Wireless traverse control system and control method for high-speed railway crane

Abstract

The present invention proposes a wireless transverse movement control system and a control method for a high-speed railway crane. A second pair-beaming photoelectric switch for detecting whether the main support leg reaches the crossbeam is arranged on the support device of the support trolley, and a fourth pair-beaming photoelectric switch for detecting whether the main support leg reaches the center position of the longitudinal beam is arranged at the center position of the longitudinal beam in its extension direction. During the longitudinal movement, it can be accurately judged whether the main support leg reaches the preset position, providing accurate position information for the longitudinal movement, and ensuring that the crane will not cause the supporting trolley to tip over due to unstable center of gravity during the longitudinal movement.

Description

Technical Field

[0001] The present invention relates to the field of railway cranes for cross-line operations on high-speed railways, and in particular to a wireless transverse movement control system and a control method for high-speed railway cranes. Background Art

[0002] When a high-speed railway crane is performing a lifting operation, the reaction force at the fulcrum of a single outrigger is significant. If the crane's outriggers are directly supported on the tracks above the bridge, the bridge deck cannot withstand the pressure exerted by the outriggers, which are supported on the roadbed, when the existing railway crane's outriggers are opened. In this case, a transverse movement device is installed beneath the crane chassis's fish-belly beam. During operation, the tracks of the transverse movement device are automatically extended by a hydraulic cylinder and erected between the two tracks, thereby completing the crane's transverse movement. The concentrated load of the crane's outriggers is distributed to the railway tracks on both sides via four pairs of wheelsets, effectively resolving the significant concentrated load force exerted by the crane's outriggers on the tracks. However, during the transverse movement process, the crane operator has a significant visual blind spot and cannot observe whether the crane's four front and rear outriggers are correctly positioned on the transverse movement device. If the outriggers are not in a stable position, the crane is at risk of sideways deviation. Therefore, to address the aforementioned issues, the present invention provides a wireless transverse movement control system and control method for a high-speed railway crane. This system utilizes position sensing and wireless remote control to achieve transverse movement of the crane, overcoming the problem of sideways deviation caused by the visual blind spot. Summary of the Invention

[0003] In view of this, the present invention proposes a wireless lateral movement control system and control method for a high-speed railway crane, which uses position sensing and wireless remote control to achieve lateral movement of the crane, thereby overcoming the problem of lateral deviation of the crane due to visual blind spots.

[0004] The technical solution of the present invention is achieved as follows: On the one hand, the present invention provides a wireless traverse control system for a high-speed railway crane, which includes a wireless remote control device, a crane, four supporting trolleys, and two sets of traverse devices. The two sets of four supporting trolleys are arranged symmetrically on a double-track track in front and behind the crane. The two sets of traverse devices are respectively installed horizontally on the double-track track and on corresponding supporting trolleys arranged in front and behind. The wireless remote control device is wirelessly connected to the crane's master control device, and on-site technicians can wirelessly control the crane's movements through the wireless remote control device.

[0005] The transverse movement device is provided with a crossbeam, a pulley, and a transverse movement cylinder; a guide rail is provided in the extension direction of the crossbeam, the pulley is slidably connected to the guide rail, and the transverse movement cylinder drives the pulley to slide on the guide rail; the pulley is provided with two first pair-beam photoelectric switches; the distance between the two first pair-beam photoelectric switches is equal to the distance between the two front auxiliary legs of the crane; the transmitting end of the first pair-beam photoelectric switch is mounted on the pulley of the transverse movement device, and the receiving end of the first pair-beam photoelectric switch is mounted on the end of the auxiliary leg; the crossbeam is provided with a third pair-beam photoelectric switch at the midpoint of its extension direction, the transmitting end of the third pair-beam photoelectric switch is mounted at the midpoint of the crossbeam, and the receiving end of the third pair-beam photoelectric switch is mounted at the center of the pulley;

[0006] The supporting trolley is provided with a longitudinal beam, a supporting device and two longitudinal movement cylinders; the cross beam is placed on the longitudinal beam and is orthogonal to the longitudinal beam, and the two longitudinal movement cylinders are fixedly connected to the two ends of the cross beam respectively, and drive the cross beam to move on the longitudinal beam; the supporting device is installed on the end of the longitudinal beam close to the crane, and a second pair-beam photoelectric switch is provided on the supporting device; the transmitting end of the second pair-beam photoelectric switch is installed on the supporting device of the supporting trolley, and the receiving end of the first pair-beam photoelectric switch is installed at the end of the main support leg; the longitudinal beam is provided with a fourth pair-beam photoelectric switch at the center position of its extension direction, the transmitting end of the fourth pair-beam photoelectric switch is installed at the midpoint of the longitudinal beam, and the receiving end of the fourth pair-beam photoelectric switch is installed at the end of the main support leg.

[0007] On the basis of the above technical solution, preferably, the wireless remote control device includes a controller, and an operation switch, a wireless communication module and a display panel electrically connected to the controller respectively;

[0008] The controller is wirelessly connected to the crane's master control device through a wireless communication module and establishes a wireless data transmission channel. The master control device wirelessly transmits the crane's action feedback signal to the controller of the wireless remote control device and displays it on the display panel. The operator presses the operation switch to realize wireless control of the crane's action.

[0009] On the basis of the above technical solution, preferably, it further comprises a first position sensor for detecting the position of the end of the auxiliary leg, and a second position sensor for detecting the position of the end of the main leg;

[0010] The first position sensor is installed in the horizontal oil cylinder of the auxiliary support leg; the second position sensor is installed in the horizontal oil cylinder of the main support leg.

[0011] On the basis of the above technical solution, preferably, one end of the four supporting trolleys close to the crane is provided with a displacement sensor for detecting the horizontal distance between the supporting trolley and the crane.

[0012] Based on the above technical solution, preferably, the transmitting ends of the first paired photoelectric switch, the second paired photoelectric switch, the third paired photoelectric switch and the fourth paired photoelectric switch send data according to a fixed group data interval, and when the receiving ends of the first paired photoelectric switch, the second paired photoelectric switch, the third paired photoelectric switch and the fourth paired photoelectric switch receive correct data, their corresponding transmitting ends stop sending data.

[0013] Based on the above technical solution, preferably, the method for determining the group data interval includes the following steps:

[0014] S101: The crane master control device receives a first set of data and records the time t1 corresponding to the start symbol of the first set of data.

[0015] S102, the crane master control device receives the second set of data, and records the time t2 corresponding to the start character of the second set of data and the time t3 corresponding to the end character of the second set of data;

[0016] S103 , record the time difference between t2 and t1 as the shortest group data interval, record the time difference between t3 and t1 as the longest group data interval, and the group data interval is between the shortest group data interval and the longest group data interval.

[0017] On the other hand, the wireless traverse control method of a high-speed railway crane includes the following steps:

[0018] S1, initial state: two groups of four support trolleys are set up in front and behind the crane, symmetrically arranged on the double-track. Two sets of transverse movement devices are respectively erected horizontally on the double-track and on the corresponding support trolleys arranged in front and behind. The auxiliary legs and main legs are in the convergent state;

[0019] S2. After starting, the horizontal cylinders of the four auxiliary legs drive the auxiliary legs to extend horizontally. When the first photoelectric switch is triggered, the vertical cylinders of the four auxiliary legs are extended, so that the vertical cylinders are supported on the pulley in the transverse movement device, ready for transverse movement. The transverse movement cylinder is operated to drive the pulley to move transversely along the center of the double-track. When the third photoelectric switch is triggered, the high-speed railway crane moves transversely to the middle of the two railway lines, and the transverse movement cylinder stops working.

[0020] S3. After the longitudinal movement cylinder drives the support trolley to move longitudinally in the middle direction of the high-speed railway crane by a first preset distance, the horizontal cylinder of the main leg drives the main leg to extend horizontally. When the second photoelectric switch is triggered, the tail end of the vertical cylinder of the main leg is aligned with the support device of the support trolley, the vertical cylinder of the main leg extends, and the ball head of the vertical cylinder falls into the support seat of the longitudinal beam of the support trolley;

[0021] S4, the vertical cylinder of the auxiliary outrigger retracts, and the weight of the crane is concentrated on the main outrigger; the horizontal cylinder of the auxiliary outrigger retracts, and after the retraction is completed, the vertical cylinder of the auxiliary outrigger is lifted up;

[0022] S5. The vertical cylinder of the main leg retracts to separate it from the longitudinal beam of the supporting trolley; under the action of the longitudinal movement cylinder, the supporting trolley moves a second preset distance toward the rotation center of the high-speed railway crane. When the fourth photoelectric switch is triggered, the support point of the vertical cylinder of the main leg is located at the center of the supporting trolley, and the vertical cylinder of the auxiliary leg is retracted.

[0023] Based on the above technical solution, preferably, before executing S2, the following steps are further included:

[0024] S101. Obtain displacement information from the displacement sensors on the four support trolleys. Set the displacement sensors on the two support trolleys in front of the crane as one group, and the displacement sensors on the other two support trolleys as another group. Set a third preset distance between the support trolleys and the crane. Compare the displacement information in each group with the third preset distance. If the values ​​are equal, proceed to the next step. Otherwise, drive the support trolleys to move the preset distance until the displacement information in the group is equal to the third preset distance.

[0025] S102. Obtain the displacement information of the first position sensor and the second position sensor, set a preset displacement value, compare the displacement information of the first position sensor and the second position sensor with the preset displacement value, and if the displacement information of the two is the same, proceed to S2; otherwise, the horizontal cylinder of the auxiliary leg drives the auxiliary leg to extend or retract until the displacement information is equal to the preset displacement value.

[0026] The wireless traverse control system and control method of the high-speed railway crane of the present invention have the following beneficial effects compared with the prior art:

[0027] (1) Two first photoelectric switches are provided on the pulley of the transverse movement device for detecting whether the auxiliary legs have reached the position directly above the transverse pulley, and a third photoelectric switch is provided at the midpoint of the beam extension direction for detecting whether the crane has reached the middle position of the double rails. During the transverse movement, it can be accurately determined whether the auxiliary legs have reached the preset position, providing accurate position information for the transverse movement, thereby ensuring that the crane will not overturn due to position offset during the transverse movement;

[0028] (2) A second photoelectric switch for detecting whether the main support leg has reached the crossbeam is provided on the support device of the support trolley, and a fourth photoelectric switch for detecting whether the main support leg has reached the center position of the longitudinal beam is provided at the center position of the longitudinal beam in its extension direction. During the longitudinal movement, it can accurately determine whether the main support leg has reached the preset position, provide accurate position information for the longitudinal movement, and ensure that the support trolley will not overturn due to unstable center of gravity during the longitudinal movement of the crane;

[0029] (3) The transmitting ends of the first pair-beam photoelectric switch, the second pair-beam photoelectric switch, the third pair-beam photoelectric switch and the fourth pair-beam photoelectric switch send data at a fixed group data interval. When the receiving ends of the first pair-beam photoelectric switch, the second pair-beam photoelectric switch, the third pair-beam photoelectric switch and the fourth pair-beam photoelectric switch receive the correct data, the corresponding transmitting ends stop sending data, which can effectively avoid cross interference and ensure that each group of pair-beam photoelectric switches can receive the correct data, providing a data basis for the crane's transverse movement;

[0030] (4) Set an appropriate group data interval to avoid the problem of cross-interference that cannot be solved due to improper selection of group data interval. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 Figure a is a top view of the lateral movement state of the wireless lateral movement control system for a high-speed railway crane of the present invention;

[0033] Figure 2 Figure b is a top view of the lateral movement state of the wireless lateral movement control system of the high-speed railway crane of the present invention;

[0034] Figure 3 Figure c is a top view of the lateral movement state of the wireless lateral movement control system of the high-speed railway crane of the present invention;

[0035] Figure 4 Figure d is a top view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0036] Figure 5 d' is a front view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0037] Figure 6 Figure e is a top view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0038] Figure 7 Figure e' is a front view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0039] Figure 8 Figure f is a top view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0040] Figure 9 Figure f' is a front view of the longitudinal movement state of the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0041] Figure 10 This is a front view of the transverse movement device 2 in the wireless transverse movement control system of the high-speed railway crane of the present invention;

[0042] Figure 11 This is a structural diagram of the wireless traverse control system for a high-speed railway crane according to the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0044] Example 1

[0045] During the lateral movement, the crane operator has a large visual blind spot and cannot observe whether the four front and rear legs of the crane are correctly placed on the lateral movement device 2. Once the legs are not placed in a stable position, the crane is in danger of tilting. In order to solve the above problem, the wireless lateral movement control system of the high-speed railway crane of the present invention includes a wireless remote control device, a crane, four supporting trolleys 1 and two sets of lateral movement devices 2, such as Figure 1 As shown, two groups of four support trolleys 1 are symmetrically arranged on a double-track track in front and behind the crane. Two sets of transverse motion devices 2 are mounted horizontally on the double-track track, one on each of the corresponding support trolleys 1. A wireless remote control device is wirelessly connected to the crane's master control unit, allowing on-site technicians to wirelessly control the crane's movements.

[0046] Wireless remote control device. Existing cranes are equipped with a cab, and the crane operator needs to sit in the cab to operate. Due to the large size of the crane and the need to pay attention to the full range of the crane during operation, it is inevitable that there will be visual errors, which may lead to collisions or operational errors. Therefore, this embodiment provides a new idea. The crane operator does not need to sit in the cab, but can wirelessly operate the crane outside the crane to complete the operation, solving the problem of visual blind spots of the operator in the existing technology. Preferably, as Figure 11 As shown, the wireless remote control device includes a controller, an operating switch, a wireless communication module, and a display panel electrically connected to the controller respectively; the controller is wirelessly connected to the crane's master control device via the wireless communication module and establishes a wireless data transmission channel. The master control device wirelessly transmits the crane's motion feedback signal to the controller of the wireless remote control device and displays it on the display panel. The operator presses the operating switch to realize wireless control of the crane's motion.

[0047] The crane's master control device, a conventional crane master control device, controls the movement of each of the crane's cylinders. These cylinders include the horizontal and vertical cylinders for the four auxiliary legs, the horizontal and vertical cylinders for the main legs, the drive cylinders for the four support trolleys 1 and the four longitudinal travel cylinders 13, and the drive cylinders for the two transverse travel devices 2. The movement of each of the crane's cylinders can be wirelessly controlled via a wireless remote control. The horizontal cylinders in the auxiliary legs are embedded with a first position sensor for detecting the position of the auxiliary leg's end; the horizontal cylinders in the main legs are embedded with a second position sensor for detecting the position of the main leg's end.

[0048] The transverse movement device 2 is a device that enables the crane to cross the railway line. This embodiment includes two sets of transverse movement devices 2 with the same structure. The two sets of transverse movement devices 2 are installed under the fish belly beams of the front and rear chassis of the crane. When in operation, the tracks of the transverse movement devices 2 can be automatically extended by the oil cylinder and erected between the double-track tracks, thereby completing the transverse movement of the crane and distributing the concentrated load of the crane legs to the railway tracks on both sides through four pairs of wheels, effectively solving the problem of large concentrated load force of the crane legs on the railway tracks. Figure 10As shown, the existing transverse movement device 2 is provided with a crossbeam 21, a pulley 22, and a transverse movement cylinder 23. A guide rail is provided along the extension direction of the crossbeam 21, the pulley 22 is slidably connected to the guide rail, and the transverse movement cylinder 23 drives the pulley 22 to slide on the guide rail. When operating the crane from outside the crane cab, although the crane operator can observe the on-site situation with the naked eye, due to the large area occupied by the crane, the operator needs to constantly change the observation position and wait until the operating conditions at all observation positions are met before the crane can be moved. This results in low work efficiency and errors in the naked eye. Therefore, to solve the above problems, this embodiment adopts a position sensing method to obtain comprehensive position information of the crane to improve work efficiency. To achieve this goal, this embodiment installs two first-beam photoelectric switches on the trolley 22. The distance between these two first-beam photoelectric switches is equal to the distance between the two front auxiliary legs of the crane. The transmitting end of the first-beam photoelectric switch is mounted on the trolley 22 of the traversing device 2, and the receiving end of the first-beam photoelectric switch is mounted at the end of the auxiliary leg. A third-beam photoelectric switch is installed at the midpoint of the crossbeam 21 along its extension direction. The transmitting end of the third-beam photoelectric switch is mounted at the midpoint of the crossbeam 21, and the receiving end of the third-beam photoelectric switch is mounted at the center of the trolley 22. The horizontal cylinders of the four auxiliary legs drive the auxiliary legs to extend horizontally. When the first-beam photoelectric switch is triggered, the vertical cylinders in the four auxiliary legs extend, causing them to contact the trolley 22 in the traversing device 2, preparing for traversing. The traversing cylinder 23 is then operated to drive the trolley 22 along the center of the double-track track. When the third-beam photoelectric switch is triggered, the high-speed railway crane moves to the center of the two tracks, and the traversing cylinder 23 stops operating. The first and third beam-type photoelectric switches may be infrared sensors or laser sensors.

[0049] The support trolley 1 provides a support platform when the crane moves horizontally. During the horizontal movement, the main legs of the crane need to be supported on the support trolley 1. Since the main legs are arranged side by side behind the auxiliary legs, after the crane moves to the middle of the two railway lines through the horizontal movement device 2 and then fully extends the main legs, the main legs are just located at the end of the support trolley 1. If all the weight of the crane is directly concentrated on the main legs on this basis, the support trolley 1 will be tilted, and the crane will also overturn due to unstable center of gravity. Therefore, in order to solve the above problems, before concentrating all the gravity of the crane on the main legs, this embodiment will longitudinally move the support trolley 1 in the direction of the crane's rotation by one end, so that the end of the main legs is exactly at the center position of the support trolley 1 to prevent the support trolley 1 from tilting and causing the crane to overturn. Specifically, Figure 5As shown, the supporting trolley 1 is provided with a longitudinal beam 11, a supporting device 12 and two longitudinal movement cylinders 13; the cross beam 21 is placed on the longitudinal beam 11 and is orthogonal to the longitudinal beam 11, and the two longitudinal movement cylinders 13 are respectively fixedly connected to the two ends of the cross beam 21, and drive the cross beam 21 to move on the longitudinal beam 11; the supporting device 12 is installed on the end of the longitudinal beam 11 close to the crane, and a second pair-beam photoelectric switch is provided on the supporting device 12; the transmitting end of the second pair-beam photoelectric switch is installed on the supporting device 12 of the supporting trolley 1, and the receiving end of the first pair-beam photoelectric switch is installed at the end of the main support leg; the longitudinal beam 11 is provided with a fourth pair-beam photoelectric switch at the center position of its extension direction, the transmitting end of the fourth pair-beam photoelectric switch is installed at the midpoint of the longitudinal beam 11, and the receiving end of the fourth pair-beam photoelectric switch is installed at the end of the main support leg. When the second through-beam photoelectric switch is triggered, the tail end of the main leg's vertical cylinder aligns with the support device 12 of the support trolley 1, the main leg's vertical cylinder extends, and the ball head of the vertical cylinder falls into the support seat of the longitudinal beam 11 of the support trolley 1. When the fourth through-beam photoelectric switch is triggered, the support point of the main leg's vertical cylinder is located at the center of the support trolley 1, and the vertical cylinder of the auxiliary leg retracts. The second and fourth through-beam photoelectric switches can use infrared sensors or laser sensors.

[0050] The beneficial effects of this embodiment are as follows: two first through-beam photoelectric switches are provided on the pulley 22 of the transverse movement device 2 for detecting whether the auxiliary legs have reached the position directly above the transverse pulley 22, and a third through-beam photoelectric switch is provided at the midpoint of the extension direction of the crossbeam 21 for detecting whether the crane has reached the middle position of the double rails. During the transverse movement process, it is possible to accurately determine whether the auxiliary legs have reached the preset position, provide accurate position information for the transverse movement, and ensure that the crane will not overturn due to position deviation during the transverse movement process;

[0051] A second through-beam photoelectric switch is provided on the supporting device 12 of the supporting trolley 1 for detecting whether the main support leg has reached the crossbeam 21, and a fourth through-beam photoelectric switch is provided at the center position of the longitudinal beam 11 in its extension direction for detecting whether the main support leg has reached the center position of the longitudinal beam 11. During the longitudinal movement, it can accurately determine whether the main support leg has reached the preset position, provide accurate position information for the longitudinal movement, and ensure that the supporting trolley will not overturn due to unstable center of gravity during the longitudinal movement of the crane.

[0052] Example 2

[0053] Based on Example 1, this embodiment provides a control method for a wireless traverse control system of a high-speed railway crane, which specifically includes the following steps:

[0054] S1, initial state, such as Figure 1As shown, two groups of four supporting trolleys 1 are set in front and behind the crane and symmetrically arranged on the double-track. Two sets of transverse movement devices 2 are respectively erected transversely on the double-track and on the corresponding supporting trolleys 1 arranged in front and behind. The auxiliary legs and the main legs are in a convergent state.

[0055] In order to ensure that the vertical cylinder of the auxiliary leg is accurately supported on the pulley 22 in the transverse movement device 2, this embodiment limits the distance between the support trolley 1 and the crane before transverse movement, so that when the auxiliary leg is fully extended, the vertical cylinder is facing the pulley 22. The specific operation steps are as follows:

[0056] S101. Obtain displacement information of the displacement sensors on the four support trolleys 1, set the displacement sensors on the two support trolleys 1 in front of the crane as one group, and the displacement sensors on the other two support trolleys 1 as another group, set a third preset distance between the support trolleys 1 and the crane, compare the displacement information in each group with the third preset distance, and if the values ​​are equal, proceed to the next step; otherwise, drive the support trolley 1 to move the preset distance until the displacement information in the group is equal to the third preset distance;

[0057] This step is used to adjust the distance between the supporting trolley 1 and the crane so that when the auxiliary legs are fully extended, the vertical cylinder is facing the pulley 22.

[0058] S102. Obtain the displacement information of the first position sensor and the second position sensor, set a preset displacement value, compare the displacement information of the first position sensor and the second position sensor with the preset displacement value, and if the displacement information of the two is the same, proceed to S2; otherwise, the horizontal cylinder of the auxiliary leg drives the auxiliary leg to extend or retract until the displacement information is equal to the preset displacement value.

[0059] This step is used to detect whether the front and rear auxiliary legs of the crane are extended to the same displacement. Only when the front and rear auxiliary legs are extended to the same displacement length can the vertical cylinder of the auxiliary legs be started to avoid the problem of the crane tipping over due to the auxiliary legs not being fully extended.

[0060] S2, after starting, if Figure 2 As shown, the horizontal cylinders of the four auxiliary legs drive the auxiliary legs to extend horizontally. When the first beam-type photoelectric switch is triggered, the vertical cylinders in the four auxiliary legs are extended, so that the vertical cylinders are supported on the pulley 22 in the transverse movement device 2, ready for transverse movement, as shown in FIG. Figure 3 As shown, the traverse cylinder 23 is operated to drive the pulley 22 to traverse along the center of the double-track rail. When the third photoelectric switch is triggered, the high-speed railway crane traverses to the middle of the two railway lines, and the traverse cylinder 23 stops working.

[0061] S3, the longitudinal oil cylinder 13 drives the supporting trolley 1 to move longitudinally for a first preset distance in the rotation direction of the high-speed railway crane. Figure 4As shown, the horizontal oil cylinder of the main leg drives the main leg to extend horizontally. When the second photoelectric switch is triggered, as shown in Figure 5 As shown, the tail end of the vertical oil cylinder of the main leg is aligned with the support device 12 of the support trolley 1, the vertical oil cylinder of the main leg is extended, and the ball head of the vertical oil cylinder falls into the support seat of the longitudinal beam 11 of the support trolley 1;

[0062] This step further reduces the distance between the support trolley 1 and the crane so that when the main legs are extended, their ends face the longitudinal beam 11 on the support trolley 1, and when the vertical cylinder of the main legs is lowered, their ends can just fall on the longitudinal beam 11.

[0063] S4, such as Figure 6 and Figure 7 As shown, the vertical cylinder of the auxiliary outrigger is retracted, and the weight of the crane is concentrated on the main outrigger; the horizontal cylinder of the auxiliary outrigger is retracted, and after the retraction is completed, the vertical cylinder of the auxiliary outrigger is lifted up;

[0064] At this point, the weight of the crane is mainly concentrated on the main legs, and the fulcrum of the main legs falls on the support device 12, rather than the center of the longitudinal beam 11. Therefore, the next step requires longitudinal movement. In order to reduce the influence of the auxiliary legs on the longitudinal movement during the longitudinal movement, the auxiliary legs are retracted in this step.

[0065] S5, the vertical cylinder of the main leg retracts to separate it from the longitudinal beam 11 of the supporting trolley 1; Figure 8 As shown, under the action of the longitudinal oil cylinder 13, the supporting trolley 1 moves the second preset distance to the rotation center of the high-speed railway crane. When the fourth beam-type photoelectric switch is triggered, as shown in FIG. Figure 9 As shown, the supporting point of the vertical oil cylinder of the main supporting leg is located at the center of the supporting trolley 1, and the vertical oil cylinder of the auxiliary supporting leg is retracted.

[0066] Example 3

[0067] The first, second, third, and fourth through-beam photoelectric switches can utilize infrared sensors or laser sensors. When multiple sets of infrared or laser sensors are used simultaneously, cross-interference can easily occur, leading to loss of infrared or laser signals, which can cause the crane to be unable to perform lateral maneuvers based on the signals from the through-beam photoelectric switches. Alternatively, the crane may receive erroneous signals and perform incorrect operations, potentially causing the crane to tip over. Therefore, to address the aforementioned issues, this embodiment, based on Embodiment 1 or 2, provides a method for preventing cross-interference when multiple sets of through-beam photoelectric switches are used simultaneously. This method involves two specific aspects, each of which is described below.

[0068] The first aspect is to improve the data transmission structure of the transmitting end of the through-beam photoelectric switch. Specifically, the transmitting ends of the first, second, third, and fourth through-beam photoelectric switches transmit data at fixed group data intervals. During these fixed group data intervals, the corresponding through-beam photoelectric switches do not transmit any data. This allows multiple groups of through-beam photoelectric switches to complete data transmission within these fixed group data intervals without overlapping.

[0069] Preferably, the group data interval determines whether multiple groups of through-beam photoelectric switches can transmit data without crossover. If the group data interval is too long, the through-beam photoelectric switches will be stuck in the air, and the crane will not be able to perform corresponding actions based on the signals from the through-beam photoelectric switches. If the group data interval is too short, cross interference will still occur. Therefore, to solve the above problem, the group data interval of this embodiment is close to the time required for the crane master control device to receive and analyze the data sent by the through-beam photoelectric switches. This time determination method includes the following steps:

[0070] S101: The crane master control device receives a first set of data and records the time t1 corresponding to the start symbol of the first set of data.

[0071] S102, the crane master control device receives the second set of data, and records the time t2 corresponding to the start character of the second set of data and the time t3 corresponding to the end character of the second set of data;

[0072] S103 , record the time difference between t2 and t1 as the shortest group data interval, record the time difference between t3 and t1 as the longest group data interval, and the group data interval is between the shortest group data interval and the longest group data interval.

[0073] On the other hand, when the receiving ends of the first, second, third, and fourth through-beam photoelectric switches receive correct data, their corresponding transmitting ends stop sending data. This ensures that only one transmitting end in the multiple through-beam photoelectric switches is transmitting at the same time, ensuring that the receiving ends receive complete data. In this embodiment, through-beam photoelectric switches that correctly receive data are defined as receiving state switches, and through-beam photoelectric switches that do not receive correct data are defined as transmitting state switches. Using this method, the transmitting state switches remain in the transmitting state while the receiving state switches are in the receiving and parsing state. When the transmitting state switches change from the transmitting state to the receiving state, the receiving state switches also change from the receiving state to the transmitting state. This allows each through-beam photoelectric switch to take turns sending and receiving data, preventing data cross-interference.

[0074] The beneficial effects of this embodiment are as follows: the transmitting ends of the first, second, third and fourth paired-beam photoelectric switches send data at a fixed group data interval. When the receiving ends of the first, second, third and fourth paired-beam photoelectric switches receive correct data, their corresponding transmitting ends stop sending data, which can effectively avoid cross interference and ensure that each group of paired-beam photoelectric switches can receive correct data, providing a data basis for the crane's lateral movement.

[0075] Set an appropriate group data interval to avoid the problem of cross-interference that cannot be solved due to improper selection of group data interval.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wireless lateral movement control system for a high-speed railway crane, comprising a wireless remote control device, a crane, four supporting trolleys (1) and two sets of lateral movement devices (2), wherein the two sets of four supporting trolleys (1) are arranged in front and behind the crane and symmetrically arranged on a double-track rail, and the two sets of lateral movement devices (2) are respectively transversely mounted on the double-track rail and on corresponding supporting trolleys (1) arranged in front and behind, and are characterized in that: The wireless remote control device is wirelessly connected to the crane's master control device, and the on-site technicians wirelessly control the crane's movements through the wireless remote control device; The transverse movement device (2) is provided with a crossbeam (21), a pulley (22) and a transverse movement cylinder (23); a guide rail is provided in the extension direction of the crossbeam (21), the pulley (22) is slidably connected to the guide rail, and the transverse movement cylinder (23) drives the pulley (22) to slide on the guide rail; two first pair-beam photoelectric switches are provided on the pulley (22); the distance between the two first pair-beam photoelectric switches is equal to the distance between the two front auxiliary legs of the crane; the transmitting end of the first pair-beam photoelectric switch is installed on the pulley (22) of the transverse movement device (2), and the receiving end of the first pair-beam photoelectric switch is installed at the end of the auxiliary leg; a third pair-beam photoelectric switch is provided at the midpoint of the crossbeam (21) in the extension direction thereof, the transmitting end of the third pair-beam photoelectric switch is installed at the midpoint of the crossbeam (21), and the receiving end of the third pair-beam photoelectric switch is installed at the center of the pulley (22); A longitudinal beam (11), a supporting device (12) and two longitudinal movement cylinders (13) are arranged on the supporting trolley (1); a transverse beam (21) is placed on the longitudinal beam (11) and is orthogonal to the longitudinal beam (11); the two longitudinal movement cylinders (13) are respectively fixedly connected to the two ends of the transverse beam (21) and drive the transverse beam (21) to move on the longitudinal beam (11); the supporting device (12) is installed on the longitudinal beam (11) at one end close to the crane, and a second pair-beam photoelectric switch is arranged on the supporting device (12); the transmitting end of the second pair-beam photoelectric switch is installed on the supporting device (12) of the supporting trolley (1), and the receiving end of the second pair-beam photoelectric switch is installed at the end of the main leg; a fourth pair-beam photoelectric switch is arranged at the center position of the longitudinal beam (11) in its extension direction, the transmitting end of the fourth pair-beam photoelectric switch is installed at the midpoint position of the longitudinal beam (11), and the receiving end of the fourth pair-beam photoelectric switch is installed at the end of the main leg; The transmitting ends of the first pair-beam photoelectric switch, the second pair-beam photoelectric switch, the third pair-beam photoelectric switch and the fourth pair-beam photoelectric switch send data according to a fixed group data interval. When the receiving ends of the first pair-beam photoelectric switch, the second pair-beam photoelectric switch, the third pair-beam photoelectric switch and the fourth pair-beam photoelectric switch receive correct data, their corresponding transmitting ends stop sending data.

2. The wireless traverse control system for a high-speed railway crane according to claim 1, characterized in that: The wireless remote control device includes a controller, and an operation switch, a wireless communication module and a display panel electrically connected to the controller respectively; The controller is wirelessly connected to the crane's master control device through a wireless communication module and establishes a wireless data transmission channel. The master control device transmits the crane's action feedback signal to the controller of the wireless remote control device wirelessly and displays it on the display panel. The operator presses the operation switch to realize wireless control of the crane's action.

3. The wireless traverse control system for a high-speed railway crane according to claim 1, characterized in that: Also included is a first position sensor for detecting the position of the end of the auxiliary leg, and a second position sensor for detecting the position of the end of the main leg; The first position sensor is installed in the horizontal cylinder of the auxiliary leg; The second position sensor is installed in the horizontal cylinder of the main leg.

4. The wireless traverse control system for a high-speed railway crane according to claim 3, characterized in that: A displacement sensor for detecting the horizontal distance between the supporting trolley (1) and the crane is arranged at one end of the four supporting trolleys (1) close to the crane.

5. The wireless traverse control system for a high-speed railway crane according to claim 1, characterized in that: The method for determining the group data interval comprises the following steps: S101, the crane master control device receives a first set of data, and records the time t1 corresponding to the start symbol of the first set of data received; S102, the crane master control device receives the second set of data, and records the time t2 corresponding to the start character of the second set of data, and the time t3 corresponding to the end character of the second set of data; S103 , record the time difference between t2 and t1 as the shortest group data interval, record the time difference between t3 and t1 as the longest group data interval, and the group data interval is between the shortest group data interval and the longest group data interval.

6. A wireless lateral movement control method for a high-speed railway crane, characterized in that: The following steps are involved: S1, initial state, two groups of four support trolleys (1) are arranged in front and behind the crane and symmetrically arranged on the double-track, two sets of transverse movement devices (2) are respectively erected transversely on the double-track and on the corresponding support trolleys (1) arranged in front and behind, and the auxiliary outriggers and the main outriggers are in a convergent state; S2, after starting, the horizontal cylinders of the four auxiliary legs drive the auxiliary legs to extend horizontally. When the first photoelectric switch is triggered, the vertical cylinders of the four auxiliary legs are extended so that the vertical cylinders are supported on the pulley (22) in the transverse movement device (2) to prepare for transverse movement. The transverse movement cylinder (23) is operated to drive the pulley (22) to move transversely along the center of the double-track track. When the third photoelectric switch is triggered, the high-speed railway crane moves transversely to the middle of the two railway lines, and the transverse movement cylinder (23) stops working; S3, after the longitudinal movement cylinder (13) drives the support trolley (1) to longitudinally move a first preset distance in the rotational direction of the high-speed railway crane, the horizontal cylinder of the main leg drives the main leg to extend horizontally, and when the second photoelectric switch is triggered, the tail end of the vertical cylinder of the main leg is aligned with the support device (12) of the support trolley (1), the vertical cylinder of the main leg extends, and the ball head of the vertical cylinder falls into the support seat of the longitudinal beam (11) of the support trolley (1); S4, the vertical cylinder of the auxiliary outrigger retracts, and the weight of the crane is concentrated on the main outrigger; the horizontal cylinder of the auxiliary outrigger retracts, and after the retraction is completed, the vertical cylinder of the auxiliary outrigger is lifted up; S5, the vertical cylinder of the main leg retracts to separate it from the longitudinal beam (11) of the support trolley (1); under the action of the longitudinal movement cylinder (13), the support trolley (1) moves a second preset distance toward the rotation center of the high-speed railway crane, and when the fourth photoelectric switch is triggered, the support point of the vertical cylinder of the main leg is located at the center of the support trolley (1), and the vertical cylinder of the auxiliary leg is retracted.

7. The wireless lateral movement control method for a high-speed railway crane according to claim 6, characterized in that: Before executing S2, the following steps are also included: S101, obtaining displacement information of displacement sensors on four support trolleys (1), setting the displacement sensors on the two support trolleys (1) in front of the crane as one group, and setting the displacement sensors on the other two support trolleys (1) as another group, setting a third preset distance between the support trolley (1) and the crane, comparing the displacement information in each group with the third preset distance, and if the values ​​are equal, executing the next step; otherwise, driving the support trolley (1) to move the preset distance until the displacement information in the group is equal to the third preset distance; S102, obtaining displacement information of the first position sensor and the second position sensor, and setting a preset displacement value, comparing the displacement information of the first position sensor and the second position sensor with the preset displacement value, if the displacement information of the two is the same, proceed to S2; otherwise, the horizontal cylinder of the auxiliary leg drives the auxiliary leg to extend or retract until the displacement information is equal to the preset displacement value.

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