Operating mechanism and working machine

Abstract

The present application relates to the technical field of engineering machinery, and provides a running mechanism and a working machine, wherein the running mechanism comprises a trolley and a balance beam assembly; the trolley comprises a trolley frame and wheels arranged on the trolley frame, and the balance beam assembly comprises at least one first-stage balance beam; at least three groups of wheels are arranged on at least one trolley frame; when at least three groups of wheels are arranged on the trolley frame, a first adjusting assembly is arranged between the axle of at least one group of wheels and the trolley frame; and / or one first-stage balance beam is rotatably connected with at least three trolley frames, and a second adjusting assembly is arranged between at least one trolley frame and the first-stage balance beam when at least three trolley frames are rotatably connected with the first-stage balance beam; the trolley frames are distributed along the extension direction of the first-stage balance beam. In this way, the problem of high gravity center of the running mechanism of a large crane and poor stability of the crane is solved.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a running mechanism and operating machinery. Background Technology

[0002] Rail-mounted cranes have a running mechanism that drives the crane frame to move along ground tracks via the operation of a roller-type running mechanism. Existing running mechanisms generally employ multi-stage balance beams connecting the trolley frame, with each stage of the balance beam and the trolley frame being a simply supported beam structure. Two rotatably connected wheels are mounted on the trolley frame. The two ends of the first-stage balance beam are rotatably connected to the trolley frame, the two ends of the second-stage balance beam are rotatably connected to the first-stage balance beam, and so on.

[0003] Large cranes with high lifting capacity requirements also have high requirements for the load-bearing capacity of their running mechanism. The running mechanism requires a large number of trolleys and a number of balance beams, resulting in a large space occupation by the running mechanism and a high center of gravity, which affects the stability of the crane.

[0004] Therefore, how to solve the problems of high center of gravity of the running mechanism and poor stability of large cranes has become an important technical problem for those skilled in the art. Summary of the Invention

[0005] This invention provides a running mechanism and operating machinery to solve the defects of high center of gravity and poor stability of large cranes.

[0006] This invention provides an operating mechanism, including a trolley and a balance beam assembly;

[0007] The trolley includes a trolley frame and wheels disposed on the trolley frame, and the balance beam assembly includes at least one first-stage balance beam;

[0008] At least one of the trolley frames is provided with at least three sets of wheels. When at least three sets of wheels are provided on the trolley frame, a first adjustment component may be optionally provided between the axle of at least one set of wheels and the trolley frame. The first adjustment component is used to adjust the installation height of the wheels on the trolley frame. And / or, a first-level balance beam is rotatably connected to at least three trolley frames simultaneously. When at least three trolley frames are rotatably connected to the first-level balance beam simultaneously, a second adjustment component may be optionally provided between at least one trolley frame and the first-level balance beam. The second adjustment component is used to adjust the installation height of the trolley frame on the first-level balance beam.

[0009] The trolley frame is distributed along the extension direction of the first-stage balance beam.

[0010] According to an operating mechanism provided by the present invention, the balance beam assembly is an n-stage balance beam assembly, where n is an integer greater than 1;

[0011] The m-th level balance beam of the n-th level balance beam assembly is simultaneously rotatably connected to at least two (m-1)-th level balance beams, where m is an integer greater than 1 and less than or equal to n.

[0012] According to an operating mechanism provided by the present invention, when the m-th level balance beam of the n-th level balance beam assembly is simultaneously rotatably connected to at least three (m-1)-th level balance beams, a third adjustment component may be selectively provided between at least one (m-1)-th level balance beam and the m-th level balance beam, the third adjustment component being used to adjust the installation height of the (m-1)-th level balance beam on the m-th level balance beam.

[0013] According to an operating mechanism provided by the present invention, the first adjustment component includes a plurality of adjustment pads, the axle of the wheel can be connected to the trolley frame through at least one of the adjustment pads, and the adjustment pads are arranged horizontally between the axle of the wheel and the trolley frame.

[0014] According to an operating mechanism provided by the present invention, the first adjusting component includes an elastic element disposed between the wheel axle and the trolley frame.

[0015] According to an operating mechanism provided by the present invention, the elastic element includes a leaf spring, both ends of which are connected to the trolley frame, and the wheel axle is connected to the middle part of the leaf spring.

[0016] According to an operating mechanism provided by the present invention, the first adjusting component includes a hydraulic cylinder and a hydraulic system for driving the hydraulic cylinder to extend and retract. The axis of the hydraulic cylinder is arranged in a vertical direction. The first end of the hydraulic cylinder is connected to the trolley frame, and the second end is connected to the wheel axle.

[0017] According to an operating mechanism provided by the present invention, the first adjustment assembly further includes a control system and a detection element for detecting the force acting on the axle of the wheel, wherein the detection element corresponds one-to-one with the axle of the wheel, and both the hydraulic system and the detection element are electrically connected to the control system.

[0018] According to an operating mechanism provided by the present invention, each group of wheels includes one of the wheels;

[0019] Alternatively, each group of wheels may include at least two wheels, with the axles of each wheel in each group having coincident axes and forming a single integral structure.

[0020] The present invention also provides a working machine, including a lifting frame and a running mechanism disposed at the lower end of the lifting frame, wherein the running mechanism is the aforementioned running mechanism and the running mechanism is configured to drive the lifting frame to move.

[0021] The operating mechanism provided by this invention includes a trolley and a balance beam assembly. The trolley includes a trolley frame and wheels, and the balance beam assembly includes at least one first-stage balance beam. At least three sets of wheels can be mounted on at least one trolley frame. When at least three sets of wheels are mounted on the trolley frame, a first adjustment assembly is provided between the axle of at least one set of wheels and the trolley frame to adjust the installation height of the wheels on the trolley frame. This ensures that all sets of wheels of the operating mechanism are simultaneously supported on the ground, making the trolley a statically indeterminate structure with high rigidity, high stability, and strong load-bearing capacity. And / or, one first-stage balance beam can be rotatably connected to at least three trolley frames simultaneously. When at least three trolley frames are simultaneously rotatably connected to the first-stage balance beam, a second adjustment assembly is provided between at least one trolley frame and the first-stage balance beam. The second adjustment assembly is used to adjust the installation height of the trolley frame on the first-stage balance beam. Each set of wheels of the running mechanism is simultaneously supported on the ground, and each trolley frame supports the first-stage balance beam. This forms a statically indeterminate structure with high stiffness, stability, and load-bearing capacity, which improves the stiffness and stability of the running mechanism and enhances its load-bearing capacity. When the load-bearing capacity of the running mechanism provided by this invention is the same as that of existing running mechanisms, the number of trolleys and first-stage balance beams required is reduced. This helps to lower the center of gravity of the running mechanism, improve the stability of the crane, and thus solve the problems of high center of gravity and poor stability of large cranes.

[0022] Furthermore, the working machinery provided by the present invention also possesses the various advantages described above due to the operating mechanism described above. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the trolley provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of a trolley with a first adjustment component provided in an embodiment of the present invention. Figure 1 ;

[0026] Figure 3 This is a schematic diagram of the structure of a trolley with a first adjustment component provided in an embodiment of the present invention. Figure 2 ;

[0027] Figure 4 This is a schematic diagram of the structure of a trolley with a first adjustment component provided in an embodiment of the present invention. Figure 3 ;

[0028] Figure 5 This is a schematic diagram of the structure when the first-stage balance beam and the trolley form a statically indeterminate structure according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the trolley connecting two statically indeterminate structures with the first-stage balance beam provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the trolley when the first-stage balance beam connects three statically indeterminate structures according to an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the setting position of the second adjustment component provided in this embodiment of the invention. Figure 1 ;

[0032] Figure 9 This is a schematic diagram of the setting position of the second adjustment component provided in this embodiment of the invention. Figure 2 ;

[0033] Figure 10 This is a schematic diagram of the structure when the second-level balance beam connects three first-level balance beams according to an embodiment of the present invention;

[0034] Figure 11 This is a schematic diagram of the setting position of the third adjustment component provided in this embodiment of the invention. Figure 1 ;

[0035] Figure 12 This is a schematic diagram of the setting position of the third adjustment component provided in this embodiment of the invention. Figure 2 ;

[0036] Figure 13 This is a schematic diagram of the structure of the operating mechanism provided in the embodiments of the present invention when the trolley is a statically indeterminate structure, the trolley and the first-level balance beam form a statically indeterminate structure, and the first-level balance beam and the second-level balance beam form a statically indeterminate structure.

[0037] Figure 14 yes Figure 13 Enlarged view of I in the middle.

[0038] Figure label:

[0039] 1: Trolley; 2: Trolley frame; 3: Wheel; 4: First-stage balance beam; 5: First wheel; 6: Second wheel; 7: First adjustment assembly; 8: First trolley frame; 9: Second trolley frame; 10: Second adjustment assembly; 11: Adjustment pad; 12: Elastic element; 13: Hydraulic cylinder; 14: Second-stage balance beam; 15: Third adjustment assembly. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] The following is combined with Figures 1 to 14 Describe the operating mechanism of the present invention.

[0042] like Figures 1 to 14 As shown, the operating mechanism provided in this embodiment of the invention includes a trolley 1 and a balance beam assembly. Specifically, the trolley 1 includes a trolley frame 2 and wheels 3. The wheels 3 are rotatably mounted on the trolley frame 2. The balance beam assembly includes at least one first-stage balance beam 4 for rotatably connecting with at least two trolley frames 2. The trolley frames 2 are distributed along the extension direction of the first-stage balance beam 4.

[0043] At least one carriage frame 2 may be equipped with at least three sets of wheels 3, each set of wheels 3 corresponding to one axle, as shown in the reference. Figures 1 to 4 as well as Figure 6 .

[0044] Alternatively, a primary balance beam 4 can be rotatably connected to at least three carriage frames 2 simultaneously, as shown in the reference. Figure 5 .

[0045] It is also possible to simultaneously rotatably connect a first-stage balance beam 4 to at least three carriage frames 2, and to provide at least three sets of wheels 3 on at least one carriage frame 2, as shown in the reference. Figure 7 .

[0046] When the operating mechanism is under load, the trolley frame 2 and the first-stage balance beam 4 will inevitably bend and deform. To ensure that all sets of wheels 3 of the trolley 1 can simultaneously contact the ground and that the force on each set of wheels 3 is uniform, when at least three sets of wheels 3 are installed on the trolley frame 2, a first adjustment component 7 can be optionally installed between the axle of at least one set of wheels 3 and the trolley frame 2 to adjust the installation height of the wheels 3 on the trolley frame 2. By adjusting the height of the wheels 3, all sets of wheels 3 of the operating mechanism are simultaneously supported on the ground, making the trolley 1 a statically indeterminate structure with high rigidity, high stability, and strong load-bearing capacity.

[0047] To ensure that each trolley 1 can simultaneously contact the ground and that the pins between each trolley 1 and the first-stage balance beam 4 are subjected to uniform force, when at least three trolley frames 2 are simultaneously rotatably connected to the first-stage balance beam 4, a second adjustment component 10 can be selectively installed between at least one trolley frame 2 and the first-stage balance beam 4 to adjust the installation height of the trolley frame 2 on the first-stage balance beam 4. By adjusting the height of the trolley frame 2, each set of wheels 3 of the running mechanism is simultaneously supported on the ground, and each trolley frame 2 provides support for the first-stage balance beam 4. This results in the first-stage balance beam 4 and the trolley frame 2 forming a statically indeterminate structure with high stiffness, high stability, and strong load-bearing capacity, which is beneficial for improving the stiffness and stability of the running mechanism and increasing its load-bearing capacity.

[0048] When the load-bearing capacity of the running mechanism in this embodiment is the same as that of the running mechanism in the prior art, the number of trolley frames 2 and first-level balance beams 4 required by the running mechanism in this embodiment is smaller, which helps to reduce the center of gravity height of the running mechanism and improve the stability of the crane, thereby solving the problem of high center of gravity and poor stability of the running mechanism of large cranes.

[0049] like Figure 13 and Figure 14 As shown, in this embodiment, the second-stage balance beam 14 of the running mechanism is connected to three first-stage balance beams 4, and each first-stage balance beam 4 is connected to three trolleys 1. Each trolley 1 has three sets of wheels 3. That is, 27 sets of wheels can be connected using the second-stage balance beam assembly, while in the prior art, a fourth-stage balance beam assembly is required to connect 27 sets of wheels. By comparison, this application significantly reduces the center of gravity height of the running mechanism.

[0050] It should be noted that when the first-stage balance beam 4 connects at least two carriage frames 2 simultaneously, the rotation axis of each carriage frame 2 relative to the first-stage balance beam 4 and the rotation axis of the wheel 3 can be parallel and perpendicular to the extension direction of the first-stage balance beam 4. In this case, the running mechanism can run along a straight track. Alternatively, the rotation axis of the carriage frame 2 relative to the first-stage balance beam 4 can be non-perpendicular to the extension direction of the first-stage balance beam 4, and there can be an angle between the rotation axes of each carriage frame 2 relative to the first-stage balance beam 4. In this case, the running mechanism can run along a circular track.

[0051] The rotatable connection between the aforementioned trolley frame 2 and the first-stage balance beam 4 can be achieved by a pin hinge.

[0052] In this embodiment, each group of wheels 3 may include only one wheel 3.

[0053] In an optional embodiment, each set of wheels 3 may also include at least two wheels 3, and the axles of each wheel 3 in each set of wheels 3 coincide and form an integral structure, that is, at least two wheels 3 are provided on one axle at the same time.

[0054] When the carriage frame 2 is equipped with at least three sets of wheels 3, for ease of explanation, it is hereby defined that the wheels 3 located at both ends of the carriage frame 2 are the first wheels 5, and the remaining wheels 3 are the second wheels 6. When the carriage frame 2 is equipped with three sets of wheels 3, there are two sets of first wheels 5 and one set of second wheels 6; when the carriage frame 2 is equipped with four or more sets of wheels 3, there are two sets of first wheels 5 and at least two sets of second wheels 6.

[0055] A first adjusting component 7 can be provided between the axle of the first wheel 5 and the carriage frame 2 to adjust the mounting height of the first wheel 5 on the carriage frame 2. Alternatively, a first adjusting component 7 can be provided between the axles of at least one set of second wheels 6 and the carriage frame 2 to adjust the mounting height of the second wheels 6 on the carriage frame 2. Alternatively, a first adjusting component 7 can be provided both between the axle of the first wheel 5 and the carriage frame 2 and between the axles of at least one set of second wheels 6 and the carriage frame 2, as described above. Figure 8 and Figure 9 This allows the mounting height of both the first wheel 5 and the second wheel 6 on the trolley frame 2 to be adjusted.

[0056] When at least three carriage frames 2 are simultaneously rotatably connected to the first-stage balance beam 4, for ease of explanation, it is hereby defined that the carriage frames 2 located at both ends of the first-stage balance beam 4 are the first carriage frames 8, and the remaining carriage frames 2 are the second carriage frames 9. When three carriage frames 2 are simultaneously connected to the first-stage balance beam 4, there are two first carriage frames 8 and one second carriage frame 9; when four or more carriage frames 2 are simultaneously connected to the first-stage balance beam 4, there are two first carriage frames 8 and at least two second carriage frames 9.

[0057] A second adjustment assembly 10 can be installed between the first frame 8 and the first-stage balance beam 4, as shown in the reference. Figure 8 and Figure 11 This is used to adjust the mounting height of the first frame 8 on the first-level balance beam 4. Alternatively, a second adjustment assembly 10 can be provided between at least one second frame 9 and the first-level balance beam 4 to adjust the mounting height of the second frame 9 on the first-level balance beam 4. Alternatively, the second adjustment assembly 10 can be provided both between the first frame 8 and the first-level balance beam 4 and between at least one second frame 9 and the first-level balance beam 4, as described above. Figure 9 and Figure 12 This allows the mounting height of both the first frame 8 and the second frame 9 on the first-stage balance beam 4 to be adjusted.

[0058] Furthermore, a first adjustment component 7 can be provided between the axle of the first wheel 5 and the trolley frame 2, and between the axle of the second wheel 6 and the trolley frame 2. At the same time, a second adjustment component 10 can be provided between the first trolley frame 8 and the first-stage balance beam 4, and between the second trolley frame 9 and the first-stage balance beam 4. This makes the installation height of each trolley frame 2 on the first-stage balance beam 4 adjustable, and also makes the installation height of each wheel 3 on the trolley frame 2 adjustable. This helps to ensure that each wheel 3 is subjected to uniform force and avoids crushing damage caused by excessive force on a wheel 3 or pin at a certain position.

[0059] In this embodiment of the invention, the above-mentioned balance beam assembly is set as an n-level balance beam assembly, where n is a positive integer greater than 1.

[0060] The m-th level balance beam of the aforementioned n-th level balance beam assembly is simultaneously rotatably connected to at least two (m-1)-th level balance beams, where m is an integer greater than 1 and less than or equal to n.

[0061] The adjacent (m-1) level balance beams are connected together by the m-th level balance beam. When the m-th level balance beam is connected to three or more (m-1) level balance beams at the same time, the m-th level balance beam and the (m-1) level balance beam form a statically indeterminate structure, which can further improve the load-bearing capacity of the operating mechanism.

[0062] Specifically, the aforementioned balance beam assembly can be a secondary balance beam assembly or a tertiary balance beam assembly, etc.

[0063] When the aforementioned balance beam assembly is a two-stage balance beam assembly, the balance beam assembly includes a first-stage balance beam 4 and a second-stage balance beam 14, and the second-stage balance beam 14 can be rotatably connected to at least two first-stage balance beams 4. If the second-stage balance beam 14 is simultaneously rotatably connected to three or more first-stage balance beams 4, the first-stage balance beams 4 and the second-stage balance beam 14 form a statically indeterminate structure.

[0064] When the aforementioned balance beam assembly is a three-stage balance beam assembly, it includes a first-stage balance beam 4, a second-stage balance beam 14, and a third-stage balance beam. The connection between the first-stage balance beam 4 and the second-stage balance beam 14 is similar to the connection between the first-stage balance beam 4 and the second-stage balance beam 14 in the aforementioned two-stage balance beam assembly. The third-stage balance beam can be rotatably connected to at least two second-stage balance beams 14. If the third-stage balance beam is simultaneously rotatably connected to three or more second-stage balance beams 14, the second-stage balance beams 14 and the third-stage balance beams form a statically indeterminate structure.

[0065] The rotational connection between the first-level balance beam 4 and the second-level balance beam 14, as well as the rotational connection between the second-level balance beam 14 and the third-level balance beam, are all achieved by means of pin hinges.

[0066] When the operating mechanism is under load, the m-th level balance beam will inevitably bend and deform. In order to ensure that the pins between each (m-1)-th level balance beam and the m-th level balance beam are subjected to uniform force, when the m-th level balance beam of the above n-th level balance beam assembly is simultaneously rotatably connected to at least three (m-1)-th level balance beams, a third adjustment component 15 may be selectively provided between at least one (m-1)-th level balance beam and the m-th level balance beam to adjust the installation height of the (m-1)-th level balance beam on the m-th level balance beam.

[0067] For ease of explanation, it is hereby defined that the (m-1)th level balance beam located at both ends of the m-th level balance beam is the first (m-1)th level balance beam, and the remaining (m-1)th level balance beams are the second (m-1)th level balance beams.

[0068] A third adjustment component 15 can be provided between the first (m-1) level balance beam and the m-th level balance beam to adjust the installation height of the first (m-1) level balance beam on the m-th level balance beam. Alternatively, a third adjustment component 15 can be provided between at least one second (m-1) level balance beam and the m-th level balance beam to adjust the installation height of the second (m-1) level balance beam on the m-th level balance beam. Alternatively, a third adjustment component 15 can be provided both between the first (m-1) level balance beam and the m-th level balance beam and between at least one second (m-1) level balance beam and the m-th level balance beam, allowing the installation heights of the first (m-1) level balance beam and the second (m-1) level balance beam on the m-th level balance beam to be adjustable.

[0069] When m equals 2, a third adjustment component 15 is provided between the first-level balance beam and the second-level balance beam, and / or a third adjustment component 15 is provided between the second-level balance beam and the second-level balance beam.

[0070] The first adjustment component 7, the second adjustment component 10, and the third adjustment component 15 have the same structure. The following explanation will take the structure and principle of the first adjustment component 7 as an example.

[0071] In some specific embodiments, the first adjustment component 7 is configured as an adjustment pad 11, such as... Figure 2 As shown. Specifically, the first adjustment assembly 7 includes multiple adjustment pads 11, and the axle of the wheel 3 can be connected to the carriage frame 2 through at least one adjustment pad 11. Each adjustment pad 11 has the same thickness, and different numbers of adjustment pads 11 stacked together can meet different installation heights of the wheel 3 on the carriage frame 2.

[0072] Specifically, the axle of wheel 3 is connected to the trolley frame 2 via bearings and bearing housings. When installing the running mechanism on the crane, the degree of bending of the trolley frame 2 under load is determined based on the crane's load-bearing capacity, thereby determining the required installation height of wheel 3 on the trolley frame 2. Then, a corresponding number of adjusting shims 11 are horizontally placed between the bearing housing and the trolley frame 2, and bolts are used to connect the bearing housing, adjusting shims 11, and the trolley frame 2 together. This ensures that when the running mechanism is under load, all wheels 3 of the trolley 1 can simultaneously contact the ground, and the magnitude of the force between each wheel 3 and the trolley frame 2 is consistent.

[0073] In other specific embodiments, the first adjustment component 7 is configured as an elastic element 12, such as... Figure 3 As shown, the elastic element 12 is disposed between the wheel axle of the wheel 3 and the trolley frame 2.

[0074] The aforementioned elastic element 12 can be a leaf spring. The leaf spring is set in a horizontal direction, and both ends of the leaf spring are fixedly connected to the trolley frame 2, so that the wheel axle of the wheel 3 is connected to the middle position of the leaf spring through the bearing and bearing seat.

[0075] In some specific embodiments, the first adjustment component 7 is configured as a telescopic rod, such as... Figure 4 As shown, the first adjustment component 7 includes a hydraulic cylinder 13 and a hydraulic system, the hydraulic system being used to drive the hydraulic cylinder 13 to perform extension and retraction movements.

[0076] The axis of the hydraulic cylinder 13 is set in the vertical direction. The first end of the hydraulic cylinder 13 is fixedly connected to the trolley frame 2, so that the wheel axle of the wheel 3 is connected to the second end of the hydraulic cylinder 13 through the bearing and bearing seat.

[0077] The installation height of the wheel 3 on the trolley frame 2 can be adjusted by the extension and retraction of the hydraulic cylinder 13.

[0078] The first adjustment component 7 in this embodiment also includes a control system and a detection element. The number of detection elements is the same as the number of wheel axles of the wheel 3 and corresponds one-to-one. It is used to detect the force acting on the wheel axle of the wheel 3. The hydraulic system and the detection element are electrically connected to the control system. The control system can generate a trigger signal according to the detection result of the detection element. After receiving the trigger signal, the hydraulic system controls the hydraulic cylinder 13 to perform the corresponding extension and retraction action.

[0079] Specifically, the control system calculates and compares the forces acting on the axles of each wheel 3 based on the detection results of the detection elements, identifies the wheel 3 with less force, and controls the corresponding hydraulic cylinder 13 to extend, thereby driving the wheel 3 with less force to move downward relative to the trolley frame 2. Simultaneously, the control system can also identify the wheel 3 with more force and control the corresponding hydraulic cylinder 13 to shorten, thereby driving the wheel 3 with more force to move upward relative to the trolley frame 2. This dynamic adjustment ensures that the force on the axles of each wheel 3 is uniform.

[0080] The aforementioned hydraulic system includes an electromagnetic directional valve capable of controlling the flow direction of hydraulic oil. The electrical connection between the hydraulic system and the control system can be achieved by electrically connecting the electromagnetic directional valve of the hydraulic system to the control system.

[0081] In a specific embodiment, when a first adjustment component 7 is provided between the axle of the first wheel 5 and the trolley frame 2, but no first adjustment component 7 is provided between the axle of the second wheel 6 and the trolley frame 2, a pressure sensor can be installed on the hydraulic system to detect the pressure of the hydraulic oil in the hydraulic cylinder 13 to measure the force acting on the axle of the first wheel 5. For the force acting on the axle of the second wheel 6, a strain gauge can be installed on the axle of the second wheel 6 to measure the force acting on the axle of the second wheel 6.

[0082] When a first adjustment component 7 is provided between the axle of the first wheel 5 and the trolley frame 2 and between the axle of the second wheel 6 and the trolley frame 2, the force acting on the axle of the first wheel 5 and the axle of the second wheel 6 can be measured by setting a pressure sensor on the hydraulic system connected to the corresponding hydraulic cylinder 13, and measuring the pressure of the hydraulic oil in each hydraulic cylinder 13.

[0083] On the other hand, embodiments of the present invention also provide a working machine, including a lifting frame and a running mechanism provided in any of the above embodiments. The running mechanism is disposed at the lower end of the lifting frame and can drive the lifting frame to move. The running mechanism in the above embodiments has a small center of gravity height, so the working machine in this embodiment has high stability. The derivation process of the beneficial effects of the working machine in the embodiments of the present invention is largely similar to the derivation process of the beneficial effects of the running mechanism described above, so it will not be repeated here.

[0084] The operating machinery in the embodiments of the present invention may be, but is not limited to, gantry cranes, rail-mounted container gantry cranes, quay container cranes, and other lifting machinery.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A running mechanism, characterized by, The operating mechanism is arranged at the lower end of the derrick of the crane, and comprises a trolley and a balance beam assembly; The trolley comprises a trolley frame and wheels arranged on the trolley frame; The balance beam assembly is an n-stage balance beam assembly, where n is an integer greater than 1; the mth stage balance beam of the n-stage balance beam assembly is rotatably connected with at least two (m-1)th stage balance beams, where m is an integer greater than 1 and less than or equal to n; The balance beam assembly comprises a first stage balance beam; At least three groups of wheels are arranged on each trolley frame; when at least three groups of wheels are arranged on each trolley frame, a first adjusting assembly is arranged between the wheel shaft of each group of wheels and the trolley frame, and the first adjusting assembly is used to adjust the mounting height of the wheels on the trolley frame, so that each group of wheels is supported on the ground at the same time, so that the trolley is a statically indeterminate structure; one first stage balance beam is rotatably connected with at least three trolley frames, and when at least three trolley frames are rotatably connected with the first stage balance beam, a second adjusting assembly is arranged between each trolley frame and the first stage balance beam, and the second adjusting assembly is used to adjust the mounting height of the trolley frame on the first stage balance beam, so that each trolley frame has a supporting effect on the first stage balance beam, so that the first stage balance beam and the trolley frame form a statically indeterminate structure; The trolley frames are distributed along the extension direction of the first stage balance beam; The first adjusting assembly comprises a hydraulic oil cylinder and a hydraulic system for driving the hydraulic oil cylinder to extend and retract; the axis of the hydraulic oil cylinder is arranged in the vertical direction; the first end of the hydraulic oil cylinder is connected with the trolley frame, and the second end is connected with the wheel shaft of the wheel; The first adjusting assembly further comprises a control system and a detection element for detecting the force acting on the wheel shaft of the wheel; the detection element corresponds to the wheel shaft of the wheel one by one; the hydraulic system and the detection element are electrically connected with the control system; The control system calculates the comparative force acting on the wheel shaft of each wheel according to the detection result of the detection element, determines the wheel with smaller force, and controls the corresponding hydraulic oil cylinder to extend, so as to drive the wheel with smaller force to displace downward relative to the trolley frame; at the same time, the control system determines the wheel with larger force, and controls the corresponding hydraulic oil cylinder to shorten, so as to drive the wheel with larger force to displace upward relative to the trolley frame; through dynamic adjustment, the force acting on the wheel shaft of each wheel is ensured to be uniform.

2. The operating mechanism according to claim 1, characterized in that When the mth stage balance beam of the n-stage balance beam assembly is rotatably connected with at least three (m-1)th stage balance beams, a third adjusting assembly is arranged between at least one (m-1)th stage balance beam and the mth stage balance beam, and the third adjusting assembly is used to adjust the mounting height of the (m-1)th stage balance beam on the mth stage balance beam.

3. The operating mechanism according to claim 1, characterized in that Each group of wheels comprises one wheel. Alternatively, each set of the wheels comprises at least two of the wheels, and the axes of the wheel shafts of each of the wheels in each set coincide and form an integral structure.

4. A work machine characterized by, The crane comprises a crane frame and a running mechanism arranged at the lower end of the crane frame, the running mechanism being the running mechanism according to any one of claims 1 to 3, and the running mechanism is arranged to drive the crane frame to move.

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