CN108439199A - A kind of gantry crane and its forward method - Google Patents
A kind of gantry crane and its forward method Download PDFInfo
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- CN108439199A CN108439199A CN201810159844.9A CN201810159844A CN108439199A CN 108439199 A CN108439199 A CN 108439199A CN 201810159844 A CN201810159844 A CN 201810159844A CN 108439199 A CN108439199 A CN 108439199A
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- 230000007246 mechanism Effects 0.000 claims abstract description 131
- 230000009194 climbing Effects 0.000 claims description 4
- 239000002184 metal Substances 0.000 description 9
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- 230000009286 beneficial effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention relates to a kind of gantry crane and its forward method, gantry crane includes lifting ontology, further includes actuating unit, four swing mechanisms, two walking beams, two lifting bodies and four wheels；Two walking beams are separately positioned on the lower end of lifting ontology；At the middle part of walking beam and positioned at the setting of the lower section of walking beam, there are one lifting bodies；The both sides for being located at lifting body in the lower section of walking beam are respectively set there are one swing mechanism；Four wheels are mounted on four swing mechanisms one by one；Be correspondingly connected with current walking back can be risen or fallen by lifting body；Swing mechanism is adjustable, and correspondence installs the direction of travel of wheel；Actuating unit is used for when not jacked up by lifting body there are at least one target walking beam, is driven through each wheel that swing mechanism is connected with target walking beam and is traveled along direction traveling.Gantry crane provided in an embodiment of the present invention can realize steering in narrow regions.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a gantry crane and a steering method thereof.
Background
At present, in order to move the gantry crane from a residence area to an operation area, the gantry crane generally comprises a portal-shaped hoisting body and a tire type travelling mechanism for supporting the hoisting body, and arc line travelling can be repeatedly performed in a larger operation area through the tire type travelling mechanism so as to realize steering of the gantry crane. The overall dimension of the gantry crane is relatively large, when the tire type traveling mechanism travels through an arc line to realize steering of the gantry crane, the steering radius is large, and when the operation area is relatively narrow, steering of the gantry crane is not easy to realize.
Therefore, in order to overcome the defects, a technical scheme for solving the problem that the gantry crane is difficult to turn in a narrow area needs to be provided.
Disclosure of Invention
The technical problem to be solved by the invention is that the gantry crane is difficult to turn in a narrow area, and a technical scheme for solving the problem that the gantry crane is difficult to turn in the narrow area is provided aiming at the defects in the prior art.
In order to solve the technical problem, the invention provides a gantry crane which comprises a portal crane body, a power mechanism, four swing mechanisms, two walking beams, two jacking mechanisms and four wheels, wherein the portal crane body is in a shape of a Chinese character 'men'; wherein,
the two walking beams are respectively arranged at the lower ends of the two supporting stand columns of the portal hoisting body;
the jacking mechanism is arranged in the middle of the walking beam and below the walking beam;
the slewing mechanisms are respectively arranged below the walking beam and positioned on two sides of the jacking mechanism;
the four wheels are arranged on the four slewing mechanisms one by one;
the jacking mechanism is used for jacking one current walking beam which is correspondingly connected so as to enable two wheels which are connected with the current walking beam through the slewing mechanism to be separated from the ground; lowering the current walking beam correspondingly connected to the current walking beam to enable the two wheels connected with the current walking beam through the slewing mechanism to be in contact with the ground;
the slewing mechanism is used for adjusting the advancing direction of the correspondingly mounted wheels;
and the power mechanism is used for driving each wheel connected with the target walking beam through the slewing mechanism to move along the moving direction of the wheel when at least one target walking beam is not jacked up by the jacking mechanism.
Preferably, the first and second electrodes are formed of a metal,
the walking beam is parallel to the width direction of the hoisting body;
further comprising: four auxiliary support arms; wherein,
two end parts of the walking beam are respectively connected with the first end of one auxiliary supporting arm;
the second ends of the four auxiliary supporting arms can be distributed in a rectangular shape, the length of the presented rectangle is equal to the distance between the two walking beams, and the width of the presented rectangle is larger than that of the hoisting body.
Preferably, the first and second electrodes are formed of a metal,
the auxiliary supporting arm is detachably connected with the end part of the walking beam.
Preferably, the first and second electrodes are formed of a metal,
the auxiliary support arm includes: the supporting wheel, the auxiliary support body, the horizontal pin shaft, the vertical pin shaft, the limiting stop, the adjusting jackscrew, the fixing screw and the auxiliary support flange; wherein,
one end of the auxiliary support body is connected with the supporting wheel, and the other end of the auxiliary support body is connected with the auxiliary support flange;
the auxiliary support flange is connected with the end part of the walking beam;
the adjusting jackscrew is arranged on the auxiliary support flange and used for adjusting the pitching angle between the auxiliary support body and the walking beam;
the fixing screw is used for fixing the relative position between the auxiliary support body and the walking beam after the pitching angle between the auxiliary support body and the walking beam is adjusted;
the auxiliary support body can rotate relative to the walking beam upwards or downwards through a horizontal pin shaft, so that the supporting wheel is lifted or contacted with the ground;
the auxiliary support body can be folded or unfolded towards the walking beam through a vertical pin;
and the limiting stop gear is used for limiting the pitching angle between the auxiliary support body and the walking beam when the auxiliary support body is unfolded.
Preferably, the first and second electrodes are formed of a metal,
the slewing mechanism comprises: the device comprises a driving motor, a rotary bearing, a rotary gear, a wheel frame, a wheel shaft and two wheel bearings; wherein,
the inner ring of the slewing bearing is fixedly connected with the walking beam;
the rotary gear is arranged on the driving motor and is meshed with the outer ring of the rotary bearing;
the upper end of the wheel frame is fixedly connected with the outer ring of the slewing bearing;
the lower end of the wheel frame is provided with a groove structure with a downward opening, and two side walls of the groove structure are respectively provided with one wheel bearing;
the wheel is mounted on the wheel shaft;
and two ends of the wheel shaft are respectively fixedly connected with one wheel bearing.
Preferably, the first and second electrodes are formed of a metal,
the climbing mechanism includes: a mounting seat with a T-shaped structure, a worm lifter and a ball boot; wherein,
the upper end of the mounting seat is connected with the walking beam, and the lower end of the mounting seat is connected with the upper end of an output shaft of the worm lifter;
the worm lifter is horizontally arranged at the lower end of the mounting seat, and an output shaft of the worm lifter is a threaded tooth opening;
the ball head boot is arranged at the lower end of an output shaft of the worm lifter.
Preferably, the first and second electrodes are formed of a metal,
and the distances between the two current slewing mechanisms arranged on the same walking beam and the jacking mechanisms arranged on the same walking beam are the same.
The invention also provides a steering method of the gantry crane, which comprises the following steps:
jacking up one walking beam through a jacking mechanism arranged on the walking beam at the lower end of one supporting upright post of the hoisting body, so that two first wheels connected with the walking beam through two first rotary mechanisms are separated from the ground;
determining the deflection angle of each second wheel according to the position of the jacking mechanism, the positions of two second wheels connected with the other walking beam through two second slewing mechanisms and the current advancing direction of each second wheel; wherein the deflection angle refers to: when the position of the jacking mechanism is taken as the circle center and the distance between the current second wheel and the jacking mechanism is taken as the radius of the steering circle, the included angle between the tangent of the current second wheel relative to the steering circle and the straight line of the current advancing direction of the current second wheel is formed;
adjusting the current advancing direction of each second wheel into the circumferential direction of the steering circle through two second slewing mechanisms respectively connected with each second wheel according to the deflection angle respectively corresponding to each second wheel;
determining the steering angle of the gantry crane, and determining the traveling distance of wheels according to the steering angle and the distance between the second wheels and the jacking mechanism;
driving each of the second wheels by the power mechanism such that each of the second wheels travels the travel distance in a circumferential direction of the steering circle;
and lowering the walking beam through the jacking mechanism to enable each first wheel to be in contact with the ground.
Preferably, the first and second electrodes are formed of a metal,
after the one walking beam is lowered by the jacking mechanism so that each first wheel is in contact with the ground, the method further comprises the following steps:
adjusting a traveling direction of each of the wheels to a target traveling direction by each of the swing mechanisms, wherein the target traveling direction is parallel to the traveling beam or perpendicular to the traveling beam;
and driving each wheel to move along the target moving direction through the power mechanism.
Preferably, the first and second electrodes are formed of a metal,
when the target traveling direction is parallel to the walking beam,
before the driving of each wheel along the target traveling direction by the power mechanism, the method further includes:
and two auxiliary supporting arms are respectively arranged at two ends of each walking beam.
Preferably, the first and second electrodes are formed of a metal,
when the target traveling direction is perpendicular to the walking beam,
before the driving of each wheel along the target traveling direction by the power mechanism, the method further includes: and the auxiliary supporting arms are detachably arranged at the two end parts of the walking beam.
The implementation of the gantry crane and the steering method thereof has the following beneficial effects:
1. the gantry crane does not need to travel in an arc line, the steering radius of the gantry crane is the spacing distance between the jacking mechanism on one walking beam and any wheel on the other walking beam, the steering radius is small, and the gantry crane can steer in a narrow area.
2. The portal crane can accurately realize steering in a narrow area, and the position and the direction of the portal crane can be adjusted in the narrow area so as to accurately align the portal crane and a corresponding working table frame.
3. Through set up an auxiliary stay arm respectively at two tip at walking beam, auxiliary stay arm can be used to prevent that the portal crane from taking place to empty towards its width direction when the relatively poor operation area of road conditions moves or turns to.
4. The auxiliary support arm can be dismantled with walking beam's tip and be connected, when the portal crane moves in narrower region and turns to, can dismantle auxiliary support arm to reduce the width of portal crane, thereby satisfy the space requirement that the portal crane moved and turned to in narrower region.
5. The auxiliary supporting arm consists of a supporting wheel, an auxiliary supporting body, a horizontal pin shaft, a vertical pin shaft, a limiting stop, an adjusting jackscrew, a fixing screw and an auxiliary supporting flange; when the auxiliary support body is in an unfolded state, the auxiliary support flange can be fixedly connected with the fixed flange on the corresponding walking beam through the corresponding screw, at the moment, the bottom surface of the supporting wheel can be coplanar with the bottom surfaces of the wheels, and the auxiliary supporting function can be played when the gantry crane is in a running, steering or parking state, so that the gantry crane is prevented from toppling towards the width direction of the gantry crane; when the gantry crane runs or turns in an uneven operation area, the fixing screws can be loosened, the auxiliary support body is adjusted through adjusting the jackscrews to enable the auxiliary support body to rotate upwards around the horizontal pin shaft, the pitch angle between the auxiliary support body and the walking beam is increased, namely, the gap between the supporting wheel and the ground is adjusted, and after the adjustment is finished, the relative positions of the auxiliary support body and the walking beam to date are fixed through the fixing screws, so that the gap between the supporting wheel and the ground can be reasonably adjusted according to the road surface condition of the actual operation area, the range of the pitch angle between the auxiliary support body and the walking beam is limited through the limiting stop, and the gantry crane can be effectively prevented from accidentally tipping towards the width direction in the running and turning process of the uneven operation area; when the gantry crane runs and turns in a narrower area, the auxiliary support body can be folded towards the walking beam, and the position of the auxiliary support body is limited through the limiting stop and the corresponding lock pin, so that the gantry crane can run and turn in the narrower area.
Drawings
Fig. 1 is a schematic structural diagram of a gantry crane according to an embodiment of the present invention;
FIG. 2 is a schematic view of the mounting relationship between a walking beam and an auxiliary supporting arm, a swing mechanism and wheels of a gantry crane according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a slewing mechanism in a gantry crane according to a fifth embodiment of the present invention;
fig. 4 is a schematic structural diagram of a jacking mechanism in a gantry crane according to a sixth embodiment of the present invention;
fig. 5 is a flowchart of a steering method of a gantry crane according to an eighth embodiment of the present invention.
In the figure: 1: hoisting the body; 2: a power mechanism; 3: a swing mechanism; 4: a walking beam; 5: a jacking mechanism; 6: a wheel; 7: an auxiliary support arm; 31: a drive motor; 32: a slew bearing; 33: a rotary gear; 34: a wheel frame; 35: a wheel shaft; 36: a wheel bearing; 51: a mounting seat; 52: a worm lift; 53: ball boots.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example one
As shown in fig. 1, the gantry crane comprises a portal-shaped hoisting body 1, and further comprises a power mechanism 2, four swing mechanisms 3, two walking beams 4, two jacking mechanisms 5 and four wheels 6; the two walking beams 4 are respectively arranged at the lower ends of the two supporting stand columns of the portal hoisting body 1; the jacking mechanism 5 is arranged in the middle of the walking beam 4 and below the walking beam 4; the two sides of the jacking mechanism 5 are respectively provided with one slewing mechanism 3 below the walking beam 4; the four wheels 6 are arranged on the four slewing mechanisms 3 one by one; the jacking mechanism 5 is used for jacking one current walking beam 4 correspondingly connected to the current walking beam so as to enable two wheels 6 connected with the current walking beam 4 through the slewing mechanism 3 to be separated from the ground; lowering one of the current walking beams 4 correspondingly connected so that the two wheels 6 connected with the current walking beam 4 through the swing mechanism 3 are in contact with the ground; the slewing mechanism 3 is used for adjusting the advancing direction of the correspondingly mounted wheels 6; the power mechanism 2 is used for driving each wheel 6 connected with the target walking beam 4 through the slewing mechanism 3 to move along the moving direction of the wheel when at least one target walking beam 4 is not jacked up by the jacking mechanism 5.
When the gantry crane provided by the first embodiment realizes steering, one walking beam can be jacked up through the jacking mechanism arranged on one walking beam at the lower end of one supporting upright post of the hoisting body, so that two first wheels connected with the walking beam through the two first rotating mechanisms are separated from the ground; determining the deflection angle of each second wheel according to the position of the jacking mechanism, the positions of two second wheels connected with the other walking beam through two second slewing mechanisms and the current advancing direction of each second wheel; here, the deflection angle means: when the position of the jacking mechanism is taken as the circle center and a turning circle with the distance between the current second wheel and the jacking mechanism as the radius is taken as the circle center, the included angle between the tangent of the current second wheel relative to the turning circle and the straight line of the current advancing direction of the current second wheel is formed; according to the deflection angle corresponding to each second wheel, the current advancing direction of each second wheel is adjusted to be the circumferential direction of a steering circle through two second slewing mechanisms connected with each second wheel; determining the steering angle of the gantry crane, and determining the travelling distance of the wheels according to the steering angle and the distance between the second wheels and the jacking mechanism; driving each second wheel through a power mechanism so that each second wheel travels a corresponding travel distance in the circumferential direction of the steering circle; a walking beam jacked up through the jacking mechanism descends to enable each first wheel to be in contact with the ground, so that the gantry crane is steered, and the portal hoisting body of the gantry crane is steered. In summary, when the gantry crane provided by the embodiment of the invention realizes steering, the gantry crane does not need to travel in an arc line, the steering radius of the gantry crane is the spacing distance between the jacking mechanism on one walking beam and any wheel on the other walking beam, the steering radius is small, and the gantry crane can steer in a narrow area.
It should be noted that the gantry crane provided by the embodiment of the invention can accurately realize steering in a narrow area, and is beneficial to adjusting the position and direction of the gantry crane in the narrow area so as to accurately align the portal hoisting body of the gantry crane with the corresponding working table frame.
Example two
Referring to fig. 2, the second embodiment is basically the same as the first embodiment, and the same parts are not repeated herein, except that: the walking beam 4 is parallel to the width direction of the hoisting body 1; the portal crane further comprises: four auxiliary support arms 7; wherein, two end parts of the walking beam 4 are respectively connected with the first end of one auxiliary supporting arm 7; the second ends of the four auxiliary supporting arms 7 can be distributed in a rectangular shape, the length of the presented rectangle is the same as the distance between the two walking beams 4, and the width of the presented rectangle is larger than that of the hoisting body.
In the second embodiment, since the overall dimension of the gantry crane is large, but the width of the gantry crane is small relative to the length and the height of the gantry crane, the auxiliary support arms are respectively arranged at the two end parts of the walking beam, and the auxiliary support arms can be used for preventing the gantry crane from inclining towards the width direction of the gantry crane when the gantry crane runs or turns in an operation area with poor road conditions.
EXAMPLE III
Referring to fig. 2, the third embodiment can be implemented based on the previous embodiments, and in the third embodiment, the auxiliary support arm 7 is detachably connected to the end of the walking beam 4.
In the third embodiment, the auxiliary supporting arm can be detachably connected with the end part of the walking beam, and when the gantry crane runs and turns to in a narrower area, the auxiliary supporting arm can be detached to reduce the width of the gantry crane, so that the space requirement of the gantry crane on running and turning in the narrower area is met.
Example four
In this fourth embodiment, the auxiliary supporting arm 7 includes: a supporting wheel (not shown in the drawing), an auxiliary support body (not shown in the drawing), a horizontal pin shaft (not shown in the drawing), a vertical pin shaft (not shown in the drawing), a limit stop (not shown in the drawing), an adjusting jackscrew (not shown in the drawing), a fixing screw (not shown in the drawing) and an auxiliary support flange (not shown in the drawing); one end of the auxiliary support body is connected with the supporting wheel, and the other end of the auxiliary support body is connected with the auxiliary support flange; the auxiliary support flange is connected with the end part of the walking beam; the adjusting jackscrew is arranged on the auxiliary support flange and used for adjusting the pitching angle between the auxiliary support body and the walking beam; the fixing screw is used for fixing the relative position between the auxiliary support body and the walking beam after the pitching angle between the auxiliary support body and the walking beam is adjusted; the auxiliary support body can rotate relative to the walking beam upwards or downwards through a horizontal pin shaft, so that the supporting wheel is lifted or contacted with the ground; the auxiliary support body can be folded or unfolded towards the walking beam through a vertical pin; and the limiting stop gear is used for limiting the pitching angle between the auxiliary support body and the walking beam when the auxiliary support body is unfolded.
In the fourth embodiment, when the auxiliary support body is in the unfolded state, the auxiliary support flange can be fixedly connected with the fixed flange on the corresponding walking beam through the corresponding screw, at the moment, the bottom surface of the supporting wheel can be coplanar with the bottom surface of the wheel, and the auxiliary supporting function can be played when the gantry crane is in the running, steering or parking state, so that the gantry crane is prevented from toppling towards the width direction of the gantry crane; when the gantry crane runs or turns in an uneven working area, the fixing screws can be loosened, the pitching angle between the auxiliary support body and the walking beam is adjusted by adjusting the jackscrews, namely, the gap between the supporting wheel and the ground is adjusted, and after the adjustment is finished, the relative positions of the auxiliary support body and the walking beam to date are fixed by the fixing screws, so that the gap between the supporting wheel and the ground can be reasonably adjusted according to the road condition of the actual working area, the range of the pitching angle between the auxiliary support body and the walking beam is limited by the limiting stop gear, and the gantry crane can be more effectively prevented from being accidentally tipped towards the width direction in the running and turning process of the gantry crane in the uneven working area; when the gantry crane runs and turns to in a narrower area, the auxiliary support body can rotate around the vertical pin shaft to be folded towards the walking beam (specifically, the auxiliary support body is folded towards the supporting upright of the hoisting body and perpendicular to the walking beam), and the position of the auxiliary support body is limited through the limiting stop and the corresponding lock pin, so that the gantry crane can run and turn in the narrower area.
EXAMPLE five
Referring to fig. 3, a fifth embodiment can be implemented based on any one of the first to fourth embodiments, in the fifth embodiment, the swing mechanism 3 includes: a drive motor 31, a slewing bearing 32, a slewing gear 33, a wheel frame 34, a wheel shaft 35 and two wheel bearings 36; wherein, the inner ring of the slewing bearing 32 is fixedly connected with the walking beam 4; the rotary gear 33 is mounted on the driving motor 31 and meshed with the outer ring of the rotary bearing 32; the upper end of the wheel frame 34 is fixedly connected with the outer ring of the slewing bearing 32; the lower end of the wheel frame 34 is provided with a groove structure which is opened downwards, and two side walls of the groove structure are respectively provided with one wheel bearing 36; the wheel 6 is mounted on the wheel shaft 35; the two ends of the wheel shaft 35 are respectively fixedly connected with one wheel bearing 36.
When the wheel frame is actually used, the rotating gear can be driven by the driving motor to rotate for a certain angle, the rotating gear drives the outer ring of the rotating bearing to rotate, the outer ring of the rotating bearing drives the wheel frame to correspondingly rotate, and wheels which are arranged on the wheel frame through the wheel shafts and the corresponding wheel bearings can rotate for a certain angle under the driving of the wheel frame, so that the advancing direction of the wheels can be adjusted through the rotating mechanism.
EXAMPLE six
Referring to fig. 4, a sixth embodiment can be implemented based on any one of the first to fifth embodiments, in the sixth embodiment, the jacking mechanism 5 includes: a mounting seat 51 with a T-shaped structure, a worm lifter 52 and a ball shoe 53; the upper end of the mounting seat 51 is connected with the walking beam 4, and the lower end of the mounting seat 51 is connected with the upper end of the output shaft of the worm lifter 52; the worm lifter 52 is horizontally arranged at the lower end of the mounting seat 51, and an output shaft of the worm lifter 52 is a threaded tooth socket; the ball shoe 53 is provided at the lower end of the output shaft of the worm lifter. When the walking beam lifting device is used, the worm lifter can jack up the walking beam connected with the mounting seat through the connected mounting seat, and the other walking beam can move along the circumferential direction of a steering circle with the ball-head boot as the center of the circle through the two wheels arranged on the corresponding slewing mechanism.
EXAMPLE seven
The seventh embodiment can be implemented based on any one of the first to sixth embodiments, and in the seventh embodiment, the distances between the two current slewing mechanisms 3 mounted on the same walking beam 4 and the jacking mechanisms 5 mounted on the same walking beam 4 are the same. So, when climbing mechanism with the walking beam of corresponding connection when the time, this climbing mechanism can constitute the three strong point that supports the hoist and mount body with two wheels on a walking beam that is not jack-up, three strong point can form an isosceles triangle, can comparatively stable support the hoist and mount body.
In the eighth embodiment, the method comprises the following steps of,
the eighth embodiment provides the steering method for the gantry crane provided in any one of the first to seventh embodiments, and the method specifically includes the following steps:
step 501, jacking up one walking beam through a jacking mechanism arranged on the walking beam at the lower end of one supporting upright of the hoisting body, so that two first wheels connected with the walking beam through two first rotating mechanisms are separated from the ground;
502, determining the deflection angle of each second wheel according to the position of the jacking mechanism, the positions of two second wheels connected with the other walking beam through two second slewing mechanisms and the current advancing direction of each second wheel; wherein the deflection angle refers to: when the position of the jacking mechanism is taken as the circle center and the distance between the current second wheel and the jacking mechanism is taken as the radius of the steering circle, the included angle between the tangent of the current second wheel relative to the steering circle and the straight line of the current advancing direction of the current second wheel is formed;
step 503, adjusting the current traveling direction of each second wheel to the circumferential direction of the steering circle through two second swing mechanisms respectively connected to each second wheel according to the deflection angle respectively corresponding to each second wheel;
step 504, determining a steering angle of the gantry crane, and determining a traveling distance of wheels according to the steering angle and a distance between the second wheels and the jacking mechanism;
step 505, driving each second wheel through the power mechanism, so that each second wheel travels the travel distance in the circumferential direction of the steering circle;
and 506, lowering the walking beam through the jacking mechanism to enable each first wheel to be in contact with the ground.
When the gantry crane is steered through the steps of the eighth embodiment, the gantry crane does not need to travel in an arc line, the steering radius of the gantry crane is the distance between the jacking mechanism on one walking beam and any wheel on another walking beam, the steering radius is smaller, and the gantry crane can accurately steer in a narrow area.
Example nine
The ninth embodiment is basically the same as the eighth embodiment, and the same parts are not described again, except that: after the one walking beam is lowered by the jacking mechanism so that each first wheel is in contact with the ground, the method further comprises the following steps: adjusting a traveling direction of each of the wheels to a target traveling direction by each of the swing mechanisms, wherein the target traveling direction is parallel to the traveling beam or perpendicular to the traveling beam; and driving each wheel to move along the target moving direction through the power mechanism.
The target traveling direction of the wheels may form an acute angle with the longitudinal direction of the traveling beam, so that the gantry crane travels in an oblique direction.
Example ten
The tenth embodiment can be implemented based on the ninth embodiment, and the same points as those in the ninth embodiment are not described again, except that: when the target traveling direction is parallel to the walking beam, before the driving of each of the wheels by the power mechanism is performed along the target traveling direction, the method further includes: and two auxiliary supporting arms are respectively arranged at two ends of each walking beam. When guaranteeing that the portal crane advances along its width direction, the auxiliary stay arm can be used to the auxiliary stay hoist and mount body, prevents that the hoist and mount body from taking place to empty along the width direction of portal crane.
EXAMPLE eleven
The eleventh embodiment can be implemented based on the ninth embodiment, and the same parts as those in the ninth embodiment are not described again, except that: when the target traveling direction is perpendicular to the walking beam, before the driving of each wheel along the target traveling direction by the power mechanism, the method further includes: and the auxiliary supporting arms are detachably arranged at the two end parts of the walking beam. Therefore, the width of the gantry crane can be reduced, and the space requirement that the gantry crane runs and turns in a narrower area is met.
In summary, when the gantry crane provided by the embodiment of the invention realizes steering, arc walking is not needed, the steering radius is the spacing distance between the jacking mechanism on one walking beam and any wheel on the other walking beam, the steering radius is small, and steering can be accurately realized in a narrow area.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A gantry crane comprises a portal crane body, and is characterized by further comprising a power mechanism, four swing mechanisms, two walking beams, two jacking mechanisms and four wheels; wherein,
the two walking beams are respectively arranged at the lower ends of the two supporting stand columns of the portal hoisting body;
the jacking mechanism is arranged in the middle of the walking beam and below the walking beam;
the slewing mechanisms are respectively arranged below the walking beam and positioned on two sides of the jacking mechanism;
the four wheels are arranged on the four slewing mechanisms one by one;
the jacking mechanism is used for jacking one current walking beam which is correspondingly connected so as to enable two wheels which are connected with the current walking beam through the slewing mechanism to be separated from the ground; lowering the current walking beam correspondingly connected to the current walking beam to enable the two wheels connected with the current walking beam through the slewing mechanism to be in contact with the ground;
the slewing mechanism is used for adjusting the advancing direction of the correspondingly mounted wheels;
and the power mechanism is used for driving each wheel connected with the target walking beam through the slewing mechanism to move along the moving direction of the wheel when at least one target walking beam is not jacked up by the jacking mechanism.
2. The gantry crane of claim 1,
the walking beam is parallel to the width direction of the hoisting body;
further comprising: four auxiliary support arms; wherein,
two end parts of the walking beam are respectively connected with the first end of one auxiliary supporting arm;
the second ends of the four auxiliary supporting arms can be distributed in a rectangular shape, the length of the presented rectangle is equal to the distance between the two walking beams, and the width of the presented rectangle is larger than that of the hoisting body.
3. The gantry crane of claim 2,
the auxiliary supporting arm is detachably connected with the end part of the walking beam;
or,
the auxiliary support arm includes: the supporting wheel, the auxiliary support body, the horizontal pin shaft, the vertical pin shaft, the limiting stop, the adjusting jackscrew, the fixing screw and the auxiliary support flange; wherein,
one end of the auxiliary support body is connected with the supporting wheel, and the other end of the auxiliary support body is connected with the auxiliary support flange;
the auxiliary support flange is connected with the end part of the walking beam;
the adjusting jackscrew is arranged on the auxiliary support flange and used for adjusting the pitching angle between the auxiliary support body and the walking beam;
the fixing screw is used for fixing the relative position between the auxiliary support body and the walking beam after the pitching angle between the auxiliary support body and the walking beam is adjusted;
the auxiliary support body can rotate relative to the walking beam upwards or downwards through a horizontal pin shaft, so that the supporting wheel is lifted or contacted with the ground;
the auxiliary support body can be folded or unfolded towards the walking beam through a vertical pin;
and the limiting stop gear is used for limiting the pitching angle between the auxiliary support body and the walking beam when the auxiliary support body is unfolded.
4. The gantry crane of claim 1,
the slewing mechanism comprises: the device comprises a driving motor, a rotary bearing, a rotary gear, a wheel frame, a wheel shaft and two wheel bearings; wherein,
the inner ring of the slewing bearing is fixedly connected with the walking beam;
the rotary gear is arranged on the driving motor and is meshed with the outer ring of the rotary bearing;
the upper end of the wheel frame is fixedly connected with the outer ring of the slewing bearing;
the lower end of the wheel frame is provided with a groove structure with a downward opening, and two side walls of the groove structure are respectively provided with one wheel bearing;
the wheel is mounted on the wheel shaft;
and two ends of the wheel shaft are respectively fixedly connected with one wheel bearing.
5. The gantry crane of claim 1,
the climbing mechanism includes: a mounting seat with a T-shaped structure, a worm lifter and a ball boot; wherein,
the upper end of the mounting seat is connected with the walking beam, and the lower end of the mounting seat is connected with the upper end of an output shaft of the worm lifter;
the worm lifter is horizontally arranged at the lower end of the mounting seat, and an output shaft of the worm lifter is a threaded tooth opening;
the ball head boot is arranged at the lower end of an output shaft of the worm lifter.
6. The gantry crane according to any one of claims 1 to 5,
and the distances between the two current slewing mechanisms arranged on the same walking beam and the jacking mechanisms arranged on the same walking beam are the same.
7. A method for steering a gantry crane according to any one of claims 1 to 6, comprising:
jacking up one walking beam through a jacking mechanism arranged on the walking beam at the lower end of one supporting upright post of the hoisting body, so that two first wheels connected with the walking beam through two first rotary mechanisms are separated from the ground;
determining the deflection angle of each second wheel according to the position of the jacking mechanism, the positions of two second wheels connected with the other walking beam through two second slewing mechanisms and the current advancing direction of each second wheel; wherein the deflection angle refers to: when the position of the jacking mechanism is taken as the circle center and the distance between the current second wheel and the jacking mechanism is taken as the radius of the steering circle, the included angle between the tangent of the current second wheel relative to the steering circle and the straight line of the current advancing direction of the current second wheel is formed;
adjusting the current advancing direction of each second wheel into the circumferential direction of the steering circle through two second slewing mechanisms respectively connected with each second wheel according to the deflection angle respectively corresponding to each second wheel;
determining the steering angle of the gantry crane, and determining the traveling distance of wheels according to the steering angle and the distance between the second wheels and the jacking mechanism;
driving each of the second wheels by the power mechanism such that each of the second wheels travels the travel distance in a circumferential direction of the steering circle;
and lowering the walking beam through the jacking mechanism to enable each first wheel to be in contact with the ground.
8. The method of claim 7,
after the one walking beam is lowered by the jacking mechanism so that each first wheel is in contact with the ground, the method further comprises the following steps:
adjusting a traveling direction of each of the wheels to a target traveling direction by each of the swing mechanisms, wherein the target traveling direction is parallel to the traveling beam or perpendicular to the traveling beam;
and driving each wheel to move along the target moving direction through the power mechanism.
9. The method of claim 8,
when the target traveling direction is parallel to the walking beam,
before the driving of each wheel along the target traveling direction by the power mechanism, the method further includes:
and two auxiliary supporting arms are respectively arranged at two ends of each walking beam.
10. The method of claim 8,
when the target traveling direction is perpendicular to the walking beam,
before the driving of each wheel along the target traveling direction by the power mechanism, the method further includes:
and the auxiliary supporting arms are detachably arranged at the two end parts of the walking beam.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0624687A (en) * | 1992-05-28 | 1994-02-01 | Nitsuchi:Kk | Outrigger type crane |
| CN2516520Y (en) * | 2001-11-05 | 2002-10-16 | 重庆钢铁(集团)有限责任公司 | Gantry crane |
| CN105197804A (en) * | 2015-09-21 | 2015-12-30 | 常州齐科化工有限公司 | Stable type gantry crane |
| CN106429830A (en) * | 2016-10-31 | 2017-02-22 | 北京环境特性研究所 | Gantry crane all-dimensional steering device and method |
-
2018
- 2018-02-26 CN CN201810159844.9A patent/CN108439199B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0624687A (en) * | 1992-05-28 | 1994-02-01 | Nitsuchi:Kk | Outrigger type crane |
| CN2516520Y (en) * | 2001-11-05 | 2002-10-16 | 重庆钢铁(集团)有限责任公司 | Gantry crane |
| CN105197804A (en) * | 2015-09-21 | 2015-12-30 | 常州齐科化工有限公司 | Stable type gantry crane |
| CN106429830A (en) * | 2016-10-31 | 2017-02-22 | 北京环境特性研究所 | Gantry crane all-dimensional steering device and method |
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