Shipbuilding portal crane with automatic deviation rectifying function

Abstract

The shipbuilding portal crane comprises a main beam, a rigid leg assembly, a flexible leg assembly, a crane electric control system, a detection device, a track and a scale, the rigid leg assembly and the flexible leg assembly are symmetrically arranged at the two ends of the main beam, and the crane electric control system is connected with the rigid leg assembly and the flexible leg assembly. Detection devices are arranged at the bottoms of the rigid leg assembly and the flexible leg assembly, the rails are symmetrically laid on the ground, the rigid leg assembly and the flexible leg assembly are slidably arranged on the rails, and the scales are symmetrically arranged on the ground on the inner sides of the rails. The detection device comprises a support, a pointer, a camera and a graphic processing device, the pointer is arranged on the support, the camera is arranged on the side, close to the pointer, of the support, and the graphic processing device is arranged on the support and connected with the camera. Deviated operation of the crane is effectively avoided, position information of the crane can be known in real time, rail gnawing of the crane is effectively avoided, operation precision is improved, and reliable operation is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of gantry cranes, and particularly relates to a shipbuilding gantry crane with an automatic deviation correction function. Background Art

[0002] Gantry cranes are essential equipment in the shipbuilding process. Due to the large span of gantry cranes and the uneven driving forces and resistances on both the rigid and flexible legs, the situation of skewed operation often occurs. To ensure safety, gantry cranes need to be equipped with an automatic deviation correction function to avoid skewed operation.

[0003] In the prior art, based on the rotation of the wheels, through the measurement of the absolute encoder and the logical operation of the electric control system, the walking distance difference between the rigid and flexible legs can be obtained. At the same time, the electric control system controls the driving devices of the walking mechanisms on the rigid and flexible leg sides for dynamic adjustment to ensure that the deviation values of the rigid and flexible legs of the crane are within a certain range. To reduce the cumulative error of the encoder operation, calibration limits are often installed on the walking mechanism, and calibration magnetic blocks are set on the ground at certain intervals to calibrate the encoder. However, in actual use, due to reasons such as the diameter deviation of the wheels on the rigid and flexible leg sides, the gap between the wheels and the track, the height deviation of the ground track, the forward and reverse operation of the walking mechanism, and the micro-movement of the walking mechanism, the positions measured by the absolute encoder often deviate greatly, and the expected deviation correction function cannot be achieved. Due to the gap between the wheels and the track, the driver cannot determine the size of the wheel gap on the rigid and flexible leg sides, and the problem of rail gnawing may occur. At the same time, the driver cannot know the specific position in real time, and the ground personnel at the scene need to command to find the anchoring position during anchoring when stopping, which is inconvenient to operate. Summary of the Invention

[0004] To at least partially solve the technical problems existing in the above prior art, the invention provides a shipbuilding gantry crane with an automatic deviation correction function.

[0005] The shipbuilding gantry crane with an automatic deviation correction function of the invention includes a main beam, a rigid leg assembly, a flexible leg assembly, a crane electric control system, a detection device, a track, and a scale. The rigid leg assembly and the flexible leg assembly are symmetrically arranged at both ends of the main beam for supporting the main beam. The crane electric control system is connected to the rigid leg assembly and the flexible leg assembly for controlling the movement of the rigid leg assembly and the flexible leg assembly. The rigid leg assembly and the flexible leg assembly are both provided with the detection device for detecting the real-time operation conditions of the rigid leg assembly and the flexible leg assembly. The track is symmetrically laid on the ground, and the rigid leg assembly and the flexible leg assembly are slidably arranged on the track. The scale is symmetrically arranged on the ground inside the track for positioning the operation of the rigid leg assembly and the flexible leg assembly, wherein:

[0006] The detection device includes a bracket, a pointer, a camera, and a graphic processing device. The pointer is arranged on the bracket. The camera is arranged on the side of the bracket close to the pointer for collecting pointer images. The graphic processing device is arranged on the bracket and connected to the camera for providing data and image information to the hoisting machine's electric control system.

[0007] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, the rigid leg assembly includes a rigid leg, a left walking mechanism of the rigid leg, a middle walking mechanism of the rigid leg, and a right walking mechanism of the rigid leg. The left walking mechanism of the rigid leg, the middle walking mechanism of the rigid leg, and the right walking mechanism of the rigid leg are installed at the bottom of the rigid leg and are in rolling connection with one of the tracks.

[0008] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, brackets are fixed on the left walking mechanism of the rigid leg, the middle walking mechanism of the rigid leg, and the right walking mechanism of the rigid leg. The pointer corresponds to the scale on the ground inside one of the tracks.

[0009] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, the flexible leg assembly includes a flexible leg, a left walking mechanism of the flexible leg, a middle walking mechanism of the flexible leg, and a right walking mechanism of the flexible leg. The left walking mechanism of the flexible leg, the middle walking mechanism of the flexible leg, and the right walking mechanism of the flexible leg are installed at the bottom of the flexible leg and are in rolling connection with the other track.

[0010] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, brackets are fixed on the left walking mechanism of the flexible leg, the middle walking mechanism of the flexible leg, and the right walking mechanism of the flexible leg. The pointer corresponds to the scale on the ground inside the other track.

[0011] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, the camera is arranged at a 45-degree angle, and the image acquisition range of the camera is between the top of the pointer and the corresponding scale.

[0012] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, the scale is parallel to the track and has the same length.

[0013] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, positioning scales are arranged both horizontally and vertically on the scale.

[0014] Further, in the above-mentioned shipbuilding gantry crane with an automatic deviation correction function, the output end of the camera is connected to the input end of the graphic processing device, and the output end of the graphic processing device is connected to the hoisting machine's electric control system.

[0015] The shipbuilding gantry crane with an automatic deviation correction function of the present invention has the following advantages and beneficial effects:

[0016] The present invention adopts graphic recognition to collect and process position data of the ground scale, and can grasp the positions and operating states of the rigid legs and flexible legs of the crane in real time. The data is accurate and intuitive. The crane can be automatically or manually operated through the real-time data, thus effectively avoiding the skew operation of the crane; the position information of the crane can be understood in real time, avoiding the crane from gnawing the rail and providing reliable data for accurate alignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for further understanding of the embodiments of the present invention and constitute a part of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. In the drawings:

[0018] Figure 1 is the front view of the shipbuilding gantry crane with an automatic deviation correction function of the present invention;

[0019] Figure 2 is the left view of the shipbuilding gantry crane with an automatic deviation correction function of the present invention;

[0020] Figure 3 is the right view of the shipbuilding gantry crane with an automatic deviation correction function of the present invention;

[0021] Figure 4 is the distribution schematic diagram of the detection devices of the shipbuilding gantry crane with an automatic deviation correction function of the present invention;

[0022] Figure 5 is Figure 1 the enlarged structural schematic diagram of I;

[0023] Figure 6 is the scale structural schematic diagram of the shipbuilding gantry crane with an automatic deviation correction function of the present invention.

[0024] Description of the reference numerals:

[0025] 1: main beam;

[0026] 2: rigid leg assembly, 21: rigid leg, 22: left walking mechanism of the rigid leg, 23: middle walking mechanism of the rigid leg, 24: right walking mechanism of the rigid leg;

[0027] 3: Flexible leg assembly, 31: Flexible leg, 32: Left walking mechanism of flexible leg, 33: Middle walking mechanism of flexible leg, 34: Right walking mechanism of flexible leg;

[0028] 4: Electric control system of crane;

[0029] 5: Detection device, 51: Bracket, 52: Pointer, 53: Camera, 54: Graphics processing device;

[0030] 6: Rail;

[0031] 7: Scale, 71: Positioning scale;

[0032] 8: Upper trolley; 9: Lower trolley; 10: Maintenance hoist. Detailed implementation manners

[0033] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] As Figures 1 to 6 shown, the shipbuilding gantry crane with an automatic deviation correction function of the present invention includes a main beam 1, a rigid leg assembly 2, a flexible leg assembly 3, an electric control system 4 of the crane, a detection device 5, a rail 6 and a scale 7. The rigid leg assembly 2 and the flexible leg assembly 3 are symmetrically arranged at both ends of the main beam 1 for supporting the main beam 1. The electric control system 4 of the crane is connected to the rigid leg assembly 2 and the flexible leg assembly 3 for controlling the movement of the rigid leg assembly 2 and the flexible leg assembly 3. Detection devices 5 are arranged on both the rigid leg assembly 2 and the flexible leg assembly 3 for detecting the real-time operation conditions of the rigid leg assembly 2 and the flexible leg assembly 3. The rails 6 are symmetrically laid on the ground, and the rigid leg assembly 2 and the flexible leg assembly 3 are slidably arranged on the rails 6. The scales 7 are symmetrically arranged on the ground inside the rails 6 for positioning the operation of the rigid leg assembly 2 and the flexible leg assembly 3. Among them:

[0035] The detection device 5 includes a bracket 51, a pointer 52, a camera 53 and a graphics processing device 54. The pointer 52 is arranged on the bracket 51. The camera 53 is arranged on one side of the bracket 51 close to the pointer 52 for collecting images of the pointer 52. The graphics processing device 54 is arranged on the bracket 51 and connected to the camera 53 for providing data and image information to the electric control system 4 of the crane.

[0036] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the rigid leg assembly 2 includes a rigid leg 21, a left walking mechanism 22 of the rigid leg, a middle walking mechanism 23 of the rigid leg, and a right walking mechanism 24 of the rigid leg. The left walking mechanism 22 of the rigid leg, the middle walking mechanism 23 of the rigid leg, and the right walking mechanism 24 of the rigid leg are installed at the bottom of the rigid leg 21 and are in rolling connection with one of the tracks 6, so that the rigid leg 21 moves along the track 6.

[0037] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, brackets 51 are fixed on the left walking mechanism 22 of the rigid leg, the middle walking mechanism 23 of the rigid leg, and the right walking mechanism 24 of the rigid leg. The pointer 52 corresponds to a scale 7 on the ground inside one of the tracks 6, so that when the rigid leg 21 moves along the track 6, the pointer 52 moves along the scale 7.

[0038] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the flexible leg assembly 3 includes a flexible leg 31, a left walking mechanism 32 of the flexible leg, a middle walking mechanism 33 of the flexible leg, and a right walking mechanism 34 of the flexible leg. The left walking mechanism 32 of the flexible leg, the middle walking mechanism 33 of the flexible leg, and the right walking mechanism 34 of the flexible leg are installed at the bottom of the flexible leg 31 and are in rolling connection with the other track 6, so that the flexible leg 31 moves along the track 6.

[0039] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, brackets 51 are fixed on the left walking mechanism 32 of the flexible leg, the middle walking mechanism 33 of the flexible leg, and the right walking mechanism 34 of the flexible leg. The pointer 52 corresponds to a scale 7 on the ground inside the other track 6, so that when the flexible leg 31 moves along the track 6, the pointer 52 moves along the scale 7.

[0040] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the camera 53 is set at a 45-degree angle, and the image acquisition range of the camera 53 is between the top of the pointer 52 and the corresponding scale 7, so that the camera 53 can collect the position of the pointer 52 on the scale 7 in real time, thereby reflecting the position of the rigid leg 21 or the flexible leg 31 on the track 6.

[0041] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the scale 7 is parallel to the track 6 and has the same length, so that when the rigid leg 21 or the flexible leg 31 deviates during movement along the track 6, the pointer 52 will also deviate relative to the track 6.

[0042] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the scale 7 is provided with positioning scales 71 both horizontally and vertically, so that the deviation data can be provided through the horizontal positioning scale 71, and the position data can be provided through the vertical positioning scale 71.

[0043] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, the output end of the camera 53 is connected to the input end of the graphic processing device 54, and the output end of the graphic processing device 54 is connected to the crane electric control system 4. Thus, the real-time image is converted into data information by the graphic processing device 54 through the camera 53 and transmitted to the crane electric control system 4. The rigid leg assembly 2 and the flexible leg assembly 3 are adjusted by the crane electric control system 4 in combination with the data information provided by the graphic processing device 54. At the same time, the crane electric control system 4 can present the image information and data of the camera 53 on the operation platform.

[0044] Further, in the shipbuilding gantry crane with an automatic deviation rectification function according to the present invention, it further includes an upper trolley 8, a lower trolley 9 and a maintenance hoist 10. The upper trolley 8 can move along the length direction of the upper end face of the main beam 1, the lower trolley 9 can move along the length direction of the lower end face of the main beam 1, and the maintenance hoist 10 is arranged on one side of the main beam 1 close to the rigid leg assembly 2 or the flexible leg assembly 3 for the maintenance of the upper trolley 8 or the lower trolley 9.

[0045] Specifically, the rigid leg assembly 2 and the flexible leg assembly 3 are controlled to move by the crane electric control system 4. When the rigid leg assembly 2 and the flexible leg assembly 3 deviate, the pointer 52 deviates along the horizontal positioning scale 71 of the scale 7. At this time, the camera 53 transmits the real-time image to the graphic processing device 54 and converts it into data information and transmits it to the crane electric control system 4. The rigid leg assembly 2 and the flexible leg assembly 3 are adjusted by the crane electric control system 4 in combination with the data information provided by the graphic processing device 54. At the same time, the driver can understand the real-time positions of the rigid leg assembly 2 and the flexible leg assembly 3 in real time through the image information provided by the graphic processing device 54, and understand the gap sizes between the left traveling mechanism 22 of the rigid leg, the middle traveling mechanism 23 of the rigid leg, the right traveling mechanism 24 of the rigid leg, the left traveling mechanism 32 of the flexible leg, the middle traveling mechanism 33 of the flexible leg and the right traveling mechanism 34 of the flexible leg and the track 6, and can intervene manually to keep the crane in a better working position and avoid rail gnawing. When parking and anchoring, the driver can also adjust in real time according to the graphic information by himself, which is convenient for operation. The data of the scale 7 are directly read data, without deviation and cumulative error, with high measurement accuracy and reliable data, which can improve the operation accuracy of the crane and ensure reliable operation.

[0046] In summary, compared with the prior art, the shipbuilding gantry crane with an automatic deviation correction function of the present invention has the following advantages and beneficial effects: The present invention uses pattern recognition to collect and process position data of the ground scale, and can grasp the positions and operating states of the rigid legs and flexible legs of the crane in real time. The data is accurate and intuitive. The crane is automatically or manually operated through real-time data, thus effectively avoiding the skew operation of the crane; the position information of the crane can be understood in real time, avoiding the crane from gnawing the rail and providing reliable data for accurate alignment.

[0047] It should be noted that in this article, unless otherwise clearly specified and defined, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. In addition, in this article, "front", "rear", "left", "right", "upper" and "lower" are all referenced to the placement state shown in the drawings.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A shipbuilding gantry crane with automatic deviation correction function, characterized in that: The shipbuilding gantry crane with automatic deviation correction function comprises a main beam, a rigid leg assembly, a flexible leg assembly, a crane electronic control system, a detection device, a track and a ruler. The rigid leg assembly and the flexible leg assembly are symmetrically arranged at both ends of the main beam for supporting the main beam. The crane electronic control system is connected with the rigid leg assembly and the flexible leg assembly for controlling the movement of the rigid leg assembly and the flexible leg assembly. The detection device is arranged on the left, middle and right sides of the rigid leg assembly and the flexible leg assembly for detecting the real-time operation status of the rigid leg assembly and the flexible leg assembly. The track is symmetrically laid on the ground, the rigid leg assembly and the flexible leg assembly are slidably arranged on the track, and the ruler is symmetrically arranged on the ground inside the track for positioning the operation of the rigid leg assembly and the flexible leg assembly, wherein: The detection device includes a bracket, a pointer, a camera and a graphics processing device. The pointer is arranged on the bracket. The camera is arranged on the side of the bracket close to the pointer and is used to collect the pointer image. The graphics processing device is arranged on the bracket and connected to the camera and is used to provide data and image information to the crane electronic control system.

2. The shipbuilding gantry crane with automatic deviation correction function according to claim 1 is characterized in that: The rigid leg assembly includes a rigid leg, a left walking mechanism of the rigid leg, a middle walking mechanism of the rigid leg and a right walking mechanism of the rigid leg. The left walking mechanism of the rigid leg, the middle walking mechanism of the rigid leg and the right walking mechanism of the rigid leg are installed at the bottom of the rigid leg and are rollingly connected to one of the tracks.

3. The shipbuilding gantry crane with automatic deviation correction function according to claim 2 is characterized in that: The bracket is fixed on the left walking mechanism of the rigid leg, the middle walking mechanism of the rigid leg and the right walking mechanism of the rigid leg, and the pointer corresponds to the scale on the ground inside one of the tracks.

4. The shipbuilding gantry crane with automatic deviation correction function according to claim 3 is characterized in that: The flexible leg assembly includes a flexible leg, a left-side walking mechanism of the flexible leg, a middle-side walking mechanism of the flexible leg and a right-side walking mechanism of the flexible leg. The left-side walking mechanism of the flexible leg, the middle-side walking mechanism of the flexible leg and the right-side walking mechanism of the flexible leg are installed at the bottom of the flexible leg and are rollingly connected to another track.

5. The shipbuilding gantry crane with automatic deviation correction function according to claim 4, characterized in that: The bracket is fixed on the left walking mechanism of the flexible leg, the middle walking mechanism of the flexible leg and the right walking mechanism of the flexible leg, and the pointer corresponds to the scale on the ground inside the other track.

6. The shipbuilding gantry crane with automatic deviation correction function according to claim 5, characterized in that: The camera is arranged at an angle of 45 degrees, and the image acquisition range of the camera is between the top of the pointer and the corresponding ruler.

7. The shipbuilding gantry crane with automatic deviation correction function according to claim 1, characterized in that: The ruler is parallel to the track and has the same length.

8. The shipbuilding gantry crane with automatic deviation correction function according to claim 1, characterized in that: The ruler is provided with positioning scales both horizontally and vertically.

9. The shipbuilding gantry crane with automatic deviation correction function according to claim 1, characterized in that: The camera output end is connected to the graphics processing device input end, and the graphics processing device output end is connected to the crane electronic control system.

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