Multi-field information hydraulic torque conversion anti-impact system and method for portal crane

Abstract

The invention provides a multi-field information hydraulic variable torque anti-impact system and method for a portal crane, and the system comprises a gate groove state real-time monitoring system which is installed on a grabbing beam of the portal crane, enters underwater along with the operation of the grabbing beam of the portal crane, and is used for carrying out the real-time monitoring of the gate groove state of a gate; the hydraulic torque converter buffering device is mounted in a machine room of a hoisting mechanism of the portal crane and is used for enabling impact load generated by the mechanism to realize dynamic buffering and energy absorption through circulating oil in the hydraulic torque converter when a gate is in an abnormal jamming working condition, so that the damage of mechanical impact to a transmission chain is reduced; the multi-physics field signal fusion decision-making system comprises a signal detection device, a data processing module and a control system, is mounted in an electrical room of the portal crane and is communicated with the gate slot state real-time monitoring system, and an early warning signal sent by the gate slot state real-time monitoring system is transmitted to the multi-physics field signal fusion decision-making system; the multi-physical field signal fusion decision-making system is combined with real-time monitoring data to carry out comprehensive judgment, and reasonable control measures are taken.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, and particularly to a multi-field information hydraulic torque converter anti-shock system and method for gantry cranes. Background Art

[0002] During the operation of a hydropower station, gantry cranes are often used to open and close the gates. When a gantry crane opens and closes the gate at a high speed, if the gate gets stuck in the gate slot, the hoisting mechanism will bear a certain impact load, which may cause varying degrees of damage to the hoisting mechanism, affect the normal operation and service life of the equipment, and even may lead to safety accidents. Therefore, an effective system is needed to prevent such impact situations and ensure the equipment safety of the gantry crane during high-speed operation. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above deficiencies and provide a multi-field information hydraulic torque converter anti-shock system and method for gantry cranes. The system effectively prevents the impact on the hoisting mechanism when the gate gets stuck through early warning, buffer devices, and multi-physical field signal fusion decision-making means, and ensures the equipment safety of the gantry crane.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: A multi-field information hydraulic torque converter anti-shock system for gantry cranes, including: A real-time monitoring system for the gate slot state, installed on the grab beam of the gantry crane and entering underwater as the grab beam of the gantry crane runs, for real-time monitoring of the gate slot state of the gate; A hydraulic torque converter buffer device, installed in the hoisting mechanism machine room of the gantry crane, for when an abnormal condition of the gate getting stuck occurs, enabling the impact load generated by the mechanism to achieve dynamic buffer energy absorption through the circulating oil in the hydraulic torque converter, thereby reducing the damage to the transmission chain caused by mechanical impact; A multi-physical field signal fusion decision-making system, including a signal detection device, a data processing module, and a control system, installed in the electrical room of the gantry crane, communicating with the real-time monitoring system for the gate slot state at the same time. The early warning signal sent by the real-time monitoring system for the gate slot state is transmitted to the multi-physical field signal fusion decision-making system, and the multi-physical field signal fusion decision-making system makes a comprehensive judgment based on the real-time monitoring data and takes reasonable control measures.

[0005] Preferably, the real-time monitoring system for the gate slot state includes: An underwater monitoring unit, installed on the grab beam of the gantry crane and entering underwater as the grab beam of the gantry crane runs, for monitoring the underwater situation around the gate; An operation guiding unit, used to control the running route of the underwater monitoring unit, so that it can run between the grab beam of the gantry crane and the gate; A signal transmission unit, which is used to connect the underwater monitoring unit and transmit the underwater signals monitored by the underwater monitoring unit to the data processing unit; A data processing unit, installed in the electrical room of the gantry crane, which is used to analyze the data monitored by the underwater monitoring unit and control its operation; A cable storage unit, installed on the grab beam of the gantry crane, and is used to tension and store the cables of the signal transmission unit during the operation of the underwater monitoring unit.

[0006] Preferably, the underwater monitoring unit includes a magnetically attached mobile trolley. The magnetically attached mobile trolley is composed of a driving front body and a follower rear body hinged by a pin shaft. The driving front body and the follower rear body are equipped with permanent magnet adsorption wheels. A driving mechanism for providing power and a tension monitoring sensor for monitoring the cable tension are installed inside the driving front body. A positioning device is installed on the driving front body and is used to achieve precise positioning and position control.

[0007] Preferably, the magnetically attached mobile trolley can selectively move onto the parking track or the gate walking track under the action of a rotating rail-changing mechanism. The rotating rail-changing mechanism is installed on the base on the grab beam of the gantry crane. The parking track is installed on the base, the base is installed on the grab beam of the gantry crane, and the gate walking track is installed on the gate and arranged along its height direction.

[0008] Preferably, an underwater camera and a multi-beam three-dimensional sonar imaging device are installed on the driving front body in a matching manner; The underwater camera is used to assist in obtaining optical image data of the gate operation area and identifying the operation guiding unit to guide the operation of the magnetically attached mobile trolley; The multi-beam three-dimensional sonar imaging device is used to obtain high-precision three-dimensional image data of the underwater operation area of the gate; A protective cover is arranged outside the lenses of the underwater camera and the multi-beam three-dimensional sonar imaging device. The protective cover is made of a corrosion-resistant material, and an anti-biofouling coating is applied on the outer surface of the protective cover.

[0009] Preferably, the signal transmission unit is composed of a zero-buoyancy underwater cable, a cable joint, and a signal relay device. One end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and one end is connected to the signal relay device. The signal relay device is connected to the port of the grab beam follow-up cable of the gantry crane; Among them, the underwater monitoring data is transmitted to the data processing unit installed in the electrical room of the gantry crane via the zero-buoyancy underwater cable, the signal relay device, and the grab beam follow-up cable to realize communication between the two.

[0010] Preferably, the cable storage unit includes a cable reel on which a zero-buoyancy underwater cable is wound and stored. A disc-shaped stainless-steel spring is built into the cable reel, which has a constant-tension control function to realize the automatic retraction and extension of the cable and ensure that the cable is always in a tensioned state. When the magnetic adsorption type mobile trolley moves downward, it pulls the cable, and the disc-shaped stainless-steel spring is stretched under force; when the magnetic adsorption type mobile trolley moves upward, the disc-shaped stainless-steel spring recovers and pulls the cable upward for winding on the cable reel. During the operation of the magnetic adsorption type mobile trolley, the tension monitoring sensor continuously monitors the cable tension. According to the feedback signal of the tension monitoring sensor, the running speed of the magnetic adsorption type mobile trolley is adjusted to ensure that the cable is always in a constant-tension state.

[0011] Preferably, the operation guiding unit is composed of a base, a rotating track-changing mechanism, a parking track, a gate walking track, and a safety baffle. The base provides a safe and reliable installation foundation for the underwater monitoring unit's parking track and the rotating track-changing mechanism, and is provided with a protective cover. The rotating track-changing mechanism and the parking track are installed on the base in cooperation. The top of the gate walking track is provided with a diversion track to adapt to the track surface of the gate rotating track-changing mechanism and achieve a smooth transition between the two tracks. The bottom end of the gate walking track is provided with a safety baffle.

[0012] Preferably, the rotating track-changing mechanism includes a waterproof motor fixed on the base. The output shaft of the waterproof motor is installed with a driving gear, which meshes and drives with an arc-shaped gear ring. The arc-shaped gear ring is rotatably installed inside an arc-shaped seat, and the arc-shaped seat is arranged inside the base. A rotating track is installed on the inner wall of the arc-shaped gear ring.

[0013] Preferably, the data processing unit consists of an industrial control computer and a human-machine interaction interface. The industrial control computer is used to realize sonar data processing, image recognition, and early warning judgment. The human-machine interaction interface is used to display relevant information such as the underwater model of the gate slot, the general shape of foreign objects in the water, the height of the gate from the bottom of the gate slot, and the width of the gate slot. By installing an industrial control computer and a human-machine interaction interface at a suitable position in the driver's cab of the gantry crane and communicating with the electrical control system of the gantry crane, according to the set judgment conditions, a pop-up window is used to remind the driver and control the gantry crane to stop running when necessary.

[0014] Preferably, the hydraulic torque converter buffer device includes a hydraulic torque converter installed between the output shaft of the hoisting mechanism driving motor and the brake. The hydraulic torque converter realizes flexible power transmission through a hydraulic coupler and rotates synchronously with the hoisting mechanism driving motor under normal working conditions to transmit torque to the hoisting mechanism drum. The hydraulic torque converter is configured with a closed-loop water cooling system, and the working oil temperature is regulated in real time through a plate heat exchanger to ensure that the hydraulic transmission medium is always in the best viscosity range.

[0015] Preferably, the signal detection device includes a motor rotation speed sensor, an inverter output current sensor, a hoisting mechanism load sensor, and a hydraulic torque converter temperature sensor installed on the hoisting mechanism, which collect data on the motor rotation speed, the inverter output current, the code value of the hoisting mechanism load sensor, and the internal temperature value of the hydraulic torque converter in real time; It further includes a camera installed in the hoisting mechanism machine room to monitor the rotation state of the fixed pulley in real time; The data processing module performs filtering and noise reduction preprocessing on the data collected by the signal detection device to remove interference signals and improve the accuracy of the data; By dividing the preprocessed data into a training set and a test set, using the training set to train the BP neural network, adjusting the weights and thresholds of the neural network, enabling the neural network to learn the characteristics and laws of each physical quantity during normal operation and gate jamming, and using the test set to test the trained BP neural network to evaluate the accuracy and reliability of its judgment.

[0016] Preferably, during the actual operation process, the real-time collected and preprocessed data is input into the trained BP neural network for judgment. If the judgment result shows that the gate is jammed, the control system controls the gantry crane to decelerate or stop according to the severity of the jamming situation.

[0017] On the other hand, the present invention provides an operation method for a multi-field information hydraulic torque converter anti-shock system of a gantry crane, including the following steps: (1) Monitor the gate slot state in real time and give early warnings: 1) Gate operation monitoring: The grab beam of the gantry crane is connected to the gate, and the magnetic adsorption mobile trolley runs, adsorbing on the track and moving from the grab beam of the gantry crane to the bottom of the gate; The cable drives the cable reel to rotate as the trolley runs, stretching the disc-shaped stainless steel spring to keep the cable in a tensioned state; After the gate runs into the water, the multi-beam three-dimensional sonar continuously scans the gate operation area to obtain a high-precision three-dimensional image of the underwater environment; the underwater camera is used to assist in obtaining optical images for verifying the sonar data; the data processing unit analyzes the sonar data to establish a three-dimensional model of the underwater environment; key parameters such as the distance between the gate and the gate slot and the integrity of the gate slot structure are monitored in real time; When the gate falls to the bottom of the gate slot, the system sends an instruction, and the magnetic adsorption mobile trolley runs towards the upper edge of the gate. The cable is received under the action of the elastic force of the stretched disc-shaped stainless steel spring and winds around the cable reel. After the magnetic adsorption mobile trolley runs to the upper edge of the gate, it moves to the grab beam of the gantry crane through the rotating rail-changing mechanism, and scans and monitors the situation above the grab beam of the gantry crane in real time; When the gate rises above the water surface, the sonar is turned off; 2) Abnormal warning handling During the operation of the gate, when potential obstacles or abnormal gate slot structures are detected at a certain elevation, the system issues a warning signal. Among them, when the distance between the bottom of the gate and this elevation is less than 1 meter, a pop-up warning appears on the man-machine interface in the driver's cab to remind the driver to observe and judge; when the distance from this elevation is less than 50 centimeters, the system pops up a window to ask the driver whether to slow down and continuously reminds the driver to pay attention; (2) Warning failure, gate jamming, and the hydraulic torque converter buffers impact loads: If the real-time monitoring system of the gate slot state fails to predict abnormal situations in time, resulting in the gate getting jammed, the impact load on the hoisting mechanism is buffered and absorbed by the oil in the hydraulic torque converter, reducing the direct impact on the hoisting mechanism; (3) The multi-physical field signal fusion decision-making system intervenes to control the gantry crane: When the gate gets jammed, the hydraulic torque converter buffers the impact load, and the rotational speed of the hoisting mechanism motor, the output current of the frequency converter, the code value of the load sensor of the hoisting mechanism, the internal temperature value of the hydraulic torque converter, and the rotational state of the fixed pulley group all change. The real-time collected data is input into the BP neural network. Combining with the data of the real-time monitoring system of the gate slot state, the multi-physical field signal fusion decision-making system judges the severity of the gate jamming and controls the gantry crane to slow down or stop through the control module.

[0018] The present invention has the following beneficial effects: 1. Through early warning, buffer devices, and multi-physical field signal fusion decision-making means, the system effectively prevents the impact on the hoisting mechanism when the gate gets jammed, ensuring the equipment safety of the gantry crane.

[0019] 2. The structure of the present invention is simple, the technology is mature, and the manufacturing and installation are easy.

[0020] 3. Through real-time monitoring and accurate warning, the present invention can effectively prevent mechanical jamming failures that may occur during the operation of the gate, ensuring the safe and stable operation of the gantry crane, and has important engineering application value.

[0021] 4. The hardware installation method of the present invention is flexible and has strong versatility. It can be applied to various types and specifications of gantry cranes and has a wide application prospect Description of the Drawings The following further illustrates the present invention in conjunction with the drawings and embodiments.

[0022] Figure 1 It is the overall structure diagram of the present invention.

[0023] Figure 2 It is for the present invention Figure 1 The partial structure diagram in.

[0024] Figure 3 This is a schematic diagram of the multi-field information hydraulic torque converter anti-shock system for the gantry crane of the present invention.

[0025] Figure 4 This is a schematic diagram of the underwater monitoring unit of the present invention.

[0026] Figure 5 This is a schematic diagram of the guiding line and track of the present invention.

[0027] Figure 6 This is the present invention Figure 5 The partial structure diagram in.

[0028] Figure 7 This is the structure diagram of the hydraulic torque converter buffer device of the present invention.

[0029] Figure 8 This is a schematic diagram of the multi-physical field signal fusion decision-making system of the present invention.

[0030] In the figure: the water intake of the hydropower station 0, the gate slot 01, the grab beam 02 of the gantry crane, the gate 03, the real-time monitoring system 1 of the gate slot state; The base 10, the magnetic adsorption mobile trolley 11, the rotating track-changing mechanism 12, the parking track 13, the cable storage unit 14, the gate walking track 15, the safety baffle 16, the hydraulic torque converter buffer device 17, the hoisting mechanism driving motor 18, the brake 19, the gearbox 20; The driving front body 11-1, the underwater camera 11-2, the multi-beam three-dimensional sonar imaging device 11-3, the following rear body 11-4, the pin shaft 11-5, the permanent magnet adsorption wheel 11-6; The waterproof motor 12-1, the rotating track 12-2, the driving gear 12-3, the arc-shaped gear ring 12-4, the arc-shaped seat 12-5; The cable reel 14-1, the disc-shaped stainless steel spring 14-2; The hydraulic torque converter 17-1. Specific implementation manners

[0031] The following further describes the present invention in detail with reference to the embodiments of the drawings. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0032] Embodiment 1: Refer to Figure 1-8, The multi-field information hydraulic torque converter anti-shock system for gantry cranes includes: a real-time monitoring system for the gate slot state, installed on the grab beam 02 of the gantry crane and entering the water as the grab beam 02 of the gantry crane operates, for real-time monitoring of the gate slot state of the gate 03; a hydraulic torque converter buffer device 17, installed in the hoisting mechanism machine room of the gantry crane, for when the gate 03 has abnormal working conditions such as jamming, enabling the impact load generated by the mechanism to achieve dynamic buffer energy absorption through the circulating oil in the hydraulic torque converter 17-1, thereby reducing the damage of mechanical impact to the transmission chain; a multi-physical field signal fusion decision-making system, including a signal detection device, a data processing module, and a control system, installed in the electrical room of the gantry crane, communicating with the real-time monitoring system for the gate slot state at the same time. The early warning signal sent by the real-time monitoring system for the gate slot state is transmitted to the multi-physical field signal fusion decision-making system, and the multi-physical field signal fusion decision-making system makes a comprehensive judgment based on the real-time monitoring data and takes reasonable control measures.

[0033] Further, the real-time monitoring system 1 for the gate slot state includes: an underwater monitoring unit, installed on the grab beam 02 of the gantry crane and entering the water as the grab beam 02 of the gantry crane operates, for monitoring the underwater conditions around the gate 03; an operation guiding unit, for controlling the operation route of the underwater monitoring unit, so that it can operate between the grab beam 02 of the gantry crane and the gate 03; a signal transmission unit, for connecting the underwater monitoring unit and transmitting the underwater signals monitored by the underwater monitoring unit to the data processing unit; a data processing unit, installed in the electrical room of the gantry crane, for analyzing the data monitored by the underwater monitoring unit and controlling its operation; a cable storage unit 14, installed on the grab beam 02 of the gantry crane and used to tension and store the cables of the signal transmission unit during the operation of the underwater monitoring unit. By using the above underwater early warning system, the underwater conditions during the operation of the gate are monitored by the underwater monitoring unit, and the monitoring data is transmitted to the data processing unit, and then through the processing of the data processing unit, precise monitoring and safety early warning of the underwater operation area of the gate are realized, effectively preventing possible mechanical jamming problems during the operation of the gate.

[0034] Further, the underwater monitoring unit includes a magnetic adsorption mobile trolley 11. The magnetic adsorption mobile trolley 11 is composed of a driving front body 11-1 and a following rear body 11-4 hinged by a pin shaft 11-5. The driving front body 11-1 and the following rear body 11-4 are equipped with permanent magnet adsorption wheels 11-6. A driving mechanism for providing power and a tension monitoring sensor for monitoring the cable tension are installed inside the driving front body 11-1. A positioning device is installed on the driving front body 11-1 and used for precise positioning and position control. Through the above magnetic adsorption mobile trolley 11, the whole device can be carried to operate between the grab beam 02 of the gantry crane and the gate 03.

[0035] Furthermore, the magnetic adsorption mobile trolley can selectively move onto the parking track 13 or the gate traveling track 15 under the action of the rotation and track-changing mechanism 12. The rotation and track-changing mechanism 12 is installed on the base 10 of the gantry crane grab beam 02. The parking track 13 is installed on the base 10, and the base 10 is installed on the gantry crane grab beam 02. The gate traveling track 15 is installed on the gate 03 and is arranged along its height direction.

[0036] Furthermore, an underwater camera 11-2 and a multi-beam three-dimensional sonar imaging device 11-3 are cooperatively installed on the driving front body 11-1. The underwater camera 11-2 is used to assist in obtaining optical image data of the gate operation area and identifying the operation guiding unit to guide the operation of the magnetic adsorption mobile trolley. The multi-beam three-dimensional sonar imaging device 11-3 is used to obtain high-precision three-dimensional image data of the underwater operation area of the gate 03.

[0037] Furthermore, a protective cover 11-5 is arranged outside the lenses of the underwater camera 11-2 and the multi-beam three-dimensional sonar imaging device 11-3. The protective cover 11-5 is made of corrosion-resistant material, and the outer surface of the protective cover 11-5 is coated with an anti-biofouling coating. Thus, the normal operation of the underwater camera 11-2 and the multi-beam three-dimensional sonar imaging device 11-3 is ensured.

[0038] With the above structure, the multi-beam three-dimensional sonar imaging device and the underwater camera are installed on the magnetic adsorption mobile trolley to form a movable underwater monitoring unit. All its electrical interfaces adopt a radial and axial double waterproof sealing structure, and the metal parts are made of stainless steel material to ensure long-term stable operation in the underwater environment.

[0039] Furthermore, the signal transmission unit is composed of a zero-buoyancy underwater cable, a cable joint, and a signal relay device. One end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and the other end is connected to the signal relay device. The signal relay device is connected to the traveling cable port of the grab beam of the gantry crane. Among them, the underwater monitoring data is transmitted to the data processing unit installed in the electrical room of the gantry crane via the zero-buoyancy underwater cable, the signal relay device, and the traveling cable of the grab beam to achieve communication between the two.

[0040] Furthermore, for the zero-buoyancy underwater cable: a stainless steel armor layer is arranged inside the cable, which has good anti-tensile, anti-torsion, and anti-corrosion properties.

[0041] Furthermore, for the cable joint: it is made of stainless steel material and has a radial and axial double waterproof sealing structure.

[0042] Furthermore, for the signal relay device: it is used to achieve stable transmission of sonar signals, video signals, and control signals of the magnetic adsorption mobile trolley.

[0043] Further, the cable storage unit 14 includes a cable reel 14-1 on which a zero-buoyancy underwater cable is wound and stored. The cable reel 14-1 is internally provided with a disc-shaped stainless steel spring 14-2 which has a constant tension control function for automatically retracting and releasing the cable to ensure that the cable is always in a tensioned state, avoiding slack or excessive stretching.

[0044] Cable reel: Made of stainless steel, it has good corrosion resistance.

[0045] When the magnetic adsorption mobile trolley 11 moves downward, it pulls the cable and the disc-shaped stainless steel spring 14-2 is stretched under force; when the magnetic adsorption mobile trolley 11 moves upward, the disc-shaped stainless steel spring 14-2 recovers and pulls the cable upward for winding on the cable reel. During the operation of the magnetic adsorption mobile trolley 11, the tension monitoring sensor continuously monitors the cable tension. According to the feedback signal of the tension monitoring sensor, the running speed of the magnetic adsorption mobile trolley 11 is adjusted to ensure that the cable is always in a constant tension state.

[0046] Further, the operation guiding unit is composed of a base 10, a rotating track-changing mechanism 12, a parking track 13, a gate walking track 15 and a safety baffle 16. The base 10 provides a safe and reliable installation foundation for the underwater monitoring unit's parking track and the rotating track-changing mechanism 12 and is provided with a protective cover. The rotating track-changing mechanism 12 and the parking track 13 are cooperatively installed on the base 10. The top of the gate walking track 15 is provided with a diversion track for adapting to the track surface of the gate rotating track-changing mechanism 12 to achieve a smooth transition between the two tracks. The bottom of the gate walking track 15 is provided with a safety baffle 16.

[0047] Moreover, the base 10 is made of stainless steel, and the track 15 is a customized product with a diversion track at the top, mainly used for adapting to the track surface of the grab beam of the gantry crane to achieve a smooth transition between the two tracks. Its body material is made of corrosion-resistant stainless steel and is installed on the gate, which can meet the operation requirements of the magnetic adsorption mobile trolley from the grab beam to the gate.

[0048] Further, the rotating track-changing mechanism 12 includes a waterproof motor 12-1 fixed on the base 10. The output shaft of the waterproof motor 12-1 is installed with a driving gear 12-3 which meshes and drives with an arc-shaped gear ring 12-4. The arc-shaped gear ring 12-4 is rotatably installed inside an arc-shaped seat 12-5. The arc-shaped seat 12-5 is arranged inside the base 10, and a rotating track 12-2 is installed on the inner wall of the arc-shaped gear ring 12-4.

[0049] Further, the data processing unit consists of an industrial control computer and a human-machine interface. The industrial control computer is used to implement sonar data processing, image recognition, and early warning judgment; the human-machine interface is used to display relevant information such as the underwater model of the gate slot, the general shape of foreign objects in water, the height of the gate from the bottom of the gate slot, and the width of the gate slot. By installing the industrial control computer and the human-machine interface at a suitable position in the driver's cab of the gantry crane and communicating with the electrical control system of the gantry crane, according to the set judgment conditions, a pop-up window is used to remind the driver and control the gantry crane to stop running when necessary.

[0050] Further, the hydraulic torque converter buffer device 17 includes a hydraulic torque converter 17-1 installed between the output shaft of the hoisting mechanism drive motor 18 and the brake 19. The hydraulic torque converter 17-1 realizes flexible power transmission through a hydraulic coupler. Under normal working conditions, it rotates synchronously with the hoisting mechanism drive motor 18 and transmits torque to the hoisting mechanism drum. When abnormal conditions such as the gate getting stuck occur, the impact load generated by the mechanism is dynamically buffered and energy-absorbed through the circulating oil in the hydraulic torque converter, effectively reducing the damage of mechanical impact to the transmission chain.

[0051] To avoid the attenuation of oil viscosity caused by the increase in oil temperature of the hydraulic torque converter under continuous working conditions, the hydraulic torque converter 17-1 is equipped with a closed-loop water cooling system, and the working oil temperature is regulated in real time through a plate heat exchanger to ensure that the hydraulic transmission medium is always in the best viscosity range, guaranteeing the transmission efficiency and equipment reliability.

[0052] Further, the signal detection device includes a motor rotation speed sensor, a frequency converter output current sensor, a hoisting mechanism load sensor, and a hydraulic torque converter temperature sensor installed on the hoisting mechanism, which can collect data such as the motor rotation speed, the frequency converter output current, the code value of the hoisting mechanism load sensor, and the internal temperature value of the hydraulic torque converter in real time; It also includes a camera installed in the hoisting mechanism machine room to monitor the rotation state of the fixed pulley in real time; The data processing module performs filtering and noise reduction preprocessing on the data collected by the signal detection device to remove interference signals and improve the accuracy of the data; Collect a large amount of preprocessed data under different working conditions. By dividing the preprocessed data into a training set and a test set, use the training set to train the BP neural network, adjust the weights and thresholds of the neural network, so that the neural network can learn the characteristics and laws of each physical quantity under normal operation and gate jamming, and use the test set to test the trained BP neural network to evaluate the accuracy and reliability of its judgment.

[0053] Furthermore, during the actual operation, the data collected in real time and preprocessed is input into the trained BP neural network for judgment. If the judgment result shows that the gate is jammed, the control system controls the gantry crane to decelerate or stop according to the severity of the jamming situation.

[0054] Meanwhile, it communicates with the real-time monitoring system of the gate slot state, and the early warning signal sent by the real-time monitoring system of the gate slot state is transmitted to the multi-physical field signal fusion decision-making system. The decision-making system makes a comprehensive judgment by combining the real-time monitoring data and takes more reasonable control measures.

[0055] Embodiment 2: The operation method of the multi-field information hydraulic torque converter anti-shock system for gantry cranes is characterized by including the following steps: (1) Real-time monitoring of the gate slot state and early warning: 1) Gate operation monitoring: The grab beam 02 of the gantry crane is connected to the gate 03, and the magnetic adsorption mobile trolley 11 runs, adsorbs on the track, and moves from the grab beam 02 of the gantry crane to the bottom of the gate 03; The cable drives the cable reel 14-1 to rotate as the trolley runs, stretching the disc-shaped stainless steel spring 14-2 to keep the cable in a tensioned state; After the gate runs into the water, the multi-beam three-dimensional sonar continuously scans the gate operation area to obtain a high-precision three-dimensional image of the underwater environment; the underwater camera 11-2 assists in obtaining an optical image for verifying the sonar data; the data processing unit analyzes the sonar data to establish a three-dimensional model of the underwater environment; key parameters such as the distance between the gate and the gate slot and the integrity of the gate slot structure are monitored in real time; When the gate drops to the bottom of the gate slot, the system sends an instruction, and the magnetic adsorption mobile trolley 11 runs towards the upper edge of the gate. The cable is received under the action of the elastic force of the disc-shaped stainless steel spring 14-2 and winds around the cable reel. After the magnetic adsorption mobile trolley runs to the upper edge of the gate, it moves to the grab beam 02 of the gantry crane through the rotating track-changing mechanism 12, and the situation above the grab beam 02 of the gantry crane is scanned and monitored in real time; When the gate rises above the water surface, the sonar is turned off; 2) Abnormal early warning processing During the operation of the gate, when a potential obstacle or abnormal gate slot structure is detected at a certain elevation, the system issues an early warning signal. Among them, when the distance between the bottom of the gate and this elevation is less than 1 meter, a pop-up warning appears on the man-machine interface in the driver's cab to remind the driver to observe and judge; when the distance from this elevation is less than 50 cm, the system pops up a window to ask the driver whether to decelerate and continuously reminds the driver to pay attention; (2) The early warning fails, the gate is jammed, and the hydraulic torque converter buffers the impact load: If the real-time monitoring system of the gate slot fails and fails to predict abnormal situations in a timely manner, resulting in the jamming of the gate, the impact load on the hoisting mechanism is buffered and absorbed by the hydraulic fluid in the torque converter, reducing the direct impact on the hoisting mechanism; (3)The multi-physical field signal fusion decision-making system intervenes to control the gantry crane: When the gate jams, the torque converter buffers the impact load, and the rotational speed of the hoisting mechanism motor, the output current of the frequency converter, the code value of the load sensor of the hoisting mechanism, the internal temperature value of the torque converter, and the rotational state of the fixed pulley block all change. The real-time collected data is input into the BP neural network. Combining the data of the real-time monitoring system of the gate slot, the multi-physical field signal fusion decision-making system judges the severity of the gate jamming and controls the gantry crane to decelerate or stop through the control module.

[0056] Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. Multi-field information hydraulic torque conversion anti-shock system for gantry crane, characterized by: include: A gate slot state real-time monitoring system is installed on the gantry crane grab beam (02) and enters underwater as the gantry crane grab beam (02) moves, and is used to monitor the gate slot state of the gate (03) in real time; The hydraulic torque converter buffer device (17) is installed in the machine room of the hoisting mechanism of the gantry crane and is used to realize dynamic buffering and energy absorption of the impact load generated by the mechanism through the circulating oil in the hydraulic torque converter (17-1) when the gate (03) is stuck in an abnormal working condition, thereby reducing the damage to the transmission chain caused by the mechanical impact; The multi-physical field signal fusion decision system, including a signal detection device, a data processing module and a control system, is installed in the electrical room of the gantry crane and communicates with the real-time monitoring system for the door slot status. The early warning signal issued by the real-time monitoring system for the door slot status is transmitted to the multi-physical field signal fusion decision system. The multi-physical field signal fusion decision system makes a comprehensive judgment based on the real-time monitoring data and takes reasonable control measures.

2. According to claim 1, the multi-field information hydraulic torque conversion anti-shock system for gantry crane is characterized in that: The door slot status real-time monitoring system (1) comprises: An underwater monitoring unit is installed on the gantry crane grab beam (02) and moves underwater along with the gantry crane grab beam (02) to monitor the underwater conditions around the gate (03); An operation guide unit, used to reference and control the operation route of the underwater monitoring unit, thereby enabling it to operate between the gantry crane grab beam (02) and the gate (03); A signal transmission unit, used to connect to the underwater monitoring unit and transmit the underwater signal monitored by the underwater monitoring unit to the data processing unit; The data processing unit, installed in the electrical room of the gantry crane, is used to analyze the data monitored by the underwater monitoring unit and control its operation; The cable storage unit (14) is installed on the gantry crane grab beam (02) and is used to tension and store the cable of the signal transmission unit during the operation of the underwater monitoring unit.

3. According to claim 2, the multi-field information hydraulic torque conversion anti-shock system for gantry crane is characterized in that: The underwater monitoring unit comprises a magnetically attracted mobile trolley (11), the magnetically attracted mobile trolley (11) comprising a driving front body (11-1) and a follower rear body (11-4) articulated by a pin shaft (11-5), the driving front body (11-1) and the follower rear body (11-4) having permanent magnetic adsorption wheels (11-6), a driving mechanism for providing power and a tension monitoring sensor for monitoring cable tension installed inside the driving front body (11-1), and a positioning device installed on the driving front body (11-1) for achieving precise positioning and position control.

4. According to claim 3, the multi-field information hydraulic torque conversion anti-shock system for gantry crane is characterized in that: The magnetically attracted mobile trolley can selectively move to a parking track (13) or a gate travel track (15) under the action of a rotating track-changing mechanism (12), wherein the rotating track-changing mechanism (12) is mounted on a base (10) on a gantry crane grab beam (02), the parking track (13) is mounted on the base (10), the base (10) is mounted on the gantry crane grab beam (02), and the gate travel track (15) is mounted on the gate (03) and arranged along its height direction.

5. According to claim 4, the multi-field information hydraulic torque conversion anti-shock system for gantry crane is characterized in that: The driving front body (11-1) is cooperatively mounted with an underwater camera (11-2) and a multi-beam three-dimensional sonar imaging device (11-3); The underwater camera (11-2) is used to assist in acquiring optical image data of the gate operation area, and to identify the operation guide unit to guide the operation of the magnetic attraction type mobile vehicle; The multi-beam three-dimensional sonar imaging device (11-3) is used to obtain high-precision three-dimensional image data of the underwater operation area of ​​the gate (03); A protective cover (11-5) is arranged outside the lens of the underwater camera (11-2) and the multi-beam three-dimensional sonar imaging device (11-3); the protective cover (11-5) is made of corrosion-resistant material, and the outer surface of the protective cover (11-5) is coated with an anti-biological attachment coating.

6. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 5 is characterized in that: The signal transmission unit is composed of a zero-buoyancy underwater cable, a cable connector and a signal relay device. One end of the zero-buoyancy underwater cable is connected to the signal port of the underwater monitoring unit, and the other end is connected to the signal relay device. The signal relay device is connected to the accompanying cable port of the gantry crane grab beam. Among them, the underwater monitoring data is transmitted to the data processing unit installed in the gantry crane electrical room via the zero-buoyancy underwater cable, signal relay device, and grab beam accompanying cable to realize communication between the two.

7. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 5 is characterized in that: The cable storage unit (14) comprises a cable reel (14-1), the cable reel (14-1) being used for winding and storing a zero-buoyancy underwater cable, the cable reel (14-1) having a built-in disc-type stainless steel spring (14-2), the disc-type stainless steel spring (14-2) having a constant tension control function, and being used for realizing automatic retraction and release of the cable, thereby ensuring that the cable is always in a tensioned state; When the magnetic movable trolley (11) moves downward, the cable is pulled, and the disc-type stainless steel spring (14-2) is stretched; when the magnetic movable trolley (11) moves upward, the disc-type stainless steel spring (14-2) is restored, and the cable is pulled upward and stored, and wound on the cable reel; During the operation of the magnetically attracted mobile trolley (11), the tension monitoring sensor monitors the cable tension in real time, and adjusts the operating speed of the magnetically attracted mobile trolley (11) according to the feedback signal of the tension monitoring sensor, so as to ensure that the cable is always in a constant tension state.

8. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 5 is characterized in that: The operation guide unit is composed of a base (10), a rotating track changing mechanism (12), a parking track (13), a gate travel track (15) and a safety baffle (16); the base (10) is used to provide a parking track for the underwater monitoring unit and a safe and reliable installation foundation for the rotating track changing mechanism (12), and is provided with a protective cover; the rotating track changing mechanism (12) and the parking track (13) are cooperatively installed on the base (10), a turning track is provided at the top of the gate travel track (15) for adapting to the track surface of the door rotating track changing mechanism (12) to achieve a smooth transition between the two tracks, and a safety baffle (16) is provided at the bottom of the gate travel track (15).

9. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 8 is characterized in that: The rotating track changing mechanism (12) comprises a waterproof motor (12-1) fixed on a base (10); an output shaft of the waterproof motor (12-1) is mounted with a driving gear (12-3); the driving gear (12-3) is meshed with an arc-shaped gear ring (12-4) for transmission; the arc-shaped gear ring (12-4) is rotatably mounted inside an arc-shaped seat (12-5); the arc-shaped seat (12-5) is arranged inside the base (10); and a rotating track (12-2) is mounted on the inner wall of the arc-shaped gear ring (12-4).

10. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 9 is characterized in that: The data processing unit is composed of an industrial control computer and a human-computer interaction interface. The industrial control computer is used to realize sonar data processing, image recognition and early warning judgment; the human-computer interaction interface is used to display the underwater model of the gate slot, the general shape of foreign objects in the water, the height of the gate from the bottom of the gate slot, and the gate slot width related information; By installing an industrial control computer and a human-machine interaction interface at a suitable location in the gantry crane's cab and communicating with the gantry crane's electrical control system, a pop-up window will be displayed to remind the driver based on the set judgment conditions, and the gantry crane will be stopped when necessary.

11. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 10, characterized in that: The hydraulic torque converter buffer device (17) comprises a hydraulic torque converter (17-1) installed between the output shaft of the lifting mechanism drive motor (18) and the brake (19); the hydraulic torque converter (17-1) realizes flexible power transmission through a hydraulic coupler, and under normal working conditions, it runs synchronously with the lifting mechanism drive motor (18) to transmit torque to the lifting mechanism drum; The torque converter (17-1) is equipped with a closed-loop water cooling system, which controls the working oil temperature in real time through a plate heat exchanger to ensure that the hydraulic transmission medium is always in the optimal viscosity range.

12. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 11, characterized in that: The signal detection device includes a motor rotation speed sensor, a frequency converter output current sensor, a lifting mechanism load sensor, and a torque converter temperature sensor installed on the lifting mechanism, and collects data on the motor rotation speed, the frequency converter output current, the lifting mechanism load sensor code value, and the internal temperature value of the torque converter in real time; It also includes a camera installed in the lifting mechanism room to monitor the rotation status of the fixed pulley in real time; The data processing module performs filtering and noise reduction preprocessing on the data collected by the signal detection device to remove interference signals and improve the accuracy of the data; The preprocessed data is divided into a training set and a test set, the BP neural network is trained with the training set, and the weights and thresholds of the neural network are adjusted so that the neural network can learn the characteristics and laws of various physical quantities during normal operation and gate jamming. The trained BP neural network is tested with the test set to evaluate the accuracy and reliability of its judgment.

13. The multi-field information hydraulic torque conversion anti-shock system for gantry crane according to claim 12, characterized in that: During actual operation, the data collected and pre-processed in real time are input into the trained BP neural network for judgment. If the judgment result shows that the gate is stuck, the control system will control the gantry crane to slow down or stop according to the severity of the jam.

14. The operating method of the gantry crane multi-field information hydraulic torque conversion anti-shock system according to any one of claims 12-13 is characterized in that: The following steps are involved: (1) Real-time monitoring of door slot status and early warning: 1) Gate operation monitoring: The gantry crane grab beam (02) is connected to the gate (03), and the magnetic attraction type moving trolley (11) is operated and adsorbed on the track, and moves from the gantry crane grab beam (02) to the bottom of the gate (03); The cable drives the cable reel (14-1) to rotate as the trolley moves, stretching the disc-type stainless steel spring (14-2) to keep the cable in a tensioned state; After the gate is put into the water, the multi-beam three-dimensional sonar continuously scans the gate operation area to obtain high-precision three-dimensional images of the underwater environment; the underwater camera (11-2) assists in obtaining optical images for verifying the sonar data; the data processing unit analyzes the sonar data to establish a three-dimensional model of the underwater environment; and monitors the distance between the gate and the gate slot and the key parameters of the gate slot structural integrity in real time; When the gate falls to the bottom of the gate slot, the system sends a command, and the magnetically attracted mobile trolley (11) moves toward the upper edge of the gate. The cable is collected under the elastic force of the tension disc stainless steel spring (14-2) and wound on the cable reel. After the magnetically attracted mobile trolley moves to the upper edge of the gate, it moves to the gantry crane grab beam (02) by rotating the track change mechanism (12), and scans and monitors the condition above the gantry crane grab beam (02) in real time; When the gate rises above the water surface, the sonar is turned off; 2) Abnormal warning processing During the operation of the gate, when a potential obstacle or abnormal gate slot structure is detected at a certain elevation, the system will issue a warning signal. When the distance between the bottom of the gate and the elevation is less than 1 meter, a pop-up window will appear on the human-computer interaction interface in the driver's cab to remind the driver to observe and judge; when the distance is less than 50 centimeters from the elevation, the system will pop up a window to ask the driver whether it is necessary to slow down and continue to remind the driver to pay attention; (2) Warning failure, gate jam, torque converter buffering impact load: If the real-time monitoring system for the gate slot status fails and the abnormal situation is not predicted in time, the gate will be blocked. The impact load on the lifting mechanism will be buffered and absorbed by the oil in the torque converter, reducing the direct impact on the lifting mechanism. (3) Multi-physics field signal fusion decision-making system intervenes to control the gantry crane: When the gate is stuck, the torque converter buffers the impact load, the rotation speed of the lifting mechanism motor, the output current of the inverter, the code value of the lifting mechanism load sensor, the internal temperature of the torque converter, and the rotation state of the fixed pulley block all change. The real-time collected data is input into the BP neural network. Combined with the data from the real-time monitoring system of the gate slot status, the multi-physical field signal fusion decision-making system determines the severity of the gate jam and controls the gantry crane to slow down or stop through the control module.

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