CN106429830A - Gantry crane all-dimensional steering device and method - Google Patents
Gantry crane all-dimensional steering device and method Download PDFInfo
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- CN106429830A CN106429830A CN201610929864.0A CN201610929864A CN106429830A CN 106429830 A CN106429830 A CN 106429830A CN 201610929864 A CN201610929864 A CN 201610929864A CN 106429830 A CN106429830 A CN 106429830A
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- gantry crane
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- walking beam
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- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 238000011065 in-situ storage Methods 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/10—Undercarriages or bogies, e.g. end carriages, end bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/08—Runners; Runner bearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention discloses a gantry crane all-dimensional steering device and method. The device comprises walking beams arranged at the lower ends of gantry crane supporting legs, a walking steering mechanism arranged at the two ends of the walking beams, and a jacking mechanism arranged between the walking beams; and the walking steering mechanism comprises a walking wheel train, a walking table frame and a rotating mechanism. By means of the jacking mechanism, the walking beams can be jacked up or lowered, so that the walking wheel train can be suspended; and by means of the rotating mechanism, the movement direction of the walking wheel train can be changed, so that a gantry crane on the walking beams can achieve all-dimensional steering, and therefore the using range of the operation environment of a hoisting device is widened. In addition, the rotating mechanism comprises a rotating bearing, a rotating driving motor and a gear; and the rotating bearing is driven by the rotating driving motor and the gear to rotate, the movement direction of the walking wheel train can be accurately controlled, and the hoisting operation precision is improved. According to the gantry crane all-dimensional steering device and method, all-dimensional steering can be achieved, the operation accuracy and the operation precision are high, the application range is wide, and cost is low.
Description
Technical Field
The invention relates to the technical field of steering of movable gantry cranes, in particular to an omni-directional steering device and method for a gantry crane.
Background
The background of the related art of the present invention will be described below, but the description does not necessarily constitute the prior art of the present invention.
The technology of the large-scale movable gantry crane is mature in China at present, the overall dimension of the large-scale movable gantry crane is large, a rail type moving mode and a tire type moving mode are generally adopted, the two modes are difficult to realize all-directional steering, and relevant reports are not found yet. The domestic movable gantry crane does not have the function of all-directional steering.
The current tyre type gantry crane device can complete steering from one position to another position along an arc line, but steering in place requires a large field, and the walking position is required to be corrected again after reversing after deviation occurs, so that the tyre type gantry crane device is not suitable for most hoisting operation environments and has low efficiency.
The rail vehicle equipment adopts an arc rail type steering mode, the steering device comprises an arc guide rail, a bogie, a vehicle body and the like, the bogie is hinged with the vehicle body through a vertical shaft and can rotate relative to the vehicle body, a wheel tread on the bogie is supported on the top surface of the guide rail, the deflection of the bogie relative to the vehicle body is realized through the contact of a wheel flange and the side surface of the guide rail, and the steering of the vehicle body is finally completed. The rail type gantry crane has limited moving position, the steel rail needs to be replaced regularly, and the cost is high.
Therefore, a technical solution capable of solving the problem of difficult steering of the gantry crane is needed in the prior art.
Disclosure of Invention
The invention aims to provide an omni-directional steering device and method for a gantry crane, which can realize omni-directional steering of the gantry crane.
According to an aspect of the present invention, there is provided an omni-directional steering apparatus for a gantry crane, including: the device comprises a walking beam arranged at the lower end of a gantry crane supporting leg, walking steering mechanisms arranged at two ends of the walking beam, and a jacking mechanism arranged in the middle of the walking beam; the jacking mechanism is used for jacking up or lowering the walking beam; the walking steering mechanism comprises: a walking wheel train, a walking rack and a slewing mechanism; wherein,
the slewing mechanism is arranged below the walking beam and comprises a slewing bearing, a slewing driving motor and a gear; the inner ring of the rotary bearing is connected with the walking beam, and the outer ring of the rotary bearing is connected with the walking rack; the gear is arranged on an output shaft of the rotary driving motor and is meshed with an outer ring of the rotary bearing;
the traveling gear train comprises a traveling wheel, a flange plate, a wheel shaft and a self-aligning roller bearing; the travelling wheel is fixed on a flange plate through a bolt, and the flange plate is sleeved on a wheel shaft and is connected with the wheel shaft through a flat key; two ends of the wheel shaft are respectively arranged on the walking rack through self-aligning roller bearings;
each road train comprises one, two or more road wheels.
Preferably, the swing mechanism further comprises: and the angle indicating coded disc is arranged on the upper end face of the outer ring of the rotary bearing.
Preferably, the walking gantry comprises: the device comprises a walking wheel frame, a slewing bearing flange and a bearing seat; the walking wheel frame is provided with a concave cavity structure with a downward opening; two sides of the concave cavity structure are respectively provided with a bearing seat for mounting the self-aligning roller bearing; the slewing bearing flange is arranged at the upper end of the walking vehicle wheel frame and is connected with the outer ring of the slewing bearing.
Preferably, the walk steering mechanism further comprises: a travel drive mechanism; the travel drive mechanism includes: the walking driving motor, the 90-degree corner speed reducer and the speed reducer flange; the walking driving motor is connected with the 90-degree corner speed reducer, and the output end of the 90-degree corner speed reducer is connected with the wheel shaft through a flat key;
the speed reducer flange is arranged on the upper end face of the 90-degree corner speed reducer; the walking stage further includes: the walking driving bracket is arranged on the walking wheel frame; the speed reducer flange is connected with the walking driving support through a reinforcing bolt.
Preferably, the jacking mechanism comprises: the device comprises a ball boot, a worm lifter and a mounting seat; the mounting seat is of a T-shaped structure, the upper end of the mounting seat is connected with the walking beam, and the lower end of the mounting seat is connected with the upper end of an output shaft of the worm lifter; the worm lifter is horizontally arranged at the lower end of the mounting seat, and an output shaft of the worm lifter is a threaded tooth opening; the ball head boot is arranged at the lower end of an output shaft of the worm lifter.
Preferably, the walking beams at the lower ends of the two supporting legs of the gantry crane are parallel to each other, the distance between the two walking steering mechanisms on each walking beam is equal, and the four walking steering mechanisms at the lower end of each gantry crane form a rectangular layout when viewed from the top.
Preferably, two ends of the walking beam are respectively provided with a walking steering mechanism flange, and the middle of the walking beam is provided with a jacking mechanism flange; the walking steering mechanism is connected with the walking beam through a walking steering mechanism flange, and the jacking mechanism is connected with the walking beam through a jacking mechanism flange.
According to a second aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the following steps:
jacking the walking beam by using the jacking mechanism to suspend the four walking wheels at the lower end of the gantry crane;
the rotary bearing is driven to rotate by a rotary driving motor until the moving directions of four travelling wheels at the lower end of the gantry crane reach preset directions;
the walking beam is descended by the jacking mechanism, and then the walking wheel is driven to roll, so that the gantry crane linearly moves forwards or backwards along the preset direction.
According to a third aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the steps of:
determining a first rotation angle of each walking wheel according to the positions of four walking wheels at the lower end of the gantry crane; the first rotation angle is an included angle between a tangent line of a circumcircle of the four walking wheels at the walking wheels and a walking beam where the walking wheels are located;
according to the rotation angle of each walking wheel, a rotation driving motor drives a rotation bearing to rotate until the motion directions of four walking wheels at the lower end of the gantry crane are tangent to an external circle;
the walking beam is descended by the jacking mechanism, and then the walking wheel is driven to roll, so that the gantry crane realizes in-situ steering.
According to a fourth aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the steps of:
determining a second rotation angle of a travelling wheel on the other travelling beam according to the positions of the jacking mechanism on one travelling beam at the lower end of the gantry crane and the two travelling steering mechanisms on the other travelling beam; the second rotation angle is an included angle between a turning circle tangent line at the walking wheel on the other walking beam and the other walking beam; the steering circle is a circle which takes the jacking mechanism on one walking beam as the center of a circle and takes the distance from the walking wheel on the other walking beam to the center of a circle as the radius;
according to a second rotation angle, the rotary bearing is driven to rotate by the rotary driving motor on the other walking beam until the movement direction of the walking wheel on the other walking beam is tangent to the steering circle;
the corresponding rotary bearing is driven to rotate by the rotary driving motor on the walking beam, so that the running direction of the walking wheel on the walking beam is vertical to the walking beam;
and the travelling beams are descended by utilizing the jacking mechanism, and then the travelling wheels are driven to roll, so that the gantry crane rotates by taking the jacking mechanism on one travelling beam as a circle center.
The invention discloses an omnibearing steering device of a gantry crane, which comprises: the device comprises a walking beam arranged at the lower end of a gantry crane supporting leg, walking steering mechanisms arranged at two ends of the walking beam, and a jacking mechanism arranged in the middle of the walking beam; the walking steering mechanism comprises: a walking wheel train, a walking rack and a slewing mechanism. The walking beam can be jacked up or lowered down through the jacking mechanism, so that the walking wheel train is suspended; the moving direction of the traveling wheel train can be changed through the slewing mechanism, the gantry crane on the traveling beam can realize all-directional steering, and the application range of the operation environment of the hoisting equipment is further expanded. In addition, the slewing mechanism comprises a slewing bearing, a slewing drive motor and a gear, the slewing bearing is driven to rotate by the slewing drive motor and the gear, the motion direction of the walking wheel train can be accurately controlled, and the accuracy of hoisting operation is improved. The device and the method for omni-directional steering of the gantry crane can realize omni-directional steering, have high operation accuracy and precision and wide application range, and have great application value in the aspects of hoisting, transporting and accurately positioning large targets.
Drawings
The features and advantages of the present invention will become more readily appreciated from the detailed description section provided below with reference to the drawings, in which:
FIG. 1 is a schematic structural view of an omni-directional steering device of a gantry crane according to the present invention;
FIG. 2 is a left side view of the omni-directional steering apparatus of the gantry crane of the present invention;
FIG. 3 is a schematic structural view of the walking beam of the present invention;
FIG. 4 is a schematic structural view of the traveling gear train of the present invention;
FIG. 5 is a schematic structural diagram of the walking platform of the present invention;
FIG. 6 is a schematic structural diagram of the slewing mechanism of the present invention;
FIG. 7 is a schematic structural view of the travel drive mechanism of the present invention;
FIG. 8 is a schematic structural view of a jacking mechanism of the present invention;
FIG. 9 is a schematic view of an in-situ steering mode of the omni-directional steering apparatus of the gantry crane according to the present invention;
fig. 10 is a schematic view of a single point support steering mode of the omni-directional steering device of the gantry crane according to the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for purposes of illustration only and is not intended to limit the invention, its application, or uses.
According to an aspect of the present invention, there is provided an omni-directional steering device for a gantry crane, referring to fig. 1, comprising: the walking beam comprises a walking beam 1, walking steering mechanisms 2 arranged at two ends of the walking beam 1 and a jacking mechanism 3 arranged in the middle of the walking beam 1. The walking beam 1 is arranged at the lower end of the support leg of the gantry crane and used for supporting the gantry crane. The structure and shape of the walking beam 1 are designed according to actual conditions, and the invention is not particularly limited, for example, the walking beam 1 is a structural member formed by welding plates, and is in a truss type or hollow and externally solid box type structure. Two walking beams 1 at the lower end of the same gantry crane can be connected together through a truss or other connecting pieces, as shown in fig. 9 or 10, and the two walking beams 1 are connected through a truss 40. The walking steering mechanism 2 and the jacking mechanism 3 can be directly fixed or detachably connected with the walking beam 1, and can also be connected through other connecting pieces. In the preferred embodiment shown in fig. 3, two ends of the walking beam 1 are respectively provided with a walking steering mechanism flange 4, and the middle of the walking beam 1 is provided with a jacking mechanism flange 5. The walking steering mechanism 2 is connected with the walking beam 1 through a walking steering mechanism flange 4, and the jacking mechanism 3 is connected with the walking beam 1 through a jacking mechanism flange 5.
The travel steering mechanism 2 includes: a walking wheel train 6, a walking gantry 7 and a slewing mechanism 8, as shown in fig. 2. The slewing mechanism 8 is arranged below the walking beam 1 and comprises a slewing bearing 20, a slewing drive motor 21 and a gear 22, see fig. 6. The inner ring of the rotary bearing 20 is connected with the walking beam 1, and the outer ring is connected with the walking rack 7; the gear 22 is mounted on an output shaft of the slewing drive motor 21 and meshes with an outer ring of the slewing bearing 20. The rotary driving motor 21 rotates the driving gear 22, and the gear 22 drives the outer ring of the rotary bearing 20 to rotate through meshing, so that the moving direction of the traveling gear train 6 is changed.
On one hand, the outer ring of the slewing bearing 20 of the present invention can rotate 360 ° under the driving of the slewing driving motor 21 and the gear 22, so that the traveling gear train 6 can rotate in all directions, and compared with the existing tire type steering device or the rail type steering device, the steering range is larger and the cost is lower.
On the other hand, the conventional tire type gantry crane device needs a larger field when steering, and the tire type steering devices are difficult to run in the same direction on roads with sharp turns and the like; the conventional rail type steering device needs to realize steering by means of contact between wheel flanges and the side surfaces of guide rails. The omnibearing steering device does not need to occupy a large field and realize steering by means of contact between wheel rims and the side surfaces of the guide rails, the walking beam 1 is jacked up by the jacking mechanism 3 to suspend the walking wheels, the moving direction of the walking wheel train 6 is changed by the rotary mechanism 8 to realize in-situ steering, and the omnibearing steering device has strong applicability to various use environments, thereby expanding the use range of the operation environment of the hoisting equipment.
In addition, the rotation driving motor 21 is adopted to drive to realize the steering, and the steering angle of the walking wheel train 6 can be accurately controlled by controlling the rotation angle of the rotation driving motor 21, so that the operation accuracy and precision are high, the steering angle of the walking wheel train 6 does not need to be corrected again, the application range is wide, the cost is low, and the method has great application value in the aspects of hoisting, transporting and accurately positioning large targets.
In order to facilitate the intuitive understanding of the steering angle of the traveling gear train 6, an angle indicating code wheel 23 may be disposed on the upper end surface of the outer ring of the slewing bearing 20, and the movement direction of each traveling wheel is obtained through the angle indicating code wheel 23. When the values of the two angle indicating code wheels 23 on the walking beam 1 are equal, the moving directions of the two walking wheel trains 6 on the walking beam 1 are the same.
As shown in fig. 4, the traveling gear train 6 includes a traveling wheel 10, a flange plate 11, a wheel axle 12, and a self-aligning roller bearing 13. The road wheel 10 is fixed on a flange plate 11 through bolts, the flange plate 11 is sleeved on a wheel shaft 12 and is connected with the wheel shaft 12 through a flat key. Both ends of the wheel shaft 12 are respectively arranged on the traveling gantry 7 through self-aligning roller bearings 13. Each road train 6 comprises one, two or more road wheels 10. In the preferred embodiment shown in fig. 4, each road train 6 comprises two road wheels 10. The road wheel 10 may be removably mounted with the wheel axle 12 or may be of unitary construction for ease of maintenance and installation. The road wheel 10 may be of an integral metal disc construction or may be of a tyre construction comprising a hub 15 and a rubber tyre 14. Adopt the tire structure can prevent to shake because of the walking in-process that the bottom surface unevenness leads to, improve the stability in rotation and the motion process.
In the preferred embodiment shown in fig. 5, the walking gantry 7 comprises: a walking wheel frame 16, a slewing bearing flange 17 and a bearing seat 18. The running wheel frame 16 has a cavity structure with a downward opening, and two sides of the cavity structure are respectively provided with a bearing seat 18 for mounting the self-aligning roller bearing 13. The slewing bearing flange 17 is provided at the upper end of the traveling wheel frame 16 and is connected to the outer ring of the slewing bearing 20. When the outer ring of the slewing bearing 20 is driven by the gear 22 to rotate, the whole walking rack 7 rotates, and the walking gear train 6 is arranged on the walking rack 7, so that the walking gear train 6 can rotate along with the walking rack 7 to realize the movement direction.
In the actual use process, the walking wheels 10 can be pushed manually or pushed to rotate by other external force. Of course, the travel driving mechanism 9 may be provided in the travel steering mechanism 2. In the preferred embodiment shown in fig. 7, the travel drive mechanism comprises: a walking driving motor 24, a 90-degree corner speed reducer 25 and a speed reducer flange 26. The walking driving motor 24 is connected with a 90-degree corner speed reducer 25, and the output end of the 90-degree corner speed reducer 25 is connected with the wheel shaft 12 through a flat key; the reducer flange 26 is mounted on the upper end surface of the 90 ° rotation angle reducer 25. The traveling gantry 7 may further include: the walking driving bracket 19 provided on the walking carriage 16 is used for mounting the fixed walking carriage 7. The reducer flange 26 is connected to the travel drive bracket 19 by reinforcing bolts. The motor is adopted to drive the travelling wheels 10 to rotate, so that the rotation angle of the travelling wheels 10 can be accurately controlled, and the vehicle is prevented from sliding. Choose for use 90 corner speed reducer 25, can save installation space, prevent that the speed reducer from influencing the walking wheel 10 and turn to because the speed reducer also rotates together. In addition, the 90-degree corner speed reducer 25 is adopted, so that the laying length of the cable is saved.
The jacking mechanism 3 is used for jacking up or lowering down the walking beam 1. In the preferred embodiment shown in fig. 8, the jacking mechanism comprises: ball boots 27, worm lifts 28 and mounts 29. The mounting seat 29 is of a T-shaped structure, the upper end of the mounting seat 29 is connected with the walking beam 1, and the lower end of the mounting seat is connected with the upper end of an output shaft of the worm lifter 28. The worm lifter 28 is horizontally arranged at the lower end of the mounting seat 29, and the output shaft of the worm lifter 28 is a threaded tooth socket. The ball shoe 27 is provided at the lower end of the output shaft of the worm lifter 28. The walking beam can be rotated by using the ball boot 27. For example, when the worm lifter 28 jacks up the walking beam 1, the walking beam system 6 is suspended, the slewing drive motor drives the slewing bearing to rotate until the motion directions of four walking wheels at the lower end of the gantry crane are tangent to the circumcircles of the four walking wheels, then the walking beam 1 is descended through the worm lifter 28, the walking wheels are driven to roll, and the walking beam 1 can realize in-situ steering by taking the ball boot 27 as the center.
In order to improve and maintain the structural stability of the gantry crane, preferably, the walking beams at the lower ends of the two supporting legs of the gantry crane are parallel to each other, the distance between the two walking steering mechanisms on each walking beam is equal, and the four walking steering mechanisms at the lower end of each gantry crane form a rectangular layout when viewed from the top.
According to a second aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the following steps:
jacking the walking beam by using a jacking mechanism to suspend four walking wheels at the lower end of the gantry crane;
the rotary bearing is driven to rotate by the rotary driving motor until the moving directions of the four travelling wheels at the lower end of the gantry crane reach the preset direction;
the walking beam is descended by the jacking mechanism, and then the walking wheel is driven to roll, so that the gantry crane linearly moves forwards or backwards along the preset direction.
According to a third aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the steps of:
determining a first rotation angle of each walking wheel according to the positions of four walking wheels at the lower end of the gantry crane; the first rotation angle is an included angle between a tangent line of a circumcircle of the four walking wheels at the walking wheels and a walking beam where the walking wheels are located; for example, the first rotation angle of the gantry crane with a minimum track of 6 meters and a maximum track of 12 meters is 27 °;
according to the rotation angle of each walking wheel, a rotation driving motor drives a rotation bearing to rotate until the motion directions of four walking wheels at the lower end of the gantry crane are tangent to an external circle;
the walking beam is descended by the jacking mechanism, and then the walking wheel is driven to roll, so that the gantry crane realizes in-situ steering.
Fig. 9 shows a schematic view of a pivot steering mode of the omnibearing steering device for the gantry crane. In the figure 30, the circumscribed circle of the four road wheels, i.e. the movement path of the travel steering mechanism 2, is shown. And 10 is the center of a circumscribed circle of the four travelling wheels, namely the center of the motion track of the travelling steering mechanism 2. 20 denotes a movement track tangent line of the walking steering mechanism 2, and an included angle between the walking beam on which the walking steering mechanism 2 is located and the movement track tangent line 20 is a first rotation angle, which is 27 ° in this embodiment. The existing gantry crane cannot realize in-situ rotation and often needs a larger field during steering. According to the gantry crane, the walking wheel trains on two sides of the gantry crane can rotate by taking the circle centers of the circumscribed circles of the four walking wheel trains as centers, so that in-situ steering is realized, and the occupied space is small.
According to a fourth aspect of the present invention, there is provided an omni-directional steering method for a gantry crane using the above apparatus, comprising the steps of:
determining a second rotation angle of a travelling wheel on the other travelling beam according to the positions of a jacking mechanism on one travelling beam at the lower end of the gantry crane and two travelling steering mechanisms on the other travelling beam; the second rotation angle is an included angle between a turning circle tangent line at the walking wheel on the other walking beam and the other walking beam; the steering circle is a circle which takes the jacking mechanism on one walking beam as the center of a circle and takes the distance from the walking wheel on the other walking beam to the center of the circle as the radius; for example, the second rotation angle of the tired gantry crane with the minimum track of 6 meters and the maximum track of 12 meters is 14 degrees;
according to a second rotation angle, the slewing bearing is driven to rotate by a slewing drive motor on the other walking beam until the movement direction of the walking wheel on the other walking beam is tangent to the steering circle;
the corresponding rotary bearing is driven to rotate by the rotary driving motor on the walking beam, so that the running direction of the walking wheel on the walking beam is perpendicular to the walking beam;
and the travelling beams are descended by utilizing the jacking mechanism, and then the travelling wheels are driven to roll, so that the gantry crane rotates by taking the jacking mechanism on one travelling beam as a circle center.
Fig. 10 is a schematic view showing a single point support steering mode of the omni-directional steering device for the gantry crane according to the present invention. In the drawing, 31 denotes a steering circle which uses the jacking mechanism on the walking beam on one side of the gantry crane as the center of circle and the distance from the walking wheel on the walking beam on the other side to the center of circle as the radius, that is, the movement track of the walking steering mechanism on the walking beam on one side of the gantry crane. And 11 is the circle center of the motion track of the walking steering mechanism on the walking beam at the other side of the gantry crane. Reference numeral 21 denotes a tangent line of a motion trajectory of the traveling steering mechanism on the traveling beam on the other side of the gantry crane, and an included angle between the traveling beam on the other side of the gantry crane and the tangent line 21 of the motion trajectory is a second rotation angle, and in this embodiment, the first rotation angle is 14 °. When the gantry crane passes through a road with a sharp turn and the like, the gantry crane is not easy to turn. In the invention, at a sharp turn, the travelling gear train at one side of the gantry crane can be fixed, and the travelling gear train at the other side rotates by taking the jacking mechanism at the fixed side as a circle center, thereby realizing steering.
Compared with the prior art, the omnibearing steering device of the gantry crane can realize omnibearing steering, and has the advantages of low cost, high operation accuracy and precision and wide application range.
While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the specific embodiments described and illustrated in detail herein, and that various changes may be made therein by those skilled in the art without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a portal crane omni-directional steering device which characterized in that includes: the device comprises a walking beam arranged at the lower end of a gantry crane supporting leg, walking steering mechanisms arranged at two ends of the walking beam, and a jacking mechanism arranged in the middle of the walking beam; the jacking mechanism is used for jacking or descending the walking beam; the walking steering mechanism comprises: a walking wheel train, a walking rack and a slewing mechanism; wherein,
the slewing mechanism is arranged below the walking beam and comprises a slewing bearing, a slewing driving motor and a gear; the inner ring of the rotary bearing is connected with the walking beam, and the outer ring of the rotary bearing is connected with the walking rack; the gear is arranged on an output shaft of the rotary driving motor and is meshed with an outer ring of the rotary bearing;
the traveling gear train comprises traveling wheels, a flange plate, a wheel shaft and a self-aligning roller bearing; the travelling wheel is fixed on the flange plate through a bolt, and the flange plate is sleeved on the wheel shaft and is connected with the wheel shaft through a flat key; two ends of the wheel shaft are respectively arranged on the walking rack through the self-aligning roller bearings;
each of the travel trains includes one, two or more of the travel wheels.
2. The apparatus as claimed in claim 1, the swing mechanism further comprising: and the angle indicating coded disc is arranged on the upper end face of the outer ring of the slewing bearing.
3. The apparatus of claim 1, wherein the walking stage comprises: the device comprises a walking wheel frame, a slewing bearing flange and a bearing seat;
the walking wheel frame is provided with a concave cavity structure with a downward opening; the two sides of the cavity structure are respectively provided with a bearing seat for mounting the self-aligning roller bearing;
the slewing bearing flange is arranged at the upper end of the walking wheel frame and is connected with the outer ring of the slewing bearing.
4. The apparatus of claim 3, the walk steering mechanism further comprising: a travel drive mechanism; the travel drive mechanism includes: the walking driving motor, the 90-degree corner speed reducer and the speed reducer flange;
the walking driving motor is connected with the 90-degree corner speed reducer, and the output end of the 90-degree corner speed reducer is connected with the wheel shaft through a flat key;
the speed reducer flange is arranged on the upper end face of the 90-degree corner speed reducer;
the walking stage further comprises: the walking driving bracket is arranged on the walking vehicle wheel frame; the speed reducer flange is connected with the walking driving support through a reinforcing bolt.
5. The apparatus of claim 1, wherein the jacking mechanism comprises: the device comprises a ball boot, a worm lifter and a mounting seat; the mounting seat is of a T-shaped structure, the upper end of the mounting seat is connected with the walking beam, and the lower end of the mounting seat is connected with the upper end of an output shaft of the worm lifter;
the worm lifter is horizontally arranged at the lower end of the mounting seat, and an output shaft of the worm lifter is a threaded tooth opening;
the ball head boot is arranged at the lower end of an output shaft of the worm lifter.
6. The apparatus of claim 1, wherein said walking beams at the lower ends of the two legs of the gantry crane are parallel to each other, the distance between the two walking steering mechanisms on each walking beam is equal, and the four walking steering mechanisms at the lower end of each gantry crane form a rectangular layout when viewed from above.
7. The device as claimed in claim 1, wherein a walking steering mechanism flange is respectively arranged at two ends of the walking beam, and a jacking mechanism flange is arranged in the middle of the walking beam; the walking steering mechanism is connected with the walking beam through the walking steering mechanism flange, and the jacking mechanism is connected with the walking beam through the jacking mechanism flange.
8. The method for omni-directionally steering the gantry crane by adopting the device of any one of claims 1 to 7 is characterized by comprising the following steps:
jacking the walking beam by using the jacking mechanism to suspend the four walking wheels at the lower end of the gantry crane;
the slewing bearing is driven to rotate by the slewing drive motor until the motion directions of the four travelling wheels at the lower end of the gantry crane reach a preset direction;
and the travelling beam is descended by utilizing the jacking mechanism, and then the travelling wheel is driven to roll, so that the gantry crane linearly moves forwards or backwards along the preset direction.
9. The method for omni-directionally steering the gantry crane by adopting the device of any one of claims 1 to 7 is characterized by comprising the following steps:
determining a first rotation angle of each walking wheel according to the positions of four walking wheels at the lower end of the gantry crane; the first rotation angle is an included angle between a tangent line of a circumcircle of the four walking wheels at the walking wheels and a walking beam where the walking wheels are located;
according to the rotation angle of each walking wheel, the slewing bearing is driven to rotate by the slewing drive motor until the motion directions of the four walking wheels at the lower end of the gantry crane are tangent to the circumcircle;
and the travelling beam is descended by utilizing the jacking mechanism, and then the travelling wheel is driven to roll, so that the gantry crane realizes in-situ steering.
10. The method for omni-directionally steering the gantry crane by adopting the device of any one of claims 1 to 7 is characterized by comprising the following steps:
determining a second rotation angle of a travelling wheel on the other travelling beam according to the positions of a jacking mechanism on one travelling beam at the lower end of the gantry crane and two travelling steering mechanisms on the other travelling beam; the second rotation angle is an included angle between a turning circle tangent line at the walking wheel on the other walking beam and the other walking beam; the steering circle is a circle which takes the jacking mechanism on one walking beam as the center of a circle and takes the distance from the walking wheel on the other walking beam to the center of the circle as the radius;
according to a second rotation angle, the slewing bearing is driven to rotate by a slewing drive motor on the other walking beam until the movement direction of the walking wheel on the other walking beam is tangent to the steering circle;
the corresponding rotary bearing is driven to rotate by the rotary driving motor on the walking beam, so that the running direction of the walking wheel on the walking beam is perpendicular to the walking beam;
and the travelling beams are descended by utilizing the jacking mechanism, and then the travelling wheels are driven to roll, so that the gantry crane rotates by taking the jacking mechanism on one travelling beam as a circle center.
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| CN201610929864.0A CN106429830A (en) | 2016-10-31 | 2016-10-31 | Gantry crane all-dimensional steering device and method |
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| CN201610929864.0A CN106429830A (en) | 2016-10-31 | 2016-10-31 | Gantry crane all-dimensional steering device and method |
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| CN107140564A (en) * | 2017-05-15 | 2017-09-08 | 中铁四局集团机电设备安装有限公司 | Special lifting device on the type non-fragment orbit printed lines of high ferro CRTS III |
| CN107285190A (en) * | 2017-08-11 | 2017-10-24 | 山东省路桥集团有限公司 | Gantry crane transverse translation flat car and method for traversing |
| CN108439199A (en) * | 2018-02-26 | 2018-08-24 | 北京环境特性研究所 | A kind of gantry crane and its forward method |
| CN108590291A (en) * | 2018-06-12 | 2018-09-28 | 山西东杰智能物流装备股份有限公司 | A kind of traveling wheel mechanism with accurate limiting and turning function |
| CN109879080A (en) * | 2019-02-18 | 2019-06-14 | 中赟国际工程有限公司 | One kind filling transporting equipment for coal mining |
| CN110529111A (en) * | 2019-09-18 | 2019-12-03 | 恒岳重工有限责任公司 | A kind of elevating conveyor auxiliary walking device |
| CN110629643A (en) * | 2019-09-20 | 2019-12-31 | 广东博智林机器人有限公司 | Floating robot |
| CN110644443A (en) * | 2019-11-13 | 2020-01-03 | 安徽省六安恒源机械有限公司 | Steering gate hoist |
| CN110835048A (en) * | 2019-10-31 | 2020-02-25 | 南通振华重型装备制造有限公司 | In-situ rotation method for track crane |
| CN111232581A (en) * | 2020-03-10 | 2020-06-05 | 中国铁建重工集团股份有限公司 | Traveling mechanism |
| CN112849202A (en) * | 2020-09-15 | 2021-05-28 | 合肥兰舟智能科技有限公司 | Pivot steering rail trolley |
| CN115353001A (en) * | 2022-08-26 | 2022-11-18 | 广西工程技术研究院有限公司 | Gantry crane walking and turning device |
| CN115490147A (en) * | 2022-11-10 | 2022-12-20 | 河南米科智能制造有限公司 | Safe explosion-proof electric block |
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| CN107140564A (en) * | 2017-05-15 | 2017-09-08 | 中铁四局集团机电设备安装有限公司 | Special lifting device on the type non-fragment orbit printed lines of high ferro CRTS III |
| CN107285190A (en) * | 2017-08-11 | 2017-10-24 | 山东省路桥集团有限公司 | Gantry crane transverse translation flat car and method for traversing |
| CN108439199A (en) * | 2018-02-26 | 2018-08-24 | 北京环境特性研究所 | A kind of gantry crane and its forward method |
| CN108439199B (en) * | 2018-02-26 | 2019-11-19 | 北京环境特性研究所 | A kind of gantry crane and its forward method |
| CN108590291A (en) * | 2018-06-12 | 2018-09-28 | 山西东杰智能物流装备股份有限公司 | A kind of traveling wheel mechanism with accurate limiting and turning function |
| CN108590291B (en) * | 2018-06-12 | 2023-05-02 | 东杰智能科技集团股份有限公司 | Walking wheel mechanism with accurate limiting and steering functions |
| CN109879080A (en) * | 2019-02-18 | 2019-06-14 | 中赟国际工程有限公司 | One kind filling transporting equipment for coal mining |
| CN110529111A (en) * | 2019-09-18 | 2019-12-03 | 恒岳重工有限责任公司 | A kind of elevating conveyor auxiliary walking device |
| CN110629643B (en) * | 2019-09-20 | 2021-07-13 | 广东博智林机器人有限公司 | Floating robot |
| CN110629643A (en) * | 2019-09-20 | 2019-12-31 | 广东博智林机器人有限公司 | Floating robot |
| CN110835048A (en) * | 2019-10-31 | 2020-02-25 | 南通振华重型装备制造有限公司 | In-situ rotation method for track crane |
| CN110644443A (en) * | 2019-11-13 | 2020-01-03 | 安徽省六安恒源机械有限公司 | Steering gate hoist |
| CN111232581A (en) * | 2020-03-10 | 2020-06-05 | 中国铁建重工集团股份有限公司 | Traveling mechanism |
| CN112849202A (en) * | 2020-09-15 | 2021-05-28 | 合肥兰舟智能科技有限公司 | Pivot steering rail trolley |
| CN115353001A (en) * | 2022-08-26 | 2022-11-18 | 广西工程技术研究院有限公司 | Gantry crane walking and turning device |
| CN115353001B (en) * | 2022-08-26 | 2024-05-28 | 广西工程技术研究院有限公司 | Gantry crane walking turning device |
| CN115490147A (en) * | 2022-11-10 | 2022-12-20 | 河南米科智能制造有限公司 | Safe explosion-proof electric block |
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