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

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

Technical Field

[0001] The present invention relates to the technical field of railway engineering machinery, and in particular to a gantry lifting wireless control method and a gantry lifting operation method for laying, replacing and lifting track line components. Background Art

[0002] At present, the mileage of high-speed railways in my country has reached 35,000 kilometers, and the volume of passenger traffic has reached 70% of the total passenger traffic. Its normal operation has an increasing impact on national travel and business activities. Therefore, on-site lifting, replacement and maintenance of high-speed railway line components has become a top priority in the field of track engineering machinery line maintenance technology. At present, line components are mainly lifted and replaced by rail cranes, cantilever cranes, etc. For the replacement of longer and heavier line components, such as rails, point rails, switch cores and other components, when multiple rail cranes are used for operation, manual control is often difficult to achieve synchronization, and heavy objects swing and deform greatly, which seriously affects construction efficiency; when using cantilever cranes for operation, the cantilever is very easy to touch the contact network on the upper part of the railway line, and there are serious safety hazards in the operation; other single-point or two-point lifting methods are not suitable for replacement parts with large length and volume. After lifting, the weight of large line components is transferred to the line through the bogie, which causes great damage to the line. The gantry cranes currently widely used in the lifting industry have the following technical defects:

[0003] 1) Due to its large structure and inflexible operation, it is not easy to transport to the railway line for operation;

[0004] 2) The height and width of the gantry crane legs cannot be adjusted, the horizontal span spacing and the height from the ground are fixed, which makes it difficult to adapt to the complex working conditions of different ground heights and different line widths on site;

[0005] 3) A single gantry crane cannot meet the needs of replacing parts of different lengths, takes up a lot of space, is heavy, and is inconvenient to transport and place;

[0006] 4) There are safety risks, low operating efficiency, and a low degree of integration of transportation, layout, and operating processes. At the same time, there is the possibility of occupying adjacent lines and exceeding the limit during the operation.

[0007] In the prior art, the following technical solutions are mainly related to the present invention:

[0008] Prior art 1 is a Chinese utility model patent applied by Shaanxi Jiangfeng Construction Engineering Co., Ltd. on April 29, 2014 and announced on November 19, 2014, with the announcement number CN203950150U. The utility model discloses a group crane synchronous control system, including a control terminal, a main controller, a sub-controller, and a remote monitoring computer. The main controller is used to execute the command of the control terminal and receive the information fed back by the sub-controller; the sub-controller is used to execute the command of the main controller and receive the information collected by the tension sensor; the control terminal and the main controller and the remote monitoring computer adopt a wireless communication control method; the main controller receives the control instructions sent by the remote monitoring computer to realize the control of the forward / reverse / stop of all electric hoist motors; an A / D converter is provided to collect the output signal of the tension sensor, which is sent to the single-chip microcomputer through the SPI interface, converted into a tension signal, and then sent to the remote monitoring computer for display to the user. The system is easy to operate, improves the safety performance of the group crane system, has an overload shutdown alarm, and a response speed of milliseconds, which is particularly suitable for the lifting operation with obstructed vision and prone to collision and scratching.

[0009] However, the group crane synchronization control system of the prior art 1 is applied to the construction industry, and its control object is a tower crane. The synchronization control precision requirement is not high, the system integration level is low, and it is not convenient to operate and maintain. Summary of the invention

[0010] In view of this, the purpose of the present invention is to provide a wireless control and gantry lifting operation method for a rail line gantry to solve the technical problems of low efficiency, low safety, high cost and inconvenient operation of existing rail line component replacement methods.

[0011] In order to achieve the above-mentioned invention object, the present invention specifically provides a technical implementation scheme of a railway track line gantry hoisting wireless control method, and the railway track line gantry hoisting wireless control method comprises the following steps:

[0012] The operator inputs the operation instructions through the operation panel, and the operation instructions are transmitted to the processor. The processor receives the data from each wireless networking sub-node module through the wireless networking central node module and makes fault judgment based on the received data;

[0013] The processor performs calculations and judgments based on the operation instructions and the received data to determine whether the corresponding control logic requirements are met. For operation instructions that meet the control logic requirements, they can be sent to each wireless networking sub-node module through the wireless networking center node module, and the processor outputs the calculation results that meet the control logic requirements and fault judgment information to the display;

[0014] The controller receives the operation instructions from the wireless networking sub-node module, and controls the servo motor to drive the corresponding mechanism of the door hanging device or lifting platform through the driver. The sensor collects the detection data of the corresponding mechanism of the door hanging device or lifting platform, and transmits it to the wireless networking sub-node module through the driver and controller in turn, and the wireless networking sub-node module sends the data to the wireless networking central node module.

[0015] Furthermore, the operation instructions are sent to each wireless networking sub-node module through the wireless networking central node module, and then the controller performs the corresponding action after parsing the local control instructions according to the communication protocol and its own communication address. The wireless networking central node module receives the data transmitted from each wireless networking sub-node module to the wireless networking central node module in a queuing polling manner.

[0016] Furthermore, the operation instructions of the gantry crane device include lifting and lateral movement of the lifting device, lifting and lateral movement of the legs, and lifting and lowering of the leveling legs. The operation instructions of the lifting platform include platform rotation, lifting and longitudinal movement.

[0017] The present invention also specifically provides a technical implementation scheme of a rail line gantry hoisting operation method based on the above wireless control method, comprising the following steps:

[0018] S10) Transportation step: when replacing line components, several gantry cranes and lifting platforms are transported to the operation site by the first flat car according to the lifting requirements;

[0019] S20) Deployment step: After arriving at the work site, the lifting platform is controlled by the wireless control device to deploy the door hanging device in place according to the position and sequence, and the first flat car drives away;

[0020] S30) Operation steps: wirelessly and synchronously control the deployed gantry crane device through the wireless control device to complete the line component hoisting operation;

[0021] S40) Recovering step: After the lifting operation is completed, the first flat car enters, recovers the door hanging device and fixes it thereon, and the first flat car drives away.

[0022] Furthermore, the step S10) includes:

[0023] During the process of transporting the gantry crane device by the first flat car, the wireless control device can enter the transport mode by selection, and monitor the fixing and locking status of the gantry crane device and the lifting platform in real time through the display.

[0024] Furthermore, the step S20) includes:

[0025] When the gantry crane and the line components required for the operation are transported to the operation site, the wireless control device can enter the deployment mode by selecting, by operating the switches of the lifting platform control area and the gantry crane control area on the operation panel, and then the processor performs control logic operations according to the operating instructions, the gantry crane and the lifting platform status, to realize the lifting platform clamping of the gantry crane, the lateral movement and lifting of the legs, the rotation, lifting and longitudinal movement of the lifting platform, and finally realize the safe deployment of several gantry cranes from the first flat car to the track surface.

[0026] Furthermore, the step S30) includes:

[0027] When the gantry crane device is deployed, the wireless control device can enter the operation mode by selecting it, and by operating the switch in the gantry crane device control area, the processor will then perform control logic operations according to the operating instructions and the state of the gantry crane device, so as to realize the coordinated operation of the outrigger lifting, leveling outrigger lifting, lifting transverse movement and lifting, and lifting unlocking of several gantry crane devices selected for use, and at the same time perform negative feedback adjustment on the real-time position and load of each gantry crane device, ultimately achieving smooth replacement of line components.

[0028] Furthermore, before the door hanging device is deployed and placed, the following steps are also included:

[0029] S101) Turn on the laser switch and lighting switch on the control box of each door hanging device;

[0030] S102) Manually releasing the locking rope and positioning pin of the door hanging device on the first flat car;

[0031] S103) Manually unlocking the legs of the door hanging device and leveling the legs;

[0032] S104) Manually unlock the lifting, rotating and longitudinal movement mechanisms of the lifting platform.

[0033] Furthermore, the step S20) includes:

[0034] S201) When the door hanging device is deployed, the wireless control device enters the deployment mode by selection;

[0035] S202) controlling the lifting platform to rise by the wireless control device, and stopping the lifting action when it is observed that the lifting platform is in contact with the door hanging device, and prompting the operator to perform the clamping and locking operation of the door hanging device;

[0036] S203) Controlling the clamping and locking mechanism of the lifting platform through the wireless control device to lock the door hanging device, and after detecting the clamping and locking signal, operating the lifting platform to continue to rise, and the rising height is controlled by the operator;

[0037] S204) When the door hanging device rises to the highest position, the lifting platform is controlled to rotate through the wireless control device, and when the lifting platform is detected to rotate to 90°, the lifting platform stops rotating;

[0038] S205) According to the alignment of the laser line and the ground mark, the lifting platform is controlled to move longitudinally through the platform longitudinal movement switch on the operation panel, and the outriggers are controlled to move horizontally through the outrigger transverse movement switch on the operation panel until the laser line is aligned with the ground mark, and the door hanging device is placed and aligned;

[0039] S206) After the lifting platform is controlled to descend to the lowest position by the wireless control device, the clamping locking mechanism is unlocked;

[0040] S207) Control the outriggers to extend through the outrigger extension switches, stop when close to the ground, switch the outrigger selection switch on the operation panel to the synchronization position, and continue to extend the outriggers until they are separated from the lifting platform and reach the specified height;

[0041] S208) adjusting the longitudinal horizontality of the door hanging device by controlling the leveling legs of the legs;

[0042] S209) According to the feedback value of the lateral inclination sensor, the height of the outrigger is controlled until the portal crane device is horizontal, and the deployment of the first portal crane device is completed;

[0043] S210) controlling the lifting platform to lift the second gantry crane to the highest position through the wireless control device, then controlling the lifting platform to rotate 180 degrees, and transporting the lifting platform to the deployment position of the second gantry crane through the first flat car, thereby completing the deployment of the second gantry crane;

[0044] S211) Complete the deployment of other portal crane devices.

[0045] Further, the step S40) includes:

[0046] S401) When the door hanging device is to be recovered, the hook is manually locked, and the transverse travel mechanism is locked through the wireless control device;

[0047] S402) The first flat car transports the lifting platform into the working area and performs alignment, and controls the lifting platform to rise to the highest position through the wireless control device;

[0048] S403) The lifting platform is operated to move longitudinally by means of the platform longitudinal movement switch on the operation panel, and fine-tuned until the lifting platform is aligned with the door hanging device. The leg extension and retraction switch on the operation panel is used to operate the leg to retract, and the door hanging device is lowered. When the lifting platform is observed to be in contact with the door hanging device, the operator is prompted to perform the clamping and locking operation of the door hanging device;

[0049] S404) The clamping and locking mechanism of the lifting platform is controlled by the wireless control device to lock the door hanging device. After the clamping and locking are completed, the legs are continued to be retracted, and at the same time, the legs are controlled to move horizontally to the locking position by the leg horizontal movement switch on the operation panel, thereby completing the recovery of the first door hanging device;

[0050] S405) controlling the lifting platform to lift the first door hanging device to the highest position through the wireless control device, and then controlling the lifting platform to rotate 180 degrees, and transporting the lifting platform to the bottom of the second door hanging device through the first flat car, thereby completing the recovery of the second door hanging device;

[0051] S406) The two door hanging devices are lifted to the highest position by controlling the lifting platform through the first flat car, and then the lifting platform is controlled to rotate 90° to the initial position, and the lifting platform is controlled to descend. When the legs are visually observed to be about to contact the body of the first flat car, the clamping locking mechanism is unlocked, and after unlocking, the lifting platform is controlled to continue to descend to the initial position, and various parts of the door hanging device are manually locked;

[0052] S407) After all door hanging devices are retracted and locked in sequence, the mode selection switch on the operation panel is switched to the transportation mode, so as to monitor the locking status of the door hanging devices and the lifting platform before and during transportation.

[0053] Furthermore, the door hanging device includes a lifting device, and the lifting device includes a transverse running mechanism and a hook connected to the transverse running mechanism and used for lifting the line components. The step S30) further includes:

[0054] S301) When lifting and placing the line components, the hook is manually unlocked, and the transverse travel mechanism is unlocked through the wireless control device;

[0055] S302) The second flat car drives into the designated operation area and completes the alignment according to the laser line;

[0056] S303) Control the lateral movement mechanism to move to the set position through the control box on the gantry crane, control the hook to descend, and fine-tune the position of the lateral movement mechanism so that the lateral movement mechanism is located directly above the lifting point;

[0057] S304) manually hook the hook to the designated position of the line component, control the hook to rise through the control box, stop when the lifting rope of the hook is straightened, and judge the hook preparation state by the hook tension;

[0058] S305) When all hooks are ready, turn on the synchronous operation switch on the operation panel to set the current lateral position of the lateral travel mechanism and the vertical position of the hook to the initial position;

[0059] S306) Control all the hooks to move synchronously horizontally through the lifting and lateral shifting switch on the operation panel, or control all the hooks to lift synchronously through the hook lifting and lowering switch on the operation panel. During this period, the lifting devices are monitored to determine whether they are synchronized. If the pulling force, lifting displacement or lateral displacement of a certain hook is detected to be greatly different from that of other lifting devices during the operation, all the lifting devices are stopped immediately, and the abnormal parts and parameters are prompted by the display to remind the operator to perform individual control, and continue the synchronous action after adjusting the lifting devices to a reasonable position;

[0060] S307) After the line component is lifted, the second flat car drives away from the operation area and places the line component at a designated position through synchronous control, thereby completing the placement of the line component.

[0061] Furthermore, the leg extension and retraction control logic in step S20) and step S40) includes:

[0062] S501) When the outrigger extension switch is turned on, if any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0063] S502) If any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is not detected, the next step is executed;

[0064] S503) the lifting drive motor is actuated;

[0065] S504) determining whether the lateral inclination angle of the door hanging device is less than or equal to a set value;

[0066] S505) If yes, execute the next step, if no, jump to step S503) to execute;

[0067] S506) Determine whether the outrigger height is equal to a set value;

[0068] S507) If yes, the lifting drive motor stops, if no, jump to step S503) to execute.

[0069] Furthermore, the outrigger lateral movement control logic in step S20) and step S40) includes:

[0070] S601) When the outrigger lateral movement switch is turned on, if any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0071] S602) If any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is not detected, the lateral movement drive motor is actuated until it reaches the desired position.

[0072] Furthermore, the group crane synchronous lateral movement control logic in step S30) includes:

[0073] S701) When the lifting lateral movement switch is turned on, if any of the lifting device lateral movement locking signal, lateral movement limit signal, lateral drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0074] S702) If any of the following signals is not detected: a lifting device transverse locking signal, a transverse limit signal, a transverse drive motor fault signal, a battery fault signal, and an emergency stop signal, then the next step is executed;

[0075] S703) Determine whether all door crane devices communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lifting drive motor is not in motion;

[0076] S704) If all conditions are met, the lateral drive motor is activated; if any condition is not met, the wireless control device displays an alarm.

[0077] Furthermore, the group crane synchronous lifting control logic in step S30) includes:

[0078] S801) When the hook lifting switch is turned on, if any of the following signals is detected: hook rising to position signal, hoisting drive motor fault signal, battery fault signal and emergency stop signal, the wireless control device will display an alarm;

[0079] S802) If any of the hook rising to position signal, the hoisting drive motor fault signal, the battery fault signal and the emergency stop signal is not detected, the next step is executed;

[0080] S803) Determine whether all door hanging devices communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lateral drive motor is not in motion;

[0081] S804) If all conditions are met, the lifting drive motor will be activated; if any condition is not met, the wireless control device will display an alarm.

[0082] By implementing the technical solution of the wireless control of the rail line gantry hoisting and the gantry hoisting operation method provided by the present invention, the following beneficial effects are achieved:

[0083] (1) The wireless control and gantry hoisting operation method of the rail line of the present invention can realize the overall control of the whole process of multiple gantry hoists by using the wireless control device, solve the real-time control of the operation process of the gantry hoisting device such as transportation, deployment, hoisting, and recovery, as well as the control problems such as safety interlocking, multi-machine synchronization, and emergency measures, with high operation efficiency and safety, low cost, and easy operation and control;

[0084] (2) The wireless control and gantry hoisting operation method of the track line of the present invention are suitable for the replacement of a whole set of turnouts as well as the replacement of a single point rail, turnout core, etc., and the synchronous lateral movement, lifting and lowering actions of multiple gantry cranes during the hoisting process can be wirelessly reconnected and controlled in a consistent manner to realize the transportation, placement, position adjustment and replacement of various track components of different lengths;

[0085] (3) The wireless control and gantry hoisting operation method of the rail line of the present invention ensures the safety of the operation process to the greatest extent possible through real-time safety interlock monitoring of multiple gantry cranes and lifting platforms during transportation, coordinated operation and safety interlocking with the lifting platform during the recovery of the gantry crane, real-time monitoring of the locking of the gantry crane and the lifting platform, and emergency control measures and intelligent fault maintenance under various fault conditions;

[0086] (4) The wireless control and gantry hoisting operation method of the rail line of the present invention has legs of the gantry hoisting device straddling both sides of the railway line. The replacement of line components will not occupy the space of the adjacent line, and there is no safety risk of over-limit operation. The operation is flexible and can well adapt to the operation requirements under complex line conditions. At the same time, the gantry hoisting device has a simple structure, small space occupation, light weight, high reliability, easy maintenance and repair, low manufacturing cost and high operation efficiency.

[0087] (5) The wireless control and gantry hoisting operation method of the rail line gantry crane of the present invention has the functions of lateral movement, lifting and leveling of the legs. The lateral span spacing and the height from the ground of the legs are adjustable, which can meet the functions required by different ground working conditions of the lines. The placement and recovery of the gantry crane can be achieved through a lifting platform with adjustable height. There is no risk of touching the contact network during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0089] Figure 1It is a system structure block diagram of a specific embodiment of the wireless control system for gantry hoisting of a track line based on the wireless control method of the present invention;

[0090] Figure 2 It is a control principle block diagram of the operating mechanism of a specific embodiment of the wireless control system for gantry hoisting of a track line based on the wireless control method of the present invention;

[0091] Figure 3 It is a system structure block diagram of a gantry crane control system of a specific embodiment of a rail line gantry crane wireless control system based on the wireless control method of the present invention;

[0092] Figure 4 It is a system structure block diagram of a lifting platform control system of a specific embodiment of a rail line gantry hoisting wireless control system based on the wireless control method of the present invention;

[0093] Figure 5 It is a three-dimensional structural schematic diagram of a wireless control device of a specific embodiment of a wireless control system for gantry hoisting of a track line based on the wireless control method of the present invention;

[0094] Figure 6 It is a plan view of a control panel of a wireless control device of a specific embodiment of a wireless control system for gantry hoisting of a track line based on the wireless control method of the present invention;

[0095] Figure 7 It is a flow chart of transport-deployment-operation-recovery of a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0096] Figure 8 It is a schematic diagram of the transport structure of the gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0097] Fig. 9 It is a schematic diagram of the transport structure of the gantry crane device in another viewing angle in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0098] Fig.10 It is a three-dimensional structural schematic diagram of a gantry crane device (excluding the front obstruction of the truss) in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0099] Fig.11 The present invention Fig.10 A schematic diagram of a local enlarged structure;

[0100] Fig.12 The present invention Fig.10 A schematic diagram of a partially enlarged structure of another part;

[0101] Fig.13It is a structural schematic diagram of a lifting mechanism of a gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0102] Fig.14 It is a schematic diagram of the structure of the transverse travel mechanism of the gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0103] Fig.15 It is a structural schematic diagram of a leg transverse movement mechanism of a gantry crane device in a specific embodiment of a gantry crane operation method for a track line of the present invention;

[0104] Fig.16 It is a schematic diagram of the lower leg structure of the gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0105] Fig.17 It is a schematic diagram of the hoisting structure of a single gantry hoist device of a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0106] Fig.18 It is a schematic diagram of the hoisting structure of multiple gantry hoisting devices of a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0107] Fig.19 It is a schematic diagram of the transport structure of a gantry crane device of a specific embodiment of the rail line gantry crane operation method of the present invention;

[0108] Fig. 20 It is a flow chart of an operation method of a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0109] Fig.21 It is a flow chart of an operation method further refined in a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0110] Fig. 22 It is a schematic diagram of a gantry crane device transportation (first flat car transportation) step in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0111] Fig.23 It is a schematic diagram of the steps of deploying the gantry crane device (withdrawing the first flat car) in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0112] Fig.24 It is a schematic diagram of a step of unloading a new line component (withdrawal of the second flat car) in a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0113] Fig.25 It is a schematic diagram of the hoisting steps of the gantry hoist device in a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0114] Fig.26 It is a schematic diagram of a second flat car driving-in step in a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0115] Fig. 27 It is a schematic diagram of the step of recovering old line components (entry of the first flat car) in a specific embodiment of the rail line gantry hoisting operation method of the present invention;

[0116] Fig.28 It is a schematic diagram of a gantry crane device recovery step in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0117] Fig.29 It is a program flow chart of the control logic of the lateral movement of the legs of the gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0118] Fig.30 It is a program flow chart of the control logic of the lateral movement of the legs of the gantry crane device in a specific embodiment of the rail line gantry crane operation method of the present invention;

[0119] Fig.31 It is a program flow chart of the lifting and lateral movement control logic of the gantry crane device in a specific embodiment of the rail line gantry lifting operation method of the present invention;

[0120] Fig.32 It is a program flow chart of the lifting and lowering control logic of the hook of the gantry crane device in a specific embodiment of the rail line gantry lifting operation method of the present invention;

[0121] In the figure: 1-leveling leg, 2-lower left leg, 3-upper left leg, 4-truss, 5-annular chain, 6-hook, 7-lifting mechanism, 8-transverse walking mechanism, 9-upper right leg, 10-lower right leg, 11-bearing beam, 12-lifting drive motor, 13-reducer, 14-first transmission gear, 15-second transmission gear, 16-annular chain, 17-installation box, 18-transverse drive motor, 19-first reducer, 20-travel wheel, 21-driving sprocket, 22-driven sprocket, 23-travel rail, 24-long slot hole, 25-slider, 26-guide rail, 27-installation plate, 28-transverse drive motor, 29-second reducer, 30-driving gear, 31-driven gear Wheel, 32-first rack, 33-second rack, 34-screw, 35-screw nut, 36-screw bearing, 37-telescopic square tube, 38-fixed square tube, 39-supporting square tube, 40-crossbeam, 41-lifting drive motor, 42-third reducer, 43-power unit, 44-clamping and locking mechanism, 45-locating pin, 46-longitudinal movement mechanism, 47-locking rope, 48-lifting device, 49-battery, 100-door lifting device, 200-lifting platform, 300-first flat car, 400-second flat car, 500-new line components, 600-old line components, 700-hoisting device, 800-basic rail, 900-track pavement (roadbed), 1000-rail car. DETAILED DESCRIPTION

[0122] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0123] As attached Figure 1 To Attachment Fig.32 As shown, a specific embodiment of the wireless control of the rail line gantry hoisting and the gantry hoisting operation method of the present invention is given, and the present invention is further described below in conjunction with the drawings and specific embodiments.

[0124] At present, most of the lifting equipment for replacing large components (such as turnout components, track plates and rails, etc.) on my country's rail lines have technical defects such as low efficiency, low safety, high cost and inconvenience in use. In order to solve the common technical problems of lifting equipment for existing rail lines, the embodiment of the present invention specifically adopts an intelligent gantry crane 100 (gantry crane) with adjustable span and height, and uses an integrated intelligent wireless remote control device to intelligently control various operating links (including transportation, deployment, lifting and recovery) of multiple gantry cranes 100. The specific embodiment of the present invention provides a wireless control system for multiple gantry cranes 100, and uses an intelligent wireless control device to control multiple gantry cranes 100 and lifting platforms 200 for collaborative operation, ultimately achieving safe and stable operation of railway track laying and on-site maintenance. The specific embodiment of the present invention also provides a rail line gantry lifting system for railway track lines based on rail flat car transportation. The following specific embodiment takes the railway turnout laying and replacement operation as an example to introduce the wireless control of the rail line gantry lifting and the gantry lifting operation method of the present invention in detail.

[0125] Example 1

[0126] An embodiment of a wireless control method for gantry hoisting of a rail line of the present invention specifically comprises the following steps:

[0127] The operator inputs the operation instructions through the operation panel, and the operation instructions are transmitted to the processor. The processor receives the data from each wireless networking sub-node module through the wireless networking central node module and makes fault judgment based on the received data;

[0128] The processor performs calculations and judgments based on the operation instructions and the received data to determine whether the corresponding control logic requirements are met. For operation instructions that meet the control logic requirements, they can be sent to each wireless networking sub-node module through the wireless networking center node module. The processor outputs the calculation results that meet the control logic requirements and fault judgment information to the display;

[0129] The controller receives the operation instructions from the wireless networking sub-node module, and controls the servo motor to drive the corresponding mechanism of the door hanging device or lifting platform through the driver. The sensor collects the detection data of the corresponding mechanism of the door hanging device or lifting platform, and transmits it to the wireless networking sub-node module through the driver and controller in turn, and the wireless networking sub-node module sends the data to the wireless networking central node module.

[0130] The operation instructions are sent to each wireless networking sub-node module through the wireless networking central node module, and then the controller parses the local control instructions according to the communication protocol and its own communication address and executes the corresponding action. The wireless networking central node module receives data transmitted from each wireless networking sub-node module to the wireless networking central node module in a queue polling manner. The operation instructions of the gantry crane device include lifting and lateral movement of the lifting device, lifting and lateral movement of the legs, and lifting and lowering of the leveling legs. The operation instructions of the lifting platform include platform rotation, lifting and longitudinal movement.

[0131] An embodiment of a wireless control system for gantry hoisting of a rail line, wherein a gantry device 100 and a lifting platform 200 are control objects of the wireless control system for gantry hoisting of a rail line. Figure 1 , 3 As shown in Figure 4, the wireless control system for gantry crane operation on the rail line specifically includes: a wireless control device, a gantry crane control system and a lifting platform control system. The wireless control device includes a display, an operation panel, a processor and a wireless networking center node module. The gantry crane control system and the lifting platform control system both include a wireless networking sub-node module and a local control system. The local control system includes a controller, a driver, a sensor and a servo motor (including a lifting drive motor 12, a lateral drive motor 18, a lateral drive motor 28 and a lifting drive motor 41, etc.). The operator inputs the operation instruction through the operation panel, and the operation instruction is transmitted to the processor. The processor receives data from each wireless networking sub-node module through the wireless networking center 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, it can be sent to each wireless networking sub-node module through the wireless networking center node module. The processor outputs the calculation results and fault judgment information that meet the control logic requirements to the display. The controller receives the operation instructions from the wireless networking sub-node module, and controls the servo motor through the driver to drive the corresponding mechanism of the door hanging device 100 or the lifting platform 200 (including the lifting drive motor 12, the lateral drive motor 18, the lateral drive motor 28, the lifting drive motor 41 of the door hanging device 100, and the clamping and locking mechanism 44, the lifting mechanism, the rotating mechanism, the longitudinal movement mechanism 46 of the lifting platform 200, etc.). The sensor collects the detection data of the corresponding mechanism of the door hanging device or the lifting platform, and transmits it to the wireless networking sub-node module through the driver and the controller in turn, and the wireless networking sub-node module sends the data to the wireless networking center node module.

[0132] When replacing large components of the track line, several gantry cranes 100, lifting platforms 200, and other materials such as lifting tools (can also be omitted) are transported to the work site by rail flat cars according to the needs of the lifting objects. Use a wireless intelligent remote control system (i.e., a wireless control system) to control the lifting platform 200 to deploy multiple gantry cranes 100 in place according to position and sequence, and the rail flat car will leave, and then the lifting operation can be carried out. The lifting operation is carried out by wireless synchronous and coordinated control of the arranged multiple gantry cranes 100. After the lifting operation is completed, the rail flat car enters, and then the gantry crane 100 is recovered to the rail flat car, and then the gantry crane 100 is fixed on the rail flat car and driven away from the work site.

[0133] The overall topology of the wireless intelligent remote control system based on the gantry crane for railway track lines is shown in the attached figure. Figure 1 As shown. The system mainly includes three parts: an integrated wireless control device, a door crane control system and a lifting platform control system. Among them, the wireless control device adopts an integrated control box structure design, integrating the display, operation panel, processor (main control CPU) and wireless networking center node module M1 at the hardware layer. The door crane control system is a general term for the local control systems of several door cranes 100 (taking 8 as an example). Each door crane local control system includes a wireless networking sub-node module (M1-1...n1), a controller, a sensor, a servo motor and its driver and other components. The wireless networking sub-node module communicates with the wireless networking center node module in duplex mode to realize data transmission and reception between the door crane 100 and the wireless control device, thereby realizing the upload of signals such as sensor detection, servo motor status, power device monitoring, etc. of the door crane 100 and the issuance of remote control instructions. Similarly, the lifting platform control system is the general term for the local control systems of several lifting platforms 200 (taking 2 as an example). Each lifting platform local control system includes a wireless networking sub-node module (M2-1...n2), controllers, sensors, servo motors and their drivers and other components. The wireless networking sub-node modules respectively perform duplex communication with the wireless networking central node modules, thereby realizing data transmission and reception between the lifting platform 200 and the wireless control device.

[0134] 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 as follows: the operation instructions are sent to each wireless networking sub-node module through the wireless networking central node module, and all wireless networking sub-node modules receive the operation instruction signal at the same time, and then the controller parses the local control instructions according to the communication protocol and its own communication address and executes the corresponding action. The wireless networking central node module uses a queue polling method to receive data in sequence for the data uploaded by each wireless networking sub-node module to the wireless networking central node module. Therefore, the time delay of a polling cycle is the sum of the time for all wireless networking sub-node modules (n1+n2) participating in the networking to send signals. The operation instructions of the gantry crane include lifting and lowering and lateral movement of the lifting device, lifting and lowering and lateral movement of the legs, and lifting and lowering of the leveling legs. The operation instructions of the lifting platform include platform rotation, lifting and lowering, and longitudinal movement.

[0135] The schematic diagram of the wireless control device using an integrated wireless remote control box is shown in the attached figure. Figure 5 As shown in the figure, the integrated wireless control device adopts a flip-top structure design, and the (touch) display screen is installed on the box cover for human-machine interaction during the control process. At the same time, a lighting lamp is set on the box cover to facilitate nighttime operation. The main components installed in the box are the operation panel, main control CPU (i.e. processor), lithium battery and wireless networking center node module. The operation panel diagram is shown in the attached figure. Figure 6 As shown in the figure, it is mainly divided into three functional areas: wireless control device, door hanging device and lifting platform. The functional areas of the operation panel are clearly divided, which is convenient for operators to use, and can effectively improve operating efficiency and reduce misoperation. It should be noted that the functional operation of the operation panel can be implemented in the form of physical switches, buttons, etc., or in the form of virtual touch buttons, as shown in the attached figure. Figure 5 and attached Figure 6 The wireless control device shown uses a physical switch to complete various functional operations.

[0136] In addition to the above advantages, the wireless control device also includes (but is not limited to) the following main functions:

[0137] 1) The operator can input various operating instructions to the processor through the operation panel.

[0138] 2) The data received by the wireless networking central node module can be sent to the processor via the CAN bus.

[0139] 3) The processor can perform logical operations based on various operating instructions and received data to determine whether the control logic requirements of the rail line gantry crane wireless control system are met; for the operation results and instructions that meet the control logic, the signal can be wirelessly sent through the wireless networking center node module; for the operation results and fault information that meet the control logic, the fault information can be displayed through the (touch) display screen.

[0140] 4) When the wireless control device loses power, the software setting parameters of the wireless control device can be automatically saved and memorized, and there is no need to reset the relevant parameters after restarting the device.

[0141] 5) Lifting, lowering and translation control function of the gantry crane device: According to the user's instructions and in combination with the various state quantities of the system, each gantry crane device 100 is controlled through the processor and the wireless module (i.e. the collective name of the wireless networking central node module and the wireless networking sub-node module) to realize the synchronous lifting and lateral synchronous translation control function of each gantry crane device 100.

[0142] 6) Transverse movement and extension control function of the gantry crane legs: According to user instructions and in combination with various system status quantities, the processor and wireless module are used to control the transverse movement and extension function of each gantry crane leg, and the lifting and lowering control function of the leveling leg can be realized at the same time.

[0143] 7) Lifting platform rotation and lifting control function: According to user instructions and in combination with various state quantities of the system, the rotation and lifting functions of each lifting platform 200 are controlled through the processor and the wireless module.

[0144] 8) Lifting platform adjusts the position control function of the door hanging device: According to the user's instructions and in combination with the various state quantities of the system, the clamping action of each lifting platform 200 is controlled by the processor and the wireless module to realize the position adjustment function of the door hanging device 100.

[0145] 9) Locking driving and emergency safety function: collect the locking status data through the wireless module and notify the user through the (touch) display screen. In the emergency state, notify each subsystem to enter the emergency state through the wireless module.

[0146] 10) Data transmission function: The wireless control device can realize two-way data transmission and meet the low time delay requirements (the response delay of the entire electrical system is less than 100ms).

[0147] The wireless control system controls the main operation links of multiple gantry cranes 100, including the "transportation, deployment, lifting, and recovery" process, as well as the "maintenance", "safety guidance", "manual operation" and other modes, as shown in the attached Figure 7 shown.

[0148] The following is an introduction to the control methods for key operating processes:

[0149] 1) During the transportation of the gantry crane device by the rail flat car, the wireless control device can choose to enter the "transportation mode" to monitor the fixing and locking conditions of the gantry crane device 100 and the lifting platform 200 in real time, and can display the monitoring conditions to the driving driver through the display screen to ensure the transportation safety of the gantry crane device 100.

[0150] 2) After the gantry crane 100 and the objects required for the operation (such as line components, etc.) are transported to the operation site, the wireless control device can choose to enter the "deployment mode" by operating the "lifting platform control area" and "gantry crane control area" switches on the control panel. Then, the wireless control device performs safety logic operations according to the operation commands, the state of the gantry crane, and the state of the lifting platform, so as to realize the clamping of the gantry crane 100 by the lifting platform 200, the lateral movement and lifting of the legs of the gantry crane, and the 90° rotation and lifting of the lifting platform, and finally realize the safe deployment of multiple gantry cranes 100 from the transport flat car to the railway line track surface (i.e., roadbed) 900.

[0151] 3) After the gantry crane 100 is deployed, the wireless control device can choose to enter the "operation mode" by operating the "gantry crane control area" switch on the control panel. Then, the wireless control device performs safety logic operations according to the operation command and the state of the gantry crane, and realizes the coordinated operation of the outrigger lifting and lowering, leveling outrigger lifting and lowering, lifting device lateral movement and lifting, and lifting device unlocking of the multiple gantry cranes 100 selected for use. At the same time, the real-time position and load of each gantry crane 100 are negatively feedback adjusted, and finally the smooth replacement operation of large components (such as turnout components, track plates and rails, etc.) on the track line is realized.

[0152] 4) After completing the on-site replacement of large components, the wireless control device can choose to enter the "recovery mode" and perform an operation process that is basically opposite to the "deployment mode" to complete the recovery of the door hanging device 100 to the transport flat car.

[0153] The wireless control device has four control modes, namely: 1. Safety-oriented operation mode: chain control according to the "deployment, hoisting, recovery" sequence operation process; 2. Manual operation mode: does not distinguish between the previous and next action processes, but needs to detect the safety chain logic of a single action (no risk of equipment damage). 3. Emergency mode: directly output the response action after inputting the action command (to prevent sensor failure, there is a risk of damaging the equipment, and a password is required to enter). The wireless control device can perform intelligent human-computer interaction in the "safety-oriented" mode to complete the relevant operations of the above four main operation links. When the site cannot meet the intelligent operation conditions required by the "safety-oriented" mode due to special reasons, it can also switch to the "manual" mode for emergency operation. When performing human-computer interaction, real-time prompts are given for fault information that cannot meet the action conditions. In addition, the wireless control device is also provided with a maintenance mode, which can be enabled when the door crane device 100 and the lifting platform 200 fail or during the debugging stage. In this mode, relevant actions not related to maintenance will be safely interlocked. When the wireless network fails, the local control mode of the door crane device can also be switched to achieve the purpose of emergency operation and emergency recovery of the door crane device. The rail line gantry crane wireless control system described in the specific embodiment of the present invention can control the group lifting operation of multiple gantry crane devices 100, ultimately achieving the purpose of safe, stable and efficient operation.

[0154] The wireless control system for gantry hoisting of rail lines described in the specific embodiment of the present invention mainly includes two control objects, namely, a gantry crane device 100 and a lifting platform 200, and can realize the safe, stable and efficient control operation of the whole process (including transportation, deployment, hoisting, recovery and other processes) of the gantry crane device group when replacing large components on the rail line. The wireless control system for gantry hoisting of rail lines adopts a wireless remote control mode, which can effectively avoid close contact between operators and gantry crane devices, and can prevent equipment and materials from causing harm to operators during hoisting operations, effectively ensuring the personal safety of operators. The wireless control system can realize the safety monitoring of the transportation process of the gantry crane device 100, as well as the safety interlocking control logic of the construction process, effectively ensuring the safety of railway transportation and equipment, and also ensuring the safe construction of the operation process. The wireless control device adopts an integrated control box structure design, which reduces the number of wireless control devices required for the gantry crane device 100 and the lifting platform 200, improves the convenience of operation, and also avoids the technical risk of mutual interference of multiple wireless signals at the operation site, and improves the stability and reliability of wireless communication. The wireless module adopts a duplex communication mechanism and low time delay, which ensures the realization of the real-time automatic adjustment function of negative feedback during the collaborative operation of multi-gantry cranes, thereby improving the stability of the materials in the lifting operation. The "safety-oriented" mode design of the wireless control device "institutionalizes" the entire gantry lifting system usage process at the software level, greatly simplifies the difficulty of system operation, reduces the possibility of human error, and improves on-site operation efficiency. The "manual operation" mode and maintenance mode design of the wireless control device improves the emergency handling capability of the entire system.

[0155] Example 2

[0156] As attached Fig. 20 As shown, an embodiment of a rail line gantry hoisting operation method based on the wireless control method of the present invention described in Example 1 specifically includes the following steps:

[0157] S10) Transportation step: When replacing line components, a plurality of door hanging devices 100 and lifting platforms 200 are transported to the work site via the first flat car 300 according to the lifting requirements.

[0158] S20) Deployment step: After arriving at the work site, the lifting platform 200 is controlled by the wireless control device to deploy the door hanging device 100 in place according to the position and sequence, and the first flat car 300 drives away.

[0159] S30) Operation steps: wirelessly and synchronously control the deployed gantry crane device 100 through the wireless control device to complete the line component lifting operation.

[0160] S40) Recovering step: After the hoisting operation is completed, the first flat car 300 enters, recovers the door hanging device 100 and fixes it thereon, and the first flat car 300 drives away.

[0161] As attached Fig.21 As shown in the figure, as a further detailed embodiment of the operation method of the rail line gantry lifting system described in this embodiment, in step S10), the gantry lifting device 100 retracts the left leg and the right leg, and fixes them on the first flat car 300 and transports them to the work site, as shown in the attached figure. Fig. 22 In step S20), after arriving at the construction site, the gantry crane 100 is deployed through the lifting platform 200, the left and right legs of the gantry crane 100 are extended and supported to the track surface 900, the horizontality of the truss 4 is adjusted, and the first flat car 300 is withdrawn, as shown in the attached figure. Fig.23 In step S30), the door hanging device 100 lifts the new line component 500 placed on the second flat car 400 and transported to the bottom thereof, and the second flat car 400 is withdrawn, as shown in the attached figure. Fig.24 The door hanging device 100 moves the new line component 500 to one side of the line and places it, and lifts the old line component 600 and moves it to the other side of the line, as shown in the attached figure. Fig.25 The door crane 100 lifts the new line component 500 and moves it horizontally to the line, and lifts the old line component 600, and the second flat car 400 enters, as shown in the attached figure. Fig.26 After the door hanging device 100 places the old line component 600 on the second flat car 400, the second flat car 400 moves away, as shown in the attached figure. Fig. 27 In step S40), the first flat car 300 enters, and the door hanging device 100 is recovered to the first flat car 300 through the lifting platform 200, and the first flat car 300 leaves, completing the replacement of the railway line components, as shown in the attached figure. Fig.28 shown.

[0162] The number of gantry cranes 100 is determined according to the length of the line components, and multiple gantry cranes 100 are deployed and recovered through the first flat car 300 and the lifting platform 200, and the replacement of long and large railway line components is achieved through the multi-point synchronous operation of multiple gantry cranes 100. At the same time, the spacing and height of the left and right legs of the gantry crane 100 can be adjusted to meet the needs of different track pavement conditions. When performing the lifting operation of railway line components, the overall load of the gantry crane 100 acts on the roadbed 900 of the railway line through the leveling leg 1. The pressure of the load acting on the roadbed 900 can be effectively dispersed by leveling to reduce the damage to the railway line caused by the operation of the gantry crane 100.

[0163] Before the entire operation vehicle sets out, the control cabinet is first installed on the door crane device 100, the main power switch on each door crane device control cabinet is turned on, and the mode selection switch on the wireless control device is turned to the transport mode position. The operation vehicle runs to the designated location of the operation site and performs preparations before placing the door crane device 100, including: turning on the laser switch and lighting switch on each door crane device control cabinet; manually releasing the locking rope and positioning pin of the door crane device 100 on the rail flat car; manually unlocking the left and right legs and left and right leveling legs of the door crane device 100; and manually unlocking the lifting, rotation and longitudinal movement mechanism 46 of the lifting platform 200.

[0164] The above step S10) further comprises:

[0165] During the process of the first flat car 300 transporting the door hanging device 100, the wireless control device can enter the transportation mode by selection, and monitor the fixing and locking conditions of the door hanging device 100 and the lifting platform 200 in real time through the display.

[0166] The above step S20) further includes:

[0167] After the gantry crane 100 and the line components required for the operation are transported to the operation site, the wireless control device can enter the deployment mode by selecting, by operating the switches of the lifting platform control area and the gantry crane control area on the operation panel, and then the processor performs control logic operations according to the operation instructions, the gantry crane and the lifting platform status, to realize the lifting platform 200 clamping the gantry crane 100, the lateral movement and lifting of the legs, the rotation, lifting and longitudinal movement of the lifting platform, and finally realize the safe deployment of several gantry cranes 100 from the first flat car 300 to the rail pavement (i.e., roadbed) 900.

[0168] The above step S30) further includes:

[0169] When the gantry crane device 100 is deployed, the wireless control device can enter the operation mode by selecting it, and by operating the switch in the gantry crane device control area, the processor can then perform control logic operations according to the operation instructions and the state of the gantry crane device, so as to realize the coordinated operation of the leg raising and lowering, leveling leg raising and lowering, lifting and lateral movement, lifting and lifting, and lifting and unlocking of several gantry crane devices 100 selected for use, and at the same time perform negative feedback adjustment on the real-time position and load of each gantry crane device 100, ultimately achieving smooth replacement of line components.

[0170] Before the door hanging device 100 is deployed and placed, the following steps are also included:

[0171] S101) Turn on the laser switch and lighting switch on the control box of each door hanging device 100;

[0172] S102) manually releasing the locking rope 47 and the positioning pin 45 of the door hanging device 100 on the first flat car 300;

[0173] S103) Manually unlocking the legs of the door hanging device 100 and leveling the legs 1;

[0174] S104 ) Manually unlocking the lifting, rotating and longitudinal movement mechanisms 46 of the lifting platform 200 .

[0175] The above step S20) further includes:

[0176] S201) When the door hanging device 100 is deployed, the wireless control device enters the deployment mode by selection;

[0177] S202) controlling the lifting platform 200 to rise by the wireless control device, and stopping the lifting action when observing that the lifting platform 200 is in contact with the door hanging device 100, and prompting the operator to perform a clamping and locking operation of the door hanging device 100;

[0178] S203) The clamping locking mechanism 44 of the lifting platform 200 is controlled by the wireless control device to lock the door hanging device 100. After the clamping locking signal is detected, the lifting platform 200 is operated to continue to rise, and the rising height is controlled by the operator;

[0179] S204) When the door hanging device 100 rises to the highest position, the lifting platform 200 is controlled to rotate by the wireless control device, and when a signal that the lifting platform 200 rotates to 90° is detected, the lifting platform 200 stops rotating;

[0180] S205) According to the alignment of the laser line and the ground mark, the lifting platform is controlled to move longitudinally through the platform longitudinal movement switch on the operation panel, and the outriggers are controlled to move transversely through the outrigger transverse movement switch on the operation panel until the laser line is aligned with the ground mark, and the door hanging device 100 is placed and aligned;

[0181] S206) After the lifting platform 200 is controlled to descend to the lowest position by the wireless control device, the clamping locking mechanism 44 is unlocked;

[0182] S207) Control the outriggers to extend through the outrigger extension switches, stop when close to the ground, switch the outrigger selection switch on the operation panel to the synchronization position (at this time, the left and right outriggers act synchronously), and continue to extend the outriggers until they are separated from the lifting platform 200 and reach a specified height;

[0183] S208) adjusting the longitudinal level of the door hanging device 100 by controlling the leveling leg 1 of the leg until the level meter shows level;

[0184] S209) According to the feedback value of the lateral inclination sensor, the height of the outrigger is controlled until the portal hanging device 100 is horizontal, and the deployment of the first portal hanging device 100 is completed;

[0185] S210) controlling the lifting platform 200 to lift the second door hanging device 100 to the highest position through the wireless control device, then controlling the lifting platform 200 to rotate 180°, and transporting the lifting platform 200 to the deployment position of the second door hanging device 100 through the first flat car 300, thereby completing the deployment of the second door hanging device 100;

[0186] S211) Complete the deployment of other door hanging devices 100.

[0187] The above step S40) further includes:

[0188] S401) When the door hanging device 100 is to be recovered, the hook 6 is manually locked, and the transverse travel mechanism 8 is locked through the wireless control device;

[0189] S402) The first flat car 300 transports the lifting platform 200 into the working area and performs alignment, and controls the lifting platform 200 to rise to the highest position through the wireless control device;

[0190] S403) The lifting platform 200 is operated to move longitudinally by the platform longitudinal movement switch on the operation panel, and fine-tuned until the lifting platform 200 is aligned with the door hanging device 100, and the leg extension switch on the operation panel is operated to retract the legs, and the door hanging device 100 is lowered. When the lifting platform 200 is observed to be in contact with the door hanging device 100, the operator is prompted to perform the clamping and locking operation of the door hanging device 100;

[0191] S404) The clamping and locking mechanism 44 of the lifting platform 200 is controlled by the wireless control device to lock the door hanging device. After the clamping and locking are completed, the legs are continued to be retracted, and the legs are controlled to move horizontally to the locking position by the leg horizontal movement switch on the operation panel, so that the first door hanging device 100 is recovered;

[0192] S405) controlling the lifting platform 200 through the wireless control device to lift the first door hanging device 100 to the highest position, then controlling the lifting platform 200 to rotate 180 degrees, and transporting the lifting platform 200 to the bottom of the second door hanging device 100 through the first flat car 300, thereby completing the recovery of the second door hanging device 100;

[0193] S406) The lifting platform 200 is controlled by the first flat car 300 to lift the two door hanging devices 100 to the highest position, and then the lifting platform 200 is controlled to rotate 90° to the initial position, and the lifting platform 200 is controlled to descend. When it is visually observed that the legs are about to contact the body of the first flat car 300, the clamping locking mechanism 44 is unlocked. After unlocking, the lifting platform 200 is controlled to continue to descend to the initial position, and various parts of the door hanging device 100 are manually locked;

[0194] S407) After all the door hanging devices 100 are collected and locked in sequence, the mode selection switch on the operation panel is switched to the transportation mode, so as to monitor the locking status of the door hanging devices 100 and the lifting platform 200 before and during transportation.

[0195] Leg extension and lateral movement control logic: The extension and lateral movement control of the legs is the control of a single gantry device 100. There is no need to perform synchronous control of multiple gantry devices 100. Only logical judgment is required. The control logic is as shown in the attached figure. Fig.29 With attached Fig.30 shown.

[0196] The leg extension and retraction control logic in the above step S20) and step S40) further includes:

[0197] S501) When the outrigger extension switch is turned on, if any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0198] S502) If any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is not detected, the next step is executed;

[0199] S503) the lifting drive motor 41 is actuated;

[0200] S504) determining whether the lateral inclination angle of the door hanging device 100 is less than or equal to a set value;

[0201] S505) If yes, execute the next step, if no, jump to step S503) to execute;

[0202] S506) Determine whether the outrigger height is equal to a set value;

[0203] S507) If yes, the lifting drive motor 41 stops moving, if no, jump to step S503) for execution.

[0204] The outrigger lateral movement control logic in the above step S20) and step S40) further includes:

[0205] S601) When the outrigger lateral movement switch is turned on, if any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0206] S602) If any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is not detected, the lateral movement drive motor 28 operates until it reaches the desired position.

[0207] The door hanging device 100 includes a lifting device 48, and the lifting device 48 includes a transverse running mechanism 8, and a hook 6 connected to the transverse running mechanism 8 and used to lift the line components. The hook 6 is connected to a lifting device 700, and the lifting device 700 is used to clamp the line components. The above step S30) further includes:

[0208] S301) When the (new) line component 500 is lifted and placed, the hook 6 is manually unlocked, and the transverse travel mechanism 8 is unlocked via the wireless control device;

[0209] S302) The second flat car 400 enters the designated operation area and completes the alignment according to the laser line;

[0210] S303) Control the lateral movement running mechanism 8 to move to the set position through the control box on the door hanging device 100, control the hook 6 to descend, and fine-tune the position of the lateral movement running mechanism 8 so that the lateral movement running mechanism 8 is located directly above the lifting point;

[0211] S304) manually hooking the hook 6 to the designated position of the new line component 500, controlling the hook 6 to rise through the control box, and stopping when the lifting rope (i.e., the chain 16) of the hook 6 is straightened, and judging the ready state of the hook 6 by the tension of the hook 6;

[0212] S305) When all the hooks 6 are ready, turn on the synchronous operation switch on the operation panel to set the current lateral position of the lateral travel mechanism 8 and the vertical position of the hook 6 to the initial position;

[0213] S306) Control all the hooks 6 to move synchronously horizontally through the lifting and lateral shifting switch on the operation panel, or control all the hooks 6 to lift synchronously through the hook lifting and lowering switch on the operation panel. During this period, the lifting devices 48 are monitored to determine whether they are synchronized. If the pulling force, lifting displacement or lateral displacement of a certain hook 6 is detected to be significantly different from that of other lifting devices 48 during the operation, all the lifting devices 48 are stopped immediately, and the abnormal parts and parameters are prompted by the display to remind the operator to perform individual control, and the lifting devices 48 are adjusted to a reasonable position before continuing the synchronous action;

[0214] S307) After the new line component 500 (new turnout) is lifted, the second flat car 400 drives away from the operation area, and places the new line component 500 at a designated position through synchronous control, thereby completing the placement of the new line component 500.

[0215] According to the above-mentioned steps of lifting and placing the new line component 500, the old line component 600 (old turnout) is lifted out, the new line component 500 is lifted in, and the old line component 600 is lifted and placed on the rail flat car. During the operation, the display of the wireless control device displays the information such as the lateral movement and vertical displacement of each lifting device 100, the hook tension, and the lateral inclination angle of the door lifting device 100.

[0216] Hoisting device synchronous lifting and lateral movement control logic: The lateral movement control of the hoisting device 48 requires multiple gantry devices 100 to act synchronously. The detected signal is the signal of 8 gantry devices 100. As long as one of the gantry devices 100 does not meet the action condition, the processor stops sending the operation instruction and prompts the fault information. The control logic is as shown in the attached figure. Fig.31 And attached Fig.32 shown.

[0217] The synchronous lateral movement control logic of the group cranes in the above step S30) further includes:

[0218] S701) When the lifting lateral movement switch is turned on, if any of the lifting device lateral movement locking signal, lateral movement limit signal, lateral drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm;

[0219] S702) If any of the following signals is not detected: a lifting device transverse locking signal, a transverse limit signal, a transverse drive motor fault signal, a battery fault signal, and an emergency stop signal, then the next step is executed;

[0220] S703) determining whether all door hanging devices 100 communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lifting drive motor 12 is not in action;

[0221] S704) If all conditions are met, the lateral drive motor 18 is activated; if any condition is not met, the wireless control device displays an alarm.

[0222] The group crane synchronous lifting control logic in the above step S30) further includes:

[0223] S801) When the hook lifting switch is turned on, if any of the following signals is detected: hook rising to position signal, hoisting drive motor fault signal, battery fault signal and emergency stop signal, the wireless control device will display an alarm;

[0224] S802) If any of the hook rising to position signal, the hoisting drive motor fault signal, the battery fault signal and the emergency stop signal is not detected, the next step is executed;

[0225] S803) determining whether all door hanging devices 100 communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lateral drive motor 18 is not in motion;

[0226] S804) If all conditions are met, the lifting drive motor 12 is activated; if any condition is not met, the wireless control device displays an alarm.

[0227] An embodiment of a rail line gantry lifting system specifically includes: the wireless control system as described in Example 1, a gantry crane 100, a lifting platform 200, a first flat car 300 and a second flat car 400 (the first flat car 300 and the second flat car 400 are collectively referred to as rail flat cars). The first flat car 300 is used to transport the gantry crane 100 and the lifting platform 200, and the second flat car 400 is used to transport line components. The control objects of the wireless control system are as follows: Figure 8 and 9 As shown, it includes a plurality of door hanging devices 100, a plurality of lifting platforms 200 and a power device 43.

[0228] As attached Fig.19 As shown, it is a schematic diagram of the transport structure of the rail line gantry lifting system, the gantry lifting device 100 and the lifting platform 200 are both arranged on the first flat car 300, the gantry lifting device 100 is further fixed on the lifting platform 200, and the lifting platform 200 has lifting and rotating functions. The new line component 500 for replacement is placed on the second flat car 400.

[0229] When replacing line components, several gantry cranes 100 and lifting platforms 200 are transported to the work site by the first flat car 300 according to the lifting needs. After arriving at the work 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 flat car 300 drives away. The deployed gantry crane 100 is wirelessly and synchronously controlled by the wireless control device to complete the lifting operation of the line components. After the lifting operation is completed, the first flat car 300 enters and recovers the gantry crane 100 and fixes it on it, and the first flat car 300 drives away.

[0230] The railcar 1000 provides power to transport the gantry crane 100 placed on the first flat car 300 and the new line component 500 placed on the second flat car 400 to the construction area. In the process of transporting the gantry crane 100 by the first flat car 300, the wireless control device can enter the transportation mode by selection, and monitor the fixing and locking conditions of the gantry crane 100 and the lifting platform 200 in real time through the display. After arriving at the designated construction area, the gantry crane 100 places the legs on both sides of the gantry crane 100 in the designated area of ​​the roadbed 900 on both sides of the basic rail 800 of the line through the lifting and rotating actions of the lifting platform 200 on the first flat car 300.

[0231] Before the door crane 100 is deployed, turn on the laser switch and lighting switch on the control box of each door crane. Manually release the locking rope 47 and positioning pin 45 of the door crane 100 on the first flat car 300. Manually unlock the legs and leveling legs 1 of the door crane 100. Manually unlock the lifting, rotation and longitudinal movement mechanisms of the lifting platform 200.

[0232] After the gantry crane 100 and the line components required for the operation are transported to the operation site, the wireless control device can enter the deployment mode by selecting, by operating the switches of the lifting platform control area and the gantry crane control area on the operation panel, and then the processor performs control logic operations according to the operation instructions, the gantry crane and the lifting platform status, to realize the lifting platform 200 clamping the gantry crane 100, the lateral movement and lifting of the legs, the rotation, lifting and longitudinal movement of the lifting platform, and finally realize the safe deployment of several gantry cranes 100 from the first flat car 300 to the rail pavement (i.e., roadbed) 900.

[0233] When the gantry crane device 100 is deployed, the wireless control device can enter the operation mode by selecting it, and by operating the switch in the gantry crane device control area, the processor can then perform control logic operations according to the operation instructions and the state of the gantry crane device, so as to realize the coordinated operation of the leg raising and lowering, leveling leg raising and lowering, lifting and lateral movement, lifting and lifting, and lifting and unlocking of several gantry crane devices 100 selected for use, and at the same time perform negative feedback adjustment on the real-time position and load of each gantry crane device 100, ultimately achieving smooth replacement of line components.

[0234] The action functions of the door hanging device 100 include the action of the lifting device and the action of the legs. The lifting device 48 has the functions of lateral movement and lifting, which are controlled by two motors respectively. At the same time, a limit switch is set to detect the limit position to avoid over-limit. The leg action includes the extension and lateral movement of the left leg and the right leg. Each leg realizes the lateral movement and extension and retraction actions respectively through two motors. The system structure function implementation method is as shown in the attached figure. Figure 2 shown. Example

[0235] As attached Fig.10 As shown, an embodiment of a gantry crane device 100 applied to the rail line gantry crane operation method of the present invention described in Example 2 specifically includes:

[0236] Truss 4;

[0237] It is arranged on the truss 4 and can be moved horizontally along the truss 4 (such as attached Fig.10 The lateral movement running mechanism 8 is movable in the direction indicated by W in the figure to adjust the hoisting position; the lateral movement running mechanism 8 includes a lifting mechanism 7, which can drive the ring chain 16 to move up and down in the vertical direction, and a lifting device 700 is provided at the end of the ring chain 16, and the lifting device 700 is clamped to realize the transportation of the railway line components;

[0238] The left leg and the right leg are movably arranged at the lower part of the left and right ends of the truss 4, respectively, and the left leg and the right leg can move laterally along the truss 4 to adjust the lateral span of the door hanging device. The left leg and the right leg are arranged on both sides of the railway line, without occupying the adjacent line for operation, and there is no risk of over-limit operation.

[0239] The left leg and the right leg can be moved vertically (such as attached Fig.10 The truss 4 is lifted and lowered in the direction indicated by H in the figure to adjust the height of the truss 4 from the track pavement (i.e., the roadbed) by 900.

[0240] The lower part of the left leg and the right leg are both provided with a leveling leg 1, and the leveling leg 1 can realize the fine leveling function of the left leg, the right leg and the door hanging device 100. The leveling leg 1 can realize the fine adjustment of the height according to the flatness of the track pavement 900.

[0241] The railway line component replacement gantry crane device 100 described in Example 3 has multifunctional and adaptive characteristics. The legs on both sides of the device are supported on the track pavement 900 on both sides of the line. The legs on both sides can be moved horizontally, raised and lowered, and leveled to meet the operating requirements of different line ground conditions. The two horizontal legs of the gantry crane device 100 are supported on the left and right sides of the line. The replacement of old and new line components is carried out in the inner empty part of the gantry crane device 100. There is no need to occupy the adjacent line space during the operation of the line, there is no risk of touching the contact network, and no ballast damage will be caused to the line. The legs of the gantry crane device 100 have a lateral movement function, which can adapt to the working conditions of different ground widths on both sides of the line. The legs of the gantry crane device 100 have a vertical telescopic adjustment function, which can be used for working conditions at different ground heights, and the line components that need to be replaced can be lifted to different working heights.

[0242] As attached Fig.11 As shown, 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, and the upper left leg 3 can be lifted and moved vertically relative to the lower left leg 2. Fig.12As shown, the right leg includes a right upper leg 9 connected to the truss 4, and a right lower leg 10 movably connected to the right upper leg 9, and the right upper leg 9 can be lifted and lowered vertically relative to the right lower leg 10.

[0243] As attached Fig.13 As shown, the lifting mechanism 7 includes a lifting drive motor 12, a reducer 13, a first transmission gear 14 and a second transmission gear 15. The lifting drive motor 12 drives the first transmission gear 14 to rotate through the reducer 13, and the first transmission gear 14 drives the second transmission gear 15 to rotate, and the second transmission gear 15 is connected to the ring chain 16. The ring chain 16 can be lifted and lowered in the vertical direction by the forward and reverse rotation of the lifting drive motor 12. The lifting and lifting structure of the lifting mechanism 7 adopts the mode of matching the ring chain 16 with the gear, which can effectively prevent slipping during the lifting process.

[0244] As attached Fig.14 As shown, the transverse travel mechanism 8 also includes an annular chain 5, an installation box 17, a transverse drive motor 18, a first reducer 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 installation box 17, and the running wheel 20 is arranged at the bottom of the installation box 17. The running rail 23 is arranged on the inner side of the bottom of the truss 4 in the transverse direction, and the running wheel 20 cooperates with the running rail 23. The transverse drive motor 18 drives the driving sprocket 21 to rotate through the first reducer 19, and 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 to the installation box 17, and the lifting mechanism 7 is driven by the forward and reverse rotation of the transverse drive motor 18 to realize the horizontal transverse movement function.

[0245] As attached Fig.15 As shown, the bottom of the truss 4 is provided with a long slot 24 in the horizontal direction, and the upper left leg 3 and the upper right leg 9 are provided with a long slot 24 in the vertical direction (as shown in the attached figure). Figure 6 Slide blocks 25 are provided on both sides of the truss 4 (in the direction shown by L in the figure). A guide rail 26 is provided at the bottom of the truss 4 in the horizontal direction, and a mounting plate 27 is provided on the upper part of the left upper leg 3 and the right upper leg 9, and the mounting plate 27 passes through the long slot 24 upward. A traverse driving motor 28, a second reducer 29, a driving gear 30 and a driven gear 31 are provided on the mounting plate 27, and a first rack 32 and a second rack 33 are provided in parallel with each other in the horizontal direction at the bottom of the truss 4. The traverse driving motor 28 drives the driving gear 30 to rotate through the second reducer 29, and 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 the traverse of the legs. The guide rail 26 cooperates with the slide block 25 to provide guidance for the traverse movement of the left upper leg 3 and the right upper leg 9. The traverse movement of the left upper leg 3 and the right upper leg 9 is achieved by the forward and reverse rotation of the traverse driving motor 28.

[0246] As attached Fig.16 As shown, the upper left leg 3 and the upper right leg 9 both include a screw 34, a screw nut 35, a screw bearing 36 and a telescopic square tube 37. The screw 34 is arranged in the telescopic square tube 37, the screw nut 35 is fixed to the inner bottom side of the telescopic square tube 37, and the screw 34 and the screw nut 35 cooperate. The upper part of the screw 34 is fixed to the inside of the telescopic square tube 37 through the screw bearing 36. The lower left leg 2 and the lower right leg 10 both include a fixed square tube 38, a supporting square tube 39, a crossbeam 40 and a bearing beam 11. The fixed square tube 38 is sleeved on the outside of the telescopic square tube 37, the supporting square tube 39 is arranged on the left and right sides of the fixed square tube 38, the upper part of the fixed square tube 38 is fixed to one end of the supporting square tube 39, and the lower part of the fixed square tube 38 is fixed to the supporting square tube 39 through the crossbeam 40. The other end of the supporting square tube 39 is fixed to the load-bearing beam 11, and a lifting drive motor 41 and a third reducer 42 are provided on the load-bearing beam 11. The lower part of the screw rod 34 extends out of the bottom of the telescopic square tube 37 and the fixed square tube 38 and is connected to the second reducer 42. The third reducer 42 is driven by the forward and reverse rotation of the lifting drive motor 41, and then the screw rod 34 is driven 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 as to realize the extension and retraction of the left and right legs. A battery 49 is provided on the crossbeam 40.

[0247] As attached Fig.17 As shown in FIG. 1 , it is a schematic diagram of the placement and operation of a single gantry crane 100. The legs of the gantry crane 100 on both sides of the horizontal direction are supported on the roadbed 900 on both sides of the line. The leg spacing of the gantry crane 100 is adjustable in the W direction and the height from the ground in the H direction. Embodiment 3 further arranges multiple gantry cranes 100 with multifunctional adaptive characteristics along the operating direction of the railway line (such as the attached Fig.18 The group of cranes (in the direction indicated by L in the figure) forms a group crane group, which works together to complete the intelligent laying and replacement of long and large components of the railway line. Fig.18 As shown, it is a schematic diagram of the placement and operation of multiple gantry cranes 100 along the line operation direction L. By performing lifting operations at multiple points of multiple gantry cranes 100, the replacement operation of railway line components of various sizes can be realized. The gantry crane 100 can realize the lifting and translation of railway line components through a set of driving mechanisms, and realize the lifting and handling functions of railway line components. The gantry crane 100 effectively reduces the total height of the lifting space, simplifies the structure, reduces the volume, and the height of the legs is adjustable, which can automatically adapt to the different heights of the track pavement 900 on both sides of the line.

[0248] In the description of this application, it should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0249] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0250] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0251] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0252] By implementing the technical solution of the wireless control of the rail line gantry hoisting and the gantry hoisting operation method described in the specific embodiment of the present invention, the following technical effects can be produced:

[0253] (1) The wireless control of the rail line gantry crane and the gantry crane operation method described in the specific embodiment of the present invention can use the wireless control device to realize the overall control of the whole process of multiple gantry cranes, solve the real-time control of the operation process of the gantry crane transportation, deployment, lifting, recovery, etc., as well as the control problems of safety interlocking, multi-machine synchronization, emergency measures, etc., with high operation efficiency and safety, low cost, and easy operation and control;

[0254] (2) The wireless control and gantry hoisting operation method of the track line described in the specific embodiment of the present invention are suitable for the replacement of a whole set of turnouts as well as the replacement of a single point rail, turnout core, etc., and the synchronous lateral movement, lifting and lowering actions of multiple gantry cranes during the lifting process can be wirelessly reconnected and controlled to realize the transportation, placement, position adjustment and replacement of various line components of different lengths;

[0255] (3) The wireless control of the gantry crane and the gantry crane operation method for the rail line described in the specific embodiment of the present invention ensure the safety of the operation process to the greatest extent possible through real-time safety interlock monitoring of multiple gantry cranes and lifting platforms during transportation, coordinated operation and safety interlocking with the lifting platform during the recovery of the gantry crane, real-time monitoring of the locking of the gantry crane and the lifting platform, as well as emergency control measures and intelligent fault maintenance under various fault conditions;

[0256] (4) The wireless control of the gantry crane for the rail line and the gantry crane operation method described in the specific embodiment of the present invention, the legs of the gantry crane device are arranged on both sides of the railway line, the replacement of line components will not occupy the space of the adjacent line, there is no safety risk of over-limit operation, the operation is flexible, and it can well adapt to the operation requirements under complex line conditions; at the same time, the gantry crane device has a simple structure, small space occupation, light weight, high reliability, easy maintenance and repair, low manufacturing cost, and high operation efficiency;

[0257] (5) The wireless control of the gantry crane for the rail line and the gantry crane operation method described in the specific embodiment of the present invention, the gantry crane device has the functions of lateral movement, lifting and leveling of the legs, and the lateral span spacing and height from the ground of the legs are adjustable, which can meet the functions required by the ground working conditions of different lines. The placement and recovery of the gantry crane device can be achieved by a lifting platform with adjustable height, and there is no risk of touching the contact network during the lifting process.

[0258] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0259] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A rail line gantry hoisting operation method, characterized in that: The following steps are involved: S10) Transportation step: when replacing line components, several gantry cranes and lifting platforms are transported to the operation site by the first flat car according to the lifting requirements; S20) Deployment step: After arriving at the work site, the lifting platform is controlled by the wireless control device to deploy the door hanging device in place according to the position and sequence, and the first flat car drives away; S30) Operation steps: wirelessly and synchronously control the deployed gantry crane device through the wireless control device to complete the line component hoisting operation; S40) Recovering step: After the lifting operation is completed, the first flat car enters, recovers the door hanging device and fixes it thereon, and the first flat car leaves; The method also includes a wireless control process of the rail line gantry hoisting, which includes the following steps: The operator inputs the operation instructions through the operation panel, and the operation instructions are transmitted to the processor. The processor receives the data from each wireless networking sub-node module through the wireless networking central node module and makes fault judgment based on the received data; The processor performs calculations and judgments based on the operation instructions and the received data to determine whether the corresponding control logic requirements are met. For operation instructions that meet the control logic requirements, they can be sent to each wireless networking sub-node module through the wireless networking center node module, and the processor outputs the calculation results that meet the control logic requirements and fault judgment information to the display; The controller receives operation instructions from the wireless networking sub-node module, and controls the servo motor to drive the corresponding mechanism of the door hanging device or the lifting platform through the driver; the sensor collects detection data of the corresponding mechanism of the door hanging device or the lifting platform, and transmits it to the wireless networking sub-node module through the driver and the controller in turn, and the wireless networking sub-node module sends the data to the wireless networking center node module.

2. The rail line gantry hoisting operation method according to claim 1, characterized in that: The operating instructions of the gantry crane device include lifting and lowering and lateral movement of the lifting device, lifting and lowering and lateral movement of the legs, and lifting and lowering of the leveling legs; the operating instructions of the lifting platform include platform rotation, lifting and longitudinal movement.

3. The rail line gantry hoisting operation method according to claim 2, characterized in that: The operation instructions are sent to each wireless networking sub-node module through the wireless networking central node module, and then the controller parses the local control instructions according to the communication protocol and its own communication address and executes the corresponding action; the data transmitted from each wireless networking sub-node module to the wireless networking central node module is received by the wireless networking central node module using a queuing polling method.

4. The rail line gantry hoisting operation method according to claim 1, 2 or 3, characterized in that: The step S10) further comprises: During the process of transporting the gantry crane device by the first flat car, the wireless control device can enter the transport mode by selection, and monitor the fixing and locking status of the gantry crane device and the lifting platform in real time through the display.

5. The rail line gantry hoisting operation method according to claim 4, characterized in that: The step S20) further comprises: When the gantry crane and the line components required for the operation are transported to the operation site, the wireless control device can enter the deployment mode by selecting, by operating the switches of the lifting platform control area and the gantry crane control area on the operation panel, and then the processor performs control logic operations according to the operating instructions, the gantry crane and the lifting platform status, to realize the lifting platform clamping of the gantry crane, the lateral movement and lifting of the legs, the rotation, lifting and longitudinal movement of the lifting platform, and finally realize the safe deployment of several gantry cranes from the first flat car to the track surface.

6. The rail line gantry hoisting operation method according to claim 5, characterized in that: The step S30) further comprises: When the gantry crane device is deployed, the wireless control device can enter the operation mode by selecting it, and by operating the switch in the gantry crane device control area, the processor will then perform control logic operations according to the operating instructions and the state of the gantry crane device, so as to realize the coordinated operation of the outrigger lifting, leveling outrigger lifting, lifting transverse movement and lifting, and lifting unlocking of several gantry crane devices selected for use, and at the same time perform negative feedback adjustment on the real-time position and load of each gantry crane device, ultimately achieving smooth replacement of line components.

7. The rail line gantry hoisting operation method according to claim 1, 2, 3, 5 or 6, characterized in that: Before the door hanging device is deployed and placed, the following steps are also included: S101) Turn on the laser switch and lighting switch on the control box of each door hanging device; S102) Manually releasing the locking rope and positioning pin of the door hanging device on the first flat car; S103) Manually unlocking the legs of the door hanging device and leveling the legs; S104) Manually unlock the lifting, rotating and longitudinal movement mechanisms of the lifting platform.

8. The rail line gantry hoisting operation method according to claim 7, characterized in that: The step S20) further comprises: S201) When the door hanging device is deployed, the wireless control device enters the deployment mode by selection; S202) controlling the lifting platform to rise by the wireless control device, and stopping the lifting action when it is observed that the lifting platform is in contact with the door hanging device, and prompting the operator to perform the clamping and locking operation of the door hanging device; S203) Controlling the clamping and locking mechanism of the lifting platform through the wireless control device to lock the door hanging device, and after detecting the clamping and locking signal, operating the lifting platform to continue to rise, and the rising height is controlled by the operator; S204) When the door hanging device rises to the highest position, the lifting platform is controlled to rotate through the wireless control device, and when the lifting platform is detected to rotate to 90°, the lifting platform stops rotating; S205) According to the alignment of the laser line and the ground mark, the lifting platform is controlled to move longitudinally through the platform longitudinal movement switch on the operation panel, and the outriggers are controlled to move horizontally through the outrigger transverse movement switch on the operation panel until the laser line is aligned with the ground mark, and the door hanging device is placed and aligned; S206) After the lifting platform is controlled to descend to the lowest position by the wireless control device, the clamping locking mechanism is unlocked; S207) Control the outriggers to extend through the outrigger extension switches, stop when close to the ground, switch the outrigger selection switch on the operation panel to the synchronization position, and continue to extend the outriggers until they are separated from the lifting platform and reach the specified height; S208) adjusting the longitudinal horizontality of the door hanging device by controlling the leveling legs of the legs; S209) According to the feedback value of the lateral inclination sensor, the height of the outrigger is controlled until the portal crane device is horizontal, and the deployment of the first portal crane device is completed; S210) controlling the lifting platform to lift the second gantry crane to the highest position through the wireless control device, then controlling the lifting platform to rotate 180 degrees, and transporting the lifting platform to the deployment position of the second gantry crane through the first flat car, thereby completing the deployment of the second gantry crane; S211) Complete the deployment of other portal crane devices.

9. The rail line gantry hoisting operation method according to claim 1, 2, 3, 5, 6 or 8, characterized in that: The step S40) further comprises: S401) When the door hanging device is to be recovered, the hook is manually locked, and the transverse travel mechanism is locked through the wireless control device; S402) The first flat car transports the lifting platform into the working area and performs alignment, and controls the lifting platform to rise to the highest position through the wireless control device; S403) The lifting platform is operated to move longitudinally by means of the platform longitudinal movement switch on the operation panel, and fine-tuned until the lifting platform is aligned with the door hanging device. The leg extension and retraction switch on the operation panel is used to operate the leg to retract, and the door hanging device is lowered. When the lifting platform is observed to be in contact with the door hanging device, the operator is prompted to perform the clamping and locking operation of the door hanging device; S404) The clamping and locking mechanism of the lifting platform is controlled by the wireless control device to lock the door hanging device. After the clamping and locking are completed, the legs are continued to be retracted, and at the same time, the legs are controlled to move horizontally to the locking position by the leg horizontal movement switch on the operation panel, thereby completing 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, and then controlling the lifting platform to rotate 180 degrees, and transporting the lifting platform to the bottom of the second door hanging device through the first flat car, thereby completing the recovery of the second door hanging device; S406) The two door hanging devices are lifted to the highest position by controlling the lifting platform through the first flat car, and then the lifting platform is controlled to rotate 90° to the initial position, and the lifting platform is controlled to descend. When the legs are visually observed to be about to contact the body of the first flat car, the clamping locking mechanism is unlocked, and after unlocking, the lifting platform is controlled to continue to descend to the initial position, and various parts of the door hanging device are manually locked; S407) After all door hanging devices are retracted and locked in sequence, the mode selection switch on the operation panel is switched to the transportation mode, so as to monitor the locking status of the door hanging devices and the lifting platform before and during transportation.

10. The rail line gantry hoisting operation method according to claim 9, characterized in that: The door hanging device includes a lifting device, and the lifting device includes a transverse running mechanism and a hook connected to the transverse running mechanism and used for lifting the line components; the step S30) further includes: S301) When lifting and placing the line components, the hook is manually unlocked, and the transverse travel mechanism is unlocked through the wireless control device; S302) The second flat car drives into the designated operation area and completes the alignment according to the laser line; S303) Control the lateral movement mechanism to move to the set position through the control box on the gantry crane, control the hook to descend, and fine-tune the position of the lateral movement mechanism so that the lateral movement mechanism is located directly above the lifting point; S304) manually hook the hook to the designated position of the line component, control the hook to rise through the control box, stop when the lifting rope of the hook is straightened, and judge the hook preparation state by the hook tension; S305) When all hooks are ready, turn on the synchronous operation switch on the operation panel to set the current lateral position of the lateral travel mechanism and the vertical position of the hook to the initial position; S306) Control all the hooks to move synchronously horizontally through the lifting and lateral shifting switch on the operation panel, or control all the hooks to lift synchronously through the hook lifting and lowering switch on the operation panel. During this period, the lifting devices are monitored to determine whether they are synchronized. If the pulling force, lifting displacement or lateral displacement of a certain hook is detected to be greatly different from that of other lifting devices during the operation, all the lifting devices are stopped immediately, and the abnormal parts and parameters are prompted by the display to remind the operator to perform individual control, and continue the synchronous action after adjusting the lifting devices to a reasonable position; S307) After the line component is lifted, the second flat car drives away from the operation area and places the line component at a designated position through synchronous control, thereby completing the placement of the line component.

11. The rail line gantry hoisting operation method according to claim 1, 2, 3, 5, 6, 8 or 10, characterized in that: The leg extension and retraction control logic in step S20) and step S40) includes: S501) When the outrigger extension switch is turned on, if any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm; S502) If any of the outrigger locking signal, outrigger limit signal, motor fault signal, battery fault signal and emergency stop signal is not detected, the next step is executed; S503) the lifting drive motor is actuated; S504) determining whether the lateral inclination angle of the door hanging device is less than or equal to a set value; S505) If yes, execute the next step, if no, jump to step S503) to execute; S506) Determine whether the outrigger height is equal to a set value; S507) If yes, the lifting drive motor stops, if no, jump to step S503) to execute.

12. The rail line gantry hoisting operation method according to claim 11, characterized in that: The outrigger lateral movement control logic in step S20) and step S40) includes: S601) When the outrigger lateral movement switch is turned on, if any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm; S602) If any of the outrigger lateral movement locking signal, lateral movement limit signal, lateral movement drive motor fault signal, battery fault signal and emergency stop signal is not detected, the lateral movement drive motor is actuated until it reaches the desired position.

13. The rail line gantry hoisting operation method according to claim 1, 2, 3, 5, 6, 8, 10 or 12, characterized in that: The group crane synchronous lateral movement control logic in step S30) includes: S701) When the lifting lateral movement switch is turned on, if any of the lifting device lateral movement locking signal, lateral movement limit signal, lateral drive motor fault signal, battery fault signal and emergency stop signal is detected, the wireless control device will display an alarm; S702) If any of the lifting device transverse movement locking signal, transverse movement limit signal, transverse drive motor fault signal, battery fault signal and emergency stop signal is not detected, the next step is executed; S703) Determine whether all door crane devices communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lifting drive motor is not in motion; S704) If all conditions are met, the lateral drive motor is activated; if any condition is not met, the wireless control device displays an alarm.

14. The rail line gantry hoisting operation method according to claim 13, characterized in that: The group crane synchronous lifting control logic in step S30) includes: S801) When the hook lifting switch is turned on, if any of the following signals is detected: hook rising to position signal, hoisting drive motor fault signal, battery fault signal and emergency stop signal, the wireless control device will display an alarm; S802) If any of the hook rising to position signal, the hoisting drive motor fault signal, the battery fault signal and the emergency stop signal is not detected, the next step is executed; S803) Determine whether all door hanging devices communicate normally, the lateral inclination angle is less than or equal to the set value, the hook tension is less than or equal to the set value, and the lateral drive motor is not in motion; S804) If all conditions are met, the lifting drive motor will be activated; if any condition is not met, the wireless control device will display an alarm.

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