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CN-121990480-A - Omnidirectional active dynamic balance system of tower crane and control method

CN121990480ACN 121990480 ACN121990480 ACN 121990480ACN-121990480-A

Abstract

The invention discloses an omnidirectional active dynamic balance system of a tower crane and a control method thereof, wherein the omnidirectional active dynamic balance system comprises a posture monitoring unit, a control unit, a longitudinal balance mechanism and a transverse balance mechanism; the control unit controls the longitudinal and/or transverse balance mechanisms to act according to the gesture deviation direction, so that the tower body is kept vertical and transversely free from shaking. The method comprises the steps of real-time monitoring, deviation judging, dynamic adjustment and closed loop feedback. According to the invention, the transverse balance mechanism is independently arranged and adjusts transverse shaking according to the relative position difference of the double counterweight members, 360-degree all-directional active dynamic balance of the tower crane is realized for the first time, any dynamic disturbance including wind load and rotary centrifugal force can be sensed and corrected in real time, alternating bending moment of the tower body is eliminated, fatigue of a metal structure is delayed, and the service life of the tower crane is greatly prolonged.

Inventors

  • CHEN XIANKAI

Assignees

  • 陈先凯

Dates

Publication Date
20260508
Application Date
20260326

Claims (10)

  1. 1. An omnidirectional active dynamic balance system of a tower crane, comprising: The attitude monitoring unit (100) is arranged on the tower body (500) or the working arm (600) and is used for monitoring the attitude state of the tower crane in real time and outputting an actual attitude value; The control unit (200) is electrically connected with the gesture monitoring unit (100) and is used for receiving the actual gesture value, comparing the actual gesture value with a preset standard gesture value, judging gesture deviation and deviation direction and generating a control instruction; The longitudinal balancing mechanism (300) is arranged on the side of the balancing arm (700), is electrically connected with the control unit (200) and is used for adjusting the longitudinal balancing moment of the tower crane along the direction of the working arm (600) according to the control instruction; The transverse balance mechanism (400) is arranged independently of the longitudinal balance mechanism (300), is electrically connected with the control unit (200) and is used for adjusting the transverse gravity center position of the tower crane perpendicular to the direction of the working arm (600) according to the control instruction; The control unit (200) respectively controls the longitudinal balance mechanism (300) and/or the transverse balance mechanism (400) to act according to the gesture deviation direction fed back by the gesture monitoring unit (100), so that the tower body (500) is kept in a vertical state and transverse shaking is eliminated.
  2. 2. The active dynamic balancing system according to claim 1, wherein the longitudinal balancing mechanism (300) comprises: The third winch (301) and the fourth winch (302) are respectively arranged at the root part and the tail part of the balance arm (700); a second weighted steel cable (303) having both ends connected to the third hoist (301) and the fourth hoist (302), respectively, the second weighted steel cable (303) being windable between the third hoist (301) and the fourth hoist (302) in a biased manner; The center of gravity of the second counterweight steel cable (303) moves in the length direction of the balance arm (700) by changing winding length distribution of the second counterweight steel cable (303) on the third winch (301) and the fourth winch (302), so that longitudinal balance moment is changed, and the second counterweight steel cable (303) is formed by knitting a plurality of scrapped hoisting steel cables.
  3. 3. The active dynamic balancing system according to claim 1, wherein the lateral balancing mechanism (400) comprises: the horizontal cross beam (401) is fixedly arranged at the top of the tower body (500) and penetrates through the axle center of the tower body to horizontally extend along the direction perpendicular to the working arm (600) of the tower body to form an independent transverse balance support structure; A first movable weight member (402) and a second movable weight member (403) which are respectively provided at both ends of the horizontal beam (401) and are independently movable in the longitudinal direction thereof on the horizontal beam (401); A driving mechanism (404) electrically connected with the control unit (200) for independently driving the first movable weight member (402) and the second movable weight member (403) to move; Wherein, by adjusting the relative position of the first movable weight member (402) and the second movable weight member (403), a position difference is formed, so that the gravity center of the system is shifted to one side, and an eccentric moment is generated to adjust the transverse shaking of the tower body (500) in real time.
  4. 4. An active dynamic balancing system according to claim 3, characterized in that the first movable weight member (402) and the second movable weight member (403) are two end portions of the same continuous first weight cable (405); The driving mechanism (404) comprises a first winch (406) and a second winch (407), the first winch and the second winch are respectively arranged at two ends of the horizontal beam (401), and two ends of the first counterweight steel cable (405) are respectively connected to the first winch (406) and the second winch (407); the first counterweight steel cable (405) can be wound in a deflection manner between the first winch (406) and the second winch (407), so that the winding length of the first counterweight steel cable (405) on the side of the first winch (406) and the winding length of the first counterweight steel cable (405) on the side of the second winch (407) form the position difference, and the first counterweight steel cable (405) serves as a transversely balanced counterweight body; The first winch (406) and the second winch (407) can synchronously move on the horizontal beam (401) to adjust the distance between the horizontal beam and the center of the tower body (500) so as to realize dynamic adjustment of the moment arm.
  5. 5. An active dynamic balancing system according to claim 3, characterized in that the first movable weight member (402) and the second movable weight member (403) are steel pipes (408) with racks; The driving mechanism (404) comprises a first motor (409) and a second motor (410), the first motor (409) and the second motor (410) are respectively arranged at two ends of the horizontal beam (401), the first motor (409) and the second motor (410) are meshed with the steel pipes (408) at the corresponding sides through gears, the steel pipes (408) are driven to linearly move on the horizontal beam (401) to form the position difference, and the steel pipes (408) are used as weight bodies in transverse balance.
  6. 6. An active dynamic balancing system according to claim 3, characterized in that the first movable weight member (402) and the second movable weight member (403) are movable synchronously on the horizontal cross member (401) to adjust its distance from the centre of the tower (500) for achieving a dynamic adjustment of the moment arm: In the working state of the tower, the control unit (200) controls the first movable weight member (402) and the second movable weight member (403) to synchronously move to two ends of the horizontal beam (401) so as to increase the moment arm; In a tower crane shutdown state, the control unit (200) controls the first movable weight member (402) and the second movable weight member (403) to move synchronously to a position near the center of the tower body (500) to reduce the center of gravity shift.
  7. 7. The active dynamic balance system according to claim 1, wherein the attitude monitoring unit (100) includes one or more of an inclination sensor (101), a gyroscope (102), a mercury tilt switch (103) or a mechanical hammer device (104) for monitoring an inclination angle of a tower body (500) or a horizontal angle of a working arm (600) and taking the angle as an actual attitude value.
  8. 8. A method for controlling active dynamic balance of a tower crane using the system of any one of claims 1 to 7, comprising the steps of: s1, real-time monitoring, namely monitoring the vertical state of a tower body (500) or the horizontal state of a working arm (600) of the tower crane in real time through the gesture monitoring unit (100) to obtain an actual gesture value; s2, a deviation judging step of comparing the actual attitude value with a preset standard attitude value and judging whether attitude deviation and deviation direction exist or not; S3, a dynamic adjustment step, namely generating a control instruction according to the deviation direction and sending the control instruction to a corresponding balance mechanism: if the deviation is longitudinal, controlling the longitudinal balance mechanism (300) to act, and adjusting the longitudinal balance moment; If the deviation is transverse, controlling the transverse balance mechanism (400) to act, adjusting the relative positions of the first movable weight member (402) and the second movable weight member (403) to form a position difference, and generating a reverse eccentric moment; And S4, performing real-time monitoring in the step S1 continuously while driving the balance mechanism to act until the deviation between the actual attitude value and the standard attitude value is eliminated, so as to form closed loop control with the vertical and horizontal tower body (500) as a direct control target.
  9. 9. The control method according to claim 8, wherein when the lateral balance mechanism (400) is controlled to operate in the step S3, the continuous non-delay adjustment of the center of gravity is achieved by continuously adjusting the relative position difference between the first movable weight member (402) and the second movable weight member (403), specifically: If the tower body (500) inclines to the side of the first movable weight member (402), the second movable weight member (403) is controlled to move away from the tower body (500) so as to move the center of gravity to the second side; When the tower body (500) is inclined toward the second movable weight member (403), the first movable weight member (402) is controlled to move away from the tower body (500) so that the center of gravity is moved toward the first side.
  10. 10. The control method according to claim 8, characterized by further comprising: The multi-stage response step comprises presetting a plurality of groups of gesture deviation ranges with different thresholds, respectively corresponding to different adjustment speeds, and controlling a corresponding balance mechanism to perform response adjustment at a speed corresponding to the range when the actual gesture value falls into a certain deviation range; And the non-working state adjusting step is to control the longitudinal balancing mechanism (300) and/or the transverse balancing mechanism (400) to adjust to a state that the tower body (500) is kept vertical and transversely free from shaking when the tower crane is stopped and is not in suspended load.

Description

Omnidirectional active dynamic balance system of tower crane and control method Technical Field The invention relates to the technical field of automatic control of tower cranes, in particular to an omnidirectional active dynamic balance system of a tower crane and a control method. Background The tower crane is used as a key material transportation device in modern constructional engineering, and the balance performance of the tower crane is directly related to the operation safety and the service life. The traditional static counterweight mode cannot adapt to the working condition that the weight and the position of the suspended load change in real time due to fixed balance moment, so that the tower body bears alternating bending moment for a long time, not only is shaking initiated and operation safety is affected, but also fatigue damage of a metal structure can be accelerated. In order to solve this problem, various dynamic balancing schemes have been proposed in the industry, for example, a "active stability maintenance system for a tower crane" with a patent number CN104495643B, which drives a balancing ellipsoid to move through a longitudinal pulley and a transverse pulley, so as to actively change the center of gravity of the tower body to realize dynamic balance. The patent number CN201087088Y is another patent number of 'movable arm type tower crane balancing weight self-adaptive adjusting device', and the self-adaptive adjustment of the balancing weight along with the pitching action of the crane arm is realized by adopting a hinge four-bar mechanism. However, the above prior art mainly focuses on the adjustment of the longitudinal balance along the direction of the working arm, and the core control logic is mostly based on moment calculation or mechanical linkage, so that a specific solution for the problem of transverse shaking caused by factors such as transverse incoming wind and centrifugal force during the rotation of the tower crane is lacking. Firstly, the body of the tower crane is used as a vertical supporting structure, shaking in any direction is a great potential safety hazard, but the existing research only solves the problem of longitudinal balance along the direction of the working arm, the risk of transverse shaking perpendicular to the direction of the working arm is completely ignored, the wind direction is random, the rotation operation is continuous and uninterrupted, and the transverse shaking of the body of the tower can not be predicted and controlled. Secondly, even though the solution described in CN104495643B can realize the counterweight movement in two dimensions, inertial delay exists when the counterweight ellipsoid moves on the tower boom, and the control system still calculates the target position based on the point location control logic of the movement after the angle detection, so that real-time continuous adjustment of the transverse shaking cannot be realized. In addition, in the prior art, as disclosed in CN206407848U, a balance plate touches a proximity switch scheme, only a switching value signal of the movement of the counterweight can be given, and the response precision and the speed are difficult to meet the requirement of a dynamic working condition. In the prior art, the control mode is mainly open-loop control, the dynamic disturbance cannot be fed back and corrected in real time, the tower body always bears alternating bending moment, and the fatigue problem of the equipment structure is prominent. Therefore, how to realize the active, real-time and continuous adjustment of the transverse shaking of the tower crane and eliminate the alternating bending moment born by the tower body becomes a technical problem to be solved in the field. Disclosure of Invention The invention provides an omnidirectional active dynamic balance system and a control method for a tower crane, which realize 360-degree omnidirectional active dynamic balance of the tower crane, improve the operation safety and prolong the service life of equipment, so as to solve the problems that the existing tower crane can not realize real-time active dynamic balance of longitudinal and transverse shaking at the same time, and the metal fatigue and the potential safety hazard of transverse shaking are caused when the tower body is subjected to alternating bending moment. The technical scheme of the invention is realized as follows: An omnidirectional active dynamic balance system of a tower crane, comprising: The attitude monitoring unit is arranged on the tower body or the working arm and is used for monitoring the attitude state of the tower crane in real time and outputting an actual attitude value; The control unit is electrically connected with the gesture monitoring unit and is used for receiving the actual gesture value, comparing the actual gesture value with a preset standard gesture value, judging gesture deviation and deviation direction and generating a control instruction;