CN1837011A - Self-balancing up-rotary type tower crane and operation control - Google Patents
Self-balancing up-rotary type tower crane and operation control Download PDFInfo
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- CN1837011A CN1837011A CN 200610018827 CN200610018827A CN1837011A CN 1837011 A CN1837011 A CN 1837011A CN 200610018827 CN200610018827 CN 200610018827 CN 200610018827 A CN200610018827 A CN 200610018827A CN 1837011 A CN1837011 A CN 1837011A
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Abstract
The present invention discloses self-balanced upper rotary tower crane for building engineering and its control process. The self-balanced upper rotary tower crane has foundation provided with counterweight amplitude variable carrier mechanism 4, counterweight amplitude variable hauling mechanism 5, tension sensor 12 and control system K; crane arm provided with lifting amplitude variable carrier 11 and lifting amplitude variable hauling mechanism 9; and balance arm provided with lifting hauling mechanism 6, counterweight amplitude variable hauling mechanism 5 and counterweight amplitude variable carrier mechanism 4. Its control system K is connected electrically to lifting amplitude variable hauling mechanism 9, counterweight amplitude variable hauling mechanism 5 and tension sensor 12. The self-balanced upper rotary tower crane has balanced tower, can realize automatic control and automatic counterweight amplitude variation, and may be used in various kinds of engineering construction.
Description
Technical field
The present invention relates to the high-level slewing tower crane (this paper is called for short the tower machine) in a kind of engineering construction field, relate in particular to a kind of self-balancing up-rotary type tower crane (this paper is called for short self-balancing tower machine); Specifically, equilibrium arm is provided with guide rail, and clump weight is fixed on can be on the dolly that slides on the guide rail.
Background technology
The tower machine has obtained in places such as building construction, power plant construction and stock ground, concrete prefabricated element factories using widely.
The constructional feature of tower machine is that a upright body of the tower is arranged, and crane arm is connected the top of vertical body of the tower, so tower crane lifting height and work range are all very big.
The clump weight of tower machine is fixed on the equilibrium arm end at present, and the size of tower machine hoisting capacity when lifting operation and amplitude are constantly to change.Because it is a fixing tilting moment that clump weight is given the tower machine, and weight to give the tower machine be a tilting moment that constantly changes, so the tower machine is in the lifting operation process, body of the tower is subjected to the effect of changing torque all the time.Above-mentioned phenomenon will produce two drawbacks: 1, if this moment surpasses the ability to bear of tower machine, the tower machine will topple, and causes serious accident.2, changing torque acts on the body of the tower structure all the time, and the long-term work meeting makes the body of the tower metal fatigue and loses load-carrying capacity, causes great potential safety hazard.Therefore, the tower machine under the fixed situation of clump weight, work extremely unstable, be absolutely unsafe.
In order to solve the problem of toppling of tower machine, present way is to utilize the deadweight of tower machine, strengthens the rigidity and the intensity of body of the tower simultaneously.So just, make the ratio of light weight to loading capacity utilization of tower machine bigger.Tower machine deadweight factor of utilization=tower machine deadweight * lifting altitude/rated moment, that is to say, the tower machine product of China is under same rated moment and lifting altitude condition, and the deadweight of tower machine is bigger, and making China's like product compare with advanced international standard still has certain gap.
Summary of the invention
Purpose of the present invention just is to overcome the shortcoming and defect that prior art exists, and a kind of self-balancing up-rotary type tower crane and control program thereof are provided.
The object of the present invention is achieved like this:
1, install guide rail additional on the equilibrium arm with the tower machine, clump weight is transformed into little truck mobile, and clump weight is suspended on the dolly, and clump weight can be moved front and back on equilibrium arm;
2, application sensors and Programmable Logic Controller (PLC), make the tower machine in the handling process according to hoisting capacity and amplitude, the automatically regulating clump weight is to the distance of body of the tower, make the tower machine be in optimum working state all the time, thereby improve the safety performance of tower machine, improve tower machine deadweight factor of utilization, improve the quality and the class of product.
Specifically, as Fig. 1, the present invention includes base 1, body of the tower 2, swing type mechanism 8, crane arm 10, equilibrium arm 3, tower cap 7, hoisting traction mechanism 6, lifting amplitude variable hauling 9 and lifting amplitude variation trolley 11 in the existing tower machine basic structure;
Newly be provided with clump weight amplitude variation trolley mechanism 4, clump weight luffing trailer coupling 5, pulling force sensor 12 and control system K;
From top to bottom, base 1, body of the tower 2, swing type mechanism 8, tower cap 7 connect successively;
Be respectively arranged with equilibrium arm 3 and crane arm 10 in the both sides of tower cap 7 bottoms, the external part of equilibrium arm 3 and crane arm 10 is connected in the top of tower cap 7 respectively by pull bar;
Control system K is electrically connected with lifting amplitude variable hauling 9, clump weight luffing trailer coupling 5, pulling force sensor 12 respectively;
Described clump weight luffing trailer coupling 5 is a kind of mechanisms that can detect clump weight luffing position automatically;
Described clump weight amplitude variation trolley mechanism 4 be a kind of have on equilibrium arm before and after the mechanism of locomotive function;
Described control system K is a kind of based on Programmable Logic Controller (PLC), and clump weight luffing trailer coupling 5 is carried out the automatically controlled system.
Principle of work of the present invention is:
As Fig. 2, establishing hoisting weight is G, and the lifting object is L to the distance at body of the tower 2 centers
1, can regulate change by lifting amplitude variable hauling 9; Establishing pouring weight weight is W, and clump weight is L to the distance at body of the tower 2 centers
2, can regulate change by clump weight luffing trailer coupling 5.
In operation process of the present invention, record hoisting weight G by pulling force sensor 12, record L by coder
1And L
2Value, these information are sent in the Programmable Logic Controller handle.
In order to make the present invention be in the optimum balance state all the time, must satisfy following formula:
GL
1＝WL
2
In operation process, according to hoisting weight G to body of the tower 2 centre distance L
1Size, real-time regulated L
2If GL
1＞WL
2, then make L
2Increase, otherwise make L
2Reduce,, guarantee the suffered load minimum of body of the tower even the tower machine is in the dynamical equilibrium all the time.
The present invention has following advantage and good effect:
1, " making the body of the tower stress balance by self-balanced upper rotary " is a new theory, and the technical program has successfully solved the stressed unbalanced major safety problems of body of the tower.
2, adopt coder to measure the luffing amplitude, overcome the deficiency of current potential note method of measurement, improved measuring accuracy.
3, utilize Programmable Logic Controller to carry out automatic guidance, realized the automatic luffing of clump weight.
4, the present invention is applicable in the engineering constructions such as civil construction, bridge hydraulic engineering, large span industrial premises, power station, harbour and main equipment installation.
Description of drawings
Fig. 1-structural representation of the present invention;
Fig. 2-force analysis scheme drawing of the present invention;
Fig. 3-lifting amplitude variable hauling 9 scheme drawings;
Fig. 4-clump weight luffing trailer coupling 5 scheme drawings;
Fig. 5-lifting mechanism scheme drawing;
Fig. 6 .1-equilibrium arm structural front view,
Fig. 6 .2-equilibrium arm structure A-A view,
Fig. 6 .3-equilibrium arm structure partial enlarged drawing;
Fig. 7 .1-clump weight amplitude variation trolley mechanism 4 front views,
Fig. 7 .2-clump weight amplitude variation trolley mechanism 4 lateral plans;
Fig. 8-clump weight luffing schematic diagram;
Fig. 9-control system K block diagram;
Figure 10-control flow chart.
Wherein:
The 1-base;
The 2-body of the tower;
The 3-equilibrium arm,
3.1-leading to pulley, leading sheave in the middle of the 3.2-front limit switch, 3.3-,
3.4-back leading sheave, 3.5-pull bar suspension centre, limit switch behind the 3.6-,
3.7-guide rail, the 3.8-bearing pin;
4-clump weight amplitude variation trolley mechanism,
4.1-clump weight, 4.2-counterweight haulage cable, the 4.3-connecting pin,
4.4-road wheel, the 4.5-vehicle frame;
5-clump weight luffing trailer coupling,
5.1-the 1st electrical motor, 5.2-the 1st retarder, 5.3-the 1st reel, 5.4-the 1st coder;
The 6-hoisting traction mechanism;
7-tower cap;
The 8-swing type mechanism;
The 9-lifting amplitude variable hauling;
9.1-the 2nd electrical motor, 9.2-the 2nd retarder, 9.3-the 2nd reel, 9.4-the 2nd coder,
9.5-limiting device:
The 10-crane arm;
11-lifting amplitude variation trolley;
The 12-pulling force sensor;
The 13-hoist rope;
The 14-assembly pulley;
The K-control system.
The specific embodiment
Describe in detail below in conjunction with drawings and Examples
1, lifting amplitude variable hauling 9
Existing lifting amplitude variable hauling comprises motor, retarder, reel, limiting device; Limiting device 9.5 is used to prevent maloperation, to ensure safety.
This lifting amplitude variable hauling 9 is to have increased coder on the basis of existing lifting amplitude variable hauling;
As Fig. 3, this lifting amplitude variable hauling 9 is made up of the 2nd motor the 9.1, the 2nd retarder the 9.2, the 2nd reel the 9.3, the 2nd coder 9.4, limiting device 9.5; The 2nd coder 9.4 is arranged in the rotating shaft of the 2nd reel 9.3.
Utilize the 2nd coder 9.4 to detect the distance of hoisting heavy, promptly detect the angle of just changeing, reversing and turning over of reel, thereby determine the distance of hoisting heavy to the body of the tower center according to the output of the 2nd coder 9.4 to body of the tower.
2, lifting mechanism
As Fig. 5, existing lifting mechanism is made up of assembly pulley 14, hoisting traction mechanism 6, hoist rope 13 etc.;
Weight moves horizontally when guaranteeing luffing, and the terminal of hoist rope 13 is fixed on the crane arm 10 end near body of the tower 2, in the terminal of hoist rope 13 pulling force sensor 12 is installed, and is used for directly measuring the suffered pulling force of hoist rope 13.Detected pulling force is input to control system K, makes control system K obtain the weight signal of the object that hangs.
3, equilibrium arm 3
As Fig. 6 .1, Fig. 6 .2, Fig. 6 .3, equilibrium arm 3 is a kind of space tripod structures with the shaped steel welding.For the ease of transportation, equilibrium arm 3 is made of more piece, joint with save between be connected by bearing pin 3.8.Be provided with the guide rail of making by section bar 3.7 on the both sides of equilibrium arm 3, be used for hanging clump weight amplitude variation trolley mechanism 4.Leading sheave 3.1,3.3,3.4 before, during and after equilibrium arm was provided with, and were used for leading to haulage cable.Equilibrium arm 3 is provided with pull bar suspension centre 3.5 away from a joint end of body of the tower.In order to prevent that clump weight luffing position from exceeding restriction, forward and backward limit switch 3.2,3.6 is installed at the two ends of equilibrium arm 3 guide rails, give the limit position signal of control system K transfering small vehicle.
4, clump weight luffing mechanism
The clump weight luffing mechanism is made up of clump weight amplitude variation trolley mechanism 4 and clump weight luffing trailer coupling 5.
As Fig. 7 .1, Fig. 7 .2, clump weight amplitude variation trolley mechanism 4 is made up of clump weight 4.1, counterweight haulage cable 4.2, connecting pin 4.3, road wheel 4.4, vehicle frame 4.5;
Its position and annexation are: place the dolly that has road wheel 4.4 on guide rail 3.7, clump weight 4.1 is fixed on the vehicle frame 4.5 by connecting pin 4.3.Clump weight amplitude variation trolley mechanism 4 makes clump weight 4.1 can follow away track 3.7 and moves forward and backward, to regulate the distance of clump weight 4.1 to body of the tower 2 centers;
As Fig. 1, clump weight luffing trailer coupling 5 is installed in the end of equilibrium arm 3 near tower cap 7.
As Fig. 4, clump weight luffing trailer coupling 5 is made up of the 1st electrical motor the 5.1, the 1st retarder the 5.2, the 1st reel the 5.3, the 1st coder 5.4; Counterweight haulage cable 4.2 is on the 1st reel 5.3, and the two ends of counterweight haulage cable 4.2 are cemented in the two ends of vehicle frame 4.5, and traction clump weight amplitude variation trolley mechanism 4 moves on guide rail 3.7.The rotating shaft of the 1st reel 5.3 is provided with the 1st coder 5.4, detects the angle of just changeing, reversing and turning over of the 1st reel 5.3 according to the output of the 1st coder 5.4, thereby determines the distance of clump weight 4.1 to body of the tower 2 centers.
As Fig. 8, the luffing principle of work of clump weight 4.1 is: the 1st motor 5.1 drives the 1st reel 5.3 by the 1st retarder 5.2 and rotates, make the counterweight haulage cable 4.2 that twines on the 1st reel 5.3 by before, during and after leading sheave 3.1,3.3,3.4 traction clump weight amplitude variation trolley mechanisms 4 move around along the guide rail 3.7 of equilibrium arm 3 and make clump weight 4.1 luffings.
5, control system K
As Fig. 9, control system K is made up of Programmable Logic Controller (PLC) K1 and frequency converter K2.Programmable Logic Controller K1 realizes the automatic guidance of clump weight 4.1 luffings with software, and reliability improves greatly.Control system K is simple in structure, and outside line is simplified, and can increase or change controllable function easily in addition, also can carry out fault and detect automatically and alarm display, improves safety in operation, and easy access.Frequency converter K2 is used for the 1st motor 5.1 in the clump weight luffing trailer coupling 5 is started control, control of braking and speed control.
(1) Programmable Logic Controller K1 selects the S7-200 series small PLC of Siemens Company for use, and processor unit is wherein selected CPU224 for use, and expansion module is selected the EM233 analog module for use.
The S7-200 cost performance is high, and performance and configuration can reach the scale and the level of big-and-middle-sized machine, and price only is equivalent to the price of micro computer.And outward appearance is small and exquisite attractive in appearance, compact conformation, and simple operation, flexible configuration, the reliability height has following advantage:
● the external output node of flexible combination and A/D, D/A Converting terminal are arranged
● output can be supported directly to refresh in inside, i.e. upgrade at once after the order of output point finishes
● instruction repertoire is abundant and perfect, possesses the instruction of basic logic operations and various specific function
● arithmetic capability is powerful and quick, and every ordering calculation has only 0.37us
● memory capacity is bigger, and program size can reach the 13K byte
● communication and networking capability are convenient and powerful
● programmed environment is simple and convenient
● friendly debugging and fault diagnosis functions
● strict password protection and abundant expansion module
(2) frequency converter K2 selects the MM440 series standard frequency converter of Siemens Company for use.The MM440 Series Frequency Converter is the vector type frequency converter, has functions such as multiple spot V/f control, vector controlled, torque control.
(3) incoming signal of control system K has: the 1st coder 5.4 in the clump weight luffing trailer coupling 5, the 2nd coder 9.4 in the lifting amplitude variable hauling 9, pulling force sensor 12, equilibrium arm front limit switch 3.2, back limit switch 3.6.
(4) the main output signal of control system K has: alerting signal B and frequency converter K2 signal.
(5) as Figure 10, control flow is successively:
Does beginning a have fault? b, lifting amplitude variation trolley 11 and the 4 amplitude detection c of clump weight amplitude variation trolley mechanism, does amplitude transfinite? d, lifting weight detecting e, does weight transfinite? f, the 1st electrical motor 5.1 (counterbalanced weight becomes the spoke motor) service direction and speed are adjusted g, and state of the system shows h, returns i.
Specifically:
Beginning a, PLC powers on for the first time;
Is there there fault? b, control system K detects self whether fault is arranged, if detect fault, sends alerting signal and forbids the hoisting crane operation;
Lifting amplitude variation trolley 11 and the 4 amplitude detection c of clump weight amplitude variation trolley mechanism, PLC detects the incoming signal of the 1st coder 5.4, obtains the luffing amplitude of clump weight 4.1; PLC detects the incoming signal of the 2nd coder 9.4, obtains the luffing amplitude of lifting amplitude variation trolley;
Does amplitude transfinite? d if the luffing amplitude of said two devices reaches predefined maxim, then sends alerting signal, and forbids the hoisting crane operation;
Lifting weight detecting e, PLC detects hoisting capacity according to the input of pulling force sensor 12;
Does weight transfinite? f if hoisting capacity exceeds the maximum bearing ability of tower machine, then reports to the police and forbids the operation of tower machine;
The 1st electrical motor 5.1 (counterbalanced weight luffing motor) service direction and speed are adjusted g, according to detected signal, through handling PLC output signal control frequency converter K2, control counterbalanced weight luffing trailer coupling 5 indirectly, come amplitude, the moving velocity of clump weight 4.1 are controlled;
State of the system shows h, and whether the state of the system in operational process of control system K normally will show in real time;
Return i, in the control flow, flow process b is circular flow to flow process f, and the luffing amplitude to clump weight 4.1 in the operation of self-balancing tower machine is adjusted in real time, realizes the dynamical equilibrium that body of the tower 2 is stressed.
Claims (8)
1, a kind of self-balancing up-rotary type tower crane comprises base (1), body of the tower (2), swing type mechanism (8), crane arm (10), equilibrium arm (3), tower cap (7), hoisting traction mechanism (6), lifting amplitude variable hauling (9) and lifting amplitude variation trolley (11) in the existing tower machine basic structure;
It is characterized in that:
Be provided with clump weight amplitude variation trolley mechanism (4), clump weight luffing trailer coupling (5), pulling force sensor (12) and control system (K);
From top to bottom, base (1), body of the tower (2), swing type mechanism (8), tower cap (7) connect successively;
Both sides in tower cap (7) bottom are respectively arranged with equilibrium arm (3) and crane arm (10), and the external part of equilibrium arm (3) and crane arm (10) is connected in the top of tower cap (7) respectively by pull bar;
Crane arm (10) is provided with lifting amplitude variation trolley (11), lifting amplitude variable hauling (9); Equilibrium arm (3) is provided with hoisting traction mechanism (6), clump weight luffing trailer coupling (5), clump weight amplitude variation trolley mechanism (4);
Control system (K) respectively and lifting amplitude variable hauling (9), clump weight luffing trailer coupling (5), pulling force sensor (12) be electrically connected;
Described clump weight luffing trailer coupling (5) is a kind of mechanism that can detect clump weight luffing position automatically;
Described clump weight amplitude variation trolley mechanism (4) is a kind of mechanism with front and back locomotive function on equilibrium arm;
Described control system (K) is a kind of based on Programmable Logic Controller (K1), and clump weight luffing trailer coupling (5) is carried out the automatically controlled system.
2, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Lifting amplitude variable hauling (9) is made up of the 2nd motor (9.1), the 2nd retarder (9.2), the 2nd reel (9.3), the 2nd coder (9.4), limiting device (9.5); The 2nd coder (9.4) is arranged in the rotating shaft of the 2nd reel (9.3).
3, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Lifting mechanism is made up of assembly pulley (14), hoisting traction mechanism (6), hoist rope (13);
The terminal of hoist rope (13) is fixed on crane arm (10) and goes up a end near body of the tower (2), in the terminal of hoist rope (13) pulling force sensor (12) is installed.
4, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Be provided with the guide rail of making by section bar (3.7) on the both sides of equilibrium arm (3);
Leading sheave before, during and after equilibrium arm (3) is provided with (3.1,3.3,3.4);
At the two ends of equilibrium arm (3) guide rail forward and backward limit switch (3.2,3.6) is installed.
5, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Clump weight amplitude variation trolley mechanism (4) is made up of clump weight (4.1), counterweight haulage cable (4.2), connecting pin (4.3), road wheel (4.4), vehicle frame (4.5);
Go up the dolly that placement has road wheel (4.4) at guide rail (3.7), clump weight (4.1) is fixed on the vehicle frame (4.5) by connecting pin (4.3).
6, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Clump weight luffing trailer coupling (5) is made up of the 1st electrical motor (5.1), the 1st retarder (5.2), the 1st reel (5.3), the 1st coder (5.4); Counterweight haulage cable (4.2) is on the 1st reel (5.3), and the two ends of counterweight haulage cable (4.2) are cemented in the two ends of vehicle frame (4.5); The rotating shaft of the 1st reel (5.3) is provided with the 1st coder (5.4).
7, by the described a kind of self-balancing up-rotary type tower crane of claim 1, it is characterized in that:
Control system (K) is made up of Programmable Logic Controller (K1) and frequency converter (K2);
Programmable Logic Controller (K1) is selected S7-200 series small PLC for use, and processor unit is selected CPU224 for use, and expansion module is selected the EM233 analog module for use.
Frequency converter (K2) is selected MM440 series standard frequency converter for use.
8, a kind of self-balancing up-rotary type tower crane control flow is characterized in that:
Beginning (a), is there there fault? (b), lifting amplitude variation trolley (11) and clump weight amplitude variation trolley mechanism (4) amplitude detection (c), does amplitude transfinite? (d), lifting weight detecting (e), does weight transfinite? (f), the 1st electrical motor (5.1) service direction and speed adjustment (g), state of the system shows (h), returns (i).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610018827 CN1837011A (en) | 2006-04-20 | 2006-04-20 | Self-balancing up-rotary type tower crane and operation control |
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|---|---|---|---|
| CN 200610018827 CN1837011A (en) | 2006-04-20 | 2006-04-20 | Self-balancing up-rotary type tower crane and operation control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767747A (en) * | 2010-03-01 | 2010-07-07 | 大连奥托股份有限公司 | Elastic counter weighting mechanism for lifter |
| CN101880013A (en) * | 2010-05-31 | 2010-11-10 | 山东送变电工程公司 | Movable counterweight system of cantilever type crane |
| CN101934989A (en) * | 2010-06-04 | 2011-01-05 | 何昀旭 | Dynamic balance building tower crane |
| CN101941653A (en) * | 2010-09-02 | 2011-01-12 | 山东富友有限公司 | Method for improving capacity of flat-head-type tower crane and new-type flat-head-type tower crane |
| CN101979308A (en) * | 2010-10-14 | 2011-02-23 | 长沙中联重工科技发展股份有限公司 | Tower crane, pull rod structure for balance arm thereof and mounting method for structure |
| CN102633195A (en) * | 2012-04-13 | 2012-08-15 | 四川电力送变电建设公司 | Self-balancing amplitude modulation holding pole |
| CN103738866A (en) * | 2013-12-26 | 2014-04-23 | 南通航运职业技术学院 | Seawater balance weight crane |
| CN104150381A (en) * | 2013-05-14 | 2014-11-19 | 黄文平 | Intelligent monitoring tower crane |
| CN104843600A (en) * | 2015-06-10 | 2015-08-19 | 马妮 | Tower crane structure with weight detection |
| CN104150381B (en) * | 2013-05-14 | 2016-11-30 | 黄文平 | A kind of intelligent monitoring derrick crane |
| CN114380215A (en) * | 2022-03-26 | 2022-04-22 | 河南卫华重型机械股份有限公司 | Tower crane for building |
| CN114455465A (en) * | 2022-01-24 | 2022-05-10 | 杭州大杰智能传动科技有限公司 | Replacement method and replacement type structure for tower crane updating |
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| CN101767747A (en) * | 2010-03-01 | 2010-07-07 | 大连奥托股份有限公司 | Elastic counter weighting mechanism for lifter |
| CN101880013A (en) * | 2010-05-31 | 2010-11-10 | 山东送变电工程公司 | Movable counterweight system of cantilever type crane |
| CN101880013B (en) * | 2010-05-31 | 2012-02-08 | 山东送变电工程公司 | Movable counterweight system of cantilever type crane |
| CN101934989A (en) * | 2010-06-04 | 2011-01-05 | 何昀旭 | Dynamic balance building tower crane |
| CN101941653A (en) * | 2010-09-02 | 2011-01-12 | 山东富友有限公司 | Method for improving capacity of flat-head-type tower crane and new-type flat-head-type tower crane |
| CN101979308A (en) * | 2010-10-14 | 2011-02-23 | 长沙中联重工科技发展股份有限公司 | Tower crane, pull rod structure for balance arm thereof and mounting method for structure |
| CN101979308B (en) * | 2010-10-14 | 2012-02-01 | 长沙中联重工科技发展股份有限公司 | Tower crane, pull rod structure for balance arm thereof and mounting method for structure |
| CN102633195B (en) * | 2012-04-13 | 2013-12-25 | 四川电力送变电建设公司 | Self-balancing amplitude modulation holding pole |
| CN102633195A (en) * | 2012-04-13 | 2012-08-15 | 四川电力送变电建设公司 | Self-balancing amplitude modulation holding pole |
| CN104150381A (en) * | 2013-05-14 | 2014-11-19 | 黄文平 | Intelligent monitoring tower crane |
| CN104150381B (en) * | 2013-05-14 | 2016-11-30 | 黄文平 | A kind of intelligent monitoring derrick crane |
| CN103738866A (en) * | 2013-12-26 | 2014-04-23 | 南通航运职业技术学院 | Seawater balance weight crane |
| CN104843600A (en) * | 2015-06-10 | 2015-08-19 | 马妮 | Tower crane structure with weight detection |
| CN104843600B (en) * | 2015-06-10 | 2017-04-26 | 上海水纹信息科技有限公司 | Tower crane structure with weight detection |
| CN114455465A (en) * | 2022-01-24 | 2022-05-10 | 杭州大杰智能传动科技有限公司 | Replacement method and replacement type structure for tower crane updating |
| CN114380215A (en) * | 2022-03-26 | 2022-04-22 | 河南卫华重型机械股份有限公司 | Tower crane for building |
| WO2024055830A1 (en) * | 2022-09-15 | 2024-03-21 | 中联重科建筑起重机械有限责任公司 | Counterweight system and tower crane |
| CN116062635A (en) * | 2023-03-23 | 2023-05-05 | 杭州未名信科科技有限公司 | Embedded integrated driving control system and method for slewing mechanism of tower crane |
| CN116062635B (en) * | 2023-03-23 | 2023-08-18 | 杭州未名信科科技有限公司 | Embedded integrated driving control system and method for slewing mechanism of tower crane |
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