CN103466463A - Gantry crane with cart capable of walking on curved rail and walking control method thereof - Google Patents
Gantry crane with cart capable of walking on curved rail and walking control method thereof Download PDFInfo
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- CN103466463A CN103466463A CN2013104558614A CN201310455861A CN103466463A CN 103466463 A CN103466463 A CN 103466463A CN 2013104558614 A CN2013104558614 A CN 2013104558614A CN 201310455861 A CN201310455861 A CN 201310455861A CN 103466463 A CN103466463 A CN 103466463A
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Abstract
The invention discloses a gantry crane with a cart capable of walking on a curved rail and a walking control method thereof. The gantry crane comprises a portal frame and a cart walking mechanism. The cart walking mechanism comprises a first walking wheel, a third walking wheel, a second walking wheel and a fourth walking wheel, wherein the first walking wheel and the third walking wheel are mounted on the lower portions of the front side and the rear side of each left supporting leg respectively, and the second walking wheel and the fourth walking wheel are mounted on the lower portions of the front side and the rear side of each right supporting leg respectively. The external diameter of the first walking wheels and the external diameter of the fourth walking wheels are both D1, the external diameter of the second walking wheels and the external diameter of the third walking wheels are both D2, and r1 and R1 are the radius of an inner side circular arc rail and the radius of an outer side circular arc rail. The walking control method includes the steps that first, walking is achieved on a current rail section, and the specific processes comprise rail section shape judging, straight line rail section walking and circular arc rail section walking; second, the step one is repeated again and again until the walking process of the walking rail is completed. According to the gantry crane with the cart capable of walking on the curved rail and the walking control method thereof, the structure is simple, the design is reasonable, installation and arrangement are convenient, using operation is simple and convenient, the using effect is good, the cart can walk on the curved rail, and rail gnawing can be avoided.
Description
Technical field
The invention belongs to the gauntry crane applied technical field, especially relate to gauntry crane and traveling control method thereof that a kind of cart can traveling on curve track.
Background technology
Gauntry crane (also referred to as transfer crane) is mainly used in the loading and unloading operation of outdoor goods yard, stock ground goods and bulk goods, it have scope of work large, adapt to the characteristics such as wide, highly versatile, now be used widely.Generally, the cart of gauntry crane only can be at the enterprising walking row of rectilinear orbit.Along with the restriction of land resources growing tension and actual condition, occurred that the part section of gantry crane track is designed to the situation of curve.Because the part Track desigh of cart is curve, thereby when gantry crane when curve track moves, the wheel rim of wheel and the contacts side surfaces of track, the horizontal lateral thrust produced brings many negative effects can to the normal operation of gauntry crane, its main harm comprises following aspect: the first, cause the wearing and tearing of wheel rim and track, when serious, can cause the metal peeling of wheel rim and track side surfaces and wheel rim to stick up distortion outward, reduce the service life of wheel and track; The second, increase running resistance, electrical motor and transmission device overload operation and energy resource consumption are increased, when serious, also can cause electrical motor to burn or the transmission device damage; Three, the gauntry crane operating noise increases; Four, gantry crane may derail, and causes equipment or personal safety accident.Therefore, be necessary to research and develop the gauntry crane that a kind of cart can traveling on curve track.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, and a kind of simple in structure, reasonable in design, installation and easy and simple to handle and without conventional gauntry crane structure being made to the gauntry crane that cart that larger adjustment, result of use are good can traveling on curve track is provided.
For solving the problems of the technologies described above, the technical solution used in the present invention is: the gauntry crane that a kind of cart can traveling on curve track, it is characterized in that: comprise portal frame and drive described portal frame and carry out the cart walking mechanism of integrated moving along walking rails, described portal frame comprises girder, be arranged on the left branch leg of below, girder left side and be arranged on the right supporting leg of below, girder right side, and described left branch leg and right supporting leg are left-right symmetric and lay; Walking wheel two and walking wheel four that described cart walking mechanism comprises walking wheel one and the walking wheel three that is arranged on respectively down either side before and after left branch leg and is arranged on respectively down either side before and after right supporting leg, described walking wheel one and walking wheel two are left-right symmetric and lay, described walking wheel three and walking wheel four are left-right symmetric to be laid, and described walking wheel one, walking wheel two, walking wheel three and walking wheel four are laid in respectively on four summits of a rectangle; Described walking rails comprises the arc-shaped rail section, described arc-shaped rail section comprises outer arc shape track and is laid in the inner arc shape track of outer arc shape track inboard, the radius r 1 of radius R 1>inner arc shape track place circular arc line of described outer arc shape track place circular arc line.Between described walking wheel one and walking wheel two and the spacing between walking wheel three and walking wheel four all identical with the gauge of described walking rails, identical and the two the external diameter of the external diameter of described walking wheel one and walking wheel four is D1, identical and the two the external diameter of the external diameter of described walking wheel two and walking wheel three is D2
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: the structure of described walking wheel one, walking wheel two, walking wheel three and walking wheel four is all identical, the driver train that described walking wheel one, walking wheel two, walking wheel three and walking wheel four include wheel body and wheel body is driven, the wheel shaft of described wheel body and described driver train be in transmission connection and the two between be provided with power-transfer clutch.
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: between the wheel shaft of described wheel body and described driver train, by transmission device, be in transmission connection, described power-transfer clutch is laid between the wheel shaft and transmission device of wheel body.
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: described driver train is drive motor, rated speed of rotation and the rating horsepower of the drive motor of described walking wheel one, walking wheel two, walking wheel three and walking wheel four are all identical.
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: between described transmission device and described driver train, be provided with drg.
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: the rating horsepower of the drive motor of described walking wheel one, walking wheel two, walking wheel three and walking wheel four all is not less than
k in formula
dthe increase of output power coefficient of inertia effects during for motor starting, and K
d=1.1～1.3, P
jthe static exercise rate of drive motor while being gauntry crane full-load run.
Above-mentioned a kind of cart can traveling on curve track gauntry crane, it is characterized in that: described power-transfer clutch is magnetic clutch.
Simultaneously, the invention also discloses the gauntry crane traveling control method that a kind of method step is simple, reasonable in design and realization is convenient, practical value is high, the walking rails of institute's traveling comprises the twice rail, and the gauge between the described rail of twice is L; Described walking rails comprises a plurality of orbital segments of laying from front to back from front to back, and described orbital segment is arc-shaped rail section or rectilinear orbit section; Described arc-shaped rail section comprises outer arc shape track and inner arc shape track, and described outer arc shape track is identical with the center of circle of inner arc shape track place circular arc line; Described rectilinear orbit section comprises that twice are the rectilinear orbit of parallel laying, it is characterized in that the method comprises the following steps:
Step 1, current orbital segment traveling, process is as follows:
Step 101, the judgement of orbital segment shape: the shape to current institute walking rails section is judged: when current institute walking rails section is the rectilinear orbit section, enter step 102; When current institute walking rails section is the arc-shaped rail section, enter step 103;
Step 102, the traveling of rectilinear orbit section: the described gauntry crane of claim 1 is usingd walking wheel one and walking wheel four as driving wheel and is usingd walking wheel two and walking wheel three and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment;
Step 103, the traveling of arc-shaped rail section: when the outer arc shape track of current institute walking rails section is positioned at described gauntry crane left side, described gauntry crane is usingd walking wheel one and walking wheel two as driving wheel and is usingd walking wheel three and walking wheel four and moves forward along current institute walking rails section as flower wheel; When the outer arc shape track of current institute walking rails section is positioned at described gauntry crane right side, described gauntry crane is usingd walking wheel three and walking wheel four as driving wheel and is usingd walking wheel one and walking wheel two and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment;
Step 2, repeating step one repeatedly, until complete the traveling process of described walking rails.
Said method, it is characterized in that: the structure of described walking wheel one, walking wheel two, walking wheel three and walking wheel four is all identical, the driver train that described walking wheel one, walking wheel two, walking wheel three and walking wheel four include wheel body and wheel body is driven, the wheel shaft of described wheel body and described driver train be in transmission connection and the two between be provided with power-transfer clutch, described driver train is drive motor, and rated speed of rotation and the rating horsepower of the drive motor of described walking wheel one, walking wheel two, walking wheel three and walking wheel four are all identical; Described power-transfer clutch is magnetic clutch;
Gauntry crane described in step 102 is usingd walking wheel one and walking wheel four as driving wheel and is usingd walking wheel two and walking wheel three during as flower wheel, the drive motor of described walking wheel one and walking wheel four in "on" position and the power-transfer clutch of the two in attracting state, the drive motor of described walking wheel two and walking wheel three in off-position and the power-transfer clutch of the two in released state;
Gauntry crane described in step 103 is usingd walking wheel one and walking wheel two as driving wheel and is usingd walking wheel three and walking wheel four during as flower wheel, the drive motor of described walking wheel one and walking wheel two in "on" position and the power-transfer clutch of the two in attracting state, the drive motor of described walking wheel three and walking wheel four in off-position and the power-transfer clutch of the two in released state;
Gauntry crane described in step 103 is usingd walking wheel three and walking wheel four as driving wheel and is usingd walking wheel one and walking wheel two during as flower wheel, the drive motor of described walking wheel three and walking wheel four in "on" position and the power-transfer clutch of the two in attracting state, the drive motor of described walking wheel one and walking wheel two in off-position and the power-transfer clutch of the two in released state.
The present invention compared with prior art has the following advantages:
1, simple in structure, reasonable in design and input cost is low.
2, do larger adjustment without the structure to existing gauntry crane, only need be adjusted in the wheel footpath of existing gauntry crane left and right sides walking wheel, thereby realize very easy.
3, simple, the processing and fabricating of the drive configuration of the walking wheel that adopts and easy for installation and input cost is low, result of use is good.
4, traveling control method step is simple, reasonable in design and realization is convenient.
5, result of use is good and practical value is high, economical and practical, and gantry crane can traveling on curve track, can not produce and gnaw rail.Actual on curve track during traveling, gantry crane both sides walking wheel is traveling on the interior outside arc-shaped rail in the arc-shaped rail section with identical cireular frequency, the lifting girder axis that has guaranteed gauntry crane keeps quadrature at projection and the circular curve track of orbit plane, avoids gantry crane traveling on curve track to produce and gnaws the rail phenomenon.
In sum, the present invention is simple in structure, reasonable in design, install lay convenient and use easy and simple to handle, result of use good, cart can traveling on curve track, and can not produce and gnaw rail.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
The accompanying drawing explanation
The use state reference map that Fig. 1 is the gauntry crane that cart of the present invention can traveling on curve track.
The structural representation that Fig. 2 is walking wheel one of the present invention, walking wheel two, walking wheel three and walking wheel four.
Description of reference numerals:
1-girder; 2-1-left branch leg; 2-2-right supporting leg;
3-1-walking wheel one; 3-2-walking wheel two; 3-3-walking wheel three;
3-4-walking wheel four; 4-1-wheel body; 4-2-power-transfer clutch;
4-3-transmission device; 4-4-drg; 4-5-drive motor;
5-1-outer arc shape track; 5-2-inner arc shape track; 6-rectilinear orbit.
The specific embodiment
A kind of cart as shown in Figure 1 can traveling on curve track gauntry crane, comprise portal frame and drive described portal frame and carry out the cart walking mechanism of integrated moving along walking rails, described portal frame comprises girder 1, be arranged on the left branch leg 2-1 of girder 1 below, left side and be arranged on the right supporting leg 2-2 of girder 1 below, right side, and described left branch leg 2-1 and right supporting leg 2-2 are left-right symmetric and lay.Walking wheel two 3-2 and walking wheel four 3-4 that described cart walking mechanism comprises walking wheel one 3-1 and walking wheel three 3-3 that are arranged on respectively down either side before and after left branch leg 2-1 and is arranged on respectively down either side before and after right supporting leg 2-2, described walking wheel one 3-1 and walking wheel two 3-2 are left-right symmetric and lay, described walking wheel three 3-3 and walking wheel four 3-4 are left-right symmetric and lay, and described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 are laid in respectively on four summits of a rectangle.Described walking rails comprises the arc-shaped rail section, described arc-shaped rail section comprises outer arc shape track 5-1 and is laid in the inner arc shape track 5-2 of outer arc shape track 5-1 inboard, the radius r 1 of radius R 1>inner arc shape track 5-2 place circular arc line of described outer arc shape track 5-1 place circular arc line.Between described walking wheel one 3-1 and walking wheel two 3-2 and the spacing between walking wheel three 3-3 and walking wheel four 3-4 all identical with the gauge of described walking rails, identical and the two the external diameter of the external diameter of described walking wheel one 3-1 and walking wheel four 3-4 is D1, identical and the two the external diameter of the external diameter of described walking wheel two 3-2 and walking wheel three 3-3 is D2
In described arc-shaped rail section, outside arc-shaped rail 5-1 is identical with the center of circle of inner arc shape track 5-2.
The walking rails of institute's traveling comprises the twice rail, and the gauge between the described rail of twice is L.In the present embodiment, the gauge L=25m of described walking rails, described walking rails is the circular curve track.Described circular curve track comprise arc-shaped rail section one, the arc-shaped rail section two of described arc-shaped rail section one rear side and be connected in described arc-shaped rail section one and described arc-shaped rail section two between the linear path section.
The radius R 1 of described arc-shaped rail section one and arc-shaped rail 5-1 place, described arc-shaped rail Duan Erzhong outside circular arc line is 741m, and the radius r 1 of described arc-shaped rail section one and described arc-shaped rail Duan Erzhong inner arc shape track 5-2 place circular arc line is (741m-25m)=716m.Wherein, the radius of curvature of described arc-shaped rail Duan Yizhong outside arc-shaped rail 5-1 and inner arc shape track 5-2 is negative, and the radius of curvature of described arc-shaped rail Duan Erzhong outside arc-shaped rail 5-1 and inner arc shape track 5-2 just is.
As shown in Figure 2, in the present embodiment, the structure of described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 is all identical, the driver train that described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 include wheel body 4-1 and wheel body 4-1 is driven, the wheel shaft of described wheel body 4-1 and described driver train be in transmission connection and the two between be provided with power-transfer clutch 4-2.
In the present embodiment, between the wheel shaft of described wheel body 4-1 and described driver train, by transmission device 4-3, be in transmission connection, described power-transfer clutch 4-2 is laid between the wheel shaft and transmission device 4-3 of wheel body 4-1.
In the present embodiment, between described transmission device 4-3 and described driver train, be provided with drg 4-4.
In the present embodiment, described driver train is drive motor 4-5, and drive motor 4-5 is AC asynchronous motor.Rated speed of rotation and the rating horsepower of the drive motor 4-5 of described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 are all identical.
That is to say, the rotating speed of the drive motor 4-5 of four walking wheels is all identical, and the power of the drive motor 4-5 of four walking wheels is all identical.In the present embodiment, the drive motor 4-5 of four walking wheels adopts the electrical motor of same model.
In the present embodiment, the rating horsepower of the drive motor 4-5 of described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 all is not less than
k in formula
dthe increase of output power coefficient and the K of inertia effects during for motor starting
d=1.1～1.3, P
jthe static exercise rate of drive motor 4-5 while being gauntry crane full-load run.The static exercise rate, the power while being exactly weight-lifting equipment (being described gauntry crane) steady operational status, the power consumed during the weight-lifting equipment uniform movement.P
jaccording to formula
try to achieve, wherein F
jfor running resistance, v
0for primary election running velocity (m/s), η is mechanism driving efficiency and η=0.85～0.95; M is the electrical motor number.Wherein, F
j=F
m+ F
p+ F
w, F in formula
mfor friction drag, F
pfor gradient resistance, get zero herein; F
wfor air draught, also be taken as zero herein.Therefore F
m=(Q+G) w, in formula, G is described gauntry crane from heavy lift (N); Q is lifted load (N); W is coefficient of frictional resistance.
In the present embodiment, described power-transfer clutch 4-2 is magnetic clutch.
During actual the use, described power-transfer clutch 4-2 also can adopt the power-transfer clutch of other type, as magnetic particle coupling, vapour-pressure type power-transfer clutch, hydraulic clutch etc.
In the present embodiment, if adopt the traveling on described circular curve track of general gauntry crane, because its cart walking wheel diameter is identical, the transmission device of driving wheel is identical, and the drive motor model of gantry crane both sides driving wheel is identical.Thereby, when gantry crane during in described circular curve track traveling, if the diameter of gantry crane both sides driving wheel is identical, and the cireular frequency that the both sides driving wheel rotates is identical, makes gantry crane both sides walking wheel with the traveling on described circular curve track of identical linear velocity.And when the gantry crane both sides initiatively walking wheel with identical linear velocity on the circular curve track during traveling, because outside arc-shaped rail 5-1 in described arc-shaped rail section is different with the radius of inner arc shape track 5-2, on the outside arc-shaped rail 5-1 and inner arc shape track 5-2, circumferentially displacement of the lines (distance travelled) is identical in described arc-shaped rail section to cause gantry crane both sides walking wheel, and angular transposition (being angle of turn) difference, this just cause gauntry crane on described circular curve track during operation the lifting girder axis of gauntry crane non-orthogonal at projection and the described circular curve track of orbit plane, this gnaws the rail phenomenon with regard to inevitably occurring that gantry crane produces, and described circular curve track is longer, gnaw the rail phenomenon more serious, to affect the gauntry crane normal operation, even there will be the gantry crane derailment accident.
Therefore, avoid gantry crane to produce and gnaw the rail phenomenon during traveling on described circular curve track, will accomplish that gantry crane is on the circular curve track during traveling, the lifting girder axis of gauntry crane is in the projection and described circular curve track maintenance quadrature of orbit plane.If gantry crane both sides walking wheel is with traveling on arc-shaped rail 5-1 outside identical cireular frequency (being that the unit time angular transposition of movement on described circular curve track is identical) is in described arc-shaped rail section and inner arc shape track 5-2, the lifting girder axis that just can realize gauntry crane keeps quadrature at projection and the described circular curve track of orbit plane, avoids gantry crane traveling on curve track to produce and gnaws the rail phenomenon.Now, the D outer diameter of gantry crane driving wheel of outside arc-shaped rail 5-1 traveling in described arc-shaped rail section
1diameter D with the driving wheel of traveling on inner arc shape track 5-2 in described arc-shaped rail section
2meet
In the present embodiment, the radius of curvature R 1=-741m of arc-shaped rail 5-1 place, described arc-shaped rail Duan Yizhong outside circular arc line, the radius of curvature r1=-716m of inner arc shape track 5-2 place circular arc line; The radius of curvature R 1=741m of arc-shaped rail 5-1 place, described arc-shaped rail Duan Erzhong outside circular arc line, the radius of curvature r1=716m of inner arc shape track 5-2 place circular arc line.
Thereby, radius of curvature for negative described arc-shaped rail section one on during traveling, the diameter D of the driving wheel of traveling on the arc-shaped rail 5-1 of the outside (being walking wheel four 3-4)
1diameter D with the driving wheel (being walking wheel three 3-3) of traveling on inner arc shape track 5-2
2between meet
At radius of curvature, be on positive described arc-shaped rail section two during traveling, the diameter D of the driving wheel of traveling on the arc-shaped rail 5-1 of the outside (being walking wheel one 3-1)
1diameter D with the driving wheel (being walking wheel two 3-2) of traveling on inner arc shape track 5-2
2between meet
In the present embodiment, described walking wheel one 3-1 and walking wheel four 3-4 all adopt the walking wheel of D outer diameter 1=460mm, and described walking wheel two 3-2 and walking wheel three 3-3 all adopt D outer diameter 2=(0.966 * 460=444.36) walking wheel of mm.
In actual use procedure, control gauntry crane as shown in Figure 1 on walking rails during traveling, the walking rails of institute's traveling comprises the twice rail, and the gauge between the described rail of twice is L; Described walking rails comprises a plurality of orbital segments of laying from front to back from front to back, and described orbital segment is arc-shaped rail section or rectilinear orbit section; Described arc-shaped rail section comprises outer arc shape track 5-1 and inner arc shape track 5-2, and described outer arc shape track 5-1 is identical with the center of circle of inner arc shape track 5-2 place circular arc line; Described rectilinear orbit section comprises that twice are the rectilinear orbit 6 of parallel laying, and this traveling control method comprises the following steps:
Step 1, current orbital segment traveling, process is as follows:
Step 101, the judgement of orbital segment shape: the shape to current institute walking rails section is judged: when current institute walking rails section is the rectilinear orbit section, enter step 102; When current institute walking rails section is the arc-shaped rail section, enter step 103.
In the present embodiment, described outer arc shape track 5-1, inner arc shape track 5-2 and rectilinear orbit 6 are rail.
Step 102, the traveling of rectilinear orbit section: the described gauntry crane of claim 1 is usingd walking wheel one 3-1 and walking wheel four 3-4 as driving wheel and is usingd walking wheel two 3-2 and walking wheel three 3-3 and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment.
Step 103, the traveling of arc-shaped rail section: when the outer arc shape track 5-1 of current institute walking rails section is positioned at described gauntry crane left side, described gauntry crane is usingd walking wheel one 3-1 and walking wheel two 3-2 as driving wheel and is usingd walking wheel three 3-3 and walking wheel four 3-4 and moves forward along current institute walking rails section as flower wheel; When the outer arc shape track 5-1 of current institute walking rails section is positioned at described gauntry crane right side, described gauntry crane is usingd walking wheel three 3-3 and walking wheel four 3-4 as driving wheel and is usingd walking wheel one 3-1 and walking wheel two 3-2 and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment.
Step 2, repeating step one repeatedly, until complete the traveling process of described walking rails.
In the present embodiment, the structure of described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 is all identical, the driver train that described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 include wheel body 4-1 and wheel body 4-1 is driven, the wheel shaft of described wheel body 4-1 and described driver train be in transmission connection and the two between be provided with power-transfer clutch 4-2, described driver train is drive motor 4-5; Described power-transfer clutch 4-2 is magnetic clutch.
Gauntry crane described in step 102 is usingd walking wheel one 3-1 and walking wheel four 3-4 as driving wheel and is usingd walking wheel two 3-2 and walking wheel three 3-3 during as flower wheel, the drive motor 4-5 of described walking wheel one 3-1 and walking wheel four 3-4 in "on" position and the power-transfer clutch 4-2 of the two in attracting state, the drive motor 4-5 of described walking wheel two 3-2 and walking wheel three 3-3 in off-position and the power-transfer clutch 4-2 of the two in released state.
Gauntry crane described in step 103 is usingd walking wheel one 3-1 and walking wheel two 3-2 as driving wheel and is usingd walking wheel three 3-3 and walking wheel four 3-4 during as flower wheel, the drive motor 4-5 of described walking wheel one 3-1 and walking wheel two 3-2 in "on" position and the power-transfer clutch 4-2 of the two in attracting state, the drive motor 4-5 of described walking wheel three 3-3 and walking wheel four 3-4 in off-position and the power-transfer clutch 4-2 of the two in released state.
Gauntry crane described in step 103 is usingd walking wheel three 3-3 and walking wheel four 3-4 as driving wheel and is usingd walking wheel one 3-1 and walking wheel two 3-2 during as flower wheel, the drive motor 4-5 of described walking wheel three 3-3 and walking wheel four 3-4 in "on" position and the power-transfer clutch 4-2 of the two in attracting state, the drive motor 4-5 of described walking wheel one 3-1 and walking wheel two 3-2 in off-position and the power-transfer clutch 4-2 of the two in released state.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every any simple modification of above embodiment being done according to the technology of the present invention essence, change and equivalent structure change, and all still belong in the protection domain of technical solution of the present invention.
Claims (9)
1. the gauntry crane that a cart can traveling on curve track, it is characterized in that: comprise portal frame and drive described portal frame and carry out the cart walking mechanism of integrated moving along walking rails, described portal frame comprises girder (1), be arranged on the left branch leg (2-1) of below, girder (1) left side and be arranged on the right supporting leg (2-2) of below, girder (1) right side, and described left branch leg (2-1) and right supporting leg (2-2) are the left-right symmetric laying, described cart walking mechanism comprises walking wheel one (3-1) and the walking wheel three (3-3) that is arranged on respectively down either side before and after left branch leg (2-1) and walking wheel two (3-2) and the walking wheel four (3-4) that is arranged on respectively right supporting leg (2-2) front and back down either side, described walking wheel one (3-1) and walking wheel two (3-2) are left-right symmetric and lay, described walking wheel three (3-3) and walking wheel four (3-4) are left-right symmetric and lay, described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) and walking wheel four (3-4) are laid in respectively on four summits of a rectangle, described walking rails comprises the arc-shaped rail section, described arc-shaped rail section comprises outer arc shape track (5-1) and is laid in the inboard inner arc shape track (5-2) of outer arc shape track (5-1), the radius r 1 of radius R 1>inner arc shape track (5-2) place circular arc line of described outer arc shape track (5-1) place circular arc line, between described walking wheel one (3-1) and walking wheel two (3-2) and the spacing between walking wheel three (3-3) and walking wheel four (3-4) all identical with the gauge of described walking rails, identical and the two the external diameter of the external diameter of described walking wheel one (3-1) and walking wheel four (3-4) is D1, identical and the two the external diameter of the external diameter of described walking wheel two (3-2) and walking wheel three (3-3) is D2
2. gauntry crane that can traveling on curve track according to a kind of cart claimed in claim 1, it is characterized in that: described walking wheel one (3-1), walking wheel two (3-2), the structure of walking wheel three (3-3) and walking wheel four (3-4) is all identical, described walking wheel one (3-1), walking wheel two (3-2), the driver train that walking wheel three (3-3) and walking wheel four (3-4) include wheel body (4-1) and wheel body (4-1) is driven, the wheel shaft of described wheel body (4-1) and described driver train be in transmission connection and the two between be provided with power-transfer clutch (4-2).
3. gauntry crane that can traveling on curve track according to a kind of cart claimed in claim 2, it is characterized in that: between the wheel shaft of described wheel body (4-1) and described driver train, by transmission device (4-3), be in transmission connection, described power-transfer clutch (4-2) is laid between the wheel shaft and transmission device (4-3) of wheel body (4-1).
4. gauntry crane that can traveling on curve track according to the described a kind of cart of claim 2 or 3, it is characterized in that: described driver train is drive motor (4-5), and rated speed of rotation and the rating horsepower of the drive motor (4-5) of described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) and walking wheel four (3-4) are all identical.
5. gauntry crane that can traveling on curve track according to a kind of cart claimed in claim 3, is characterized in that: be provided with drg (4-4) between described transmission device (4-3) and described driver train.
6. gauntry crane that can traveling on curve track according to a kind of cart claimed in claim 4, it is characterized in that: the rating horsepower of the drive motor (4-5) of described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) and walking wheel four (3-4) all is not less than
k in formula
dthe increase of output power coefficient of inertia effects during for motor starting, and K
d=1.1～1.3, P
jthe static exercise rate of drive motor while being gauntry crane full-load run (4-5).
7. gauntry crane that can traveling on curve track according to claim 2,3 or 5 described a kind of carts, it is characterized in that: described power-transfer clutch (4-2) is magnetic clutch.
8. control the method for gauntry crane traveling on walking rails as claimed in claim 1 for one kind, the walking rails of institute's traveling comprises a plurality of orbital segments of laying from front to back from front to back, and described orbital segment is arc-shaped rail section or rectilinear orbit section; Described arc-shaped rail section comprises outer arc shape track (5-1) and inner arc shape track (5-2), and described outer arc shape track (5-1) is identical with the center of circle of inner arc shape track (5-2) place circular arc line; Described rectilinear orbit section comprises that twice are the rectilinear orbit of parallel laying (6), is characterized in that the method comprises the following steps:
Step 1, current orbital segment traveling, process is as follows:
Step 101, the judgement of orbital segment shape: the shape to current institute walking rails section is judged: when current institute walking rails section is the rectilinear orbit section, enter step 102; When current institute walking rails section is the arc-shaped rail section, enter step 103;
Step 102, the traveling of rectilinear orbit section: the described gauntry crane of claim 1 is usingd walking wheel one (3-1) and walking wheel four (3-4) as driving wheel and is usingd walking wheel two (3-2) and walking wheel three (3-3) and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment;
Step 103, the traveling of arc-shaped rail section: when the outer arc shape track (5-1) of current institute walking rails section is positioned at described gauntry crane left side, described gauntry crane is usingd walking wheel one (3-1) and walking wheel two (3-2) as driving wheel and is usingd walking wheel three (3-3) and walking wheel four (3-4) and moves forward along current institute walking rails section as flower wheel; When the outer arc shape track (5-1) of current institute walking rails section is positioned at described gauntry crane right side, described gauntry crane is usingd walking wheel three (3-3) and walking wheel four (3-4) as driving wheel and is usingd walking wheel one (3-1) and walking wheel two (3-2) and moves forward along current institute walking rails section as flower wheel, until complete the traveling process of current orbital segment;
Step 2, repeating step one repeatedly, until complete the traveling process of described walking rails.
9. in accordance with the method for claim 8, it is characterized in that: described walking wheel one (3-1), walking wheel two (3-2), the structure of walking wheel three (3-3) and walking wheel four (3-4) is all identical, described walking wheel one (3-1), walking wheel two (3-2), the driver train that walking wheel three (3-3) and walking wheel four (3-4) include wheel body (4-1) and wheel body (4-1) is driven, the wheel shaft of described wheel body (4-1) and described driver train be in transmission connection and the two between be provided with power-transfer clutch (4-2), described driver train is drive motor (4-5), described walking wheel one (3-1), walking wheel two (3-2), rated speed of rotation and the rating horsepower of the drive motor (4-5) of walking wheel three (3-3) and walking wheel four (3-4) are all identical, described power-transfer clutch (4-2) is magnetic clutch,
Gauntry crane described in step 102 is usingd walking wheel one (3-1) and walking wheel four (3-4) as driving wheel and is usingd walking wheel two (3-2) and walking wheel three (3-3) during as flower wheel, the drive motor (4-5) of described walking wheel one (3-1) and walking wheel four (3-4) in "on" position and the power-transfer clutch of the two (4-2) in attracting state, the drive motor (4-5) of described walking wheel two (3-2) and walking wheel three (3-3) in off-position and the power-transfer clutch of the two (4-2) in released state;
Gauntry crane described in step 103 is usingd walking wheel one (3-1) and walking wheel two (3-2) as driving wheel and is usingd walking wheel three (3-3) and walking wheel four (3-4) during as flower wheel, the drive motor (4-5) of described walking wheel one (3-1) and walking wheel two (3-2) in "on" position and the power-transfer clutch of the two (4-2) in attracting state, the drive motor (4-5) of described walking wheel three (3-3) and walking wheel four (3-4) in off-position and the power-transfer clutch of the two (4-2) in released state;
Gauntry crane described in step 103 is usingd walking wheel three (3-3) and walking wheel four (3-4) as driving wheel and is usingd walking wheel one (3-1) and walking wheel two (3-2) during as flower wheel, the drive motor (4-5) of described walking wheel three (3-3) and walking wheel four (3-4) in "on" position and the power-transfer clutch of the two (4-2) in attracting state, the drive motor (4-5) of described walking wheel one (3-1) and walking wheel two (3-2) in off-position and the power-transfer clutch of the two (4-2) in released state.
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