End point detection and protection integrated device for luffing mechanism of portal crane

Abstract

The invention relates to a portal crane luffing mechanism end point detection and protection integrated device, and relates to the technical field of portal crane equipment, the portal crane luffing mechanism end point detection and protection integrated device comprises an induction piece arranged on a cantilever crane, and a first limit switch and a second limit switch which are arranged on a rotating seat, the first limit switch is arranged at the tail end of an amplification process, and the second limit switch is arranged at the tail end of an amplification process; the second limit switch is arranged at the tail end of the amplitude reduction process; a third limiting switch located behind the first limiting switch and a fourth limiting switch located behind the second limiting switch are arranged on the rotating base, and the first limiting switch and the third limiting switch can control on-off of the amplitude variation driving source piece in the amplitude increasing process. The second limit switch and the fourth limit switch can control the on-off of the amplitude variation driving source part in the amplitude reduction process respectively, and the induction part can trigger the first limit switch, the second limit switch, the third limit switch and the fourth limit switch. The method has the effect of improving the terminal point detection limiting reliability of the luffing mechanism.

Description

Technical Field

[0001] This application relates to the field of gantry crane equipment technology, and in particular to an integrated device for end point detection and protection of gantry crane luffing mechanism. Background Technology

[0002] The luffing mechanism of a gantry crane is the main working mechanism of a boom-type crane. It is used to change the crane's radius, that is, to change the horizontal distance from the center of the hook (or grab bucket) to the crane's slewing axis, so as to adapt to the crane's loading and unloading of goods under different conditions. An end-point detection device is usually installed in the luffing mechanism of the gantry crane. This device is used to prevent mechanical damage caused by overtravel, ensure operational safety, meet safety regulations, and improve the reliability and automation level of equipment operation through limit control.

[0003] One existing luffing mechanism's endpoint limit device installs a limit switch at both the boom's expansion and contraction ends. When the boom is expanding or contracting, triggering the limit switch disconnects the crane's relevant luffing control circuit, thus providing limit control. However, if one of the limit switches fails to activate for other reasons, the boom will continue to rotate beyond the safe zone, damaging the luffing mechanism and resulting in poor reliability of the luffing mechanism's endpoint detection limit. Summary of the Invention

[0004] To improve the reliability of the endpoint detection limit of the luffing mechanism, this application provides an integrated device for endpoint detection and protection of the luffing mechanism of a gantry crane.

[0005] The integrated device for endpoint detection and protection of the luffing mechanism of a gantry crane provided in this application adopts the following technical solution: An integrated device for end point detection and protection of a gantry crane luffing mechanism includes a sensor mounted on the boom and a first limit switch and a second limit switch mounted on the rotating base. The first limit switch is located at the end of the amplification process, and the second limit switch is located at the end of the deflection process. The rotating base is provided with a third limit switch located behind the first limit switch and a fourth limit switch located behind the second limit switch. The first limit switch and the third limit switch can respectively control the on / off state of the amplitude-changing drive source during the amplification process, and the second limit switch and the fourth limit switch can respectively control the on / off state of the amplitude-changing drive source during the deceleration process. The sensing element can trigger the first limit switch, the second limit switch, the third limit switch and the fourth limit switch.

[0006] By adopting the above technical solution, when limiting the end point of the luffing process, the sensor on the boom can trigger the first or third limit switch to control the luffing drive source to be in a short-circuit state, causing the boom to stop rotating. When limiting the end point of the luffing process, the sensor on the boom can trigger the second or fourth limit switch to control the luffing drive source to be in a short-circuit state, causing the boom to stop rotating. Even if the first and second limit switches fail or cannot be triggered for other reasons, the boom can still be stopped by triggering the third or fourth limit switch, thereby improving the reliability of the end point detection limit of the luffing mechanism.

[0007] Preferably, the first limit switch, the second limit switch, the third limit switch, and the fourth limit switch are all controlled by relays to switch the amplitude transformer drive source on and off.

[0008] By adopting the above technical solution and using relays to control the on / off of each limit switch to the luffing drive source component, stable and reliable electrical control can be achieved, effectively avoiding interference from problems such as oxidation and electric arc, ensuring accurate control of the luffing drive source component, and thus improving the reliability and stability of the end-point detection limit control of the boom during the increase and decrease of amplitude.

[0009] Preferably, it further includes a deceleration assembly and a control assembly. The deceleration assembly is disposed on the rotating base and connected to the boom. The control assembly is connected to the luffing drive source. When the luffing drive source is in a disconnected state, the control assembly drives the deceleration assembly to decelerate the boom.

[0010] By adopting the above technical solution, when the luffing drive source is disconnected, the control component drives the deceleration component to decelerate the boom, which can further reduce the risk of boom overtravel, enhance the safety and reliability of the integrated device for end point detection and protection of the gantry crane luffing mechanism, and reduce potential damage to the luffing mechanism.

[0011] Preferably, the deceleration assembly includes a support body, a piston, and a connecting rod. The support body is disposed on the rotating seat and has a liquid channel inside. The piston is disposed inside the liquid channel and is slidably connected to the liquid channel in a sealed manner. The piston divides the liquid channel into a first cavity and a second cavity. One end of the connecting rod is connected to the piston, and the other end is connected to the boom, so that the boom can drive the piston to slide. The first cavity and the second cavity are connected through a control channel. The control channel and both the first cavity and the second cavity are filled with hydraulic oil. The control channel is provided with a throttling device connected to the control assembly. The throttling device can adjust the flow cross-sectional area of ​​the hydraulic oil.

[0012] By adopting the above technical solution, when the boom does not overtravel during the increase and decrease of luffing, the boom rotates while driving the piston to slide in the liquid channel through the connecting rod. The hydraulic oil on both sides of the piston flows in the first and second chambers through the control channel. When the luffing drive source is disconnected, the control component can drive the throttling device to reduce the flow cross-sectional area of ​​the hydraulic oil in the control channel, so that the boom drives the piston to slide in the liquid channel and generate resistance, thereby decelerating the boom and enhancing the safety and stability of the gantry crane luffing mechanism at the end point detection.

[0013] Preferably, the liquid channel is arranged in an arc shape, and the center of the circle corresponding to the arrangement trajectory is collinear with the rotation axis of the boom.

[0014] By adopting the above technical solution, the semi-circular liquid channel arrangement with its center collinear with the boom rotation axis allows the boom to drive the piston to slide more smoothly and stably within the liquid channel, ensuring the stable operation of the deceleration assembly.

[0015] Preferably, there are two connecting rods, which are located on both sides of the piston, and each connecting rod is an arc shape concentric with the liquid channel arrangement trajectory.

[0016] By adopting the above technical solution, the two connecting rods located on both sides of the piston can more stably connect the piston and the boom, making the process of the boom driving the piston to slide smoother; the concentric arc-shaped connecting rods are adapted to the liquid channel layout trajectory, which can better follow the rotation of the boom, reduce motion interference, and improve the stability and reliability of the deceleration assembly for the deceleration action of the boom.

[0017] Preferably, the throttling element includes a throttling plate, which is rotatably connected to the support body, and the control component is connected to the throttling plate so as to drive the throttling plate to rotate and adjust the flow cross-sectional area of ​​the hydraulic oil.

[0018] By adopting the above technical solution, the control component can drive the throttle plate to rotate, thereby adjusting the flow cross-sectional area of ​​the hydraulic oil, realizing flexible control of the boom deceleration speed, improving the controllability and stability of the boom deceleration process, and helping to protect the gantry crane luffing mechanism.

[0019] Preferably, a rotating shaft is fixedly provided on the throttling plate, the rotating shaft is rotatably connected to the support body, and the throttling plate is symmetrically arranged about the axis of the rotating shaft.

[0020] By adopting the above technical solution, the throttle plate is fixedly mounted on a rotating shaft and rotatably connected to the support body. Furthermore, the throttle plate is symmetrical about the axis of the rotating shaft, which makes the adjustment of the hydraulic oil flow cross-sectional area by the rotation of the throttle plate more stable and balanced, and enables more precise control of the boom deceleration process.

[0021] Preferably, the end of the throttle plate adopts an arc-shaped transition.

[0022] By adopting the above technical solution, the end of the throttle plate is made to have a rounded transition, which makes the rotation of the throttle plate smoother and thus more stably adjusts the flow cross-sectional area of ​​the hydraulic oil, ensuring the stable execution of the deceleration assembly on the boom deceleration action.

[0023] Preferably, the control component includes a rotary motor, the output shaft of which is fixedly connected to the rotating shaft. When the variable amplitude drive source is short-circuited, the rotary motor operates and drives the throttle plate to rotate.

[0024] By adopting the above technical solution, when the luffing drive source is short-circuited, the rotating motor can drive the throttle plate to rotate, adjust the flow cross-sectional area of ​​the hydraulic oil, and make the deceleration assembly decelerate the boom, reducing the impact of the boom caused by sudden stopping and protecting the luffing mechanism of the gantry crane.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. When the luffing process is limited to the end point, the sensor on the boom triggers the first or third limit switch, which controls the on / off state of the luffing drive source, causing the boom to stop rotating; when the luffing process is limited to the end point, the sensor on the boom triggers the second or fourth limit switch, which controls the on / off state of the luffing drive source, causing the boom to stop rotating, thus improving the reliability of the luffing mechanism's end point detection limit. 2. The on / off state of the amplitude transformer drive source is controlled by a relay, which facilitates control; 3. When the luffing drive source is disconnected, the control component drives the deceleration component to decelerate the boom, further ensuring equipment safety. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the integrated device for end point detection and protection of the gantry crane luffing mechanism according to Embodiment 1 of this application.

[0027] Figure 2 It is used to display the positional relationship between the sensor and the support rod during the amplification process.

[0028] Figure 3 It is used to display the positional relationship between the sensor and the support rod during the amplitude reduction process.

[0029] Figure 4 It is a circuit diagram used to illustrate the motor control loop.

[0030] Figure 5 It is a circuit diagram used to demonstrate the limit switch control of the amplification and deceleration circuits.

[0031] Figure 6This is a schematic diagram of the integrated device for end point detection and protection of the gantry crane luffing mechanism according to Embodiment 2 of this application.

[0032] Figure 7 This is a top view of the integrated device for end-point detection and protection of the gantry crane luffing mechanism.

[0033] Figure 8 It is along Figure 7 A cross-sectional view along line AA in the middle.

[0034] Figure 9 This is a structural schematic diagram showing another perspective of the integrated device for end-point detection and protection of the gantry crane luffing mechanism.

[0035] Figure 10 This is a cross-sectional view used to show the throttle plate.

[0036] Explanation of reference numerals in the attached drawings: 11. Boom; 12. Rotating seat; 13. Support rod; 2. Sensor; 3. Deceleration assembly; 31. Support body; 311. Base; 312. Connecting part; 32. Piston; 33. Connecting rod; 34. Liquid channel; 341. First cavity; 342. Second cavity; 35. Control channel; 36. Throttling element; 361. Throttling plate; 362. Rotating shaft; 363. Arc-shaped surface; 4. Control assembly; 41. Rotating motor; SX1. First limit switch; SX2. Second limit switch; SX3. Third limit switch; SX4. Fourth limit switch. Detailed Implementation

[0037] The following will be combined with the appendix Figures 1-10 The technical solutions in the embodiments of the present invention are further described in detail below. The described embodiments are only possible technical implementations of the present invention, but are not limited thereto. Those skilled in the art can certainly combine the embodiments of the present invention to obtain other embodiments without creative effort, which are also within the protection scope of the present invention.

[0038] This application mainly uses multiple limit switches in combination to control the on / off state of the luffing drive source, thereby improving the reliability of the limit detection at the end point of the luffing mechanism. The following is a further detailed description of this application. Example 1

[0039] Reference Figure 1This embodiment discloses an integrated device for detecting and protecting the endpoint of a gantry crane's luffing mechanism, including a sensor 2, a first limit switch SX1, a second limit switch SX2, a third limit switch SX3, and a fourth limit switch SX4. The luffing mechanism in this embodiment includes a boom 11 and a rotating base 12. The boom 11 is rotatably connected to the rotating base 12 via a hinge shaft. The luffing drive source for the boom 11 to increase and decrease amplitude is a motor M1. The motor M1 drives the boom 11 to rotate around the rotating base 12 to perform increasing and decreasing amplitude movements. In this embodiment, the first limit switch SX1, the second limit switch SX2, the third limit switch SX3, and the fourth limit switch SX4 are all inductive proximity switches. The first limit switch SX1 and the third limit switch SX3, the second limit switch SX2, and the fourth limit switch SX4 are all fixedly installed on the rotating base 12 via a support rod 13. The first limit switch SX1 and the third limit switch SX3, the second limit switch SX2, and the fourth limit switch SX4 are all arranged at intervals along the radial direction of the boom 11's rotation.

[0040] Reference Figure 1 , Figure 2 and Figure 3 There are two sensing elements 2. In this embodiment, the sensing element 2 is a metal block. One sensing element 2 is used to trigger the first limit switch SX1 and the third limit switch SX3 during the amplification process. The other sensing element 2 is used to trigger the second limit switch SX2 and the fourth limit switch SX4 during the deceleration process. The angle formed between the trigger ends of the two sensing elements 2 and the corresponding support rod 13 is an acute angle α, so that the limit switches on the same support rod 13 are triggered one after another.

[0041] Reference Figure 1 , Figure 4 and Figure 5 The first limit switch SX1 is located at the end of the boom 11 when it is amplified, which is the maximum amplitude limit point. The third limit switch SX3 is located behind the first limit switch SX1 when it is the maximum amplitude end point. This ensures that the sensor 2 reaches the first limit switch SX1 first and then the third limit switch SX3 during the amplification process. The second limit switch SX2 is located at the end of the boom 11 when it is de-amplified, which is the minimum amplitude limit point. The fourth limit switch SX4 is located behind the second limit switch SX2 when it is the minimum amplitude end point. This ensures that the sensor 2 reaches the second limit switch SX2 first and then the fourth limit switch SX4 during the de-amplification process.

[0042] The operation of motor M1 is controlled by the control signal input module. The control signal input module includes relay KA6 for increasing speed, relay KA7 for decreasing speed, relay KA8 for second gear, relay KA9 for third gear, and relay KA10 for fourth gear. When relay KA6 is activated, its contacts close, and the signal is sent to the digital input terminal DI1 of the frequency converter through C41. The signal corresponds to the function command "increase" of the frequency converter, controlling motor M1 to perform the increase process.

[0043] The control signal input module includes a maximum amplitude limit circuit, a maximum amplitude endpoint circuit, a minimum amplitude limit circuit, a minimum amplitude endpoint circuit, a handle zero position circuit, an amplification circuit, a deceleration circuit, a second acceleration circuit, a third acceleration circuit, and a fourth acceleration circuit, all connected in parallel between the AC220V live wire and neutral wire. The first limit switch SX1, the second limit switch SX2, the third limit switch SX3, and the fourth limit switch SX4 are all normally closed switches. The first limit switch SX1 is connected in series with relay KA1 in the maximum amplitude limit circuit; the third limit switch SX3 is connected in series with relay KA3 in the maximum amplitude endpoint circuit; the second limit switch SX2 is connected in series with relay KA2 in the minimum amplitude limit circuit; the fourth limit switch SX4 is connected in series with relay KA4 in the minimum amplitude endpoint circuit; relays KA1, KA2, and KA6 are connected in series in the amplification circuit; and relays KA3, KA4, and KA7 are connected in series in the deceleration circuit.

[0044] Taking the amplification process as an example, when the boom 11 moves the sensor 2 to the maximum amplitude limit point, it triggers the first limit switch SX1, disconnects the relay KA1, and disconnects the amplification path, which in turn disconnects the relay KA6, causing the motor M1 to stop. If the first limit switch SX1 malfunctions or fails to trigger for other reasons, the boom 11 moves the sensor 2 to the maximum amplitude end point, triggering the third limit switch SX3, disconnecting the relay KA3, which similarly disconnects the amplification path, and then disconnects the relay KA6, causing the motor M1 to stop. During the deceleration process, the second limit switch SX2 and the fourth limit switch SX4 control the motor M1 to stop in the same way as during the amplification process.

[0045] The implementation principle of Example 1 is as follows: By setting a sensor 2 on the boom 11 and multiple limit switches on the rotating base 12, the sensor 2 triggers the limit switches to control the on / off state of the luffing drive source, thereby achieving end-point limiting of the boom 11's increase and decrease processes. Even if some limit switches fail, the other limit switches can ensure that the boom 11 stops rotating, improving the reliability of the end-point detection limit of the luffing mechanism. Example 2

[0046] Reference Figure 6 , Figure 7 and Figure 8 The difference between this embodiment and Embodiment 1 is that the integrated device for end point detection and protection of the gantry crane luffing mechanism also includes a deceleration assembly 3 and a control assembly 4. In this embodiment, the deceleration assembly 3 includes a support body 31, a piston 32, and a connecting rod 33. The support body 31 is fixedly mounted on the rotating seat 12. The support body 31 includes a base 311 and a connecting part 312. The base 311 is arranged circumferentially with the rotation center of the boom 11 as its center. A liquid channel 34 is formed within the base 311. The trajectory of the liquid channel 34 is an arc concentric with the rotation axis 362 of the boom 11. The central angles at both ends of the liquid channel 34 are greater than the central angles corresponding to the third limit switch SX3 and the fourth limit switch SX4. The liquid channel 34 is closed at both ends. The piston 32 is disposed inside the liquid channel 34. The cross-section of the piston 32 is adapted to the liquid channel 34 and is slidably and sealingly connected to the liquid channel 34. The central angle of the area in which the piston 32 can slide inside the liquid channel 34 is greater than the central angles of the third limit switch SX3 and the fourth limit switch SX4.

[0047] Reference Figure 7 , Figure 8 and Figure 9 The piston 32 divides the liquid channel 34 into a first chamber 341 and a second chamber 342. The first chamber 341 and the second chamber 342 are connected by a control channel 35 located in the connecting part 312. The control channel 35, the first chamber 341, and the second chamber 342 are all filled with hydraulic oil. The control channel 35 is equipped with a throttling element 36, which can adjust the flow cross-sectional area of ​​the hydraulic oil. In this embodiment, there are two connecting rods 33. The two connecting rods 33 are arc-shaped with the center of the liquid channel 34 corresponding to the center of the circle. The two connecting rods 33 are respectively located on both sides of the piston 32. One end of the connecting rod 33 slides through the end of the liquid channel 34 and is fixedly connected to the piston 32. The other end is fixedly connected to the boom 11. The concentric arc-shaped connecting rods 33 are adapted to the arrangement trajectory of the liquid channel 34, which can better follow the rotation of the boom 11, reduce motion interference, and improve the stability and reliability of the deceleration action of the boom 11.

[0048] Reference Figure 8 , Figure 10In this embodiment, the throttling element 36 includes a throttling plate 361. The control channel 35 has a rectangular cross-section, and the throttling plate 361 is a rectangular plate adapted to the cross-section of the control channel 35. A rotating shaft 362 perpendicular to the hydraulic oil flow direction is fixedly provided on the throttling plate 361. The rotating shaft 362 passes through the throttling plate 361 and is fixedly connected to it. One end of the rotating shaft 362 is rotatably connected to the connecting part 312, and the other end passes through the connecting part 312 and is rotatably sealed to the connecting part 312 through a sealing ring to prevent leakage of hydraulic oil in the control channel 35. The rotating shaft 362 is located at the middle position of the throttling plate 361, so that the throttling plate 361 is symmetrically arranged about the axis of the rotating shaft 362. This makes the rotation of the throttling plate 361 more stable and balanced when adjusting the cross-sectional area of ​​the hydraulic oil flow, and can more accurately control the deceleration process of the boom 11.

[0049] The two sides of the relatively narrow throttle plate 361 are set with arc-shaped surfaces 363. On the one hand, the two sides of the throttle plate 361 with a wider width are connected by the arc-shaped surfaces 363, which reduces the stress concentration on the throttle plate 361. On the other hand, it can adapt to the rotation of the throttle plate 361, making the rotation of the throttle plate 361 smoother, thereby more stably adjusting the flow cross-sectional area of ​​the hydraulic oil and ensuring the stable execution of the deceleration assembly 3 on the deceleration action of the boom 11.

[0050] In this embodiment, the control component 4 includes a rotary motor 41, which is fixedly mounted on the connecting part 312. The output shaft of the rotary motor 41 is coaxially and fixedly connected to the rotary shaft 362. The rotary motor 41 drives the throttle plate 361 to rotate. When the arc-shaped surface 363 on the throttle plate 361 is facing the hydraulic oil, the flow cross-sectional area of ​​the hydraulic oil in the control channel 35 reaches its maximum. When the front of the throttle plate 361 is facing the hydraulic oil, the flow cross-sectional area of ​​the hydraulic oil in the control channel 35 reaches its minimum and is almost zero.

[0051] The rotary motor 41 is connected to relays KA1, KA2, KA3, and KA4 via a PLC control module. When any one of the relays KA1, KA2, KA3, and KA4 is in an open circuit state, a control signal is applied to the rotary motor 41. The rotary motor 41 receives the signal and rotates the throttle plate 361 to a preset angle, preferably 60° in this embodiment. After the rotary motor 41 rotates the throttle plate 361 to the preset angle, it stops rotating and enters a self-locking state. When all relays KA1, KA2, KA3, and KA4 are in a closed circuit state, a reset signal is applied to the rotary motor 41. The rotary motor 41 drives the throttle plate 361 to rotate to a position parallel to the hydraulic oil flow direction to reset, stop rotating, and enter a self-locking state.

[0052] The implementation principle of Example 2: When the boom 11 does not overtravel during the increase and decrease process, the throttle plate 361 is in a state parallel to the hydraulic oil flow direction, so that the flow cross-sectional area of ​​the hydraulic oil in the control channel 35 reaches the maximum. When the boom 11 rotates, it drives the piston 32 to slide in the liquid channel 34 through the connecting rod 33. The hydraulic oil on both sides of the piston 32 flows in the first chamber 341 and the second chamber 342 through the control channel 35. When the motor M1 is disconnected, the rotating motor 41 drives the throttle plate 361 to rotate to a preset angle, thereby reducing the flow cross-sectional area of ​​the hydraulic oil in the control channel 35. This causes the boom 11 to drive the piston 32 to slide in the liquid channel 34, generating resistance, thereby decelerating the boom 11 and enhancing the safety and stability of the gantry crane luffing mechanism at the end point detection.

[0053] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An integrated device for end-point detection and protection of a gantry crane luffing mechanism, characterized in that: It includes a sensor (2) mounted on the boom (11) and a first limit switch (SX1) and a second limit switch (SX2) mounted on the rotating base (12). The first limit switch (SX1) is located at the end of the amplification process, and the second limit switch (SX2) is located at the end of the deflection process. The rotating base (12) is provided with a third limit switch (SX3) located behind the first limit switch (SX1) and a fourth limit switch (SX4) located behind the second limit switch (SX2). The first limit switch (SX1) and the third limit switch (SX3) can respectively control the on / off state of the variable amplitude drive source during the amplification process. The second limit switch (SX2) and the fourth limit switch (SX4) can respectively control the on / off state of the variable amplitude drive source during the deceleration process. The sensing element (2) can trigger the first limit switch (SX1), the second limit switch (SX2), the third limit switch (SX3) and the fourth limit switch (SX4).

2. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 1, characterized in that: The first limit switch (SX1), the second limit switch (SX2), the third limit switch (SX3), and the fourth limit switch (SX4) all control the on / off state of the amplitude converter drive source through relays.

3. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 1, characterized in that: It also includes a deceleration assembly (3) and a control assembly (4). The deceleration assembly (3) is disposed on the rotating seat (12) and connected to the boom (11). The control assembly (4) is connected to the luffing drive source. When the luffing drive source is in the disconnected state, the control assembly (4) drives the deceleration assembly (3) to decelerate the boom (11).

4. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 3, characterized in that: The deceleration assembly (3) includes a support body (31), a piston (32), and a connecting rod (33). The support body (31) is mounted on the rotating seat (12). A liquid channel (34) is provided inside the support body (31). The piston (32) is disposed inside the liquid channel (34) and is slidably connected to the liquid channel (34). The piston (32) divides the liquid channel (34) into a first cavity (341) and a second cavity (342). One end of the connecting rod (33) is connected to the piston (32). One end is connected to the other end and connected to the boom (11), so that the boom (11) can drive the piston (32) to slide. The first cavity (341) and the second cavity (342) are connected through a control channel (35). The control channel (35) and the first cavity (341) and the second cavity (342) are filled with hydraulic oil. The control channel (35) is provided with a throttling device (36) connected to the control component (4). The throttling device (36) can adjust the flow cross-sectional area of ​​the hydraulic oil.

5. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 4, characterized in that: The liquid channel (34) is arranged in an arc shape, and the center of the circle corresponding to the arrangement trajectory is collinear with the rotation axis (362) of the boom (11).

6. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 5, characterized in that: There are two connecting rods (33), which are located on both sides of the piston (32). The shape of each connecting rod (33) is an arc concentric with the arrangement trajectory of the liquid channel (34).

7. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 4, characterized in that: The throttling element (36) includes a throttling plate (361), which is rotatably connected to the support body (31). The control component (4) is connected to the throttling plate (361) so as to drive the throttling plate (361) to rotate and adjust the flow cross-sectional area of ​​the hydraulic oil.

8. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 7, characterized in that: The throttle plate (361) is fixedly provided with a rotating shaft (362), the rotating shaft (362) is rotatably connected to the support body (31), and the throttle plate (361) is symmetrically arranged about the axis of the rotating shaft (362).

9. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 8, characterized in that: The end of the throttle plate (361) is transitioned by an arc-shaped surface (363).

10. The integrated device for end-point detection and protection of the gantry crane luffing mechanism according to claim 8, characterized in that: The control component (4) includes a rotary motor (41), the output shaft of which is fixedly connected to the rotating shaft (362). When the variable amplitude drive source is short-circuited, the rotary motor (41) works and drives the throttle plate (361) to rotate.

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