Abstract
In order to solve the problems of rail gnawing and jamming during turning of rail crane, a noncircular curve scheme of the crane based on Bezier curve is proposed. In the scheme, the quasiquartic Bezier curve with three shape parameters is chosen as the turning curve of the inner rail. According to the single-wheel and multiwheel situation of the crane, the tracks of the front and rear points on the outer side are calculated through the geometric relationship of the traveling mechanism of the crane cart. Taking the minimum deviation of the front and back points as the objective function of optimization, the optimal parameters of Bezier curve are searched by the multistart point heuristic global optimization algorithm, and the outer rail trajectory is fitted by Hermite interpolation. The calculation results show that the maximum deviation of the front and rear points on the outside of the crane during the turning process decreases significantly when the quartic Bezier curve is used as the turning track compared with the traditional circular turning track. When the quasiquartic Bezier curve with three shape parameters is used as the inner rail, the deviation can be further reduced by adjusting the three parameters. In addition, it is also analyzed the specific influence of turning parameters on the deviation. Finally, ADAMS is used to carry out dynamic simulation experiment and demonstrate the calculation.
Highlights
Multiple berths tend to cover modern large-scale ports, and the distribution of berths largely depends on the natural conditions on the shores of the ports
In order to realize the operation of a quayside container crane for multiple berths, the quayside container cranes need to be able to move between multiple berths
In some special cases, such as the actual need for crane operation or due to the limitations of the natural conditions of the installation site, cranes are sometimes required to run on curved tracks, such as gantry cranes used in the construction of hydropower stations, tower cranes used in construction sites, and so on, which may require cranes to run on curved tracks
Summary
Multiple berths tend to cover modern large-scale ports, and the distribution of berths largely depends on the natural conditions on the shores of the ports. The passing problem of the turning track of the crane cart is mainly through the adjusting the crane parameters such as the frame size and the wheel tread width or adding the eccentric bearing to achieve a smooth cornering These methods are effective, due to fewer. In order to ensure the smoothness of the curve obtained after calculation, it is necessary to smooth the discrete points and form the optimal outer rail by the Hermite interpolation method In this way, the optimization calculation and comparative analysis of the noncircular curved track of the single-wheel and multiwheel situation of the crane are carried out, which provides a reference for the research on the design of the noncircular curved track of the crane. It should be explained that for the single-wheel case, the front and rear points of the outer rail refer to the coordinate trajectories of the front and rear wheels on the outside of the crane; for the multiwheel case, the front and rear points of the outer rail refer to the coordinate trajectory of the front and rear rotating axles of the lower balanced beam on the outside of the crane (as shown in Figure 1 (c and d))
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