Automatic anchoring device of portal crane and working method of automatic anchoring device

Abstract

The invention discloses a portal crane automatic anchoring device and a working method thereof.The portal crane automatic anchoring device comprises an anchoring pin and further comprises a shell, a transmission mechanism, a guiding device and a sensing system, the guiding device comprises a sleeve, the sleeve is fixedly installed in the shell, the anchoring pin is installed in the sleeve in a sliding mode, and the transmission mechanism comprises a driving device; one end of the driving device is connected with the shell, the other end of the driving device is connected with the anchoring pin, the anchoring pin is driven by the driving device to extend out of the bottom of the shell so as to be inserted into an anchoring foundation pit, and the sensing system is installed at the bottom of the shell. The sensing system comprises a first distance measuring sensor and a second distance measuring sensor and has redundancy design, it can be guaranteed that the position of an anchoring foundation pit of the portal crane is detected in different running directions, and normal work of the anchoring device can still be guaranteed after one sensor is damaged and shielded.

Description

Technical Field

[0001] The present invention relates to the technical field of gantry crane equipment, in particular to an automatic anchoring device for a gantry crane and a working method thereof. Background Art

[0002] Gantry cranes play a key role in modern industrial production, port terminals, hydropower station projects, and other fields, performing tasks such as material transfer and equipment lifting. Their reliability and stability are crucial to safe production. Gantry cranes feature a portal-shaped frame structure with outriggers attached to the main beam, allowing them to travel on ground tracks. To prevent uncontrollable factors like strong winds from impacting the safety of gantry cranes when not in operation, anchoring devices are required on the gantry crane's travel mechanism.

[0003] Many operations at hydropower stations require the cooperation of gantry cranes, such as equipment transfer and gate raising and lowering. Gantry crane safety is directly linked to the safe operation of the station. Currently, due to limitations in manufacturing time, reliability, cost, and site conditions, the anchoring devices used on hydropower station gantry cranes primarily rely on manual anchoring. Operators rotate a handle to advance a screw, thereby locking the anchor mechanism in place. To release the anchor, the operator must reverse the handle, repeatedly performing this action, which is time-consuming and labor-intensive. Furthermore, the outdoor environment of gantry cranes is prone to corrosion and wear of components, leading to jamming and misalignment of existing screw drive mechanisms, further complicating manual anchoring. Manual anchoring requires repeated communication and adjustments with the gantry crane operator until the gantry crane's anchor mechanism is aligned with the anchor pit. This process is often inefficient, time-consuming, and labor-intensive. Furthermore, existing automatic anchoring devices typically operate as a single mechanism, lacking intelligent collaboration with the gantry crane. In addition, the existing automatic anchoring device has a relatively complex structure, is prone to malfunction after long-term use or under complex working conditions, is difficult to maintain in the later stage, and has poor reliability.

[0004] The existing gantry crane anchoring device is difficult to meet the safe and stable anchoring requirements under different working conditions efficiently, reliably and economically. There is an urgent need for a new gantry crane anchoring device to solve the above problems.

[0005] After searching, Chinese patent document CN104261265A, published (announced) date: 2015.01.07, discloses a new type of fully automatic slewing anchoring device for gantry cranes. Its characteristics are: a centering limit sensor is installed on the slewing platform on the right side of the sleeve, a deceleration limit sensor is provided in the slewing platform, and a slewing motor with an encoder is provided on the slewing platform, which can realize the plug-in limit of the slewing fixing pin and the rivet pin hole; but its disadvantages are: first, a large number of sensors are used for detection and control, which makes the control complex; second, the centering limit sensor, anchor reset sensor, anchor in place sensor and deceleration limit sensor all use photoelectric sensors. In the dusty and open-air environment of the port, the detection accuracy of the photoelectric sensors is easily affected by the adhesion of dust and water vapor. Since there are many sensors and the control of each sensor is interrelated, as long as one sensor has a signal misjudgment or missed judgment, the anchor pin will be inaccurately positioned or unable to limit normally. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to address the problems existing in the aforementioned background technology by providing an automatic anchoring device for a gantry crane and its operating method. By integrating a sensing system with the anchoring device, the sensing system acquires the status and position information of the anchoring device in real time and feeds this information back to the gantry crane's control system. Based on this information, the control system implements intelligent closed-loop management, including warning prompts, automatic anchoring and unanchoring, and system safety interlocks. Furthermore, the sensing system includes a first and second ranging sensor with a redundant design. This not only ensures detection of the anchoring pit position of the gantry crane in different operating directions, but also ensures the normal operation of the anchoring device even if one of the sensors is damaged or blocked.

[0007] In order to achieve the above-mentioned technical features, the purpose of the present invention is achieved as follows: an automatic anchoring device for a gantry crane, comprising an anchor pin, a shell, a transmission mechanism, a guide device and a sensing system, wherein the guide device comprises a sleeve, the sleeve is fixedly mounted in the shell, the anchor pin is slidably mounted in the sleeve, the transmission mechanism comprises a driving device, one end of the driving device is connected to the shell, and the other end is connected to the anchor pin, the anchor pin is driven by the driving device to extend out of the bottom of the shell to be inserted into the anchoring pit, and the sensing system is mounted on the bottom of the shell; the sensing system comprises a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are symmetrically mounted on both sides of the anchor pin in the running direction of the gantry crane, and the control system of the gantry crane is electrically connected to the driving device, the first ranging sensor and the second ranging sensor respectively.

[0008] The perception system also includes a camera, the viewing angle of which covers the anchor pins and the anchor pit area below.

[0009] The shell includes a box body made of multiple steel plates. A base connection fixing plate for fixing to the gantry crane is provided on the back of the box body. A through hole is opened on the top plate and the bottom plate inside the box body for installing the sleeve. The two ends of the sleeve are respectively fixedly mounted on the top plate and the bottom plate inside the shell. A protective cover is fixed on the top of the box body.

[0010] The bottom of the sleeve is a flange structure, which is provided with a first bolt mounting through hole. A sleeve end cover is installed on the top of the sleeve, and a second bolt mounting through hole is provided on the sleeve end cover. The flange structure is bolted and fixed to the bottom bolt through hole of the base on the bottom plate of the shell through the first bolt mounting through hole, and the sleeve end cover is bolted and fixed to the top bolt through hole of the base on the top plate of the shell through the second bolt mounting through hole.

[0011] The sleeve has a double-layer structure, with an energy storage spring placed between the inner and outer layers of the sleeve, a retaining ring placed on the energy storage spring, a plurality of guide grooves axially arranged at the upper end of the inner layer of the sleeve, a guide shoulder provided on the outer wall of the anchor pin, the guide shoulder extending into the guide groove, and the lower side of the guide shoulder resting on the retaining ring.

[0012] The transmission mechanism also includes a sliding frame, which is an L-shaped frame structure. One side of the sliding frame is installed in the shell for upward and downward sliding guidance, and the other side is located above the anchor pin. The driving device is an electric push rod. The base of the electric push rod is connected to the shell by bolts, and the telescopic end of the electric push rod is connected to the lower end of the sliding frame through a push rod connecting pin. The end of the sliding frame located above the anchor pin is hinged to the anchor pin connector installed on the top of the anchor pin through a connecting pin shaft.

[0013] The transmission mechanism also includes a linear slide rail and a slider. The two linear slide rails are symmetrically installed inside the shell. Two sliders are slidably installed on each slide rail. The two sides of the sliding frame are respectively installed on the sliders of the slide rails on both sides, so that the sliding frame is installed in the shell in an upward and downward guided sliding manner.

[0014] The working method of the automatic anchoring device of the gantry crane includes an automatic anchoring step and an anchoring release step.

[0015] When the control knob in the driver's cab is in the "park" position and the gantry crane is driven to the anchoring position, the control system starts the automatic anchoring steps: S10. During the movement of the gantry crane, the first ranging sensor and the second ranging sensor of the perception system continuously feed back ranging values ​​to the control system; S11. When the first or second ranging sensor detects that the distance measurement value change Δe is greater than P, it is determined that the vehicle has entered the anchor pit area. This moment is recorded as time t0, and the driver's cab display screen prompts the anchor approach information. Considering that there may be obstacles in the anchor pit that affect the distance measurement, the judgment threshold P is defined as 80% of the pit depth H, that is, the judgment condition is: ; S12. The gantry crane speed is a function of time t. Let the gantry crane speed be V(t). Let the time when the anchor pin is directly above the center of the anchor pit be te. Then the control system calculates the distance L between the anchor pin and the center of the anchor pit in real time as: ; Where: L 0 is the distance from the edge of the anchor pit to the center of the anchor pit, a is the distance between the first distance measuring sensor, the second distance measuring sensor and the center of the anchor pin respectively; S13. When the distance L≈0 is displayed on the display screen in the driver's cab, confirm that the anchor pin is located at the center of the anchor pit, and the gantry crane automatically stops; S14, the control system releases the safety interlock of the anchor pin and controls the action of the drive device; S15. The anchor pin falls vertically under the traction of its own weight and the driving device; the anchor pin is finally reliably inserted into the anchor pit and locked.

[0016] When the control knob in the driver's cab is in the "hoisting" gear and the control system detects that the anchor device is in the anchor locked state, the control system automatically starts the anchor release procedure: S20. Verify safety conditions, including normal wind speed and effective vehicle brakes; S21, the control system controls the driving device to move and lift the anchor pin; S22. After the driving device has reached its stroke and the anchor pin has been fully lifted out of the anchor pit, the display screen in the driver's cab will display the anchor release information, and the trolley travel interlock will be released at the same time, releasing the anchor.

[0017] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features: 1. The shell of the present invention is used to be fixed to the walking mechanism of the gantry crane by welding or bolts. A sleeve is installed inside the shell, and the anchor pin is slidably installed in the sleeve. A driving device is installed in the shell, and the driving device is connected to the anchor pin to drive the anchor pin to extend and retract. When the anchor pin extends downward, it is used to be inserted into the anchor pit. The first distance measuring sensor and the second distance measuring sensor are symmetrically arranged on the left and right sides of the anchor pin, respectively. As shown in the figure, the first distance measuring sensor and the second distance measuring sensor measure the vertical distance from the sensor to the preset reference point of the anchor pit, such as the edge of the pit or a specific mark, in real time and non-contact, to determine whether the anchor device is located above the anchor pit. In particular, when the detection value change Δ e When greater than P ， P is the depth of the foundation pit H If the anchoring device reaches 80% of its original position, it is determined to have entered the area above the anchor pit. Based on this information, the control system implements intelligent closed-loop management, including warning prompts, automatic anchoring and unanchoring, and system safety interlocks. Furthermore, the redundant design of the first and second ranging sensors not only ensures that the anchoring pit position can be detected in different operating directions of the gantry crane, but also ensures the normal operation of the anchoring device even if one of the sensors is damaged or blocked.

[0018] 2. The sleeve of the present invention has a double-layer structure, and an energy storage spring is placed between the inner and outer layers of the sleeve. A guide shoulder is provided on the outer wall of the anchor pin, which extends into the guide groove. The lower side of the guide shoulder rests on the retaining ring. The energy storage spring converts the gravitational potential energy of the anchor pin into elastic potential energy during the automatic anchoring process, which not only buffers the impact of anchoring, but also provides initial assistance for unanchoring.

[0019] 3. The present invention has a simple structure and high reliability. The device body is directly fixed to the gantry crane trolley mechanism, with a compact structure and small space occupation. The core transmission adopts an electric push rod combined with a linear slide rail, and the movement is smooth and reliable. The energy storage guide device 3 is modularly designed, which is easy to replace and maintain after a fault, and the overall system is highly robust.

[0020] 4. This invention is efficient, convenient, reliable, and safe; it completely eliminates the tedious manual operation of rotating the handle. The "automatic anchoring" process relies entirely on the device's own weight and mechanical structure. The "unanchoring" process is driven by an electric push rod, and the energy released by the energy storage spring assists in starting, making operation easy and labor-saving. Real-time positioning guidance based on dual laser ranging and camera video monitoring ensures precise alignment of the anchor pin, avoiding the time-consuming and labor-intensive repeated adjustments required by traditional methods. The optimized guide mechanism and linear drive design significantly reduce the risk of jamming and misalignment caused by rust and wear in traditional screw mechanisms.

[0021] 5. This invention features intelligent collaboration and comprehensive safety measures. Integrated into the gantry crane PLC control system, it intelligently links the gantry crane's operating status with anchoring operations. Multi-layer safety interlock protection includes status detection interlock (forbids gantry crane operation until anchoring is released), process interlock (forbids related operations until anchoring / unanchoring is complete), environmental interlock (overwind speed protection), and fault self-locking, ensuring comprehensive operational safety.

[0022] 6. The present invention is economical and practical; the device cost is low, and it mainly utilizes the existing door machine control system for expansion, and the transformation cost is low.

[0023] 7. The structure of the present invention is highly versatile; it is easy to install, deploy and reuse on gantry cranes in open air areas such as hydropower stations and port terminals, and has important engineering application value and promotion prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0025] Figure 1 It is a schematic diagram of the internal structure of the present invention.

[0026] Figure 2 This is a structural diagram of the sensing system installed at the bottom of the shell of the present invention.

[0027] Figure 3 Schematic diagram of the structure of the shell of the present invention.

[0028] Figure 4 It is a structural schematic diagram of the transmission mechanism of the present invention.

[0029] Figure 5 It is a structural schematic diagram of the guide device of the present invention.

[0030] Figure 6 This is a schematic diagram of the positioning of the anchoring foundation pit when the present invention is used.

[0031] Figure 7 Schematic diagram of the anchoring position state when used in the present invention.

[0032] Figure 8 This is a schematic diagram of the unanchoring state when the present invention is used.

[0033] Figure 9 The following is a flow chart of the working method of the system when used in the present invention.

[0034] Reference numerals: Shell 1, transmission mechanism 2, guide device 3, sensing system 4, anchor pin 5, anchor pit 6; Box body 101, base connecting fixing plate 102, base top bolt through hole 103, base bottom bolt through hole 104, protective cover 105; Linear guide rail 201, slider 202, split shaft support 203, sliding frame 204, connecting pin 205, anchor pin connector 206, drive device 207, base 20701, push rod connecting pin 20702; Sleeve 301, first bolt mounting through hole 30101, guide groove 30102, guide shoulder 302, energy storage spring 303, retaining ring 304, sleeve end cover 305, second bolt mounting through hole 30501; A first ranging sensor 401 , a second ranging sensor 402 , and a camera 403 . DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment will include such specific features, structures, or characteristics. Furthermore, when specific features, structures, or characteristics are described in conjunction with an embodiment, it is within the knowledge of persons skilled in the relevant art to implement such features, structures, or characteristics in conjunction with other embodiments (whether or not explicitly described).

[0037] Example 1: See also Figure 1-8 , an automatic anchoring device for a gantry crane, comprising an anchor pin 5, a shell 1, a transmission mechanism 2, a guide device 3 and a sensing system 4, wherein the guide device 3 comprises a sleeve 301, the sleeve 301 is fixedly mounted in the shell 1, and the anchor pin 5 is slidably mounted in the sleeve 301, the transmission mechanism 2 comprises a driving device 207, one end of the driving device 207 is connected to the shell 1, and the other end is connected to the anchor pin 5, the anchor pin 5 is extended out of the bottom of the shell 1 by the driving device 207 to be inserted into the anchor foundation pit 6, and the sensing system 4 is mounted at the bottom of the shell 1; the sensing system 4 comprises a first ranging sensor 401 and a second ranging sensor 402, the first ranging sensor 401 and the second ranging sensor 402 are respectively symmetrically mounted on both sides of the anchor pin 5 in the running direction of the gantry crane, and the control system of the gantry crane is electrically connected to the driving device 207, the first ranging sensor 401 and the second ranging sensor 402 for control.

[0038] The housing 1 is used to be fixed to the traveling mechanism of the gantry crane by welding or bolts. A sleeve 301 is installed inside the housing 1, and the anchor pin 5 is slidably installed in the sleeve 301. A driving device 207 is installed in the housing 1. The driving device 207 is connected to the anchor pin 5 to drive the anchor pin 5 to extend and retract. When the anchor pin 5 extends downward, it is used to insert into the anchor pit 6. The first distance measuring sensor 401 and the second distance measuring sensor 402 are symmetrically arranged on the left and right sides of the anchor pin 5, respectively. Figure 2 As shown, the first distance measuring sensor 401 and the second distance measuring sensor 402 measure the vertical distance from the sensor to a preset reference point of the anchor pit 6, such as the edge of the pit or a specific mark, in real time and non-contact, to determine whether the anchor device is located above the anchor pit. In particular, when the detection value change Δ e Greater than P hour ，P Depth of foundation pit H If the anchoring device reaches 80% of its current position, it is determined that the anchoring device has entered the area above the anchoring pit 6. Based on this information, the control system implements intelligent closed-loop management, including warning prompts, automatic anchoring and unanchoring, and system safety interlocks. Furthermore, the redundant design of the first and second ranging sensors not only ensures that the anchoring pit position can be detected in different operating directions of the gantry crane, but also ensures the normal operation of the anchoring device even if one of the sensors is damaged or blocked.

[0039] See also Figure 6 、 7 , the anchor pit 6 is a long groove structure, under normal conditions, combined with Figure 6 , when the first distance measuring sensor 401 and the second distance measuring sensor 402 are both in good condition, when the gantry crane moves from left to right, as long as the detection value change of the second distance measuring sensor 402 is Δ e Greater than P When the second distance measuring sensor 402 is damaged or blocked by dirt, when the detection value of the first distance measuring sensor 401 changes by Δ e Greater than P , the automatic anchoring step can be executed.

[0040] In this embodiment, both the first distance measuring sensor 401 and the second distance measuring sensor 402 are laser distance measuring sensors.

[0041] Furthermore, the perception system 4 also includes a camera 403, the viewing angle of which covers the anchor pin 5 and the anchor pit 6 area below, and the camera 403 is electrically connected to the display screen in the driver's cab. The camera 403 is used to collect real-time images or video streams of the anchoring area. The real-time image of the camera 403 is transmitted to the driver's cab, which can realize visual assisted positioning and monitoring, provide the driver with an intuitive on-site picture, and assist in judging the alignment and environmental status of the anchoring. It assists in verifying the reliability of the positioning results of the laser sensor, and can visually confirm the final landing state of the anchor pin 5 and the lifting state after unanchoring. In addition, the anchoring and unanchoring operation process is visually recorded.

[0042] See also Figure 3 The shell 1 includes a box body 101 which is spliced ​​together by multiple steel plates. A base connection fixing plate 102 is provided on the back of the box body 101 for fixing to the gantry crane. A through hole is opened on the top plate and the bottom plate inside the box body 101 for installing the sleeve 301. The two ends of the sleeve 301 are respectively fixedly mounted on the top plate and the bottom plate inside the shell body 1. A protective cover 105 is fixed on the top of the box body 101.

[0043] See also Figure 5 The bottom of the sleeve 301 is a flange structure with a first bolt mounting hole 30101 provided therein. A sleeve end cap 305 is mounted on the top of the sleeve 301, with a second bolt mounting hole 30501 provided therein. The flange structure is bolted to the bottom base bolt holes 104 on the bottom plate of the housing 1 via the first bolt mounting holes 30101, while the sleeve end cap 305 is bolted to the top base bolt holes 103 on the top plate of the housing 1 via the second bolt mounting holes 30501. This structure allows for detachable installation of the guide device 3.

[0044] Continue to see Figure 5 Sleeve 301 has a double-layer structure. An energy storage spring 303 is placed between the inner and outer layers of sleeve 301. A retaining ring 304 is placed on energy storage spring 303. A plurality of guide grooves 30102 are axially provided at the upper end of the inner layer of sleeve 301. A guide shoulder 306 is provided on the outer wall of anchor pin 5. Guide shoulder 306 extends into guide groove 30102, and the underside of guide shoulder 306 abuts against retaining ring 304. This structure allows energy storage spring 303 to convert the anchor pin's gravitational potential energy into elastic potential energy during the automatic anchoring process, thus buffering the impact of anchoring and providing initial assistance for unanchoring.

[0045] See also Figure 1 、 4The transmission mechanism 2 also includes a sliding frame 204. The sliding frame 204 is an L-shaped frame structure. One side of the sliding frame 204 is installed in the housing 1 for vertical sliding guidance, and the other side is located above the anchor pin 5. The driving device 207 is an electric push rod. The base 20701 of the electric push rod is connected to the housing 1 by bolts. The telescopic end of the electric push rod is connected to the lower end of the sliding frame 204 via a push rod connecting pin 20702. The end of the sliding frame 204 located above the anchor pin 5 is hinged to the anchor pin connector 206 installed on the top of the anchor pin 5 via a connecting pin shaft 205. The driving device 207 drives the sliding frame 204 up and down, thereby driving the anchor pin 5 up and down, thereby achieving anchoring and unanchoring.

[0046] In this embodiment, see Figure 4 The transmission mechanism 2 also includes a linear slide rail 201 and a slider 202. The two linear slide rails 201 are symmetrically installed inside the shell 1. Two sliders 202 are slidably installed on each slide rail 201. The two sides of the sliding frame 204 are respectively installed on the sliders 202 of the slide rails 201 on both sides, so that the sliding frame 204 is installed in the shell 1 in a guided sliding manner up and down.

[0047] Example 2: See also Figure 6 、 7 , 8, 9, the working method of the automatic anchoring device of the gantry crane includes an automatic anchoring step and an anchoring release step.

[0048] See also Figure 6 、 7 When the control knob in the driver's cab is placed in the "park" position and the gantry crane is driven to the anchoring position, the control system starts the automatic anchoring steps: S10. During the movement of the gantry crane, the first distance measuring sensor 401 and the second distance measuring sensor 402 of the sensing system 4 continuously feed back the distance measurement values ​​to the control system; S11. When the first ranging sensor 401 or the second ranging sensor 402 detects that the distance measurement value change Δe is greater than P, it is determined that the vehicle has entered the anchor pit 6 area. This moment is recorded as time t0, and the driver's cab display screen prompts the anchor approach information. Considering that there may be obstacles in the anchor pit that affect the distance measurement, the judgment threshold P is defined as 80% of the pit depth H, that is, the judgment condition is: ; S12. The gantry crane speed is a function of time t. Let the gantry crane speed be V(t). Let the time when the anchor pin 5 is directly above the center of the anchor pit 6 be time te. Then the control system calculates the distance L between the anchor pin 5 and the center of the anchor pit 6 in real time as: ; Where:L 0 is the distance from the edge of the anchor pit 6 to the center of the anchor pit 6, a is the distance between the first distance measuring sensor 401, the second distance measuring sensor 402 and the center of the anchor pin 5 respectively; S13. When the distance L displayed on the driver's cab display screen is ≈ 0, confirm that the anchor pin 5 is located at the center of the anchor pit 6, and the gantry crane automatically stops; S14, the control system releases the safety interlock of the anchor pin 5 and controls the driving device 207 to operate; S15, the anchor pin 5 falls vertically under the traction of its own weight and the driving device 207; the anchor pin 5 is finally reliably inserted into the anchor pit 6, and the locking is completed.

[0049] See also Figure 6 、 8 When the control knob in the driver's cab is placed in the "hoisting" gear and the control system detects that the anchor device is in the anchor locked state, the control system automatically starts the unanchoring steps: S20. Verify safety conditions, including normal wind speed and effective vehicle brakes; S21, the control system controls the driving device 207 to move and lift the anchor pin 5; S22. After the driving device 207 reaches its stroke position and the anchor pin 5 is completely lifted to be out of the anchor pit 6, the display screen in the driver's cab displays the anchor release information, and at the same time, the trolley travel interlock is released and the anchor is released.

[0050] Specifically, the gantry crane control system uses the gantry crane's programmable logic controller (PLC) as the core control unit, and integrates automatic anchoring control logic into the original control system. Its main functions include: 1. Command processing and logical operations: Receive operational commands, such as operating mode selection and "automatic anchoring" triggering, process real-time data from the perception system, such as laser ranging values ​​and image information, and execute preset anchoring / unanchoring control logic.

[0051] 2. Motion coordination and positioning control: In the "parking" gear mode, the system receives the anchoring device position information fed back by the sensing system, generates control instructions to drive the gantry crane trolley travel mechanism for precise positioning adjustment, and ensures that the center of the anchor pin 5 is directly above the center of the anchor pit 6.

[0052] 3. Status Monitoring and Safety Interlocking: Real-time monitoring of the anchoring device status, including anchoring and unanchoring, the operating status of the sensing system, and gantry crane operating parameters, such as gantry speed. During critical operating stages, such as when the anchoring state is not released, automatic anchoring is not completed, the sensing system fails, or the environment exceeds the limit, the safety interlock mechanism is triggered, locking the gantry travel mechanism and emitting an audible and visual alarm, prohibiting dangerous operations and ensuring system safety.

[0053] 4. Human-computer interaction: The driver's cab display screen displays key information in real time, including: anchor status indication, perception system data (including laser ranging value, calculated distance L, real-time image video, etc.), operation prompts, alarm information and system self-test results, providing the driver with decision-making basis and operation guidance.

[0054] In conjunction with Example 1, see Figure 6 、 7 , 8, 9, the system works as follows: (1) Self-test of gantry crane after power on After the gantry crane's main circuit breaker is closed, the control system automatically performs a power-on self-test, checking the PLC, sensor system 4, drive unit 207 status, communication links, and all safety interlock points for proper operation. After passing the self-test, the system enters standby mode. If a fault is detected, a specific alarm message is displayed on the driver's cab display, and operation is prohibited.

[0055] (2) Working mode selection After confirming that the self-test is normal and the environment is safe, the gantry crane driver should select the gantry crane's working mode and put the knob to one of the "hoisting / parking" gears. Different gear modes have different control sequences and protection procedures to achieve the coordinated operation of the gantry crane and the automatic anchoring device. The driver selects the gantry crane working mode through the knob: "Lifting" position: Allows the crane to perform lifting operations. Control logic: The system requires the anchor device to be in the unanchored state, otherwise the gantry crane cannot move. If the anchored state is detected, the unanchoring process is automatically initiated.

[0056] "Parking" position: Prepares to park and anchor the gantry crane. Control logic: The system activates the anchoring positioning function and guides the driver to move the gantry crane to the anchoring position.

[0057] (3) Unanchoring When the knob is switched to the "Hoist" position, the gantry crane control system detects the state based on the sensor system 4 and executes the corresponding action. If the state is already released, the operator is notified of the release of the anchor and the gantry crane is ready. If the state is anchored, the system automatically un-anchors the anchor and, after unlocking, notifies the operator of the release of the anchor and the gantry crane is ready. If the anchor is still anchored or un-anchoring is not completed, the system implements interlocking and interlocking functions, preventing the crane trolley from moving and providing a warning signal.

[0058] When the knob is in the "hoisting" position and the system detects that the anchor device is in the anchor locked state, the control system automatically starts the unanchoring process steps: 1. Verify safety conditions, such as normal wind speed and effective vehicle braking; 2. The control driving device 207 is powered on to drive the slider 202 to move upwards smoothly along the linear guide rail 201; 3. The slider 202 drives the sliding frame 204 to move upward as a whole; 4. The sliding frame 204 lifts the anchor pin 5 through the anchor pin connector 206; 5. The energy storage spring 303 releases the stored elastic potential energy at the initial stage of the upward movement of the anchor pin 5, providing auxiliary lifting force, significantly reducing the load of the drive device 207 and achieving a labor-saving effect; 6. After the anchor pin 5 is fully lifted and out of the anchor pit 6, the sensing system confirms that the anchoring is complete, and the display screen in the driver's cab shows "Anchor released, gantry crane ready", and the trolley travel interlock is released at the same time; 7. Safety interlock: Before the anchor is released, the gantry crane travel mechanism is forcibly locked and a warning signal is given. If the initial state is the anchor release, the gantry crane will be directly prompted to be ready.

[0059] (4) Automatic anchoring The driver puts the knob in the "park" position and operates the gantry crane to the anchoring position.

[0060] Positioning guidance phase: 1. During the movement of the gantry crane, the first laser ranging sensor 401 and the second laser ranging sensor 402 of the sensing system 4 continuously feed back the ranging values ​​to the control system; 2. When the laser distance value change Δ is detected e Greater than P When , it is determined to enter the foundation pit area, and this moment is recorded as t At 0:00, the display screen in the driver's cab prompts "Approaching anchor position, please slow down" and displays the distance in real time L and the image from camera 403 to guide the driver to park accurately.

[0061] 3. Considering that there may be obstacles such as gravel in the anchor pit that may affect the distance measurement, the judgment threshold P is defined as the foundation pit depth H 80% of the total, that is, the judgment condition is: ; 4. Gantry crane speed is about time t function, let the gantry crane speed be V ( t ), the moment when the anchor pin is directly above the center of the anchor pit is recorded as t e At this moment, the control system calculates in real time the distance between the anchor pin 5 and the center of the anchor pit 6 L for: ; in, L 0 is the distance from the edge of the anchor pit to the center of the anchor pit, a is the distance between the laser rangefinder and the center of the anchor pin 5.

[0062] Automatic anchoring execution phase: 1. The driver stops the gantry crane and L ≈0 and real-time image, confirm that the center of the anchor pin 5 is aligned with the center of the foundation pit 6, and then press the "Auto Anchor" button.

[0063] 2. The control system releases the safety interlock of the anchor pin 5 and controls the drive device 207 to retract; 3. The anchor pin 5 falls vertically under the action of its own weight and the traction of the driving device 207. The guide shoulder 306 on it is precisely matched with the symmetrical guide groove 30102 on the inner wall of the sleeve 301 to ensure an accurate and non-deflective falling trajectory; 4. During the falling process, the anchor pin 5 compresses the energy storage spring 303 through the retaining ring 304, converting part of the gravitational potential energy into elastic potential energy for storage, and achieving a certain buffering effect; 5. The anchor pin 5 is finally securely inserted into the bottom of the anchor pit 6, completing the secure locking. The maximum compression force of the energy storage spring 303 is designed to be less than the anchor pin's own weight, ensuring secure positioning.

[0064] 6. Camera 403 can provide the driver with verification of the anchoring status through real-time images, and the display screen in the driver's cab will display "Anchoring completed, safely locked".

[0065] (5) Check power outage After completing the anchoring, the driver conducts necessary inspections and confirms that the gantry crane and anchoring device are in correct condition before performing the power-off operation.

[0066] Further, see Figure 6 、 7 The anchoring foundation pit 6 is a long groove structure, and the length of the anchoring foundation pit 6 is greater than a.

[0067] Under normal conditions, that is, both the first distance measuring sensor 401 and the second distance measuring sensor 402 are in good condition, when the gantry crane moves from left to right, as long as the detection value change of the second distance measuring sensor 402 Δ e Greater than P , the above-mentioned automatic anchoring steps are executed.

[0068] However, when the second distance measuring sensor 402 is damaged or blocked by dirt, according to the running direction of the gantry crane, when the detection value change Δ of the first distance measuring sensor 401 e Greater than P When the gantry crane stops, the automatic anchoring procedure is immediately executed.

[0069] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Any modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic anchoring device for a gantry crane, comprising an anchor pin (5), characterized in that: The invention also includes a housing (1), a transmission mechanism (2), a guide device (3) and a sensing system (4), wherein the guide device (3) includes a sleeve (301), the sleeve (301) is fixedly mounted in the housing (1), and the anchor pin (5) is slidably mounted in the sleeve (301), the transmission mechanism (2) includes a drive device (207), one end of the drive device (207) is connected to the housing (1), and the other end is connected to the anchor pin (5), and the anchor pin (5) is driven by the drive device (207) to extend out of the bottom of the housing (1). The sensing system (4) is inserted into the anchoring pit (6), and is installed at the bottom of the housing (1); the sensing system (4) includes a first distance measuring sensor (401) and a second distance measuring sensor (402), and the first distance measuring sensor (401) and the second distance measuring sensor (402) are symmetrically installed on both sides of the anchoring pin (5) in the running direction of the gantry crane, and the control system of the gantry crane is electrically connected to the driving device (207), the first distance measuring sensor (401), and the second distance measuring sensor (402).

2. The automatic anchoring device for a gantry crane according to claim 1, characterized in that: The perception system (4) further includes a camera (403), the viewing angle of which covers the anchor pin (5) and the anchor foundation pit (6) below.

3. The automatic anchoring device for a gantry crane according to claim 1, characterized in that: The housing (1) comprises a box (101) formed by splicing a plurality of steel plates. A base connection fixing plate (102) for fixing to a gantry crane is provided on the back of the box (101). A through hole is provided on the top plate and the bottom plate inside the box (101) for installing the sleeve (301). The two ends of the sleeve (301) are respectively fixedly mounted on the top plate and the bottom plate inside the housing (1). A protective cover (105) is fixedly connected to the top of the box (101).

4. The automatic anchoring device for a gantry crane according to claim 3, characterized in that: The bottom of the sleeve (301) is a flange structure, and a first bolt mounting through hole (30101) is provided on the flange structure. A sleeve end cover (305) is installed on the top of the sleeve (301), and a second bolt mounting through hole (30501) is provided on the sleeve end cover (305). The flange structure is bolted and fixed to the base bottom bolt through hole (104) on the bottom plate of the shell (1) through the first bolt mounting through hole (30101), and the sleeve end cover (305) is bolted and fixed to the base top bolt through hole (103) on the top plate of the shell (1) through the second bolt mounting through hole (30501).

5. The automatic anchoring device for a gantry crane according to claim 1, characterized in that: The sleeve (301) has a double-layer structure. An energy storage spring (303) is placed between the inner and outer layers of the sleeve (301). A retaining ring (304) is placed on the energy storage spring (303). A plurality of guide grooves (30102) are axially arranged on the upper end of the inner layer of the sleeve (301). A guide shoulder (302) is provided on the outer wall of the anchor pin (5). The guide shoulder (302) extends into the guide groove (30102), and the lower side of the guide shoulder (302) abuts against the retaining ring (304).

6. The automatic anchoring device for a gantry crane according to claim 1 or 5, characterized in that: The transmission mechanism (2) further includes a sliding frame (204), which is an L-shaped frame structure. One side of the sliding frame (204) is installed in the housing (1) in an upward and downward guided sliding manner, and the other side is located above the anchor pin (5). The driving device (207) is an electric push rod. The base (20701) of the electric push rod is connected to the housing (1) by bolts, and the telescopic end of the electric push rod is connected to the lower end of the sliding frame (204) by a push rod connecting pin (20702). The end of the sliding frame (204) located above the anchor pin (5) is hinged to the anchor pin connector (206) installed on the top of the anchor pin (5) through a connecting pin shaft (205).

7. The automatic anchoring device for a gantry crane according to claim 6, characterized in that: The transmission mechanism (2) further comprises a linear slide rail (201) and a slider (202), wherein the two linear slide rails (201) are symmetrically mounted inside the housing (1), and two sliders (202) are slidably mounted on each slide rail (201), and both sides of the sliding frame (204) are respectively mounted on the sliders (202) of the slide rails (201) on both sides, so that the sliding frame (204) is mounted in the housing (1) in a guided and sliding manner up and down.

8. A method for operating the automatic anchoring device for a gantry crane according to any one of claims 1 to 7, characterized in that: It includes automatic anchoring steps and unanchoring steps.

9. The operating method of the automatic anchoring device for a gantry crane according to claim 8, characterized in that: When the control knob in the driver's cab is in the "park" position and the gantry crane is driven to the anchoring position, the control system starts the automatic anchoring steps: S10, during the movement of the gantry crane, the first distance measuring sensor (401) and the second distance measuring sensor (402) of the perception system (4) continuously feed back the distance measurement values ​​to the control system; S11. When the first distance measuring sensor (401) or the second distance measuring sensor (402) detects that the distance measurement value change Δe is greater than P, it is determined that the vehicle has entered the anchor pit (6) area. This moment is recorded as time t0, and the driver's cab display screen prompts the anchor approach information. Considering that there may be obstacles such as debris in the anchor pit that affect the distance measurement, the judgment threshold P is defined as 80% of the pit depth H, that is, the judgment condition is: ； S12. The gantry crane speed is a function of time t. The gantry crane speed is denoted as V(t). The moment when the anchor pin (5) is located directly above the center of the anchor pit (6) is denoted as time te. Then the control system calculates the distance L between the anchor pin (5) and the center of the anchor pit (6) in real time as: ； Where: L 0 is the distance from the edge of the anchor pit (6) to the center of the anchor pit (6), and a is the distance between the first distance measuring sensor (401), the second distance measuring sensor (402) and the center of the anchor pin (5) respectively; S13, when the distance L≈0 displayed on the display screen in the driver's cab, confirm that the anchor pin (5) is located at the center of the anchor pit (6), and the gantry crane automatically stops; S14, the control system releases the safety interlock of the anchor pin (5) and controls the driving device (207) to operate; S15. The anchor pin (5) falls vertically under the traction of its own weight and the driving device (207); the anchor pin (5) is finally reliably inserted into the anchor pit (6), completing the locking.

10. The operating method of the automatic anchoring device for a gantry crane according to claim 8, characterized in that: When the control knob in the driver's cab is in the "hoisting" position and the control system detects that the anchor device is in the anchor locked state, the control system automatically starts the anchor release procedure: S20. Verify safety conditions, including normal wind speed and effective vehicle brakes; S21, the control system controls the driving device (207) to move and lift the anchor pin (5); S22, after the driving device (207) reaches its stroke position and the anchor pin (5) is completely lifted to be out of the anchor pit (6), the driver's cab display screen displays the anchor release information, and at the same time, the trolley travel interlock is released, and the anchor is released.

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