Bridge crane intelligent walking wheel system with independent suspension

Abstract

The invention relates to the technical field of cranes, and provides an independent suspension bridge crane intelligent walking wheel system which comprises a server, a walking rail, a walking trolley, a monitoring module, a traction module, an auxiliary braking module and an evaluation module, and the monitoring module and the auxiliary braking module are arranged on the walking trolley; the monitoring module collects state data of the walking trolley and analyzes the walking trolley according to the state data to form an analysis result, the traction module drags the walking trolley according to the analysis result so as to adjust the position of the walking trolley on the walking rail, and the evaluation module collects traction data of the traction module and evaluates the position of the walking trolley on the walking rail. The traction state of the walking trolley is evaluated according to the collected traction data to form an evaluation result, and the auxiliary braking module conducts auxiliary braking on the walking trolley according to the evaluation result. Through cooperation of the evaluation module and the auxiliary braking module, the whole system has the advantages of being good in stability in the moving direction, high in control precision and good in safety.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and more particularly to an intelligent traveling wheel system for a bridge crane with independent suspension. Background Technology

[0002] When the existing bridge crane trolley is in operation, because the trolley wheel sets on both sides of the main beam are driven by a single motor, the traveling speed of the trolley wheel sets on both sides of the main beam will be different. The different traveling speed of the trolley wheel sets on both sides will cause the trolley to deviate from its position and cause rail wear. Rail wear will reduce the service life of the trolley traveling wheels and traveling rails, and at the same time pose a significant safety hazard.

[0003] For example, Chinese patent CN104590995B discloses a fully hydraulic control trolley system for a bridge crane. It uses a single motor and a low-speed, high-torque hydraulic motor with a relatively simple structure and light weight as the actuator. It does not use a reducer, which reduces the burden on the trolley and saves resources. However, it cannot achieve auxiliary traction and precise control of position, which reduces the flexibility of the entire system and makes it prone to slippage or landslides.

[0004] In addition, existing technologies also have the drawback that uneven weight distribution during heavy load hoisting operations can lead to imbalance in the wheel system, affecting the stability of the crane. Furthermore, it is impossible to precisely control the crane's moving speed.

[0005] Meanwhile, existing technologies also have the problem that the wheel systems of existing bridge cranes are often designed in a fixed form, which cannot effectively adapt to different usage scenarios and limits the crane's efficiency and mobility in changing working conditions.

[0006] This invention was made to address common problems in the field, such as poor accuracy in position control, poor deceleration capability, inability to achieve stability on both sides of the direction of movement, and lack of auxiliary support for the wheels. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of current systems by proposing an intelligent traveling wheel system for bridge cranes with independent suspension.

[0008] To overcome the shortcomings of the prior art, the present invention adopts the following technical solution:

[0009] An intelligent traveling wheel system for a bridge crane with independent suspension includes a server, a traveling rail, and a traveling trolley that slides on the traveling rail. The intelligent traveling wheel system for the bridge crane also includes a monitoring module, a traction module, an auxiliary braking module, and an evaluation module. The server is used to store intermediate data and process data of the monitoring module, the traction module, the auxiliary braking module, and the evaluation module. The monitoring module and the auxiliary braking module are mounted on the traveling trolley.

[0010] The monitoring module collects the status data of the traveling trolley and analyzes the traveling trolley based on the status data to form an analysis result. The traction module pulls the traveling trolley based on the analysis result to adjust the position of the traveling trolley on the travel track. The evaluation module collects the traction data of the traction module and evaluates the traction state of the traveling trolley based on the collected traction data to form an evaluation result. The auxiliary braking module performs auxiliary braking on the traveling trolley based on the evaluation result.

[0011] The traction module includes a traction rope, a traction unit, and a limiting unit. One end of the traction rope is connected to the traveling trolley, and the other end of the traction rope is connected to the traction unit, so that the traction unit can traction the traveling trolley. The limiting unit limits the traction rope and is set on the traveling rail.

[0012] The traction unit is symmetrically arranged on both sides of the traveling trolley and pulls the traveling trolley from both sides.

[0013] Optionally, the monitoring module includes a speed monitoring unit, a position monitoring unit, a memory, and a motion analysis unit. The speed monitoring unit collects the speed data of the traveling vehicle, the position monitoring unit collects the position data of the traveling vehicle, the memory stores the speed data collected by the speed monitoring unit and the position data of the position monitoring unit, and the motion analysis unit analyzes the traveling vehicle based on the speed data collected by the speed monitoring unit and the position data of the position monitoring unit.

[0014] The speed monitoring unit includes a magnetic encoder, a support base, and a magnetic marker. The magnetic marker is disposed on the wheel of the traveling trolley. The support base supports the magnetic encoder, and the magnetic encoder is positioned facing the magnetic marker to detect the rotational speed of the wheel of the traveling trolley.

[0015] Optionally, the position monitoring unit includes an identification probe and at least one position marker. The at least one position marker is distributed at equal intervals along the extension direction of the walking track. The identification probe is disposed on the walking trolley and is positioned toward the at least one position marker to obtain the position data of the walking trolley.

[0016] The location data includes the distance between the start and stop of the walking vehicle.

[0017] Optionally, the motion analysis unit acquires the speed data collected by the speed monitoring unit and the position data collected by the position monitoring unit, and calculates the motion state index MOVE of the traveling vehicle according to the following formula:

[0018]

[0019] In the formula, α, β, and γ are weighting coefficients, whose values ​​are set by the system, and v t V is the actual speed of the traveling t at time t. ideal A is the ideal speed of the traveling trolley. t Let A be the actual acceleration of the traveling t vehicle at time t. ideal M is the ideal acceleration of the traveling vehicle. t M is the actual distance traveled by the walking vehicle at time t, and its value is obtained from the position monitoring unit. ideal The ideal distance traveled by the t-carriage.

[0020] If the movement state index (MOVE) of the traveling trolley is lower than the set monitoring threshold level, the traction module is triggered to traction the traveling trolley.

[0021] Optionally, the traction unit includes a traction drive mechanism, a traction seat, a traction chamber, and a traction rod. The traction chamber is disposed in the traction seat. One end of the traction rod is driven to connect with the traction drive mechanism to form a traction part. The traction part is disposed in the traction chamber, and the other end of the traction rod extends toward the side away from the traction drive mechanism and is hinged to the inner wall of the traction chamber.

[0022] One end of the traction rope is connected to the rod of the traction rod, and the other end of the traction rope is connected to the traveling trolley.

[0023] Optionally, the limiting unit includes a limiting seat, a limiting member, and a limiting cavity. The limiting cavity is disposed on the limiting seat and allows the traction rope to pass through. The limiting member is symmetrically disposed on both sides of the limiting cavity and provides auxiliary limiting for the traction rope.

[0024] The limiting unit is disposed at the initial end and the end of the travel rail and is connected to the inner wall of the travel rail.

[0025] Optionally, the evaluation module includes a sampling unit and an evaluation unit. The sampling unit collects the traction data of the traction rope, and the evaluation unit evaluates the traction status of the walking trolley based on the traction data of the sampling unit.

[0026] The sampling unit includes a strain sampling component, a magnetic sampling component, and a sound field sampling component. The strain sampling component collects the strain force data of the traction rope, the magnetic sampling component collects the offset data of the traction rope, and the sound field sampling component collects the ultrasonic data generated by the traction rope when it is under force.

[0027] Optionally, the auxiliary braking module includes a braking unit and a posture adjustment unit, wherein the braking unit provides auxiliary braking to the traveling trolley, and the posture adjustment unit adjusts the posture of the braking unit;

[0028] The braking unit includes a brake seat, a brake lever, and a brake contact. One end of the brake lever is connected to the brake seat, and the other end of the brake lever is connected to the brake contact. The brake seat is hinged to the outer wall of the traveling trolley, and the brake contact extends toward the side away from the traveling trolley.

[0029] Optionally, the surface of the brake contact element contacts the travel rail and provides auxiliary braking for the traveling trolley;

[0030] The brake contact element is made of a wear-resistant material.

[0031] Optionally, the auxiliary braking module is symmetrically arranged on both sides of the traveling trolley and performs auxiliary braking on the traveling trolley.

[0032] The beneficial effects achieved by this invention are:

[0033] 1. By coordinating the evaluation module and the auxiliary braking module, the position control of the traveling trolley is made more precise, ensuring the coordination and stability of the traveling trolley. This gives the entire system the advantages of good stability in the direction of movement, high control accuracy, and excellent safety.

[0034] 2. Through the cooperation of the posture adjustment unit and the braking unit, the control precision of the walking trolley is made more accurate, ensuring that the whole system has the advantages of good deceleration performance, strong ability to adjust movement speed and high auxiliary support capability.

[0035] 3. By cooperating with the monitoring module and the traction module, the efficiency and accuracy of the traveling trolley are made more reliable, ensuring that the whole system has the advantages of high control accuracy, strong deceleration capability, and high stability of lateral movement;

[0036] 4. The auxiliary braking module improves the reliability of the trolley's braking by providing auxiliary braking, while also ensuring the stability of both sides of the trolley and enhancing the overall load-bearing capacity of the trolley. Attached Figure Description

[0037] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0038] Figure 1 This is a schematic diagram of the overall block shape of the present invention.

[0039] Figure 2 This is a block diagram of the position monitoring unit, speed monitoring unit, motion analysis unit, and traveling trolley of the present invention.

[0040] Figure 3 This is a front view schematic diagram of the traveling track and traveling trolley of the present invention.

[0041] Figure 4 This is a top view of the walking trolley, traction module, and monitoring module of the present invention.

[0042] Figure 5 for Figure 4 Enlarged diagram of point A in the middle.

[0043] Figure 6 for Figure 4 Enlarged diagram of point B in the middle.

[0044] Figure 7 This is a schematic diagram showing some details of the auxiliary braking unit and the travel rail of the present invention.

[0045] Figure 8 This is a front view schematic diagram of the traction unit of the present invention.

[0046] Figure 9 for Figure 8 Enlarged diagram of the CC section.

[0047] Figure 10 This is a schematic diagram of the limiting unit and traction device of the present invention.

[0048] Figure 11 This is a partial cross-sectional schematic diagram of the traveling trolley and traveling rail of the present invention.

[0049] Figure 12 for Figure 11 Enlarged diagram of point D in the middle.

[0050] Explanation of reference numerals in the attached drawings: 1-Traveling trolley; 2-Traveling rail; 3-Traction rope; 4-Brake lever; 5-Adjusting lever; 6-Traction lever; 7-Traction seat; 8-Limit drive mechanism; 9-Limit rod; 10-Limit seat; 11-Fixed seat; 12-Ultrasonic sensor; 13-Magnetic sensor; 14-Magnetic marker; 15-Brake contact; 16-First correction airbag; 17-First correction pump. Detailed Implementation

[0051] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0052] Example 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, this embodiment provides an intelligent traveling wheel system for a bridge crane with independent suspension. The intelligent traveling wheel system for the bridge crane includes a server, a traveling rail, and a traveling trolley that slides on the traveling rail. The intelligent traveling wheel system for the bridge crane also includes a monitoring module, a traction module, an auxiliary braking module, and an evaluation module. The server is connected to the monitoring module, traction module, auxiliary braking module, and evaluation module respectively, and stores the intermediate data and process data of the monitoring module, traction module, auxiliary braking module, and evaluation module in the database of the server. The monitoring module and the auxiliary braking module are mounted on the traveling trolley.

[0053] The monitoring module collects the status data of the traveling trolley and analyzes the traveling trolley based on the status data to form an analysis result. The traction module pulls the traveling trolley based on the analysis result to adjust the position of the traveling trolley on the traveling track. The evaluation module collects the traction data of the traction module and evaluates the traction state of the traveling trolley based on the collected traction data to form an evaluation result. The auxiliary braking module performs auxiliary braking on the traveling trolley based on the evaluation result.

[0054] The intelligent traveling wheel system of the bridge crane also includes a central processing unit. The central processing unit is connected to the monitoring module, traction module, auxiliary braking module and evaluation module respectively. The central processing unit centrally controls the monitoring module, traction module, auxiliary braking module and evaluation module. The control data of the central processing unit is saved to the database of the server to improve the accuracy and reliability of the wheel control of the whole system.

[0055] The traction module includes a traction rope, a traction unit, and a limiting unit. One end of the traction rope is connected to the traveling trolley, and the other end of the traction rope is connected to the traction unit, so that the traction unit can traction the traveling trolley. The limiting unit limits the traction rope and is set on the traveling rail.

[0056] The traction unit is symmetrically arranged on both sides of the traveling trolley and pulls the traveling trolley from both sides;

[0057] Optionally, the traction unit includes a traction drive mechanism, a traction seat, a traction chamber, and a traction rod. The traction chamber is disposed in the traction seat. One end of the traction rod is driven to connect with the traction drive mechanism to form a traction part. The traction part is disposed in the traction chamber, and the other end of the traction rod extends toward the side away from the traction drive mechanism and is hinged to the inner wall of the traction chamber.

[0058] One end of the traction rope is connected to the rod body of the traction rod, and the other end of the traction rope is connected to the traveling trolley.

[0059] Optionally, the limiting unit includes a limiting seat, a limiting member, and a limiting cavity. The limiting cavity is disposed on the limiting seat and allows the traction rope to pass through. The limiting member is symmetrically disposed on both sides of the limiting cavity and provides auxiliary limiting for the traction rope.

[0060] The limiting unit is disposed at the initial end and the end of the travel rail and is connected to the inner wall of the travel rail;

[0061] Specifically, one end of the travel track is designated as the initial end, and the other end is designated as the final end;

[0062] The inner wall of the limiting cavity is provided with a hidden cavity for placing the limiting component;

[0063] The limiting component includes a limiting rod, a limiting seat, and a limiting drive mechanism. One end of the limiting rod is connected to the limiting seat, and the other end of the limiting rod is driven to the limiting drive mechanism to form a limiting part. The limiting part is disposed on the inner wall of the hidden cavity, and the limiting rod extends toward the side closer to the traction rope.

[0064] In this embodiment, the limiting part is symmetrically arranged on the periphery of the traction rope and limits the traction rope from the axis of the traction rope, thereby improving the stability and reliability of the limiting.

[0065] Meanwhile, the limiting seat is made of wear-resistant rubber material and limits the traction rope during the limiting process to achieve the limiting of the traction rope;

[0066] In addition, the traction rope is made of steel wire rope to ensure high load traction for the traveling trolley;

[0067] Optionally, the monitoring module includes a speed monitoring unit, a position monitoring unit, a memory, and a motion analysis unit. The speed monitoring unit collects the speed data of the traveling vehicle, the position monitoring unit collects the position data of the traveling vehicle, the memory stores the speed data collected by the speed monitoring unit and the position data of the position monitoring unit, and the motion analysis unit analyzes the traveling vehicle based on the speed data collected by the speed monitoring unit and the position data of the position monitoring unit.

[0068] The speed monitoring unit includes a magnetic encoder, a support base, and a magnetic marker. The magnetic marker is disposed on the wheel of the traveling trolley. The support base supports the magnetic encoder. The magnetic encoder is positioned facing the magnetic marker to detect the rotational speed of the traveling trolley wheel.

[0069] In this embodiment, as the wheel rotates, it drives the magnetic marker to rotate, which is then captured by the magnetic encoder, thereby enabling the acquisition of the actual speed V of the traveling trolley. t Purpose;

[0070] Once the actual speed of the traveling vehicle is obtained, and the time t taken for this speed change is acquired, the actual acceleration A of the traveling vehicle at time t can be obtained. tThe above-mentioned conversions are technical means well known to those skilled in the art, and therefore will not be described in detail in this example;

[0071] Optionally, the position monitoring unit includes an identification probe and at least one position marker. The at least one position marker is distributed at equal intervals along the extension direction of the walking track. The identification probe is disposed on the walking trolley and is positioned toward the at least one position marker to obtain the position data of the walking trolley.

[0072] The location data includes the distance between the start and stop of the walking vehicle;

[0073] Optionally, the motion analysis unit acquires the speed data collected by the speed monitoring unit and the position data collected by the position monitoring unit, and calculates the motion state index MOVE of the traveling vehicle according to the following formula:

[0074]

[0075] In the formula, α, β, and γ are weighting coefficients, whose values ​​are set by the system, and v t V is the actual speed of the traveling t at time t. ideal A is the ideal speed of the traveling trolley. t Let A be the actual acceleration of the traveling t vehicle at time t. ideal M is the ideal acceleration of the traveling vehicle. t M is the actual distance traveled by the walking vehicle at time t, and its value is obtained from the position monitoring unit. ideal The ideal distance traveled by the t-carriage;

[0076] If the movement state index MOVE of the traveling trolley is lower than the set monitoring threshold Level, the traction module is triggered to traction the traveling trolley.

[0077] If the MOVE index of the traveling vehicle exceeds the set monitoring threshold Level, the movement status of the traveling vehicle will continue to be monitored.

[0078] The monitoring threshold Level is set by the system or administrator according to the actual situation. This is a technical means well known to those skilled in the art. Those skilled in the art can consult relevant technical manuals to learn about this technology. Therefore, it will not be described in detail in this embodiment.

[0079] The monitoring module and the traction module work together to make the efficiency and accuracy of the traveling trolley more reliable, ensuring that the whole system has the advantages of high control accuracy, strong deceleration capability and high stability of lateral movement.

[0080] In this embodiment, the weighting coefficients α, β, and γ range from (0, 1), and the sum of the weighting coefficients should be equal to 1.

[0081] In addition, this embodiment provides an example of the values ​​for the weighting coefficients α, β, and γ:

[0082] 1) Speed ​​control priority

[0083] When smooth speed control of the traveling trolley is critical (e.g., when precise speed control is required to maintain stable operation), the values ​​of the weighting coefficients are as follows:

[0084] α = 0.6;

[0085] β = 0.2;

[0086] γ = 0.2;

[0087] At this point, greater emphasis is placed on the accuracy of speed, while relatively less attention is paid to acceleration and trajectory deviation;

[0088] 2) Acceleration control priority

[0089] When a rapid response to changes or an emergency stop is required (e.g., in an emergency or when it is necessary to quickly avoid obstacles), the values ​​of the weighting coefficients are as follows:

[0090] α = 0.2;

[0091] β = 0.6;

[0092] γ = 0.2;

[0093] At this point, acceleration control becomes the main focus to ensure that the vehicle can quickly adapt to speed changes;

[0094] 3) Prioritize trajectory accuracy

[0095] In operations requiring very precise adherence to a predetermined trajectory (e.g., operating in narrow or complex lifting paths), the values ​​of the weighting coefficients are as follows:

[0096] α = 0.2;

[0097] β = 0.2;

[0098] γ = 0.6;

[0099] At this point, controlling the trajectory deviation becomes the main focus, ensuring that the car travels strictly along the predetermined path;

[0100] 4) Balance control

[0101] In routine operations requiring a balance between speed, acceleration, and trajectory accuracy (e.g., in general transportation or handling tasks), the values ​​of the weighting coefficients are as follows:

[0102] α = 0.33;

[0103] β = 0.33;

[0104] γ = 0.34;

[0105] At this point, all three factors are considered equally to achieve comprehensive motion control;

[0106] In summary, the values ​​of the weighting coefficients are set by the administrator or the system based on the actual usage scenario or operating environment, and are adjusted by input from the human-machine interface. Therefore, in this embodiment, they will not be described in detail.

[0107] Optionally, the evaluation module includes a sampling unit and an evaluation unit, wherein the sampling unit collects the traction data of the traction rope, and the evaluation unit evaluates the traction status of the walking trolley based on the traction data of the sampling unit;

[0108] The traction data includes strain data of the traction rope, offset data of the traction rope, and ultrasonic data generated by the traction rope when it is under force.

[0109] The sampling unit includes a strain sampling component, a magnetic sampling component, and a sound field sampling component. The strain sampling component collects the strain force data of the traction rope, the magnetic sampling component collects the offset data of the traction rope, and the sound field sampling component collects the ultrasonic data generated by the traction rope when it is under force.

[0110] The strain sampling component includes a strain sensor and a fixing component. The fixing component fixes the strain sensor to the traction rope, and the strain sensor collects strain force data of the traction rope during the traction process.

[0111] In this embodiment, the strain sampling component is disposed at multiple locations on the traction rope to collect multiple strain force data of the traction rope;

[0112] The magnetic sampling component includes a magnetic sensor and at least two magnetic markers. The at least two magnetic markers are distributed at equal intervals along the length of the traction rope. The magnetic sensor is located next to the movement path of the traction rope and collects the offset data of the at least two magnetic markers.

[0113] Among them, at least two magnetic markers are different, which enables the magnetic sensor to distinguish the differences between the magnetic markers, thereby realizing the acquisition of the offset of the traction rope;

[0114] The acoustic field sampling component includes an ultrasonic sensor and a fixed base. The fixed base supports the acoustic emission sensor, and the ultrasonic sensor collects ultrasonic data generated by the traction rope when it is under force.

[0115] The mounting base is located next to the traction rope and supports the ultrasonic sensor, so that the ultrasonic sensor can face the traction rope to collect ultrasonic data generated by the traction rope when it is under force.

[0116] The sound field acquisition component can be deployed along the movement path of the traction rope, which is well known to those skilled in the art, and therefore will not be described in detail in this example.

[0117] The evaluation unit acquires the traction data from the sampling unit and calculates the traction index PULL of the traveling trolley according to the following formula:

[0118] PULL=δ·f(S t )+ε·g(O t )+ζ·h(U t );

[0119] In the formula, δ, ε, and ζ are weighting factors, whose values ​​are set by the manager or operator / system according to the actual situation, f(S t ) is the strain force processing function, g(O) t h(U) is the offset processing function. t ) is a processing function for ultrasonic signal intensity, and its value satisfies:

[0120]

[0121] In the formula, U threshold U is the safe threshold for ultrasonic signal strength. t The intensity of the ultrasonic signal generated by the traction rope at time t is determined by the following formula:

[0122] U t =max(U t,1 U t,1 ,...,U t,k );

[0123] In the formula, U t,k It is the signal strength measured by the k-th ultrasonic sensor at time t;

[0124] The strain force processing function f(S) t ),satisfy:

[0125]

[0126] In the formula, Smax S is the maximum strain force that the traction rope can withstand. t The average strain force of the traction rope at time t is calculated using the following formula:

[0127]

[0128] In the formula, S t,j It is the strain force data of the j-th strain sensor at time t, and n is the total number of strain sensors;

[0129] The processing function g(O) for the offset t ),satisfy:

[0130]

[0131] In the formula, O t The average offset of the traction rope at time t is calculated using the following formula:

[0132]

[0133] In the formula, O t,j is the offset data of the j-th magnetic tag at time t, and m is the total number of magnetic tags;

[0134] In this embodiment, the weighting factors δ, ε, and ζ range from (0, 1) and their sum is equal to 1. The specific values ​​are set according to the actual situation.

[0135] In this embodiment, an example of the values ​​for the weighting factors δ, ε, and ζ is provided:

[0136] Specifically:

[0137] 1) Precise alignment operation

[0138] In operations requiring precise alignment, such as container loading or hoisting, the specific values ​​for weighting factors δ, ε, and ζ are:

[0139] δ = 0.2;

[0140] ε = 0.6;

[0141] ζ = 0.2;

[0142] In this scenario, precise position control is more critical than the detection of strain and ultrasonic signals.

[0143] 2) Heavy-duty material handling

[0144] In industrial applications involving the handling of heavy materials, such as container handling in ports, the specific values ​​for the weighting factors δ, ε, and ζ are:

[0145] δ = 0.5;

[0146] ε = 0.3;

[0147] ζ = 0.2;

[0148] At this time, in this scenario, ensuring the strength and safety of the towing rope is more important than position control;

[0149] 3) Safety-sensitive operations

[0150] In safety-sensitive operations, such as remote control operations in hazardous areas, the specific values of the weighting factors δ, ε, and ζ are as follows:

[0151] δ = 0.3;

[0152] ε = 0.3;

[0153] ζ = 0.5;

[0154] At this time, in operations with high safety requirements, the monitoring of ultrasonic signals is the key to preventing accidents and protecting equipment;

[0155] Those skilled in the art can set the weighting factors δ, ε, and ζ by referring to the above examples and input the adjustments from the human-machine interface;

[0156] In short, the specific values of the weighting factors δ, ε, and ζ need to be set in combination with the usage scenario and actual situation, which are well-known technical means to those skilled in the art. Therefore, in this example, they will not be elaborated one by one;

[0157] The evaluation unit evaluates by calculating the pulling indices of the pulling units on both sides of the walking trolley in the above manner, and forms the first pulling index Pull1 and the second pulling index PULL2 for the evaluation results on both sides respectively, and triggers different controls according to the following situations;

[0158] If there is a situation between the first pulling index Pull1 and the second pulling index Pull2:

[0159] PULL1 > PULL2 or PULL1 < PULL2, then drive the auxiliary braking module on the corresponding side to assist in braking the walking trolley;

[0160] If the first pulling index Pull1 and the second pulling index Pull2 satisfy:

[0161] PULL1 = PULL2, then the auxiliary braking module does not trigger an action and continuously monitors the pulling state of the walking trolley;

[0162] Through the cooperation of the evaluation module and the auxiliary braking module, the position control of the traveling trolley is made more precise, ensuring the dispatch and stability of the traveling trolley, and giving the whole system the advantages of good stability in the direction of movement, high control accuracy and good safety.

[0163] Optionally, the auxiliary braking module is symmetrically arranged on both sides of the traveling trolley and performs auxiliary braking on the traveling trolley;

[0164] Optionally, the auxiliary braking module includes a braking unit and a posture adjustment unit, wherein the braking unit provides auxiliary braking to the traveling trolley, and the posture adjustment unit adjusts the posture of the braking unit;

[0165] The braking unit includes a brake seat, a brake lever, and a brake contact. One end of the brake lever is connected to the brake seat, and the other end of the brake lever is connected to the brake contact. The brake seat is hinged to the outer wall of the traveling trolley, and the brake contact extends toward the side away from the traveling trolley.

[0166] Optionally, the surface of the brake contact element contacts the travel rail and provides auxiliary braking for the traveling trolley;

[0167] The brake contact is made of wear-resistant material, which allows it to stably abut against the surface of the travel rail during braking, thereby stopping the traveling trolley.

[0168] In addition, in this embodiment, the contact end face of the brake contact is provided with anti-slip protrusions to increase the contact force between the brake contact and the traveling rail, effectively improving the braking ability and preventing the traveling trolley from sliding or deviating.

[0169] The posture adjustment unit includes an adjustment rod, an adjustment drive mechanism, and an auxiliary ear. The auxiliary ear is mounted on the traveling trolley. One end of the adjustment rod is driven to the adjustment drive mechanism to form an adjustment part. The adjustment part is mounted on the auxiliary ear. The other end of the adjustment rod is hinged to the brake rod, so that the auxiliary ear, the adjustment rod, and the brake rod form a triangular connection structure.

[0170] The adjusting rod is configured as a telescopic structure, and its extension and retraction are adjusted under the drive of the adjusting drive mechanism.

[0171] In addition, the brake contact rod can also provide auxiliary support for the traveling trolley to stabilize the body of the traveling trolley and improve the lifting capacity of the hoisted object;

[0172] The coordination between the posture adjustment unit and the braking unit makes the control precision of the walking trolley more accurate, ensuring that the whole system has the advantages of good deceleration performance, strong speed adjustment capability and high auxiliary support capability.

[0173] Example 2: This example should be understood as including all the features of any of the foregoing examples, and further improving upon them, according to... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12 As shown, the intelligent traveling wheel system of the bridge crane also includes an anti-deviation module, which is disposed on both sides of the traveling trolley in the direction of movement (e.g., Figure 11 (As shown), to prevent the mobile trolley from biting onto the rails or derailing;

[0174] The anti-deviation module includes an attitude sampling unit, a deviation evaluation unit, and a deviation correction action unit. The attitude sampling unit collects the attitude data of the traveling trolley. The deviation evaluation unit evaluates the traveling trolley based on the attitude data collected by the attitude sampling unit. The deviation correction action unit triggers a deviation correction operation on the traveling trolley based on the evaluation result of the deviation evaluation unit to stabilize the posture of the traveling trolley.

[0175] The attitude sampling unit includes an attitude sensor and at least two distance sensors. The attitude sensor collects the attitude data of the walking vehicle, and the at least two distance sensors collect the specific distance data on both sides of the walking track.

[0176] The posture sensor and at least two distance sensors are all mounted on the walking trolley.

[0177] In addition, the at least two distance sensors are symmetrically arranged on both sides of the traveling trolley to collect the distance from both sides of the traveling trolley to the traveling rail in the direction of travel, and to obtain the distance data of the traveling trolley from the inner wall of the traveling rail.

[0178] Wherein, the distance is as follows Figure 11 As shown in E1 and E2;

[0179] The correction evaluation unit acquires the posture data and distance data from the posture acquisition unit, and calculates the posture tilt index Angle of the walking vehicle according to the following formula:

[0180]

[0181] In the formula, w1 and w2 are weighting coefficients, whose values ​​are set by the system or administrator according to the actual situation; θ is the tilt angle of the walking vehicle measured by the attitude sensor; and D... L and D R These are the distances from the left and right sides of the moving trolley to the inner wall of the track, respectively; that is, as shown... Figure 11 E1 and E2 in the example.

[0182] If the tilt index Angle of the walking trolley exceeds or falls below the set monitoring threshold range [limit1, limit2], the correction action unit is triggered to perform a correction operation on the walking trolley.

[0183] If the tilt index of the walking vehicle falls within the set monitoring threshold range [limit1, limit2], it indicates that the walking vehicle's posture is good and meets expectations, and no adjustment is required.

[0184] The monitoring threshold ranges [limit1, limit2] are set by the system or administrator according to the actual situation. This is a technical means well known to those skilled in the art. Those skilled in the art can consult relevant technical manuals to learn about this technology. Therefore, it will not be described in detail in this embodiment.

[0185] In this embodiment, the weight coefficients w1 and w2 are in the range of (0, 1) and their sum is equal to 1. The specific values ​​are set according to the actual situation.

[0186] In this embodiment, an example of the values ​​for the weighting coefficients w1 and w2 is provided:

[0187] Specifically:

[0188] 1) Scenarios sensitive to tilt angle

[0189] In scenarios involving high-speed operation or precision handling, such as automated production lines, the specific values ​​of the weighting coefficients w1 and w2 are as follows:

[0190] w1 = 0.7;

[0191] w2 = 0.3;

[0192] In this scenario, even a slight tilt can lead to operational errors or safety issues, so paying close attention to the tilt angle is even more important.

[0193] 2) Scenarios sensitive to distance differences

[0194] When operating in narrow or crowded environments, such as warehouses or construction sites, the specific values ​​of the weighting coefficients w1 and w2 are as follows:

[0195] w1 = 0.3;

[0196] w2 = 0.7;

[0197] In such scenarios, distance differences can lead to collisions or damage, so distance monitoring needs to be given more attention.

[0198] 3) Scenarios requiring balanced attention

[0199] For routine operations and maintenance, such as regular work in a factory or warehouse, the specific values ​​of the weighting coefficients w1 and w2 are as follows:

[0200] w1 = 0.5;

[0201] w2 = 0.5;

[0202] In routine operations, the level of attention paid to differences in tilt angle and distance is relatively balanced to ensure overall stability and safety;

[0203] Those skilled in the art can refer to the above examples to set the weight coefficients w1 and w2 themselves and adjust them by inputting the values ​​from the human-machine interface;

[0204] In summary, the specific values ​​of the weighting coefficients w1 and w2 need to be set in combination with the usage scenario and actual situation. This is a technical method well known to those skilled in the art, and therefore will not be elaborated on in this example.

[0205] The correction action unit includes a first correction airbag, a first correction pump, a first air supply pipe, a second correction airbag, a second correction pump, and a second air supply pipe. One end of the first air supply pipe is connected to the first correction airbag, and the other end of the first air supply pipe is connected to the first correction pump to form a first correction part. One end of the second air supply pipe is connected to the second correction airbag, and the other end of the second air supply pipe is connected to the second correction pump to form a second correction part.

[0206] The first and second correction parts are located on both sides of the traveling trolley and adjust the distance between the traveling trolley and the inner wall of the traveling rail, thereby adjusting the posture of the traveling trolley.

[0207] In this embodiment, the contact surfaces of the first and second correction airbags with the travel rail are both made of wear-resistant material, so that when the first correction airbag is inflated, it contacts the inner wall of the travel rail, thereby achieving posture correction of the traveling trolley.

[0208] The correction action unit also includes a first electronic vent valve and a second electronic vent valve. The first electronic vent valve is installed on the first correction airbag and, under the control of the central processing unit, vents the gas in the first correction airbag.

[0209] Similarly, the second electronic vent valve is installed on the second correction airbag and, under the control of the central processing unit, vents the gas in the second correction airbag.

[0210] In this embodiment, the correction operation of the correction action unit includes the following correction steps:

[0211] S1. Determine the direction of tilt:

[0212] If Angle exceeds the upper limit limit2, it means the car is tilted to one side;

[0213] If Angle is lower than the lower limit limit1, it means the car is tilted to the opposite side;

[0214] S2. Activate the airbag inflator system on the opposite side according to the tilt direction; for example, if the car tilts to the right, activate the airbag on the left side.

[0215] S3, Airbag bulging:

[0216] The airbag inflates, physically propelling the cart in the opposite direction to correct its tilt;

[0217] S4. Monitor the effectiveness of the correction:

[0218] Continuously monitor the Angle value to ensure the vehicle's posture returns to the normal range;

[0219] S5, Airbag retraction:

[0220] Once Angle returns to the normal range, the gas in the airbag is released through the electronic vent valve (first electronic vent valve or second electronic vent valve) to restore the normal state (the first and second correction airbags are hidden inside the vehicle body of the traveling vehicle).

[0221] In addition, if the posture of the traveling trolley is not abnormal, the traveling trolley will be continuously monitored.

[0222] The anti-deviation module collects, evaluates, and corrects the posture of the traveling trolley, making the traveling trolley more stable and ensuring that the whole system has the advantages of strong lifting stability, high movement accuracy, and high intelligence.

[0223] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. A smart traveling wheel system for a bridge crane with independent suspension, the smart traveling wheel system for the bridge crane comprising a server, a traveling rail, and a traveling trolley sliding on the traveling rail, characterized in that, The intelligent traveling wheel system of the bridge crane also includes a monitoring module, a traction module, an auxiliary braking module, and an evaluation module. The server is used to store intermediate data and process data of the monitoring module, the traction module, the auxiliary braking module, and the evaluation module. The monitoring module and the auxiliary braking module are installed on the traveling trolley. The monitoring module collects the status data of the traveling trolley and analyzes the traveling trolley based on the status data to form an analysis result. The traction module pulls the traveling trolley based on the analysis result to adjust the position of the traveling trolley on the travel track. The evaluation module collects the traction data of the traction module and evaluates the traction state of the traveling trolley based on the collected traction data to form an evaluation result. The auxiliary braking module performs auxiliary braking on the traveling trolley based on the evaluation result. The traction module includes a traction rope, a traction unit, and a limiting unit. One end of the traction rope is connected to the traveling trolley, and the other end of the traction rope is connected to the traction unit, so that the traction unit can traction the traveling trolley. The limiting unit limits the traction rope and is set on the traveling rail. The traction unit is symmetrically arranged on both sides of the traveling trolley and pulls the traveling trolley from both sides.

2. The intelligent traveling wheel system for bridge cranes with independent suspension according to claim 1, characterized in that, The monitoring module includes a speed monitoring unit, a position monitoring unit, a memory, and a motion analysis unit. The speed monitoring unit collects the speed data of the traveling vehicle, the position monitoring unit collects the position data of the traveling vehicle, the memory stores the speed data collected by the speed monitoring unit and the position data of the position monitoring unit, and the motion analysis unit analyzes the traveling vehicle based on the speed data collected by the speed monitoring unit and the position data of the position monitoring unit. The speed monitoring unit includes a magnetic encoder, a support base, and a magnetic marker. The magnetic marker is disposed on the wheel of the traveling trolley. The support base supports the magnetic encoder, and the magnetic encoder is positioned facing the magnetic marker to detect the rotational speed of the wheel of the traveling trolley.

3. The intelligent traveling wheel system for bridge cranes with independent suspension according to claim 2, characterized in that, The position monitoring unit includes an identification probe and at least one position marker. The at least one position marker is distributed at equal intervals along the extension direction of the walking track. The identification probe is set on the walking trolley and is positioned in the direction of the at least one position marker to obtain the position data of the walking trolley. The location data includes the distance between the start and stop of the walking vehicle.

4. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 3, characterized in that, The motion analysis unit acquires the speed data collected by the speed monitoring unit and the position data collected by the position monitoring unit, and calculates the motion state index MOVE of the walking vehicle according to the following formula: In the formula, α, β, and γ are weighting coefficients, whose values ​​are set by the system, and v t V is the actual speed of the traveling t at time t. ideal A is the ideal speed of the traveling trolley. t Let A be the actual acceleration of the traveling t vehicle at time t. ideal M is the ideal acceleration of the traveling vehicle. t M is the actual distance traveled by the walking vehicle at time t, and its value is obtained from the position monitoring unit. ideal The ideal distance traveled by the t-carriage; If the movement state index (MOVE) of the traveling trolley is lower than the set monitoring threshold level, the traction module is triggered to traction the traveling trolley.

5. The intelligent traveling wheel system for bridge cranes with independent suspension according to claim 4, characterized in that, The traction unit includes a traction drive mechanism, a traction seat, a traction cavity, and a traction rod. The traction cavity is disposed in the traction seat. One end of the traction rod is driven to connect with the traction drive mechanism to form a traction part. The traction part is disposed in the traction cavity, and the other end of the traction rod extends toward the side away from the traction drive mechanism and is hinged to the inner wall of the traction cavity. One end of the traction rope is connected to the rod of the traction rod, and the other end of the traction rope is connected to the traveling trolley.

6. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 5, characterized in that, The limiting unit includes a limiting seat, a limiting component, and a limiting cavity. The limiting cavity is disposed on the limiting seat and allows the traction rope to pass through. The limiting component is symmetrically disposed on both sides of the limiting cavity and provides auxiliary limiting for the traction rope. The limiting unit is disposed at the initial end and the end of the travel rail and is connected to the inner wall of the travel rail.

7. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 6, characterized in that, The evaluation module includes a sampling unit and an evaluation unit. The sampling unit collects the traction data of the traction rope, and the evaluation unit evaluates the traction status of the walking trolley based on the traction data of the sampling unit. The sampling unit includes a strain sampling component, a magnetic sampling component, and a sound field sampling component. The strain sampling component collects the strain force data of the traction rope, the magnetic sampling component collects the offset data of the traction rope, and the sound field sampling component collects the ultrasonic data generated by the traction rope when it is under force.

8. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 7, characterized in that, The auxiliary braking module includes a braking unit and a posture adjustment unit. The braking unit provides auxiliary braking for the traveling trolley, and the posture adjustment unit adjusts the posture of the braking unit. The braking unit includes a brake seat, a brake lever, and a brake contact. One end of the brake lever is connected to the brake seat, and the other end of the brake lever is connected to the brake contact. The brake seat is hinged to the outer wall of the traveling trolley, and the brake contact extends toward the side away from the traveling trolley.

9. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 8, characterized in that, The surface of the brake contact element contacts the travel rail and provides auxiliary braking for the traveling trolley; The brake contact element is made of a wear-resistant material.

10. The intelligent traveling wheel system for a bridge crane with independent suspension according to claim 9, characterized in that, The auxiliary braking modules are symmetrically arranged on both sides of the traveling trolley and provide auxiliary braking for the traveling trolley.

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