CN114703705B - Intelligent control system for gantry lifting of railway line - Google Patents
Intelligent control system for gantry lifting of railway line Download PDFInfo
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- CN114703705B CN114703705B CN202210493456.0A CN202210493456A CN114703705B CN 114703705 B CN114703705 B CN 114703705B CN 202210493456 A CN202210493456 A CN 202210493456A CN 114703705 B CN114703705 B CN 114703705B
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Classifications
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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
-
- 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)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an intelligent control system for lifting a railway line gantry, which is used for transporting a plurality of gantry lifting devices and lifting platforms to an operation site through a first flatcar according to lifting requirements when line parts are replaced. After the door lifting device arrives at an operation site, the lifting platform is controlled by the wireless control device to deploy the door lifting device in place according to the position and the sequence, the first flat car drives away, and the small support leg leveling control is performed according to the inclination of the door lifting device. And carrying out wireless synchronous cooperative control on the deployed gantry crane by using a wireless control device so as to finish the hoisting operation of the circuit components. During operation of the gantry crane, traversing and lifting of the line components are synchronously controlled. After the lifting operation is completed, the first flat car enters, the door lifting device is recovered and fixed on the door lifting device, and the first flat car 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 lifting for paving, replacing and lifting a railway line component.
Background
At present, the opening mileage of the high-speed railway in China reaches 3.5 ten thousand kilometers, the bearing capacity reaches 70% of the total passenger traffic, and the normal operation has more and more influence on the travel and business activities of the national people. Therefore, on-site replacement and maintenance of the high-speed railway line components is a serious problem in the track engineering machinery line maintenance field. The circuit components of the current stage are also mainly replaced by lifting through a track crane, a cantilever crane and the like. For the replacement of longer and heavier line components, such as assemblies of steel rails, switch centers and the like, when a plurality of track cranes are adopted for operation, the manual control is often difficult to realize synchronization, and the swing and deformation of heavy objects are large, so that the construction efficiency is seriously affected; when the cantilever crane is adopted for operation, the cantilever is very easy to touch the contact net at the upper part of the railway line, and serious potential safety hazard exists in the operation; other modes of single-point or two-point lifting are not applicable to replacement parts with large length and volume, and the weight of the large-sized circuit parts is completely transferred to the circuit through the bogie after lifting, so that the circuit is greatly damaged. The gantry crane widely applied to the hoisting industry at present has the following technical defects:
1) Because of the huge structure, the operation is inflexible, and the rail line is not easy to carry to the site operation of the rail line;
2) The height and width spacing of the gantry crane support legs cannot be adjusted, the transverse span spacing is fixed, the height from the ground is fixed, and the gantry crane support legs are difficult to adapt to complex working conditions of different heights on the ground and different widths of lines on site;
3) The single gantry crane cannot adapt to the replacement requirement of parts with different lengths, and has large occupied space, large mass and inconvenient transportation and placement;
4) The safety risk exists, the operation efficiency is low, the integration degree of transportation, arrangement and operation flow is not high, and meanwhile, the adjacent line occupation construction and the out-of-limit operation possibility exist in the operation process.
In the prior art, the following technical schemes are mainly related to the invention:
The prior art1 is a Chinese patent of the utility model with the bulletin number of CN203950150U, which is applied by Shaanxi Jiangfeng construction engineering Co., ltd in 29 of 2014 in 04 and announced in 11 of 2014 in 19. The utility model discloses a group crane synchronous control system, which comprises a control terminal, a main controller, a sub-controller and a remote monitoring computer, wherein the main controller is used for executing a command of the control terminal and receiving information fed back by the sub-controller; the sub-controllers are used for executing commands of the main controller and receiving information collected by the tension sensor; the control terminal, the main controller and the remote monitoring computer adopt a wireless communication control mode; the main controller receives a control instruction sent by the remote monitoring computer, and controls the forward rotation/reverse rotation/stop of all electric hoist motors; an A/D converter is arranged to collect the output signal of the tension sensor, and the output signal is sent to the singlechip through an SPI interface, converted into a tension signal and then sent to a remote monitoring computer to be displayed to a user. The system is convenient to operate, improves the safety performance of the group suspension system, alarms in overload stop, has response speed of millisecond, and is particularly suitable for the working environment with blocked view of suspension operation and easy collision and scraping.
However, the synchronous control system of the group crane in the prior art 1 is applied to the building industry, the control object is a tower crane, the synchronous control precision requirement is not high, the system integration degree is low, and the operation and maintenance are inconvenient.
Disclosure of Invention
Therefore, the invention aims to provide an intelligent control system for lifting a railway line gantry, which solves 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 purpose, the present invention specifically provides a technical implementation scheme of an intelligent control system for gantry crane of railway line, which comprises: the system comprises a wireless control system, a door hanging device, a lifting platform, a first flat car and a second flat car, wherein the first flat car is used for transporting the door hanging device and the lifting platform, and the second flat car is used for transporting circuit components. When the line parts are replaced, the door hanging devices and the lifting platforms are transported to the operation site through the first flatcar according to the lifting requirements. After the door lifting device arrives at an operation site, the lifting platform is controlled by the wireless control device to deploy the door lifting device in place according to the position and the sequence, the first flat car drives away, and the small support leg leveling control is performed according to the inclination of the door lifting device. And carrying out wireless synchronous cooperative control on the deployed gantry crane by using a wireless control device so as to finish the hoisting operation of the circuit components. During operation of the gantry crane, traversing and lifting of the line components are synchronously controlled. After the lifting operation is completed, the first flat car enters, the door lifting device is recovered and fixed on the door lifting device, and the first flat car drives away.
Further, the wireless control system comprises a wireless control device, a door hanging 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 door hanging device control system and the lifting platform control system 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 performs operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, and can send the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and the processor outputs the calculation result meeting the control logic requirement and the 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 corresponding mechanism of the door hanging device or the lifting platform through the driver. The sensor acquires detection data of a corresponding mechanism of the door hanging 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 transmits the data to the wireless networking central node module.
Further, the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller and then executes corresponding actions. And the wireless networking sub-node modules transmit data to the wireless networking central node module, and the wireless networking central node module receives the data in a queuing polling mode.
Further, the operation instructions of the door hanging device comprise lifting and traversing of the hanging device, lifting and traversing 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.
Further, in the process of transporting the door hanging device by the first flat car, the wireless control device can enter a transportation mode through selection, and the fixed locking condition of the door hanging device and the lifting platform is monitored in real time through the display.
Further, after the gantry crane and the circuit components required by the operation are transported to the operation site, the wireless control device can enter a deployment mode through selection, buttons of a lifting platform control area and a gantry crane control area on the control panel are operated, then a processor carries out control logic operation according to operation instructions and states of the gantry crane and the lifting platform, clamping, supporting leg transverse movement, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform on the gantry crane are realized, and finally safe deployment of a plurality of gantry cranes from a first trolley to a track pavement is realized.
Further, after the door hanging device is deployed, the wireless control device can enter an operation mode through selection, a button of a control area of the door hanging device is operated, then a processor carries out control logic operation according to an operation instruction and the state of the door hanging device, the supporting leg lifting, the small supporting leg lifting, the lifting and transverse movement, the lifting and the lifting, the lifting and unlocking actions of the door hanging devices which are selected to be used are cooperated, the real-time position and the load of each door hanging device are subjected to negative feedback adjustment, and finally the stable replacement operation of circuit components is realized.
Further, when the door hanging device is deployed, the wireless control device can control the lifting platform to ascend through the wireless control device by selecting to enter a deployment mode until the door hanging device is lifted and separated from the installation plane of the first flat car, the ascending action is stopped, and an operator is prompted to clamp and lock the door hanging device. The clamping locking mechanism of the lifting platform is controlled by the wireless control device to lock the door hanging device, and after the clamping locking signal is monitored, the lifting platform is operated to continuously ascend, and the ascending height is controlled by an operator. When the lifting platform rises to the highest position, the wireless control device controls the lifting platform to rotate, 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 operation platform longitudinal movement button until the laser line on the door hanging device is aligned with the ground mark, and meanwhile, the support leg is controlled to transversely move to the position above the track pavement through the operation support leg transverse movement button, so that the door hanging 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 locking mechanism is unlocked. The landing leg one-key ground touching button on the control panel is operated, and meanwhile, each small landing leg is driven to extend out through small moment and respectively contact with the ground, so that the whole door hanging device cannot be supported, and the purpose of no virtual legs is achieved. And the small supporting legs are operated to synchronously extend or the platform descends until the door hanging device is separated from the lifting platform. And operating a supporting leg one-key leveling button on the control panel, and automatically telescoping each supporting leg and each small supporting leg to adjust the transverse levelness and the longitudinal levelness of the door hanging device to be smaller than set values, so as to finish leveling the door hanging device and finish deployment of the first door hanging device. The second door hanging device is lifted to the highest position through the wireless control device, the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the deployment position of the second door hanging device through the first flatcar, the deployment of the second door hanging device is completed, and the deployment of other door hanging devices is completed.
Further, the door lifting device comprises a lifting device, wherein the lifting device comprises a traversing running mechanism and a lifting hook connected with the traversing running mechanism and used for lifting a line component. And before the lifting and placing of the circuit component, the lifting hook is unlocked, and the transverse moving mechanism is unlocked through the wireless control device. The second flat car enters the appointed operation area, and longitudinal alignment is completed according to the laser line on the gantry crane device, so that the alignment of the end part of the circuit component on the second flat car and the end part of the circuit component to be replaced is realized. The wireless control device synchronously controls the traversing mechanisms of the gantry cranes to move to the designated positions, controls the lifting hooks to descend, and finely adjusts the positions of the traversing mechanisms to enable the traversing mechanisms to be positioned right above lifting points. After the lifting hook hooks the circuit component, the lifting rope of the lifting hook is in a loose state, and the lifting hook of each door lifting 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 lifting button on the control panel to synchronously lift the circuit component to a specified height; and operating synchronous traversing buttons on the control panel according to the requirement to control synchronous traversing of all lifting hooks. In the hoisting process, whether each hoisting device is synchronous or not is judged by monitoring the lifting displacement, the transverse displacement and the lifting hook pulling force of each hoisting device, if the pulling force or the lifting displacement or the transverse displacement of a certain lifting hook is detected to be greatly different from other hoisting devices in the operation period, the actions of all the hoisting devices are immediately stopped, and an operator is reminded to carry out independent control through abnormal parts and parameters prompted by a display, and the synchronous action is continued after the hoisting devices are adjusted to reasonable positions. After the circuit component is lifted, the second trolley drives away from the operation area, and the circuit component is placed at a designated position through synchronous control, so that the placement of the circuit component is completed.
Further, when the door lifting device is recovered, the lifting hook and the traversing mechanism are locked in zero positions. The first flatcar transportation lifting platform enters the lower part of the door hanging device in the operation area, the wireless control device controls the lifting platform to longitudinally move, the fine adjustment lifting platform and the door hanging device finish alignment, and the lifting platform continuously rises until the small supporting leg of the door hanging device is lifted to be separated from the ground. And prompting an operator to perform clamping and locking operation of the door hanging device, and controlling a clamping and locking mechanism of the lifting platform to lock the door hanging device through the wireless control device to finish clamping and locking. The first door hanging device is recovered by operating the one-key recovery button of the supporting leg to control the door hanging device to rapidly recover the supporting leg and the small supporting leg and transversely move to the respective zero locking positions. The lifting platform is controlled by the wireless control device to lift the first door hanging device to the highest position, then the lifting platform is controlled to rotate 180 degrees, and the lifting platform is transported to the lower part of the second door hanging device through the first flatcar, so that the second door hanging device is recovered. The lifting platform is controlled to ascend by wireless remote control, the two door hanging devices are lifted to the highest position, 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 mechanisms at all moving parts of the door hanging devices are operated to lock. And after all the door hanging devices are recovered and locked in sequence, the mode selection buttons on the control panel are switched to a transportation mode, so that the locking states of the door hanging devices and the lifting platform are monitored before and during transportation.
Further, before the door hanging devices are deployed and placed, a laser switch and an illumination switch on each door hanging device control box are turned on; and manually releasing the locking rope and the positioning pin of the door hanging device on the first flat car. Manually unlocking the supporting leg and the small supporting leg of the door hanging device; and the lifting, rotating and longitudinally moving mechanism of the lifting platform is manually unlocked.
Further, a tilt sensor is arranged on the truss of the door hanging device, and tilt state data of the door hanging device are acquired through the tilt sensor after the door hanging device is deployed. When a small supporting leg of the door hanging device sinks to cause the door hanging device to incline, the processor calculates the lifting heights of the other small supporting legs according to the inclination state data so as to realize the leveling of the door hanging device and avoid the occurrence of the phenomenon of virtual legs.
By implementing the technical scheme of the intelligent control system for the gantry crane of the railway line, provided by the invention, the intelligent control system has the following beneficial effects:
(1) The intelligent control system for gantry lifting of the railway line can realize the whole flow control of a plurality of gantry lifting devices by utilizing the wireless control device, solves the problems of real-time control of the operation processes of transportation, deployment, lifting, recovery and the like of the gantry lifting devices, and control problems of safety interlocking, multi-machine synchronization, emergency measures and the like, has high operation efficiency and safety, is low in cost and is convenient to operate and control;
(2) The intelligent control system for lifting the railway line gantry is suitable for replacing a whole group of turnouts and replacing single switch rails, switch centers and the like, and can realize the carrying, placement, position adjustment and replacement of various line components with different lengths through the wireless reconnection consistency control of actions such as synchronous transverse movement, lifting and the like in the lifting process of a plurality of gantry crane combinations;
(3) According to the intelligent control system for the gantry crane of the railway line, through real-time safety interlocking monitoring of the plurality of gantry cranes and the lifting platform in the transportation process, cooperative operation and safety interlocking of the gantry cranes and the lifting platform in the recovery process of the gantry cranes, locking real-time monitoring of the gantry cranes and the lifting platform, emergency control measures and intelligent fault maintenance under various fault conditions, the safety of the operation process is ensured to the maximum extent;
(4) According to the intelligent control system for lifting the gantry of the railway line, the supporting legs of the gantry lifting device are arranged on two sides of the railway line in a crossing way, the line parts are replaced without occupying adjacent line space, the safety risk of operation overstepping is avoided, the operation is flexible, and the intelligent control system can well adapt to the operation requirements under the working condition of complex lines; meanwhile, the door hanging device has the advantages of simple structure, small occupied space, light weight, high reliability, convenient maintenance and repair, low manufacturing cost and high operation efficiency;
(5) The intelligent control system for lifting the railway line gantry has the functions of transversely moving, lifting and leveling the supporting legs, wherein the transverse span distance and the height from the ground of the supporting legs are adjustable, the functions of meeting the requirements of different road ground working conditions can be met, the placement and the recovery of the gantry can be realized through the lifting platform, the height is adjustable, and the risk of touching the contact net in the lifting process is avoided;
(6) The intelligent control system for the gantry lifting of the railway line intelligently controls each operation link of a plurality of gantry lifting devices through integrated wireless intelligent control, and can solve the technical problems of intelligent control of operation processes such as transportation, deployment, lifting, recovery and the like, multi-machine synchronization, safety monitoring and the like; the door hanging devices and the lifting platform flatcar are contacted with the ground by one key when deployed, so that dangerous phenomena such as virtual legs and the like are avoided; the door hanging devices are cooperated with the lifting platform in the deployment process, and the plurality of door hanging devices are hung in one-key tensioning mode, so that uneven stress of group hanging and even deformation of a hung object can be avoided; when the door hanging device is recovered, the control system is provided with a one-key recovery function, so that the technical problems of long time and low efficiency of one-by-one operation and recovery of a plurality of supporting legs are avoided; the door hoist and mount are placed on the track road surface, and real-time supervision truss levelness can effectively avoid the uneven ground bearing capacity, like pit slope even the problem of toppling after loading.
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 evident that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be obtained for a person skilled in the art without inventive effort.
FIG. 1 is a block diagram of a system architecture of a wireless control system in a specific embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 2 is a schematic block diagram of the operating mechanism control of the intelligent control system for gantry crane in railway line according to the present invention, which is a wireless control system in a specific embodiment;
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 gantry crane in a railway line of the present invention;
FIG. 4 is a block diagram of a system architecture of a lift platform control system in a specific embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 5 is a schematic diagram of a three-dimensional structure of a wireless control device in a specific embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 6 is a schematic plan view of a control panel of a wireless control device in an embodiment of the intelligent control system for gantry crane in railway lines of the present invention;
FIG. 7 is a block diagram of a transport-deployment-operation-recovery flow of an embodiment of the intelligent control system for gantry crane for railway lines of the present invention;
FIG. 8 is a schematic diagram of a transportation structure of a gantry crane in one embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 9 is a schematic diagram of a transportation structure of a gantry crane in another view angle in an embodiment of the intelligent control system for gantry crane in a railway line according to the present invention;
FIG. 10 is a schematic diagram of a door lifting device (with the front shielding removed) in a specific embodiment of the intelligent control system for rail line gantry lifting according to the present invention;
FIG. 11 is a schematic view of the partially enlarged construction of FIG. 10 according to the present invention;
FIG. 12 is a schematic view of a partially enlarged construction of another portion of FIG. 10 in accordance with the present invention;
FIG. 13 is a schematic view of a lifting mechanism of a gantry crane in one embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 14 is a schematic view of a traversing mechanism of a gantry crane in one embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 15 is a schematic diagram of a leg traversing mechanism of a door lifting device in a specific embodiment of the intelligent control system for gantry lifting in railway lines of the present invention;
FIG. 16 is a schematic view of the lower leg structure of a gantry crane in one embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 17 is a schematic view of a hoisting structure of a single gantry crane in one embodiment of the intelligent control system for gantry crane in railway lines of the present invention;
FIG. 18 is a schematic view of a hoisting structure of a plurality of gantry cranes in one embodiment of the intelligent control system for gantry crane in a railway line of the present invention;
FIG. 19 is a schematic diagram of an embodiment of the intelligent control system (without the wireless control system) for gantry crane in railway lines of the present invention;
FIG. 20 is a flow chart of a method of operation of an embodiment of the intelligent control system for gantry crane in accordance with the present invention;
FIG. 21 is a schematic diagram of a door lifting device transport (first flatcar transport) step in one embodiment of the intelligent control system for rail line gantry lifting of the present invention;
FIG. 22 is a schematic illustration of a door lifting device deployment (first flatcar withdrawal) step in one embodiment of the intelligent control system for rail line gantry lifting of the present invention;
FIG. 23 is a schematic illustration of a new line component unloading (second train removal) step in an embodiment of the intelligent control system for rail line gantry crane according to the present invention;
FIG. 24 is a schematic illustration of a gantry crane lifting step in one embodiment of the intelligent control system for gantry crane lifting for railway lines of the present invention;
FIG. 25 is a schematic diagram of a second flatcar drive-in step in one embodiment of the intelligent control system for gantry crane in railway lines of the present invention;
FIG. 26 is a schematic diagram of the old line component recovery (first flatcar ingress) step of an embodiment of the intelligent control system for rail line gantry crane of the present invention;
FIG. 27 is a schematic illustration of a door lifting device recovery step in one embodiment of the intelligent control system for rail line gantry lifting of the present invention;
FIG. 28 is a program flow diagram of the gantry crane leg traversing control logic in one embodiment of the intelligent control system for rail track gantry crane of the present invention;
FIG. 29 is a program flow diagram of the gantry crane leg traversing control logic in one embodiment of the intelligent control system for rail track gantry crane of the present invention;
FIG. 30 is a flow chart of the process of the door lifting and traversing control logic of a door lifting device in one embodiment of the intelligent control system for railway line gantry lifting according to the present invention;
FIG. 31 is a program flow diagram of the lifting control logic of the gantry crane in one embodiment of the intelligent control system for gantry crane in railway lines of the present invention;
In the figure: 1-small support leg, 2-left lower support leg, 3-left upper support leg, 4-truss, 5-annular chain, 6-lifting hook, 7-lifting mechanism, 8-traversing running mechanism, 9-right upper support leg, 10-right lower support leg, 11-load beam, 12-lifting driving motor, 13-speed reducer, 14-first transmission gear, 15-second transmission gear, 16-annular chain, 17-mounting box, 18-traversing driving motor, 19-first speed reducer, 20-running wheel, 21-driving sprocket, 22-driven sprocket, 23-running rail, 24-slotted hole, 25-slider, 26-guide rail, 27-mounting plate, 28-traversing driving motor, 29-second speed reducer, 30-driving gear, 31-driven gear, 32-first rack, 33-second rack, 34-lead screw, 35-lead screw nut, 36-lead screw bearing, 37-telescopic square tube, 38-fixed square tube, 39-supporting square tube, 40-beam, 41-lifting driving motor, 42-third decelerator, 43-power device, 44-clamping locking mechanism, 45-locating pin, 46-longitudinal moving mechanism, 47-locking rope, 48-lifting device, 49-accumulator, 100-door lifting device, 200-lifting platform, 300-first flatcar, 400-second flatcar, 500-new line component, 600-old line component, 700-lifting appliance, 800-stock rail, 900-track pavement (roadbed), 1000-railcar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 31, an embodiment of the intelligent control system for gantry lifting in railway line according to the present invention is shown, and the present invention will be further described with reference to the drawings and the embodiment.
At present, most of hoisting equipment for replacing large parts (such as turnout parts, track plates, steel rails and the like) on a track line 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 railway lines, the embodiment of the invention provides an intelligent control method and system for gantry hoisting of railway lines, which particularly adopts an intelligent gantry crane 100 (gantry crane) with adjustable span and height, and simultaneously utilizes an integrated intelligent wireless remote control device to intelligently control each operation link (including transportation, deployment, hoisting and recovery) of a plurality of gantry cranes 100. The specific embodiment of the invention also provides a rail line gantry lifting wireless control system based on rail flatcar transportation, and the intelligent wireless control device is adopted to control the plurality of gantry lifting devices 100 and the lifting platform 200 to carry out cooperative operation, so that the safe and stable operation of railway rail line laying and field maintenance is finally realized. The embodiment of the invention also provides a door hanging device 100 applied to the intelligent control system for the gantry crane of the railway line. The following specific embodiments take railway turnout paving operation as an example, and the intelligent control system for lifting the railway line gantry of the invention is described in detail.
Example 1
The embodiment of the intelligent control system for gantry lifting of the railway line comprises the following specific steps: a wireless control system, a door hanger 100, a lifting platform 200, a first carriage 300 and a second carriage 400 (the first carriage 300 and the second carriage 400 are collectively referred to as a rail carriage). The first flatcar 300 is used for transporting the gantry crane 100 and the lifting platform 200, and the second flatcar 400 is used for transporting 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 unit 43.
As shown in fig. 19, which is a schematic diagram of a transportation structure of an intelligent control system for gantry crane in a railway line, the gantry crane 100 and the lifting platform 200 are both disposed on the first flatcar 300, the gantry crane 100 is further fixed on the lifting platform 200, and the lifting platform 200 has a lifting and rotating function. A new line member 500 for replacement is placed on the second carriage 400.
When the line parts are replaced, the plurality of gantry cranes 100 and the lifting platform 200 are transported to the operation site through the first flatcar 300 according to the hoisting requirement. After reaching the operation site, the lifting platform 200 is controlled by the wireless control device to deploy the gantry crane 100 in place according to the position and sequence, and the first flatcar 300 is driven away. The deployed gantry crane 100 is wirelessly and synchronously controlled cooperatively by a wireless control device to complete the hoisting operation of the line components. After the lifting operation is completed, the first wagon 300 enters and the door lifting device 100 is recovered and fixed thereto, and the first wagon 300 is driven away.
The door hanger 100 placed on the first flatcar 300, and the new course member 500 placed on the second flatcar 400 are transported to the construction area by the power of the railcar 1000. Wherein, in the process of transporting the door lifting device 100 by the first flatcar 300, the wireless control device can enter a transportation mode through selection, and monitor the fixed locking condition of the door lifting device 100 and the lifting platform 200 in real time through a display. After reaching the designated construction area, the gantry crane 100 places the legs on both lateral sides of the gantry crane 100 in the designated area of the roadbed 900 on both sides of the stock rail 800 by the lifting and rotating actions of the lifting platform 200 on the first flatcar 300.
Before the gantry crane 100 is deployed, the laser switches and illumination switches on each gantry crane control box are turned on. The locking rope 47 and the positioning pin 45 of the door hanger 100 on the first flatcar 300 are manually released. The legs and small legs 1 of the door hanger 100 are manually unlocked. The lifting, rotating and longitudinally moving mechanism of the lifting platform 200 is manually unlocked.
After the gantry crane 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, the buttons of the lifting platform control area and the gantry crane control area on the control panel are operated, then the processor performs control logic operation according to the operation instructions and the gantry crane and lifting platform states, so that the clamping, supporting leg transverse movement and lifting, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform 200 on the gantry crane 100 are realized, and finally, the safe deployment of a plurality of gantry cranes 100 from the first flatcar 300 to the track pavement (roadbed) 900 is realized.
After the door hanging device 100 is deployed, the wireless control device can select to enter an operation mode, operate a button of a door hanging device control area, and then perform control logic operation by a processor according to an operation instruction and the door hanging device state, so that the supporting leg lifting, the small supporting leg lifting, the lifting and traversing, the lifting and the lifting, the lifting and unlocking actions of the door hanging devices 100 selected to be used are cooperated, and meanwhile, the real-time position and the load of each door hanging device 100 are subjected to negative feedback adjustment, and finally, the stable replacement operation of circuit components is realized.
When the gantry crane 100 is deployed (deployment mode), the wireless control device can control the lifting platform 200 to lift by the wireless control device by selecting to enter the deployment mode until the gantry crane 100 is lifted and separated from the installation plane of the first flatcar 300, stop the lifting action, and prompt the operator to perform the clamping and locking operation of the gantry crane 100. The clamping locking mechanism 44 of the lifting platform 200 is controlled by the wireless control device to lock the door lifting device 100, and after the clamping locking signal is monitored, the lifting platform 200 is operated to continuously lift, and the lifting height is controlled by an operator. When the door hanger 100 is lifted to the highest position, the lift platform 200 is controlled to rotate by the wireless control device, and when the rotation of the lift platform 200 to the 90 ° signal is detected, the rotation of the lift platform 200 is stopped. The lifting platform 200 is controlled to longitudinally move by operating the platform longitudinal movement button until the laser line on the door hanging device 100 is aligned with the ground mark, and the supporting leg is controlled to transversely move to the position above the track pavement 900 by operating the supporting leg transverse movement button, so that the door hanging device 100 is placed and aligned. The lifting platform 200 is controlled to descend and the support legs are controlled to extend through the wireless control device, 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 extension stroke of the support legs and smaller than the extension stroke of the small support legs 1, for example, when the lifting platform is 200 mm from the ground, the small support legs 1 can extend at least more than 200 mm), and then the clamping and locking mechanism 44 is unlocked. The landing leg one-key grounding button on the control panel is operated, meanwhile, through small moment driving (for example, 20% -30% of rated current is provided for a driving motor of the small landing leg 1, the rotating moment of the small landing leg is only 20% -30% correspondingly, when the landing leg stretches to contact the ground, the moment is small, and the small landing legs 1 are not enough to prop up the whole door hanging device 100) to stretch out and respectively contact the ground, so that the whole door hanging device 100 cannot be supported (for example, when one small landing leg 1 firstly touches the ground and the other three small landing legs 1 do not touch the ground yet, the small landing leg 1 firstly touches the ground and automatically stops stretching, and after the other three small landing legs 1 respectively touch the ground, the whole small landing leg 1 automatically stops stretching), so that the purpose of no virtual landing leg is achieved. The small leg 1 is operated to synchronously continue to extend or the lifting platform 200 descends until the door lifting device 100 is separated from the lifting platform 200. The landing leg one-key leveling buttons on the control panel are operated, and each landing leg and the small landing leg 1 automatically stretch out and draw back to adjust the horizontal levelness and the longitudinal levelness of the door hanger 100 to be smaller than the set values, so that the leveling of the door hanger 100 is finished, and the deployment of the first door hanger 100 is finished at the moment. The lifting platform 200 is transported by the first flatcar 300 to the deployment location of the second gantry crane 100. The wireless control device controls the lifting platform 200 to lift the second gantry crane 100 to the highest position, and after the lifting platform 200 is controlled to rotate 180 degrees, the first flatcar 300 transports the lifting platform 200 to the deployment position of the second gantry crane 100, so that the deployment of the second gantry crane 100 is completed, and the deployment of other gantry cranes 100 is completed.
The truss 4 of the door hanging device 100 is provided with an inclination sensor, after the door hanging device 100 is deployed, inclination state data of the door hanging device 100 are obtained through the inclination sensor, when a small supporting leg 1 of the door hanging device 100 is sunk to cause the door hanging device 100 to incline, and a processor calculates lifting heights of the other small supporting legs 1 according to the inclination state data, so that the door hanging device 100 is leveled, and a virtual leg phenomenon is avoided. After the gantry crane 100 is placed, the gantry crane 100 may tilt and topple due to different ground bearing capacities, so that the present embodiment provides a tilt sensor and a bubble level on the gantry crane 100. The inclination sensor is used for monitoring inclination angle change in real time, and the bubble level is used for visual confirmation when the inclination sensor fails or is judged by mistake. When a certain supporting leg of the door hanging device 100 supports the ground to bear sinking so as to enable the door hanging device 100 to incline, the inclination sensor feeds back to the controller after monitoring the inclination angle, when the inclination angle is larger than a certain value, the door hanging device 100 alarms and prompts on a display, and meanwhile, the controller calculates lifting data of other supporting legs of the door hanging device 100 so as to control the door hanging device 100 to level and avoid overturning caused by virtual legs.
The door hanger 100 includes a lifting device 48, and the lifting device 48 includes a traversing mechanism 8, and a hook 6 connected to the traversing mechanism 8 for lifting a line member. The lifting hook 6 is connected to a lifting appliance 700, which lifting appliance 700 is used for clamping line components. When the (new) line member 500 is lifted and placed (working mode), the hook 6 is manually unlocked, and the traversing running mechanism 8 is unlocked by the wireless control device. The second carriage 400 is driven into the designated work area to perform longitudinal alignment according to the laser line on the gantry crane 100 to achieve alignment of the (new) line component 500 end on the second carriage 400 with the (old) line component 600 end to be replaced. The wireless control device synchronously controls the traversing mechanisms 8 of the gantry cranes 100 to move to the designated positions, controls the lifting hooks 6 to descend, and finely adjusts the positions of the traversing mechanisms 8 so that the traversing mechanisms 8 are positioned right above lifting points. . After the lifting hook 6 hooks the circuit component, the lifting rope (namely the loop chain 16) of the lifting hook 6 is in a loose state, and the lifting hook 6 of each door lifting device 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-hanging operation of the four gantry crane apparatuses 100 as an example, in actual operation, the hoisting ropes of the hooks 6 of the four gantry crane apparatuses 100 should be loosened first to facilitate clamping. After the line components are clamped, the lifting ropes of each lifting hook 6 are in a loose state, at this time, the loose amount of the lifting ropes of each lifting hook 6 is not completely consistent, if the lifting is directly synchronous, the situation that the lifting ropes of part of the lifting hooks 6 are tensioned first and the lifting ropes of other lifting hooks 6 are not stressed easily occurs, and if the lifting is continued, the lifting device 48 is overloaded and the lifting line components are deformed. Thus, the hoisting drive motor 12 must be supplied with 20-30% of the current drive first, i.e. only 20-30% of the hoisting force is insufficient to hoist the line components, only to tension the hoisting ropes of each hook 6 (eliminating the previous slack). After the hoisting ropes of all the hooks 6 are tensioned, 100% of the moment is provided synchronously again to synchronously hoist the line components. Operating a synchronous lifting button on the control panel to synchronously lift the circuit component to a specified height; and during the process, the synchronous transverse movement buttons on the control panel are operated according to the requirement, so that all the lifting hooks 6 are controlled to synchronously transversely move. In the hoisting process, whether each hoisting device 48 is synchronous or not is judged by monitoring the lifting displacement, the transverse displacement and the pulling force of the lifting hook 6 of each hoisting device 48, if the pulling force or the lifting displacement or the transverse displacement of one lifting hook 6 is detected to be greatly different from the pulling force or the lifting displacement of other hoisting devices 48 in the operation period, all the hoisting devices 48 are immediately stopped, and an operator is reminded to carry out independent control through abnormal parts and parameters prompted by a display, and the synchronous action is continued after the hoisting devices 48 are adjusted to a reasonable position. After the new line component 500 (new switch) is lifted, the second carriage 400 is driven away from the working area, and the new line component 500 is placed at a designated position by synchronous control, thereby completing the placement of the new line component 500.
The new line member 500 is lifted and placed, the old line member 600 (old road turnout) is lifted out, the new line member 500 is lifted in, and the old line member 600 is lifted and placed on the rail car according to the above-described new line member 500 lifting and placing steps. During operation, the display of the wireless control device displays information such as lateral movement, vertical displacement, hook tension, and lateral tilt angle of the gantry crane 100 for each crane 48.
When the door hanger device 100 is retracted (retraction mode), the hook 6 and the traversing mechanism 8 are locked in the zero position. The first flatcar 300 transports the lifting platform 200 to enter the lower part of the gantry crane 100 in the working area, the wireless control device controls the lifting platform 200 to longitudinally move, the fine adjustment of the lifting platform 200 and the gantry crane 100 is completed, and the lifting platform 200 continues to rise until the small support legs 1 of the gantry crane 100 are lifted off the ground. The operator is prompted to perform the clamping and locking operation of the door hanging device 100, and the clamping and locking mechanism 44 of the lifting platform 200 is controlled by the wireless control device to lock the door hanging device 100, so that the clamping and locking is completed. The door hanger 100 is controlled to quickly retract the legs and the small legs 1 by operating the one-key retraction button of the legs and transversely move to the respective zero locking positions, thereby completing the retraction of the first door hanger 100. The lifting platform 200 is controlled by the wireless control device to lift the first door hanging device 100 to the highest position, then the lifting platform is controlled to rotate 180 degrees, and the lifting platform 200 is transported to the lower part of the second door hanging device 100 by the first flat car 300, so that the recovery of the second door hanging device 100 is completed. The lifting platform 200 is controlled to ascend by wireless remote control, the two door hanging devices 100 are lifted to the highest position, the lifting platform 200 is controlled to rotate 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 of all the movement parts of the door hanging devices 100 are operated to lock. And after the recovery of other door hanging devices 100 is completed, all the door hanging devices 100 are recovered and locked in sequence, the mode selection buttons on the control panel are switched to the transportation mode, so that the locking states of the door hanging devices 100 and the lifting platform 200 can be monitored before and during transportation.
The operation functions of the door hanger 100 include a hanger operation and a leg operation. The lifting device 48 has a traversing and lifting function, is 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 extension and the transverse movement of the left supporting leg and the right supporting leg, the transverse movement and the extension movement of each supporting leg are respectively realized through two motors, and the system structure function implementation mode is shown in the attached figure 2.
Landing leg telescopic sideslip control logic: the telescopic and traversing control of the supporting leg is the control of a single gantry crane 100, the synchronous control of a plurality of gantry cranes 100 is not needed, and the self logic judgment is only needed, wherein the control logic is shown in fig. 28 and 29.
When the landing leg telescopic button is opened, if any one of a landing leg locking signal, a landing leg limiting signal, a motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device performs alarm display. If any one of the leg locking signal, the leg limit signal, the motor fault signal, the battery fault signal, and the scram signal is not detected, the lift driving motor 41 is operated, and it is determined whether the lateral inclination angle of the gantry crane 100 is less than or equal to a set value. If so, it is determined whether the leg height is equal to the set value, and if not, the lift drive motor 41 continues to operate until the lateral tilt angle is less than or equal to the set value. If the leg height is equal to the set value, the operation of the lift drive motor 41 is stopped, and if the leg height is not equal to the set value, the operation of the lift drive motor 41 is continued.
When the supporting leg transverse movement button is opened, if any one of a supporting leg transverse movement locking signal, a transverse movement limiting signal, a transverse movement driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device carries out alarm display. If any of the leg traverse lock signal, traverse limit signal, traverse drive motor fault signal, battery fault signal, and scram signal is not detected, traverse drive motor action 28 is continued until it is in place.
Synchronous lifting and transverse movement control logic of the lifting device: the traversing control of the lifting device 48 requires the synchronous action of a plurality of door lifting devices 100, the detected signals are signals of 8 door lifting devices 100, and as long as one door lifting device 100 does not meet the action condition, the processor stops sending the operation command and prompts the fault information, and the control logic is shown in fig. 30 and 31.
When the lifting transverse movement button is opened, 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 detected, the wireless control device carries out alarm display. If any one of the lifting device traversing locking signal, traversing limiting signal, traversing driving motor fault signal, storage battery fault signal and emergency stop signal is not detected, judging whether all the door lifting devices 100 are in normal communication, wherein the transverse inclination angle is smaller than or equal to a set value, the lifting hook pulling force is smaller than or equal to a set value, and the lifting driving motor 12 does not act. If all conditions are met, the lateral drive motor 18 is operated. If any condition is not satisfied, the wireless control device performs alarm display.
When the lifting hook lifting button is opened, if any one of a lifting hook lifting 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 carries out alarm display. If any one of the lifting hook lifting in-place signal, lifting driving motor fault signal, storage battery fault signal and emergency stop signal is not detected, judging whether all the door lifting devices 100 are normal in communication, wherein the transverse inclination angle is smaller than or equal to a set value, the lifting hook pulling force is smaller than or equal to a set value, and the transverse driving motor 18 does not act. If all conditions are satisfied, the hoist drive motor 12 is operated. If any condition is not satisfied, the wireless control device performs alarm display.
Example 2
An embodiment of a wireless control system applied to the intelligent control system for gantry crane of railway line according to embodiment 1, wherein the gantry crane 100 and the lifting platform 200 are control objects of the wireless control system for gantry crane of railway line. As shown in fig. 1,3 and 4, the rail line gantry crane wireless control system specifically includes: the wireless control device comprises a display, a control panel, a processor and a wireless networking center 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 lifting driving motor 12, a transverse driving motor 18, a transverse moving driving motor 28, a lifting driving 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 performs operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, and can send the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and the processor outputs the calculation result meeting the control logic requirement and the fault judgment information to the display. The controller receives the operation command from the wireless networking sub-node module, and controls the servo motor to drive the door lifting device 100 or the corresponding mechanism of the lifting platform 200 (including the lifting driving motor 12, the transverse driving motor 18, the transverse moving driving motor 28, the lifting driving motor 41 of the door lifting device 100, and the clamping locking mechanism, the lifting mechanism, the rotating mechanism, the longitudinal moving mechanism 46 and the like of the lifting platform 200) through the driver. The sensor collects detection data of the door hanging device or the corresponding mechanism of 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 transmits the data to the wireless networking central node module.
When the large parts of the track line are replaced, according to the requirement of a hoisting object, a plurality of door hanging devices 100, lifting platforms 200, hoisting tools (which can be omitted) and other materials are transported to the operation site through the track flatcar. The lift platform 200 is controlled using a wireless intelligent remote control system (i.e., a wireless control system) to deploy the plurality of gantry cranes 100 in position and sequence, the rail car is driven off, and then a lifting operation can be performed. The lifting operation is performed by performing wireless synchronous cooperative control on the arranged plurality of door hanging devices 100, after the lifting operation is completed, the rail flat car enters, the door hanging devices 100 are recycled to the rail flat car, and then the door hanging devices 100 are fixed on the rail flat car to drive away from the operation site.
The whole topology of the wireless intelligent remote control system based on gantry crane for railway track line is shown in figure 1. The system mainly comprises three parts of an integrated wireless control device, a door hanging device control system and a lifting platform control system. The wireless control device adopts an integrated control box structural design, and integrates a display, a control panel, a processor (main control CPU) and a wireless networking central node module M1 together in a hardware layer. The gantry crane control system is a generic term of a plurality of gantry cranes 100 (taking 8 as an example) local control systems, each gantry crane local control system comprises a wireless networking sub-node module (M1-1..n 1), a controller, a sensor, a servo motor, a driver thereof and other components, the wireless networking sub-node module respectively performs duplex communication with the wireless networking central node module, so as to realize data transceiving between the gantry cranes 100 and the wireless control devices, and further realize signal uploading such as sensor detection, servo motor state, power device monitoring and the like of the gantry cranes 100 and issuing of remote control instructions. Similarly, the lifting platform control system is a generic term of a plurality of local control systems (taking 2 as an example) of the lifting platforms 200, 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 respectively performs duplex communication with the wireless networking central node module, so as to realize data transceiving between the lifting platform 200 and a wireless control device.
The mechanism for duplex communication between the wireless networking sub-node module of the gantry crane control system and the central node of the wireless networking central node module of the lifting platform control system 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 simultaneously receive the operation instruction signals, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller and then executes corresponding actions. The wireless networking sub-node modules sequentially receive data by adopting a queuing polling mode, so that the time delay of one polling period is the sum of the time of transmitting signals by all wireless networking sub-node modules (n 1+ n 2) participating in networking. The operation instructions of the door hanging device comprise lifting and traversing of the hanging device, lifting and traversing 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 structure schematic diagram of the wireless control device adopting the integrated wireless remote control box structure is shown in fig. 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 man-machine interaction in the control process, and meanwhile, an illuminating lamp is arranged on the box cover, so that night operation is facilitated. The box body is mainly internally provided with devices such as a control panel, a main control CPU (i.e. a processor), a lithium battery, a wireless networking central node module and the like. The control panel schematic diagram is shown in fig. 6, and is mainly divided into three functional areas of a wireless control device, a door hanging device and a lifting platform, wherein the functional areas of the control panel are obviously divided, so that the control panel is convenient for an operator to use, and the operation efficiency can be effectively improved and misoperation can be reduced. It should be noted that, the function operation of the control panel may be implemented in the form of a physical switch, a button, or the like, or may be implemented in the form of a virtual touch key, and the wireless control device shown in fig. 5 and fig. 6 may implement various function operations in the form of a physical switch.
In addition to the above advantages, the wireless control device 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 wireless networking central node module CAN receive data and send the data to the processor through the CAN bus.
3) The processor can carry out logic operation according to various operation instructions and received data, and judges whether the control logic requirement of the intelligent control system for lifting the railway line gantry is met. And for the control logic operation result and instruction, the wireless networking central node module can be used for wirelessly transmitting signals. For the operation result and the fault information which meet the control logic, the fault information can be displayed through a (touch) display screen.
4) When the wireless control device is powered off, the software setting parameters of the wireless control device can be automatically saved and memorized, and related parameters do not need to be reset after the wireless control device is restarted.
5) Lifting and translation control functions of the door lifting device: according to the user instruction, the synchronous lifting and transverse synchronous translation control functions of the gantry crane devices 100 are realized by combining and controlling the gantry crane devices 100 through a processor and a wireless module (namely, a wireless networking center node module and a wireless networking sub node module are collectively called) in combination with each state quantity of the system.
6) Landing leg sideslip of door hanging device and a telescoping control function: according to the user instruction, the transverse movement and the telescopic function of the supporting legs of each door hanging device 100 are controlled by combining the processor and the wireless module by combining the state quantities of the system, and meanwhile, the lifting control function of the small supporting legs can be realized.
7) Rotation and lifting control function of the lifting platform: according to the user instruction, the rotation and lifting functions of each lifting platform 200 are controlled by combining the state quantities of the system through the processor and the wireless module.
8) Lifting platform adjusts door hanger position control function: according to the user instruction, the clamping actions of the lifting platforms 200 are controlled by combining the processor and the wireless module through combining the state quantities of the system, so that the position adjusting function of the gantry crane 100 is realized.
9) Locking driving and emergency safety functions: the locking state amounts are collected by the wireless module and the user is notified by the (touch) display screen. And in an emergency state, notifying each subsystem to enter the emergency state through the wireless module.
10 Data transmission function): the wireless control device can realize bidirectional transmission of data 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 plurality of gantry cranes 100 are the processes of transportation, deployment, hoisting and recovery, and modes of maintenance, safe guiding, manual operation, etc., as shown in fig. 7.
The following description is directed to a control method of a key operation process:
1) In the process of transporting the gantry crane by the rail flat car, the wireless control device can selectively enter a transportation mode, the fixed locking condition of the gantry crane 100 and the lifting platform 200 is monitored in real time, and the monitoring condition can be displayed to a driving driver through a display screen, so that the transportation safety of the gantry crane 100 is ensured.
2) After the gantry crane 100 and objects (such as line components and the like) required by operation are transported to an operation site, the wireless control device can select to enter an arrangement mode, and then the wireless control device carries out safe logic operation according to an operation command, the gantry crane state and the lifting platform state by operating buttons of a lifting platform control area and a gantry crane control area on a control panel, so that the actions of clamping the gantry crane 100 by the lifting platform 200, traversing and lifting the landing legs of the gantry crane, 90-degree rotation and lifting of the lifting platform and the like are realized, and finally, the safe deployment of a plurality of gantry cranes 100 from a transportation flat car to a railway line track pavement (namely a roadbed) 900 is realized.
3) After the door hanging device 100 is deployed, the wireless control device can select to enter an operation mode, and the wireless control device operates a button of a door hanging device control area on a control panel to perform safety logic operation according to an operation command and the door hanging device state, so that the coordinated operation of actions such as supporting leg lifting, small supporting leg lifting, lifting device traversing and lifting, lifting device unlocking and the like on the plurality of door hanging devices 100 which are selected to be used is realized, and meanwhile, the real-time position and load of each door hanging device 100 are subjected to negative feedback adjustment, 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 field large component is completed, the wireless control device can select to enter a recovery mode, and the door hanging device 100 can be recovered to the transportation flat car after the operation flow basically opposite to the deployment mode is performed.
The wireless control device has 4 control modes, namely: 1. safety oriented mode of operation: and performing linkage control according to the 'deployment, hoisting and recovery' sequence operation flow. 2. Manual operation mode: the front-to-back action flow is not differentiated, but safety-chain logic (no risk of device damage) to detect a single action is required. 3. Emergency mode: after the action command is input, a response action is directly output (preventing the sensor from being failed, the risk of damaging equipment exists, and a password is needed for entering). The wireless control device can perform intelligent man-machine interaction under a safety guiding mode to complete related operations of the 4 main operation links. When the intelligent operation condition required by the safety guiding mode can not be met on site due to special reasons, the emergency operation can be performed by switching into the manual mode. And when the man-machine interaction is carried out, carrying out real-time prompt on fault information which cannot meet the action conditions. In addition, the wireless control device is also provided with a maintenance mode which can be started when the door hanging device 100 and the lifting platform 200 are in fault or in a debugging stage, and related actions irrelevant to maintenance can be safely interlocked in the mode. When the wireless network fails, the local control mode of the door hanging device can be cut in, so that the purposes of emergency operation and emergency recovery of the door hanging device can be achieved. The intelligent control system for the gantry crane of the railway line, which is described in the embodiment of the invention, can control the group crane operation of a plurality of gantry cranes 100, and finally achieves the purposes of safe, stable and efficient operation.
The wireless control system for gantry lifting of the track line mainly comprises two control objects of the gantry lifting device 100 and the lifting platform 200, and can realize safe, stable and efficient control operation of the whole process (including transportation, deployment, lifting, recovery and other processes) of gantry lifting device group lifting when large parts on the track line are replaced. The wireless control system for gantry lifting of the track line adopts a wireless remote control mode, can effectively avoid close contact between operators and a door lifting device, can prevent equipment and materials from damaging the operators in the lifting operation process, and effectively ensures personal safety of the operators. The wireless control system can realize safety monitoring of the transportation process of the gantry crane 100 and safety interlocking control logic of the construction process, effectively ensure the safety of railway transportation and equipment, and ensure the safety construction of the operation process. The wireless control device adopts an integrated control box structural design, so that the number of wireless control devices required by the gantry crane 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 on the operation site is avoided, and the stability and the reliability of wireless communication are improved. The wireless module adopts a duplex communication mechanism and low time delay, so that the realization of a negative feedback real-time automatic regulation function in the cooperative operation process of the multi-door lifting device is ensured, and the stability of the material in the lifting operation is further improved. The safety guiding mode design of the wireless control device realizes the 'institutional' of the whole gantry lifting system use flow at the software level, thereby greatly simplifying the system operation difficulty, simultaneously reducing the possibility of manual misoperation and improving the field operation efficiency. The design of the manual operation mode and the 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 crane operation method based on the intelligent control system for rail line gantry crane according to embodiment 1 of the present invention specifically includes the following steps:
s101) the door hanger device 100 is retracted into the left leg and the right leg and is fixed on the first flat car 300 to be transported to the operation site, as shown in fig. 21;
S102) after the construction site is reached, the door hanging device 100 is deployed through the lifting platform 200, the left support leg and the right support leg of the door hanging device 100 extend and are supported to a track pavement, the leveling control of the small support leg 1 is carried out according to the inclination of the door hanging device 100 so as to adjust the levelness of the truss 4, and the first flatcar 300 is withdrawn, as shown in fig. 22;
S103) the door hanger 100 lifts up the new line member 500 placed on and transported to the lower side of the second carriage 400, and the second carriage 400 is withdrawn, as shown in fig. 23;
S104) the gantry crane 100 traverses the new line part 500 to one side of the line and the old line part 600 to the other side of the line after lifting, as shown in fig. 24;
S105) the gantry crane 100 lifts up and moves the new line part 500 onto the line, and lifts up the old line part 600, and the second carriage 400 is driven in, as shown in fig. 25;
S106) after the door hanger 100 places the old line part 600 on the second carriage 400, the second carriage 400 is driven away, as shown in fig. 26;
S107) the first flatcar 300 is driven in, the door hanger 100 is recovered to the first flatcar 300 by the lifting platform 200, and the first flatcar 300 is driven away to complete the paving of railway line components, as shown in fig. 27.
Wherein the traversing and lifting of the line member is synchronously controlled during operation of the gantry crane 100.
The number of the gantry crane 100 is determined according to the length of the line components, the plurality of gantry cranes 100 are deployed and recovered through the first flatcar 300 and the lifting platform 200, and the long railway line components are paved and replaced through the plurality of gantry cranes 100 in a multi-point synchronous operation. Meanwhile, the distance and the height between the left leg and the right leg of the door hanging device 100 can be adjusted to meet the requirements of different track pavement conditions. When the railway line component lifting operation is performed, the whole load of the door lifting device 100 acts on the roadbed 900 of the railway line through the small supporting 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 door lifting device 100 to the railway line is reduced.
The control cabinets are installed on the gantry crane 100 before the whole working vehicle starts, the main power switch on each gantry crane control cabinet is turned on, and the mode selection button on the wireless control device is driven to the transport mode position. The preparation work before the portal crane device 100 is placed is performed when the working vehicle is operated to a designated position on the working site, and the preparation work includes: opening a laser switch and an illumination switch on each door hanging device control cabinet; manually releasing the locking rope and the positioning pin of the door hanging device 100 on the rail flat car; unlocking the left and right legs and the left and right small legs of the door hanger 100 manually; the lifting, rotating and longitudinally moving mechanism 46 of the lifting 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 line according to the present invention as described in embodiment 1 specifically includes:
Truss 4;
A traversing mechanism 8 which is arranged on the truss 4 and can move transversely (in the direction shown as W in figure 10) along the truss 4 so as to adjust the hoisting position; the transverse moving mechanism 8 comprises a lifting mechanism 7, the lifting mechanism 7 can drive the loop chain 16 to vertically lift, a lifting appliance 700 is arranged at the tail end of the loop chain 16, and the lifting appliance 700 clamps the loop chain to realize the carrying of railway line components;
the left support leg and the right support leg are respectively movably arranged at the lower parts of the left end and the right end of the truss 4, and can transversely move along the truss 4 so as to adjust the transverse span of the door hanging device. The left support leg and the right support leg are arranged on two sides of a railway line in a straddling mode, adjacent line operation is not needed, and the risk of operation overstepping is avoided.
The left leg and the right leg can be lifted and lowered vertically (in the direction H shown in fig. 10) to adjust the height of the truss 4 from the lifting track pavement (i.e., the subgrade) 900.
The lower parts of the left support leg and the right support leg are respectively provided with a small support leg 1, and the fine adjustment and leveling functions of the left support leg, the right support leg and the door hanging device 100 can be realized through the small support legs 1. The small leg 1 can realize the height fine adjustment according to the flatness condition of the track pavement 900.
The railway line component laying gantry crane 100 described in embodiment 4 has a multifunctional self-adaptive characteristic, and the supporting legs on two lateral sides of the device are supported on the track pavement 900 on two sides of the line, and the supporting legs on two sides can be laterally moved, lifted and leveled so as to meet the operation requirements of different road ground working conditions. The two transverse supporting legs of the door hanging device 100 are supported on the left side and the right side of a line, new and old line parts are replaced in the hollow part of the door hanging device 100, the adjacent line space is not required to be occupied during line operation, the risk of touching a contact net is avoided, and ballast damage to the line is avoided. The landing leg of the gantry crane 100 has a traversing function, and can adapt to the working condition requirements of different ground widths on two sides of a line. The landing leg of the door hanger 100 has a vertical telescopic adjusting function, can be suitable for working conditions of different ground heights, and can lift circuit components to be replaced to different working heights.
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, the upper left leg 3 being vertically movable up and down with respect to the lower left leg 2. As shown in fig. 12, the right leg includes an upper right leg 9 connected to the truss 4, and a lower right leg 10 movably connected to the upper right leg 9, the upper right leg 9 being vertically movable up and down with respect to the lower right leg 10.
As shown in fig. 13, the lifting mechanism 7 includes a lifting drive motor 12, a decelerator 13, a first transmission gear 14, and a second transmission gear 15. The lifting 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 endless chain 16. The lifting function of the endless chain 16 in the vertical direction can be realized by the forward and reverse rotation of the lifting driving motor 12. The lifting mechanism 7 is lifted by crane and lifted by adopting a mode of matching the endless chain 16 with a gear, so that the slipping phenomenon in the lifting process can be effectively prevented.
As shown in fig. 14, the traversing running mechanism 8 further includes an endless chain 5, a mounting case 17, a traversing drive motor 18, a first decelerator 19, a running wheel 20, a driving sprocket 21, a driven sprocket 22, and a running rail 23. The lifting mechanism 7 is arranged in the mounting box 17, and the running wheel 20 is arranged at the bottom of the mounting box 17. The running rail 23 is arranged on the inner side of the bottom of the truss 4 along the transverse direction, and the running wheels 20 are matched with the running rail 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 annular chain 5 to rotate, and the driven sprocket 22 provides auxiliary positioning for the rotation of the annular chain 5. The two ends of the annular chain 5 are connected with the mounting boxes 17, and the lifting mechanism 7 is driven to realize the horizontal transverse movement function by the forward and reverse rotation of the transverse driving motor 18.
As shown in fig. 15, the bottom of the truss 4 is provided with a long slot 24 along the transverse direction, and both sides of the upper parts of the upper left leg 3 and the upper right leg 9 along the longitudinal direction (the direction L shown in fig. 6) are provided with sliding blocks 25. The bottom of truss 4 is provided with guide rail 26 along transversely, and upper left landing leg 3 and upper right landing leg 9's upper portion all is provided with mounting panel 27, and mounting panel 27 upwards passes long slotted hole 24. The mounting plate 27 is provided with a traverse drive motor 28, a second decelerator 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 parallel to each other in the lateral direction. The traversing 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 traversing the support legs. The guide rail 26 is matched with the slide block 25 to provide guidance for the transverse movement of the upper left support leg 3 and the upper right support leg 9. The lateral movement of the upper left leg 3 and the upper right leg 9 is achieved by the forward and reverse rotation of the lateral movement driving motor 28.
As shown in fig. 16, each of the upper left leg 3 and the upper right leg 9 includes a screw rod 34, a screw rod nut 35, a screw rod 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 inner bottom side of the telescopic square tube 37, and the screw rod 34 is matched with the screw rod nut 35. The upper part of the screw 34 is fixed to the inside of a telescopic square tube 37 through a screw bearing 36. The left lower leg 2 and the right lower leg 10 each include a fixed square tube 38, a support square tube 39, a cross beam 40, and a load beam 11. The fixed square tube 38 is sleeved outside the telescopic square tube 37, the support square tube 39 is arranged on the left side and the right side of the fixed square tube 38, the upper portion of the fixed square tube 38 is fixed with one end of the support square tube 39, and the lower portion of the fixed square tube 38 is fixed with the support square tube 39 through a cross beam 40. The other end of the support square tube 39 is fixed with the carrier beam 11, the carrier beam 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 telescopic square tube 37 and the bottom of the fixed square tube 38 and is connected with the second speed reducer 42. The third decelerator 42 is driven by the forward and backward rotation of the lifting driving motor 41, so as to drive the screw rod 34 to rotate, and the screw rod nut 35 and the telescopic square tube 37 are driven to move up and down by the rotation of the screw rod 34, so that the telescopic action of the left support leg and the right support leg is realized. The beam 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, the distance between the legs of the gantry crane 100 in the W direction is adjustable, and the distance from the ground in the H direction is adjustable. Embodiment 4 further comprises forming a plurality of gantry cranes 100 with multi-functional self-adaptive features into a group along the railway line operation direction (the direction shown as L in fig. 18), and the group cranes cooperate to perform intelligent placement of the long and large components of the railway line. As shown in fig. 18, the placement and operation of the plurality of gantry cranes 100 along the line operation direction L are schematically illustrated, and the plurality of gantry cranes 100 perform the hoisting operation at a plurality of points, thereby realizing the replacement operation of the railway line components with various sizes and large size. The gantry crane 100 can realize the lifting and translation of railway line components through a set of driving mechanism, and realize the lifting and carrying functions of the railway line components. The gantry crane 100 effectively reduces the total height of the lifting space, simplifies the structure, reduces the volume, has adjustable leg heights, and can automatically adapt to different heights of the track pavement 900 at two sides of the line.
In the description of the present application, it will be understood 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 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 is to be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" or "a number" means two or more, unless specifically defined otherwise.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for the purpose of understanding and reading the disclosure, and are not intended to limit the scope of the application, which is defined by the claims, but rather by the claims, unless otherwise indicated, and that any structural modifications, proportional changes, or dimensional adjustments, which would otherwise be apparent to those skilled in the art, would be made without departing from the spirit and scope of the application.
By implementing the technical scheme of the intelligent control system for the gantry crane of the railway line, which is described by the embodiment of the invention, the following technical effects can be achieved:
(1) The intelligent control system for the gantry crane of the railway line, which is described by the embodiment of the invention, can realize the whole control of the whole process of a plurality of gantry cranes by utilizing the wireless control device, solves the control problems of real-time control of the operation processes of transportation, deployment, hoisting, recovery and the like of the gantry cranes, safety interlocking, multi-machine synchronization, emergency measures and the like, has high operation efficiency and safety, is low in cost and is convenient to operate and control;
(2) The intelligent control system for the lifting of the railway line gantry, which is described in the specific embodiment of the invention, is not only suitable for replacing the whole group of turnouts, but also suitable for replacing single switch rails, switch points and the like, and can realize the carrying, placement, position adjustment and replacement of various line components with different lengths through the synchronous transverse movement, lifting and other actions of a plurality of gantry crane devices in the lifting process;
(3) The intelligent control system for the gantry crane of the railway line, which is described in the specific embodiment of the invention, ensures the safety of the operation process to the greatest extent through the real-time safety interlocking monitoring of a plurality of gantry cranes and lifting platforms in the transportation process, the cooperative operation and the safety interlocking of the cranes and the lifting platforms in the recycling process of the gantry cranes, the real-time locking monitoring of the cranes and the lifting platforms, the emergency control measures and the intelligent maintenance of faults under various fault conditions;
(4) According to the intelligent control system for lifting the railway line gantry, which is described by the specific embodiment of the invention, the supporting legs of the gantry crane are arranged on the two sides of the railway line in a crossing way, the line parts are replaced without occupying adjacent line space, the safety risk of operation overstepping is avoided, the operation is flexible, and the intelligent control system can well adapt to the operation requirements under the working condition of complex lines; meanwhile, the door hanging device has the advantages of simple structure, small occupied space, light weight, high reliability, convenient maintenance and repair, low manufacturing cost and high operation efficiency;
(5) According to the intelligent control system for lifting the railway line gantry, disclosed by the embodiment of the invention, the gantry crane has the functions of supporting leg transverse movement, lifting and leveling, the supporting leg transverse span spacing and the ground height are adjustable, the functions of meeting the requirements of different road ground working conditions can be realized, the placement and the recovery of the gantry crane can be realized through a lifting platform, the height is adjustable, and the risk of touching a contact net in the lifting process is avoided;
(6) The intelligent control system for the gantry crane of the railway line, which is described in the specific embodiment of the invention, intelligently controls each operation link of a plurality of gantry cranes by integrated wireless intelligent control, and can solve the technical problems of intelligent control, multi-machine synchronization, safety monitoring and the like in the operation processes of transportation, deployment, hoisting, recovery and the like; the door hanging devices and the lifting platform flatcar are contacted with the ground by one key when deployed, so that dangerous phenomena such as virtual legs and the like are avoided; the door hanging devices are cooperated with the lifting platform in the deployment process, and the plurality of door hanging devices are hung in one-key tensioning mode, so that uneven stress of group hanging and even deformation of a hung object can be avoided; when the door hanging device is recovered, the control system is provided with a one-key recovery function, so that the technical problems of long time and low efficiency of one-by-one operation and recovery of a plurality of supporting legs are avoided; the door hoist and mount are placed on the track road surface, and real-time supervision truss levelness can effectively avoid the uneven ground bearing capacity, like pit slope even the problem of toppling after loading.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by a difference from other embodiments, and identical and similar parts between the embodiments are referred to each other.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. While the invention has been described in terms of preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or equivalent embodiments using the method and technical solution disclosed above without departing from the spirit and technical solution of the present invention. Therefore, any simple modification, equivalent substitution, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention, unless departing from the technical solution of the present invention.
Claims (10)
1. An intelligent control system for gantry lifting of a railway line, which is characterized by comprising: the system comprises a wireless control system, a door hanging device, a lifting platform, a first flat car and a second flat car, wherein the first flat car is used for transporting the door hanging device and the lifting platform, and the second flat car is used for transporting circuit components; when the line parts are replaced, a plurality of door hanging devices and lifting platforms are transported to an operation site through a first flatcar according to the hoisting requirement; after the device arrives at an operation site, the lifting platform is controlled by the wireless control device to deploy the gantry crane in place according to the position and sequence, the first flatcar drives away, and the small support leg leveling control is carried out according to the inclination of the gantry crane; carrying out wireless synchronous cooperative control on the deployed gantry crane by using a wireless control device to finish the hoisting operation of the circuit components; During the operation of the gantry crane, the transverse movement and the lifting of the line component are synchronously controlled; after the lifting operation is finished, the first flat wagon enters, the door lifting device is recovered and fixed on the door lifting device, and the first flat wagon is driven away; when the door hanging device is deployed, the wireless control device can control the lifting platform to ascend through the wireless control device by selecting to enter a deployment mode until the door hanging device is lifted and separated from the installation plane of the first flat car, the ascending action is stopped, and an operator is prompted to clamp and lock the door hanging device; the clamping locking mechanism of the lifting platform is controlled by the wireless control device to lock the door hanging device, and after the clamping locking signal is monitored, the lifting platform is operated to continuously ascend, and the ascending height is controlled by an operator; When the lifting platform rises to the highest position, the wireless control device controls the lifting platform to rotate, 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 operation platform longitudinal movement button until a laser line on the door hanging device is aligned with a ground mark, and the support leg is controlled to transversely move to the position above a track pavement through the operation of the support leg transverse movement button, so that the door hanging device is placed and aligned; the wireless control device is used for controlling the lifting platform to descend and the supporting legs to extend out, stopping when the small supporting legs are close to the ground, and unlocking the clamping locking mechanism; the landing leg one-key grounding button on the control panel is operated, and meanwhile, each small landing leg is driven to extend out through small moment and respectively contact with the ground, so that the whole door hanging device cannot be supported, and the purpose of no virtual legs is achieved; The small supporting legs are operated to synchronously extend or the platform descends until the door hanging device is separated from the lifting platform; operating a supporting leg one-key leveling button on a control panel, and automatically telescoping each supporting leg and each small supporting leg to adjust the transverse levelness and the longitudinal levelness of the door hanging device to be smaller than set values, so as to finish leveling the door hanging device and finish deployment of a first door hanging device; the second door hanging device is lifted to the highest position by controlling the lifting platform through the wireless control device, the lifting platform is controlled to rotate 180 degrees, the lifting platform is transported to the deployment position of the second door hanging device through the first flatcar, the deployment of the second door hanging device is completed, and the deployment of other door hanging devices is completed; The door lifting device comprises a lifting device, wherein the lifting device comprises a transverse moving mechanism and a lifting hook connected with the transverse moving mechanism and used for lifting a circuit component; before the lifting and placing of the circuit component are carried out, the locking of the lifting hook is released, and the transverse moving mechanism is unlocked through the wireless control device; the second flat car enters a designated operation area, and longitudinal alignment is completed according to a laser line on the gantry crane device, so that the end part of a circuit component on the second flat car is aligned with the end part of the circuit component to be replaced; synchronously controlling the traversing mechanisms of the door hanging devices to move to the designated positions through the wireless control device, controlling the lifting hooks to descend, and finely adjusting the positions of the traversing mechanisms to enable the traversing mechanisms to be positioned right above lifting points; 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 door lifting 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 lifting button on the control panel to synchronously lift the circuit component to a specified height; during the process, the synchronous transverse movement buttons on the control panel are operated according to the requirement to control all lifting hooks to synchronously move transversely; in the hoisting process, judging whether each hoisting device is synchronous or not by monitoring the lifting displacement, the transverse displacement and the lifting hook pulling force of each hoisting device, if the pulling force or the lifting displacement or the transverse displacement of a certain lifting hook is detected to be greatly different from other hoisting devices in the operation period, immediately stopping the actions of all the hoisting devices, reminding an operator to carry out independent control through abnormal parts and parameters prompted by a display, and continuing to carry out synchronous action after adjusting the hoisting devices to reasonable positions; After the circuit component is lifted, the second trolley drives away from the operation area, and the circuit component is placed at a designated position through synchronous control, so that the placement of the circuit component is completed.
2. The intelligent control system for gantry crane of railway line according to claim 1, wherein: the wireless control system comprises a wireless control device, a door hanging 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 center node module; the door hanging device 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 a control panel, the operation instruction is transmitted to a 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 performs operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, and can send the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and the processor outputs a calculation result and fault judgment information meeting the control logic requirement to the display; the controller receives an operation instruction from the wireless networking sub-node module and controls a servo motor to drive a corresponding mechanism of the door hanging device or the lifting platform through a driver; the sensor acquires detection data of a corresponding mechanism of the door hanging 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 transmits the data to the wireless networking central node module.
3. The intelligent control system for gantry crane of railway line according to claim 2, wherein: the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller and then executes corresponding actions; and the wireless networking sub-node modules transmit data to the wireless networking central node module, and the wireless networking central node module receives the data in a queuing polling mode.
4. The intelligent control system for rail line gantry crane according to claim 2 or 3, wherein: the operation instructions of the door hanging device comprise lifting and traversing of the hanging device, lifting and traversing 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 intelligent control system for gantry crane of railway line according to claim 4, wherein: in the process of transporting the door hanging device by the first flat car, the wireless control device can enter a transportation mode through selection, and the fixed locking condition of the door hanging device and the lifting platform is monitored in real time through the display.
6. The intelligent control system for gantry crane of railway line according to claim 5, wherein: after the door hanging device and the circuit components required by operation are transported to an operation site, the wireless control device can enter a deployment mode through selection, buttons of a lifting platform control area and a door hanging device control area on the control panel are operated, then a processor carries out control logic operation according to operation instructions and states of the door hanging device and the lifting platform, clamping, supporting leg transverse movement, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform on the door hanging device are realized, and finally safe deployment of a plurality of door hanging devices from a first flatcar to a track pavement is realized.
7. The intelligent control system for gantry crane of railway line according to claim 6, wherein: after the door hanging device is deployed, the wireless control device can enter an operation mode through selection, a button of a control area of the door hanging device is operated, then a processor carries out control logic operation according to an operation instruction and the state of the door hanging device, the supporting leg lifting, the small supporting leg lifting, the lifting and transverse moving, the lifting and the lifting, the lifting and unlocking actions of the door hanging devices which are selected to be used are carried out to cooperatively operate, meanwhile, the real-time position and the load of each door hanging device are subjected to negative feedback adjustment, and finally, the stable replacement operation of circuit components is realized.
8. The intelligent control system for gantry crane of railway line according to claim 1,2, 3,5, 6 or 7, wherein: when the door lifting device is recovered, the lifting hook and the transverse moving mechanism are locked at zero positions; the first flatcar transportation lifting platform enters the lower part of the door hanging device in the operation area, the wireless control device controls the lifting platform to longitudinally move, the fine adjustment lifting platform and the door hanging device finish alignment, and the lifting platform continuously rises until the small supporting leg of the door hanging device is lifted to be separated from the ground; prompting an operator to perform clamping and locking operation of the door hanging device, and controlling a clamping and locking mechanism of the lifting platform to lock the door hanging device through the wireless control device to finish clamping and locking; the door hanging device is controlled to quickly retract the supporting legs and the small supporting legs by operating the one-key retraction button of the supporting legs, and transversely move to respective zero locking positions, so that the first door hanging device is retracted; the lifting platform is controlled by the wireless control device to lift the first door hanging device to the highest position, then the lifting platform is controlled to rotate 180 degrees, and the lifting platform is transported to the position below the second door hanging device by the first flatcar, so that the recovery of the second door hanging device is completed; the lifting platform is controlled to ascend by wireless remote control, two door hanging devices are lifted to the highest position, 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 mechanisms at all movement parts of the door hanging devices are operated to lock; and after all the door hanging devices are recovered and locked in sequence, the mode selection buttons on the control panel are switched to a transportation mode, so that the locking states of the door hanging devices and the lifting platform are monitored before and during transportation.
9. The intelligent control system for gantry crane of railway line according to claim 8, wherein: before the door hanging devices are deployed and placed, opening a laser switch and an illumination switch on each door hanging device control box; manually releasing a locking rope and a positioning pin of the door hanging device on the first flat car; manually unlocking the supporting leg and the small supporting leg of the door hanging device; and the lifting, rotating and longitudinally moving mechanism of the lifting platform is manually unlocked.
10. The intelligent control system for rail line gantry crane according to claim 1, 2, 3, 5, 6,7 or 9, wherein: a truss of the door hanging device is provided with an inclination sensor, and inclination state data of the door hanging device are acquired through the inclination sensor after the door hanging device is deployed; when a small supporting leg of the door hanging device sinks to cause the door hanging device to incline, the processor calculates the lifting heights of the other small supporting legs according to the inclination state data so as to realize the leveling of the door hanging device and avoid the occurrence of the phenomenon of virtual legs.
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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 |
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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 |
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