A monorail crane drive device with adaptive curve guidance and its use method

Abstract

The present invention discloses a monorail crane drive unit device with adaptive curve guidance and a method for using the device, which belongs to the technical field of monorail crane equipment and includes an I-beam, a connecting frame, a driving frame and a brake frame, wherein the connecting frame, the driving frame and the brake frame are rotatably connected to each other; a guiding mechanism is provided at each end of the connecting frame and the brake frame, and the guiding mechanism can move horizontally on the I-beam; the driving frame is provided with a driving mechanism that drives the movement on the I-beam; the brake frame is provided with a braking mechanism, and the braking mechanism can achieve braking on the I-beam. The present invention combines three frame structures into the entire drive unit, and each frame is equipped with a transverse guide wheel. The three frames slow down the speed of the frames at both ends through the pulling and pushing forces of the connecting shaft to ensure that the drive unit is more flexible and stable during the turning process and avoid the extrusion of the frame and the track.

Description

Technical Field

[0001] The present invention belongs to the technical field of monorail crane equipment, and in particular relates to a monorail crane drive device with adaptive curve guidance and a method for using the same. Background Art

[0002] Mine auxiliary transportation refers to all types of transportation during the coal mine production process, in addition to transporting coal. This primarily includes the transportation of waste rock, materials, equipment, and personnel. Common mine auxiliary transportation equipment includes monorail cranes, electric locomotives, and winches.

[0003] A monorail crane locomotive uses a special I-beam suspended above the tunnel as a track, is connected by hanging vehicles with various functions into a vehicle group, and is towed by traction equipment. The system runs along the track. Generally, only one dedicated track is used, so it is called a monorail crane.

[0004] In existing monorail locomotives, the common frame structure integrates the drive and brake components as a single unit. This increases the overall length of the drive unit, making it difficult to adapt to dynamic load or environmental changes. This can lead to excessive stress concentration, resulting in structural fatigue, component damage, and vibration. When the turning radius is small, the frame is prone to collision with the track. The interference signals generated by these collisions can disrupt the feedback mechanism of the control system, leading to erroneous control commands, causing abnormal equipment operation or even failure. Long-term collisions or repeated impacts can cause wear and premature failure of transmission components, reducing the efficiency and life of the drive system.

[0005] Therefore, the present invention provides a monorail crane drive device with adaptive curve guidance and a method of using the same to ensure that the monorail crane locomotive reduces collisions during curve driving and improve the stability of the transportation system. Summary of the Invention

[0006] The embodiment of the present invention provides a monorail crane drive device with adaptive curve guidance and a method of using the same to solve the problems in the prior art.

[0007] The embodiment of the present invention adopts the following technical solution: a monorail crane drive device with adaptive curve guidance, including an I-beam, a connecting frame, a driving frame and a brake frame, wherein the connecting frame, the driving frame and the brake frame are rotatably connected to each other; a guiding mechanism is respectively provided at both ends of the connecting frame and the brake frame, and the guiding mechanism can move horizontally on the I-beam; the driving frame is provided with a driving mechanism that drives the movement on the I-beam; the brake frame is provided with a braking mechanism that can realize braking on the I-beam; and also includes a sensor arranged on the brake frame.

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

[0009] Furthermore, the guide mechanism includes a guide frame, the guide frame is provided with two rotating shafts 1 and two upper guide wheels, the rotating shaft 1 is fixed to the guide frame by connecting screws, the upper guide wheel is provided with screw 1, washer 1 and bearing 2, and the upper guide wheel is rotatably connected to the rotating shaft 1 through screw 1, washer 1 and bearing 2.

[0010] Furthermore, the guide frame is provided with two guide wheels on both sides, and the guide wheels on both sides are provided with bolts, three bearings, retaining rings for holes and two rotating shafts. The guide wheels on both sides are rotatably connected to the second rotating shaft through the bolts, three bearings and retaining rings for holes. The second rotating shaft is provided with two screws and two washers. The second rotating shaft (502) is fixed to the guide frame through the two screws and the two washers.

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

[0012] Furthermore, the driving mechanism includes two connecting rings arranged on the driving frame and hinged to each other, a clamping cylinder is provided between the two connecting rings, and the two ends of the clamping cylinder are respectively hinged to the two connecting rings, each of the connecting rings is provided with a driving motor and a reducer arranged on the driving motor, and the reducer is provided with an upper end driving wheel.

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

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

[0015] Furthermore, 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, and 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, and the two brake shoes are respectively connected to the two brake telescopic rods. The two ends of the brake cylinder are hinged to the bottom of the two brake levers, and the two ends of the control spring are respectively connected to the bottom of the two brake levers, and the brake telescopic rod slides horizontally in the sleeve.

[0016] A method for using a monorail crane drive device with adaptive curve guidance comprises the following steps:

[0017] S1: The driving motor controls the rotation of the upper driving wheel, and the clamping cylinder controls the upper driving wheel to clamp the rail. The friction between the wheel and rail enables the driving mechanism to move.

[0018] S2: The driving frame is connected to the shaft of the connecting frame and the brake frame to realize the movement of the entire driving unit;

[0019] S3: During driving, the sensor is responsible for identifying the radius of the curve;

[0020] S4: Centrifugal force compensation by adjusting the corresponding clamping force;

[0021] S5: Friction compensation is performed by adjusting the motor torque;

[0022] S6: Compensate the change in friction force by changing the motor torque;

[0023] S7: When deceleration is completed, the driving frame applies a pulling force to the connecting frame and a pushing force to the brake frame through the connecting shaft;

[0024] S8: The guide mechanism located at the front end of the drive unit and connected to the frame plays a lateral guiding role. By adhering closely to the guide rail, the entire connected frame can independently complete the turning around the connecting axis.

[0025] S9: The four lateral guide wheels located in the middle of the drive frame play a role in enabling the entire drive frame and drive mechanism to independently complete the turning around the connecting axis;

[0026] S10: The guide mechanism of the brake frame at the rear end of the driving unit plays a lateral guiding role, enabling the entire brake frame and brake mechanism to independently complete the turning around the connecting axis;

[0027] S11: After the turn is completed, the sensor sends an acceleration signal to increase the speed of the drive motor, causing the drive unit to accelerate.

[0028] The at least one technical solution adopted in the embodiment of the present invention can achieve the following beneficial effects:

[0029] 1. The present invention combines three frames into a complete drive unit, and each frame is equipped with a transverse guide wheel. The three frames use the pulling and pushing forces of the connecting shaft to slow down the speed of the frames at both ends to ensure that the drive unit is more flexible and stable during the turning process, and avoid the squeezing of the frames and the track;

[0030] 2. The present invention assembles a sensor to identify the size of the curve radius, and compensates for the centrifugal force by adaptively adjusting the clamping force and motor power to achieve speed stability of the drive unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary 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:

[0032] Figure 1 Schematic diagram of the three-dimensional structure of the present invention Figure 1 ;

[0033] Figure 2 Schematic diagram of the three-dimensional structure of the present invention Figure 2 ;

[0034] Figure 3 is a schematic diagram of moving on a curve in the present invention;

[0035] Figure 4 It is a schematic diagram of a local three-dimensional structure in the present invention;

[0036] Figure 5 Schematic diagram of the three-dimensional structure of the connecting frame in the present invention;

[0037] Figure 6 Schematic diagram of the three-dimensional structure of the guide mechanism of the present invention;

[0038] Figure 7 Schematic diagram of the installation structure of the guide mechanism and the connecting frame in the present invention;

[0039] Figure 8 Schematic diagram of the drive frame in the present invention;

[0040] Figure 9 Schematic diagram of the three-dimensional structure of the driving mechanism of the present invention;

[0041] Figure 10 Schematic diagram of the three-dimensional structure of the brake frame in the present invention;

[0042] Figure 11 Schematic diagram of the three-dimensional structure of the braking mechanism of the present invention;

[0043] Figure 12 Schematic diagram of the three-dimensional structure of the connecting frame, the driving frame and the brake frame in the present invention;

[0044] Reference numerals:

[0045] I-beam 1, connecting frame 2, driving frame 3, upper base plate 31, lower base plate 32, connecting rod 33, transverse guide wheel 34, brake frame 4, mounting ear 41, sleeve 42, connecting shaft 40, bearing 1 401, nut 402, guide mechanism 5, guide frame 51, rotating shaft 1 52, upper guide wheel 53, connecting screw 54, screw 1 55, washer 1 56, bearing 2 57, guide wheels on both sides 58, bolt 59, bearing 3 5 0, hole retaining ring 501, rotating shaft 2 502, screw 2 503, washer 2 504, driving mechanism 6, connecting ring 61, clamping cylinder 62, reducer 63, upper end driving wheel 64, driving motor 65, braking mechanism 7, brake cylinder 71, control spring 72, brake lever 73, connecting ear 74, brake telescopic rod 75, brake shoe 76, mounting shaft 8, upper bearing 81, lower bearing 82, upper screw 83, bottom nut 84. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] The following describes in detail the technical solutions of a monorail crane drive device with adaptive curve guidance and its use method according to various embodiments of the present invention in conjunction with the accompanying drawings.

[0048] Reference Figures 1 to 12 As shown, an embodiment of the present invention provides a monorail crane drive device with adaptive curve guidance, including an I-beam 1, a connecting frame 2, a driving frame 3 and a brake frame 4, wherein the connecting frame 2, the driving frame 3 and the brake frame 4 are rotatably connected to each other; a guiding mechanism 5 is respectively provided at both ends of the connecting frame 2 and the brake frame 4, and the guiding mechanism 5 can move horizontally on the I-beam 1, the driving frame 3 is provided with a driving mechanism 6 for driving the movement on the I-beam 1, the brake frame 4 is provided with a braking mechanism 7, and the braking mechanism 7 can realize braking on the I-beam 1, and also includes a sensor arranged on the brake frame 4.

[0049] Specifically, the connecting frame 2, the driving frame 3 and the brake frame 4 are connected by a connecting shaft 40 and three bearings 401. The bottom of the connecting shaft 40 is provided with a nut 402 fixed to the driving frame 3. The connecting frame 2, the driving frame 3 and the brake frame 4 can all rotate around the connecting shaft 40; when turning, the three frames can rotate independently around the connecting shaft 40, thereby enhancing the flexibility and stability of the driving part.

[0050] Specifically, the guide mechanism 5 includes a guide frame 51, on which are provided two rotating shafts 52 and two upper guide wheels 53. The rotating shaft 52 is fixed to the guide frame 51 by connecting screws 54, and the upper guide wheels 53 are provided with screws 55, washers 56 and bearings 57. The upper guide wheels 53 are rotatably connected to the rotating shaft 52 by screws 55, washers 56 and bearings 57; the two upper guide wheels 53 are close to the lower tracks on both sides of the I-beam 1, playing a longitudinal guiding role.

[0051] Specifically, the guide frame 51 is provided with two guide wheels 58 on both sides, and the guide wheels 58 on both sides are provided with bolts 59, bearing three 50, hole retaining ring 501 and rotating shaft two 502. The guide wheels 58 on both sides are rotatably connected to the rotating shaft two 502 through the bolts 59, bearing three 50, and hole retaining ring 501. The rotating shaft two 502 is provided with screw two 503 and washer two 504, and the rotating shaft two 502 is fixed to the guide frame 51 through screw two 503 and washer two 504; the guide wheels 58 on both sides are close to the outer tracks on both sides of the I-beam 1, and play a role of lateral guidance.

[0052] Specifically, a mounting 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 mounting shaft 8 is connected to the guide frame 51 through an upper screw 83, and the bottom of the mounting shaft 8 is connected to the connecting frame 2 through a bottom nut 84.

[0053] Specifically, the driving mechanism 6 includes two connecting rings 61 arranged on the driving frame 3 and hinged to each other, a clamping cylinder 62 is provided between the two connecting rings 61, and the two ends of the clamping cylinder 62 are respectively hinged to the two connecting rings 61. Each of the connecting rings 61 is provided with a driving motor 65 and a reducer 63 arranged on the driving motor 65, and the reducer 63 is provided with an upper end driving wheel 64.

[0054] During the driving process, the clamping cylinder 62 drives the two connecting rings 61 to approach each other on the driving frame 3, so that the upper driving wheel 64 contacts the I-beam 1. After that, the driving motor 65 works through the deceleration of the reducer 63 to drive the upper driving wheel 64 to rotate on the I-beam 1, which will drive the entire device to move forward.

[0055] Specifically, the driving frame 3 includes an upper base plate 31, a lower base plate 32 and three connecting rods 33. The upper base plate 31 and the lower base plate 32 are connected by three connecting rods 33. The top of the upper base plate 31 is provided with four rotatably connected transverse guide wheels 34.

[0056] Specifically, the brake frame 4 is provided with two mounting ears 41 symmetrically arranged on the side walls and two sleeves 42 symmetrically arranged on the top.

[0057] Specifically, the braking mechanism 7 includes a brake 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, and the connecting ears 74 are hinged to the mounting ears 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 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.

[0058] When braking is required during movement on the I-beam 1, the operation of the brake cylinder 71 will cause the bottoms of the two brake levers 73 to move to both sides, thereby causing the two brake levers 73 to rotate on the two connecting ears 74, so that the two brake telescopic rods 75 on the two brake levers 73 are respectively close to each other in the two sleeves 42, and then they will drive the two brake shoes 76 to approach each other on the I-beam 1 to perform braking.

[0059] A method for using a monorail crane drive device with adaptive curve guidance comprises the following steps:

[0060] S1: The driving motor 65 controls the upper driving wheel 64 to rotate, and the clamping cylinder 62 controls the upper driving wheel 64 to clamp the rail, and the friction between the wheel and rail enables the driving mechanism 6 to move;

[0061] S2: The driving frame 3 is connected to the shaft of the connecting frame 2 and the brake frame 4 to realize the movement of the entire driving part;

[0062] S3: During driving, 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;

[0063] S4: According to the centrifugal force calculation formula Since the turning radius of the driving wheels on both sides of the I-beam is different, the centrifugal force they are subjected to is also different. It is necessary to compensate for the centrifugal force by adjusting the corresponding clamping force. The upper end driving wheel 64 located on the outside is subjected to a larger centrifugal force and requires more centrifugal force compensation, while the upper end driving wheel 64 located on the inside is subjected to a smaller centrifugal force and requires less centrifugal force compensation. Where: — centrifugal force, -load, — driving speed, —curve radius;

[0064] S5: According to the friction formula , the change of clamping force will affect the size of friction force, and thus affect the stability of turning speed, so friction compensation is performed by adjusting the motor torque: — friction, — friction coefficient, —Clamping force;

[0065] S6: Based on the relationship between friction and motor torque , through the change of motor torque Compensate for friction changes , thereby compensating for the change in clamping force , ultimately compensating for centrifugal force changes;

[0066] S7: After deceleration is completed, the driving frame 3 applies a pulling force to the connecting frame 2 and a pushing force to the brake frame 4 through the connecting shaft 40, thereby slowing down the speeds of the frames at both ends, thereby achieving deceleration of the entire driving unit;

[0067] S8: The guide mechanism 5 located at the front end of the drive unit and connected to the frame 2 plays a lateral guiding role. By adhering closely to the guide rail, the entire connected frame 2 can independently complete the turning around the connecting axis 40.

[0068] S9: The four transverse guide 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 the turning around the connecting shaft 40;

[0069] S10: The guide mechanism 5 of the brake frame 4 at the rear end of the driving unit plays a lateral guiding role, enabling the entire brake frame 4 and the brake mechanism 7 to independently complete the turning around the connecting shaft 40, thereby avoiding the collision between the frame and the track;

[0070] S11: After the turn is completed, the sensor sends an acceleration signal to increase the rotation speed of the drive motor 65, so that the drive unit accelerates.

[0071] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A monorail crane drive device with adaptive curve guidance, characterized in that: The invention comprises an I-beam (1), a connecting frame (2), a driving frame (3) and a braking frame (4), wherein the connecting frame (2), the driving frame (3) and the braking frame (4) are rotatably connected to each other; a guide mechanism (5) is respectively provided at both ends of the connecting frame (2) and the braking frame (4), wherein the guide mechanism (5) can move horizontally on the I-beam (1); the driving frame (3) is provided with a driving mechanism (6) for driving the I-beam (1) to move; the braking frame (4) is provided with a braking mechanism (7), wherein the braking mechanism (7) can realize braking on the I-beam (1); and a sensor is also provided on the braking frame (4); The connecting frame (2), the driving frame (3) and the brake frame (4) are connected via a connecting shaft (40) and three bearings (401); a nut (402) is provided at the bottom of the connecting shaft (40) and is fixed to the driving frame (3); and the connecting frame (2), the driving frame (3) and the brake frame (4) can all rotate around the connecting shaft (40); The guide mechanism (5) includes a guide frame (51), and the guide frame (51) is provided with two rotating shafts (52) and two upper guide wheels (53). The rotating shaft (52) is fixed to the guide frame (51) through connecting screws (54). The upper guide wheels (53) are provided with screws (55), washers (56) and bearings (57). The upper guide wheels (53) are rotatably connected to the rotating shaft (52) through screws (55), washers (56) and bearings (57). The guide frame (51) is provided with two guide wheels (58) on both sides, and the guide wheels (58) on both sides are provided with bolts (59), bearing three (50), hole retaining ring (501) and rotating shaft two (502). The guide wheels (58) on both sides are rotatably connected to rotating shaft two (502) through bolts (59), bearing three (50) and hole retaining ring (501). The rotating shaft two (502) is provided with screw two (503) and washer two (504). The rotating shaft two (502) is fixed to the guide frame (51) through screw two (503) and washer two (504).

2. The monorail crane drive device with adaptive curve guidance according to claim 1, characterized in that: A mounting 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 mounting shaft (8) is connected to the guide frame (51) via an upper screw (83), and the bottom of the mounting shaft (8) is connected to the connecting frame (2) via a bottom nut (84).

3. The monorail crane drive device with adaptive curve guidance according to claim 2, characterized in that: The driving mechanism (6) comprises two connecting rings (61) arranged on a driving frame (3) and hinged to each other, a clamping oil cylinder (62) is provided between the two connecting rings (61), and both ends of the clamping oil cylinder (62) are respectively hinged to the two connecting rings (61), each connecting ring (61) is provided with a driving motor (65) and a reducer (63) arranged on the driving motor (65), and an upper end driving wheel (64) is provided on the reducer (63).

4. The monorail crane drive device with adaptive curve guidance according to claim 3, characterized in that: The driving frame (3) comprises an upper base plate (31), a lower base plate (32) and three connecting rods (33); the upper base plate (31) and the lower base plate (32) are connected via the three connecting rods (33); and four rotatably connected transverse guide wheels (34) are provided on the top of the upper base plate (31).

5. The monorail crane drive device with adaptive curve guidance according to claim 4, characterized in that: The brake frame (4) is provided with two mounting ears (41) symmetrically arranged on the side walls and two sleeves (42) symmetrically arranged on the top.

6. The monorail crane drive device with adaptive curve guidance according to claim 5, characterized in that: The braking mechanism (7) comprises a brake 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 ears (74) are hinged to the mounting ears (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 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 on the sleeve (42).

7. The method for using the monorail crane drive device with adaptive curve guidance according to claim 6, characterized in that: The following steps are involved: The method for using the monorail crane drive device with adaptive curve guidance, The following steps are involved: S1: The driving motor (65) controls the rotation of the upper driving wheel (64), and the clamping cylinder (62) controls the upper driving wheel (64) to clamp the track, and the friction between the wheel and the track is used to realize the movement of the driving mechanism (6); S2: The driving frame (3) is connected to the shaft of the connecting frame (2) and the brake frame (4) to realize the movement of the entire driving unit; S3: During the driving process, 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 the motor torque; S7: After the deceleration is completed, the driving frame (3) applies a pulling force to the connecting frame (2) and a pushing force to the brake frame (4) through the connecting shaft (40); S8: The guide mechanism (5) located at the front end of the driving part connecting frame (2) plays a transverse guiding role, and by closely adhering to the guide rail, the entire connecting frame (2) can independently complete the turning around the connecting shaft (40); S9: The four transverse guide wheels (34) located at the middle part of the driving frame (3) play a role, and the entire driving frame (3) and the driving mechanism (6) can independently complete the turning around the connecting shaft (40); S10: The guide mechanism (5) located at the rear end of the driving part braking frame (4) plays a transverse guiding role, and the entire braking frame (4) and the braking mechanism (7) can independently complete the turning around the connecting shaft (40); S11: After the turning is completed, the sensor sends an acceleration signal to increase the speed of the driving motor (65), so that the driving part accelerates.

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