Anti-skid and anti-overturning device and control system for gantry crane

Abstract

The anti-skid and anti-overturning device of a gantry crane includes a hoisting frame, a clamping mechanism hinged to the hoisting frame, and a push-pull mechanism hinged to the clamping mechanism and capable of rotating the clamping mechanism; the clamping mechanism includes a clamping frame, a rotatable clamping arm, a driving link hinged to the clamping arm and capable of pushing and pulling the clamping arm to rotate, and a driving power component hinged to the driving link and capable of driving the driving link; the rotation center of the clamping arm is set at the middle of the clamping arm, the driving link is set at one end of the clamping arm, and a track clamp is set at the other end of the clamping arm, and the track clamp can clamp the track under the rotation of the clamping arm; the track clamp can also be moved away from the track by the overall rotation of the clamping mechanism. The cross-sectional shape of the track clamp matches the cross-sectional shape of the track and can surround the upper part of the track.

Description

Technical Field

[0001] The invention relates to an anti-slip and anti-overturning device for a gantry crane and a control system for the device. Background Art

[0002] Gantry cranes are widely used in freight yards, warehouses, ports, and docks for lifting heavy loads. Gantry cranes typically operate on fixed tracks, relying on the crane's movement along the tracks to move loads onto vehicles or ships. Existing crane brakes typically brake the wheels themselves, preventing them from rotating and thus stopping the crane. However, strong winds, particularly those exceeding force 8, can cause the crane to move. Even if the crane's wheels are prevented from rolling, the wind can cause them to slip on the tracks, causing the crane to move. When the crane reaches the end stop of the track, the lower wheels stop, but the upper wheels continue to move due to inertia, causing a rollover. For example, in July 2018, a U40T gantry crane at the Lu'an Freight Terminal of the Hefei Freight Center slipped, derailed, and overturned during operation due to sudden severe convective weather. This resulted in serious injuries to the crane driver, the crane being scrapped, and container operations at the freight yard being disrupted for six months. A similar accident occurred at the Yiwu West Freight Station of the Jinhua Freight Center in August 2013. Patent application number 2022103480787, titled "A Rail Clamping Device for Gantry Cranes," describes a rail clamping device, but its shaft can rotate around a sleeve and simultaneously slide axially on the sleeve. This allows only self-clamping, not the combined clamping of the four wheels, which reduces the clamping and braking effect. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides an anti-slip and anti-overturning device for a gantry crane, and a system for controlling the device.

[0004] An anti-slip and anti-overturning device for a gantry crane comprises a crane frame, a clamping mechanism hinged to the crane frame, and a push-pull mechanism hinged to the clamping mechanism and capable of rotating the clamping mechanism;

[0005] The clamping mechanism includes a clamping frame, a rotatable clamping arm, a driving connecting rod hinged to the clamping arm and capable of pushing and pulling the clamping arm to rotate, and a driving power component hinged to the driving connecting rod and capable of driving the driving connecting rod;

[0006] The rotation center of the clamping arm is set at the middle of the clamping arm, the driving connecting rod is set at one end of the clamping arm, and a track clamp is set at the other end of the clamping arm. The track clamp can clamp the track under the rotation of the clamping arm; the track clamp can also be moved away from the track through the overall rotation of the clamping mechanism.

[0007] The cross-sectional shape of the rail clamp matches the cross-sectional shape of the rail and can surround the upper part of the rail.

[0008] The clamping mechanism and the lifting frame are hinged in a manner of cooperation between a rotating shaft and a sleeve. The sleeve is fixed to the clamping frame. A positioning thread is provided in the middle of the rotating shaft. The sleeve has a hole at the positioning thread. A positioning nut is provided above the sleeve. The positioning nut can cooperate with the positioning thread to prevent the rotating shaft from moving axially, and can also leave the positioning thread to allow the rotating shaft to move freely in the axial direction.

[0009] The positioning nut is pushed up and down by an electromagnetic pusher, so that the positioning nut is matched with or separated from the positioning thread.

[0010] There are four sets of clamping mechanisms, which are respectively installed on the outsides of the crane traveling wheels.

[0011] The push-pull mechanism includes a first push-pull link hinged on the clamping mechanism, a second push-pull link hinged on the lifting frame, and a push-pull power component hinged to both the first push-pull link and the second push-pull link, the other end of the push-pull power component being hinged on the lifting frame.

[0012] The hinged connection of the first push-pull connecting rod, the second push-pull connecting rod and the push-pull power component all adopts a rotating shaft and a sleeve matching mode. The rotating shaft can rotate around the sleeve and can also slide axially on the sleeve.

[0013] The push-pull mechanism can enable the rail clamp of the clamping mechanism to be located at the track to clamp the track, and can also enable the rail clamp of the clamping mechanism to be away from the track to facilitate the movement of the crane on the track.

[0014] The present invention also includes a control and fault detection module, which is composed of a controller, a clamping arm position sensor, a display screen, an anemometer, etc. The anemometer receives a wind speed signal, and the wind speed signal and the signal of the clamping arm position sensor are sent to the controller, analyzed and calculated by the controller, and displayed on the display screen. At the same time, the signal is compared with the reserved information in the system. If there is any mismatch, an alarm is issued.

[0015] The anemometer is installed above the main beam of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structural principle of the main components of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the present invention installed on a crane frame.

[0018] Figure 3 It is a schematic structural diagram of the lifting frame of the present invention when it is complete.

[0019] Figure 4 、 5 It is a partial enlarged view of the present invention.

[0020] Figure 6 It is a front view of the present invention along the track axis direction.

[0021] Figure 7 This is a front view of the rail clamp when it is perpendicular to the track axis of the present invention and can clamp the track (the sweeper is not shown).

[0022] Figure 8 This is a front view of the rail clamp when it is lifted off the track when the direction is perpendicular to the track axis.

[0023] Figure 9 This is an enlarged schematic diagram of the electromagnetic propulsion part.

[0024] Figure 10 This is a principle block diagram of the control part of the present invention.

[0025] In the figure: 1-track, 2-clamping arm, 3-driving hydraulic cylinder, 4-clamping arm rotating shaft, 5-clamping frame, 6-rotating shaft, 7-sleeve, 8-driving connecting rod, 9-push-pull hydraulic cylinder, 10-second push-pull connecting rod, 11-first push-pull connecting rod, 12-crane frame, 13-crane wheel, 14-end cover, 15-sweeper, 16-welding fixture, 17-cross connecting plate, 18-swing joint, 19-rail clamp, 22-hydraulic cylinder fixing plate, 23-positioning nut, 24-electromagnet, 25-positioning thread. DETAILED DESCRIPTION

[0026] In order to help those skilled in the art better understand the present invention, the following will be combined with the drawings in 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 should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0028] In this utility model, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe the utility model and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0029] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0030] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0031] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] like Figure 1-2 As shown, a rail clamping device suitable for a gantry crane includes a crane frame 12, a clamping mechanism hinged to the crane frame 12, and a push-pull mechanism hinged to the clamping mechanism and capable of rotating the clamping mechanism;

[0033] The crane frame is connected to the crane wheels, which are clamped on the track and can roll along the track. Under normal circumstances, the crane is braked by braking the crane wheels. The braking method includes a braking structure similar to the brakes on cars or brakes on electric motors, which results in the wheels being unable to rotate.

[0034] The clamping mechanism, as a whole, can rotate on the crane frame. This rotation moves the clamping mechanism closer to or further away from the track, allowing it to clamp or leave the track without hindering crane movement. The clamping mechanism includes a clamping frame 5, a rotatable clamping arm 2, a drive link 8 hinged to the clamping arm 2 and capable of pushing and pulling the clamping arm 2 for rotation, and a drive power component hinged to the drive link 8 and capable of driving the drive link 8.

[0035] The clamping arm, driving connecting rod and rail clamp are symmetrically arranged in two. The rotation center of the clamping arm 2 is set in the middle of the clamping arm 2, and a rotation hole is set at the corresponding position of the clamping frame. The clamping arm shaft 4 passes through the rotation hole and the rotation center of the clamping arm.

[0036] The drive link 8 is provided at the upper end of the clamping arm 2. The two drive links can rotate up and down under the action of the driving power component. When they rotate upward, they can push the upper end of the clamping arm to open, and accordingly, the track clamp at the lower end of the clamping arm shrinks; when the drive link rotates to the horizontal position, the track clamp is clamped to the track. In order to prevent the drive link from continuing to move upward, a block can be provided above the drive link when it rotates to the horizontal position. The block ensures that the drive link can only rotate to the horizontal position, or more than 1-5 degrees. In this way, the mechanical dead point can also be utilized to ensure that the clamping arm is locked in the clamping position.

[0037] A rail clamp 19 is provided at the lower end of the clamp arm 2 , and the rail clamp 19 can clamp the rail 1 under the rotation of the clamp arm 2 ; the rail clamp 19 can also be moved away from the rail 1 through the overall rotation of the clamping mechanism.

[0038] The driving power component can be realized by a hydraulic cylinder, a linear motor or other components capable of providing an up and down movement function, such as a connecting rod mechanism. In this embodiment, a hydraulic cylinder is used, and the hydraulic cylinder is fixed to the clamping frame through a hydraulic cylinder fixing plate fixed to the clamping frame.

[0039] Due to the straightness error of the track, when the clamping mechanism clamps the track, one of the track clampers may contact the track first while the other track clamper has not yet contacted. In order to eliminate the problem of different clamping forces applied to the track by the two track clampers during the continued clamping process, the technical solution adopted by the present invention is to design the clamping mechanism into a structure that can move in the direction perpendicular to the axis of the track. Specifically, the clamping mechanism and the crane frame are hinged in a manner that the shaft 6 and the sleeve 7 cooperate. The sleeve 7 is fixed to the clamping frame 5. A positioning thread is provided in the middle of the shaft 6. The sleeve is provided with a hole at the positioning thread. A positioning nut is provided above the sleeve. The positioning nut can cooperate with the positioning thread to prevent the shaft from moving axially, and can also leave the positioning thread to allow the shaft to move freely in the axial direction.

[0040] The positioning nut is pushed up and down by an electromagnetic pusher, so that the positioning nut is matched with or separated from the positioning thread.

[0041] Before clamping, the positioning nut and the positioning thread remain separated. When one rail clamp contacts the track while the other has not, the track exerts a reaction force on the contacting rail clamp. This reaction force is transmitted to the clamping frame via the clamping arm's rotating shaft. The clamping frame's sleeve slides on the rotating shaft, bringing the other rail clamp closer to the track. Once both rail clamps are in contact, the drive power component converts the thrust into a clamping force on the track via the drive connecting rod, ensuring that both rail clamps are clamped simultaneously.

[0042] After clamping, the positioning nut remains engaged with the positioning thread, limiting the axial movement of the rotating shaft. At this point, the four clamping mechanisms form a stable, rigid quadrilateral on the track. When the crane tends to move, the serpentine trajectory of the crane and the morphological errors of the track itself cause additional extrusion between the four clamping mechanisms holding the track and the sides of the rails. The pressure generated by this extrusion increases rapidly with the increase in the parallelism error between the two rails, causing a rapid increase in friction between the rail clamp and the sides of the rails. Combined with the sliding friction of the gantry crane on the track and the friction generated by the clamping mechanism gripping the rails, when the total friction exceeds the sum of the gantry crane's inertia and the wind pressure it is experiencing, the gantry crane becomes stuck on the running track, achieving a stable and reliable anti-slip braking effect. The greater the wind pressure the gantry crane is exposed to and the more pronounced its movement tendency, the greater the braking force generated by the system.

[0043] After precise measurement, the parallelism error of 12 gantry crane trolley running tracks of different specifications in a freight yard under the management of a certain company was found to be between ±8-20mm along the track length of 15 meters.

[0044] A welding clamp is provided on the outer side of the shaft sleeve, which is welded to the shaft sleeve. At the same time, other plates and rods of the clamping frame are also welded to the welding clamp.

[0045] The push-pull mechanism includes a first push-pull link 11 hinged on the clamping mechanism, a second push-pull link 10 hinged on the lifting frame, and a push-pull power component hinged to both the first push-pull link 11 and the second push-pull link 10, the other end of the push-pull power component being hinged to the lifting frame 12.

[0046] The first push-pull link 11 is hinged to the clamping frame 5 via a transverse link 17 and a swing joint 18, both of which are fixed to the clamping frame 5. The first push-pull link 11, the second push-pull link 12, and the push-pull power unit are all hinged using a shaft and sleeve. The shaft can rotate about the sleeve while also sliding axially on the sleeve. This axial sliding function is to facilitate the movement of the clamping mechanism on the crane frame. When the clamping mechanism moves on the crane frame, this axial sliding eliminates any interference, allowing for smooth movement.

[0047] The push-pull power component can be implemented using a hydraulic cylinder, a linear motor, or other components that can provide up and down movement functions, such as through a connecting rod mechanism. When the push-pull power component is in motion, the first push-pull connecting rod and the second push-pull connecting rod can be pushed or pulled, thereby pushing the clamping mechanism onto the track or pulling it away from the track. When the clamping mechanism is on the track and can clamp the track, the first push-pull connecting rod and the second push-pull connecting rod are in a straight line state, or exceed the straight line state by 1-5 degrees. In this way, the mechanical dead point of the rod can be used to ensure the positional stability of the clamping mechanism, while reducing the working force of the push-pull power component.

[0048] The push-pull mechanism can enable the rail clamp 19 of the clamping mechanism to be located at the track to clamp the track 1 , and can also enable the rail clamp 19 of the clamping mechanism to be away from the track to facilitate the movement of the crane on the track 1 .

[0049] The working principle of the present invention will be described below.

[0050] During the clamping action, the axial sliding of the clamping mechanism is only possible during the clamping process, that is, during the clamping process, when one rail clamp contacts the rail and the other rail clamp does not contact the rail, the clamping mechanism is only affected by Figure 6 The reaction force in the X-axis direction is shown, and the direction of this reaction force is consistent with the axial direction of the shaft, so the clamping mechanism can slide axially.

[0051] When both rail clamps are in contact with the rail, due to the straightness error of the two sides of the rail, that is, the rail is Figure 6The rail clamp is not completely aligned with the Z axis, but is deflected in the X direction. This also causes the rail clamp to not overlap in the Z axis, that is, the rail clamp has a deflection around the Z axis. Figure 6 Even a slight rotation in the Y-axis direction (as shown) generates a torque that is transmitted to the sleeve through the clamping arm and the clamping frame, causing the sleeve to rotate relative to the shaft, thereby preventing the sleeve from sliding axially relative to the shaft. In other words, the clamped rail clamp cannot move.

[0052] The track straightness error not only makes the clamping mechanism unable to move axially, but also causes the two track clamps to have different clamping forces on the track due to the straightness error itself. The track clamp on the side where the track is deviated will be subjected to great pressure, which will cause great friction between the track clamp and the track, causing the crane to stop quickly.

[0053] After clamping, Figure 6 As shown, when the driving power component is used to clamp the rail through the clamping arm, according to the actual object corresponding to the present invention, the clamping force is 2000-3000N. If such a clamping mechanism is installed on all four wheels, the clamping force is only 8000-12000N, which is not enough to brake the crane. However, since the cross-sectional shape of the rail clamp matches the cross-sectional shape of the rail and surrounds the upper part of the rail, the rail clamp and the rail cannot be wound around each other. Figure 6 The X-axis rotation is shown. When the crane has a rolling tendency, since the lower part of the clamping mechanism is clamped on the track, and the upper part will also have a rolling tendency along with the crane, the clamping mechanism will have a tendency to rotate around the clamp. This rotation tendency is also Figure 6 The tendency of rotation around the X axis shown is the tendency of rotation around the rotation axis in the present invention. Figure 6 The front and rear of the crane are subjected to an unbalanced force in the Y-axis direction, which increases the clamping force by an order of magnitude, except that the increased clamping force is in the Y-axis direction. Regardless of the direction of the force, it will eventually restrict the crane's continued movement.

[0054] That is, the clamping force of the rail clamp at a standstill is not large, but a track with a straightness error and a movement trend of the crane will increase the clamping force by an order of magnitude in order to achieve the purpose of braking the crane.

[0055] The present invention utilizes a rail clamp to brake the crane on the track, thereby avoiding the wheel slippage that may occur when only the wheels are braked, fundamentally eliminating the possibility of the crane moving, and ensuring the safety of the crane.

[0056] In order to ensure the safety of the clamping mechanism, a sweeper 15 is provided in front of the crane frame. The sweeper is provided with an opening slightly larger than the track cross section, and the sweeper can clear away debris on the track.

[0057] like Figure 10 As shown, the automatic control module and automatic fault detection module of this system use Mitsubishi FX3GA-60MR model PLC controller, 24V uninterruptible UPS power supply and touch human-machine interface.

[0058] When a gantry crane implements emergency anti-skid and windproof braking, the CPU reads the system anti-skid braking program in the user memory and first executes the instruction to disconnect the main circuit contactor of the crane trolley travel motor, then executes the instruction to deploy the automatic rail clamping device, then executes the instruction to connect the stable DC power supply, and then executes the instruction to check whether the automatic rail clamping device has reached the self-locking position. If no signal is detected from the swinging second-link position sensor, the CPU jumps to the automatic fault detection program instructions, then executes the fault detection instructions in sequence, and then executes the fault information display and alarm instructions. If the swinging second-link position sensor signal is detected, the CPU then executes the instructions to drive the hydraulic reversing valve and detect the rail clamp position sensor signal. If no signal is detected from the rail clamp position sensor, the CPU jumps to the automatic fault detection program instructions, then executes the fault detection instructions in sequence, and then executes the fault information display and alarm instructions. If the rail clamp position sensor signal is detected, the CPU then executes the instruction to drive the brake arm assembly axial locking electromagnet, then executes the instruction to check whether the brake arm assembly axial positioning fastener is in the locked state. Each operating component moves to the designated position. If no action signal of the brake arm group axial positioning fastener position sensor is detected, the program will jump to execute the fault automatic detection program instruction; if the action signal of the brake arm group axial positioning fastener position sensor has been detected, the information instruction of displaying that all four brake arm groups are in place will be executed on the display screen.

[0059] When the anti-skid and windbreak brake needs to be released before the gantry crane is operated, the CPU reads the anti-skid and windbreak brake release program in the user memory (the opposite of the emergency anti-skid and windbreak brake process). Each moving part moves to the specified position, and the human-machine interface displays the system in the release standby state (as shown in the figure). Similarly, the relevant instructions are executed in sequence. If a system fault occurs, the execution jumps to the various instructions of the automatic fault detection program.

[0060] Force analysis

[0061] This system is used on the No. 3 gantry crane on Freight Line 12 at the Hefei North Logistics Base. This crane, model MG36-22A6, features a 43m long main beam, a 1.742m high crane, a 130t deadweight, and four four-wheel drive trolleys. When the gantry crane is operating, lifting a 40-foot standard container and traveling downwind at a speed of 3m / s on the track, it experiences a force 13 wind (V=41m / s). Based on comprehensive calculations according to the "Crane Design Specification," the following results are obtained:

[0062] G = G weight + G box = 166 (t)

[0063] P1=V2 / 1600=412 / 1600=1050.63(N / ㎡)

[0064] A=∑Ai=209.4 (㎡), C=1

[0065] PWⅡ=CP1 A=1*1050.63*209.4=2.2*105(N)

[0066] When the crane slides on the track,

[0067] Pf=Gf slip=166*103*9.8 *0.105=1.71*105(N)

[0068] PD=ma2=166*103*1.62 = 4.25*105(N)

[0069] Total anti-skid braking force Ptotal = PWⅡ + P0 - Pf = 4.75*105 (N),

[0070] Average anti-skid braking force Psingle = Ptotal / 4 = 118.75 (KN)

[0071] The brake arm assembly, the most critical load-bearing component in the mechanical portion of the entire system, is designed with an arc-shaped contoured structure. Made of alloy spring steel, its elastic deformation ability in the quenched and tempered state allows it to withstand a certain load without permanent deformation after the load is removed. Spring steel should possess excellent comprehensive properties, including mechanical properties (especially elastic limit, ultimate strength, and yield strength ratio), resistance to elastic reduction (also known as relaxation resistance), fatigue resistance, hardenability, physicochemical properties (heat resistance, low temperature resistance, oxidation resistance, corrosion resistance, etc.), and high wear resistance. The cross-sectional area S = 80mm * 60mm, and the load-bearing length L = 355mm. Based on stress analysis, the maximum bending moment occurs at the center of the clamp arm's pivot axis. Since the two brake arms are subjected to symmetrical loads, the bending strength design and verification were performed at one of these locations.

[0072] Maximum bending stress σ: σmax=︱M︱max / Wz

[0073] For brake arm, bending section modulus Wz= 0.8125*10-4 m3

[0074] The maximum bending moment ︱M︱max is at the midpoint of a single set of contact surfaces. According to the design parameters, the braking force borne by a single set of brake arms is Fsingle=500kN / 4=125kN, σmax=︱M︱max / Wz=(F / 2)*L / Wz=(125 / 2)*355 / (0.8132*10-4)=272.9MPa, the yield strength of the alloy spring steel after heat treatment σ=355MPa, σmax<σ, which meets the requirements.

[0075] The hydraulic system uses a 2.4V, 1.6kW, 6L hydraulic pump unit with an oil pressure of 20MPa and a flow rate of 2.5L / min. It uses a standard MOB-63 fast-acting hydraulic cylinder. The swing cylinder has a piston stroke of 200mm, the clamping cylinder has a piston stroke of 100mm, the piston diameter is 25mm, and the oil pipe diameter is 16mm. The oil circuit resistance coefficient is 1.8.

[0076] Swing travel time:

[0077] t1= V1 / Q1 =3.14×(25÷2)2×200×2÷2.5×60×1.8=8.5s;

[0078] Clamping stroke action time:

[0079] t2= V2 / Q2 =3.14×(25÷2)2×100×2÷2.5×60×1.8=4.2s;

[0080] Total response time:

[0081] t=t1+t2=12.7s, the entire one-way trip time is less than 15s.

[0082] The frame and other parts are made of 45# steel, which has been quenched and tempered to have high rigidity and strength.

[0083] The system operation logic is:

[0084] 1. Control logic

[0085] a) When the wind speed is greater than or equal to 13m / s, the system starts timing, which lasts for 5s, and the PLC starts outputting the display screen display and sound alarm command signal;

[0086] b) When the automatic rail clamping device runs to the braking position and other parts of the system are in normal status, the PLC outputs the instruction to disconnect the main circuit contactor of the gantry crane trolley traveling motor.

[0087] 2. Automatic reset logic

[0088] When the wind speed is less than 13m / s, the system starts timing, which lasts for 5s. The PLC starts outputting reset instructions and the system performs reset actions.

[0089] Main indicators of the system

[0090] (1) Working voltage: 24VDC / 380VAC

[0091] (2) Operating temperature: -30℃~+80℃

[0092] (3) Overall braking static friction: ≥500KN

[0093] (4) Response time: ≤15s

[0094] (5) Braking distance: 5 to 10 m

[0095] (6) Maximum wind protection level: Level 13 (wind speed ≤ 41m / s)

[0096] The technological advancement and innovation of this system are reflected in:

[0097] 1. First-ever use of self-locking braking technology based on track form and position tolerances. To achieve the tremendous anti-skid braking force of over 500 kN for large-tonnage gantry cranes, this system creatively utilizes the parallelism error between the gantry crane's two trolley rails. This technology utilizes self-locking braking based on track form and position tolerances to achieve reliable anti-skid braking even in sudden force 13 gales during gantry crane operation.

[0098] 2. A mechanical self-locking mechanism cleverly achieves a rigid connection between the four-point rail clamps. Linkage and screw mechanism self-locking technologies are employed to achieve self-locking of the brake arm assembly position, self-locking of the rail clamp clamping state, and axial locking of the brake arm assembly position, thereby achieving a rigid connection between the rail clamps located at the four ends of the gantry crane's traveling trolleys.

[0099] 3. A self-adjusting, axially sliding brake device ensures balanced and stable grip of the rail. To overcome the asymmetrical grip of the rail clamp caused by track tolerances and crane snaking during gantry crane trolley movement, this system utilizes a self-adjusting, axially sliding brake device to achieve balanced and stable grip.

[0100] 4. The system achieves automatic control and fault detection. The Mitsubishi FX3GA-60MR PLC controller uses asynchronous serial communication to achieve automatic system control and automatic fault detection and display, facilitating operation and maintenance.

[0101] 5. Stable and reliable data transmission: The industrial-grade Modbus serial communication technology protocol is used for data exchange between devices, ensuring good system stability in data acquisition, data communication, and anti-interference.

[0102] 6. Seamless connection with the original crane electronic control system data: The relay output signal provided by the wind speed alarm device is connected to the original gantry crane electronic control system. At the same time, it provides a communication interface to communicate with the original PLC through the bus, realizing seamless connection with the original PLC program, and the system has strong adaptability.

[0103] This system utilizes compound self-locking braking technology, capable of generating over 500 kN of anti-skid braking force. This effectively addresses the wind-resistant and anti-skid braking challenges faced by large-tonnage gantry cranes operating outdoors during sudden high winds. This innovation can effectively prevent sudden derailment, overturning, and other fatal accidents in railway freight yard gantry crane operations. This provides a reliable guarantee for the safe operation of gantry cranes in railway freight yards, ensuring the safety of loading and unloading operations, personnel, and cargo transportation. Since its inception in early October 2021, this system has been in field trials on Gantry Crane No. 3 on Freight Line 12 at the Hefei North Logistics Base. After more than ten months of on-site testing, it has demonstrated excellent performance and stability, meeting the design requirements of the project brief (No. 2021046). Results demonstrate the system's rational design, effective anti-skid braking, high degree of automation, strong environmental adaptability, ease of use, and ease of maintenance. It fully meets the emergency wind-resistant and anti-skid braking needs of railway freight yard gantry cranes during sudden high winds, ensuring safe gantry crane operations.

[0104] This achievement can be applied to the emergency wind and anti-skid braking of gantry cranes in freight yards under the group company's management, as well as gantry cranes in freight yards of special railways and special lines. It can also be promoted to the entire railway as well as off-road ports, factories, mines, construction companies and other enterprises. The application prospects are very broad and have good economic and social benefits.

[0105] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A gantry crane anti-slip and overturning device, characterized by: The invention comprises a lifting frame, a clamping mechanism hinged to the lifting frame, and a push-pull mechanism hinged to the clamping mechanism and capable of rotating the clamping mechanism; the clamping mechanism comprises a clamping frame, a rotatable clamping arm, a driving link hinged to the clamping arm and capable of pushing and pulling the clamping arm to rotate, and a driving power component hinged to the driving link and capable of driving the driving link; the rotation center of the clamping arm is set at the middle of the clamping arm, the driving link is set at one end of the clamping arm, and a rail clamp is set at the other end of the clamping arm, and the rail clamp can be The track is clamped under the rotation of the clamping arm; the rail clamp is moved away from the track by the overall rotation of the clamping mechanism; the clamping mechanism and the lifting frame are hinged in a manner that a rotating shaft and a shaft sleeve cooperate, the shaft sleeve is fixed to the clamping frame, a positioning thread is provided in the middle of the rotating shaft, the shaft sleeve is provided with a hole at the positioning thread, and a positioning nut is provided above the shaft sleeve, the positioning nut can cooperate with the positioning thread to prevent the rotating shaft from moving axially, and can also leave the positioning thread to allow the rotating shaft to move freely in the axial direction; The positioning nut is pushed up and down by an electromagnetic pusher, so that the positioning nut is engaged with or separated from the positioning thread; It also includes a control and fault detection module, which consists of a controller, a clamping arm position sensor, a display screen and an anemometer. The anemometer receives a wind speed signal, and the wind speed signal and the signal of the clamping arm position sensor are sent to the controller and displayed on the display screen after analysis and calculation by the controller.

2. The anti-slip and overturning device for a gantry crane according to claim 1, characterized in that: The cross-sectional shape of the rail clamp matches the cross-sectional shape of the rail and can surround the upper part of the rail.

3. The anti-slip and overturning device for a gantry crane according to claim 1, characterized in that: There are four sets of clamping mechanisms, which are respectively installed on the outsides of the crane traveling wheels.

4. The anti-slip and overturning device for a gantry crane according to claim 1, characterized in that: The push-pull mechanism includes a first push-pull link hinged on the clamping mechanism, a second push-pull link hinged on the lifting frame, and a push-pull power component hinged to both the first push-pull link and the second push-pull link, the other end of the push-pull power component being hinged on the lifting frame.

5. The anti-slip and overturning device for a gantry crane according to claim 4, characterized in that: The hinged connection of the first push-pull connecting rod, the second push-pull connecting rod and the push-pull power component all adopts a rotating shaft and a sleeve matching mode. The rotating shaft can rotate around the sleeve and can also slide axially on the sleeve.

6. The anti-slip and overturning device for a gantry crane according to claim 4, characterized in that: The push-pull mechanism can enable the rail clamp of the clamping mechanism to be located at the track to clamp the track, and can also enable the rail clamp of the clamping mechanism to be away from the track to facilitate the movement of the crane on the track.

7. The anti-slip and overturning device for a gantry crane according to claim 1, characterized in that: The anemometer is installed above the main beam of the crane.

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