CN211419375U - Crane trolley and crane system - Google Patents

Abstract

The application relates to the field of construction equipment, in particular to a traveling crane trolley and a traveling crane system, wherein the traveling crane trolley comprises a frame; the travelling crane trolley is supported on the guide rail through the four wheels, and each wheel is mounted on the frame through a pin shaft weighing sensor; the walking driving device is arranged on the frame and used for drawing the travelling crane trolley to move along the guide rail; the telescopic arm is arranged on the frame; and the end effector is arranged on the telescopic arm. The travelling crane trolley provided by the application can measure the front wheel pressure and the rear wheel pressure through the pin shaft weighing sensor and accordingly obtain the horizontal resistance value borne by the end effector, and the problem that the end effector and the telescopic arm are damaged due to overlarge horizontal resistance of the end effector in the prior art is solved; the application provides a line system of hanging can control line dolly and remove and stop to prevent telescopic boom and end effector impaired.

Description

Crane trolley and crane system

Technical Field

The application relates to the field of construction equipment, in particular to a traveling crane trolley and a traveling crane system.

Background

Modern building construction begins to be gradually changed from manual work to mechanical work, a telescopic arm is usually carried on a crane device in concrete leveling and floating construction of building floors or prefabricated factories, concrete plane operation is realized through a floating actuator at the tail end of the telescopic arm, in the operation process, the concrete ground generates horizontal counter force on the actuator at the tail end of the telescopic arm, and the telescopic arm is broken or safety accidents occur when the horizontal resistance is too large.

SUMMERY OF THE UTILITY MODEL

The application aims at providing a traveling crane trolley and a traveling crane system so as to solve the problem that the horizontal resistance of an end effector is overlarge in the prior art.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a traveling crane trolley, which includes:

a frame;

the four wheels are driven wheels, the travelling crane trolley is supported on the guide rail through the four wheels, and each wheel is mounted on the frame through a pin shaft weighing sensor;

the traveling driving device is mounted on the frame and used for drawing the traveling crane trolley to move along the guide rail;

the telescopic arm is mounted on the frame;

an end effector mounted to the telescoping arm.

The application provides a travelling crane trolley, which is used for carrying a telescopic arm with an end effector, the travelling crane trolley moves along a guide rail to drive the telescopic arm and the end effector to process a concrete plane, the travelling crane trolley moves along the guide rail under the traction of a travelling driving device and is supported on the guide rail through four wheels, when the end effector of the telescopic arm meets horizontal resistance, the wheel pressure (namely the acting force of the wheels and the surface of the guide rail) borne by two wheels positioned in front can be increased, the wheel pressure borne by two wheels positioned behind can be reduced, and according to a moment balance principle, the difference value between the front wheel pressure and the rear wheel pressure is related to the size of the horizontal resistance value; in order to eliminate the influence of other factors on wheel pressure and measure an accurate wheel pressure value, four wheels are set as unpowered driven wheels, the driven wheels are mounted on a frame through a pin shaft weighing sensor, so that the accurate front and rear wheel pressure values can be measured, and the horizontal resistance value can be obtained according to the difference value between the front wheel pressure and the rear wheel pressure, the front and rear wheel distances and the distance from an end effector to the frame.

The application provides a four wheels of line crane dolly install on the frame through round pin axle weighing sensor respectively, four wheels are only for following the driving wheel, direct power supply not, so that comparatively accurately record corresponding wheel pressure value through round pin axle weighing sensor, can obtain the horizontal resistance value that end effector received according to the wheel pressure difference value around, can stop the line crane dolly when horizontal resistance value is great and remove, solve the too big problem of end effector's horizontal resistance among the prior art, in order to avoid end effector and flexible arm impaired.

Optionally, in an embodiment of the present application, both ends of the pin axle load cell are fixed to the frame, and the wheel is installed on the pin axle load cell through a bearing.

Through fixing round pin axle weighing sensor on the frame, prevent that round pin axle weighing sensor from receiving the interference and rotate, improve and measure the accuracy.

Optionally, in an embodiment of this application, the walking drive device includes driving motor, transmission shaft and two sprocket groups, driving motor install in the frame and with the transmission shaft transmission is connected, and two sprocket groups set up respectively the both ends of transmission shaft, every sprocket group include drive sprocket and driven sprocket, drive sprocket connect in the transmission shaft, drive sprocket with driven sprocket install in the frame, drive sprocket with driven sprocket is used for with the edge the chain meshing that the guide rail set up.

The two chain wheel sets connected through the transmission shaft are meshed with the chain arranged on the guide rail, the two chain wheel sets are respectively arranged on two sides of the frame, so that two sides of the travelling crane trolley are driven in a balanced mode, the travelling crane trolley is prevented from being unevenly stressed or dragging the chain, the travelling driving device mainly pulls the travelling crane trolley in the horizontal direction, direct acting force between the travelling crane trolley and the guide rail in the vertical direction is small, acting force between the travelling crane trolley and the guide rail in the vertical direction is mainly on four wheels, and the measuring result of the pin shaft weighing sensor is accurate. When the driving motor works, the chain wheel set is matched with a chain arranged on the guide rail to pull the traveling crane trolley to advance, the rotating speed of the driving motor is controlled to control the traveling speed of the traveling crane trolley, the traveling crane trolley does not have a braking distance when stopping and can be stopped in time, the traveling crane trolley is effectively guaranteed to be stopped immediately when the horizontal resistance is too large, and the end effector and the telescopic arm are prevented from being damaged in time.

Optionally, in an embodiment of this application, the travel driving device includes driving motor, transmission shaft and two synchronous pulley groups, driving motor install in the frame and with the transmission shaft transmission is connected, and two synchronous pulley groups set up respectively the both ends of transmission shaft, every synchronous pulley group include driving pulley and driven pulleys, driving pulley connect in the transmission shaft, driving pulley with driven pulleys install in the frame, driving pulley with driven pulleys is used for and follows the hold-in range meshing that the guide rail set up.

Through setting up the hold-in range meshing that sets up on two hold-in range wheelsets connected by the driving shaft and the guide rail, two hold-in range components are established in the both sides of frame, make the balanced drive in line dolly both sides, in order to prevent that the line dolly atress is uneven skew or pull the hold-in range, the line dolly is hung in walking drive arrangement mainly pulling in the horizontal direction, it is little with the direct effort of guide rail between it in vertical direction, the line is hung the dolly and the effort of guide rail in vertical direction is mainly on four wheels, improve round pin axle weighing sensor's measuring result accuracy.

Optionally, in an embodiment of the present application, the traveling crane trolley further includes a plurality of guide wheel sets, each guide wheel set includes two guide wheels, the two guide wheels are used for clamping the guide rail, and the axes of the guide wheels are perpendicular to the axes of the wheels.

Through setting up the wire wheel that is used for the centre gripping guide rail, the global cooperation with the side of guide rail of two leading wheels further prevents to go to hang the dolly atress skew, makes to go to hang the dolly and advance along the rail collimation.

In a second aspect, an embodiment of the present application provides a crane system, which includes:

two first guide rails parallel to each other;

and the traveling crane trolley is erected on the two first guide rails and can move along the first guide rails.

The application provides a have the line of aforementioned line hoist dolly and first guide rail and hang system for make the end effector of flexible arm follow the line and hang the dolly and remove along first guide rail, with handle the concrete face, four wheels that the line hung the dolly are only for following the driving wheel, direct power supply not in succession, so that comparatively accurately record corresponding wheel pressure value through round pin axle weighing sensor, can obtain the horizontal resistance value that end effector received according to the size of wheel pressure difference value around, can stop the line when horizontal resistance value is great and hang the dolly and remove, solve the too big problem of end effector's horizontal resistance among the prior art. The application provides a line system of hanging is through the horizontal resistance who obtains end effector, can effectively prevent end effector and flexible arm because the too big damage of horizontal resistance.

Optionally, in an embodiment of the present application, the traveling crane system further includes two second guide rails parallel to each other, the second guide rails are perpendicular to the first guide rail, and the first guide rail is mounted on the two second guide rails and can move along the second guide rails;

and the guide rail driving device is used for driving the first guide rail to move along the second guide rail.

Through setting up the second guide rail, first guide rail can drive the line and hang the dolly and remove along the second guide rail, make the line hang the dolly and have along first guide rail back-and-forth movement and along the second guide rail two kinds of displacement modes of moving about, when first guide rail removed along the second guide rail, the end effector of flexible arm receives the resistance, can influence the wheel pressure value of left wheel and right-hand wheel, the condition of moving along first guide rail is hung to the line in the same way, according to the wheel pressure value that four round pin axle weighing sensor surveyed, can obtain and control the wheel pressure difference value and then obtain the horizontal resistance value that end effector received, can stop first guide rail when horizontal resistance value is great and remove, solve the too big problem of end effector's horizontal resistance among the prior art, in order to avoid end effector and flexible arm impaired.

Optionally, in an embodiment of the present application, the traveling crane system further includes a control system, the pin weigher, the traveling driving device, and the rail driving device are electrically connected to the control system, and the control system is configured to obtain a horizontal resistance value applied to the end effector according to a signal fed back by the pin weigher, and control the traveling driving device and the rail driving device to stop operating when the horizontal resistance value is greater than a threshold value.

Through setting up the line system of hanging, can receive the feedback signal of round pin axle weighing sensor to quick response and automatic control are marchd and are stopped when horizontal resistance value is great.

Optionally, in an embodiment of the present application, the walking driving device includes a driving motor, a transmission shaft, and two sprocket sets, the driving motor is mounted on the frame and is in transmission connection with the transmission shaft, the two sprocket sets are respectively disposed at two ends of the transmission shaft, each sprocket set includes a driving sprocket and a driven sprocket, the driving sprocket is connected to the transmission shaft, the driving sprocket and the driven sprocket are mounted on the frame, and the driving sprocket and the driven sprocket are configured to engage with a chain disposed along the guide rail;

the traveling crane system further comprises a chain, the chain is arranged along the first guide rail, two ends of the chain are fixed to the first guide rail, and the chain is meshed with a driving chain wheel and a driven chain wheel in the traveling driving device.

Through set up chain and travel driving device in the system of hanging in a line, utilize chain and sprocket cooperation to pull the dolly of hanging in a line, the walking speed controllability is high, is difficult to skid, stops driving motor and just can stop the dolly of hanging in a line fast, does not have braking distance, can in time stop, effectively guarantees to stop the dolly of hanging in a line immediately when horizontal resistance is too big, in time prevents that end effector and flexible arm from damaging.

Optionally, in an embodiment of the present application, the walking driving device includes a driving motor, a transmission shaft, and two synchronous pulley sets, the driving motor is mounted on the frame and is in transmission connection with the transmission shaft, the two synchronous pulley sets are respectively disposed at two ends of the transmission shaft, each synchronous pulley set includes a driving pulley and a driven pulley, the driving pulley is connected to the transmission shaft, the driving pulley and the driven pulley are mounted on the frame, and the driving pulley and the driven pulley are used for engaging with a synchronous belt disposed along the guide rail;

the traveling crane system further comprises a synchronous belt, the synchronous belt is arranged along the first guide rail, two ends of the synchronous belt are fixed on the first guide rail, and the synchronous belt is meshed with a driving belt wheel and a driven belt wheel in the traveling driving device.

Through setting up the hold-in range and the synchronous pulley of line dolly, the horizontal traction line dolly of hanging, the effort of travel drive and guide rail in vertical direction is little, improves round pin axle weighing sensor's measuring result accuracy.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a traveling crane system provided in an embodiment of the present application;

FIG. 2 is a diagram illustrating a state of the first guide rail and the traveling crane trolley according to the embodiment of the present disclosure;

fig. 3 is a schematic structural view of a traveling crane trolley provided in the embodiment of the present application;

FIG. 4 is a schematic structural diagram of a vehicle frame provided in an embodiment of the present application;

FIG. 5 is a schematic cross-sectional view of a wheel and pin load cell provided in an embodiment of the present application;

fig. 6 is a schematic structural view of a telescopic arm and an end effector provided in the present embodiment;

fig. 7 is a schematic structural diagram of a walking driving device provided in the embodiment of the present application;

FIG. 8 is an enlarged view of portion II of FIG. 2;

fig. 9 is a schematic force diagram of the traveling crane trolley provided in the embodiment of the present application when moving forward and backward;

fig. 10 is a schematic force diagram of the traveling crane trolley moving left and right according to the embodiment of the present application.

Icon: 10-hoisting a trolley; 100-a frame; 110-a beam; 120-end beam; 130-a first mount; 140-a second mount; 150-a third mount; 200-telescopic arm; 210-a connecting frame; 220-an end effector; 300-a wheel; 310-a first wheel; 320-a second wheel; 330-a third wheel; 340-a fourth wheel; 400-pin roll weighing sensor; 410-a card board; 420-a bearing; 500-a travel drive; 510-a drive motor; 520-sprocket box; 521-a drive sprocket; 522-driven sprocket; 530-a drive shaft; 60-a first guide rail; 610-a chain; 70-a second guide rail; 800-guide wheel.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Examples

In the construction of leveling and trowelling concrete of floors or prefabricated factories in the building industry, the telescopic arm 200 can be carried on a crane device, concrete plane operation is realized through a trowelling actuator at the tail end of the telescopic arm 200, the horizontal resistance can be generated when the end effector 220 touches the ground or an obstacle in the moving process, and the end effector 220 or the telescopic arm 200 can be damaged when the horizontal resistance is too large, so that safety accidents can be caused seriously.

The embodiment of the application provides a traveling crane trolley 10 and a traveling crane system with the traveling crane trolley 10, wherein the traveling crane trolley 10 can obtain horizontal resistance applied to an end effector 220 of a telescopic arm 200 during traveling, so that the telescopic arm 200 is prevented from being broken or having safety accidents due to overlarge horizontal resistance.

The structure of the traveling crane system is shown in fig. 1, the traveling crane system comprises two parallel first guide rails 60, two parallel second guide rails 70 and a traveling crane trolley 10, the two parallel first guide rails 60 are erected between the two parallel second guide rails 70, the traveling crane trolley 10 is arranged between the two parallel first guide rails 60, and a telescopic arm 200 carried on the traveling crane trolley 10 extends to the ground through the two parallel first guide rails 60, so that an end effector 220 of the telescopic arm 200 can process the ground. The end effector 220 may be a plurality of functional components, and in this embodiment, the end effector 220 is a floating mechanism, and the floating mechanism is used to move along with the traveling crane trolley 10 to float a mortar layer, a paint layer, a concrete layer, or the like on the ground.

The second guide rail 70 is fixed on the ground, two ends of the first guide rail 60 are respectively in sliding fit with two second guide rails 70 which are parallel to each other, and the traveling crane system is provided with a guide rail driving device (not shown in the figure) for driving the first guide rail 60 to move along the second guide rail 70, and for convenience of description, the extending direction of the second guide rail 70 is defined as a left-right direction. The traveling trolley 10 is movably disposed on the first guide rail 60, and the extending direction of the first guide rail 60 is defined as a front-rear direction for convenience of description. The guide rail driving device can be a linear motor, a crane arm and the like.

As shown in fig. 2 and 3, the traveling crane carriage 10 includes a carriage 100 and a traveling driving device 500, the carriage 100 is directly contacted with the first guide rail 60 through four wheels 300, the four wheels 300 are all driven wheels without power connection, and the four wheels 300 support the traveling crane carriage 10 on the first guide rail 60. The traveling driving device 500 is mounted to the frame 100 and is used for driving the traveling crane trolley 10 to move forward and backward along the first guide rail 60.

For convenience of description, the four wheels 300 are defined as a first wheel 310 located at the rear left, a second wheel 320 located at the rear right, a third wheel 330 located at the front left, and a fourth wheel 340 located at the front right, the wheel pressure value of the first wheel 310 is F1, the wheel pressure value of the second wheel 320 is F2, the wheel pressure value of the third wheel 330 is F3, and the wheel pressure value of the fourth wheel 340 is F4. Let H be the distance of the telescopic arm 200 from the vehicle frame 100, L1 be the wheel track of the front and rear wheels, L2 be the wheel track of the left and right wheels, and F be the horizontal resistance to which the end effector 220 is subjected.

Since the contact wheel pressure calculation between the four wheels 300 and the rail is hyperstatic, when the trolley moves and has no horizontal external load, the wheel pressure of each wheel 300 is changed even if the rail is uneven, and the wheel pressure of the adjacent wheel 300 is not changed. That is, the sum of F1+ F3, the sum of F2+ F4, and the difference between F1 and F3 are equal to the difference between F2 and F4 as Δ Fm when moving back and forth; when moving left and right, the sum of F1+ F2 and the sum of F3+ F4 are unchanged, and the difference between F1 and F2 is equal to the difference between F3 and F4, and is delta Fn.

When the trolley 10 moves forward and backward, for example, forward, along the first guide rail 60 under the traction of the travel driving device 500, the force applied to the trolley 10 is as shown in fig. 9. Under the action of the horizontal resistance, the wheel pressure values of the third wheel 330 and the fourth wheel 340 increase, the wheel pressure values of the first wheel 310 and the second wheel 320 decrease, and according to the moment balance principle, (F3-F1) × L1/2+ (F4-F2) × L1/2 ═ F × H, that is, F ═ Δ Fm × L1 ÷ H. Therefore, since the front and rear wheel pitches of the traveling trolley 10 are constant and the height of the end effector 220 from the vehicle frame 100 is known, the horizontal resistance value F received by the end effector 220 can be obtained from the values of the first wheel pressure and the third wheel pressure or the values of the second wheel pressure and the fourth wheel pressure when the traveling trolley 10 moves forward and backward.

When the guide rail driving device drives the first guide rail 60 to move left and right along the second guide rail 70, the traveling crane trolley 10 moves synchronously with the first guide rail 60, for example, moves left, and the force applied to the traveling crane trolley 10 is as shown in fig. 10. Under the action of the horizontal resistance, the wheel pressure values of the first wheel 310 and the third wheel 330 increase, the wheel pressure values of the second wheel 320 and the fourth wheel 340 decrease, and according to the moment balance principle, (F1-F2) × L2/2+ (F3-F4) × L2/2 ═ F × H, that is, F ═ Δ Fn × L2 ÷ H. Therefore, since the left and right wheel pitches of the traveling trolley 10 are constant and the height of the end effector 220 from the vehicle frame 100 is known, when the traveling trolley 10 moves left and right, the horizontal resistance value F received by the end effector 220 can be obtained from the values of the first wheel pressure and the second wheel pressure or the values of the second wheel pressure and the fourth wheel pressure.

The application provides a dolly 10 is hung in line, its four wheels 300 are installed on frame 100 through round pin axle weighing sensor 400 respectively, and four wheels 300 are only for following the driving wheel, and direct power supply is not connected to so that measure corresponding wheel pressure value through round pin axle weighing sensor 400 comparatively accurately, can obtain the horizontal resistance value that end effector 220 received according to the wheel pressure difference value before and after the advancing direction. Knowing the horizontal resistance of end effector 220 facilitates the travel and stop of the travel-controlled trolley 10, so as to avoid damage to end effector 220 and telescopic boom 200 due to excessive horizontal resistance.

The frame 100 of the trolley 10 comprises two cross beams 110 and two end beams 120, as shown in fig. 4, the two end beams 120 are parallel to the two first guide rails 60, and the two cross beams 110 are connected between the two end beams 120 at intervals. The telescopic arms 200 are located in the well-like openings formed by the two cross beams 110 and the two end beams 120. As shown in fig. 6, two connecting frames 210 are disposed on the telescopic arm 200, the two connecting frames 210 are far away from the end effector 220, the two connecting frames 210 are correspondingly connected to the two cross beams 110, and the connecting frames 210 and the cross beams 110 are fixed by bolts. The two end beams 120 correspond to the two first guide rails 60, respectively, and the telescopic arm 200 and the end effector 220 thereof extend out to the ground from between the two first guide rails 60.

The two end beams 120 are respectively formed with a first mounting seat 130 at both ends, and the first mounting seats 130 are used for mounting the wheel 300. As shown in fig. 5, the pin load cell 400 is fixed to the first mounting seat 130 of the end beam 120 by two clamping plates 410, and the pin load cell 400 is connected with the wheel 300 through a bearing 420. When the walking driving device 500 pulls the frame 100 to drive the wheel 300, the pin weighing sensor 400 is not moved, so as to reduce the influence factors and ensure the accuracy of the wheel pressure measurement value.

In order to reduce the influence factor, all four wheels 300 are driven wheels, that is, the four wheels 300 are not directly driven by the walking driving device 500, so as to prevent the wheels 300 from being stressed to influence the measurement accuracy of the pin roll weighing sensor 400. According to actual needs, the number of the wheels can be set to six, eight and the like, so that the load capacity and the stability of the travelling crane trolley are improved.

A second mounting base 140 is provided on the cross member 110 of the vehicle frame 100, and the second mounting base 140 is used for mounting the travel driving device 500. The walking driving device 500 may be any traction type driving device, as long as the walking trolley 10 and the first guide rail 60 are supported only by the first wheel 310, the second wheel 320, the third wheel 330 and the fourth wheel 340 in the vertical direction, so as to prevent the walking trolley 10 from having a fulcrum other than the four wheels 300, which affects the measurement accuracy of the pin axle weighing sensor 400.

Optionally, as shown in fig. 7, the traveling driving device 500 includes a driving motor 510, a transmission shaft 530 and two sprocket boxes 520, the sprocket boxes 520 are fixed to the second mounting base 140, a sprocket group is disposed in each sprocket box 520, and the sprocket groups are two sprocket boxes separately disposed on the left and right sides of the frame 100, so that the left and right sides of the traveling crane trolley 10 are driven in a balanced manner, and the traveling crane trolley 10 is prevented from deviating due to uneven stress when moving forward and backward. Each chain wheel set comprises a driving chain wheel 521 and a driven chain wheel 522 respectively, two ends of a transmission shaft 530 can rotatably penetrate through the chain wheel box 520 and are respectively connected with the two driving chain wheels 521, and the driving motor 510 is in transmission connection with the transmission shaft 530 through a coupler.

Accordingly, the first rail 60 is provided with a chain 610, the chain 610 is parallel to the extending direction of the first rail 60, and only both ends of the chain 610 are fixed to both ends of the first rail 60, so that the chain 610 passes around the driving sprocket 521 and the driven sprocket 522 and is engaged therewith. As shown in fig. 8, the driving sprocket 521 is located between two driven sprockets 522, the chain 610 passes around the three sprockets in turn to form a zigzag shape, and the chain 610 is tensioned between the two driven sprockets 522 and meshes with the driving sprocket 521. The angle formed by the connecting lines of the axes of the three sprockets can be adjusted to adjust the length of the chain 610 wound on the driving sprocket 521, and the winding length of the chain 610 on the driving sprocket 521 can be increased to prevent the chain 610 from slipping.

In other embodiments, the driving sprocket 521 may be configured as a driving pulley connected to the end of the transmission shaft 530, the driven sprocket 522 may be configured as a driven pulley, and the chain 610 may be configured as a timing belt.

In other embodiments, optionally, the traveling driving device 500 may further include a cable and two winches, the two winches are respectively disposed at two ends of the first guide rail 60, two ends of the cable are respectively connected to one winch, and the two winches alternately operate. When the front winch works, the hoisting trolley 10 is pulled by the stay rope to move forwards; when the rear winch works, the trolley 10 is pulled by the guy cable to move backwards.

As shown in fig. 2 and 8, the first guide rails 60 are formed with a rib on each of the two first guide rails 60, and the chain 610 is disposed on the first guide rails 60 and parallel to the rib.

In the four wheels 300 of the traveling crane trolley 10, an annular groove is formed on the circumferential surface of each wheel 300, and the annular grooves and the convex strips of the wheels 300 are matched with each other, so that the traveling crane trolley 10 is aligned when traveling, and the trolley is prevented from dragging the chain 610 in a deviating manner.

In order to further prevent the lateral deviation of the trolley, the travelling crane trolley 10 is further provided with a plurality of guide wheel 800 groups, each guide wheel 800 group comprises two guide wheels 800, the two guide wheels 800 are used for clamping the first guide rail 60, the axis of each guide wheel 800 is perpendicular to the axis of each wheel 300, the peripheral surface of each guide wheel 800 is in rolling contact with the side surface of the corresponding first guide rail 60, so that the guide wheels 800 play a role in guiding, the contact point position between the travelling crane trolley 10 and the corresponding first guide rail 60 is not additionally increased, and the accurate measurement of the pin shaft weighing sensor 400 is ensured.

As shown in fig. 7, the end beam 120 on at least one side of the vehicle frame 100 is provided with at least two third mounting seats 150, and each third mounting seat 150 is provided with two guide wheels 800. The third mount 150 is provided at an end of the end beam 120, the third mount 150 is formed with a flange extending forward or backward in a horizontal direction, a rotation shaft of the guide wheel 800 is rotatably mounted on the flange, and the rotation shaft of the guide wheel 800 is in a vertical direction so that the guide wheel 800 can rotate in a horizontal plane. Two guide wheels 800 on each third mounting seat 150 are arranged on two sides of the convex strip of the first guide rail 60, and the peripheral surface of each guide wheel 800 is in rolling fit with the side surface of the convex strip.

For convenience of control, the traveling crane system further comprises a control system, the control system is electrically connected with the pin shaft weighing sensor 400, the traveling driving device 500 and the guide rail driving device, the control system is used for obtaining a horizontal resistance value applied to the end effector 220 according to a wheel pressure value signal fed back by the pin shaft weighing sensor 400, and the traveling driving device 500 and the guide rail driving device are controlled to stop running when the horizontal resistance value is larger than a threshold value.

That is, the pin load cells 400 provided at the four wheels 300 convert the measured values of F1, F2, F3, and F4 into electric signals and transmit the electric signals to the control system, the control system calculates the horizontal resistance value F according to the preset values of L1, L2, and H, and the values of F1, F2, F3, and F4, and when the horizontal resistance value F exceeds the preset threshold value, the control system controls the travel driving device 500 and the guide rail driving device to stop operating. The predetermined threshold value is less than the horizontal resistance that would break arm 200 or damage end effector 220.

In other embodiments, the control system may also be configured to electrically connect with telescoping arm 200, and when the horizontal resistance value exceeds a threshold, the control system controls telescoping arm 200 to shorten to raise end effector 220 upward, thereby avoiding the obstacle.

To sum up, the embodiment of the present application provides a traveling crane system and a traveling crane trolley 10, the traveling crane system includes a first guide rail 60 and a second guide rail 70 that are perpendicular to each other, the traveling crane trolley 10 can move back and forth along the first guide rail 60 and can move left and right along the second guide rail 70 under the drive of the first guide rail 60, a traveling driving device 500 drives the traveling crane trolley 10 to move back and forth in a traction manner, the traveling crane trolley 10 is supported on the first guide rail 60 only through four driven wheels 300 that are not connected with a power source, so as to ensure that the four wheel pressures can be accurately measured by the pin roll weighing sensors 400 arranged on the axes of the four wheels 300. When the traveling crane trolley 10 moves forwards and backwards, a control system of the traveling crane system calculates a horizontal resistance value according to a front-rear wheel pressure difference value, a front-rear wheel distance and a distance between the end effector 220 and the frame 100, and controls the traveling driving device 500 to stop working when the horizontal resistance value exceeds a certain threshold value, so that the traveling crane trolley 10 is stopped to prevent the telescopic arm 200 and the end effector 220 from being damaged; when the travelling crane trolley 10 moves left and right, the control system of the travelling crane system calculates a horizontal resistance value according to the pressure difference value of the left wheel and the right wheel, the distance between the end effector 220 and the trolley frame 100, and controls the guide rail driving device to stop working when the horizontal resistance value exceeds a certain threshold value, so that the first guide rail 60 and the travelling crane trolley 10 arranged on the first guide rail are stopped, and the telescopic arm 200 and the end effector 220 are prevented from being damaged.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A travelling crane trolley is characterized by comprising:

a frame;

the four wheels are driven wheels, the travelling crane trolley is supported on the guide rail through the four wheels, and each wheel is mounted on the frame through a pin shaft weighing sensor;

the traveling driving device is mounted on the frame and used for drawing the traveling crane trolley to move along the guide rail;

the telescopic arm is mounted on the frame;

an end effector mounted to the telescoping arm.

2. The travelling crane trolley as claimed in claim 1, wherein two ends of the pin shaft weighing sensor are fixed on the frame, and the wheels are mounted on the pin shaft weighing sensor through bearings.

3. The traveling crane trolley as claimed in claim 1, wherein the traveling driving device comprises a driving motor, a transmission shaft and two chain wheel sets, the driving motor is mounted on the frame and is in transmission connection with the transmission shaft, the two chain wheel sets are respectively disposed at two ends of the transmission shaft, each chain wheel set comprises a driving chain wheel and a driven chain wheel, the driving chain wheel is connected to the transmission shaft, the driving chain wheel and the driven chain wheel are mounted on the frame, and the driving chain wheel and the driven chain wheel are used for being engaged with a chain disposed along the guide rail.

4. The traveling crane trolley as claimed in claim 1, wherein the traveling driving device comprises a driving motor, a transmission shaft and two synchronous pulley sets, the driving motor is mounted on the frame and is in transmission connection with the transmission shaft, the two synchronous pulley sets are respectively disposed at two ends of the transmission shaft, each synchronous pulley set comprises a driving pulley and a driven pulley, the driving pulley is connected to the transmission shaft, the driving pulley and the driven pulley are mounted on the frame, and the driving pulley and the driven pulley are used for being engaged with a synchronous belt disposed along the guide rail.

5. The travelling crane trolley as claimed in claim 1, further comprising a plurality of guide wheel sets, each guide wheel set comprising two guide wheels for clamping the guide rail, the axes of the guide wheels being perpendicular to the axes of the wheels.

6. A hoist system, comprising:

two first guide rails parallel to each other;

the travelling crane trolley of claim 1, being mounted on two of said first rails and being movable along said first rails.

7. The row hoist system of claim 6, further comprising:

the two second guide rails are parallel to each other, the second guide rails are perpendicular to the first guide rails, and the first guide rails are erected on the two second guide rails and can move along the second guide rails;

and the guide rail driving device is used for driving the first guide rail to move along the second guide rail.

8. The traveling crane system as claimed in claim 7, further comprising a control system, wherein the pin weighing sensor, the traveling driving device and the rail driving device are electrically connected to the control system, and the control system is configured to obtain a horizontal resistance value applied to the end effector according to a signal fed back by the pin weighing sensor, and control the traveling driving device and the rail driving device to stop operating when the horizontal resistance value is greater than a threshold value.

9. The traveling crane system as claimed in claim 6, wherein the traveling drive device comprises a drive motor, a transmission shaft and two sprocket sets, the drive motor is mounted on the frame and is in transmission connection with the transmission shaft, the two sprocket sets are respectively disposed at two ends of the transmission shaft, each sprocket set comprises a drive sprocket and a driven sprocket, the drive sprocket is connected to the transmission shaft, the drive sprocket and the driven sprocket are mounted on the frame, and the drive sprocket and the driven sprocket are used for meshing with a chain disposed along the guide rail;

the traveling crane system further comprises a chain, the chain is arranged along the first guide rail, two ends of the chain are fixed to the first guide rail, and the chain is meshed with a driving chain wheel and a driven chain wheel in the traveling driving device.

10. The traveling crane system as claimed in claim 6, wherein the traveling driving device comprises a driving motor, a transmission shaft and two synchronous pulley sets, the driving motor is mounted on the frame and is in transmission connection with the transmission shaft, the two synchronous pulley sets are respectively disposed at two ends of the transmission shaft, each synchronous pulley set comprises a driving pulley and a driven pulley, the driving pulley is connected to the transmission shaft, the driving pulley and the driven pulley are mounted on the frame, and the driving pulley and the driven pulley are used for meshing with a synchronous belt disposed along the guide rail;

the traveling crane system further comprises a synchronous belt, the synchronous belt is arranged along the first guide rail, two ends of the synchronous belt are fixed on the first guide rail, and the synchronous belt is meshed with a driving belt wheel and a driven belt wheel in the traveling driving device.

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