CN103466463B - 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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- CN103466463B CN103466463B CN201310455861.4A CN201310455861A CN103466463B CN 103466463 B CN103466463 B CN 103466463B CN 201310455861 A CN201310455861 A CN 201310455861A CN 103466463 B CN103466463 B CN 103466463B
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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, D1/D2=R, 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 gauntry crane applied technical field, especially relating to a kind of cart can the gauntry crane of traveling on curve track and traveling control method thereof.
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 greatly, adapt to the features such as wide, highly versatile, be now used widely.Generally, the cart of gauntry crane only can at the enterprising walking row of rectilinear orbit.Along with the restriction of land resources growing tension and actual condition, occur that the partial sector of gantry crane track is designed to the situation of curve.Because the fractional orbital of cart is designed to curve, thus when gantry crane runs at curve track, 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 wearing and tearing the first, causing wheel rim and track, can cause time serious sticking up distortion outside the metal peeling of wheel rim and track side surfaces and wheel rim, 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, electrical motor also can be caused time serious to burn or transmission device damage; Three, gauntry crane operating noise increases; Four, gantry crane may derail, and causes equipment or personal safety accident.Therefore, being necessary to research and develop a kind of cart can the gauntry crane of 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, provide a kind of structure simple, reasonable in design, to install and easy and simple to handle and can the gauntry crane of traveling on curve track without the need to making the good cart of larger adjustment, result of use to conventional gauntry crane structure.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of cart can the gauntry crane of traveling on curve track, it is characterized in that: comprise portal frame and drive described portal frame to carry out the cart walking mechanism moved integrally along walking rails, described portal frame comprises girder, is arranged on the left branch leg of below on the left of girder and is arranged on the right supporting leg of girder lower right-hand side, described left branch leg and the symmetrical laying of right supporting leg; Described cart walking mechanism comprises the walking wheel one and walking wheel three that are arranged on down either side before and after left branch leg respectively and the walking wheel two being arranged on down either side before and after right supporting leg respectively and walking wheel four, described walking wheel one and the symmetrical laying of walking wheel two, described walking wheel three and the symmetrical laying of walking wheel four, described walking wheel one, walking wheel two, walking wheel three and walking wheel four are laid on four summits of a rectangle respectively; Described walking rails comprises arc-shaped rail section, described arc-shaped rail section comprises outer arc shape track and is laid in the inner arc shape track inside outer arc shape track, the radius r 1 of the radius R 1 > inner arc shape track place circular arc line of described outer arc shape track place circular arc line.Described walking wheel one is all identical with the gauge of described walking rails with the spacing between walking wheel two and between walking wheel three and walking wheel four, described walking wheel one is identical with the external diameter of walking wheel four and the two external diameter is D1, described walking wheel two is identical with the external diameter of walking wheel three and the two external diameter is D2
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, it is characterized in that: described walking wheel one, walking wheel two, walking wheel three are all identical with the structure of walking wheel four, the driver train that described walking wheel one, walking wheel two, walking wheel three and walking wheel four include wheel body and drive wheel body, the wheel shaft of described wheel body and described driver train carry out being in transmission connection and power-transfer clutch being provided therebetween.
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, it is characterized in that: be in transmission connection by transmission device between the wheel shaft of described wheel body and described driver train, described power-transfer clutch is laid between the wheel shaft of wheel body and transmission device.
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, and it is characterized in that: described driver train is drive motor, described walking wheel one, walking wheel two, walking wheel three are all identical with rating horsepower with the rated speed of rotation of the drive motor of walking wheel four.
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, it is characterized in that: be provided with drg between described transmission device and described driver train.
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, 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 is all not less than
k in formula
dfor the power enhancement coefficient of inertia effects during motor starting, and K
d=1.1 ~ 1.3, P
jit is the static exercise rate of drive motor during gauntry crane full-load run.
Above-mentioned a kind of cart can the gauntry crane of traveling on curve track, it is characterized in that: described power-transfer clutch is magnetic clutch.
Meanwhile, the invention also discloses a kind of method step simple, reasonable in design and realize the gauntry crane traveling control method convenient, practical value is high, the walking rails of institute's traveling comprises twice rail, and the gauge described in twice between rail is L; Described walking rails comprises the multiple orbital segments laid 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 the rectilinear orbit that twice are parallel laying, it is characterized in that the method comprises the following steps:
Step one, the traveling of current orbit section, process is as follows:
Step 101, orbital segment shape judge: judge the shape of current institute walking rails section: when current institute walking rails section is rectilinear orbit section, enter step 102; When current institute walking rails section is arc-shaped rail section, enter step 103;
Step 102, the traveling of rectilinear orbit section: gauntry crane described in claim 1 is using walking wheel one and walking wheel four as driving wheel and move forward as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section using walking wheel two and walking wheel three;
Step 103, the traveling of arc-shaped rail section: when the outer arc shape track of current institute walking rails section is positioned on the left of described gauntry crane, described gauntry crane is using walking wheel one and walking wheel two as driving wheel and move forward along current institute walking rails section using walking wheel three and walking wheel four as flower wheel; When the outer arc shape track of current institute walking rails section is positioned on the right side of described gauntry crane, described gauntry crane is using walking wheel three and walking wheel four as driving wheel and move forward as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section using walking wheel one and walking wheel two;
Step 2, repeatedly repetition step one, until complete the traveling process of described walking rails.
Said method, it is characterized in that: described walking wheel one, walking wheel two, walking wheel three are all identical with the structure of walking wheel four, the driver train that described walking wheel one, walking wheel two, walking wheel three and walking wheel four include wheel body and drive wheel body, the wheel shaft of described wheel body and described driver train carry out being in transmission connection and power-transfer clutch being provided therebetween, described driver train is drive motor, and described walking wheel one, walking wheel two, walking wheel three are all identical with rating horsepower with the rated speed of rotation of the drive motor of walking wheel four; Described power-transfer clutch is magnetic clutch;
When gauntry crane described in step 102 is using walking wheel one and walking wheel four as driving wheel and using walking wheel two and walking wheel three as flower wheel, the drive motor of described walking wheel one and walking wheel four is in "on" position and the power-transfer clutch of the two is in attracting state, and the drive motor of described walking wheel two and walking wheel three is in off-position and the power-transfer clutch of the two is in released state;
When gauntry crane described in step 103 is using walking wheel one and walking wheel two as driving wheel and using walking wheel three and walking wheel four as flower wheel, the drive motor of described walking wheel one and walking wheel two is in "on" position and the power-transfer clutch of the two is in attracting state, and the drive motor of described walking wheel three and walking wheel four is in off-position and the power-transfer clutch of the two is in released state;
When gauntry crane described in step 103 is using walking wheel three and walking wheel four as driving wheel and using walking wheel one and walking wheel two as flower wheel, the drive motor of described walking wheel three and walking wheel four is in "on" position and the power-transfer clutch of the two is in attracting state, and the drive motor of described walking wheel one and walking wheel two is in off-position and the power-transfer clutch of the two is in released state.
The present invention compared with prior art has the following advantages:
1, structure is simple, reasonable in design and input cost is low.
2, without the need to doing larger adjustment to the structure of existing gauntry crane, only need adjust in the wheel footpath of existing gauntry crane left and right sides walking wheel, thus realizing very easy.
3, adopt that the drive configuration of walking wheel is simple, processing and fabricating 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 with traveling on outside arc-shaped rail in identical cireular frequency is in arc-shaped rail section, ensure that the lifting girder axis of gauntry crane keeps orthogonal in the projection of orbit plane with circular curve track, avoid gantry crane traveling on curve track to produce and gnaw rail phenomenon.
In sum, structure of the present invention is simple, 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.
Accompanying drawing explanation
Fig. 1 is that cart of the present invention can the using state reference diagram of gauntry crane of traveling on curve track.
Fig. 2 is the structural representation of 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.
Detailed description of the invention
A kind of cart as shown in Figure 1 can the gauntry crane of traveling on curve track, comprise portal frame and drive described portal frame to carry out the cart walking mechanism moved integrally along walking rails, described portal frame comprises girder 1, is arranged on the left branch leg 2-1 of below on the left of girder 1 and is arranged on right supporting leg 2-2, described left branch leg 2-1 and the symmetrical laying of right supporting leg 2-2 of girder 1 lower right-hand side.Described cart walking mechanism comprises walking wheel one 3-1 and walking wheel three 3-3 that are arranged on down either side before and after left branch leg 2-1 respectively and walking wheel two 3-2 being arranged on down either side before and after right supporting leg 2-2 respectively and walking wheel four 3-4, described walking wheel one 3-1 and the symmetrical laying of walking wheel two 3-2, described walking wheel three 3-3 and the symmetrical laying of walking wheel four 3-4, described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 and walking wheel four 3-4 are laid on four summits of a rectangle respectively.Described walking rails comprises 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 inside outer arc shape track 5-1, the radius r 1 of the 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.Described walking wheel one 3-1 is all identical with the gauge of described walking rails with the spacing between walking wheel two 3-2 and between walking wheel three 3-3 and walking wheel four 3-4, described walking wheel one 3-1 is identical with the external diameter of walking wheel four 3-4 and the two external diameter is D1, described walking wheel two 3-2 is identical with the external diameter of walking wheel three 3-3 and the two external diameter 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 twice rail, and the gauge described in twice between rail is L.In the present embodiment, the gauge L=25m of described walking rails, described walking rails is circular curve track.The linear path section that described circular curve track comprises arc-shaped rail section one, arc-shaped rail section two on rear side of described arc-shaped rail section one and is connected between described arc-shaped rail section one and described arc-shaped rail section two.
Outside described arc-shaped rail section one and described arc-shaped rail Duan Erzhong, the radius R 1 of arc-shaped rail 5-1 place 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, outside described arc-shaped rail Duan Yizhong, the radius of curvature of arc-shaped rail 5-1 and inner arc shape track 5-2 is negative, and outside described arc-shaped rail Duan Erzhong, the radius of curvature of arc-shaped rail 5-1 and inner arc shape track 5-2 is just.
As shown in Figure 2, in the present embodiment, described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 are all identical with the structure of walking wheel four 3-4, 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 drive wheel body 4-1, the wheel shaft of described wheel body 4-1 and described driver train carry out being in transmission connection and power-transfer clutch 4-2 are provided therebetween.
In the present embodiment, be in transmission connection between the wheel shaft of described wheel body 4-1 and described driver train by transmission device 4-3, described power-transfer clutch 4-2 is laid between the wheel shaft of wheel body 4-1 and transmission device 4-3.
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.Described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 are all identical with rating horsepower with the rated speed of rotation of the drive motor 4-5 of walking wheel four 3-4.
That is, 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 is all not less than
k in formula
dfor the power enhancement coefficient of inertia effects during motor starting and K
d=1.1 ~ 1.3, P
jthe static exercise rate of drive motor 4-5 when being gauntry crane full-load run.Static exercise rate is exactly power during weight-lifting equipment (i.e. described gauntry crane) steady operational status, the power namely consumed during 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 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, be also taken as zero herein.Therefore F
m=(Q+G) w, in formula G be 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 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.Thus, when gantry crane is in described circular curve track traveling, if the diameter of gantry crane both sides driving wheel is identical, and the cireular frequency that 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 gantry crane both sides initiatively walking wheel with identical linear velocity on circular curve track during traveling, because in described arc-shaped rail section, outside arc-shaped rail 5-1 is different with the radius of inner arc shape track 5-2, cause walking wheel outside arc-shaped rail 5-1 in described arc-shaped rail section in gantry crane both sides identical with circumferential displacement of the lines (namely distance travelled) on inner arc shape track 5-2, and angular transposition (i.e. angle of turn) is different, this just cause gauntry crane on described circular curve track during operation gauntry crane lifting girder axis the projection of orbit plane and described circular curve track non-orthogonal, this just inevitably occurs that gantry crane produces and gnaws rail phenomenon, and described circular curve track is longer, gnaw rail phenomenon more serious, normally work affecting gauntry crane, even there will be gantry crane derailment accident.
Therefore, gantry crane be avoided to produce during traveling on described circular curve track and gnaw rail phenomenon, will accomplish gantry crane on circular curve track during traveling, the lifting girder axis of gauntry crane keeps orthogonal in the projection of orbit plane with described circular curve track.If gantry crane both sides walking wheel is with the traveling on the arc-shaped rail 5-1 and inner arc shape track 5-2 of outside in described arc-shaped rail section of identical cireular frequency (namely the angular transposition of unit time movement on described circular curve track is identical), the lifting girder axis that just can realize gauntry crane keeps orthogonal in the projection of orbit plane with described circular curve track, avoids gantry crane traveling on curve track to produce and gnaws rail phenomenon.Now, the outer diameter D of gantry crane driving wheel of outside arc-shaped rail 5-1 traveling in described arc-shaped rail section
1with the diameter D of 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 r1=-716m of the radius of curvature R 1=-741m of arc-shaped rail 5-1 place circular arc line, inner arc shape track 5-2 place circular arc line outside described arc-shaped rail Duan Yizhong; The radius of curvature r1=716m of the radius of curvature R 1=741m of arc-shaped rail 5-1 place circular arc line, inner arc shape track 5-2 place circular arc line outside described arc-shaped rail Duan Erzhong.
Thus, in the described arc-shaped rail section one that radius of curvature is negative during traveling, the diameter D of the driving wheel (i.e. walking wheel four 3-4) of traveling on the arc-shaped rail 5-1 of outside
1with the diameter D of the driving wheel (i.e. walking wheel three 3-3) of traveling on inner arc shape track 5-2
2between meet
In the described arc-shaped rail section two that radius of curvature is positive during traveling, the diameter D of the driving wheel (i.e. walking wheel one 3-1) of traveling on the arc-shaped rail 5-1 of outside
1with the diameter D of the driving wheel (i.e. 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 adopts the walking wheel of outer diameter D 1=460mm, and described walking wheel two 3-2 and walking wheel three 3-3 all adopts outer diameter D 2=(0.966 × 460=444.36) walking wheel of mm.
In actual use procedure, control gauntry crane is as shown in Figure 1 on walking rails during traveling, and the walking rails of institute's traveling comprises twice rail, and the gauge described in twice between rail is L; Described walking rails comprises the multiple orbital segments laid 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 the rectilinear orbit 6 that twice are parallel laying, and this traveling control method comprises the following steps:
Step one, the traveling of current orbit section, process is as follows:
Step 101, orbital segment shape judge: judge the shape of current institute walking rails section: when current institute walking rails section is rectilinear orbit section, enter step 102; When current institute walking rails section is 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: gauntry crane described in claim 1 is using walking wheel one 3-1 and walking wheel four 3-4 as driving wheel and move forward using walking wheel two 3-2 and walking wheel three 3-3 as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section.
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 on the left of described gauntry crane, described gauntry crane is using walking wheel one 3-1 and walking wheel two 3-2 as driving wheel and move forward using walking wheel three 3-3 and walking wheel four 3-4 as flower wheel along current institute walking rails section; When the outer arc shape track 5-1 of current institute walking rails section is positioned on the right side of described gauntry crane, described gauntry crane is using walking wheel three 3-3 and walking wheel four 3-4 as driving wheel and move forward using walking wheel one 3-1 and walking wheel two 3-2 as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section.
Step 2, repeatedly repetition step one, until complete the traveling process of described walking rails.
In the present embodiment, described walking wheel one 3-1, walking wheel two 3-2, walking wheel three 3-3 are all identical with the structure of walking wheel four 3-4, 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 drive wheel body 4-1, the wheel shaft of described wheel body 4-1 and described driver train carry out being in transmission connection and power-transfer clutch 4-2 are provided therebetween, and described driver train is drive motor 4-5; Described power-transfer clutch 4-2 is magnetic clutch.
When gauntry crane described in step 102 is using walking wheel one 3-1 and walking wheel four 3-4 as driving wheel and using walking wheel two 3-2 and walking wheel three 3-3 as flower wheel, the drive motor 4-5 of described walking wheel one 3-1 and walking wheel four 3-4 is in "on" position and the power-transfer clutch 4-2 of the two is in attracting state, and the drive motor 4-5 of described walking wheel two 3-2 and walking wheel three 3-3 is in off-position and the power-transfer clutch 4-2 of the two is in released state.
When gauntry crane described in step 103 is using walking wheel one 3-1 and walking wheel two 3-2 as driving wheel and using walking wheel three 3-3 and walking wheel four 3-4 as flower wheel, the drive motor 4-5 of described walking wheel one 3-1 and walking wheel two 3-2 is in "on" position and the power-transfer clutch 4-2 of the two is in attracting state, and the drive motor 4-5 of described walking wheel three 3-3 and walking wheel four 3-4 is in off-position and the power-transfer clutch 4-2 of the two is in released state.
When gauntry crane described in step 103 is using walking wheel three 3-3 and walking wheel four 3-4 as driving wheel and using walking wheel one 3-1 and walking wheel two 3-2 as flower wheel, the drive motor 4-5 of described walking wheel three 3-3 and walking wheel four 3-4 is in "on" position and the power-transfer clutch 4-2 of the two is in attracting state, and the drive motor 4-5 of described walking wheel one 3-1 and walking wheel two 3-2 is in off-position and the power-transfer clutch 4-2 of the two is in released state.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.
Claims (9)
1. a cart can the gauntry crane of traveling on curve track, it is characterized in that: comprise portal frame and drive described portal frame to carry out the cart walking mechanism moved integrally along walking rails, described portal frame comprises girder (1), is arranged on the left branch leg (2-1) of below, girder (1) left side and is arranged on the right supporting leg (2-2) of girder (1) lower right-hand side, described left branch leg (2-1) and right supporting leg (2-2) symmetrical laying, described cart walking mechanism comprises the walking wheel one (3-1) and walking wheel three (3-3) that are arranged on left branch leg (2-1) front and back down either side respectively and the walking wheel two (3-2) and the walking wheel four (3-4) that are arranged on down either side before and after right supporting leg (2-2) respectively, described walking wheel one (3-1) and walking wheel two (3-2) symmetrical laying, described walking wheel three (3-3) and walking wheel four (3-4) symmetrical laying, described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) and walking wheel four (3-4) are laid on four summits of a rectangle respectively, described walking rails comprises 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) inner side, the radius r 1 of radius R 1 > inner arc shape track (5-2) the place circular arc line of described outer arc shape track (5-1) place circular arc line, described walking wheel one (3-1) is all identical with the gauge of described walking rails with the spacing between walking wheel two (3-2) and between walking wheel three (3-3) and walking wheel four (3-4), described walking wheel one (3-1) is identical with the external diameter of walking wheel four (3-4) and the two external diameter is D1, described walking wheel two (3-2) is identical with the external diameter of walking wheel three (3-3) and the two external diameter is D2
2. can the gauntry crane of traveling on curve track according to a kind of cart according to claim 1, it is characterized in that: described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) is all identical with the structure of walking wheel four (3-4), 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 drive wheel body (4-1), the wheel shaft of described wheel body (4-1) and described driver train carry out being in transmission connection and power-transfer clutch (4-2) are provided therebetween.
3. can the gauntry crane of traveling on curve track according to a kind of cart according to claim 2, it is characterized in that: be in transmission connection by transmission device (4-3) between the wheel shaft of described wheel body (4-1) and described driver train, described power-transfer clutch (4-2) is laid between the wheel shaft of wheel body (4-1) and transmission device (4-3).
4. can the gauntry crane of traveling on curve track according to a kind of cart described in Claims 2 or 3, it is characterized in that: described driver train is drive motor (4-5), described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) are all identical with rating horsepower with the rated speed of rotation of the drive motor (4-5) of walking wheel four (3-4).
5. can the gauntry crane of traveling on curve track according to a kind of cart according to claim 3, it is characterized in that: between described transmission device (4-3) and described driver train, be provided with drg (4-4).
6. can the gauntry crane of traveling on curve track according to a kind of cart according to 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) is all not less than
k in formula
dfor the power enhancement coefficient of inertia effects during motor starting, and K
d=1.1 ~ 1.3, P
jthe static exercise rate of drive motor (4-5) when being gauntry crane full-load run.
7. can the gauntry crane of traveling on curve track according to a kind of cart described in claim 2,3 or 5, it is characterized in that: described power-transfer clutch (4-2) is magnetic clutch.
8. control a method for gauntry crane traveling on walking rails as claimed in claim 1, the walking rails of institute's traveling comprises the multiple orbital segments laid 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 the rectilinear orbit (6) that twice are parallel laying, it is characterized in that the method comprises the following steps:
Step one, the traveling of current orbit section, process is as follows:
Step 101, orbital segment shape judge: judge the shape of current institute walking rails section: when current institute walking rails section is rectilinear orbit section, enter step 102; When current institute walking rails section is arc-shaped rail section, enter step 103;
Step 102, the traveling of rectilinear orbit section: gauntry crane described in claim 1 is using walking wheel one (3-1) and walking wheel four (3-4) as driving wheel and move forward as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section using walking wheel two (3-2) and walking wheel three (3-3);
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 on the left of described gauntry crane, described gauntry crane is using walking wheel one (3-1) and walking wheel two (3-2) as driving wheel and move forward along current institute walking rails section using walking wheel three (3-3) and walking wheel four (3-4) as flower wheel; When the outer arc shape track (5-1) of current institute walking rails section is positioned on the right side of described gauntry crane, described gauntry crane is using walking wheel three (3-3) and walking wheel four (3-4) as driving wheel and move forward as flower wheel along current institute walking rails section, until complete the traveling process of current orbit section using walking wheel one (3-1) and walking wheel two (3-2);
Step 2, repeatedly repetition step one, 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), walking wheel three (3-3) is all identical with the structure of walking wheel four (3-4), 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 drive wheel body (4-1), the wheel shaft of described wheel body (4-1) and described driver train carry out being in transmission connection and power-transfer clutch (4-2) are provided therebetween, described driver train is drive motor (4-5), described walking wheel one (3-1), walking wheel two (3-2), walking wheel three (3-3) is all identical with rating horsepower with the rated speed of rotation of the drive motor (4-5) of walking wheel four (3-4), described power-transfer clutch (4-2) is magnetic clutch,
When gauntry crane described in step 102 is using walking wheel one (3-1) and walking wheel four (3-4) as driving wheel and using walking wheel two (3-2) and walking wheel three (3-3) as flower wheel, the drive motor (4-5) of described walking wheel one (3-1) and walking wheel four (3-4) is in "on" position and the power-transfer clutch (4-2) of the two is in attracting state, and the drive motor (4-5) of described walking wheel two (3-2) and walking wheel three (3-3) is in off-position and the power-transfer clutch (4-2) of the two is in released state;
When gauntry crane described in step 103 is using walking wheel one (3-1) and walking wheel two (3-2) as driving wheel and using walking wheel three (3-3) and walking wheel four (3-4) as flower wheel, the drive motor (4-5) of described walking wheel one (3-1) and walking wheel two (3-2) is in "on" position and the power-transfer clutch (4-2) of the two is in attracting state, and the drive motor (4-5) of described walking wheel three (3-3) and walking wheel four (3-4) is in off-position and the power-transfer clutch (4-2) of the two is in released state;
When gauntry crane described in step 103 is using walking wheel three (3-3) and walking wheel four (3-4) as driving wheel and using walking wheel one (3-1) and walking wheel two (3-2) as flower wheel, the drive motor (4-5) of described walking wheel three (3-3) and walking wheel four (3-4) is in "on" position and the power-transfer clutch (4-2) of the two is in attracting state, and the drive motor (4-5) of described walking wheel one (3-1) and walking wheel two (3-2) is in off-position and the power-transfer clutch (4-2) of the two is in released state.
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| CN201310455861.4A CN103466463B (en) | 2013-09-28 | 2013-09-28 | Gantry crane with cart capable of walking on curved rail and walking control method thereof |
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| CN109502479B (en) * | 2018-12-18 | 2019-12-27 | 南京理工大学 | Track hoisting mechanism convenient to load and unload |
| CN110526121B (en) * | 2019-08-15 | 2020-09-29 | 中铁七局集团有限公司 | System and method for monitoring operation of gantry crane during arrangement of beam field on curved roadbed of highway |
| CN110745009B (en) * | 2019-10-22 | 2021-04-27 | 北京航盛新能科技有限公司 | Method for controlling rotating speed of permanent magnet synchronous motor of rail independent drive locomotive |
| CN114852851B (en) * | 2022-04-29 | 2022-11-15 | 北京市市政四建设工程有限责任公司 | Progressive turning method for gantry crane unit |
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| JP2006062792A (en) * | 2004-08-25 | 2006-03-09 | Okumura Corp | Control method for saddle travel speed of bridge type crane |
| GB0608279D0 (en) * | 2006-04-26 | 2006-06-07 | A & C Ltd | Camera Track And Dolly Systems |
| CN201217495Y (en) * | 2008-05-06 | 2009-04-08 | 江苏赛富隆重工有限公司 | Running mechanism for crane |
| CN201809054U (en) * | 2010-09-27 | 2011-04-27 | 中国葛洲坝集团机械船舶有限公司 | Bearing wheel group of self-adaptive door machine |
| JP2013129530A (en) * | 2011-12-22 | 2013-07-04 | Kawasaki Heavy Ind Ltd | Transfer crane |
| CN103204433A (en) * | 2013-04-28 | 2013-07-17 | 中国水电建设集团夹江水工机械有限公司 | Novel bogie device for crane travelling mechanism |
| CN203513124U (en) * | 2013-09-28 | 2014-04-02 | 中铁一局集团有限公司 | Gantry crane for cart capable of running on curve railway |
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