CN108439199A - A kind of gantry crane and its forward method - Google Patents

A kind of gantry crane and its forward method Download PDF

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Publication number
CN108439199A
CN108439199A CN201810159844.9A CN201810159844A CN108439199A CN 108439199 A CN108439199 A CN 108439199A CN 201810159844 A CN201810159844 A CN 201810159844A CN 108439199 A CN108439199 A CN 108439199A
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CN
China
Prior art keywords
walking
wheel
auxiliary
lifting
gantry crane
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Granted
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CN201810159844.9A
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CN108439199B (en
Inventor
孙新学
韩志忠
万喆
武自卫
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Beijing Institute of Environmental Features
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Beijing Institute of Environmental Features
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00Base supporting structures with legs
    • B66C5/02Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details

Abstract

The present invention relates to a kind of gantry crane and its forward method, gantry crane includes lifting ontology, further includes actuating unit, four swing mechanisms, two walking beams, two lifting bodies and four wheels;Two walking beams are separately positioned on the lower end of lifting ontology;At the middle part of walking beam and positioned at the setting of the lower section of walking beam, there are one lifting bodies;The both sides for being located at lifting body in the lower section of walking beam are respectively set there are one swing mechanism;Four wheels are mounted on four swing mechanisms one by one;Be correspondingly connected with current walking back can be risen or fallen by lifting body;Swing mechanism is adjustable, and correspondence installs the direction of travel of wheel;Actuating unit is used for when not jacked up by lifting body there are at least one target walking beam, is driven through each wheel that swing mechanism is connected with target walking beam and is traveled along direction traveling.Gantry crane provided in an embodiment of the present invention can realize steering in narrow regions.

Description

A kind of gantry crane and its forward method
Technical field
The present invention relates to field of mechanical technique more particularly to a kind of gantry cranes and its forward method.
Background technology
Currently, gantry crane is moved to operating area from resident area for convenience, gantry crane is usually lifted by door shape The rubber-tyred walking mechanism composition of ontology and support lifting ontology, can be by rubber-tyred walking mechanism a larger operation area Camber line walking is repeated in domain, gantry crane is turned to realizing.The appearance and size of gantry crane is relatively large, rubber-tyred row Mechanism to be walked to walk by camber line when turning to gantry crane to realize, turning radius is larger, when operating area is relatively narrow, It is then not easy to realize and gantry crane is turned to.
Therefore, for the above deficiency, it is desirable to provide a kind of to solve the gantry crane technical solution difficult in narrow regions steering.
Invention content
The technical problem to be solved in the present invention is that gantry crane turns to difficulty in narrow regions, in the prior art Defect provides a kind of technical solution that solution gantry crane is difficult in narrow regions steering.
In order to solve the above technical problem, the present invention provides a kind of gantry cranes, including a door shape to lift ontology, also wraps Include actuating unit, four swing mechanisms, two walking beams, two lifting bodies and four wheels;Wherein,
Two walking beams are separately positioned on the lower end of two support posts of the door shape lifting ontology;
At the middle part of the walking beam and positioned at the setting of the lower section of the walking beam, there are one the lifting bodies;
In the lower section of the walking beam, it is respectively set that there are one the swing mechanisms positioned at the both sides of the lifting body;
Four wheels are mounted on four swing mechanisms one by one;
The lifting body, a current walking back for that will be correspondingly connected with rise so that pass through the swing mechanism Two wheels being connected with the current walking beam are disengaged with ground;By be correspondingly connected with current walking Beam is fallen so that two wheels being connected with the current walking beam by the swing mechanism are touched with ground;
The swing mechanism, the direction of travel of the wheel for adjusting corresponding installation;
The actuating unit, for when not jacked up by the lifting body there are at least one target walking beam, driving The each wheel being connected with the target walking beam by the swing mechanism travels along direction traveling.
Preferably,
The walking beam is parallel to the width direction of the lifting ontology;
Further include:Four auxiliary support arms;Wherein,
Two ends of the walking beam are connected with the first end of an auxiliary support arm respectively;
The second end of four auxiliary support arms rectangular can be distributed, and the length of the rectangle presented and two rows The spacing walked between beam is identical, and the width of the rectangle of presentation is more than the width of the lifting ontology.
Preferably,
The auxiliary support arm and the end of the walking beam are detachably connected.
Preferably,
The auxiliary support arm, including:Bogie wheel, auxiliary Zhi Benti, horizontal pin shaft, vertical axis pin, limit stop, adjustment top Silk, fixing screws and auxiliary Zhi Falan;Wherein,
One end of the auxiliary Zhi Benti is connected with the bogie wheel, and the other end of the auxiliary Zhi Benti is in the auxiliary Zhi Falan It is connected;
The auxiliary Zhi Falan is connected with the end of the walking beam;
The adjustment jackscrew is mounted on the auxiliary Zhi Falan, for adjusting between the auxiliary Zhi Benti and the walking beam Pitch angle;
The fixing screws, after the pitch angle between the adjusting auxiliary Zhi Benti and the walking beam, to institute The relative position stated between auxiliary Zhi Benti and the walking beam is fixed;
By the relatively described walking beam of horizontal pin shaft relative rotation upward or downward can occur for the auxiliary Zhi Benti so that The bogie wheel is lifted or is touched with ground;
The auxiliary Zhi Benti can be folded or be unfolded to the walking beam by vertical axis pin;
The limit stop, for when the auxiliary Zhi Benti expansion, limit the auxiliary Zhi Benti and the walking beam it Between pitch angle.
Preferably,
The swing mechanism, including:Driving motor, floating bearing, swiveling gear, wheel carrier, axletree and two wheels Bearing;Wherein,
The inner ring of the floating bearing is fixedly connected with the walking beam;
The swiveling gear is mounted on the driving motor, and is meshed with the outer ring of the floating bearing;
The upper end of the wheel carrier is fixedly connected with the outer ring of the floating bearing;
The lower end of the wheel carrier has downwardly open groove structure, and in the two side walls of the groove structure respectively There are one the wheel bearings for setting;
The wheel is mounted on the axletree;
The both ends of the axletree are fixedly connected with a wheel bearing respectively.
Preferably,
The lifting body includes:Mounting base, worm screw elevator and the bulb boots of " T " shape structure;Wherein,
The upper end of the mounting base is connected with the walking beam, and the lower end of the mounting base is defeated with the worm screw elevator The upper end of shaft is connected;
The worm screw elevator is horizontally arranged at the lower end of the mounting base, and the output shaft of the worm screw elevator is screw thread The age of a draught animal;
The bulb boots are arranged in the lower end of the output shaft of the worm screw elevator.
Preferably,
Two current swing mechanisms on the same walking beam respectively with mounted on the same walking The distance between lifting body on beam is identical.
The present invention also provides a kind of forward methods of gantry crane, including:
By the way that the lifting body on a walking beam of a support post lower end of lifting ontology is arranged by described one A walking beam jacks up so that two the first wheels being connected with one walking beam by two the first swing mechanisms and ground It disengages;
According to the position of the lifting body, be connected with another walking beam by two the second swing mechanisms two The current direction of travel of the position of two wheels and each second wheel determines the deflection angle of each second wheel Degree;Wherein, the deflection angle refers to:Using the position of the lifting body as the center of circle and with current second wheel and the top The steering bowlder that the spacing between mechanism is radius is risen, the position of current second wheel is relative to the tangent line for turning to circle With the angle between straight line where the current direction of travel of current second wheel;
According to the corresponding deflection angle of each second wheel institute, by connecting respectively with each second wheel The current direction of travel of each second wheel is adjusted to the circumference side for turning to circle by two the second swing mechanisms connect To;
Determine the steering angle of the gantry crane, and according to the steering angle and second wheel and the jack Spacing between structure determines the travel distance of wheel;
Each second wheel is driven by the actuating unit so that each second wheel is justified along the steering Circumferencial direction advance the travel distance;
One walking beam is fallen by the lifting body so that each first wheel and ground It touches.
Preferably,
One walking beam is fallen by the lifting body described so that each first wheel and ground After being in contact, further include:
The direction of travel of each wheel is adjusted to object traveling direction by each swing mechanism, wherein The object traveling direction is parallel to the walking beam or perpendicular to the walking beam;
Each wheel is driven to advance along the object traveling direction by the actuating unit.
Preferably,
When the object traveling direction is parallel to the walking beam,
Drive each wheel before object traveling direction traveling by the actuating unit described, into one Step includes:
In two ends of each walking beam, an auxiliary support arm is installed respectively.
Preferably,
When the object traveling direction is perpendicular to the walking beam,
Drive each wheel before object traveling direction traveling by the actuating unit described, into one Step includes:Auxiliary support arm of the dismounting mounted on two ends of the walking beam.
A kind of gantry crane and its forward method for implementing the present invention, have the advantages that:
1, gantry crane is without carrying out camber line walking, the turning radius of gantry crane be lifting body on a walking beam with it is another The spacing distance between any wheel on one walking beam, turning radius is smaller, and gantry crane can be realized in narrow regions to be turned To.
2, gantry crane can accurately be realized in narrow regions and be turned to, and be conducive to the position that gantry crane is adjusted in narrow regions And direction is to carry out precisely to just the door shape of gantry crane lifting ontology with corresponding Working gantry.
3, an auxiliary support arm is respectively set by two ends in walking beam, auxiliary support arm can be used for preventing dragon Gantry crane is toppled in road conditions poor operating area operation or steering towards its width direction.
4, the end of auxiliary support arm and walking beam is detachably connected, when gantry crane in narrower area operation and turns Xiang Shi can dismantle auxiliary support arm, to reduce the width of gantry crane, to meet gantry crane in narrower region Operation and the space requirement turned to.
5, auxiliary support arm is by bogie wheel, auxiliary Zhi Benti, horizontal pin shaft, vertical axis pin, limit stop, adjustment jackscrew, solid Determine screw and auxiliary Zhi Falan is constituted;When auxiliary Zhi Benti is in unfolded state, auxiliary Zhi Falan can pass through corresponding screw and corresponding line The mounting flange walked on beam is fixedly connected, at this point, bogie wheel bottom surface can be coplanar with the bottom surface of wheel, gantry crane be in operation, Aiding support can be played when steering or parked state, to avoid gantry crane from toppling over towards its width direction;When gantry crane exists Scraggly operating area operation or when turning to, can unclamp fixing screws, by adjusting jackscrew adjust auxiliary Zhi Benti make its around Horizontal pin shaft is rotated up, and increases the pitch angle between auxiliary Zhi Benti and walking beam, that is, is adjusted between bogie wheel and ground Gap after the completion of adjustment, then by fixing screws is fixed auxiliary Zhi Benti and the relative position of walking beam so far, in this way, It can be achieved rationally to adjust the gap between bogie wheel and ground according to the surface conditions in actual job region, and by limiting stop The range of the pitch angle between auxiliary Zhi Benti and walking beam is limited, gantry crane significantly more efficient can be prevented in rough work Accident occurs towards its width direction during industry area operation and steering to tumble;When gantry crane is run in more narrow zone When with turning to, auxiliary Zhi Benti can be folded towards walking beam, and limit auxiliary Zhi Benti's by limiting stop and corresponding lock pin Position, so that gantry crane can be in narrower area operation and steering.
Description of the drawings
Fig. 1 is the structural schematic diagram for the gantry crane that the embodiment of the present invention one provides;
Fig. 2 is a walking beam and auxiliary support arm, swing mechanism and vehicle in gantry crane provided by Embodiment 2 of the present invention Installation relation schematic diagram between wheel;
Fig. 3 is the structural schematic diagram of a swing mechanism in the gantry crane that the embodiment of the present invention five provides;
Fig. 4 is the structural schematic diagram of a lifting body in the gantry crane that the embodiment of the present invention six provides;
Fig. 5 is the flow chart of the forward method for the gantry crane that the embodiment of the present invention eight provides.
In figure:1:Lift ontology;2:Actuating unit;3:Swing mechanism;4:Walking beam;5:Lifting body;6:Wheel;7:It is auxiliary Help support arm;31:Driving motor;32:Floating bearing;33:Swiveling gear;34:Wheel carrier;35:Axletree;36:Wheel bearing; 51:Mounting base;52:Worm screw elevator;53:Bulb boots.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figure 1, the gantry crane, which includes a door shape, lifts ontology 1, further include 2, four swing mechanisms of actuating unit 3, two walking beams, 4, two lifting bodies 5 and four wheels 6;Wherein, two walking beams 4 are separately positioned on the door word Shape lifts the lower end of two support posts of ontology 1;It is set at the middle part of the walking beam 4 and positioned at the lower section of the walking beam 4 The lifting body 5 there are one setting;In the lower section of the walking beam 4, one is respectively arranged with positioned at the both sides of the lifting body 5 A swing mechanism 3;Four wheels 6 are mounted on four swing mechanisms 3 one by one;The lifting body 5, is used for Be correspondingly connected with current walking beam 4 is jacked up so that be connected with the current walking beam 4 by the swing mechanism 3 Two wheels 6 are disengaged with ground;Be correspondingly connected with current walking beam 4 is fallen so that by described Two wheels 6 that swing mechanism 3 is connected with the current walking beam 4 are touched with ground;The swing mechanism 3, is used for Adjust the direction of travel of the wheel 6 of corresponding installation;The actuating unit 2, for when there are at least one target walking beams 4 When not jacked up by the lifting body 5, be driven through that the swing mechanism 3 is connected with the target walking beam 4 is each described Wheel 6 travels along direction traveling.
It, can be by being arranged in a support post lower end of lifting ontology when the gantry crane that embodiment one provides realizes steering A walking beam on lifting body one walking beam is jacked up so that pass through two the first swing mechanisms and the walking beam phase Two the first wheels even are disengaged with ground;According to the position of the lifting body, by two the second swing mechanisms with it is another The position of two connected the second wheels of one walking beam and the current direction of travel of each second wheel determine each the The deflection angle of two wheels;Here, deflection angle refers to:Using the position of the lifting body as the center of circle and with one current second Spacing between wheel and the lifting body is the steering bowlder of radius, position the cutting relative to steering circle of current second wheel Angle between straight line where the current direction of travel of line and current second wheel;According to each second wheel, institute is corresponding Deflection angle, by two the second swing mechanisms being separately connected with each second wheel, by the current line of each second wheel It is adjusted to turn to the circumferencial direction of circle into direction;Determine the steering angle of gantry crane, and according to steering angle and the second wheel with Spacing between the lifting body determines the travel distance of wheel;Each second wheel is driven by actuating unit so that each Second wheel is along the corresponding travel distance of circumferencial direction traveling for turning to circle;By lifting body by jacked up walking beam It falls so that each first wheel is touched with ground, is so then realized and is turned to gantry crane, that is, realizes to gantry crane Door shape lifting ontology turned to.To sum up, gantry crane provided in an embodiment of the present invention realizes that gantry crane is not necessarily to when turning to Camber line walking is carried out, turning radius is between any wheel on the lifting body and another walking beam on a walking beam Spacing distance, turning radius is smaller, and gantry crane can realize steering in narrow regions.
It is turned to it should be noted that gantry crane provided in an embodiment of the present invention can accurately be realized in narrow regions, favorably In position and the direction for adjusting gantry crane in narrow regions the door shape of gantry crane is lifted ontology and corresponding Working gantry It carries out precisely to just.
Embodiment two
Referring to FIG. 2, the present embodiment two and embodiment one are essentially identical, something in common repeats no more, the difference is that: The walking beam 4 is parallel to the width direction of the lifting ontology 1;The gantry crane further includes:Four auxiliary support arms 7;Its In, two ends of the walking beam 4 are connected with the first end of an auxiliary support arm 7 respectively;Four auxiliary branch The second end of brace 7 rectangular can be distributed, and the length of the rectangle presented is identical as the spacing between two walking beams 4, The width of the rectangle of presentation is more than the width of the lifting ontology.
In embodiment two, since the appearance and size of gantry crane is larger, but its width is less than normal relative to its length and height, leads to Cross and be respectively set an auxiliary support arm in two ends of walking beam, auxiliary support arm can be used for preventing gantry crane road conditions compared with When the operating area operation or steering of difference, topple over towards its width direction.
Embodiment three
It is realized referring to FIG. 2, the present embodiment three can be based on previous embodiment, in the present embodiment three, the auxiliary support arm 7 It is detachably connected with the end of the walking beam 4.
In embodiment three, the end of auxiliary support arm and walking beam is detachably connected, when gantry crane is in narrower area When domain runs and turns to, auxiliary support arm can be dismantled, to reduce the width of gantry crane, to meet gantry crane more The space requirement of narrow area operation and steering.
Example IV
The present embodiment four can be based on previous embodiment two and realize, in the present embodiment four, the auxiliary support arm 7, including:Branch It is (attached to hold wheel (attached to be not shown in figure), auxiliary Zhi Benti (attached to be not shown in figure), horizontal pin shaft (attached to be not shown in figure), vertical axis pin Be not shown in figure), limit stop (attached to be not shown in figure), adjustment jackscrew (attached to be not shown in figure), fixing screws (do not show in attached drawing Go out) and auxiliary Zhi Falan (attached to be not shown in figure);Wherein, one end of the auxiliary Zhi Benti is connected with the bogie wheel, the auxiliary branch The other end of ontology is connected in the auxiliary Zhi Falan;The auxiliary Zhi Falan is connected with the end of the walking beam;The adjustment top Silk is mounted on the auxiliary Zhi Falan, for adjusting the pitch angle between the auxiliary Zhi Benti and the walking beam;It is described solid Screw is determined, after the pitch angle between the adjusting auxiliary Zhi Benti and the walking beam, to the auxiliary Zhi Benti and institute The relative position stated between walking beam is fixed;The auxiliary Zhi Benti can be occurred by the relatively described walking beam of horizontal pin shaft to Upper or downward relative rotation so that the bogie wheel is lifted or is touched with ground;The auxiliary Zhi Benti can be by vertical Axis pin folds or is unfolded to the walking beam;The limit stop, for when the auxiliary Zhi Benti is unfolded, limiting the auxiliary branch Pitch angle between ontology and the walking beam.
In example IV, when auxiliary Zhi Benti is in unfolded state, auxiliary Zhi Falan can pass through corresponding screw and corresponding walking Mounting flange on beam is fixedly connected, at this point, bogie wheel bottom surface can be coplanar with the bottom surface of wheel, be in gantry crane and be run, turns To or when parked state can play aiding support, to avoid gantry crane from toppling over towards its width direction;When gantry crane is convex When the operating area of recessed injustice runs or turns to, fixing screws can be unclamped, auxiliary Zhi Benti and walking beam are adjusted by adjusting jackscrew Between pitch angle, that is, the gap between bogie wheel and ground is adjusted, after the completion of adjustment, then by fixing screws to auxiliary branch sheet Body is fixed with the relative position of walking beam so far, so, it can be achieved that rationally being adjusted according to the surface conditions in actual job region The gap between bogie wheel and ground is saved, and limits the model of the pitch angle between auxiliary Zhi Benti and walking beam by limiting stop It encloses, significantly more efficient can prevent gantry crane during rough operating area is run and is turned to towards its width direction Accident occurs to tumble;When gantry crane is in the operation of more narrow zone and steering, auxiliary Zhi Benti can be rotated in fact around vertical axis pin It now and towards walking beam folds and (is specially the support post towards lifting ontology and is folded perpendicular to the direction of walking beam), and lead to Cross limit stop and corresponding lock pin limit the position of auxiliary Zhi Benti, so as to gantry crane can in narrower area operation and It turns to.
Embodiment five
Referring to FIG. 3, the present embodiment five can be realized based on any embodiment in previous embodiment one to example IV, this In embodiment five, the swing mechanism 3, including:Driving motor 31, floating bearing 32, swiveling gear 33, wheel carrier 34, wheel Axis 35 and two wheel bearings 36;Wherein, the inner ring of the floating bearing 32 is fixedly connected with the walking beam 4;The revolution Gear 33 is mounted on the driving motor 31, and is meshed with the outer ring of the floating bearing 32;The wheel carrier 34 it is upper End is fixedly connected with the outer ring of the floating bearing 32;The lower end of the wheel carrier 34 has downwardly open groove structure, and The wheel bearing 36 there are one being respectively set in the two side walls of the groove structure;The wheel 6 is mounted on the wheel On axis 35;The both ends of the axletree 35 are fixedly connected with a wheel bearing 36 respectively.
In actual use, swiveling gear can be driven to turn an angle by driving motor, swiveling gear drives rotating shaft The outer ring of the outer ring rotating held, floating bearing then drives wheel carrier that corresponding rotation occurs, and passes through axletree and corresponding axletree The rotation of certain angle can then be occurred under the drive of wheel carrier by holding the wheel on wheel carrier, pass through revolution to realize Mechanism adjusts the direction of travel of wheel.
Embodiment six
It is realized referring to FIG. 4, the present embodiment six can be based on any embodiment in previous embodiment one to embodiment five, this reality It applies in example six, the lifting body 5 includes:Mounting base 51, worm screw elevator 52 and the bulb boots 53 of " T " shape structure;Wherein, institute The upper end for stating mounting base 51 is connected with the walking beam 4, the output of the lower end of the mounting base 51 and the worm screw elevator 52 The upper end of axis is connected;The worm screw elevator 52 is horizontally arranged at the lower end of the mounting base 51, the worm screw elevator 52 Output shaft is the screw thread age of a draught animal;The bulb boots 53 are arranged in the lower end of the output shaft of the worm screw elevator.In use, worm screw liter Drop machine can be jacked up the walking beam being connect with the mounting base by the mounting base of connection, pass through corresponding turn-around machine on another walking beam Two wheels of structure installation can then advance along by the circumferencial direction of the steering circle in the center of circle of the bulb boots.
Embodiment seven
The present embodiment seven can be realized based on any embodiment in above-described embodiment one to embodiment six, the present embodiment seven In, be mounted on the same walking beam 4 on two current swing mechanisms 3 respectively with mounted on the same walking beam 4 On the distance between lifting body 5 it is identical.In this way, when lifting body jacks up the walking beam accordingly connected, the jack Structure can be with three supporting points of two wheels composition support lifting ontology on a walking beam not jacked up, three supporting points An isosceles triangle can be formed, relatively stable lifting ontology can be supported.
Embodiment eight,
The present embodiment eight provides the steering for the gantry crane that any embodiment provides in previous embodiment one to embodiment seven Method, this method can specifically include following each step:
Step 501, by the way that the lifting body on a walking beam of a support post lower end of lifting ontology is arranged One walking beam is jacked up so that two the first vehicles being connected with one walking beam by two the first swing mechanisms Wheel is disengaged with ground;
Step 502, it is connected with another walking beam according to the position of the lifting body, by two the second swing mechanisms Two the second wheels position and each second wheel current direction of travel, determine each second wheel Deflection angle;Wherein, the deflection angle refers to:Using the position of the lifting body as the center of circle and with current second wheel Spacing between the lifting body is the steering bowlder of radius, and the position of current second wheel is relative to the steering Angle between straight line where the current direction of travel of round tangent line and current second wheel;
Step 503, according to the corresponding deflection angle of each second wheel institute, by with each second vehicle Two the second swing mechanisms being separately connected are taken turns, the current direction of travel of each second wheel, which is adjusted to the steering, to be justified Circumferencial direction;
Step 504, the steering angle of the gantry crane is determined, and according to the steering angle and second wheel and institute The spacing between lifting body is stated, determines the travel distance of wheel;
Step 505, each second wheel is driven by the actuating unit so that each second wheel is along institute State the circumferencial direction traveling travel distance for turning to circle;
Step 506, one walking beam is fallen by the lifting body so that each first wheel and ground Face is in contact.
When eight above-mentioned each step realization turns to gantry crane through this embodiment, gantry crane is without carrying out camber line Walking, the turning radius of gantry crane is between any wheel on the lifting body and another walking beam on a walking beam Spacing distance, turning radius is smaller, and gantry crane can accurately be realized in narrow regions and be turned to.
Embodiment nine
The present embodiment nine and embodiment eight are essentially identical, and something in common repeats no more, the difference is that:Pass through described The lifting body falls one walking beam so that after each first wheel is touched with ground, further includes: The direction of travel of each wheel is adjusted to object traveling direction by each swing mechanism, wherein the target Direction of travel is parallel to the walking beam or perpendicular to the walking beam;Each wheel edge is driven by the actuating unit The object traveling direction is advanced.
It should be noted that the object traveling direction of wheel can also form acute angle with the length direction of walking beam so that Gantry crane is in oblique traveling.
Embodiment ten
The present embodiment ten can be based on embodiment nine and realize, be repeated no more with the something in common of embodiment nine, difference exists In:When the object traveling direction is parallel to the walking beam, each vehicle is driven by the actuating unit described Wheel further comprises before object traveling direction traveling:In two ends of each walking beam, install respectively One auxiliary support arm.When ensuring that gantry crane is advanced along its width direction, auxiliary support arm can be used for Auxiliary support lifting ontology, Prevent lifting ontology from toppling over along the width direction of gantry crane.
Embodiment 11
The present embodiment 11 can be based on embodiment nine and realize, be repeated no more with nine something in common of embodiment, difference exists In:When the object traveling direction is perpendicular to the walking beam, each vehicle is driven by the actuating unit described Wheel further comprises before object traveling direction traveling:Auxiliary of the dismounting mounted on two ends of the walking beam Support arm.In this way, the width of gantry crane can be reduced, to meet gantry crane in narrower area operation and the space of steering It is required that.
In conclusion gantry crane provided in an embodiment of the present invention is realized when turning to, without carrying out camber line walking, half is turned to Diameter is the spacing distance between any wheel on lifting body and another walking beam on walking beam, turning radius compared with It is small, it can accurately realize and turn in narrow regions.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that:It still may be used With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features; And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (10)

1. a kind of gantry crane, including a door shape lifts ontology, which is characterized in that further include actuating unit, four swing mechanisms, Two walking beams, two lifting bodies and four wheels;Wherein,
Two walking beams are separately positioned on the lower end of two support posts of the door shape lifting ontology;
At the middle part of the walking beam and positioned at the setting of the lower section of the walking beam, there are one the lifting bodies;
In the lower section of the walking beam, it is respectively set that there are one the swing mechanisms positioned at the both sides of the lifting body;
Four wheels are mounted on four swing mechanisms one by one;
The lifting body, a current walking back for that will be correspondingly connected with rise so that pass through the swing mechanism and institute Two connected wheels of current walking beam are stated to disengage with ground;By be correspondingly connected with current walking beam drop Under so that two wheels being connected with the current walking beam by the swing mechanism are touched with ground;
The swing mechanism, the direction of travel of the wheel for adjusting corresponding installation;
The actuating unit, for when not jacked up by the lifting body there are at least one target walking beam, being driven through Each wheel that the swing mechanism is connected with the target walking beam travels along direction traveling.
2. gantry crane according to claim 1, which is characterized in that
The walking beam is parallel to the width direction of the lifting ontology;
Further include:Four auxiliary support arms;Wherein,
Two ends of the walking beam are connected with the first end of an auxiliary support arm respectively;
The second end of four auxiliary support arms rectangular can be distributed, and the length of the rectangle presented and two walking beams Between spacing it is identical, the width of the rectangle of presentation is more than the width of the lifting ontology.
3. gantry crane according to claim 2, which is characterized in that
The auxiliary support arm and the end of the walking beam are detachably connected;
Or,
The auxiliary support arm, including:Bogie wheel, auxiliary Zhi Benti, horizontal pin shaft, vertical axis pin, limit stop, adjustment jackscrew, Fixing screws and auxiliary Zhi Falan;Wherein,
One end of the auxiliary Zhi Benti is connected with the bogie wheel, and the other end of the auxiliary Zhi Benti is in the auxiliary Zhi Falan phases Even;
The auxiliary Zhi Falan is connected with the end of the walking beam;
The adjustment jackscrew is mounted on the auxiliary Zhi Falan, for adjusting bowing between the auxiliary Zhi Benti and the walking beam Elevation angle degree;
The fixing screws, after the pitch angle between the adjusting auxiliary Zhi Benti and the walking beam, to described auxiliary Relative position between Zhi Benti and the walking beam is fixed;
By the relatively described walking beam of horizontal pin shaft relative rotation upward or downward can occur for the auxiliary Zhi Benti so that described Bogie wheel is lifted or is touched with ground;
The auxiliary Zhi Benti can be folded or be unfolded to the walking beam by vertical axis pin;
The limit stop, for when the auxiliary Zhi Benti is unfolded, limiting between the auxiliary Zhi Benti and the walking beam Pitch angle.
4. gantry crane according to claim 1, which is characterized in that
The swing mechanism, including:Driving motor, floating bearing, swiveling gear, wheel carrier, axletree and two wheel bearings; Wherein,
The inner ring of the floating bearing is fixedly connected with the walking beam;
The swiveling gear is mounted on the driving motor, and is meshed with the outer ring of the floating bearing;
The upper end of the wheel carrier is fixedly connected with the outer ring of the floating bearing;
The lower end of the wheel carrier has downwardly open groove structure, and is respectively set in the two side walls of the groove structure There are one the wheel bearings;
The wheel is mounted on the axletree;
The both ends of the axletree are fixedly connected with a wheel bearing respectively.
5. gantry crane according to claim 1, which is characterized in that
The lifting body includes:Mounting base, worm screw elevator and the bulb boots of " T " shape structure;Wherein,
The upper end of the mounting base is connected with the walking beam, the output shaft of the lower end of the mounting base and the worm screw elevator Upper end be connected;
The worm screw elevator is horizontally arranged at the lower end of the mounting base, and the output shaft of the worm screw elevator is thread Mouthful;
The bulb boots are arranged in the lower end of the output shaft of the worm screw elevator.
6. according to any gantry crane in claim 1 to 5, which is characterized in that
Two current swing mechanisms on the same walking beam respectively on the same walking beam The distance between lifting body it is identical.
7. the forward method of any gantry crane in a kind of claim 1 to 6, which is characterized in that including:
By the way that the lifting body on a walking beam of a support post lower end of lifting ontology is arranged by one row It walks back to rise so that two the first wheels being connected with one walking beam by two the first swing mechanisms are detached from ground Contact;
According to the position of the lifting body, two the second vehicles being connected with another walking beam by two the second swing mechanisms The current direction of travel of the position of wheel and each second wheel determines the deflection angle of each second wheel;Its In, the deflection angle refers to:Using the position of the lifting body as the center of circle and with current second wheel and the jack Spacing between structure is the steering bowlder of radius, and the position of current second wheel is relative to the tangent line for turning to circle and institute Angle between straight line where stating the current direction of travel of current second wheel;
According to the corresponding deflection angle of each second wheel institute, pass through what is be separately connected with each second wheel The current direction of travel of each second wheel is adjusted to the circumferencial direction for turning to circle by two the second swing mechanisms;
Determine the steering angle of the gantry crane, and according to the steering angle and second wheel and the lifting body it Between spacing, determine the travel distance of wheel;
Each second wheel is driven by the actuating unit so that each second wheel is along the circle for turning to circle The circumferential direction traveling travel distance;
One walking beam is fallen by the lifting body so that each first wheel is touched with ground.
8. the method according to the description of claim 7 is characterized in that
One walking beam is fallen by the lifting body described so that each first wheel and ground After touching, further include:
The direction of travel of each wheel is adjusted to object traveling direction by each swing mechanism, wherein described Object traveling direction is parallel to the walking beam or perpendicular to the walking beam;
Each wheel is driven to advance along the object traveling direction by the actuating unit.
9. according to the method described in claim 8, it is characterized in that,
When the object traveling direction is parallel to the walking beam,
It drives each wheel before object traveling direction traveling by the actuating unit described, further wraps It includes:
In two ends of each walking beam, an auxiliary support arm is installed respectively.
10. according to the method described in claim 8, it is characterized in that,
When the object traveling direction is perpendicular to the walking beam,
It drives each wheel before object traveling direction traveling by the actuating unit described, further wraps It includes:
Auxiliary support arm of the dismounting mounted on two ends of the walking beam.
CN201810159844.9A 2018-02-26 2018-02-26 A kind of gantry crane and its forward method Active CN108439199B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0624687A (en) * 1992-05-28 1994-02-01 Nitsuchi:Kk Outrigger type crane
CN2516520Y (en) * 2001-11-05 2002-10-16 重庆钢铁(集团)有限责任公司 Gantry crane
CN105197804A (en) * 2015-09-21 2015-12-30 常州齐科化工有限公司 Stable type gantry crane
CN106429830A (en) * 2016-10-31 2017-02-22 北京环境特性研究所 Gantry crane all-dimensional steering device and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0624687A (en) * 1992-05-28 1994-02-01 Nitsuchi:Kk Outrigger type crane
CN2516520Y (en) * 2001-11-05 2002-10-16 重庆钢铁(集团)有限责任公司 Gantry crane
CN105197804A (en) * 2015-09-21 2015-12-30 常州齐科化工有限公司 Stable type gantry crane
CN106429830A (en) * 2016-10-31 2017-02-22 北京环境特性研究所 Gantry crane all-dimensional steering device and method

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