexible counterweight tank by opening the channel inside the connecting pipe 300, thus transferring the counterweight. In this way, a large amount of liquid can be transferred from the two flexible counterweight tanks to one flexible counterweight tank, resulting in a more efficient counterweighting or weight reduction operation.

[0085] After the rocker arm 101 completes the counterweight adjustment and reaches a balanced state, if vibration occurs due to wind load or the swing of the suspended object, the valve stem 303 can be switched to the first, second, or third working position via the servo push rod 302. This allows the liquid to flow in the throttling orifice plate and the backflow hole, using viscous damping to dissipate vibration energy and stabilize the rocker arm. The first working position utilizes the reciprocating flow between the two tanks to generate damping, suitable for overall swaying; the second and third working positions utilize the self-circulation of a single tank to generate damping, suitable for localized swaying.

[0086] When it is only necessary to suppress the swaying of one flexible counterweight water tank and the other water tank does not need to participate, the second or third working position can be selected so that the liquid in the water tank forms a local small circulation through its own reflux hole, which does not affect the static state of the other water tank and can effectively dissipate energy.

[0087] A connection port 402 is located at the top of the valve body 301, which connects to an external water tank 400 via a connecting hose 401. An internal and external slit valve plate 305 is also provided on the valve stem 303 to selectively block the connection port 402. When the internal and external slit valve plate 305 does not block the connection port 402 (the fourth working position), the fluid in the external water tank 400 flows into the valve body 301 and then, via the valve stem 303, enters either the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202, effectively increasing the counterweight. Alternatively, the fluid inside the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202 can be pumped into the external water tank 400 for storage, reducing the counterweight on the rocker arm 101.

[0088] In summary, based on Embodiment 1, the directional transfer of liquid between the end flexible counterweight tank 201 and the root flexible counterweight tank 202 is achieved through the connecting pipe 300 and the controllable valve. When the two flexible tanks are simultaneously stretched / compressed, the pressure difference drives the liquid to flow from the high-pressure tank to the low-pressure tank through the first throttling orifice plate 307 and the second throttling orifice plate 310, forming a dual effect of center of gravity shift and mass transfer. This multiplies the change in overturning moment caused by a single adjustment. The first throttling orifice plate 307, the second throttling orifice plate 310, the first backflow hole 308, and the second backflow hole 309 inside the valve body 301 constitute a purely mechanical damping channel. When the controllable valve is in the first working position, the liquid in the two tanks reciprocates through the throttling orifice plate as the rocker arm 101 swings, efficiently converting the vibration kinetic energy into heat energy and suppressing overall swaying. It is connected to the external tank 400 through the connecting port 402 and the connecting hose 401, so that the total counterweight mass on the rocker arm 101 is no longer fixed. When encountering sudden strong winds or asymmetrical oversized components, liquid can be quickly injected into the external water tank 400 to increase weight; after hoisting is completed or during emergency unloading, the counterweight liquid can be drained back into the external water tank 400 to restore the rocker arm 101 to a light-load state.

[0089] Example 3: Please refer to Figure 1 - Figure 8 The present invention also provides a technical solution, which differs from the technical solution of Embodiment 1 as follows: a self-balancing hoisting method for double-rocker boom construction, comprising the following steps:

[0090] S1. Both sides of the main rod 100 are rotatably connected to rocker arms 101. In use, the hooks 103 at the ends of the rocker arms 101 can hook up heavy objects and perform lifting operations in cooperation with the lifting pulley block 104. A luffing pulley block 102 is installed on the main rod 100 and connected to the ends of the rocker arms 101 to adjust the luffing position of the main rod 100.

[0091] S2. When different weights of objects are hoisted on the hooks 103 on both sides, causing a load shift, the torque sensor adjusts the balance by judging the load torque on the rocker arms 101 on both sides. When the left or right rocker arm 101 needs counterweight, the flexible counterweight water tanks 201 at the end and 202 at the root of the rocker arm 101 will transfer the gravity. One of these can be done by operating the actuator 203 to drive the actuator rod 204 to move, so that the two ends of the actuator rod 204 are connected by push-pull heads 206. The flexible counterweight water tanks 201 and 202 at the ends are connected respectively. The action of the actuating rod 204 will simultaneously stretch the flexible counterweight water tank 202 at the root and squeeze the flexible counterweight water tank 201 at the ends. When the flexible counterweight water tank 201 at the ends is squeezed, the liquid inside it will move closer to the end of the rocker arm 101, thus shifting the center of gravity. When the flexible counterweight water tank 202 at the root is stretched, the liquid inside it will spread out, causing the center of gravity of the liquid to shift towards the end of the rocker arm 101. This operation can increase the counterweight on one side of the rocker arm 101.

[0092] S3. The connecting pipe 300 can selectively close or connect the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202. When the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202 is compressed, the channel inside the connecting pipe 300 can be opened to allow the compressed flexible counterweight water tank to deliver liquid to the stretched flexible counterweight water tank, forming a counterweight transfer. In this way, the liquid in the two flexible counterweight water tanks can be transferred to one flexible counterweight water tank in a large amount, forming a more efficient counterweight or weight reduction operation.

[0093] S4. A valve housing 301 is installed inside the connecting pipe 300, which can control the channel inside the connecting pipe 300. Meanwhile, when the counterweight of the rocker arm 101 is kept in balance, the rocker arm 101 has the ability to suppress vibration. The two ends of the valve housing 301 are connected to the connecting pipe 300, and the two ends of the valve housing 301 are provided with a first throttling orifice plate 307 and a second throttling orifice plate 310. The first throttling orifice plate 307 and the second throttling orifice plate 310 can dampen the liquid flow and absorb kinetic energy. Especially when the luffing trolley block 102 operates the rocker arm 101 to change the luffing, the fluid in the end flexible counterweight water tank 201 and the root flexible counterweight water tank 202 will be oscillated and generate kinetic energy. At this time, the servo push rod 302 is operated to drive the valve stem 303 to move, so that the first switching valve plate 304 on the surface of the valve stem 303 blocks the first backflow hole 308, while the fluid in the connecting pipe 300 passes through the first throttling orifice plate 307, the second throttling orifice plate 310 and the second backflow hole 309, forming fluid interaction and suppressing vibration.

[0094] S5. Alternatively, the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202 can be selected to self-circulate and suppress vibration. Similarly, the valve stem 303 is moved so that the second switching valve plate 306 abuts against the second backflow hole 309. At this time, the fluid in the end flexible counterweight water tank 201 can smoothly pass through the first throttling orifice plate 307 and flow back into the end flexible counterweight water tank 201 through the first backflow hole 308, forming a single circulation. Alternatively, the valve stem 303 is moved so that the first switching valve plate 304 abuts against the first throttling orifice plate 307. At this time, the fluid in the root flexible counterweight water tank 202 will flow through the second throttling orifice plate 310 and then flow back through the second backflow hole 309, forming a single circulation.

[0095] S6. A connection port 402 is connected to the top of the valve body 301. The connection port 402 can be connected to the external water tank 400 via a connecting hose 401. The valve stem 303 is also equipped with internal and external slit valve plates 305, which can be used to selectively block or not block the connection port 402. When the internal and external slit valve plates 305 do not block the connection port 402, the fluid in the external water tank 400 will flow into the valve body 301, and then, through the valve stem 303, enter either the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202, effectively increasing the counterweight. Simultaneously, by squeezing the end flexible counterweight water tank 201 or the root flexible counterweight water tank 202, the fluid inside can be pumped into the external water tank 400 for storage, thereby reducing the counterweight on the rocker arm 101.

[0096] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0097] 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 hoisting mechanism for double-rocker boom construction, comprising a main boom (100) and rocker arms (101) symmetrically rotatably connected to both sides thereof, characterized in that, Also includes: The balance adjustment system includes a center of gravity adjustment component disposed on the rocker arm (101) and a sensor for detecting the torque difference between the two rocker arms (101); The center of gravity adjustment component includes at least two flexible liquid storage units spaced apart along the length of the rocker arm (101), and a driver that connects to and drives the flexible liquid storage units to deform. The actuator is configured to synchronously drive at least two of the flexible liquid storage units to produce different deformations, thereby changing the center of mass distribution of each flexible liquid storage unit and thus adjusting the overall center of gravity of the rocker arm (101) on that side. The at least two flexible liquid storage units include an end flexible counterweight water tank (201) disposed at the end of the rocker arm (101) and a root flexible counterweight water tank (202) disposed at the root of the rocker arm (101). A bracket (200) for supporting the end flexible counterweight water tank (201) and the root flexible counterweight water tank (202) is fixedly connected inside the rocker arm (101) along its length. The actuator includes an actuator (203) fixedly connected to the bracket (200) and an actuator rod (204) driven by the actuator (203) to perform linear motion. The two ends of the actuator rod (204) are respectively connected to the end flexible counterweight water tank (201) and the root flexible counterweight water tank (202) through push-pull heads (206). The actuator rod (204) synchronously executes the drive of the actuator (203) to apply different deformations to the two flexible counterweight water tanks, thereby causing the center of gravity of the liquid in the two flexible counterweight water tanks to shift in the same direction. A connecting pipe (300) is connected between at least two of the flexible liquid storage units, and a controllable valve is provided on the connecting pipe (300); the controllable valve has at least a first valve position that isolates the two flexible liquid storage units from each other and a second valve position that connects the two units to each other.

2. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 1, characterized in that: The controllable valve includes a valve housing (301) installed inside the connecting pipe (300). A valve stem (303) is slidably disposed inside the valve housing (301). The valve housing (301) is provided with a first interface and a second interface respectively communicating with the two flexible liquid storage units. A servo push rod (302) for driving the valve stem (303) to move is installed on one side of the valve housing (301). By driving the valve stem (303) to move, the communication state between the first interface and the second interface can be switched.

3. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 2, characterized in that: The first interface and the second interface are respectively equipped with a first throttling orifice plate (307) and a second throttling orifice plate (310). The valve body (301) is also provided with a first backflow hole (308) that allows liquid to flow out of the first interface and then back to the first interface. The valve body (301) is also provided with a second backflow hole (309) that allows liquid to flow out of the second interface and then back to the second interface.

4. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 3, characterized in that: The surface of the valve stem (303) is provided with a first switching valve plate (304) and an inner and outer cutting valve plate (305). By driving the valve stem (303) to move, the first switching valve plate (304) can selectively block the first interface and the first reflux hole (308), or the second switching valve plate (306) can selectively block the second interface and the second reflux hole (309), thereby forming different liquid passages.

5. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 2, characterized in that: The valve housing (301) is also provided with a connection port (402), which is connected to an external water tank (400) through a connecting hose (401). The valve stem (303) is also provided with an inner and outer cut valve plate (305). By moving the valve stem (303), the inner and outer cut valve plate (305) can be controlled to block or open the connection port (402) so as to connect or disconnect the fluid channel between the external water tank (400) and at least two flexible liquid storage units.

6. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 1, characterized in that: Water pressure sensors (205) are installed in both the end flexible counterweight water tank (201) and the root flexible counterweight water tank (202).

7. The self-balancing hoisting mechanism for double-rocker boom construction according to claim 1, characterized in that: The main rod (100) is equipped with a variable amplitude pulley block (102) for adjusting the amplitude of the rocker arm (101), and a lifting pulley block (104) is installed at the end of the rocker arm (101). The lifting pulley block (104) controls the lifting and lowering of the hook (103).

8. A self-balancing hoisting method for double-rocker boom gantry construction, comprising a self-balancing hoisting mechanism for double-rocker boom gantry construction according to any one of claims 1-7, characterized in that, Includes the following steps: S1. The difference in load-bearing torque between the two rocker arms (101) is detected by the sensor. S2. When it is necessary to increase the counterweight of a rocker arm (101) on one side, start the driver on that side to drive the two flexible liquid storage units so that the center of gravity of the liquid inside both moves towards the end of the rocker arm (101). S3. When further adjustment of the counterweight is required, control the controllable valve to connect the two flexible liquid storage units, and use the pressure difference between the two to make the liquid flow from the squeezed flexible liquid storage unit to the stretched flexible liquid storage unit to achieve liquid mass transfer. S4. When it is necessary to suppress the vibration of the rocker arm (101), control the controllable valve to make the liquid in a flexible liquid storage unit form a self-circulating damping through the reflux hole, or make two flexible liquid storage units connected through the throttling orifice plate to generate damping. S5. When it is necessary to increase or decrease the overall counterweight, control the controllable valve to open the external water source and select to inject or discharge the fluid in the flexible liquid storage unit.

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