Monorail crane driving part device with curve self-adaptive guiding function and using method of monorail crane driving part device

Abstract

The invention discloses a curve self-adaptive guiding monorail crane driving part device and a using method thereof, and belongs to the technical field of monorail crane equipment.The curve self-adaptive guiding monorail crane driving part device comprises an I-shaped beam, a connecting rack, a driving rack and a braking rack, and the connecting rack, the driving rack and the braking rack are rotationally connected; the two ends of the connecting rack and the two ends of the braking rack are respectively provided with a guide mechanism, the guide mechanisms can horizontally move on the I-shaped beam, the driving rack is provided with a driving mechanism which drives the I-shaped beam to move, the braking rack is provided with a braking mechanism, and the braking mechanism can achieve braking on the I-shaped beam. The whole driving part is formed by combining the three rack structures, each rack is provided with the corresponding transverse guide wheel, the three racks reduce the speed of the racks at the two ends through pulling and pushing force of the connecting shafts so as to ensure that the driving part can be more flexible and stable in the turning process, and extrusion between the racks and the rails is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of monorail hoist equipment, and particularly relates to a monorail hoist drive unit device with self - adapting guidance for curves and its usage method. Background Technique

[0002] Auxiliary mine transportation refers to the total transportation of various materials except coal during the coal mine production process, mainly including the transportation of gangue, materials, equipment, and personnel. Common auxiliary mine transportation equipment mainly includes monorail hoists, battery locomotives, winches, etc.

[0003] A monorail hoist locomotive uses a special I - beam hung above the roadway as a track. A train of hanging vehicles with various functions is connected into a vehicle group and towed by a traction device to run along the track. Generally, only one special track is used, so it is called a monorail hoist.

[0004] In existing monorail hoist locomotives, in the common frame structure, the drive part and the brake part are installed as a whole, which increases the overall length of the drive unit. It is difficult to adapt to dynamic load changes or environmental changes, resulting in excessive stress concentration, leading to structural fatigue, component damage, or vibration problems. When the turning radius is small, the frame is prone to collide with the track. The interference signals generated by the collision may cause the feedback mechanism of the control system to be chaotic, and then trigger incorrect control instructions, resulting in abnormal operation of the equipment or even failure. Long - term collision or repeated impact may cause wear or premature failure of transmission components, reducing the efficiency and service life of the drive system.

[0005] Therefore, the present invention provides a monorail hoist drive unit device with self - adapting guidance for curves and its usage method to ensure that the monorail hoist locomotive reduces collisions during curve driving and improves the stability of the transportation system. Summary of the Invention

[0006] The embodiments of the present invention provide a monorail hoist drive unit device with self - adapting guidance for curves and its usage method to solve the problems in the prior art.

[0007] The embodiments of the present invention adopt the following technical solutions: A monorail hoist drive unit device with self - adapting guidance for curves includes an I - beam, a connecting frame, a driving frame, and a braking frame. The connecting frame, the driving frame, and the braking frame are rotatably connected to each other. Guide mechanisms are respectively arranged at both ends of the connecting frame and the braking frame. The guide mechanisms can move horizontally on the I - beam. A driving mechanism for driving movement on the I - beam is arranged on the driving frame. A braking mechanism is arranged on the braking frame. The braking mechanism can achieve braking on the I - beam. A sensor is also arranged on the braking frame.

[0008] Furthermore, the connecting frame, the driving frame, and the braking frame are connected by a connecting shaft and three first bearings. A nut is provided at the bottom of the connecting shaft and fixed on the driving frame. The connecting frame, the driving frame, and the braking frame can all rotate around the connecting shaft.

[0009] Furthermore, the guiding mechanism includes a guiding frame. Two first rotating shafts and two upper guiding wheels are provided on the guiding frame. The first rotating shafts are fixed on the guiding frame by connecting screws. Screws one, washers one, and second bearings are provided on the upper guiding wheels. The upper guiding wheels are rotatably connected to the first rotating shafts through the screws one, washers one, and second bearings.

[0010] Furthermore, two side guiding wheels are provided on the guiding frame. Bolts, third bearings, shaft collars for holes, and second rotating shafts are provided on the side guiding wheels. The side guiding wheels are rotatably connected to the second rotating shafts through the bolts, third bearings, and shaft collars for holes. Screws two and washers two are provided on the second rotating shafts. The second rotating shafts (502) are fixed to the guiding frame through the screws two and washers two.

[0011] Furthermore, an installation shaft, an upper bearing, and a lower bearing are provided between the guiding frame and the connecting frame for connection. The top of the installation shaft is connected to the guiding frame by an upper screw, and the bottom of the installation shaft is connected to the connecting frame by a bottom nut.

[0012] Furthermore, the driving mechanism includes two connecting rings arranged on the driving frame and hinged to each other. A clamping oil cylinder is provided between the two connecting rings. The two ends of the clamping oil cylinder are respectively hinged to the two connecting rings. A driving motor and a speed reducer arranged on the driving motor are provided on each connecting ring. An upper driving wheel is provided on the speed reducer.

[0013] Furthermore, the driving frame includes an upper bottom plate, a lower bottom plate, and three connecting rods. The upper bottom plate and the lower bottom plate are connected by the three connecting rods. Four horizontally guiding wheels rotatably connected are provided on the top of the upper bottom plate.

[0014] Furthermore, two mounting ears symmetrically arranged on the side walls and two sleeves symmetrically arranged on the top are provided on the braking frame.

[0015] Further, the braking mechanism includes a brake cylinder, a control spring, two brake levers, two connecting ears, two brake telescopic rods and two brake shoes. The two connecting ears are respectively rotatably connected to the two brake levers, the connecting ears are hinged to the mounting ears, the two brake telescopic rods are respectively rotatably connected to the tops of the two brake levers, the two brake shoes are respectively connected to the two brake telescopic rods, the two ends of the brake cylinder are hinged to the bottoms of the two brake levers, the two ends of the control spring are respectively connected to the bottoms of the two brake levers, and the brake telescopic rods slide horizontally in the sleeves.

[0016] A method for using a monorail crane drive unit device with bend self-adaptive guidance includes the following steps: S1: The drive motor controls the rotation of the upper drive wheel, the clamping cylinder controls the upper drive wheel to clamp the track, and the driving mechanism walks through the frictional force between the wheel and the track. S2: The entire drive unit walks through the shaft connection between the drive frame, the connecting frame and the brake frame. S3: During driving, the sensor is responsible for identifying the bend radius. S4: Centrifugal force compensation is performed by adjusting the corresponding clamping force. S5: Friction compensation is performed by adjusting the motor torque. S6: The change in frictional force is compensated by the change in motor torque. S7: After deceleration is completed, the drive frame acts on the connecting frame with a pulling force and on the brake frame with a pushing force through the connecting shaft respectively. S8: The guiding mechanism of the connecting frame at the front end of the drive unit plays a lateral guiding role. By closely adhering to the guide rail, the entire connecting frame independently completes a turn around the connecting shaft. S9: The four lateral guiding wheels of the drive frame in the middle of the drive unit play a role, enabling the entire drive frame and the driving mechanism to independently complete a turn around the connecting shaft. S10: The guiding mechanism of the brake frame at the rear end of the drive unit plays a lateral guiding role, enabling the entire brake frame and the braking mechanism to independently complete a turn around the connecting shaft. S11: After the turn is completed, the sensor sends an acceleration signal to increase the speed of the drive motor, so that the drive unit accelerates.

[0017] The above at least one technical solution adopted in the embodiment of the present invention can achieve the following beneficial effects: 1. In the present invention, the entire drive unit is composed of three frame structures, and each frame is equipped with lateral guiding wheels. The three frames use the pulling and pushing forces of the connecting shaft to slow down the speed of the two end frames to ensure that the drive unit is more flexible and stable during turning, and avoid the extrusion between the frame and the track. 2. The present invention is equipped with sensors to identify the radius of a curve, and compensates for centrifugal force by adaptively adjusting the clamping force and motor power to achieve stable speed of the driving part. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic three-dimensional structure of the present invention Figure One ; Figure 2 is a schematic three-dimensional structure of the present invention Figure Two ; Figure 3 is a schematic diagram of the movement on a curve in the present invention; Figure 4 is a schematic partial three-dimensional structure of the present invention; Figure 5 is a schematic three-dimensional structure of the connecting frame in the present invention; Figure 6 is a schematic three-dimensional structure of the guiding mechanism in the present invention; Figure 7 is a schematic installation structure of the guiding mechanism and the connecting frame in the present invention; Figure 8 is a schematic diagram of the driving frame in the present invention; Figure 9 is a schematic three-dimensional structure of the driving mechanism in the present invention; Figure 10 is a schematic three-dimensional structure of the braking frame in the present invention; Figure 11 is a schematic three-dimensional structure of the braking mechanism in the present invention; Figure 12 is a schematic three-dimensional structure of the connecting frame, driving frame and braking frame in the present invention; Reference numerals: I-beam 1, connecting frame 2, driving frame 3, upper bottom plate 31, lower bottom plate 32, connecting rod 33, lateral guide wheel 34, braking frame 4, mounting ear 41, sleeve 42, connecting shaft 40, bearing one 401, nut 402, guiding mechanism 5, guiding frame 51, rotating shaft one 52, upper end guide wheel 53, connecting screw 54, screw one 55, washer one 56, bearing two 57, both-side guide wheels 58, bolt 59, bearing three 50, hole retaining ring 501, rotating shaft two 502, screw two 503, washer two 504, driving mechanism 6, connecting ring 61, clamping oil cylinder 62, reducer 63, upper end driving wheel 64, driving motor 65, braking mechanism 7, braking oil cylinder 71, control spring 72, braking lever 73, connecting ear 74, braking telescopic rod 75, braking brake shoe 76, mounting shaft 8, upper bearing 81, lower bearing 82, upper screw 83, bottom nut 84. Detailed implementation mode

[0019] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] The following will, in conjunction with the drawings, elaborate on the technical solutions provided by each embodiment of the present invention for a single-rail crane driving part device with bend self-adaptive guiding and its usage method.

[0021] Referring to Figures 1 to 12 As shown, an embodiment of the present invention provides a single-rail crane driving part device with bend self-adaptive guiding, including an I-beam 1, a connecting frame 2, a driving frame 3 and a braking frame 4. The connecting frame 2, the driving frame 3 and the braking frame 4 are rotatably connected to each other; guiding mechanisms 5 are respectively arranged at both ends of the connecting frame 2 and the braking frame 4. The guiding mechanisms 5 can move horizontally on the I-beam 1. A driving mechanism 6 for driving movement on the I-beam 1 is arranged on the driving frame 3. A braking mechanism 7 is arranged on the braking frame 4. The braking mechanism 7 can achieve braking on the I-beam 1. A sensor arranged on the braking frame 4 is also included.

[0022] Specifically, the connecting frame 2, the driving frame 3 and the braking frame 4 are connected through a connecting shaft 40 and three bearings one 401. A nut 402 is arranged at the bottom of the connecting shaft 40 and fixed on the driving frame 3. The connecting frame 2, the driving frame 3 and the braking frame 4 can all rotate around the connecting shaft 40; when turning, the three frames can independently rotate around the connecting shaft 40, enhancing the flexibility and stability of the driving part.

[0023] Specifically, the guiding mechanism 5 includes a guiding frame 51, on which there are two first rotating shafts 52 and two upper guiding wheels 53. The first rotating shafts 52 are fixed on the guiding frame 51 through connecting screws 54. On the upper guiding wheels 53, there are a first screw 55, a first washer 56 and a second bearing 57. The upper guiding wheels 53 are rotatably connected to the first rotating shafts 52 through the first screw 55, the first washer 56 and the second bearing 57. The two upper guiding wheels 53 are in close contact with the lower tracks on both sides of the I-beam 1, playing a longitudinal guiding role.

[0024] Specifically, there are two side guiding wheels 58 on the guiding frame 51. On the side guiding wheels 58, there are a bolt 59, a third bearing 50, a snap ring for hole 501 and a second rotating shaft 502. The side guiding wheels 58 are rotatably connected to the second rotating shaft 502 through the bolt 59, the third bearing 50 and the snap ring for hole 501. On the second rotating shaft 502, there are a second screw 503 and a second washer 504. The second rotating shaft 502 is fixed to the guiding frame 51 through the second screw 503 and the second washer 504. The side guiding wheels 58 are in close contact with the outer tracks on both sides of the I-beam 1, playing a lateral guiding role.

[0025] Specifically, an installation shaft 8, an upper bearing 81 and a lower bearing 82 are provided between the guiding frame 51 and the connecting frame 2 for connection. The top of the installation shaft 8 is connected to the guiding frame 51 through an upper screw 83, and the bottom of the installation shaft 8 is connected to the connecting frame 2 through a bottom nut 84.

[0026] Specifically, the driving mechanism 6 includes two connecting rings 61 arranged on the driving frame 3 and hinged to each other. A clamping oil cylinder 62 is provided between the two connecting rings 61. The two ends of the clamping oil cylinder 62 are respectively hinged to the two connecting rings 61. On each connecting ring 61, there is a driving motor 65 and a speed reducer 63 arranged on the driving motor 65. An upper driving wheel 64 is provided on the speed reducer 63.

[0027] During the driving process, the clamping oil cylinder 62 works to drive the two connecting rings 61 to approach each other on the driving frame 3 respectively, so that the upper driving wheel 64 contacts the I-beam 1. After that, when the driving motor 65 works and decelerates through the speed reducer 63, it will drive the upper driving wheel 64 to rotate on the I-beam 1, and then drive the whole device to move forward.

[0028] Specifically, the driving frame 3 includes an upper bottom plate 31, a lower bottom plate 32 and three connecting rods 33. The upper bottom plate 31 and the lower bottom plate 32 are connected through the three connecting rods 33. Four laterally rotatable guiding wheels 34 are provided on the top of the upper bottom plate 31.

[0029] Specifically, two mounting ears 41 symmetrically arranged on the side walls and two sleeves 42 symmetrically arranged on the top are provided on the brake frame 4.

[0030] Specifically, the braking mechanism 7 includes a brake oil cylinder 71, a control spring 72, two brake levers 73, two connecting ears 74, two brake telescopic rods 75 and two brake shoes 76. The two connecting ears 74 are respectively rotatably connected to the two brake levers 73. The connecting ear 74 is hinged to the mounting ear 41. The two brake telescopic rods 75 are respectively rotatably connected to the tops of the two brake levers 73. The two brake shoes 76 are respectively connected to the two brake telescopic rods 75. The two ends of the brake oil cylinder 71 are hinged to the bottoms of the two brake levers 73. The two ends of the control spring 72 are respectively connected to the bottoms of the two brake levers 73. The brake telescopic rod 75 slides horizontally in the sleeve 42.

[0031] When braking is required during movement on the I-beam 1, the operation of the brake oil cylinder 71 will cause the bottoms of the two brake levers 73 to move to both sides, so that the two brake levers 73 rotate on the two connecting ears 74, causing the two brake telescopic rods 75 on the two brake levers 73 to approach each other in the two sleeves 42 respectively, and then the two brake shoes 76 will be driven to approach each other on the I-beam 1 to perform the braking operation.

[0032] A method of using a monorail crane drive unit device with curve self-adaptive guidance includes the following steps: S1: The drive motor 65 controls the rotation of the upper drive wheel 64, and the clamping oil cylinder 62 controls the upper drive wheel 64 to clamp the track, and the driving mechanism 6 walks through the friction force between the wheel and the track; S2: Through the shaft connection of the drive frame 3 with the connection frame 2 and the brake frame 4, the walking of the entire drive unit is realized; S3: During the driving process, the sensor is responsible for identifying the curve radius (outer diameter and inner diameter ). When about to turn, the sensor sends a deceleration signal to reduce the motor speed and decelerate the drive frame 3; S4: According to the centrifugal force calculation formula , since the turning radii of the drive wheels on both sides of the I-beam are different, the centrifugal forces they receive are also different. Centrifugal force compensation needs to be carried out by adjusting the corresponding clamping forces. The upper drive wheel 64 located on the outer side receives a larger centrifugal force and requires more centrifugal force compensation. The upper drive wheel 64 located on the inner side receives a smaller centrifugal force and requires less centrifugal force compensation. Where: —Centrifugal force, —Load, —Travel speed, —Curve radius; S5: According to the friction formula , the change of the clamping force will affect the magnitude of the friction force, and further affect the stability of the turning speed. Therefore, friction compensation is carried out by adjusting the motor torque. Wherein: —Friction force, —Friction coefficient, —Clamping force; S6: According to the relationship between the friction force and the motor torque , the change of the motor torque compensates for the change of the friction force , thereby compensating for the change of the clamping force , and finally compensating for the change of the centrifugal force; S7: After the deceleration is completed, the driving frame 3 acts on the connecting frame 2 with a pulling force and on the braking frame 4 with a pushing force through the connecting shaft 40 respectively, so as to slow down the speeds of the two end frames, thereby realizing the deceleration of the entire driving part; S8: The guiding mechanism 5 of the connecting frame 2 at the front end of the driving part plays a lateral guiding role. By closely adhering to the guide rail, the entire connecting frame 2 can independently complete a turn around the connecting shaft 40; S9: The four lateral guiding wheels 34 of the driving frame 3 in the middle of the driving part play a role, enabling the entire driving frame 3 and the driving mechanism 6 to independently complete a turn around the connecting shaft 40; S10: The guiding mechanism 5 of the braking frame 4 at the rear end of the driving part plays a lateral guiding role, enabling the entire braking frame 4 and the braking mechanism 7 to independently complete a turn around the connecting shaft 40; to avoid collisions between the frame and the track; S11: After the turn is completed, the sensor sends an acceleration signal to increase the speed of the driving motor 65, so that the driving part accelerates.

[0033] The above are only embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A monorail hoist drive unit device with bend self - adapting guidance, characterized in that, It includes an I-beam (1), a connecting frame (2), a driving frame (3) and a braking frame (4). The connecting frame (2), the driving frame (3) and the braking frame (4) are rotatably connected to each other. Guide mechanisms (5) are respectively provided at both ends of the connecting frame (2) and the braking frame (4). The guide mechanisms (5) can move horizontally on the I-beam (1). A driving mechanism (6) for driving movement on the I-beam (1) is provided on the driving frame (3). A braking mechanism (7) is provided on the braking frame (4). The braking mechanism (7) can achieve braking on the I-beam (1). It also includes a sensor provided on the braking frame (4).

2. The single-rail crane drive unit device with curved track self-adaptive guidance according to claim 1, characterized in that: The connecting frame (2), the driving frame (3) and the braking frame (4) are connected by a connecting shaft (40) and three first bearings (401). A nut (402) is provided at the bottom of the connecting shaft (40) and fixed on the driving frame (3). The connecting frame (2), the driving frame (3) and the braking frame (4) can all rotate around the connecting shaft (40).

3. The monorail hoist drive unit device with bend self-adaptive guiding according to claim 1, characterized in that: The guide mechanism (5) includes a guide frame (51). Two first rotating shafts (52) and two upper end guide wheels (53) are provided on the guide frame (51). The first rotating shafts (52) are fixed on the guide frame (51) by connecting screws (54). A first screw (55), a first washer (56) and a second bearing (57) are provided on the upper end guide wheels (53). The upper end guide wheels (53) are rotatably connected to the first rotating shafts (52) through the first screw (55), the first washer (56) and the second bearing (57).

4. The single-rail crane drive unit device with bend self-adaptive guiding according to claim 3, characterized in that: Two side guide wheels (58) are provided on the guide frame (51). A bolt (59), a third bearing (50), a snap ring for hole (501) and a second rotating shaft (502) are provided on the side guide wheels (58). The side guide wheels (58) are rotatably connected to the second rotating shaft (502) through the bolt (59), the third bearing (50) and the snap ring for hole (501). A second screw (503) and a second washer (504) are provided on the second rotating shaft (502). The second rotating shaft (502) is fixed to the guide frame (51) through the second screw (503) and the second washer (504).

5. The single-rail hoist drive unit device with bend self-adaptive guiding according to claim 4, characterized in that: An installation shaft (8), an upper bearing (81) and a lower bearing (82) are provided between the guide frame (51) and the connecting frame (2) for connection. The top of the installation shaft (8) is connected to the guide frame (51) by an upper screw (83). The bottom of the installation shaft (8) is connected to the connecting frame (2) by a bottom nut (84).

6. The monorail hoist drive unit device with bend self - adapting guidance according to claim 1, characterized in that: The driving mechanism (6) includes two connecting rings (61) provided on the driving frame (3) and hinged to each other. A clamping oil cylinder (62) is provided between the two connecting rings (61). Both ends of the clamping oil cylinder (62) are respectively hinged to the two connecting rings (61). A driving motor (65) and a speed reducer (63) provided on the driving motor (65) are provided on each connecting ring (61). An upper end driving wheel (64) is provided on the speed reducer (63).

7. The monorail hoist drive unit device with bend self-adaptive guiding according to claim 1, characterized in that: The driving frame (3) includes an upper bottom plate (31), a lower bottom plate (32) and three connecting rods (33). The upper bottom plate (31) and the lower bottom plate (32) are connected by three connecting rods (33). Four laterally rotatably connected guide wheels (34) are provided on the top of the upper bottom plate (31).

8. The monorail hoist drive unit device with curved track self - adapting guidance according to claim 1, characterized in that: Two mounting ears (41) symmetrically arranged on the side walls and two sleeves (42) symmetrically arranged on the top are provided on the braking frame (4).

9. The single-rail hoist drive unit device with bend self-adaptive guidance according to claim 8, characterized in that: The braking mechanism (7) includes a braking oil cylinder (71), a control spring (72), two braking levers (73), two connecting ears (74), two braking telescopic rods (75) and two braking brake shoes (76). The two connecting ears (74) are respectively rotatably connected to the two braking levers (73). The connecting ear (74) is hinged to the mounting ear (41). The two braking telescopic rods (75) are respectively rotatably connected to the tops of the two braking levers (73). The two braking brake shoes (76) are respectively connected to the two braking telescopic rods (75). The two ends of the braking oil cylinder (71) are hinged to the bottoms of the two braking levers (73). The two ends of the control spring (72) are respectively connected to the bottoms of the two braking levers (73). The braking telescopic rod (75) slides horizontally in the sleeve (42).

10. A method for using a monorail hoist drive unit device with self - adapting curve guidance according to any one of claims 1 - 9, characterized in that: It includes the following steps: S1: The driving motor (65) controls the rotation of the upper driving wheel (64), and the clamping oil cylinder (62) controls the upper driving wheel (64) to clamp the track, and the driving mechanism (6) walks through the friction between the wheel and the track; S2: The entire driving part walks through the shaft connection of the driving frame (3) with the connecting frame (2) and the braking frame (4); S3: During driving, the sensor is responsible for identifying the radius of the curve; S4: Centrifugal force compensation is performed by adjusting the corresponding clamping force; S5: Friction compensation is performed by adjusting the motor torque; S6: The change in friction force is compensated by the change in motor torque; S7: After deceleration is completed, the driving frame (3) acts on the connecting frame (2) with a pulling force and on the braking frame (4) with a pushing force through the connecting shaft (40) respectively; S8: The guiding mechanism (5) of the connecting frame (2) at the front end of the driving part plays a lateral guiding role. By closely adhering to the guide rail, the entire connecting frame (2) independently completes a turn around the connecting shaft (40); S9: The four laterally guiding wheels (34) of the driving frame (3) in the middle of the driving part play a role, and the entire driving frame (3) and the driving mechanism (6) independently complete a turn around the connecting shaft (40); S10: The guiding mechanism (5) of the braking frame (4) at the rear end of the driving part plays a lateral guiding role, and the entire braking frame (4) and the braking mechanism (7) independently complete a turn around the connecting shaft (40); S11: After the turn is completed, the sensor sends an acceleration signal to increase the speed of the driving motor (65) to make the driving part accelerate.

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