CN114703705A - Intelligent control system for railway line gantry hoisting - Google Patents
Intelligent control system for railway line gantry hoisting Download PDFInfo
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- CN114703705A CN114703705A CN202210493456.0A CN202210493456A CN114703705A CN 114703705 A CN114703705 A CN 114703705A CN 202210493456 A CN202210493456 A CN 202210493456A CN 114703705 A CN114703705 A CN 114703705A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/02—Transporting, laying, removing, or renewing lengths of assembled track, assembled switches, or assembled crossings
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
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- Architecture (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an intelligent control system for hoisting a railway line gantry, which is characterized in that when line components are replaced, a plurality of gantry hoisting devices and a lifting platform are transported to an operation site through a first flat car according to hoisting requirements. After the gantry crane arrives at an operation site, the lifting platform is controlled by the wireless control device to place the gantry crane in place according to the position and the sequence, the first platform vehicle drives away, and small support leg leveling control is performed according to the inclination of the gantry crane. And performing wireless synchronous cooperative control on the deployed gantry crane device through a wireless control device to finish the hoisting operation of the line component. During the operation of the gantry crane device, the transverse movement and the hoisting of the line component are synchronously controlled. After the lifting operation is completed, the first platform vehicle enters, the gantry crane device is recovered and fixed on the gantry crane device, and the first platform vehicle drives away. The invention can solve the technical problems of low operation efficiency, safety and control precision, high cost and inconvenient use of the existing control system.
Description
Technical Field
The invention relates to the technical field of railway engineering machinery, in particular to an intelligent control system for railway line gantry hoisting, which is used for replacing and hoisting track line components.
Background
At present, the opening mileage of the high-speed railway in China reaches 3.5 kilometers, the assumed transportation amount reaches 70 percent of the total passenger transportation amount, and the normal operation of the high-speed railway has increasingly large influence on the national trip and business activities. Therefore, the field hoisting, replacing and maintaining of the high-speed railway line components becomes an important technical part in the field of railway engineering machinery line maintenance. At present, line components are mainly replaced by hoisting through a rail crane, a cantilever crane and the like. When a plurality of track cranes are used for replacing longer and heavier line components such as steel rails, switch rails, fork centers and other components, the synchronization is often difficult to achieve through manual control, heavy objects swing and deform greatly, and the construction efficiency is seriously influenced; when the cantilever crane is adopted for operation, the cantilever is very easy to touch a contact net at the upper part of a railway line, and serious potential safety hazards exist in the operation; other modes of single-point or two-point hoisting are not suitable for replacing parts with large length and size, and the weight of the lifted large-scale line parts is completely transferred to the line through the bogie, so that the line is greatly damaged. The gantry crane widely applied to the hoisting industry at present has the following technical defects:
1) the structure is huge, the operation is inflexible, and the railway track is not easy to carry to the site of a railway track for operation;
2) the height and the width spacing of the gantry crane supporting legs cannot be adjusted, the transverse span spacing is fixed, the height from the ground is fixed, and the gantry crane supporting legs cannot adapt to complex working conditions of different heights on the ground and different widths of circuits on site;
3) a single gantry crane cannot meet the requirement of replacing components with different lengths, occupies large space and mass and is inconvenient to transport and place;
4) the method has the advantages of safety risk, low operation efficiency, low integration degree of transportation, arrangement and operation flow, and the possibility of occupying adjacent line construction and exceeding the limit operation in the operation process.
In the prior art, the following technical schemes are mainly related to the invention:
However, the group crane synchronous control system in the prior art 1 is applied to the building industry, the control object of the system is a tower crane, the requirement on the synchronous control precision is not high, the system integration degree is low, and the operation and maintenance are inconvenient.
Disclosure of Invention
In view of this, the invention aims to provide an intelligent control system for railway line gantry crane, so as to solve the technical problems of low operation efficiency, low safety, high cost and inconvenient use of the existing control system.
In order to achieve the above object, the present invention specifically provides a technical implementation scheme of an intelligent control system for railway line gantry crane, which comprises: the system comprises a wireless control system, a gantry crane device, a lifting platform, a first flat car and a second flat car, wherein the first flat car is used for transporting the gantry crane device and the lifting platform, and the second flat car is used for transporting line parts. When the line component is replaced, the plurality of gantry crane devices and the lifting platform are transported to the operation site through the first flat car according to the hoisting requirements. After the gantry crane arrives at an operation site, the wireless control device controls the lifting platform to place the gantry crane in place according to the position and sequence, the first platform vehicle drives away, and small supporting leg leveling control is performed according to the gradient of the gantry crane. And performing wireless synchronous cooperative control on the deployed gantry crane device through a wireless control device to finish the hoisting operation of the line component. During the operation of the gantry crane device, the transverse movement and the hoisting of the line component are synchronously controlled. After the lifting operation is completed, the first platform vehicle enters, the gantry crane device is recovered and fixed on the gantry crane device, and the first platform vehicle drives away.
Furthermore, the wireless control system comprises a wireless control device, a gantry crane device control system and a lifting platform control system, wherein the wireless control device comprises a display, a control panel, a processor and a wireless networking central node module. The gantry crane control system and the lifting platform control system both comprise a wireless networking sub-node module and a local control system, and the local control system comprises a controller, a driver, a sensor and a servo motor. An operator inputs an operation instruction through the control panel, the operation instruction is transmitted to the processor, the processor receives data from each wireless networking sub-node module through the wireless networking central node module, and fault judgment is carried out according to the received data. The processor carries out operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirements, issues the operation instruction meeting the control logic requirements to each wireless networking sub-node module through the wireless networking central node module, and outputs the calculation result meeting the control logic requirements and fault judgment information to the display. The controller receives an operation instruction from the wireless networking sub-node module and controls the servo motor to drive the door lifting device or a corresponding mechanism of the lifting platform through the driver. The sensor collects detection data of corresponding mechanisms of the gantry crane device or the lifting platform, the detection data are transmitted to the wireless networking sub-node module sequentially through the driver and the controller, and the wireless networking sub-node module sends the data to the wireless networking central node module.
Furthermore, the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and the controller analyzes the control instruction belonging to the local according to the communication protocol and the communication address of the controller and then executes corresponding action. And the wireless networking central node module receives data in a queuing polling mode.
Furthermore, the operation instructions of the gantry crane device comprise lifting and transverse moving of the lifting device, lifting and transverse moving of the support legs and lifting and descending of the small support legs. The operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.
Further, in the process of transporting the door hanger device by the first platform, the wireless control device can enter a transportation mode through selection, and the fixed locking conditions of the door hanger device and the lifting platform are monitored in real time through the display.
Furthermore, after the gantry crane device and the line components required by operation are transported to an operation site, the wireless control device can enter a deployment mode through selection, control logic operation is performed by the processor according to operation instructions, the gantry crane device control area and buttons of the gantry crane device control area on the operation control panel, and then the processor performs control logic operation according to operation instructions, the gantry crane device and the lifting platform state, so that clamping, support leg transverse movement and lifting, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform on the gantry crane device are realized, and finally safe deployment of a plurality of gantry crane devices from a first platform to a track road surface is realized.
Furthermore, after the door hanging devices are deployed, the wireless control device can enter an operation mode through selection, control logic operation is carried out by the processor according to operation instructions and door hanging device states through operation of buttons in a control area of the door hanging devices, coordinated operation of leg lifting, small leg lifting, lifting transverse moving, lifting and unlocking actions of a plurality of door hanging devices which are selected for use is achieved, meanwhile negative feedback adjustment is carried out on real-time positions and loads of the door hanging devices, and finally stable replacement operation of line components is achieved.
Further, when the door hanging device is deployed, the wireless control device can enter a deployment mode through selection, the lifting platform is controlled to ascend through the wireless control device, and the ascending action is stopped until the door hanging device is lifted and separated from the installation plane of the first flat car, and an operator is prompted to clamp and lock the door hanging device. The wireless control device controls a clamping and locking mechanism of the lifting platform to lock the gantry crane device, and after a clamping and locking signal is monitored, the lifting platform is operated to continuously rise, and the rising height is controlled by an operator. When the lifting platform rises to the highest position, the lifting platform is controlled to rotate through the wireless control device, and when the lifting platform is detected to rotate to a 90-degree signal, the lifting platform stops rotating. The lifting platform is controlled to longitudinally move through the operating platform longitudinal movement button until a laser line on the gantry crane device is aligned with a ground mark, and meanwhile, the landing leg transverse movement is controlled to be above a track road surface through the operating landing leg transverse movement button, so that the gantry crane device is placed and aligned. The lifting platform is controlled to descend and the supporting legs extend out through the wireless control device, the lifting platform stops when the small supporting legs are close to the ground, and then the clamping and locking mechanism is unlocked. The landing leg one-key touch-down button on the control panel is operated, and meanwhile, small supporting legs are driven to extend out through small torque and respectively contact the ground, so that the whole gantry crane device cannot be supported, and the aim of avoiding virtual legs is fulfilled. And operating the small support legs to synchronously continue extending or descending the platform until the gantry crane device is separated from the lifting platform. And operating a supporting leg one-key leveling button on the control panel, and automatically stretching each supporting leg and the small supporting leg to adjust the transverse and longitudinal levelness of the gantry crane device to be less than a set value, thereby finishing the leveling of the gantry crane device and finishing the deployment of the first gantry crane device. The lifting platform is controlled by the wireless control device to lift the second gantry crane device to the highest position, then the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the deployment position of the second gantry crane device by the first flat car, the deployment of the second gantry crane device is completed, and the deployment of other gantry crane devices is completed.
Furthermore, the door lifting device comprises a lifting device, and the lifting device comprises a transverse moving mechanism and a lifting hook which is connected with the transverse moving mechanism and used for lifting the line component. Before the line component is lifted and placed, the locking of the lifting hook is released, and the transverse moving mechanism is unlocked through the wireless control device. And the second flatcar drives into the designated operation area, and the longitudinal alignment is completed according to the laser line on the gantry crane device so as to align the end part of the line component on the second flatcar with the end part of the line component to be replaced. The wireless control device synchronously controls the transverse moving mechanism of each gantry crane to move to a designated position, controls the lifting hook to descend, and finely adjusts the position of the transverse moving mechanism so that the transverse moving mechanism is positioned right above the lifting point. After the lifting hook hooks the circuit component, the lifting rope of the lifting hook is in a loose state, the lifting hook of each gantry crane device is controlled to ascend by operating a one-key pre-tightening button on the control panel, and when the lifting rope is straightened, the lifting rope is automatically stopped. Operating a synchronous hoisting button on a control panel to hoist the circuit component to a specified height synchronously; and meanwhile, operating a synchronous transverse moving button on the operation control panel as required to control all the lifting hooks to synchronously transversely move. In the hoisting process, whether each hoisting device is synchronous or not is judged by monitoring the ascending displacement, the transverse displacement and the hook tension of each hoisting device, if the tension, the ascending displacement or the transverse displacement of a certain hook is detected to have larger difference with other hoisting devices in the operation period, all the hoisting devices are immediately stopped to act, the operator is reminded to independently control through abnormal positions and parameters prompted by a display, and the hoisting devices are adjusted to reasonable positions and then continue to act synchronously. And after the line component is lifted, the second flatcar drives away from the operation area, and the line component is placed at the designated position through synchronous control, so that the placement of the line component is completed.
Further, when the door lifting device is recovered, the lifting hook and the transverse moving mechanism are locked at a zero position. The first platform vehicle transportation lifting platform enters the lower part of the gantry crane device of the operation area, the lifting platform is controlled to move longitudinally through the wireless control device, the fine adjustment lifting platform finishes alignment with the gantry crane device, and the lifting platform continues to ascend until a small support leg of the lifting gantry crane device is separated from the ground. And prompting an operator to perform clamping and locking operation on the gantry crane device, and controlling a clamping and locking mechanism of the lifting platform to lock the gantry crane device through the wireless control device to finish clamping and locking. The supporting leg and the small supporting leg are quickly retracted by operating a supporting leg one-key retraction button to control the gantry crane device to move transversely to respective zero-position locking positions, and the first gantry crane device is retracted. The lifting platform is controlled by the wireless control device to lift the first gantry crane device to the highest position, then the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the lower part of the second gantry crane device by the first flat car, and the second gantry crane device is recovered. The lifting platform is controlled to ascend through wireless remote control, the two gantry crane devices are lifted to the highest position, then the lifting platform is controlled to rotate by 90 degrees to the initial position, the clamping locking mechanism is unlocked, the lifting platform is controlled to descend to the initial position, and the locking mechanism at each moving part of the gantry crane devices is operated to lock. And after all the gantry crane devices are recovered and locked, the mode selection buttons on the control panel are switched to a transportation mode, so that the locking states of the gantry crane devices and the lifting platform can be monitored before and during transportation.
Further, before the gantry crane devices are deployed and placed, a laser switch and a lighting switch on each gantry crane device control box are turned on; and manually releasing the locking rope and the positioning pin of the gantry crane on the first flatcar. Manually unlocking the support legs and the small support legs of the gantry crane device; the lifting, rotating and longitudinal moving mechanism of the lifting platform is unlocked manually.
Furthermore, an inclination sensor is arranged on a truss of the gantry crane device, and after the gantry crane device is deployed, inclination state data of the gantry crane device are acquired through the inclination sensor. When a certain small supporting leg of the gantry crane device sinks to cause the gantry crane device to incline, the processor calculates the lifting heights of the other small supporting legs according to the inclined state data so as to realize the leveling of the gantry crane device and avoid the phenomenon of virtual legs.
By implementing the technical scheme of the intelligent control system for the railway line gantry hoisting, provided by the invention, the following beneficial effects are achieved:
(1) the intelligent control system for the gantry hoisting of the railway line can realize the whole-flow integral control of a plurality of gantry hoisting devices by utilizing the wireless control device, solves the real-time control of the operation processes of the gantry hoisting devices such as transportation, deployment, hoisting and recovery and the like, and solves the control problems of safety interlocking, multi-machine synchronization, emergency measures and the like, and has the advantages of high operation efficiency and safety, low cost and convenient operation and control;
(2) the intelligent control system for the railway line gantry hoisting is suitable for replacing the whole set of turnouts and replacing single switch rails, turnout centers and the like, and can realize the transportation, placement, position adjustment and replacement of various line parts with different lengths by controlling the consistency of synchronous transverse movement, lifting and other actions of the combination of a plurality of gantry hoisting devices in the hoisting process in a wireless reconnection manner;
(3) according to the intelligent control system for the gantry hoisting of the railway line, disclosed by the invention, the safety interlock monitoring is carried out in real time in the transportation process through the plurality of gantry hoisting devices and the lifting platform, the cooperative operation and the safety interlock with the lifting platform are carried out in the recovery process of the gantry hoisting devices, the gantry hoisting devices and the lifting platform are locked for real-time monitoring, and the safety of the operation process is ensured to the maximum extent through emergency control measures and intelligent fault maintenance under various fault conditions;
(4) according to the intelligent control system for the gantry crane lifting of the railway line, the support legs of the gantry crane device are arranged on two sides of the railway line in a spanning mode, adjacent line space cannot be occupied when line parts are replaced, safety risk of operation exceeding a limit is avoided, operation is flexible, and operation requirements under complex line working conditions can be well met; meanwhile, the gantry crane device has the advantages of simple structure, small occupied space, light weight, high reliability, convenience in maintenance and repair, low manufacturing cost and high operation efficiency;
(5) according to the intelligent control system for the gantry hoisting of the railway line, the gantry hoisting device has the functions of transversely moving, lifting and leveling the supporting legs, the transverse span distance and the ground distance height of the supporting legs are adjustable, the requirements of different line ground working conditions can be met, the placement and the recovery of the gantry hoisting device can be realized through the lifting platform, the height is adjustable, and the risk of touching a contact net is avoided in the hoisting process;
(6) according to the intelligent control system for the gantry hoisting of the railway line, disclosed by the invention, each operation link of a plurality of gantry hoisting devices is intelligently controlled through integrated wireless intelligent control, so that the technical problems of intelligent control of operation processes such as transportation, deployment, hoisting, recovery and the like, multi-machine synchronization, safety monitoring and the like can be solved; when the multiple gantry cranes and the lifting platform flat car are deployed, one key is contacted with the ground, so that dangerous phenomena such as legs are avoided; in the deploying process of the gantry crane device, the gantry crane device and the lifting platform are cooperatively operated, and a plurality of gantry crane device lifting hooks are tensioned by one key, so that the condition that the group crane is stressed unevenly and even a lifted object is deformed can be avoided; when the door is hoisted and retracted, the control system sets a one-key retraction function, so that the technical problems of long time occupation and low efficiency caused by one-by-one operation retraction of a plurality of supporting legs are solved; the gantry crane device is placed on a track road surface, the levelness of the truss is monitored in real time, and uneven ground bearing capacity, such as the problem that a pit inclines or even topples after bearing load, can be effectively avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be derived by a person skilled in the art without inventive effort.
FIG. 1 is a block diagram of a wireless control system in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 2 is a schematic block diagram of the operating mechanism control of the wireless control system in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 3 is a block diagram of a system architecture of a gantry crane control system in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 4 is a block diagram of a system architecture of a lift platform control system in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 5 is a schematic perspective view of a wireless control device in an embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 6 is a schematic plan view of a control panel of a wireless control device in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 7 is a block diagram of a transportation-deployment-operation-recovery flow of one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 8 is a schematic view of a transportation structure of a gantry crane in an embodiment of the intelligent control system for railroad gantry crane of the present invention;
FIG. 9 is a schematic view of a transportation structure of a gantry crane in another view angle in an embodiment of the intelligent control system for gantry crane of railway line according to the present invention;
FIG. 10 is a schematic perspective view of a gantry crane (with the front face of the truss removed) in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 11 is an enlarged partial schematic view of FIG. 10 in accordance with the present invention;
FIG. 12 is an enlarged, fragmentary, schematic view of another portion of FIG. 10 in accordance with the present invention;
FIG. 13 is a schematic view of the lifting mechanism of the gantry crane in one embodiment of the rail track gantry crane system of the present invention;
FIG. 14 is a schematic structural view of a traversing mechanism of a gantry crane in one embodiment of the rail line gantry crane system of the present invention;
FIG. 15 is a schematic structural view of a leg traversing mechanism of a gantry crane in one embodiment of the track line gantry crane system of the present invention;
FIG. 16 is a schematic view of the lower leg structure of a gantry crane in one embodiment of the track line gantry crane system of the present invention;
FIG. 17 is a schematic view of a single gantry crane apparatus hoisting structure of an embodiment of the track line gantry crane system of the present invention;
FIG. 18 is a schematic view of a plurality of gantry crane assemblies of an embodiment of the gantry crane system for track lines according to the present invention;
FIG. 19 is a schematic structural diagram of an embodiment of the intelligent control system for railroad gantry crane (without wireless control system) of the present invention;
FIG. 20 is a flowchart of the method of operation of one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 21 is a schematic diagram of the gantry crane transport (first flat car transport) step in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 22 is a schematic diagram of the gantry crane deployment (first platform removal) step in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 23 is a schematic illustration of the new line component unloading (second flat car withdrawal) step in one embodiment of the intelligent control system for railroad line gantry handling of the present invention;
FIG. 24 is a schematic diagram of the hoisting steps of a gantry crane in one embodiment of the intelligent control system for hoisting railways according to the present invention;
FIG. 25 is a schematic diagram of the second flatcar drive-in step in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 26 is a schematic diagram of the old track component recovery (first flatcar drive-in) step in one embodiment of the intelligent control system for railroad track gantry handling of the present invention;
FIG. 27 is a schematic diagram of a gantry crane recovery step in one embodiment of the intelligent control system for railroad line gantry crane of the present invention;
FIG. 28 is a flowchart of the logic for controlling the lateral movement of the legs of the gantry crane in one embodiment of the intelligent control system for gantry crane for railroad line of the present invention;
FIG. 29 is a flowchart of the logic for controlling the lateral movement of the legs of the gantry crane in one embodiment of the intelligent control system for gantry crane for railroad line according to the present invention;
FIG. 30 is a flowchart of a logic of a cross-sliding control of a gantry crane in an embodiment of the intelligent control system for railway line gantry crane of the present invention;
FIG. 31 is a flowchart of the logic for controlling the lifting of the hook of the gantry crane in one embodiment of the intelligent control system for gantry crane for railroad line according to the present invention;
in the figure: 1-small support leg, 2-left lower support leg, 3-left upper support leg, 4-truss, 5-endless chain, 6-hook, 7-lifting mechanism, 8-traverse running mechanism, 9-right upper support leg, 10-right lower support leg, 11-load beam, 12-hoisting driving motor, 13-reducer, 14-first transmission gear, 15-second transmission gear, 16-endless chain, 17-mounting box, 18-transverse driving motor, 19-first reducer, 20-running wheel, 21-driving sprocket, 22-driven sprocket, 23-running rail, 24-slotted hole, 25-slide block, 26-guide rail, 27-mounting plate, 28-traverse driving motor, 29-second reducer, 30-driving gear, 31-driven gear, 32-first rack, 33-second rack, 34-screw rod, 35-screw rod nut, 36-screw rod bearing, 37-telescopic square tube, 38-fixed square tube, 39-supporting square tube, 40-cross beam, 41-lifting driving motor, 42-third reducer, 43-power device, 44-clamping locking mechanism, 45-positioning pin, 46-longitudinal moving mechanism, 47-locking rope, 48-lifting device, 49-storage battery, 100-door lifting device, 200-lifting platform, 300-first platform, 400-second platform, 500-new line component, 600-old line component, 700-lifting device, 800-basic rail, 900-rail road surface (roadbed), 1000-railcar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 31, a specific embodiment of the intelligent control system for lifting a railway line gantry of the present invention is shown, and the present invention is further described with reference to the accompanying drawings and the specific embodiment.
At present, most of hoisting equipment for replacing large parts (such as turnout parts, track plates, steel rails and the like) on track lines in China has the technical defects of low efficiency, low safety, high cost, inconvenience in use and the like. In order to solve the technical problems commonly existing in the existing hoisting equipment for the railway line, the embodiment of the invention provides an intelligent control method and system for the gantry hoisting of the railway line, and particularly adopts an intelligent gantry hoisting device 100 (gantry crane) with adjustable span and height, and simultaneously utilizes an integrated intelligent wireless remote control device to intelligently control all operation links (including transportation, deployment, hoisting and recovery) of a plurality of gantry hoisting devices 100. The embodiment of the invention also provides a rail line gantry hoisting wireless control system based on rail flat car transportation, and the intelligent wireless control device is adopted to control the plurality of gantry cranes 100 and the lifting platform 200 to perform cooperative operation, so that safe and stable operation of railway rail line laying and field maintenance is finally realized. The embodiment of the invention also provides a gantry crane device 100 applied to the intelligent control system for gantry crane of the railway line. The following specific embodiments take railway turnout laying and changing operation as an example, and describe the railway line gantry hoisting intelligent control system in detail.
Example 1
An embodiment of the invention relates to an intelligent control system for railway line gantry hoisting, which specifically comprises: the wireless control system, the gantry crane apparatus 100, the lifting platform 200, the first flatcar 300 and the second flatcar 400 (the first flatcar 300 and the second flatcar 400 are collectively referred to as a rail flatcar). The first cart 300 is used to transport the gantry crane apparatus 100 and the lifting platform 200, and the second cart 400 is used to transport the line components. The control object of the wireless control system is shown in fig. 8 and 9 below, and includes a plurality of gantry cranes 100, a plurality of lifting platforms 200, and a power plant 43.
As shown in fig. 19, which is a schematic view of a transportation structure of a gantry crane system for track lines, a gantry crane 100 and a lifting platform 200 are both disposed on a first flat car 300, the gantry crane 100 is further fixed on the lifting platform 200, and the lifting platform 200 has lifting and rotating functions. A new line part 500 for replacement is placed on the second flat carriage 400.
When the line component is replaced, a plurality of gantry cranes 100 and the lifting platform 200 are transported to the operation site by the first flat car 300 according to the hoisting requirement. After the gantry crane arrives at a working site, the lifting platform 200 is controlled by the wireless control device to deploy the gantry crane device 100 in place according to the position and the sequence, and the first flat car 300 is driven away. And performing wireless synchronous cooperative control on the deployed gantry crane device 100 through a wireless control device to finish the lifting operation of the line component. After the lifting operation is completed, the first flatcar 300 enters and recovers the gantry crane 100 and fixes the gantry crane thereon, and the first flatcar 300 drives away.
The gantry crane assembly 100 placed on the first flat car 300, and the new line component 500 placed on the second flat car 400 are transported to the construction area by the power of the rail car 1000. Wherein, in the process of transporting the gantry crane device 100 by the first flat car 300, the wireless control device can enter a transportation mode by selection, and the fixed locking conditions of the gantry crane device 100 and the lifting platform 200 are monitored in real time by a display. After reaching the designated construction area, the gantry crane apparatus 100 places the legs at both lateral sides of the gantry crane apparatus 100 in the designated areas of the roadbed 900 at both sides of the basic rail 800 by the lifting and rotating actions of the lifting platform 200 on the first platform car 300.
Before the gantry crane 100 is deployed, the laser switch and the lighting switch on each gantry crane control box are turned on. The locking rope 47 and the positioning pin 45 of the gantry crane apparatus 100 on the first platform 300 are manually released. The legs and the small leg 1 of the gantry crane apparatus 100 are unlocked manually. The lifting, rotating and longitudinally moving mechanisms of the lifting platform 200 are unlocked manually.
After the gantry crane device 100 and the line components required by the operation are transported to the operation site, the wireless control device can enter a deployment mode through selection, control logic operation is performed by the processor according to operation instructions, the gantry crane device and the lifting platform state through operating buttons of a lifting platform control area and the gantry crane device control area on the control panel, clamping, supporting leg transverse movement and lifting, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform 200 on the gantry crane device 100 are achieved, and finally safe deployment of a plurality of gantry crane devices 100 from the first platform 300 to the track road surface (roadbed) 900 is achieved.
After the door hanging devices 100 are deployed, the wireless control device can enter an operation mode through selection, control logic operation is carried out by the processor according to operation instructions and door hanging device states through operation of buttons in a control area of the door hanging devices, coordinated operation of leg lifting, small leg lifting, lifting transverse movement, lifting and unlocking is carried out on a plurality of door hanging devices 100 which are selected to be put into use, meanwhile negative feedback adjustment is carried out on real-time positions and loads of the door hanging devices 100, and finally stable replacement operation of line parts is achieved.
When the door lifting device 100 is deployed (in a deployment mode), the wireless control device can enter the deployment mode through selection, and the lifting platform 200 is controlled to lift through the wireless control device until the door lifting device 100 is lifted and separated from the installation plane of the first platform 300, the lifting action is stopped, and an operator is prompted to clamp and lock the door lifting device 100. The clamping and locking mechanism 44 of the lifting platform 200 is controlled by the wireless control device to lock the gantry crane device 100, and when a clamping and locking signal is monitored, the lifting platform 200 is operated to continuously rise, and the rising height is controlled by an operator. When the gantry crane device 100 ascends to the highest position, the lifting platform 200 is controlled to rotate through the wireless control device, and when the lifting platform 200 is detected to rotate to a 90-degree signal, the lifting platform 200 stops rotating. The lifting platform 200 is controlled to longitudinally move by the operating platform longitudinal movement button until the laser line on the gantry crane device 100 is aligned with the ground mark, and meanwhile, the landing legs are controlled to transversely move above the track pavement 900 by the operating landing leg transverse movement button, so that the positioning and the alignment of the gantry crane device 100 are completed. The lifting platform 200 is controlled by the wireless control device to descend and the support legs extend out, and then the lifting platform stops when the small support legs 1 are close to the ground (at the moment, the ground clearance is larger than the extending stroke of the support legs and smaller than the extending stroke of the small support legs 1, for example, when the ground clearance is 200 mm, the small support legs 1 can at least extend out by the stroke of more than 200 mm), and then the clamping locking mechanism 44 is unlocked. The landing leg one-key touch button on the control panel is operated, meanwhile, each small landing leg 1 extends out and respectively contacts the ground and cannot support the whole door hanging device 100 (for example, when one small landing leg 1 contacts the ground first and the other three small landing legs 1 do not contact the ground, the small landing leg 1 contacting the ground first automatically stops extending, and when the rest three small landing legs 1 contact the ground respectively, all the small landing legs automatically stop extending), so that the aim of no virtual leg is fulfilled. The small legs 1 are operated to synchronously continue to extend or the lifting platform 200 descends until the gantry crane device 100 is separated from the lifting platform 200. And operating a supporting leg one-key leveling button on the control panel, and automatically extending and retracting each supporting leg and the small supporting leg 1 to adjust the transverse and longitudinal levelness of the gantry crane device 100 to be less than a set value, so as to finish the leveling of the gantry crane device 100 and finish the deployment of the first gantry crane device 100. The lift platform 200 is transported by the first flat car 300 to the deployed position of the second gantry crane assembly 100. The lifting platform 200 is controlled by the wireless control device to lift the second gantry crane device 100 to the highest position, and then the lifting platform 200 is controlled to rotate 180 degrees, and then the lifting platform 200 is transported to the deployment position of the second gantry crane device 100 by the first flat car 300, so that the deployment of the second gantry crane device 100 is completed, and then the deployment of other gantry crane devices 100 is completed.
The truss 4 of the gantry crane device 100 is provided with an inclination sensor, after the gantry crane device 100 is deployed, the inclination state data of the gantry crane device 100 are obtained through the inclination sensor, when one small supporting leg 1 of the gantry crane device 100 sinks to cause the gantry crane device 100 to incline, the processor calculates the lifting height of the rest small supporting legs 1 according to the inclination state data, so that the gantry crane device 100 is leveled, and the phenomenon of a virtual leg is avoided. After the gantry crane 100 is placed, the gantry crane 100 may tilt and overturn due to different ground bearing capacities, and therefore, the tilt sensor and the bubble level meter are arranged on the gantry crane 100 in the present embodiment. The inclination sensor is used for monitoring inclination angle change in real time, and the bubble level meter is used for visual confirmation when the inclination sensor is invalid or misjudged. When a certain supporting leg of the gantry crane device 100 supports the ground to bear and sink, so that the gantry crane device 100 tilts, the tilt sensor monitors the tilt angle and feeds back the tilt angle to the controller, when the tilt angle is larger than a certain value, the gantry crane device 100 gives an alarm and prompts the alarm on a display, and meanwhile, the controller calculates the lifting data of other supporting legs of the gantry crane device 100 so as to control the gantry crane device 100 to level and avoid overturning caused by a virtual leg.
The door hanger 100 comprises a lifting device 48, the lifting device 48 comprising a traverse carriage 8, and a hook 6 connected to the traverse carriage 8 for lifting the line component. The hook 6 is connected to a spreader 700, which spreader 700 is used to clamp line components. When the (new) line component 500 is lifted and placed (operation mode), the hook 6 is unlocked manually, and the traverse travel mechanism 8 is unlocked by the wireless control device. The second carriage 400 is driven into the designated working area and the longitudinal alignment is performed according to the laser line on the gantry crane assembly 100 to achieve the alignment of the end of the (new) line component 500 on the second carriage 400 with the end of the (old) line component 600 to be replaced. The wireless control device synchronously controls the transverse moving mechanism 8 of each door hanging device 100 to move to a specified position, controls the lifting hook 6 to descend, and finely adjusts the position of the transverse moving mechanism 8 so that the transverse moving mechanism 8 is positioned right above the lifting point. . After the lifting hook 6 hooks the line component, the lifting rope (i.e. the chain 16) of the lifting hook 6 is in a loose state, the lifting hook 6 of each gantry crane 100 is controlled to ascend by operating a one-key pre-tightening button on the control panel, and when the lifting rope is straightened, the lifting rope is automatically stopped. Such as: taking the group-hoisting operation of the four gantry crane apparatuses 100 as an example, in actual operation, the hoisting ropes of the hoisting hooks 6 of the four gantry crane apparatuses 100 need to be loosened first to facilitate clamping. After the line component is clamped, the lifting rope of each lifting hook 6 is in a loose state, the loosening amount of the lifting rope of each lifting hook 6 is not completely consistent, if the lifting is directly and synchronously carried out, the lifting rope of part of the lifting hooks 6 is tensioned firstly, and the lifting ropes of other lifting hooks 6 are not stressed, so that if the lifting is continuously carried out, the overload of the lifting device 48 and the deformation of the hoisted line component are caused. Therefore, it is necessary to provide the hoisting driving motor 12 with 20-30% of current driving, that is, the hoisting force is only 20-30% and is not enough to hoist the line part, and only the hoisting rope of each hoisting hook 6 is tensioned (the previous slack state is eliminated). After the lifting ropes of all the lifting hooks 6 are tensioned, 100% of torque is synchronously provided so as to synchronously lift the line parts. Operating a synchronous hoisting button on a control panel to hoist the circuit component to a specified height synchronously; meanwhile, the synchronous traversing button on the control panel is operated as required to control all the lifting hooks 6 to move transversely synchronously. During the hoisting process, whether each hoisting device 48 is synchronous or not is judged by monitoring the ascending displacement, the transverse displacement and the tension of the hoisting hook 6 of each hoisting device 48, if the tension, the ascending displacement or the transverse displacement of one hoisting hook 6 is detected to have larger difference with other hoisting devices 48 during the operation, all the hoisting devices 48 are immediately stopped to act, and an operator is reminded to carry out individual control through abnormal positions and parameters prompted by a display, and the hoisting devices 48 are adjusted to reasonable positions and then continue to carry out synchronous action. After the new line component 500 (new switch) is lifted, the second flatcar 400 is driven away from the working area, and the new line component 500 is placed at the designated position through synchronous control, so that the placement of the new line component 500 is completed.
The new line component 500 is lifted and placed as described above, the old line component 600 (old switch) is lifted, the new line component 500 is lifted, and the old line component 600 is lifted and placed on the rail flat car. During operation, the display of the wireless control device displays information such as the lateral displacement, vertical displacement, hook tension, and lateral tilt angle of the gantry crane 100 of each crane 48.
When the door hanger apparatus 100 is retracted (retracted mode), the hook 6 and the traverse travel mechanism 8 are locked at the zero position. The first platform car 300 transports the lifting platform 200 to enter the lower part of the gantry crane device 100 in the operation area, the lifting platform 200 is controlled to move longitudinally through the wireless control device, the fine adjustment lifting platform 200 finishes alignment with the gantry crane device 100, and the lifting platform 200 continuously rises until the small support legs 1 lifting the gantry crane device 100 are separated from the ground. And prompting an operator to perform clamping and locking operation on the gantry crane device 100, and controlling the clamping and locking mechanism 44 of the lifting platform 200 to lock the gantry crane device 100 through the wireless control device to finish clamping and locking. The leg and the small leg 1 are controlled to be rapidly retracted by operating the leg one-key retraction button of the gantry crane device 100 and are transversely moved to respective zero-position locking positions, and the first gantry crane device 100 is retracted. The lifting platform 200 is controlled by the wireless control device to lift the first gantry crane device 100 to the highest position, then the lifting platform is controlled to rotate 180 degrees, the lifting platform 200 is transported to the lower part of the second gantry crane device 100 by the first flat car 300, and the second gantry crane device 100 is recovered. The lifting platform 200 is controlled to ascend through wireless remote control, the two gantry crane devices 100 are lifted to the highest position, then the lifting platform 200 is controlled to rotate by 90 degrees to the initial position, the clamping locking mechanism 44 is unlocked, the lifting platform 200 is controlled to descend to the initial position, and the locking mechanisms at all moving parts of the gantry crane devices 100 are operated to lock. And completing the recovery of other gantry crane devices 100, and switching the mode selection buttons on the control panel to a transportation mode after all the gantry crane devices 100 are recovered and locked in sequence so as to monitor the locking states of the gantry crane devices 100 and the lifting platform 200 before and during transportation.
The action function of the gantry crane 100 includes crane action and leg action. The lifting device 48 has the functions of transverse movement and lifting, is respectively controlled by two motors, and is provided with a limit button to detect the limit position so as to avoid overrun. The supporting leg actions comprise the stretching and the transverse moving of a left supporting leg and a right supporting leg, the transverse moving and the stretching actions of the supporting legs are respectively realized through two motors, and the system structure function realization mode is shown in the attached figure 2.
The control logic of the telescopic and transverse moving of the supporting legs is as follows: the control of the extension and the transverse movement of the supporting legs is the control of a single gantry crane device 100, synchronous control of a plurality of gantry crane devices 100 is not needed, only the logic judgment of the supporting legs is needed, and the control logic is shown in figure 28 and figure 29.
When the telescopic button of the supporting leg is opened, if any one of a supporting leg locking signal, a supporting leg limiting signal, a motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device gives an alarm and displays the alarm. If any one of the leg locking signal, the leg limit signal, the motor fault signal, the storage battery fault signal and the emergency stop signal is not detected, the lifting driving motor 41 is operated, and whether the transverse inclination angle of the door hanger device 100 is less than or equal to a set value is judged. If so, determining whether the height of the leg is equal to the set value, otherwise, continuing to operate the lifting driving motor 41 until the transverse inclination angle is less than or equal to the set value. If the leg height is equal to the set value, the elevating driving motor 41 stops operating, and if the leg height is not equal to the set value, the elevating driving motor 41 continues operating.
When the support leg transverse moving button is opened, if any one signal of a support leg transverse moving locking signal, a transverse moving limiting signal, a transverse moving driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device gives an alarm and displays. And if any one of the support leg transverse moving locking signal, the transverse moving limiting signal, the transverse moving driving motor fault signal, the storage battery fault signal and the emergency stop signal is not detected, the transverse moving driving motor acts 28 until the support leg transverse moving locking signal, the transverse moving limiting signal, the transverse moving driving motor fault signal and the emergency stop signal are operated in place.
The synchronous lifting and transverse moving control logic of the lifting device is as follows: the traversing control of the lifting device 48 requires the synchronous operation of a plurality of gantry cranes 100, the detected signals are signals of 8 gantry cranes 100, as long as one of the gantry cranes 100 does not meet the operation condition, the processor stops sending the operation command and prompts the fault information, and the control logic is shown in fig. 30 and fig. 31.
When the hoisting traverse button is opened, if any one of a hoisting device traverse locking signal, a traverse limiting signal, a transverse driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device gives an alarm and displays. If any one of a transverse movement locking signal, a transverse movement limiting signal, a transverse driving motor fault signal, a storage battery fault signal and an emergency stop signal of the lifting device is not detected, whether the communication of all the door lifting devices 100 is normal is judged, the transverse inclination angle is smaller than or equal to a set value, the tension of the lifting hook is smaller than or equal to a set value, and the lifting driving motor 12 does not act. If all conditions are satisfied, the transverse drive motor 18 is actuated. If any condition is not satisfied, the wireless control device displays an alarm.
When the lifting hook lifting button is turned on, if any one of a lifting hook in-place signal, a lifting driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device gives an alarm and displays the alarm. If any one of the hook lifting-in-place signal, the lifting driving motor fault signal, the storage battery fault signal and the emergency stop signal is not detected, whether the communication of all the gantry cranes 100 is normal or not is judged, the transverse inclination angle is smaller than or equal to a set value, the hook tension is smaller than or equal to a set value, and the transverse driving motor 18 does not act is judged. If all the conditions are met, the hoisting drive motor 12 acts. If any condition is not met, the wireless control device performs alarm display.
Example 2
The embodiment of the wireless control system applied to the intelligent control system for gantry crane of the railway line in the embodiment 1 is that a gantry crane device 100 and a lifting platform 200 are control objects of the wireless control system for gantry crane of the railway line. As shown in fig. 1, 3 and 4, the rail line gantry hoisting wireless control system specifically comprises: the wireless control device comprises a display, a control panel, a processor and a wireless networking central node module. The gantry crane control system and the lifting platform control system both comprise a wireless networking sub-node module and a local control system, and the local control system comprises a controller, a driver, a sensor and a servo motor (comprising a hoisting drive motor 12, a transverse drive motor 18, a transverse drive motor 28, a lifting drive motor 41 and the like). An operator inputs an operation instruction through the control panel, the operation instruction is transmitted to the processor, the processor receives data from each wireless networking sub-node module through the wireless networking central node module, and fault judgment is carried out according to the received data. The processor carries out operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirements, can issue the operation instruction meeting the control logic requirements to each wireless networking sub-node module through the wireless networking central node module, and outputs the calculation result meeting the control logic requirements and fault judgment information to the display. The controller receives the operation instruction from the wireless networking sub-node module, and controls the servo motor to drive the corresponding mechanisms (including the hoisting driving motor 12, the transverse driving motor 18, the transverse moving driving motor 28 and the lifting driving motor 41 of the door hoisting device 100, and the clamping locking mechanism, the lifting mechanism, the rotating mechanism and the longitudinal moving mechanism 46 of the lifting platform 200) of the door hoisting device 100 or the lifting platform 200 through the driver. The sensor collects detection data of corresponding mechanisms of the gantry crane device or the lifting platform, the detection data are transmitted to the wireless networking sub-node module sequentially through the driver and the controller, and the wireless networking sub-node module sends the data to the wireless networking central node module.
When the large parts of the track line are replaced, other materials such as a plurality of gantry cranes 100, a lifting platform 200, a hoisting tool (which can be omitted) and the like are transported to the operation site through the track flat car according to the requirement of a hoisting object. The lifting platform 200 is controlled by a wireless intelligent remote control system (namely, a wireless control system) to deploy the plurality of gantry cranes 100 in place according to positions and sequences, and the rail flat car is driven away and then can be lifted. The method comprises the steps that wireless synchronous cooperative control is carried out on a plurality of arranged gantry cranes 100 to carry out lifting operation, after the lifting operation is completed, a rail flat car enters, the gantry cranes 100 are recovered to the rail flat car, and then the gantry cranes 100 are fixed on the rail flat car and drive away from an operation site.
The overall topology of the wireless intelligent remote control system based on the gantry crane for the railway track line is shown in the attached figure 1. The system mainly comprises three parts, namely an integrated wireless control device, a gantry crane device control system and a lifting platform control system. The wireless control device adopts an integrated control box structure design, and integrates a display, a control panel, a processor (a main control CPU) and a wireless networking central node module M1 together on a hardware layer. The gantry crane device control system is a general name of a plurality of gantry crane device 100 (taking 8 as an example) local control systems, each gantry crane local control system comprises a wireless networking sub-node module (M1-1.. n1), a controller, a sensor, a servo motor, a driver thereof and other components, and the wireless networking sub-node module is respectively in duplex communication with a wireless networking central node module to realize data transceiving between the gantry crane device 100 and the wireless control device, so that the sensor detection, the servo motor state, the power device monitoring and other signals of the gantry crane device 100 are uploaded and remote control commands are issued. Similarly, the lifting platform control system is a general name of local control systems of a plurality of lifting platforms 200 (taking 2 as an example), each local control system of the lifting platform comprises a wireless networking sub-node module (M2-1.. n2), a controller, a sensor, a servo motor, a driver thereof and other components, and the wireless networking sub-node module is respectively in duplex communication with the wireless networking central node module, so as to realize data transceiving between the lifting platform 200 and the wireless control device.
The mechanism for duplex communication between the wireless networking sub-node module of the gantry crane control system and the lifting platform control system and the central node of the wireless networking central node module is as follows: the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, all the wireless networking sub-node modules receive the operation instruction signal at the same time, and then the controller analyzes the control instruction belonging to the local according to the communication protocol and the communication address of the controller and executes corresponding action. The wireless networking central node module receives data in sequence by adopting a queuing polling mode, so that the time delay of a polling period is the sum of the time of sending signals by all the wireless networking sub-node modules (n1+ n2) participating in networking. The operation instructions of the gantry crane device comprise lifting and transverse moving of the lifting device, lifting and transverse moving of the supporting legs and lifting of the small supporting legs. The operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.
The schematic structural diagram of the wireless control device adopting the integrated wireless remote control box structure is shown in the attached figure 5, the integrated wireless control device adopts a flip type structural design, a (touch) display screen is arranged on a box cover and used for controlling man-machine interaction in the process, and meanwhile, an illuminating lamp is arranged on the box cover, so that night operation is facilitated. Devices such as a control panel, a main control CPU (central processing unit), a lithium battery, a wireless networking central node module and the like are mainly arranged and distributed in the box body. The schematic diagram of the control panel is shown in the attached figure 6 and mainly comprises three functional areas, namely a wireless control device, a gantry crane device and a lifting platform, the functional areas of the control panel are obviously divided, an operator can use the control panel conveniently, and the operation efficiency can be effectively improved and misoperation can be reduced. It should be noted that the functional operation of the control panel may be implemented in the form of an entity switch, a button, or the like, or may be implemented in the form of a virtual touch key, for example, the wireless control device shown in fig. 5 and 6 implements various functional operations in the form of an entity switch.
In addition to the above advantages, the wireless control device also includes (but is not limited to) the following main functions:
1) the operator can input various operation instructions to the processor through the control panel.
2) The data received by the wireless networking center node module CAN be sent to the processor through the CAN bus.
3) The processor can carry out logic operation according to various operation instructions and received data, and judge whether the control logic requirements of the intelligent control system for railway line gantry lifting are met. And the wireless networking central node module can be used for wirelessly transmitting signals for meeting the control logic operation result and the command. For the operation result and the fault information satisfying the control logic, the fault information can be displayed through the (touch) display screen.
4) When the wireless control device loses power, the software setting parameters of the wireless control device can be automatically stored and memorized, and related parameters do not need to be reset after the wireless control device is restarted.
5) The hoisting, lifting and translation control functions of the gantry crane device are as follows: according to the user instruction, combining with each state quantity of the system, and combining with a processor and a wireless module (namely, the general name of the wireless networking central node module and the wireless networking sub-node module) to control each gantry crane device 100, the synchronous lifting and horizontal synchronous translation control functions of each gantry crane device 100 are realized.
6) The transverse movement and expansion control functions of the landing leg of the gantry crane device are as follows: according to the user instruction, the transverse movement and the stretching function of the landing leg of each gantry crane device 100 are controlled through the processor and the wireless module in a combined mode by combining various state quantities of the system, and meanwhile the lifting control function of the small landing leg can be achieved.
7) The rotation and lifting control functions of the lifting platform are as follows: according to the user instruction, the rotation and lifting functions of the lifting platforms 200 are controlled by combining the processor and the wireless module in combination with the state quantities of the system.
8) The lifting platform adjusts the position control function of the door hoist device: according to the user instruction, the clamping action of each lifting platform 200 is controlled by the combination of the processor and the wireless module in combination with each state quantity of the system, so that the position adjusting function of the gantry crane device 100 is realized.
9) Locking the driving and emergency safety functions: the locking status quantities are collected by the wireless module and notified to the user by (touching) the display screen. And under the emergency state, informing each subsystem to enter the emergency state through the wireless module.
10) The data transmission function: the wireless control device can realize bidirectional data transmission and meet the requirement of low time delay (the response delay of the whole electrical system is lower than 100 ms).
The main operation links of the wireless control system for controlling the multiple gantry crane devices 100 include the processes of transportation, deployment, hoisting and recovery, and modes of maintenance, safety guidance, manual operation and the like, as shown in fig. 7.
The following description is provided for the control method of the key operation process:
1) in the process of transporting the gantry crane device by the rail flat car, the wireless control device can selectively enter a transportation mode, the fixed locking conditions of the gantry crane device 100 and the lifting platform 200 are monitored in real time, the monitoring conditions can be displayed for a driver through a display screen, and the transportation safety of the gantry crane device 100 is ensured.
2) After the gantry crane device 100 and the objects (such as line components and the like) required by the operation are transported to an operation site, the wireless control device can selectively enter a layout mode, and then perform safe logical operation according to an operation command, a gantry crane device state and a lifting platform state by operating a lifting platform control area button and a gantry crane device control area button on a control panel, so that actions of clamping the gantry crane device 100 by a lifting platform 200, transversely moving and lifting the legs of the gantry crane device, rotating and lifting the lifting platform by 90 degrees and the like are realized, and finally, safe deployment of a plurality of gantry crane devices 100 from a transportation flat car to a railway track pavement (namely a roadbed) 900 is realized.
3) After the door hanging device 100 is deployed, the wireless control device can selectively enter an operation mode, and by operating a button of a door hanging device control area on a control panel, the wireless control device performs safe logic operation according to an operation command and a door hanging device state, so that the cooperative operation of leg lifting, small leg lifting, transverse movement and lifting of a lifting device, unlocking of the lifting device and the like on a plurality of door hanging devices 100 which are selected to be put into use is realized, meanwhile, negative feedback regulation is performed on the real-time position and load of each door hanging device 100, and finally, the stable replacement operation of large components (such as turnout components, track plates, steel rails and the like) on a track line is realized.
4) After the field replacement operation of the large field components is completed, the wireless control device can select to enter a recovery mode, and after an operation process basically opposite to the deployment mode is performed, the recovery of the gantry crane device 100 to the transportation flat car can be completed.
The wireless control device has 4 control modes, which are respectively: 1. safe guiding operation mode: and performing linkage control according to the sequence operation flow of deployment, hoisting and recovery. 2. Manual operation mode: the flow of actions before and after is not distinguished, but the safety chain logic of single action needs to be detected (no equipment damage risk). 3. An emergency mode: after the action command is input, response action is directly output (sensor failure is prevented, equipment risk is damaged, and password is required for entering). The wireless control device can perform intelligent human-computer interaction in a 'safe guiding' mode to complete the related operations of the 4 main operation links. When the intelligent operation condition required by the 'safe guiding' mode cannot be met on site due to special reasons, the 'manual operation' mode can be switched to enter for emergency operation. And when man-machine interaction is carried out, real-time prompt is carried out on fault information which cannot meet action conditions. In addition, the wireless control device is provided with an inspection mode, which can be started when the gantry crane device 100 and the lifting platform 200 are in failure or in a debugging stage, and the wireless control device can safely interlock related actions irrelevant to inspection. When the wireless network breaks down, a local control mode of the gantry crane device can be switched in, so that the purposes of emergency operation and emergency recovery of the gantry crane device are achieved. The intelligent control system for the gantry crane of the railway line described in the specific embodiment of the invention can control the group crane operation of a plurality of gantry crane devices 100, and finally achieve the purpose of safe, stable and efficient operation.
The wireless control system for gantry hoisting of the track line described in the specific embodiment of the invention mainly comprises two control objects, namely the gantry hoisting device 100 and the lifting platform 200, and can realize safe, stable and efficient control operation of the whole process (including the processes of transportation, deployment, hoisting, recovery and the like) of group hoisting of the gantry hoisting device when a large part on the track line is replaced. The rail line gantry hoisting wireless control system adopts a wireless remote control mode, can effectively avoid close contact of operators with a gantry crane, can prevent equipment and materials from harming the operators in a hoisting operation process, and effectively ensures the personal safety of the operators. The wireless control system can realize the safety monitoring of the transportation process of the door crane device 100 and the safety interlocking control logic of the construction process, effectively ensure the safety of railway transportation and equipment, and simultaneously ensure the safety construction of the operation process. The wireless control device adopts the structural design of an integrated control box, on one hand, the number of wireless control devices required by the gantry crane device 100 and the lifting platform 200 is reduced, the operation convenience is improved, meanwhile, the technical risk of mutual interference of a plurality of wireless signals in an operation field is also avoided, and the stability and the reliability of wireless communication are improved. The wireless module adopts a duplex communication mechanism and low time delay, and ensures the realization of negative feedback real-time automatic regulation function in the cooperative operation process of the multi-door lifting device, thereby improving the stability of the lifting operation materials. The safe guiding mode design of the wireless control device realizes institutionalization of the use flow of the whole gantry hoisting system on a software level, greatly simplifies the system operation difficulty, reduces the possibility of manual misoperation and improves the field operation efficiency. The design of a manual operation mode and an overhaul mode of the wireless control device improves the emergency treatment capacity of the whole system.
Example 3
As shown in fig. 20, an embodiment of a rail line gantry lifting operation method of a railway line gantry lifting intelligent control system according to the invention based on embodiment 1 specifically includes the following steps:
s101) the gantry crane apparatus 100 retracts the left leg and the right leg, and is fixed on the first flat car 300 to be transported to the work site, as shown in fig. 21;
s102) after the gantry crane device 100 arrives at a construction site, deploying the gantry crane device 100 through the lifting platform 200, extending and supporting the left support leg and the right support leg of the gantry crane device 100 to a track road surface, carrying out leveling control on the small support leg 1 according to the inclination of the gantry crane device 100 so as to adjust the levelness of the truss 4, and withdrawing the first flat car 300 as shown in the attached drawing 22;
s103) the gantry crane apparatus 100 lifts the new line part 500 placed on the second cart 400 and transported thereunder, and the second cart 400 is withdrawn, as shown in fig. 23;
s104) the gantry crane apparatus 100 moves the new line component 500 to one side of the line for placement, and moves the old line component 600 to the other side of the line after being lifted, as shown in fig. 24;
s105) the gantry crane apparatus 100 lifts and moves the new route component 500 to the route, lifts the old route component 600, and the second carriage 400 enters, as shown in fig. 25;
s106) after the gantry crane apparatus 100 places the old circuit component 600 on the second flatcar 400, the second flatcar 400 is driven away, as shown in fig. 26;
s107) the first platform vehicle 300 drives in, the gantry crane device 100 is recovered to the first platform vehicle 300 through the lifting platform 200, and the first platform vehicle 300 drives away to complete the laying and replacing of railway line components, as shown in figure 27.
Wherein the traversing and hoisting of the line components are controlled synchronously during operation of the gantry crane apparatus 100.
The number of the gantry crane devices 100 is determined according to the length of the line component, the deployment and the recovery of the gantry crane devices 100 are carried out through the first flat car 300 and the lifting platform 200, and the laying and the replacement of the long and large railway line component are realized through the multipoint synchronous operation of the gantry crane devices 100. Meanwhile, the distance and the height between the left support leg and the right support leg of the gantry crane device 100 can be adjusted to meet the requirements of different track pavement working conditions. When the hoisting operation of the railway line components is carried out, the whole load of the gantry crane device 100 acts on the roadbed 900 of the railway line through the small support legs 1, and the pressure of the load acting on the roadbed 900 can be effectively dispersed through leveling, so that the damage of the operation of the gantry crane device 100 to the railway line is reduced.
Before the whole operation vehicle starts, the control cabinet is firstly installed on the gantry crane device 100, a main power switch on each gantry crane device control cabinet is turned on, and a mode selection button on the wireless control device is pressed to a transportation mode position. The work vehicle travels to a designated position on a work site to perform preparation work before the door hanger device 100 is placed, and includes: opening a laser switch and a lighting switch on each gantry crane control cabinet; manually unlocking the locking rope and the positioning pin of the gantry crane device 100 on the rail flat car; unlocking the left and right support legs and the left and right small support legs of the gantry crane device 100 manually; the lift, rotation and translation mechanism 46 of the lift platform 200 is unlocked manually.
Example 4
As shown in fig. 10, an embodiment of a gantry crane apparatus 100 applied to the intelligent control system for gantry crane of railway lines according to embodiment 1 specifically includes:
a truss 4;
a transverse moving mechanism 8 which is arranged on the truss 4 and can move transversely (in the direction W shown in the attached figure 10) along the truss 4 so as to adjust the hoisting position; the transverse moving walking mechanism 8 comprises a lifting mechanism 7, the lifting mechanism 7 can drive the endless chain 16 to move up and down along the vertical direction, the tail end of the endless chain 16 is provided with a lifting appliance 700, and the lifting appliance 700 clamps the end of the endless chain to convey railway line parts;
the left supporting leg and the right supporting leg are movably arranged at the lower parts of the left end and the right end of the truss 4 respectively, and can move transversely along the truss 4 to adjust the transverse span of the door hanger device. The left supporting leg and the right supporting leg are arranged on two sides of a railway line in a spanning mode, adjacent line operation does not need to be occupied, and the risk of exceeding a limit in operation does not exist.
The left and right legs can be vertically moved (as shown by H in fig. 10) to adjust the height of the girder 4 from the lifting track surface (i.e., the roadbed) 900.
The lower parts of the left supporting leg and the right supporting leg are provided with small supporting legs 1, and the fine leveling function of the left supporting leg, the right supporting leg and the gantry crane device 100 can be realized through the small supporting legs 1. The small support legs 1 can realize fine height adjustment according to the flatness condition of the track pavement 900.
The railway line component replacement gantry crane apparatus 100 described in embodiment 4 has a multifunctional adaptive feature, the support legs on both sides of the apparatus are supported on the track surface 900 on both sides of the line, and the support legs on both sides can move horizontally, lift and level, so as to meet the operation requirements of different line ground conditions. Two horizontal landing legs of gantry crane device 100 support in the left and right sides of circuit, and the change of new and old circuit part is gone on in gantry crane device 100's interior empty part, need not to occupy the adjacent line space during this line operation, need not to touch the risk of contact net, and can not produce the ballast damage to the circuit. The landing leg of gantry crane device 100 possesses the sideslip function, can adapt to the operating mode demand of circuit both sides difference ground width. The landing leg of gantry crane device 100 possesses vertical scalable regulatory function, can be applicable to the operation operating mode of different ground height, can lift by crane the circuit part that needs to be changed to different operation height simultaneously.
As shown in fig. 11, the left leg includes an upper left leg 3 connected to the truss 4 and a lower left leg 2 movably connected to the upper left leg 3, and the upper left leg 3 can vertically move up and down relative to the lower left leg 2. As shown in fig. 12, the right leg includes a right upper leg 9 connected to the truss 4 and a right lower leg 10 movably connected to the right upper leg 9, and the right upper leg 9 is vertically movable up and down relative to the right lower leg 10.
As shown in fig. 13, the lifting mechanism 7 includes a hoisting driving motor 12, a speed reducer 13, a first transmission gear 14 and a second transmission gear 15. The hoisting driving motor 12 drives the first transmission gear 14 to rotate through the speed reducer 13, the first transmission gear 14 drives the second transmission gear 15 to rotate, and the second transmission gear 15 is connected with the loop chain 16. The lifting function of the ring chain 16 in the vertical direction can be realized through the forward and backward rotation of the hoisting driving motor 12. The lifting structure of the lifting mechanism 7 adopts a mode that the ring chain 16 is matched with the gear, so that the slipping phenomenon in the lifting process can be effectively prevented.
As shown in fig. 14, the traverse traveling mechanism 8 further includes an endless chain 5, a mounting box 17, a traverse driving motor 18, a first speed reducer 19, traveling wheels 20, a driving sprocket 21, a driven sprocket 22, and traveling rails 23. The lifting mechanism 7 is arranged in the mounting box 17, and the traveling wheels 20 are arranged at the bottom of the mounting box 17. The running rails 23 are transversely arranged on the inner side of the bottom of the truss 4, and the running wheels 20 are matched with the running rails 23. The transverse driving motor 18 drives the driving sprocket 21 to rotate through the first speed reducer 19, the driving sprocket 21 rotates to drive the endless chain 5 to rotate, and the driven sprocket 22 provides auxiliary positioning for the rotation of the endless chain 5. Two ends of the annular chain 5 are connected with the mounting box 17, and the lifting mechanism 7 is driven by positive and negative rotation of the transverse driving motor 18 to realize the transverse movement function in the horizontal direction.
As shown in fig. 15, a long slot 24 is transversely formed at the bottom of the truss 4, and sliding blocks 25 are respectively arranged on both sides of the upper portions of the left upper supporting leg 3 and the right upper supporting leg 9 along the longitudinal direction (the direction shown as L in fig. 6). The bottom of the truss 4 is transversely provided with a guide rail 26, the upper parts of the left upper supporting leg 3 and the right upper supporting leg 9 are respectively provided with a mounting plate 27, and the mounting plates 27 upwards penetrate through the long slotted holes 24. The mounting plate 27 is provided with a traverse driving motor 28, a second speed reducer 29, a driving gear 30, and a driven gear 31, and the bottom of the truss 4 is provided with a first rack 32 and a second rack 33 in parallel with each other in the lateral direction. The transverse moving driving motor 28 drives the driving gear 30 to rotate through the second speed reducer 29, the driving gear 30 is meshed with the first rack 32, and the driven gear 31 is meshed with the second rack 33 to provide auxiliary positioning for transverse moving of the support legs. The guide rail 26 is matched with the slide block 25 to provide a guide for the transverse movement of the left upper supporting leg 3 and the right upper supporting leg 9. The transverse movement of the left upper supporting leg 3 and the right upper supporting leg 9 is realized through the positive and negative rotation of the transverse moving driving motor 28.
As shown in fig. 16, each of the left upper leg 3 and the right upper leg 9 includes a screw 34, a screw nut 35, a screw bearing 36, and a telescopic square tube 37. The screw rod 34 is arranged in the telescopic square tube 37, the screw rod nut 35 is fixed on the bottom side of the inside of the telescopic square tube 37, and the screw rod 34 is matched with the screw rod nut 35. The upper portion of the screw 34 is fixed inside a telescopic square tube 37 by a screw bearing 36. The left lower leg 2 and the right lower leg 10 both comprise a fixed square pipe 38, a supporting square pipe 39, a cross beam 40 and a carrier beam 11. The fixed square pipe 38 is sleeved outside the telescopic square pipe 37, the supporting square pipe 39 is arranged on the left side and the right side of the fixed square pipe 38, the upper part of the fixed square pipe 38 is fixed with one end of the supporting square pipe 39, and the lower part of the fixed square pipe 38 is fixed with the supporting square pipe 39 through the cross beam 40. The other end of the supporting square tube 39 is fixed with the carrier bar 11, the carrier bar 11 is provided with a lifting driving motor 41 and a third speed reducer 42, and the lower part of the screw rod 34 extends out of the bottom of the telescopic square tube 37 and the fixed square tube 38 and then is connected with the second speed reducer 42. The third reducer 42 is driven by the forward and reverse rotation of the lifting driving motor 41, so as to drive the screw rod 34 to rotate, and then the screw rod 34 rotates to drive the screw rod nut 35 and the telescopic square tube 37 to move up and down, so that the left supporting leg and the right supporting leg are telescopic. The cross member 40 is provided with a battery 49.
As shown in fig. 17, which is a schematic view of the placement and operation of a single gantry crane 100, the legs on both lateral sides of the gantry crane 100 are supported on the roadbed 900 on both sides of the line, and the leg pitch of the gantry crane 100 is adjustable in the W direction and the height from the ground is adjustable in the H direction. Example 4 a plurality of gantry crane assemblies 100 with a multifunctional adaptive feature are further grouped into a group crane group along the railway line working direction (shown as L in fig. 18), and the group crane group works in cooperation to complete intelligent replacement of the railway line long and large components. As shown in fig. 18, a schematic view of the placement and operation of a plurality of gantry cranes 100 along the line work direction L is shown, and the replacement work of parts of long and large railway lines with various sizes can be realized by performing the hoisting work at multiple points by the plurality of gantry cranes 100. The gantry crane device 100 can realize the hoisting and translation of railway line components through a set of driving mechanism, and realize the hoisting and carrying functions of the railway line components. The gantry crane device 100 effectively reduces the total height of a hoisting space, simplifies the structure, reduces the volume, can adjust the height of the supporting legs, and can automatically adapt to different heights of track pavements 900 on two sides of a line.
In the description of the present application, it is noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "plurality" or "a plurality" means two or more unless specifically limited otherwise.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present application can be implemented, so that the present application has no technical significance.
By implementing the technical scheme of the intelligent control system for railway line gantry hoisting, which is described in the specific embodiment of the invention, the following technical effects can be achieved:
(1) the intelligent control system for the railway line gantry hoisting, which is described in the specific embodiment of the invention, can realize the whole-flow overall control of a plurality of gantry hoisting devices by utilizing the wireless control device, solves the real-time control of the operation processes of the gantry hoisting devices such as transportation, deployment, hoisting and recovery and the like, and the control problems of safety interlocking, multi-machine synchronization, emergency measures and the like, and has the advantages of high operation efficiency and safety, low cost and convenient operation and control;
(2) the intelligent control system for the railway line gantry hoisting described in the specific embodiment of the invention is suitable for replacing the whole set of turnouts and replacing single switch rails, turnout centers and the like, and can realize the transportation, placement, position adjustment and replacement of various line parts with different lengths by controlling the consistency of synchronous transverse movement, lifting and other actions of a plurality of gantry hoisting devices in the hoisting process in a wireless reconnection manner;
(3) according to the intelligent control system for the railway line gantry hoisting, disclosed by the specific embodiment of the invention, the safety of the operation process is ensured to the maximum extent through real-time safety interlocking monitoring of a plurality of gantry cranes and a lifting platform in the transportation process, cooperative operation and safety interlocking with the lifting platform in the recovery process of the gantry cranes, locking and real-time monitoring of the gantry cranes and the lifting platform, and emergency control measures and intelligent fault maintenance under various fault conditions;
(4) according to the intelligent control system for the gantry hoisting of the railway line, which is described in the specific embodiment of the invention, the supporting legs of the gantry hoisting device are arranged on two sides of the railway line in a spanning manner, the adjacent line space cannot be occupied when the line parts are replaced, the safety risk of exceeding the limit of operation does not exist, the operation is flexible, and the operation requirement under the working condition of a complex line can be well met; meanwhile, the gantry crane device has the advantages of simple structure, small occupied space, light weight, high reliability, convenience in maintenance and repair, low manufacturing cost and high operation efficiency;
(5) according to the intelligent control system for the railway line gantry hoisting, disclosed by the specific embodiment of the invention, the gantry hoisting device has the functions of transversely moving, lifting and leveling the supporting legs, the transverse span distance and the ground distance of the supporting legs are adjustable, the requirements of different line ground working conditions can be met, the placement and the recovery of the gantry hoisting device can be realized through the lifting platform, the height of the gantry hoisting device is adjustable, and the risk of touching a contact net is avoided in the hoisting process;
(6) according to the intelligent control system for the railway line gantry hoisting, which is described in the specific embodiment of the invention, each operation link of a plurality of gantry hoisting devices is intelligently controlled through integrated wireless intelligent control, so that the technical problems of intelligent control of operation processes such as transportation, deployment, hoisting and recovery, multi-machine synchronization, safety monitoring and the like can be solved; when the multiple gantry cranes and the lifting platform flat car are deployed, one key is contacted with the ground, so that dangerous phenomena such as legs are avoided; in the deploying process of the gantry crane device, the gantry crane device and the lifting platform are cooperatively operated, and a plurality of gantry crane device lifting hooks are tensioned by one key, so that the condition that the group crane is stressed unevenly and even a lifted object is deformed can be avoided; when the door is hoisted and retracted, the control system sets a one-key retraction function, so that the technical problems of long time occupation and low efficiency caused by one-by-one operation retraction of a plurality of supporting legs are solved; the gantry crane device is placed on a track road surface, the levelness of the truss is monitored in real time, and uneven ground bearing capacity, such as the problem that a pit inclines or even topples after bearing load, can be effectively avoided.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or equivalent modifications, without departing from the spirit and scope of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (12)
1. The utility model provides a railway lines longmen handling intelligence control system which characterized in that includes: the system comprises a wireless control system, a gantry crane device, a lifting platform, a first flat car and a second flat car, wherein the first flat car is used for transporting the gantry crane device and the lifting platform, and the second flat car is used for transporting line parts; when line parts are replaced, a plurality of gantry cranes and lifting platforms are transported to an operation site through a first flat car according to hoisting requirements; after the gantry crane arrives at an operation site, the lifting platform is controlled by the wireless control device to place the gantry crane in place according to the position and the sequence, the first platform vehicle drives away, and small support leg leveling control is performed according to the inclination of the gantry crane; performing wireless synchronous cooperative control on the deployed gantry crane device through a wireless control device to finish the hoisting operation of the line component; during the operation of the gantry crane device, the transverse movement and the hoisting of the line component are synchronously controlled; after the hoisting operation is finished, the first flatcar enters, the gantry crane device is recovered and fixed on the gantry crane device, and the first flatcar drives away.
2. The intelligent control system for railway line gantry crane, according to claim 1, is characterized in that: the wireless control system comprises a wireless control device, a gantry crane device control system and a lifting platform control system, wherein the wireless control device comprises a display, a control panel, a processor and a wireless networking central node module; the gantry crane control system and the lifting platform control system both comprise a wireless networking sub-node module and a local control system, and the local control system comprises a controller, a driver, a sensor and a servo motor; an operator inputs an operation instruction through the control panel, the operation instruction is transmitted to the processor, the processor receives data from each wireless networking sub-node module through the wireless networking central node module, and fault judgment is carried out according to the received data; the processor carries out operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, can issue the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and outputs the calculation result meeting the control logic requirement and fault judgment information to the display; the controller receives an operation instruction from the wireless networking sub-node module and controls the servo motor to drive a corresponding mechanism of the door lifting device or the lifting platform through the driver; the sensor collects detection data of corresponding mechanisms of the gantry crane device or the lifting platform, the detection data are transmitted to the wireless networking sub-node module sequentially through the driver and the controller, and the wireless networking sub-node module sends the data to the wireless networking central node module.
3. The intelligent control system for railway line gantry crane according to claim 2, characterized in that: the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and the controller analyzes the control instruction belonging to the local according to the communication protocol and the communication address of the controller and then executes corresponding action; and the wireless networking central node module receives data in a queuing polling mode.
4. The intelligent control system for railway line gantry crane according to claim 2 or 3, characterized in that: the operation instructions of the gantry crane device comprise lifting and transverse moving of the lifting device, lifting and transverse moving of the supporting legs and lifting of the small supporting legs; the operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.
5. The rail track gantry crane system of claim 4, wherein: in the process of transporting the door hanger device by the first platform, the wireless control device can enter a transportation mode through selection, and the fixed locking conditions of the door hanger device and the lifting platform are monitored in real time through the display.
6. The rail track gantry crane system of claim 5, wherein: after the door hanging device and the line components required by operation are transported to an operation site, the wireless control device can enter a deployment mode through selection, control logic operation is carried out by the processor according to operation instructions, the door hanging device and the lifting platform state through operating buttons of a lifting platform control area and the door hanging device control area on the control panel, clamping of the lifting platform on the door hanging device, transverse movement and lifting of supporting legs, rotation, lifting and longitudinal movement of the lifting platform are achieved, and finally safe deployment of a plurality of door hanging devices from a first platform to a rail road surface is achieved.
7. The rail track gantry crane system of claim 6, wherein: after the door hanging devices are deployed, the wireless control device can enter an operation mode through selection, control logic operation is carried out by the processor according to operation instructions and door hanging device states through operation of buttons in a control area of the door hanging devices, coordinated operation of leg lifting, small leg lifting, lifting transverse moving, lifting and unlocking actions of a plurality of door hanging devices which are selected for use is achieved, meanwhile negative feedback adjustment is carried out on real-time positions and loads of the door hanging devices, and finally stable replacement operation of line parts is achieved.
8. The rail line gantry crane system of claim 5, 6 or 7, wherein: when the door hanging device is deployed, the wireless control device can enter a deployment mode through selection, the lifting platform is controlled to ascend through the wireless control device, and the ascending action is stopped until the door hanging device is lifted and separated from the installation plane of the first flat car, and an operator is prompted to perform clamping and locking operation on the door hanging device; the wireless control device controls a clamping and locking mechanism of the lifting platform to lock the gantry crane device, and after a clamping and locking signal is monitored, the lifting platform is operated to continuously rise, and the rising height is controlled by an operator; when the lifting platform rises to the highest position, the lifting platform is controlled to rotate through the wireless control device, and when a signal that the lifting platform rotates to 90 degrees is detected, the lifting platform stops rotating; the lifting platform is controlled to longitudinally move through the longitudinal movement button of the operation platform until a laser line on the gantry crane device is aligned with a ground mark, and meanwhile, the support legs are controlled to transversely move above a track road surface through the transverse movement button of the support legs, so that the gantry crane device is placed and aligned; the lifting platform is controlled to descend and the supporting legs extend out through the wireless control device, the lifting platform stops when the small supporting legs are close to the ground, and then the clamping and locking mechanism is unlocked; the landing leg one-key ground contact button on the control panel is operated, and meanwhile, small moments drive all small legs to extend out and respectively contact the ground, so that the whole gantry crane device cannot be supported, and the aim of no virtual legs is fulfilled; the small support legs are operated to synchronously continue extending or the platform descends until the gantry crane device is separated from the lifting platform; operating a supporting leg one-key leveling button on the control panel, and automatically stretching each supporting leg and the small supporting leg to adjust the transverse and longitudinal levelness of the gantry crane device to be smaller than a set value, so as to finish the leveling of the gantry crane device and the deployment of a first gantry crane device; the lifting platform is controlled by the wireless control device to lift the second gantry crane device to the highest position, then the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the deployment position of the second gantry crane device by the first flat car, the deployment of the second gantry crane device is completed, and the deployment of other gantry crane devices is completed.
9. The rail track gantry crane system of claim 8, wherein: the door lifting device comprises a lifting device, the lifting device comprises a transverse moving mechanism and a lifting hook which is connected with the transverse moving mechanism and used for lifting a line component; before the line component is lifted and placed, the locking of the lifting hook is released, and the transverse moving mechanism is unlocked through the wireless control device; the second flatcar drives into a designated operation area, and longitudinal alignment is completed according to the laser line on the gantry crane device, so that the end part of the circuit component on the second flatcar is aligned with the end part of the circuit component to be replaced; synchronously controlling the transverse moving mechanism of each door hanger to move to a specified position through the wireless control device, controlling the drop of the lifting hook, and finely adjusting the position of the transverse moving mechanism to ensure that the transverse moving mechanism is positioned right above the lifting point; after the lifting hook hooks the circuit component, the lifting rope of the lifting hook is in a loose state, the lifting hook of each gantry crane device is controlled to ascend by operating a one-key pre-tightening button on the control panel, and the lifting rope automatically stops when being straightened; operating a synchronous hoisting button on a control panel to hoist the circuit component to a specified height synchronously; meanwhile, a synchronous transverse moving button on the operation control panel is operated as required to control all the lifting hooks to synchronously transversely move; in the hoisting process, whether each hoisting device is synchronous or not is judged by monitoring the ascending displacement, the transverse displacement and the hook tension of each hoisting device, if the tension or the ascending displacement or the transverse displacement of a certain hook is detected to have larger difference with other hoisting devices in the operation period, all the hoisting devices are immediately stopped to act, and an operator is reminded to independently control through abnormal positions and parameters prompted by a display, and the hoisting devices are adjusted to reasonable positions and then continue to act synchronously; and after the line component is lifted, the second flatcar drives away from the operation area, and the line component is placed at the designated position through synchronous control, so that the placement of the line component is completed.
10. The rail line gantry crane system of claim 5, 6, 7 or 9, wherein: when the door hanger device is recovered, the lifting hook and the transverse moving mechanism are locked at a zero position; the first platform vehicle transports the lifting platform to enter the lower part of the gantry crane device of the operation area, the lifting platform is controlled to move longitudinally through the wireless control device, the fine adjustment lifting platform finishes contraposition with the gantry crane device, and the lifting platform continues to rise until a small support leg of the lifting gantry crane device is separated from the ground; prompting an operator to perform clamping and locking operation of the gantry crane device, and controlling a clamping and locking mechanism of the lifting platform to lock the gantry crane device through the wireless control device to finish clamping and locking; the first gantry crane device is recovered by operating a supporting leg one-key recovery button to control the gantry crane device to rapidly recover the supporting leg and the small supporting leg and to transversely move to respective zero-position locking positions; the lifting platform is controlled by the wireless control device to lift the first gantry crane device to the highest position, then the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the position below the second gantry crane by the first flat car, and the recovery of the second gantry crane device is completed; the lifting platform is controlled to ascend through wireless remote control, the two gantry crane devices are lifted to the highest position, then the lifting platform is controlled to rotate 90 degrees to the initial position, the clamping locking mechanism is unlocked, the lifting platform is controlled to descend to the initial position, and the locking mechanism at each moving part of the gantry crane devices is operated to lock; and after all the gantry crane devices are recovered and locked, the mode selection buttons on the control panel are switched to a transportation mode, so that the locking states of the gantry crane devices and the lifting platform can be monitored before and during transportation.
11. The rail track gantry crane system of claim 10, wherein: before the gantry crane devices are deployed and placed, a laser switch and an illumination switch on each gantry crane device control box are turned on; manually releasing a locking rope and a positioning pin of the gantry crane device on the first platform; manually unlocking the support legs and the small support legs of the gantry crane device; the lifting, rotating and longitudinal moving mechanism of the lifting platform is unlocked manually.
12. The rail track gantry crane system of claim 5, 6, 7, 9 or 11, wherein: an inclination sensor is arranged on a truss of the gantry crane device, and after the gantry crane device is deployed, inclination state data of the gantry crane device are acquired through the inclination sensor; when a certain small supporting leg of the gantry crane device sinks to cause the gantry crane device to incline, the processor calculates the lifting heights of the other small supporting legs according to the inclined state data so as to realize the leveling of the gantry crane device and avoid the phenomenon of virtual legs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210493456.0A CN114703705A (en) | 2022-05-07 | 2022-05-07 | Intelligent control system for railway line gantry hoisting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210493456.0A CN114703705A (en) | 2022-05-07 | 2022-05-07 | Intelligent control system for railway line gantry hoisting |
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| CN202210493456.0A Pending CN114703705A (en) | 2022-05-07 | 2022-05-07 | Intelligent control system for railway line gantry hoisting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117926721A (en) * | 2024-03-21 | 2024-04-26 | 邯郸中铁桥梁机械有限公司 | Lifting frame integrated bridging system |
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| CN203159047U (en) * | 2013-03-27 | 2013-08-28 | 国家电网公司 | Hydraulic span and height adjustable gantry crane |
| TWM516060U (en) * | 2015-08-06 | 2016-01-21 | Wan De Construction Co Ltd | Railway steel beam bridge seamless update construction device |
| CN110804958A (en) * | 2019-11-26 | 2020-02-18 | 中铁第五勘察设计院集团有限公司 | Whole hole beam frame changing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203159047U (en) * | 2013-03-27 | 2013-08-28 | 国家电网公司 | Hydraulic span and height adjustable gantry crane |
| TWM516060U (en) * | 2015-08-06 | 2016-01-21 | Wan De Construction Co Ltd | Railway steel beam bridge seamless update construction device |
| CN110804958A (en) * | 2019-11-26 | 2020-02-18 | 中铁第五勘察设计院集团有限公司 | Whole hole beam frame changing method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117926721A (en) * | 2024-03-21 | 2024-04-26 | 邯郸中铁桥梁机械有限公司 | Lifting frame integrated bridging system |
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