Synchronous jacking type gantry crane device

Abstract

The invention discloses a synchronous jacking type gantry crane device which solves the problem that an existing TBM (Tunnel Boring Machine) cannot be provided with a gantry crane or the hoisting cost is too high in limited space environments such as mine roadways, underground engineering, low or gantry crane-free plants and the like. The synchronous jacking type gantry crane device comprises a split cushion box track, a walking trolley and an electric drive type door-shaped main frame, the electric drive type door-shaped main frame comprises two sets of electric lifting executing mechanisms and a bridge type double beam connected to the two sets of electric lifting executing mechanisms, a crown block lifting mechanism capable of moving along the bridge type double beam is arranged on the bridge type double beam, and the electric lifting executing mechanisms move along the cushion box track through the walking trolley. The modular design is adopted, compared with a traditional gantry crane, the modular gantry crane is simple in structure, transfer operation can be rapidly completed in a narrow small underground roadway or a small space, meanwhile, rapid assembly and disassembly can be achieved, an auxiliary crane is not needed in the process, and efficiency is greatly improved; and the synchronous jacking function ensures the stability and accuracy of jacking.

Description

Technical Field

[0001] The invention relates to the technical field of hoisting equipment in tunnels, in particular to a synchronous lifting type portal crane device. Background Art

[0002] With the rapid development of the tunnel boring machine (TBM) industry, TBM construction technology has achieved breakthrough technologies and brilliant achievements in many key areas at home and abroad. However, during the assembly and disassembly of TBM, the existing gantry crane equipment cannot be installed under complex working conditions or the installation process is cumbersome and complicated. For example, hoisting in a low cavern is limited by the height of the factory building; the traditional gantry crane has a large structure and is difficult to operate and install in the cavern and factory building to hoist the TBM components; if the cavern factory building is expanded or renovated, the construction cost is often high and affects the construction period of the TBM. Therefore, the gantry crane or hoisting equipment plays a key role in the assembly and disassembly of the TBM. Research and development of customized jacking gantry cranes in limited spaces is the core focus of solving hoisting problems and is the long-term development direction for the disassembly and assembly of TBMs in a small area.

[0003] At present, traditional gantry cranes have high requirements for transportation and installation of structural parts, and the installation procedures are cumbersome and complicated. In the jacking operation, there are often problems such as poor synchronization, low precision, and high energy consumption. In addition, some gantry cranes use hydraulic systems for jacking, such as the double-gantry hoisting equipment with large lifting capacity and horizontal displacement and vertical automatic jacking disclosed in the Chinese patent with publication number CN 201857220 U. The assembly period is long, the installation process is complex, and the adaptability is not strong. Its hydraulic device has the risk of oil leakage, which pollutes the environment. With the continuous development of industrial technology, higher requirements are put forward for the jacking accuracy, synchronization and environmental protection of gantry cranes. Mobile jacking gantry cranes were first used in the 1970s. Due to their lifting capacity, they are more convenient to operate than traditional gantry cranes, their height can be customized, they have strong adaptability to low and narrow factory buildings and narrow indoor sites, they are not affected by the installation sequence in the factory, and they are convenient and flexible in disassembly and transportation. Mobile jacking gantry cranes are gradually maturing and being applied in practice, becoming a powerful tool for special lifting occasions. Therefore, for the use of TBM in special disassembly and assembly scenarios, it is urgent to develop and design a new type of jacking gantry crane. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned background technology, the present invention proposes a synchronous jacking gantry crane device, which can achieve high-efficiency energy saving, high-precision positioning, and intelligent control of lifting, and solve the problem that the existing TBM cannot install a gantry crane in the limited space of low-rise factories, factories without gantry cranes, and underground engineering chambers, or the lifting cost is too high. It also solves the problem of poor synchronization, complex structure, and high maintenance cost of hydraulic gantry cranes.

[0005] The technical solution of the present invention is implemented as follows: a synchronous jacking gantry crane device includes a pad box track and an electric-driven gantry main frame arranged on the pad box track; the electric-driven gantry main frame includes two sets of electric lifting actuators and a bridge-type double beam connected to the two sets of electric lifting actuators, the bridge-type double beam is provided with a crane hoisting mechanism that can move along the bridge-type double beam, and the electric lifting actuator moves along the pad box track through a walking trolley. The above-mentioned gantry crane device is a fully electric jacking gantry crane device, which is assembled from a number of modular products, each of which has a small size and convenient transportation, and is convenient for transportation and installation in small spaces and small turning lanes such as complex mines and underground.

[0006] Further preferably, the bridge-type double beam is a double beam structure consisting of two longitudinal beams and two transverse beams, the two longitudinal beams are connected to two corresponding sets of electric lifting actuators, the two transverse beams are connected in parallel between the two longitudinal beams, and the overhead crane lifting mechanism is connected to the corresponding two transverse beams.

[0007] Further preferably, the crane hoisting mechanism comprises a crane and a rotating hook arranged on the crane, the crane cooperates with a slide rail arranged on the crossbeam, an electric drive is arranged between the crane and the corresponding longitudinal beam, and the electric drive drives the crane to move along the slide rail. The crane mechanism is provided with a hook for lifting heavy objects, and precise lateral movement can be achieved by driving the electric drive.

[0008] Further preferably, corresponding limit devices are provided at both ends of the slide rail; the electric drive component is an electric telescopic rod, one end of the electric telescopic rod is connected to the corresponding longitudinal beam through a hinged fixed seat, and the other end is connected to the overhead crane through a hinged movable seat.

[0009] Preferably, the longitudinal beam and the cross beam are both formed by splicing a plurality of steel beam sections, and the longitudinal beam and the corresponding cross beam are connected by welding or bolts. The splicing structure further reduces the length of the cross beam and is easy to transport.

[0010] Preferably, the crossbeam is a double-beam structure, and the crossbeam is formed by splicing or bolting at least two steel beams in the length direction. The length of the crossbeam can be adjusted through the above design, so that the width of the overall equipment can be adjusted to meet different assembly space requirements.

[0011] Further preferably, each group of electric lifting actuators includes four electric cylinders, and the four electric cylinders are divided into two groups to support the corresponding longitudinal beams. Further preferably, the four electric cylinders of the same group of electric lifting actuators are connected by a stabilizing rod, and the stabilizing rod is connected to the corresponding electric cylinder through a hoop; the stability of the entire electric lifting actuator and the overall electric-driven portal frame is improved.

[0012] Preferably, the pad box track is composed of several prefabricated steel boxes, and two adjacent prefabricated steel boxes are connected by welding or bolts; both ends of the pad box track are provided with limit baffles. The walking pad box laid at the bottom of the fully electric lifting gantry crane is a prefabricated pad box, which is a standardized product and can be laid according to the hoisting walking distance. It does not need to embed steel rails and fix them. It is convenient and flexible to install and has strong reusability.

[0013] Further preferably, the traveling trolley comprises a vehicle body, on which are provided a steel roller with a brake device and a driving motor for driving the steel roller to rotate, and the driving motor is provided with an encoder.

[0014] Further preferably, the electric drive gantry main frame is provided with an industrial camera, which mainly realizes the remote operation and remote monitoring functions in the later stage, optimizes the transition of the impact in the hoisting process through the visual algorithm, reduces the impact when the TBM is hoisted and turned over, and can store the hoisting data, so as to realize the automatic hoisting and automatic assembly of the whole equipment in the later stage.

[0015] The beneficial effects of the present invention are as follows: the synchronous lifting gantry crane device of the present invention is a precise lifting device capable of carrying out heavy-load equipment in limited space of underground engineering, low factory buildings, etc.; it adopts a fully electrified drive system, which includes a servo motor, a variable frequency motor and an electronic control device to realize the lifting, lateral movement and longitudinal movement of the gantry crane; the electric actuator has a built-in precision reducer and a grinding screw to realize the precise lifting and lowering of the gantry crane, and the built-in encoder can realize the synchronous movement of the actuators on the left and right sides; it adopts a fully electrified drive, abandons the traditional hydraulic system, eliminates the risk of oil leakage, is more environmentally friendly, and has a more direct drive and high efficiency. An intelligent control system is constructed to realize the automatic operation and remote monitoring of the gantry crane. In order to ensure the safe operation of the gantry crane, the present invention is provided with multiple safety protection devices including overload protection, limit protection, emergency stop button, etc. When the gantry crane has abnormal conditions such as overload and overtravel, the safety protection device can respond in time to stop the operation of the gantry crane to protect the safety of equipment and personnel. The equipment is uniquely designed and uses a trapezoidal screw mechanical self-locking to ensure safety. At the same time, it has the characteristics of low cost, high reliability and strong environmental adaptability.

[0016] The equipment also has a high-precision synchronous lifting system, which uses advanced control technology and sensors to achieve precise synchronous movement of multiple lifting components, ensuring the stability and accuracy of the gantry crane during lifting operations. In terms of technological innovation, it integrates intelligent control technology, which can automatically adjust lifting parameters according to different working scenarios and load conditions, improving work efficiency and safety.

[0017] The fully electric design according to the present invention can improve energy efficiency and reduce energy waste and consumption compared to traditional hydraulic or pneumatic drive methods. Secondly, the synchronous jacking function ensures the stability and accuracy of the jacking process. Through precise control, problems such as equipment tilting and material falling caused by asynchronous jacking are avoided, and the safety and reliability of the operation are improved. Furthermore, the precision design enables the gantry crane equipment to achieve high-precision lifting during operation. For example, when lifting the assembly of precision parts, the lifting error can be controlled within a very small range, ensuring the integrity and safety of the items. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0019] Figure 1 It is a three-dimensional axonometric schematic diagram of the present invention.

[0020] Figure 2 It is a main schematic diagram of the present invention.

[0021] Figure 3 It is a side view schematic diagram of the present invention.

[0022] Figure 4 It is a top view schematic diagram of the present invention.

[0023] Figure 5 It is a schematic diagram of the hoisting state of the present invention. DETAILED DESCRIPTION

[0024] 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 described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that the present invention is an improvement on equipment components and does not involve improvements to circuits and control programs. The present invention only controls the operation and stop of various electronic devices through a PLC control system. Since the PLC control system is a mature automatic control system in industry, the present invention will not repeat the circuit and control program content.

[0026] In the description of the present invention, it should be understood that the terms "vertical", "lateral", "up", "down", "front", "back", "left", "right", "horizontal", "top", "bottom", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0028] like Figure 1 As shown, Example 1, a synchronous jacking gantry crane device, includes a pad box track 1 and an electric-driven gantry main frame arranged on the pad box track 1; the pad box track 1 and the electric-driven gantry main frame can adopt a modular design, and each module product has a small size and convenient transportation, which is convenient for transportation and installation in small spaces and small-turn tunnels such as complex mines and underground. The electric-driven gantry main frame described in this embodiment includes two groups of electric lifting actuators 4 and a bridge-type double beam 5 connected to the two groups of electric lifting actuators 4. The structure of the bridge-type double beam 5 serves as the lifting load-bearing beam of the gantry crane and the lateral translation track carrier of the overhead crane. The structural performance meets the load-bearing requirements of dynamic loads. At the same time, in order to meet the transportation needs; the double beams are all bolted assembly structures. The electric lifting actuator 4 is connected to the control system, and through the joint control of the servo drive, the overall lifting and lowering of the gantry crane is realized to ensure the synchronization of lifting. The bridge double beam 5 is provided with a crane hoisting mechanism 9 that can move along the bridge double beam 5. The crane hoisting mechanism 9 is connected to the control system to precisely control its hoisting. The electric lifting actuator 4 moves along the cushion box track 1 through the traveling trolley 3. The traveling trolley is equipped with a variable frequency motor, and the trolley controlled by the frequency converter realizes the synchronization of longitudinal movement and the adjustability of the moving speed. At the same time, the feedback of the encoder is increased to ensure the fine control of the current at startup, reduce the energy waste of the startup heat loss, and also protect the motor and the frequency converter from being easily damaged, truly realizing energy saving and high efficiency, mobile closed-loop control and high-precision displacement.

[0029] The synchronous lifting gantry crane device also includes an intelligent control system, which includes a PLC controller, a touch screen human-machine interface and a communication module. The user can set the working parameters of the gantry crane through the touch screen, such as lifting height, speed, lifting and moving speed, etc. The PLC controller automatically controls the operation of the gantry crane according to the set parameters. At the same time, the communication module can transmit the operating status of the gantry crane to the remote monitoring center in real time, which is convenient for management personnel to conduct remote monitoring and fault diagnosis. Build an intelligent control system to realize the automatic operation and remote monitoring of the gantry crane.

[0030] The above-mentioned fully electric jacking gantry cranes all use electric drive precision control. During TBM assembly, AI algorithms can be used to design and optimize the hoisting process of large-tonnage components such as hoisting, turning over, and installation, realizing automatic hoisting, automatic turning over, and automatic assembly, avoiding the safety risks of manual operation, and greatly improving safety and efficiency. In addition, the entire TBM assembly process can also be based on the hoisting process flow of the database, and cooperate with visual cameras to realize the automated assembly of the entire TBM, laying the foundation for unmanned assembly in the later stage.

[0031] like Figure 5 As shown, Example 2 is a synchronous jacking type gantry crane device. Based on Example 1, this embodiment is further optimized. The bridge-type double beam 5 in this embodiment is a double beam structure composed of two longitudinal beams 51 and two transverse beams 52; the maximum load is increased. The two longitudinal beams 51 are connected to the corresponding two sets of electric lifting actuators 4, the two transverse beams 52 are connected in parallel between the two longitudinal beams 51, and the overhead crane hoisting mechanism 9 is connected to the corresponding two transverse beams 52. Preferably, the longitudinal beams 51 and the transverse beams 52 are both spliced ​​by several sections of steel beams, and the longitudinal beams 51 and the corresponding transverse beams 52 are connected by welding or bolts, preferably by bolts. The bridge-type double-beam structure serves as the hoisting load-bearing beam of the gantry crane and the lateral translation track carrier of the overhead crane. The structural performance meets the dynamic load-bearing requirements and at the same time meets the transportation requirements. The double beams are bolted together and assembled. The two longitudinal beams on both sides and the two cross beams in the middle can be bolted together and assembled on site. The two cross beams in the middle can be installed separately, and the cross beam is a splicing structure with a middle break, which further reduces the length of the cross beam and is easy to transport. As a preferred solution, the cross beam 52 is a double-beam structure, and the cross beam is spliced ​​or bolted by at least two steel beams along the length direction. The above design can adjust the length of the cross beam, so that the width of the overall equipment can be adjusted to meet different assembly space requirements.

[0032] As a preferred mode, the crane hoisting mechanism 9 in this embodiment includes a crane 91 and a rotating hook 10 arranged on the crane 91. The crane 91 cooperates with a slide rail 92 arranged on the crossbeam 52. An electric drive member 7 is arranged between the crane 91 and the corresponding longitudinal beam 51. The electric drive member 7 drives the crane 91 to move along the slide rail 92. In the specific implementation, as a preferred mode, corresponding limit devices 11 are arranged at both ends of the slide rail 92. The limit devices can adopt limit blocks. The electric drive member 7 is an electric telescopic rod. One end of the electric telescopic rod is connected to the corresponding longitudinal beam 51 through a hinged fixed seat 6, and the other end is connected to the crane 91 through a hinged movable seat 8.

[0033] The overhead crane is located at the top of the beam and is driven by an electric actuator on one side to achieve lateral movement. The overhead crane structure consists of a beam body, walking rollers, a rotatable hook, and a limit device on the beam. During hoisting, its rotatable fixed hook is connected to the sling. When the heavy object rises, the overhead crane is loaded on the beam and the electric actuator is used to push the overhead crane to move left and right for hoisting. The overhead crane contacts the beam and achieves rolling friction through steel wheels and tracks. Limit devices are set at both ends of the track to prevent the overhead crane from exceeding the range of motion.

[0034] like Figure 2 , 3 As shown in 4, Example 3 is a synchronous lifting door crane device. Based on Example 1, this embodiment is further optimized. Each group of electric lifting actuators 4 includes four electric cylinders 41. The four electric cylinders 41 are divided into two groups to support the corresponding longitudinal beams 51. The electric lifting actuator is installed on the walking trolley and is divided into two groups on the left and right. Each group has 4 electric cylinders. Every 2 electric cylinders are connected by a clamp and a diagonal tie rod to ensure their stability. Each electric cylinder is equipped with a servo motor and a separate servo driver. A worm reducer is arranged under the servo motor. The rotation of the motor is transmitted to the rolled and ground trapezoidal screw with lifting execution, and the rotation is converted into linear motion to realize the lifting and lowering function of the trapezoidal screw; through the joint control of 8 servo drivers, the overall lifting and lowering of the door crane is realized.

[0035] In this embodiment, in order to further improve the stability of the device, the four electric cylinders of the same group of electric lifting actuators 4 are connected by a stabilizing rod 13, and the stabilizing rod 13 is connected to the corresponding electric cylinder 41 through a hoop 12. Two corresponding electric cylinders are connected by two stabilizing rods arranged in an X shape to ensure their stability during the lifting process. That is, the lifting mechanism of the door crane device is a servo electric actuator module, which is distributed on both sides of the door crane and controls the lifting function of the lifting at the same time, with high lifting efficiency and good stability. Its built-in trapezoidal screw can achieve mechanical self-locking, high-precision lifting, high synchronization, long service life, and simple later maintenance. It is controlled by a servo driver, and its program is simple, which is convenient for later intelligent control and digital transformation.

[0036] As an implementation method in this embodiment, the cushion box track 1 is formed by splicing a number of prefabricated steel boxes, and two adjacent prefabricated steel boxes are connected by welding or bolts; both the front and rear ends of the cushion box track 1 are provided with limit baffles 2. The prefabricated steel box can be a steel cushion box with a walking track, which is laid on the ground. The cushion box is the bottom device of the door crane in contact with the ground and is divided into left and right sides; each side of the cushion box is formed by bolting and assembling each section of the prefabricated box, and limit baffles are set at both ends to realize the function of the walking track of the door crane.

[0037] As an implementation method in this embodiment, the walking trolley 3 includes a body, a steel roller with a brake device and a drive motor for driving the steel roller to rotate are provided on the body, and an encoder is provided on the drive motor. The walking trolley is located on the walking trolley structure arranged on both sides of the cushion box of the walking track. The walking trolley on each side is internally provided with a steel roller, a transmission device, a brake device, a reducer, a drive motor and a control feedback walking encoder; when it moves longitudinally, the motors on the left and right sides controlled by the inverter drive the reducer and transmit the torque to the steel roller to realize the longitudinal movement device of the entire traveling crane. When walking, the encoder is responsible for feedback of the motor output and the walking distance.

[0038] In this embodiment, as an implementation method, an industrial camera 14 is provided on the electric-driven gantry main frame; the gantry crane device adds a visual camera, which can realize remote control of lifting and safety monitoring, and store lifting data and establish a lifting database to facilitate later standardized and intelligent management.

[0039] The present invention adopts a fully electric drive and abandons the traditional hydraulic system, eliminating the risk of oil leakage, being more environmentally friendly, and having a more direct drive and high efficiency; the fully electric drive system includes a servo motor, a variable frequency motor, and an electronic control device to drive the gantry crane to rise and fall, and to move horizontally and vertically; the electric actuator has a built-in precision reducer and a ground screw to achieve precise lifting and lowering of the gantry crane, and the built-in encoder can realize synchronous movement of the actuators on the left and right sides.

[0040] In order to ensure the safe operation of the gantry crane, the present invention is equipped with multiple safety protection devices, including overload protection, limit protection, emergency stop button, etc. When the gantry crane encounters abnormal conditions such as overload and overtravel, the safety protection device can respond in time and stop the operation of the gantry crane to protect the safety of equipment and personnel. The equipment adopts a unique design and mechanical self-locking of a trapezoidal lead screw to ensure safety. At the same time, it has the characteristics of low cost, high reliability and strong environmental adaptability.

[0041] In addition, the equipment also has a high-precision synchronous lifting system, which uses advanced control technology and sensors to achieve precise synchronous movement of multiple lifting components, ensuring the stability and accuracy of the gantry crane during lifting operations. In terms of technological innovation, it integrates intelligent control technology, which can automatically adjust the lifting parameters according to different working scenarios and load conditions, improving work efficiency and safety.

[0042] The installation steps of the fully electric jacking gantry crane of the present invention are as follows: (1) The modular walking track pads are laid at the specified spacing on the left and right sides, and the pads are laid to meet the length requirements according to the TBM hoisting and walking distance.

[0043] (2) Arrange the walking trolleys on both sides on the walking pad box, match the steel wheels of the walking trolleys with the walking beams, and install the limit devices.

[0044] (3) There are 4 predetermined installation bearing surfaces on the trolley to facilitate the installation and erection of the base of the electric lifting actuator. Use a hand winch or an auxiliary crane to erect the electric actuators in groups on the trolley and bolt them. At this time, the trolley is limited and cannot move. Use clamps and stabilizing rods to connect and fix each group of erected electric actuators. After the 8 electric cylinders, i.e. 8 electric actuators, on the trolleys on the left and right sides are fixed, use inclined steel wire ropes to stabilize and prevent tipping, so as to proceed to the next step of installation.

[0045] (4) The bridge-type double-beam structural parts are pre-assembled on the ground. After the two cross beams are assembled, they are connected to the support beams on the left and right sides. After the overall assembly, calibration and adjustment are performed to ensure the preload of the connecting parts. Then, a crane or hand winch is used to lift it to the top of the electric actuator and connect it to the electric actuator in an articulated manner. During the connection, the pins are inserted one by one and the pins are prevented from falling off. After the installation is completed, the inclined wire rope is removed.

[0046] (5) Install the overhead crane lifting mechanism. After the bridge-type double-beam structural parts are installed and leveled, use a crane to lift the overhead crane to the top of the double beams. The track and the overhead crane steel wheels are matched, and limit devices are set at both ends. A rotatable hook is installed in the middle of the overhead crane to facilitate the adjustment of the sling and wire rope; one side of the overhead crane is hinged and connected to the electric drive installed on the side of the beam to realize the lateral movement of the overhead crane.

[0047] (6) Install the control system and industrial camera. The control system is connected to one side of the trolley and equipped with a wireless remote control handle. The industrial camera is installed on the beam to take pictures and store images of the lifting process. The algorithm is then used to optimize the lifting process and record the entire TBM assembly process, and automated assembly is achieved through the control program.

[0048] The operating principle of the fully electric lifting gantry crane of the present invention is: (1) After the 8 electric actuators are at their lowest position, hang the wire rope and lifting equipment on the hook.

[0049] (2) Eight electric actuators are lifted and lowered synchronously, and the suspended parts are slowly lifted to the ground and lowered to the ground.

[0050] (3) The top electric drive part extends and retracts, pushing the overhead crane to drive the suspended parts to achieve horizontal movement.

[0051] (4) The trolleys on both sides of the bottom move along the track pad box, driving the suspended parts to move in the front and rear directions.

[0052] (5) The trolleys on both sides of the bottom move and the eight electric actuators are lifted or lowered at the same time to realize the turning action of TBM components such as the TBM cutter head 15. Figure 5 shown.

[0053] The fully electric design according to the present invention can improve energy efficiency and reduce energy waste and consumption compared to traditional hydraulic or pneumatic drive methods. Secondly, the synchronous jacking function ensures the stability and accuracy of the jacking process. Through precise control, problems such as equipment tilting and material falling caused by asynchronous jacking are avoided, and the safety and reliability of the operation are improved. Furthermore, the precision design enables the gantry crane equipment to achieve high-precision lifting during operation. For example, when lifting the assembly of precision parts, the lifting error can be controlled within a very small range, ensuring the integrity and safety of the items.

[0054] 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 principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A synchronous jacking door hanging device, characterized in that: The invention comprises a cushion box track (1) and an electrically driven gantry main frame arranged on the cushion box track (1); the electrically driven gantry main frame comprises two groups of electrically driven lifting actuators (4) and a bridge-type double beam (5) connected to the two groups of electrically driven lifting actuators (4); the bridge-type double beam (5) is provided with an overhead crane hoisting mechanism (9) capable of moving along the bridge-type double beam (5); and the electrically driven lifting actuator (4) moves along the cushion box track (1) via a traveling trolley (3).

2. The synchronous lifting door hanging device according to claim 1 is characterized in that: An industrial camera (14) is provided on the electric-driven portal main frame; the bridge-type double beam (5) is a double beam structure consisting of two longitudinal beams (51) and two transverse beams (52), the two longitudinal beams (51) are connected to two corresponding sets of electric lifting actuators (4), the two transverse beams (52) are connected in parallel between the two longitudinal beams (51), and the overhead crane hoisting mechanism (9) is connected to the corresponding two transverse beams (52).

3. The synchronous lifting door hanging device according to claim 2 is characterized in that: The overhead crane hoisting mechanism (9) comprises an overhead crane (91) and a rotating hook (10) arranged on the overhead crane (91); the overhead crane (91) cooperates with a slide rail (92) arranged on a crossbeam (52); an electric drive component (7) is arranged between the overhead crane (91) and the corresponding longitudinal beam (51); the electric drive component (7) drives the overhead crane (91) to move along the slide rail (92).

4. The synchronous lifting door hanging device according to claim 3 is characterized in that: Corresponding limit devices (11) are provided at both ends of the slide rail (92); the electric drive member (7) is an electric telescopic rod, one end of which is connected to the corresponding longitudinal beam (51) via a hinged fixed seat (6), and the other end of which is connected to the overhead travelling crane (91) via a hinged movable seat (8).

5. The synchronous lifting door hanging device according to claim 2 is characterized in that: The longitudinal beam (51) and the cross beam (52) are both formed by splicing a plurality of steel beam sections, and the longitudinal beam (51) and the corresponding cross beam (52) are connected by welding or bolts.

6. The synchronous lifting door hanging device according to claim 5 is characterized in that: The crossbeam (52) is a double-beam structure, and the crossbeam (52) is formed by at least two steel beams being spliced ​​or bolted together along the length direction.

7. The synchronous lifting door hanging device according to claim 2, 5 or 6, characterized in that: Each group of electric lifting actuators (4) includes four electric cylinders (41), and the four electric cylinders (41) are divided into two groups to support corresponding longitudinal beams (51).

8. The synchronous lifting door hanging device according to claim 7 is characterized in that: The four electric cylinders of the same group of electric lifting actuators (4) are connected via a stabilizing pull rod (13), and the stabilizing pull rod (13) is connected to the corresponding electric cylinder (41) via a hoop member (12).

9. The synchronous lifting door hanging device according to claim 1 or 8, characterized in that: The box-shielding track (1) is formed by splicing a plurality of prefabricated steel boxes, and two adjacent prefabricated steel boxes are connected by welding or bolts; both front and rear ends of the box-shielding track (1) are provided with limit baffles (2).

10. The synchronous lifting door hanging device according to claim 1 or 8, characterized in that: The walking trolley (3) comprises a vehicle body, on which a steel roller with a brake device and a drive motor for driving the steel roller to rotate are provided, and an encoder is provided on the drive motor.

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