CN114852870B

CN114852870B - Wireless control of rail line gantry hoisting and gantry hoisting operation method

Info

Publication number: CN114852870B
Application number: CN202210492810.8A
Authority: CN
Inventors: 李石平; 吕茂印; 陈亮陪; 牛学信; 凌浩东; 庞茗丹; 王金华; 卓海军; 陈启申
Original assignee: Zhuzhou CSR Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2025-01-24
Anticipated expiration: 2042-05-07
Also published as: CN114852870A

Abstract

The present invention discloses a wireless control method for gantry hoisting of a rail line and a gantry hoisting operation method. An operator inputs an operation instruction and transmits it to a processor. The processor receives data from each wireless networking sub-node module through a wireless networking central node module and performs fault judgment based on the received data. The processor performs calculation judgment based on the operation instruction and the received data to determine whether the corresponding control logic requirements are met. For the operation instruction that meets the control logic requirements, the operation instruction is sent to each wireless networking sub-node module through the wireless networking central node module. The processor outputs the calculation results and fault judgment information that meet the control logic requirements to a display. The controller receives the operation instruction from the wireless networking sub-node module and controls the servo motor to drive the corresponding mechanism of the gantry hoist or the lifting platform through a driver. The present invention can solve the technical problems of low operation efficiency, safety and control accuracy, high cost and inconvenient operation of the existing hoisting method.

Description

Wireless control and gantry lifting operation method for gantry lifting of track line

Technical Field

The invention relates to the technical field of railway engineering machinery, in particular to a gantry crane wireless control method and a gantry crane operation method for paving, replacing and hoisting track circuit components.

Background

At present, the opening mileage of the high-speed railway in China reaches 3.5 ten thousand kilometers, the bearing capacity reaches 70% of the total passenger traffic, and the normal operation has more and more influence on the travel and business activities of the national people. Therefore, on-site replacement and maintenance of the high-speed railway line components is a serious problem in the track engineering machinery line maintenance field. The circuit components of the current stage are also mainly replaced by lifting through a track crane, a cantilever crane and the like. For the replacement of longer and heavier line components, such as assemblies of steel rails, switch centers and the like, when a plurality of track cranes are adopted for operation, the manual control is often difficult to realize synchronization, and the swing and deformation of heavy objects are large, so that the construction efficiency is seriously affected; when the cantilever crane is used for operation, the cantilever is easy to touch the overhead contact line on the upper part of the railway line, serious potential safety hazards exist for operation, other single-point or two-point hoisting modes are not applicable to replacement parts with large length and size, and the weight of the large-size line parts is completely transferred to the line through the bogie after hoisting, so that the line is greatly damaged. The gantry crane widely applied to the hoisting industry at present has the following technical defects:

1) Because of the huge structure, the operation is inflexible, and the rail line is not easy to carry to the site operation of the rail line;

2) The height and width spacing of the gantry crane support legs cannot be adjusted, the transverse span spacing is fixed, the height from the ground is fixed, and the gantry crane support legs are difficult to adapt to complex working conditions of different heights on the ground and different widths of lines on site;

3) The single gantry crane cannot adapt to the replacement requirement of parts with different lengths, and has large occupied space, large mass and inconvenient transportation and placement;

4) The safety risk exists, the operation efficiency is low, the integration degree of transportation, arrangement and operation flow is not high, and meanwhile, the adjacent line occupation construction and the out-of-limit operation possibility exist in the operation process.

In the prior art, the following technical schemes are mainly related to the invention:

The prior art 1 is a Chinese patent of the utility model with the bulletin number of CN203950150U, which is applied by Shaanxi Jiangfeng construction engineering Co., ltd in 29 of 2014 in 04 and announced in 11 of 2014 in 19. The utility model discloses a group crane synchronous control system which comprises a control terminal, a main controller, a sub-controller and a remote monitoring computer, wherein the main controller is used for executing a command of the control terminal and receiving information fed back by the sub-controller, the sub-controller is used for executing the command of the main controller and receiving information collected by a tension sensor, a wireless communication control mode is adopted between the control terminal and the main controller and between the main controller and the remote monitoring computer, the main controller receives a control command sent by the remote monitoring computer and realizes control of forward rotation/reverse rotation/stop of all electric hoist motors, an A/D converter is arranged for collecting an output signal of the tension sensor, and the output signal is sent to a singlechip through an SPI interface, converted into a tension signal and then sent to the remote monitoring computer to be displayed to a user. The system is convenient to operate, improves the safety performance of the group suspension system, alarms in overload stop, has response speed of millisecond, and is particularly suitable for the working environment with blocked view of suspension operation and easy collision and scraping.

However, the synchronous control system of the group crane in the prior art 1 is applied to the building industry, the control object is a tower crane, the synchronous control precision requirement is not high, the system integration degree is low, and the operation and maintenance are inconvenient.

Disclosure of Invention

In view of the above, the invention aims to provide a wireless control and gantry lifting operation method for a rail line gantry crane, which aims to solve the technical problems of low efficiency, low safety, high cost and inconvenient operation of the existing rail line component replacement mode.

In order to achieve the above purpose, the invention specifically provides a technical implementation scheme of a railway track gantry crane wireless control method, which comprises the following steps:

An operator inputs an operation instruction through an operation panel, the operation instruction is transmitted to a processor, the processor receives data from each wireless networking sub-node module through a wireless networking central node module, and fault judgment is carried out according to the received data;

The processor performs operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, and can send the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and the processor outputs a calculation result and fault judgment information meeting the control logic requirement to the display;

The controller receives an operation instruction from the wireless networking sub-node module and controls the servo motor to drive the door hanging device or the corresponding mechanism of the lifting platform through the driver. The sensor collects detection data of the door hanging device or the corresponding mechanism of the lifting platform, the detection data are transmitted to the wireless networking sub-node module sequentially through the driver and the controller, and the wireless networking sub-node module transmits the data to the wireless networking central node module.

Further, the operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller and then executes corresponding actions. And the wireless networking sub-node modules transmit data to the wireless networking central node module, and the wireless networking central node module receives the data in a queuing polling mode.

Further, the operation instructions of the door hanging device comprise lifting and traversing of the hanging device, lifting and traversing of the supporting legs and lifting and traversing of the leveling supporting legs. The operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.

The invention also specifically provides a technical implementation scheme of the rail line gantry crane operation method based on the wireless control method, which comprises the following steps:

s10) transporting a plurality of door hanging devices and lifting platforms to an operation site through a first flatcar according to the lifting requirement when the circuit components are replaced;

s20), after reaching the operation site, controlling the lifting platform to deploy the door hanging device in place according to the position and sequence by the wireless control device, and driving away the first flatcar;

s30) performing wireless synchronous cooperative control on the deployed gantry crane by using a wireless control device to finish hoisting operation of the circuit component;

s40) a recovery step, namely after the hoisting operation is completed, the first flat car enters, the door hoisting device is recovered and fixed on the door hoisting device, and the first flat car drives away.

Further, the step S10) includes:

In the process of transporting the door hanging device by the first flat car, the wireless control device can enter a transportation mode through selection, and the fixed locking condition of the door hanging device and the lifting platform is monitored in real time through the display.

Further, the step S20) includes:

After the door hanging device and the circuit components required by operation are transported to an operation site, the wireless control device can enter a deployment mode through selection, the operation panel is operated to lift the switches of the platform control area and the door hanging device control area, then the processor carries out control logic operation according to the operation instructions and the states of the door hanging device and the lifting platform, so that the clamping, supporting leg transverse movement, lifting platform rotation, lifting and longitudinal movement operations of the door hanging device by the lifting platform are realized, and finally, the safe deployment of a plurality of door hanging devices from the first flatcar to the track pavement is realized.

Further, the step S30) includes:

After the door hanging devices are deployed, the wireless control device can enter an operation mode through selection, a switch of a control area of each door hanging device is operated, then a processor performs control logic operation according to an operation instruction and the state of the door hanging device, the supporting leg lifting, the leveling supporting leg lifting, the lifting and transverse movement, the lifting and the lifting, the lifting and unlocking actions of the door hanging devices selected to be used are cooperated, and meanwhile, the real-time position and the load of each door hanging device are subjected to negative feedback adjustment, so that the stable replacement operation of circuit components is finally realized.

Further, before the door hanging device is deployed and placed, the method further comprises the following steps:

s101) opening a laser switch and an illumination switch on each door hanging device control box;

s102) manually releasing a locking rope and a positioning pin of the door hanging device on the first flat car;

S103) manually unlocking the supporting leg of the door hanger and leveling the supporting leg;

s104) manually unlocking the lifting, rotating and longitudinally moving mechanism of the lifting platform.

Further, the step S20) includes:

S201), when the door lifting device is deployed, the wireless control device enters a deployment mode through selection;

S202) controlling the lifting platform to ascend through the wireless control device, stopping the ascending action when the lifting platform is observed to be contacted with the door hanging device, and prompting an operator to clamp and lock the door hanging device;

S203), controlling a clamping locking mechanism of the lifting platform through a wireless control device to lock the door hanging device, and operating the lifting platform to continuously ascend after monitoring a clamping locking signal, wherein the ascending height is controlled by an operator;

S204) when the door hanging device rises to the highest position, controlling the lifting platform to rotate through the wireless control device, and stopping rotating when detecting that the lifting platform rotates to a 90-degree signal;

S205) according to the alignment of the laser line and the ground mark position, controlling the lifting platform to longitudinally move by longitudinally moving the platform on the operation panel, and simultaneously controlling the support leg to transversely move by a support leg transverse moving switch on the operation panel until the laser line is aligned with the ground mark, and completing the placement alignment of the gantry crane;

s206) controlling the lifting platform to descend to the lowest position through the wireless control device, and unlocking the clamping locking mechanism;

S207) respectively controlling the extension of the support legs through the support leg extension switches, stopping when the support leg extension switches are adjacent to the ground, switching the support leg selection switches on the operation panel to the synchronous position, and continuing to extend the support legs until the support legs are separated from the lifting platform, so that the support legs reach the designated height;

s208) adjusting the longitudinal levelness of the door hanging device by controlling the leveling support legs of the support legs;

s209) controlling the heights of the supporting legs according to the feedback value of the transverse inclination angle sensor until the gantry crane is transversely horizontal, and completing the deployment of the first gantry crane at the moment;

S210) controlling the lifting platform to lift the second door hanging device to the highest position through the wireless control device, controlling the lifting platform to rotate 180 degrees, and transporting the lifting platform to the deployment position of the second door hanging device through the first flatcar to complete deployment of the second door hanging device;

S211) completing the deployment of other gantry cranes.

Further, the step S40) includes:

S401) when the door lifting device is recovered, the lifting hook is manually locked, and the transverse moving mechanism is locked through the wireless control device;

S402), a first flatcar transportation lifting platform enters an operation area and performs alignment, and the lifting platform is controlled to rise to the highest position through a wireless control device;

S403) longitudinally moving the lifting platform by longitudinally moving the platform on the operation panel, finely adjusting the lifting platform to be aligned with the door hanging device, operating the landing leg to retract by a landing leg telescopic switch on the operation panel, and lowering the door hanging device, and prompting an operator to clamp and lock the door hanging device when the lifting platform is observed to be contacted with the door hanging device;

S404) controlling a clamping locking mechanism of the lifting platform to lock the door hanging device through a wireless control device, continuously retracting the supporting leg after the clamping locking is finished, and simultaneously controlling the supporting leg to transversely move to a locking position through a supporting leg transverse moving switch on an operation panel to finish the recovery of the first door hanging device;

S405) controlling the lifting platform to lift the first door hanging device to the highest position through the wireless control device, controlling the lifting platform to rotate 180 degrees, and conveying the lifting platform to the position below the second door hanging device through the first flatcar to complete the recovery of the second door hanging device;

S406) controlling the lifting platform to lift the two door hanging devices to the highest position through the first flat car, controlling the lifting platform to rotate 90 degrees to the initial position, controlling the lifting platform to descend, unlocking the clamping locking mechanism when the landing leg is about to contact the car body of the first flat car by visual inspection, controlling the lifting platform to continue to descend to the initial position after unlocking, and manually locking all parts of the door hanging devices;

s407) sequentially switching the mode selection switch on the operation panel to the transportation mode after all the door hanging devices are recovered and locked, so as to monitor the locking state of the door hanging devices and the lifting platform before and during transportation.

Further, the door lifting device comprises a lifting device, wherein the lifting device comprises a traversing running mechanism and a lifting hook connected with the traversing running mechanism and used for lifting a line component. The step S30) further includes:

s301) when the circuit component is lifted and placed, the lifting hook is manually unlocked, and the transverse moving mechanism is unlocked through the wireless control device;

s302) the second trolley enters a designated operation area, and alignment is completed according to the laser line;

S303), controlling the traversing mechanism to move to a set position through a control box on the door hanging device, controlling the lifting hook to descend, and finely adjusting the position of the traversing mechanism to enable the traversing mechanism to be positioned right above the lifting point;

s304) manually hooking the lifting hook to a designated part of the circuit component, controlling the lifting hook to ascend through the control box, stopping when the lifting rope of the lifting hook is straightened, and judging the preparation state of the lifting hook through the pulling force of the lifting hook;

S305) when all the lifting hooks are prepared, turning on a synchronous operation switch on an operation panel, and setting the transverse moving position of the current transverse moving mechanism and the vertical position of the lifting hooks as initial positions;

S306) controlling all lifting hooks to synchronously move transversely through lifting and moving switches on an operation panel, or controlling all lifting hooks to synchronously lift through lifting hook lifting and moving switches on the operation panel, judging whether all lifting devices are synchronous or not through monitoring lifting displacement, moving displacement and lifting hook pulling force of all lifting devices during the period, if the pulling force or lifting displacement or moving displacement of a certain lifting hook is detected to be larger than that of other lifting devices during the operation period, immediately stopping the actions of all lifting devices, reminding operators to singly control through abnormal parts and parameters prompted by a display, and continuously performing synchronous actions after adjusting the lifting devices to reasonable positions;

S307) after the line component is lifted, the second carriage is driven away from the working area, and the line component is placed at a designated position by synchronous control, thereby completing the placement of the line component.

Further, the leg extension and retraction control logic in step S20) and step S40) includes:

s501) when the landing leg telescopic switch is turned on, if any one of a landing leg locking signal, a landing leg limiting signal, a motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device carries out alarm display;

S502) if any one of the supporting leg locking signal, the supporting leg limiting signal, the motor fault signal, the storage battery fault signal and the scram signal is not detected, executing the next step;

s503), lifting the driving motor to act;

S504) judging whether the transverse inclination angle of the door hanging device is smaller than or equal to a set value;

s505) if yes, executing the next step, if not, jumping to step S503) for execution;

s506) judging whether the height of the supporting leg is equal to a set value;

S507), if yes, stopping the lifting driving motor, and if not, jumping to step S503) to execute.

Further, the leg traversing control logic in step S20) and step S40) includes:

s601) when the supporting leg traversing switch is opened, if any one of a supporting leg traversing locking signal, a traversing limiting signal, a traversing driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device carries out alarm display;

S602) if any one of the leg traverse lock signal, traverse limit signal, traverse drive motor failure signal, battery failure signal, and scram signal is not detected, the traverse drive motor is operated until it is in place.

Further, the group crane synchronous traversing control logic in the step S30) includes:

S701) when a lifting and transverse moving switch is turned on, if any one of a transverse moving locking signal, a transverse moving limiting signal, a transverse driving motor fault signal, a storage battery fault signal and an emergency stop signal of the lifting device is detected, the wireless control device carries out alarm display;

s702) if any one of a transverse movement locking signal, a transverse movement limiting signal, a transverse driving motor fault signal, a storage battery fault signal and an emergency stop signal of the lifting device is not detected, executing the next step;

S703) judging whether all the door hanging devices are normal in communication, wherein the transverse inclination angle is smaller than or equal to a set value, the lifting hook pulling force is smaller than or equal to the set value, and the lifting driving motor does not act;

S704) if all conditions are met, the transverse driving motor acts, and if any condition is not met, the wireless control device carries out alarm display.

Further, the group crane synchronous lifting control logic in step S30) includes:

S801) when the lifting hook lifting switch is turned on, if any one of a lifting hook lifting in-place signal, a lifting driving motor fault signal, a storage battery fault signal and an emergency stop signal is detected, the wireless control device carries out alarm display;

S802) if any one of a lifting hook ascending in-place signal, a lifting driving motor fault signal, a storage battery fault signal and an emergency stop signal is not detected, executing the next step;

S803) judging whether all the door hanging devices are normal in communication, wherein the transverse inclination angle is smaller than or equal to a set value, the lifting hook pulling force is smaller than or equal to the set value, and the transverse driving motor does not act;

s804) if all the conditions are met, the lifting driving motor acts, and if any one of the conditions is not met, the wireless control device carries out alarm display.

By implementing the technical scheme of the rail line gantry lifting wireless control and gantry lifting operation method provided by the invention, the rail line gantry lifting wireless control and gantry lifting operation method has the following beneficial effects:

(1) The wireless control and gantry lifting operation method for the track line gantry lifting can realize the whole flow control of a plurality of gantry lifting devices by utilizing the wireless control device, solve the control problems of real-time control of the operation processes of transportation, deployment, lifting, recovery and the like of the gantry lifting devices, safety interlocking, multi-machine synchronization, emergency measures and the like, and has high operation efficiency, safety, low cost and convenient operation control;

(2) The wireless control and gantry lifting operation method for the rail line gantry lifting is suitable for replacing a whole group of turnouts and also suitable for replacing single switch rails, switch centers and the like, and can realize carrying, placing, position adjustment and replacement of various line components with different lengths through wireless reconnection consistency control of actions such as synchronous transverse movement, lifting and the like in the lifting process of a plurality of gantry lifting devices;

(3) According to the wireless control and gantry lifting operation method for the track line gantry lifting, the safety of the operation process is ensured to the greatest extent through real-time safety interlocking monitoring of a plurality of gantry lifting devices and lifting platforms in the transportation process, cooperative operation and safety interlocking of the gantry lifting devices and the lifting platforms in the recovery process, locking real-time monitoring of the gantry lifting devices and the lifting platforms, emergency control measures and intelligent fault maintenance under various fault conditions;

(4) The wireless control and gantry lifting operation method for the track line gantry lifting disclosed by the invention has the advantages that the supporting legs of the gantry lifting device are arranged on the two sides of the railway line in a crossing way, the line parts are replaced without occupying adjacent line space, the safety risk of operation overstepping is avoided, the operation is flexible, the operation requirement under the working condition of a complex line can be well adapted;

(5) According to the wireless control and gantry lifting operation method for the track line gantry lifting, disclosed by the invention, the gantry lifting device has the functions of supporting leg transverse movement, lifting and leveling, the supporting leg transverse span spacing and the height from the ground are adjustable, the functions of meeting the ground working condition requirements of different lines can be realized, the placement and recovery of the gantry lifting device can be realized through the lifting platform, the height is adjustable, and the risk of touching a contact net in the lifting process is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the invention, from which other embodiments can be obtained for a person skilled in the art without inventive effort.

FIG. 1 is a system block diagram of one embodiment of a rail line gantry crane wireless control system on which the wireless control method of the present invention is based;

FIG. 2 is a schematic block diagram of an operating mechanism control system of an embodiment of a rail line gantry crane wireless control system on which the wireless control method of the present invention is based;

FIG. 3 is a block diagram of a system architecture of a gantry crane control system of an embodiment, based on a rail line gantry crane wireless control system of the present invention;

FIG. 4 is a system block diagram of a control system of a lifting platform of an embodiment of a rail line gantry crane wireless control system on which the wireless control method of the present invention is based;

FIG. 5 is a schematic diagram of a three-dimensional structure of a wireless control device of an embodiment of a rail line gantry crane wireless control system on which the wireless control method of the present invention is based;

FIG. 6 is a schematic plan view of a control panel of a wireless control device of an embodiment of a rail line gantry crane wireless control system on which the wireless control method of the present invention is based;

FIG. 7 is a block diagram of a transport-deployment-job-recovery flow of one embodiment of the rail-line gantry crane operation method of the present invention;

FIG. 8 is a schematic diagram of a transport structure of a gantry crane in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 9 is a schematic diagram of a transportation structure of a gantry crane at another view angle in one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 10 is a schematic diagram of a perspective view of a gantry crane (with the truss front side removed) in one embodiment of a rail track gantry crane operation method of the present invention;

FIG. 11 is a schematic view of the partially enlarged construction of FIG. 10 according to the present invention;

FIG. 12 is a schematic view of a partially enlarged construction of another portion of FIG. 10 in accordance with the present invention;

FIG. 13 is a schematic view of a lifting mechanism of a gantry crane in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 14 is a schematic view of a traversing mechanism of a gantry crane in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 15 is a schematic diagram of a leg traversing mechanism of a gantry crane in one embodiment of a rail track gantry crane operation method of the present invention;

FIG. 16 is a schematic view of the lower leg structure of a gantry crane in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 17 is a schematic view of a single gantry crane lifting structure according to one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 18 is a schematic view of a plurality of gantry crane lifting structures according to one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 19 is a schematic view of a gantry crane transport structure according to one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 20 is a flow chart of one embodiment of the method of operation of the rail line gantry crane operation of the present invention;

FIG. 21 is a flowchart of an operation method further detailing one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 22 is a schematic illustration of a door lifting device transport (first flatcar transport) step in one embodiment of the rail line gantry lifting operation method of the present invention;

FIG. 23 is a schematic illustration of a door lifting device deployment (first flatcar withdrawal) step in one embodiment of the track line gantry lifting operation method of the present invention;

FIG. 24 is a schematic illustration of a new line component unloading (second carriage removal) step in one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 25 is a schematic illustration of a gantry crane handling step in one embodiment of the rail line gantry crane handling method of the present invention;

FIG. 26 is a schematic illustration of a second flatcar drive-in step in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 27 is a schematic illustration of the old line component recovery (first flatcar drive-in) step in one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 28 is a schematic illustration of a gantry crane recovery step in one embodiment of the rail track gantry crane operation method of the present invention;

FIG. 29 is a program flow diagram of gantry crane leg traversing control logic for one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 30 is a program flow diagram of the gantry crane leg traversing control logic for one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 31 is a program flow diagram of gantry crane traversing control logic for a gantry crane in one embodiment of the rail line gantry crane operation method of the present invention;

FIG. 32 is a program flow diagram of the gantry crane lifting control logic of one embodiment of the rail line gantry crane operation method of the present invention;

In the figure: 1-leveling support leg, 2-left lower support leg, 3-left upper support leg, 4-truss, 5-annular chain, 6-lifting hook, 7-lifting mechanism, 8-traversing running mechanism, 9-right upper support leg, 10-right lower support leg, 11-load beam, 12-lifting driving motor, 13-speed reducer, 14-first transmission gear, 15-second transmission gear, 16-annular chain, 17-mounting box, 18-traversing driving motor, 19-first speed reducer, 20-running wheel, 21-driving sprocket, 22-driven sprocket, 23-running rail, 24-slotted hole, 25-slider, 26-guide rail, 27-mounting plate, 28-traversing driving motor, 29-second speed reducer, 30-driving gear, 31-driven gear, 32-first rack, 33-second rack, 34-lead screw, 35-lead screw nut, 36-lead screw bearing, 37-telescopic square tube, 38-fixed square tube, 39-supporting square tube, 40-beam, 41-lifting driving motor, 42-third decelerator, 43-power device, 44-clamping locking mechanism, 45-locating pin, 46-longitudinal moving mechanism, 47-locking rope, 48-lifting device, 49-accumulator, 100-door lifting device, 200-lifting platform, 300-first flatcar, 400-second flatcar, 500-new line component, 600-old line component, 700-lifting appliance, 800-stock rail, 900-track pavement (roadbed), 1000-railcar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 to 32, specific embodiments of the rail-line gantry crane wireless control and gantry crane operation method of the present invention are shown, and the present invention will be further described with reference to the drawings and the specific embodiments.

At present, most of hoisting equipment for replacing large parts (such as turnout parts, track plates, steel rails and the like) on a track line in China has the technical defects of low efficiency, low safety, high cost, inconvenience in use and the like. In order to solve the technical problem commonly existing in the existing hoisting equipment for the track line, the embodiment of the invention specifically adopts an intelligent gantry crane 100 (gantry crane) with adjustable span and height, and simultaneously utilizes an integrated intelligent wireless remote control device to intelligently control each operation link (including transportation, deployment, hoisting and recovery) of a plurality of gantry cranes 100. The embodiment of the invention provides a wireless control system of a plurality of gantry cranes 100, which adopts an intelligent wireless control device to control the gantry cranes 100 and a lifting platform 200 to perform cooperative operation, and finally realizes safe and stable operation of railway track line laying and field maintenance. The specific embodiment of the invention also provides a rail line gantry lifting system for the railway rail line based on rail flatcar transportation. The following specific embodiments take railway turnout paving operation as an example, and the method for controlling and operating gantry crane in the track line of the invention is described in detail.

Example 1

The embodiment of the invention relates to a wireless control method for gantry lifting of a track line, which comprises the following steps:

The operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller and then executes corresponding actions. And the wireless networking sub-node modules transmit data to the wireless networking central node module, and the wireless networking central node module receives the data in a queuing polling mode. The operation instructions of the door lifting device comprise lifting and traversing of the lifting device, lifting and traversing of the supporting legs and lifting and traversing of the leveling supporting legs. The operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.

An embodiment of a rail line gantry crane wireless control system, wherein gantry crane 100 and lifting platform 200 are control objects of the rail line gantry crane wireless control system. As shown in fig. 1, 3 and 4, the wireless control system for gantry crane of the track line specifically comprises a wireless control device, a gantry crane control system and a lifting platform control system, wherein the wireless control device comprises a display, an operation panel, a processor and a wireless networking central node module. The gantry crane control system and the lifting platform control system both comprise a wireless networking sub-node module and a local control system, and the local control system comprises a controller, a driver, a sensor and a servo motor (comprising a lifting driving motor 12, a transverse driving motor 18, a transverse moving driving motor 28, a lifting driving motor 41 and the like). An operator inputs an operation instruction through an operation panel, the operation instruction is transmitted to a processor, the processor receives data from each wireless networking sub-node module through the wireless networking central node module, and fault judgment is carried out according to the received data. The processor performs operation judgment according to the operation instruction and the received data, judges whether the operation instruction meets the corresponding control logic requirement, and can send the operation instruction meeting the control logic requirement to each wireless networking sub-node module through the wireless networking central node module, and the processor outputs the calculation result meeting the control logic requirement and the fault judgment information to the display. The controller receives the operation command from the wireless networking sub-node module, and controls the servo motor to drive the door lifting device 100 or the corresponding mechanism of the lifting platform 200 (including the lifting driving motor 12, the transverse driving motor 18, the transverse moving driving motor 28, the lifting driving motor 41 of the door lifting device 100, and the clamping locking mechanism 44, the lifting mechanism, the rotating mechanism, the longitudinal moving mechanism 46 and the like of the lifting platform 200) through the driver. The sensor collects detection data of the door hanging device or the corresponding mechanism of the lifting platform, the detection data are transmitted to the wireless networking sub-node module sequentially through the driver and the controller, and the wireless networking sub-node module transmits the data to the wireless networking central node module.

When the large parts of the track line are replaced, according to the requirement of a hoisting object, a plurality of door hanging devices 100, lifting platforms 200, hoisting tools (which can be omitted) and other materials are transported to the operation site through the track flatcar. The lift platform 200 is controlled using a wireless intelligent remote control system (i.e., a wireless control system) to deploy the plurality of gantry cranes 100 in position and sequence, the rail car is driven off, and then a lifting operation can be performed. The plurality of arranged door hanging devices 100 are subjected to wireless synchronous cooperative control to carry out hanging operation, after the hanging operation is completed, a rail flat car enters, the door hanging devices 100 are recycled to the rail flat car, and then the door hanging devices 100 are fixed on the rail flat car to drive away from an operation site.

The whole topology of the wireless intelligent remote control system based on gantry crane for railway track line is shown in figure 1. The system mainly comprises three parts of an integrated wireless control device, a door hanging device control system and a lifting platform control system. The wireless control device adopts an integrated control box structural design, and integrates a display, an operation panel, a processor (main control CPU) and a wireless networking central node module M1 together in a hardware layer. The gantry crane control system is a generic term of a plurality of gantry cranes 100 (taking 8 as an example) local control systems, each gantry crane local control system comprises a wireless networking sub-node module (M1-1..n 1), a controller, a sensor, a servo motor, a driver thereof and other components, the wireless networking sub-node module respectively performs duplex communication with the wireless networking central node module, so as to realize data transceiving between the gantry cranes 100 and the wireless control devices, and further realize signal uploading such as sensor detection, servo motor state, power device monitoring and the like of the gantry cranes 100 and issuing of remote control instructions. Similarly, the lifting platform control system is a generic term of a plurality of local control systems (taking 2 as an example) of the lifting platforms 200, each local control system of the lifting platform comprises a wireless networking sub-node module (M2-1..n2), a controller, a sensor, a servo motor, a driver thereof and other components, and the wireless networking sub-node module respectively performs duplex communication with the wireless networking central node module, so as to realize data transceiving between the lifting platform 200 and a wireless control device.

The mechanism of duplex communication between the wireless networking sub-node modules of the gantry crane control system and the lifting platform control system and the central node of the wireless networking central node module is that an operation instruction is issued to each wireless networking sub-node module through the wireless networking central node module, all the wireless networking sub-node modules simultaneously receive the operation instruction signal, and then the controller analyzes the local control instruction according to the communication protocol and the communication address of the controller to execute corresponding actions. The wireless networking sub-node modules sequentially receive data by adopting a queuing polling mode, so that the time delay of one polling period is the sum of the time of transmitting signals by all wireless networking sub-node modules (n 1+ n 2) participating in networking. The operation instructions of the door lifting device comprise lifting and traversing of the lifting device, lifting and traversing of the supporting legs and lifting and traversing of the leveling supporting legs. The operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.

The structure schematic diagram of the wireless control device adopting the integrated wireless remote control box structure is shown in fig. 5, the integrated wireless control device adopts a flip-type structural design, a (touch) display screen is arranged on a box cover and used for man-machine interaction in the control process, and meanwhile, an illuminating lamp is arranged on the box cover, so that night operation is facilitated. The box body is mainly internally provided with devices such as an operation panel, a main control CPU (i.e. a processor), a lithium battery, a wireless networking central node module and the like. The schematic diagram of the operation panel is shown in fig. 6, and is mainly divided into three functional areas of a wireless control device, a door hanging device and a lifting platform, wherein the functional areas of the operation panel are obviously divided, so that the operation panel is convenient for an operator to use, and the operation efficiency can be effectively improved and misoperation can be reduced. It should be noted that, the functional operation of the operation panel may be implemented in the form of a physical switch, a button, or the like, or may be implemented in the form of a virtual touch key, and the wireless control device shown in fig. 5 and fig. 6 may implement various functional operations in the form of a physical switch.

In addition to the above advantages, the wireless control device includes (but is not limited to) the following main functions:

1) The operator can input various operation instructions to the processor through the operation panel.

2) The wireless networking central node module CAN receive data and send the data to the processor through the CAN bus.

3) The processor can carry out logic operation according to various operation instructions and received data to judge whether the control logic requirement of the rail line gantry lifting wireless control system is met, can carry out signal wireless issuing through the wireless networking central node module for the operation result and the instructions of the control logic is met, and can display fault information through the (touch) display screen for the operation result and the fault information of the control logic.

4) When the wireless control device is powered off, the software setting parameters of the wireless control device can be automatically saved and memorized, and related parameters do not need to be reset after the wireless control device is restarted.

5) And the lifting and translation control function of the gantry crane is that according to the user instruction, the synchronous lifting and transverse synchronous translation control function of each gantry crane 100 is realized by combining and controlling each gantry crane 100 through a processor and a wireless module (namely, the wireless networking center node module and the wireless networking sub node module are collectively called as a wireless networking center node module) by combining and combining all state quantities of the system.

6) And the transverse movement and the expansion of the landing legs of the door hanging device are controlled by combining the processor and the wireless module according to the user instruction and by combining the state quantities of the system, and the lifting control function of leveling the landing legs can be realized.

7) And the rotation and lifting control function of the lifting platform is that the rotation and lifting functions of the lifting platforms 200 are controlled by combining a processor and a wireless module according to the user instruction and the state quantity of the system.

8) The lifting platform adjusts the position control function of the gantry crane, namely, the position adjustment function of the gantry crane 100 is realized by combining and controlling the clamping action of each lifting platform 200 through a processor and a wireless module according to the user instruction and the state quantity of the system.

9) And locking driving and emergency safety functions, namely collecting all locking state quantities through a wireless module and informing a user through a (touch) display screen. And in an emergency state, notifying each subsystem to enter the emergency state through the wireless module.

10 The wireless control device can realize the bidirectional transmission of data and meet the requirement of low time delay (the response delay of the whole electrical system is lower than 100 ms).

The main operation links of the wireless control system for controlling the plurality of gantry cranes 100 are the processes of transportation, deployment, hoisting and recovery, and modes of maintenance, safe guiding, manual operation, etc., as shown in fig. 7.

The following description is directed to a control method of a key operation process:

1) In the process of transporting the gantry crane by the rail flat car, the wireless control device can selectively enter a transportation mode, the fixed locking condition of the gantry crane 100 and the lifting platform 200 is monitored in real time, and the monitoring condition can be displayed to a driving driver through a display screen, so that the transportation safety of the gantry crane 100 is ensured.

2) After the gantry crane 100 and objects (such as line components and the like) required by operation are transported to an operation site, the wireless control device can select to enter an arrangement mode, and then the wireless control device carries out safe logic operation according to an operation command, the gantry crane state and the lifting platform state by operating the switches of the lifting platform control area and the gantry crane control area on the control panel, so that the actions of clamping the gantry crane 100 by the lifting platform 200, traversing and lifting the landing legs of the gantry crane, rotating and lifting the lifting platform by 90 degrees and the like are realized, and finally, the safe deployment of a plurality of gantry cranes 100 from a transportation flat car to a railway line track pavement (namely a roadbed) 900 is realized.

3) After the door hanging device 100 is deployed, the wireless control device can selectively enter an operation mode, and the wireless control device performs safety logic operation according to an operation command and the door hanging device state by operating a switch of a door hanging device control area on a control panel, so that the coordinated operation of actions such as supporting leg lifting, leveling supporting leg lifting, lifting device traversing and lifting, lifting device unlocking and the like on the plurality of door hanging devices 100 which are selectively put into use is realized, and meanwhile, the real-time position and load of each door hanging device 100 are subjected to negative feedback adjustment, and finally, the stable replacement operation of large components (such as turnout components, track plates, steel rails and the like) on a track line is realized.

4) After the field replacement operation of the field large component is completed, the wireless control device can select to enter a recovery mode, and the door hanging device 100 can be recovered to the transportation flat car after the operation flow basically opposite to the deployment mode is performed.

The wireless control device has 4 control modes, namely 1a safety guiding operation mode, namely carrying out linkage control according to the 'deployment, hoisting and recovery' sequence operation flow, and 2a manual operation mode, namely, a safety linkage logic (without equipment damage risk) which does not distinguish the front action flow and the back action flow and needs to detect a single action. 3. And in the emergency mode, after an action command is input, a response action is directly output (the sensor is prevented from being failed, equipment damage risks exist, and a password is needed for entering). The wireless control device can perform intelligent man-machine interaction under a safety guiding mode to complete related operations of the 4 main operation links. When the intelligent operation condition required by the safety guiding mode can not be met on site due to special reasons, the emergency operation can be performed by switching into the manual mode. And when the man-machine interaction is carried out, carrying out real-time prompt on fault information which cannot meet the action conditions. In addition, the wireless control device is also provided with a maintenance mode which can be started when the door hanging device 100 and the lifting platform 200 are in fault or in a debugging stage, and related actions irrelevant to maintenance can be safely interlocked in the mode. When the wireless network fails, the local control mode of the door hanging device can be cut in, so that the purposes of emergency operation and emergency recovery of the door hanging device can be achieved. The wireless control system for gantry lifting of the track line, which is described in the embodiment of the invention, can control the group-lifting operation of a plurality of gantry lifting devices 100, and finally achieves the purposes of safe, stable and efficient operation.

The wireless control system for gantry lifting of the track line mainly comprises two control objects of the gantry lifting device 100 and the lifting platform 200, and can realize safe, stable and efficient control operation of the whole process (including transportation, deployment, lifting, recovery and other processes) of gantry lifting device group lifting when large parts on the track line are replaced. The wireless control system for gantry lifting of the track line adopts a wireless remote control mode, can effectively avoid close contact of operators with the door lifting device, can prevent equipment and materials from damaging the operators in the lifting operation process, and effectively ensures personal safety of the operators. The wireless control system can realize safety monitoring of the transportation process of the gantry crane 100 and safety interlocking control logic of the construction process, effectively ensure the safety of railway transportation and equipment, and ensure the safety construction of the operation process. The wireless control device adopts an integrated control box structural design, so that the number of wireless control devices required by the gantry crane 100 and the lifting platform 200 is reduced, the operation convenience is improved, meanwhile, the technical risk of mutual interference of a plurality of wireless signals on the operation site is avoided, and the stability and the reliability of wireless communication are improved. The wireless module adopts a duplex communication mechanism and low time delay, so that the realization of a negative feedback real-time automatic regulation function in the cooperative operation process of the multi-door lifting device is ensured, and the stability of the lifting operation materials is further improved. The safety guiding mode design of the wireless control device realizes the 'institutional' of the whole gantry lifting system use flow at the software level, thereby greatly simplifying the system operation difficulty, simultaneously reducing the possibility of manual misoperation and improving the field operation efficiency. The design of the manual operation mode and the overhaul mode of the wireless control device improves the emergency treatment capacity of the whole system.

Example 2

As shown in fig. 20, an embodiment of a rail line gantry crane operation method based on the wireless control method of the present invention described in embodiment 1 specifically includes the following steps:

s10) a transportation step, namely, when the line parts are replaced, transporting the plurality of door hanging devices 100 and the lifting platform 200 to an operation site through the first flatcar 300 according to the lifting requirement.

S20) after the door hanger device arrives at the operation site, the wireless control device controls the lifting platform 200 to deploy the door hanger device 100 in place according to the position and the sequence, and the first flatcar 300 is driven away.

S30) performing wireless synchronous cooperative control on the deployed gantry crane 100 through a wireless control device to finish the hoisting operation of the circuit components.

S40) a recovery step, namely, after the hoisting operation is completed, the first flat car 300 enters, the door hoisting device 100 is recovered and fixed on the first flat car 300, and the first flat car 300 is driven away.

As shown in fig. 21, as an embodiment of further refining the operation method of the rail line gantry crane system according to the present embodiment, in step S10), the gantry crane 100 is retracted into the left leg and the right leg, and is fixed on the first flatcar 300 and transported to the operation site, as shown in fig. 22. In step S20), after reaching the construction site, the gantry crane 100 is deployed by the lifting platform 200, the left and right legs of the gantry crane 100 are extended and supported to the track road 900, the levelness of the truss 4 is adjusted, and the first flatcar 300 is withdrawn, as shown in fig. 23. In step S30), the door hanger 100 lifts up the new line part 500 placed on the second carriage 400 and transported thereunder, and the second carriage 400 is withdrawn, as shown in fig. 24. The gantry crane 100 traverses the new line member 500 to one side of the line and the old line member 600 to the other side of the line after lifting, as shown in fig. 25. The gantry crane 100 lifts up and moves the new line member 500 onto the line and lifts up the old line member 600, and the second trolley 400 is driven in, as shown in fig. 26. After the door hanger 100 places the old line member 600 on the second carriage 400, the second carriage 400 is driven away as shown in fig. 27. In step S40), the first flatcar 300 is driven in, the door hanger 100 is recovered to the first flatcar 300 by the elevating platform 200, and the first flatcar 300 is driven away, thereby completing the replacement of the railway line components, as shown in fig. 28.

The number of the gantry crane 100 is determined according to the length of the line components, the plurality of gantry cranes 100 are deployed and recovered through the first flatcar 300 and the lifting platform 200, and the long railway line components are paved and replaced through the plurality of gantry cranes 100 in a multi-point synchronous operation. Meanwhile, the distance and the height between the left leg and the right leg of the door hanging device 100 can be adjusted to meet the requirements of different track pavement conditions. When the railway line component lifting operation is carried out, the whole load of the door hanging device 100 acts on the roadbed 900 of the railway line through the leveling support legs 1, and the pressure of the load acting on the roadbed 900 can be effectively dispersed through leveling, so that the damage of the operation of the door hanging device 100 to the railway line is reduced.

The control cabinets are installed on the door hanging devices 100 before the whole working vehicle starts, the main power switch on each door hanging device control cabinet is turned on, and the mode selection switch on the wireless control device is turned on to the transport mode position. The operation vehicle moves to the appointed position of the operation site, and the preparation work before the placement of the door hanging device 100 is carried out, wherein the preparation work comprises the steps of opening a laser switch and an illumination switch on each door hanging device control cabinet, manually releasing a locking rope and a locating pin of the door hanging device 100 on the rail flat car, manually unlocking left and right supporting legs and left and right leveling supporting legs of the door hanging device 100, and manually unlocking a lifting, rotating and longitudinally moving mechanism 46 of the lifting platform 200.

The step S10) further includes:

In the process of transporting the door lifting device 100 by the first flatcar 300, the wireless control device can enter a transport mode through selection, and the fixed locking condition of the door lifting device 100 and the lifting platform 200 can be monitored in real time through a display.

The step S20) further includes:

After the gantry crane 100 and the line components required by the operation are transported to the operation site, the wireless control device can enter a deployment mode through selection, the operation panel is operated to lift the switches of the platform control area and the gantry crane control area, and then the processor performs control logic operation according to the operation instruction and the gantry crane and the lifting platform state, so that the clamping, leg traversing and lifting, lifting platform rotation, lifting and longitudinal movement operations of the lifting platform 200 on the gantry crane 100 are realized, and finally, the safe deployment of a plurality of gantry cranes 100 from the first flatcar 300 to the track pavement (i.e. roadbed) 900 is realized.

The step S30) further includes:

after the door hanging device 100 is deployed, the wireless control device can enter an operation mode through selection, a switch of a door hanging device control area is operated, then a processor performs control logic operation according to an operation instruction and the door hanging device state, the supporting leg lifting, leveling supporting leg lifting, lifting and traversing, lifting and lifting, lifting and unlocking actions of the door hanging devices 100 selected to be used are cooperated, meanwhile, the real-time position and load of each door hanging device 100 are subjected to negative feedback adjustment, and finally the stable replacement operation of circuit components is realized.

Before deployment and placement of the gantry crane 100, the steps are also included:

s101) opening a laser switch and an illumination switch on a control box of each door hanging device 100;

S102) manually releasing the locking rope 47 and the positioning pin 45 of the door hanger 100 on the first flatcar 300;

S103) manually unlocking the supporting leg of the door hanger 100 and leveling the supporting leg 1;

S104) manually unlocking the lifting, rotating and longitudinally moving mechanism 46 of the lifting platform 200.

The step S20) further includes:

s201) when the door lifting device 100 is deployed, the wireless control device enters a deployment mode by selecting;

S202) controlling the lifting platform 200 to ascend through the wireless control device, stopping the ascending action when the lifting platform 200 is observed to be in contact with the door hanging device 100, and prompting an operator to clamp and lock the door hanging device 100;

S203), controlling the clamping locking mechanism 44 of the lifting platform 200 through the wireless control device to lock the door lifting device 100, and operating the lifting platform 200 to continuously ascend after monitoring the clamping locking signal, wherein the ascending height is controlled by an operator;

s204) when the gantry crane 100 rises to the highest position, controlling the rotation of the lift platform 200 by the wireless control device, and when detecting that the lift platform 200 rotates to the 90 ° signal, stopping the rotation of the lift platform 200;

s205) according to the alignment of the laser line and the ground mark, controlling the lifting platform to longitudinally move by longitudinally moving the platform on the operation panel, and simultaneously controlling the support leg to transversely move by a support leg transverse moving switch on the operation panel until the laser line is aligned with the ground mark, and completing the placement alignment of the gantry crane 100;

s206) controlling the lifting platform 200 to descend to the lowest position through the wireless control device, and unlocking the clamping locking mechanism 44;

S207) respectively controlling the extension of the support legs through the support leg extension switches, stopping when the support leg extension switches are adjacent to the ground, switching the support leg selection switches on the operation panel to synchronous positions (the left and right support legs synchronously act at the moment), and continuing to extend the support legs until the support legs are separated from the lifting platform 200, so that the support legs reach a designated height;

s208) adjusting the longitudinal levelness of the door hanger device 100 by controlling the leveling support leg 1 of the support leg until the level gauge displays the level;

s209) controlling the heights of the supporting legs according to the feedback value of the transverse inclination sensor until the gantry crane 100 is transversely horizontal, and completing the deployment of the first gantry crane 100 at the moment;

S210) controlling the lifting platform 200 to lift the second gantry crane 100 to the highest position through the wireless control device, controlling the lifting platform 200 to rotate 180 degrees, and transporting the lifting platform 200 to the deployment position of the second gantry crane 100 through the first flatcar 300 to complete the deployment of the second gantry crane 100;

s211) completes the deployment of the other gantry crane 100.

The step S40) further includes:

S401) when the door lifting device 100 is recovered, the lifting hook 6 is manually locked, and the traversing running mechanism 8 is locked through the wireless control device;

S402), the first flatcar 300 transports the lifting platform 200 to enter an operation area and performs alignment, and the lifting platform 200 is controlled to rise to the highest position through a wireless control device;

S403) operating the lifting platform 200 to longitudinally move by the platform longitudinal moving-away switch on the operation panel, finely adjusting the lifting platform 200 to be aligned with the gantry crane 100, operating the landing leg to retract by the landing leg telescopic switch on the operation panel, and lowering the gantry crane 100, and prompting an operator to clamp and lock the gantry crane 100 when observing that the lifting platform 200 is in contact with the gantry crane 100;

S404) controlling the clamping locking mechanism 44 of the lifting platform 200 to lock the door hanging device through the wireless control device, continuously retracting the supporting leg after the clamping locking is completed, and simultaneously controlling the supporting leg to transversely move to the locking position through a supporting leg transverse moving switch on the operation panel to complete the recovery of the first door hanging device 100;

S405), controlling the lifting platform 200 to lift the first door hanging device 100 to the highest position through the wireless control device, controlling the lifting platform 200 to rotate 180 degrees, and conveying the lifting platform 200 to the lower part of the second door hanging device 100 through the first flatcar 300 to complete the recovery of the second door hanging device 100;

S406) controlling the lifting platform 200 to lift the two gantry cranes 100 to the highest position through the first flatcar 300, controlling the lifting platform 200 to rotate 90 degrees to the initial position, controlling the lifting platform 200 to descend, unlocking the clamping locking mechanism 44 when the landing leg is about to contact the body of the first flatcar 300 by visual inspection, controlling the lifting platform 200 to continue to descend to the initial position after unlocking, and manually locking all parts of the gantry cranes 100;

S407) sequentially switches the mode selection switch on the operation panel to the transportation mode after all the gantry cranes 100 are recovered and locked, so as to monitor the locking state of the gantry crane 100 and the lifting platform 200 before and during transportation.

The control logic of the telescopic and transverse movement of the landing leg is that the landing leg is controlled by a single gantry crane 100, the synchronous control of a plurality of gantry cranes 100 is not needed, and the logic judgment of the landing leg is only needed, wherein the control logic is shown in fig. 29 and 30.

The leg extension and retraction control logic in step S20) and step S40) further includes:

s503) the lifting drive motor 41 operates;

S504) judging whether the transverse inclination angle of the door hanging device 100 is smaller than or equal to a set value;

s506) judging whether the height of the supporting leg is equal to a set value;

S507), if yes, the lift drive motor 41 stops operating, and if not, the process goes to step S503) to execute.

The leg traverse control logic in the above step S20) and step S40) further includes:

S602) if any one of the leg traverse lock signal, traverse limit signal, traverse drive motor failure signal, battery failure signal, and scram signal is not detected, the traverse drive motor 28 is operated until it is in place.

The door hanger 100 includes a lifting device 48, and the lifting device 48 includes a traversing mechanism 8, and a hook 6 connected to the traversing mechanism 8 for lifting a line member. The lifting hook 6 is connected to a lifting appliance 700, which lifting appliance 700 is used for clamping line components. The step S30) further includes:

S301) when the (new) line component 500 is lifted and placed, the lifting hook 6 is manually unlocked, and the traversing running mechanism 8 is unlocked by the wireless control device;

s302) the second carriage 400 enters a designated operation area, and alignment is completed according to the laser line;

S303), controlling the traversing mechanism 8 to move to a set position through a control box on the door hanging device 100, controlling the hanging hook 6 to descend, and finely adjusting the position of the traversing mechanism 8 to enable the traversing mechanism 8 to be positioned right above a lifting point;

S304) manually hooking the lifting hook 6 to the designated part of the new line component 500, controlling the lifting hook 6 to ascend through the control box, stopping when the lifting rope (namely the loop chain 16) of the lifting hook 6 is straightened, and judging the preparation state of the lifting hook 6 through the pulling force of the lifting hook 6;

S305) when all the lifting hooks 6 are prepared, turning on a synchronous operation switch on an operation panel, and setting the transverse movement position of the current transverse movement mechanism 8 and the vertical position of the lifting hooks 6 as initial positions;

S306) controlling all lifting hooks 6 to synchronously move transversely through lifting and moving switches on an operation panel, or controlling all lifting hooks 6 to synchronously lift through lifting and moving switches on the operation panel, judging whether each lifting device 48 is synchronous or not through monitoring the lifting displacement, the moving displacement and the lifting hook pulling force of each lifting device 48 during the period, if the pulling force or the lifting displacement or the moving displacement of one lifting hook 6 is detected to be larger than the pulling force or the moving displacement of other lifting devices 48 during the operation period, immediately stopping the actions of all lifting devices 48, reminding operators to singly control through abnormal parts and parameters prompted by a display, and continuing to perform synchronous actions after adjusting the lifting devices 48 to reasonable positions;

S307) after the new line member 500 (new switch) is lifted, the second carriage 400 is driven away from the work area, and the new line member 500 is placed at the designated position by the synchronous control, thereby completing the placement of the new line member 500.

The new line member 500 is lifted and placed, the old line member 600 (old road turnout) is lifted out, the new line member 500 is lifted in, and the old line member 600 is lifted and placed on the rail car according to the above-described new line member 500 lifting and placing steps. During operation, information such as lateral movement, vertical displacement, hook tension, and lateral inclination of the gantry crane 100 of each crane 100 is displayed on a display of the wireless control device.

Synchronous lifting and traversing control logic of the lifting device, namely the traversing control of the lifting device 48 needs synchronous actions of a plurality of door hanging devices 100, the detected signals are signals of 8 door hanging devices 100, and as long as one door hanging device 100 does not meet the action condition, the processor stops sending operation instructions and prompts fault information, and the control logic is shown in the accompanying drawings 31 and 32.

The group crane synchronous traverse control logic in the step S30) further includes:

S703) judging whether all the gantry crane 100 are in normal communication, the transverse inclination angle is smaller than or equal to a set value, the hook tension is smaller than or equal to a set value, and the hoisting driving motor 12 is not operated;

S704) if all the conditions are satisfied, the lateral drive motor 18 is operated, and if any one of the conditions is not satisfied, the wireless control device performs an alarm display.

The group crane synchronous lifting control logic in the step S30) further includes:

s803) determining whether all gantry crane apparatuses 100 are in normal communication, the lateral inclination angle is less than or equal to a set value, the hook tension is less than or equal to a set value, and the lateral driving motor 18 is not operated;

S804), if all the conditions are satisfied, the lifting drive motor 12 is operated, and if any one of the conditions is not satisfied, the wireless control device performs alarm display.

An embodiment of a rail line gantry crane system specifically comprises a wireless control system, a gantry crane 100, a lifting platform 200, a first trolley 300 and a second trolley 400 (the first trolley 300 and the second trolley 400 are collectively called a rail trolley) as described in embodiment 1. The first flatcar 300 is used for transporting the gantry crane 100 and the lifting platform 200, and the second flatcar 400 is used for transporting the line components. The control object of the wireless control system is shown in fig. 8 and 9 below, and includes a plurality of gantry cranes 100, a plurality of lifting platforms 200, and a power unit 43.

As shown in fig. 19, which is a schematic diagram of a transportation structure of the gantry crane system for a track line, the gantry crane 100 and the lifting platform 200 are both disposed on the first trolley 300, the gantry crane 100 is further fixed on the lifting platform 200, and the lifting platform 200 has lifting and rotating functions. A new line member 500 for replacement is placed on the second carriage 400.

When the line parts are replaced, the plurality of gantry cranes 100 and the lifting platform 200 are transported to the operation site through the first flatcar 300 according to the hoisting requirement. After reaching the operation site, the lifting platform 200 is controlled by the wireless control device to deploy the gantry crane 100 in place according to the position and sequence, and the first flatcar 300 is driven away. The deployed gantry crane 100 is subjected to wireless synchronous cooperative control by a wireless control device to complete the hoisting operation of the circuit components. After the hoisting operation is completed, the first flatcar 300 enters and the door hoisting device 100 is recovered and fixed thereon, and the first flatcar 300 is driven away.

The door hanger 100 placed on the first flatcar 300, and the new course member 500 placed on the second flatcar 400 are transported to the construction area by the power of the railcar 1000. Wherein, in the process of transporting the door lifting device 100 by the first flatcar 300, the wireless control device can enter a transportation mode through selection, and monitor the fixed locking condition of the door lifting device 100 and the lifting platform 200 in real time through a display. After reaching the designated construction area, the gantry crane 100 places the legs on both lateral sides of the gantry crane 100 in the designated area of the roadbed 900 on both sides of the stock rail 800 by the lifting and rotating actions of the lifting platform 200 on the first flatcar 300.

Before the gantry crane 100 is deployed, the laser switches and illumination switches on each gantry crane control box are turned on. The locking rope 47 and the positioning pin 45 of the door hanger 100 on the first flatcar 300 are manually released. The legs of the door hanger 100 are manually unlocked and the legs 1 are leveled. The lifting, rotating and longitudinally moving mechanism of the lifting platform 200 is manually unlocked.

The operation functions of the door hanger 100 include a hanger operation and a leg operation. The lifting device 48 has a traversing and lifting function, is controlled by two motors, and is provided with a limit switch to detect the limit position so as to avoid overrun. The supporting leg actions comprise the extension and the transverse movement of the left supporting leg and the right supporting leg, the transverse movement and the extension movement of each supporting leg are respectively realized through two motors, and the system structure function implementation mode is shown in the attached figure 2.

Examples

As shown in fig. 10, an embodiment of a gantry crane 100 applied to the rail line gantry crane operation method of the present invention described in embodiment 2 specifically includes:

Truss 4;

The transverse moving mechanism 8 is arranged on the truss 4 and can move transversely (in the direction shown as W in fig. 10) along the truss 4 to adjust the hoisting position, the transverse moving mechanism 8 comprises a lifting mechanism 7, the lifting mechanism 7 can drive the loop chain 16 to vertically lift and move, the tail end of the loop chain 16 is provided with a lifting appliance 700, and the lifting appliance 700 clamps the loop chain to realize the transportation of railway line components;

The left support leg and the right support leg are respectively movably arranged at the lower parts of the left end and the right end of the truss 4, and can transversely move along the truss 4 so as to adjust the transverse span of the door hanging device. The left support leg and the right support leg are arranged on two sides of a railway line in a straddling mode, adjacent line operation is not needed, and the risk of operation overstepping is avoided.

The left leg and the right leg can be lifted and lowered vertically (in the direction H shown in fig. 10) to adjust the height of the truss 4 from the track surface (i.e., the roadbed) 900.

The lower parts of the left support leg and the right support leg are respectively provided with a leveling support leg 1, and the leveling functions of the left support leg, the right support leg and the door hanging device 100 can be finely adjusted through the leveling support legs 1. The leveling legs 1 can realize the height fine adjustment according to the flatness condition of the track pavement 900.

The railway line component laying gantry crane 100 described in embodiment 3 has a multifunctional self-adaptive characteristic, and the supporting legs on two lateral sides of the device are supported on the track pavement 900 on two sides of the line, and the supporting legs on two sides can be laterally moved, lifted and leveled so as to meet the operation requirements of different road ground working conditions. The two transverse supporting legs of the door hanging device 100 are supported on the left side and the right side of a line, new and old line parts are replaced in the hollow part of the door hanging device 100, the adjacent line space is not required to be occupied during line operation, the risk of touching a contact net is avoided, and ballast damage to the line is avoided. The landing leg of the gantry crane 100 has a traversing function, and can adapt to the working condition requirements of different ground widths on two sides of a line. The landing leg of the door hanger 100 has a vertical telescopic adjusting function, can be suitable for working conditions of different ground heights, and can lift circuit components to be replaced to different working heights.

As shown in fig. 11, the left leg includes an upper left leg 3 connected to the truss 4, and a lower left leg 2 movably connected to the upper left leg 3, the upper left leg 3 being vertically movable up and down with respect to the lower left leg 2. As shown in fig. 12, the right leg includes an upper right leg 9 connected to the truss 4, and a lower right leg 10 movably connected to the upper right leg 9, the upper right leg 9 being vertically movable up and down with respect to the lower right leg 10.

As shown in fig. 13, the lifting mechanism 7 includes a lifting drive motor 12, a decelerator 13, a first transmission gear 14, and a second transmission gear 15. The lifting driving motor 12 drives the first transmission gear 14 to rotate through the speed reducer 13, the first transmission gear 14 drives the second transmission gear 15 to rotate, and the second transmission gear 15 is connected with the endless chain 16. The lifting function of the endless chain 16 in the vertical direction can be realized by the forward and reverse rotation of the lifting driving motor 12. The lifting mechanism 7 is lifted by crane and lifted by adopting a mode of matching the endless chain 16 with a gear, so that the slipping phenomenon in the lifting process can be effectively prevented.

As shown in fig. 14, the traversing running mechanism 8 further includes an endless chain 5, a mounting case 17, a traversing drive motor 18, a first decelerator 19, a running wheel 20, a driving sprocket 21, a driven sprocket 22, and a running rail 23. The lifting mechanism 7 is arranged in the mounting box 17, and the running wheel 20 is arranged at the bottom of the mounting box 17. The running rail 23 is arranged on the inner side of the bottom of the truss 4 along the transverse direction, and the running wheels 20 are matched with the running rail 23. The transverse driving motor 18 drives the driving sprocket 21 to rotate through the first speed reducer 19, the driving sprocket 21 rotates to drive the annular chain 5 to rotate, and the driven sprocket 22 provides auxiliary positioning for the rotation of the annular chain 5. The two ends of the annular chain 5 are connected with the mounting boxes 17, and the lifting mechanism 7 is driven to realize the horizontal transverse movement function by the forward and reverse rotation of the transverse driving motor 18.

As shown in fig. 15, the bottom of the truss 4 is provided with a long slot 24 along the transverse direction, and both sides of the upper parts of the upper left leg 3 and the upper right leg 9 along the longitudinal direction (the direction L shown in fig. 6) are provided with sliding blocks 25. The bottom of truss 4 is provided with guide rail 26 along transversely, and upper left landing leg 3 and upper right landing leg 9's upper portion all is provided with mounting panel 27, and mounting panel 27 upwards passes long slotted hole 24. The mounting plate 27 is provided with a traverse drive motor 28, a second decelerator 29, a driving gear 30, and a driven gear 31, and the bottom of the truss 4 is provided with a first rack 32 and a second rack 33 parallel to each other in the lateral direction. The traversing driving motor 28 drives the driving gear 30 to rotate through the second speed reducer 29, the driving gear 30 is meshed with the first rack 32, and the driven gear 31 is meshed with the second rack 33 to provide auxiliary positioning for traversing the support legs. The guide rail 26 is matched with the slide block 25 to provide guidance for the transverse movement of the upper left support leg 3 and the upper right support leg 9. The lateral movement of the upper left leg 3 and the upper right leg 9 is achieved by the forward and reverse rotation of the lateral movement driving motor 28.

As shown in fig. 16, each of the upper left leg 3 and the upper right leg 9 includes a screw rod 34, a screw rod nut 35, a screw rod bearing 36, and a telescopic square tube 37. The screw rod 34 is arranged in the telescopic square tube 37, the screw rod nut 35 is fixed on the inner bottom side of the telescopic square tube 37, and the screw rod 34 is matched with the screw rod nut 35. The upper part of the screw 34 is fixed to the inside of a telescopic square tube 37 through a screw bearing 36. The left lower leg 2 and the right lower leg 10 each include a fixed square tube 38, a support square tube 39, a cross beam 40, and a load beam 11. The fixed square tube 38 is sleeved outside the telescopic square tube 37, the support square tube 39 is arranged on the left side and the right side of the fixed square tube 38, the upper portion of the fixed square tube 38 is fixed with one end of the support square tube 39, and the lower portion of the fixed square tube 38 is fixed with the support square tube 39 through a cross beam 40. The other end of the support square tube 39 is fixed with the carrier beam 11, the carrier beam 11 is provided with a lifting driving motor 41 and a third speed reducer 42, and the lower part of the screw rod 34 extends out of the telescopic square tube 37 and the bottom of the fixed square tube 38 and is connected with the second speed reducer 42. The third decelerator 42 is driven by the forward and backward rotation of the lifting driving motor 41, so as to drive the screw rod 34 to rotate, and the screw rod nut 35 and the telescopic square tube 37 are driven to move up and down by the rotation of the screw rod 34, so that the telescopic action of the left support leg and the right support leg is realized. The beam 40 is provided with a battery 49.

As shown in fig. 17, which is a schematic view of the placement and operation of a single gantry crane 100, the legs on both lateral sides of the gantry crane 100 are supported on the roadbed 900 on both sides of the line, the distance between the legs of the gantry crane 100 in the W direction is adjustable, and the distance from the ground in the H direction is adjustable. Embodiment 3 further comprises forming a plurality of gantry cranes 100 with multi-functional self-adaptive features into a group along the railway line operation direction (the direction shown as L in fig. 18), and the group cranes cooperate to perform intelligent placement of the long and large components of the railway line. As shown in fig. 18, the placement and operation of the plurality of gantry cranes 100 along the line operation direction L are schematically illustrated, and the plurality of gantry cranes 100 perform the hoisting operation at a plurality of points, thereby realizing the replacement operation of the railway line components with various sizes and large size. The gantry crane 100 can realize the lifting and translation of railway line components through a set of driving mechanism, and realize the lifting and carrying functions of the railway line components. The gantry crane 100 effectively reduces the total height of the lifting space, simplifies the structure, reduces the volume, has adjustable leg heights, and can automatically adapt to different heights of the track pavement 900 at two sides of the line.

In the description of the present application, it will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element, or be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" or "a number" means two or more, unless specifically defined otherwise.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for the purpose of understanding and reading the disclosure, and are not intended to limit the scope of the application, which is defined by the claims, but rather by the claims, unless otherwise indicated, and that any structural modifications, proportional changes, or dimensional adjustments, which would otherwise be apparent to those skilled in the art, would be made without departing from the spirit and scope of the application.

By implementing the technical scheme of the rail line gantry lifting wireless control and gantry lifting operation method described by the specific embodiment of the invention, the following technical effects can be produced:

(1) The wireless control and gantry lifting operation method for the rail line gantry lifting can realize the whole flow control of a plurality of gantry lifting devices by utilizing the wireless control device, solve the control problems of real-time control of the operation processes of transportation, deployment, lifting, recovery and the like of the gantry lifting devices, safety interlocking, multi-machine synchronization, emergency measures and the like, and have high operation efficiency, safety, low cost and convenient operation control;

(2) The wireless control and gantry lifting operation method for the rail line gantry lifting described in the specific embodiment of the invention is suitable for replacing a whole group of turnouts and also suitable for replacing single switch rails, switch centers and the like, and can realize carrying, placing, position adjustment and replacement of various line components with different lengths through wireless reconnection consistency control of actions such as synchronous transverse movement, lifting and the like in the lifting process of a plurality of gantry lifting devices;

(3) According to the track line gantry crane wireless control and gantry crane operation method, the safety of the operation process is ensured to the maximum extent through real-time safety interlocking monitoring of a plurality of gantry cranes and lifting platforms in the transportation process, cooperative operation and safety interlocking of the gantry cranes and the lifting platforms in the recovery process of the gantry cranes, locking real-time monitoring of the gantry cranes and the lifting platforms, emergency control measures and intelligent fault maintenance under various fault conditions;

(4) According to the wireless control and gantry lifting operation method for the rail line gantry lifting, disclosed by the embodiment of the invention, the supporting legs of the gantry lifting device are arranged on the two sides of the railway line in a crossing way, the line parts are replaced without occupying adjacent line space, the safety risk of exceeding the limit of operation is avoided, the operation is flexible, the operation requirement under the working condition of a complex line can be well adapted;

(5) According to the wireless control and gantry lifting operation method for the rail line gantry lifting, disclosed by the embodiment of the invention, the gantry lifting device has the functions of supporting leg transverse movement, lifting and leveling, the supporting leg transverse span spacing and the height from the ground are adjustable, the functions of meeting the requirements of different line ground working conditions can be realized, the placement and recovery of the gantry lifting device can be realized through the lifting platform, the height is adjustable, and the risk of touching the contact net in the lifting process is avoided.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by a difference from other embodiments, and identical and similar parts between the embodiments are referred to each other.

The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. While the invention has been described in terms of preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention or equivalent embodiments using the method and technical solution disclosed above without departing from the spirit and technical solution of the present invention. Therefore, any simple modification, equivalent substitution, equivalent variation and modification of the above embodiments according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention, unless departing from the technical solution of the present invention.

Claims

1. The rail line gantry crane operation method is characterized by comprising the following steps of:

S40) a recovery step, namely after the hoisting operation is completed, a first flat car enters, a door hoisting device is recovered and fixed on the door hoisting device, and the first flat car drives away;

the method also comprises a wireless control process of gantry lifting of the track line, and the process comprises the following steps:

the sensor collects detection data of the corresponding mechanism of the door hanging device or the lifting platform, the detection data are sequentially transmitted to the wireless networking sub-node module through the driver and the controller, and the wireless networking sub-node module sends the data to the wireless networking center node module.

2. The gantry crane operation method for the track line according to claim 1, wherein the operation instructions of the gantry crane comprise lifting and traversing of the crane, lifting and traversing of the support leg, lifting and traversing of the leveling support leg, and the operation instructions of the lifting platform comprise platform rotation, lifting and longitudinal movement.

3. The gantry crane operation method of claim 2, wherein the operation command is issued to each wireless networking central node module through the wireless networking central node module, the controller analyzes the local control command according to the communication protocol and the communication address of the controller, and then performs corresponding actions, and the wireless networking central node module uses a queuing polling mode to receive the data transmitted to the wireless networking central node module by each wireless networking central node module.

4. A rail line gantry crane operation method according to claim 1,2 or 3, characterized in that step S10) further comprises:

5. The rail line gantry crane operation method according to claim 4, wherein the step S20) further includes:

6. The rail line gantry crane operation method according to claim 5, wherein the step S30) further includes:

7. The rail line gantry crane operation method of claim 1,2,3, 5 or 6, further comprising the steps of, prior to deployment of the gantry crane:

8. The rail line gantry crane operation method according to claim 7, wherein the step S20) further includes:

S211) completing the deployment of other gantry cranes.

9. The rail line gantry crane operation method according to claim 1,2, 3, 5, 6 or 8, wherein the step S40) further includes:

10. The method of rail line gantry crane operation according to claim 9, wherein the gantry crane comprises a crane comprising a traversing mechanism and a hook coupled to the traversing mechanism and adapted to hoist line components, the step S30) further comprising:

11. The method of claim 1, 2, 3, 5, 6, 8 or 10, wherein the leg extension and retraction control logic in step S20) and step S40) comprises:

s503), lifting the driving motor to act;

s506) judging whether the height of the supporting leg is equal to a set value;

12. The method of claim 11, wherein the leg traversing control logic in step S20) and step S40) comprises:

13. The method of orbital line gantry crane operation according to claim 1,2, 3, 5, 6, 8, 10 or 12, wherein the group crane synchronous traverse control logic in step S30) comprises:

14. The method of claim 13, wherein the group-hoisting synchronous lifting control logic in step S30) comprises: