Gantry crane with cart capable of walking on curved rail and walking control method thereof

Abstract

The invention discloses a gantry crane with a cart capable of walking on a curved rail and a walking control method thereof. The gantry crane comprises a portal frame and a cart walking mechanism. The cart walking mechanism comprises a first walking wheel, a third walking wheel, a second walking wheel and a fourth walking wheel, wherein the first walking wheel and the third walking wheel are mounted on the lower portions of the front side and the rear side of each left supporting leg respectively, and the second walking wheel and the fourth walking wheel are mounted on the lower portions of the front side and the rear side of each right supporting leg respectively. The external diameter of the first walking wheels and the external diameter of the fourth walking wheels are both D1, the external diameter of the second walking wheels and the external diameter of the third walking wheels are both D2, D1 / D2=R, and r1 and R1 are the radius of an inner side circular arc rail and the radius of an outer side circular arc rail. The walking control method includes the steps that first, walking is achieved on a current rail section, and the specific processes comprise rail section shape judging, straight line rail section walking and circular arc rail section walking; second, the step one is repeated again and again until the walking process of the walking rail is completed. According to the gantry crane with the cart capable of walking on the curved rail and the walking control method thereof, the structure is simple, the design is reasonable, installation and arrangement are convenient, using operation is simple and convenient, the using effect is good, the cart can walk on the curved rail, and rail gnawing can be avoided.

Description

technical field [0001] The invention belongs to the technical field of application of gantry cranes, and in particular relates to a gantry crane capable of running on a curved track and a running control method thereof. Background technique [0002] Gantry cranes (also known as gantry cranes) are mainly used for loading and unloading operations of outdoor freight yards, stockyards, and bulk cargoes. It has the characteristics of large operating range, wide adaptability, and strong versatility, and has been widely used. Under normal circumstances, the cart of the gantry crane can only travel on a straight track. With the increasing shortage of land resources and the limitation of actual conditions, some sections of the gantry crane track are designed as curves. Since part of the track of the gantry crane is designed as a curve, when the gantry crane is running on the curved track, the rim of the wheel is in contact with the side of the track, and the horizontal lateral thrus...

AI Technical Summary

Problems solved by technology

Since part of the track of the gantry crane is designed as a curve, when the gantry crane is running on the curved track, the rim of the wheel is in contact with the side of the track, and the horizontal lateral thrust generated will bring many negative effects to the normal operation of the gantry crane. Its main hazards include the following aspects: first, it causes wear on the wheel rim and track, and in severe cases, it can cause metal peeling and warping deformation on the side of the wheel rim and track, which reduces the service life of the wheel and track; second, increases Running resistance will overload the motor and transmission mechanism and increase energy consumption. In severe cases, the motor will be burned or the transmission mechanism will be damaged; third, the working noise of the gantry crane will increase; fourth, the gantry crane may derail, causing equipment or personal injury. security incident

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