A double-trolley quay crane with a mechanical spreader anti-sway device

Abstract

The present invention discloses a dual-trolley quay crane with a mechanical spreader anti-sway device, comprising a trolley directional anti-sway device, a trolley directional anti-sway device, and a rocker arm pitching device. The trolley directional anti-sway device, the trolley directional anti-sway device, and the rocker arm pitching device are all installed on the quay crane. The trolley directional anti-sway device comprises a first torque motor, a first drum, a first redirecting pulley block, and a first steel wire rope. The first drum is connected to the first torque motor, and the first steel wire rope is wound around the first drum. The first steel wire rope includes a head rope and a tail rope extending from the first drum. Both the head rope and the tail rope are cross-connected to the spreader via the first redirecting pulley block. The present invention can quickly reduce the swing amplitude of the spreader or container, allowing the spreader and container to be quickly and accurately aligned, with good anti-sway effect and stability.

Description

Technical Field

[0001] The invention relates to a double-trolley quay crane with a mechanical spreader anti-sway device, belonging to the field of quay crane equipment. Background Art

[0002] The rapid development of the global economy has driven the rapid growth of shipping logistics, and global container throughput continues to increase. To reduce transportation costs, container ships are becoming larger and larger. Triple-E container ships with a capacity of 22,000 TEUs have entered service, demanding higher loading and unloading efficiency at ports. Container quay cranes, as key loading and unloading equipment at container terminals, directly operate on ships and play a significant role in overall terminal loading and unloading efficiency. When dealing with large container ships, increasing the number of quay cranes is often used to improve loading and unloading efficiency on board. However, due to the limited spacing between quay cranes, simply increasing the number of quay cranes is no longer sufficient to meet the time-efficiency demands of shipping customers, necessitating the development of new quay cranes.

[0003] Furthermore, with increasing lifting heights and frequent strong winds at ports, spreaders experience significant sway during operation, making accurate and rapid alignment of containers and spreaders difficult, severely impacting efficiency. Existing mechanical anti-sway methods are ineffective. Their effectiveness is dependent on the angle of the lifting wire rope, and once set, they cannot be altered, making them unsuitable for quay cranes with large lifting heights. Existing electronic anti-sway technology utilizes various sensors and detection elements to collect and detect information, which is then transmitted to a microcomputer in the control system. After processing, the optimal control parameters are provided to the trolley speed control system to control the trolley's operation and thus control the swing amplitude of the spreader and load. This type of anti-sway technology can achieve spreader swing control, but due to the need for frequent rope length changes and the friction generated by the trolley motor during operation, frequent trolley speed adjustments in practice can lead to operator discomfort, resulting in the subsequent removal of some container cranes equipped with electronic anti-sway systems. To improve performance, traditional control theory has become extremely complex, significantly increasing initial investment and maintenance costs for control equipment and reducing system reliability. Summary of the Invention

[0004] The object of the present invention is to provide a double-trolley quay crane with a mechanical spreader anti-sway device, which can prevent the spreader or container from shaking during the lifting process and has high reliability and high operating efficiency.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a double-trolley quay crane with a mechanical spreader anti-sway device, including a trolley direction anti-sway device, a trolley direction anti-sway device and a rocker arm pitching device, the upper trolley device and the lower trolley device are both equipped with rocker arm pitching devices, the trolley direction anti-sway device includes a first torque motor, a first drum, a first redirecting pulley group, and a first steel wire rope, the first drum is connected to the first torque motor, the first steel wire rope is wound on the first drum, the first steel wire rope includes a head rope and a tail rope extending out of the first drum, the head rope and the tail rope are cross-connected to the spreader through the first redirecting pulley group.

[0006] In the aforementioned double-trolley quay crane with a mechanical spreader anti-sway device, the first redirecting pulley group includes pulley a, pulley b, pulley c, pulley d, pulley e and pulley f. The head end rope is connected to the spreader via pulley a, and the end rope is connected to the spreader via pulley b, pulley c, pulley d, pulley e and pulley f in sequence. Pulley a and pulley b are coaxially arranged in parallel. The installation heights of pulley c and pulley d are higher than that of pulley a. The installation height of pulley f is the same as that of pulley a, and pulley e is installed above pulley f.

[0007] In the aforementioned double-trolley quay crane with a mechanical hoist anti-sway device, the rocker arm pitching device includes a pitching motor, a reduction gear box, a fourth drum, a fifth drum, a third steel wire rope, a third redirecting pulley group and a rocker arm device. The pitching motor is connected to the reduction gear box, the fourth drum and the fifth drum are respectively arranged on the left and right sides of the reduction gear box and are both connected to the reduction gear box, a third steel wire rope is wound around the fourth drum, a steel wire rope is also wound around the fifth drum, and the third redirecting pulley group is arranged on the rocker arm device.

[0008] In the aforementioned double-trolley quay crane with a mechanical spreader anti-sway device, the rocker arm device includes a first rocker arm, a second rocker arm, a third rocker arm and a fourth rocker arm, and the third redirecting pulley group includes pulley A, pulley B and pulley C. Pulley A and pulley B are provided at the fixed ends of the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm, and pulley A and pulley B are coaxially arranged. A pulley C is provided at the end of the first rocker arm, the second rocker arm, the third rocker arm and the fourth rocker arm.

[0009] In the aforementioned double-trolley quay crane with a mechanical hoist anti-sway device, the third steel wire rope includes section A and section B. Section A of the third steel wire rope wound on the fourth drum is redirected through the A pulley at the fixed end of the first rocker arm and then connected to the C pulley at the end of the first rocker arm; section B of the third steel wire rope wound on the fourth drum is redirected through the B pulley at the fixed end of the first rocker arm and the A pulley or B pulley at the fixed end of the second rocker arm in sequence and then connected to the C pulley at the end of the second rocker arm; section A of the third steel wire rope wound on the fifth drum is redirected through the A pulley at the fixed end of the third rocker arm and then connected to the C pulley at the end of the third rocker arm; section B of the third steel wire rope wound on the fifth drum is redirected through the B pulley at the fixed end of the third rocker arm and the A pulley and B pulley at the fixed end of the fourth rocker arm in sequence and then connected to the C pulley at the end of the fourth rocker arm.

[0010] In the aforementioned double-trolley quay crane with a mechanical spreader anti-sway device, the trolley direction anti-sway device includes a coupling, two second torque motors, a second drum, a third drum, a second redirecting pulley set and a second wire rope. The two second torque motors are symmetrically arranged on both sides of the trolley, and the two second torque motors are connected by a coupling. The second drum is connected to one second torque motor, and the third drum is connected to the other second torque motor. A second wire rope is wound around the second drum and the third drum; the second wire rope is wound around the second drum. One end of the second steel rope is connected to the sling after being turned through the second redirecting pulley group and the C pulley at the end of the first rocker arm; the other end of the second steel rope wound on the second drum is connected to the sling after being turned through the second redirecting pulley group and the C pulley at the end of the second rocker arm; one end of the second steel rope wound on the third drum is connected to the sling after being turned through the second redirecting pulley group and the C pulley at the end of the third rocker arm; the other end of the second steel rope wound on the fourth drum is connected to the sling after being turned through the second redirecting pulley group and the C pulley at the end of the fourth rocker arm.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] (1) It can quickly reduce the swing amplitude of the spreader or container, so that the spreader and container can be aligned quickly and accurately;

[0013] (2) Compared with traditional mechanical anti-roll systems, the anti-roll effect of the system of the present invention is better and the adjustment is faster;

[0014] (3) The present invention adopts a mechanical anti-roll method, which is more stable than the electronic anti-roll system in the prior art and reduces the workload of the quay crane operator;

[0015] (4) The first steel rope, the second steel rope and the third steel rope in the system of the present invention are steel ropes for adjustment and do not bear weight. Thinner steel ropes can be selected, which is low in cost.

[0016] (5) The double-trolley quay crane of the present invention has an efficiency improvement of 50% compared with the conventional single-trolley quay crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute an undue limitation to the present invention. In the accompanying drawings:

[0018] Figure 1 This is a schematic diagram of the double-trolley quay crane structure with a mechanical spreader anti-sway device of the present invention. Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the double-trolley quay crane structure with a mechanical spreader anti-sway device of the present invention. Figure 2 ;

[0020] Figure 3 It is a structural schematic diagram of the rocker arm pitching device of the present invention;

[0021] Figure 4 This is a simplified structural diagram of the rocker arm pitching device of the present invention.

[0022] Figure 5 This is a schematic structural diagram of the vehicle directional anti-roll device of the present invention;

[0023] Figure 6 This is a simplified structural diagram of the vehicle directional anti-roll device of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the trolley directional anti-roll device of the present invention;

[0025] Figure 8 It is a simplified structural diagram of the trolley directional anti-roll device of the present invention.

[0026] Figure numerals: 1-first torque motor, 2-first drum, 3-first redirecting pulley set, 301-a pulley, 302-b pulley, 303-c pulley, 304-d pulley, 305-e pulley, 306-f pulley, 4-first wire rope, 5-head rope, 6-end rope, 7-second torque motor, 8-second drum, 9-second redirecting pulley set, 10-second wire rope, 11-pitch motor, 12-reduction gearbox, 13-fourth drum, 14-third wire rope, 15-the third redirecting pulley group, 16-rocker arm device, 17-rope section A, 18-rope section B, 19-the first rocker arm, 20-the second rocker arm, 21-the fourth rocker arm, 22-the fifth drum, 23-the third drum, 24-the coupling, 25-Pulley A, 26-Pulley B, 27-Pulley C, 28-the trolley direction anti-sway device, 29-the trolley direction anti-sway device, 30-rocker arm pitching device, 31-hoisting device, 32-the third rocker arm, 33-the upper trolley device, 34-the lower trolley device.

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0028] To help those skilled in the art better understand the present invention, the following clearly and completely describes the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. The terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or are inherent to these processes, methods, products, or apparatuses.

[0029] Embodiment 1 of the present invention: A double-trolley quay crane with a mechanical spreader anti-sway device, comprising an upper trolley device 33, a lower trolley device 34, a trolley direction anti-sway device 28, a trolley direction anti-sway device 29 and a rocker arm pitching device 30, wherein the upper trolley device 33 and the lower trolley device 34 are both provided with the trolley direction anti-sway device 29 and the trolley direction anti-sway device 28, and the upper trolley device 33 and the lower trolley device 34 are both provided with a rocker arm pitching device 30; the rocker arm pitching device 30 includes a pitching device The motor 11, the reduction gear box 12, the fourth drum 13, the fifth drum 22, the third steel wire rope 14, the third redirecting pulley set 15 and the rocker device 16, the pitch motor 11 is connected to the reduction gear box 12, the fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction gear box 12 and are both connected to the reduction gear box 12, a third steel wire rope 14 is wound around the fourth drum 13, and a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley set 15 is arranged on the rocker device 16.

[0030] Embodiment 2 of the present invention: A double-trolley quay crane with a mechanical spreader anti-sway device, comprising an upper trolley device 33, a lower trolley device 34, a trolley direction anti-sway device 28, a trolley direction anti-sway device 29 and a rocker arm pitching device 30, wherein the upper trolley device 33 and the lower trolley device 34 are both provided with the trolley direction anti-sway device 29 and the trolley direction anti-sway device 28, and the upper trolley device 33 and the lower trolley device 34 are both provided with a rocker arm pitching device 30; the rocker arm pitching device 30 includes a pitching motor Machine 11, reduction box 12, fourth drum 13, fifth drum 22, third steel wire rope 14, third redirecting pulley group 15 and rocker device 16, the pitch motor 11 is connected to the reduction box 12, the fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction box 12 and are both connected to the reduction box 12, a third steel wire rope 14 is wound around the fourth drum 13, and a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley group 15 is arranged on the rocker device 16. Specifically, the rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21, and the third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed end, and the A pulley 25 and the B pulley 26 are coaxially arranged. A C pulley 27 is each provided at the end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21.

[0031] Embodiment 3 of the present invention: A double-trolley quay crane with a mechanical spreader anti-sway device, comprising an upper trolley device 33, a lower trolley device 34, a trolley direction anti-sway device 28, a trolley direction anti-sway device 29 and a rocker arm pitching device 30, wherein the upper trolley device 33 and the lower trolley device 34 are both provided with the trolley direction anti-sway device 29 and the trolley direction anti-sway device 28, and the upper trolley device 33 and the lower trolley device 34 are both provided with a rocker arm pitching device 30; the rocker arm pitching device 30 includes a pitching motor Machine 11, reduction box 12, fourth drum 13, fifth drum 22, third steel wire rope 14, third redirecting pulley group 15 and rocker device 16, the pitch motor 11 is connected to the reduction box 12, the fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction box 12 and are both connected to the reduction box 12, a third steel wire rope 14 is wound around the fourth drum 13, and a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley group 15 is arranged on the rocker device 16. The rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21. The third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed end. The A pulley 25 and the B pulley 26 are coaxially arranged. The end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with a C pulley 27. The third steel wire rope 14 includes an A section rope 17 and a B section rope 18. The A section rope 17 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the A pulley 25 at the fixed end of the first rocker arm 19 and then connected to the C pulley 27 at the end of the first rocker arm 19; the B section rope 18 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the B pulley 26 at the fixed end of the first rocker arm 19 and the A pulley 25 or the B pulley 26 at the fixed end of the second rocker arm 20 and then connected to the second rocker arm 20. The A section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the A pulley 25 at the fixed end of the third rocker arm 19 and is connected to the C pulley 27 at the end; the B section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the B pulley 26 at the fixed end of the third rocker arm 19 and the A pulley 25B pulley 26 at the fixed end of the fourth rocker arm 21 and is connected to the C pulley 27 at the end of the fourth rocker arm 21.

[0032] Embodiment 4 of the present invention: A double-trolley quay crane with a mechanical spreader anti-sway device, comprising an upper trolley device 33, a lower trolley device 34, a trolley direction anti-sway device 28, a trolley direction anti-sway device 29 and a rocker arm pitching device 30, wherein the upper trolley device 33 and the lower trolley device 34 are both provided with the trolley direction anti-sway device 29 and the trolley direction anti-sway device 28, and the upper trolley device 33 and the lower trolley device 34 are both provided with a rocker arm pitching device 30; the rocker arm pitching device 30 includes a pitching motor Machine 11, reduction box 12, fourth drum 13, fifth drum 22, third steel wire rope 14, third redirecting pulley group 15 and rocker device 16, the pitch motor 11 is connected to the reduction box 12, the fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction box 12 and are both connected to the reduction box 12, a third steel wire rope 14 is wound around the fourth drum 13, and a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley group 15 is arranged on the rocker device 16. The rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21. The third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed end. The A pulley 25 and the B pulley 26 are coaxially arranged. The end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with a C pulley 27. The third steel wire rope 14 includes an A section rope 17 and a B section rope 18. The A section rope 17 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the A pulley 25 at the fixed end of the first rocker arm 19 and then connected to the C pulley 27 at the end of the first rocker arm 19; the B section rope 18 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the B pulley 26 at the fixed end of the first rocker arm 19 and the A pulley 25 or the B pulley 26 at the fixed end of the second rocker arm 20 and then connected to the second rocker arm 20. The A section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the A pulley 25 at the fixed end of the third rocker arm 19 and is connected to the C pulley 27 at the end; the B section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the B pulley 26 at the fixed end of the third rocker arm 19 and the A pulley 25B pulley 26 at the fixed end of the fourth rocker arm 21 and is connected to the C pulley 27 at the end of the fourth rocker arm 21.

[0033] The trolley direction anti-sway device 29 includes a coupling 24, two second torque motors 7, a second drum 8, a third drum 23, a second redirecting pulley set 9 and a second steel wire rope 10. The two second torque motors 7 are symmetrically arranged on both sides of the trolley. The two second torque motors 7 are connected by a coupling 24. The second drum 8 is connected to one second torque motor 7, and the third drum 23 is connected to the other second torque motor 7. A second steel wire rope 10 is wound around each of the second drum 8 and the third drum 23. One end of the second steel wire rope 10 wound around the second drum 8 is passed through the second redirecting pulley set 9 and The C pulley 27 at the end of the first rocker arm 19 is turned and connected to the sling 31; the other end of the second wire rope 10 wound on the second drum 8 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the second rocker arm 20 and then connected to the sling 31; one end of the second wire rope 10 wound on the third drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the third rocker arm 19 and then connected to the sling 31; the other end of the second wire rope 10 wound on the fourth drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the fourth rocker arm 21 and then connected to the sling 31.

[0034] Embodiment 5 of the present invention: A double-trolley quay crane with a mechanical spreader anti-sway device, comprising an upper trolley device 33, a lower trolley device 34, a trolley direction anti-sway device 28, a trolley direction anti-sway device 29 and a rocker arm pitching device 30, wherein the upper trolley device 33 and the lower trolley device 34 are both provided with the trolley direction anti-sway device 29 and the trolley direction anti-sway device 28, and the upper trolley device 33 and the lower trolley device 34 are both provided with a rocker arm pitching device 30; the rocker arm pitching device 30 includes a pitching motor Machine 11, reduction box 12, fourth drum 13, fifth drum 22, third steel wire rope 14, third redirecting pulley group 15 and rocker device 16, the pitch motor 11 is connected to the reduction box 12, the fourth drum 13 and the fifth drum 22 are respectively arranged on the left and right sides of the reduction box 12 and are both connected to the reduction box 12, a third steel wire rope 14 is wound around the fourth drum 13, and a steel wire rope 14 is also wound around the fifth drum 22, and the third redirecting pulley group 15 is arranged on the rocker device 16. The rocker arm device 16 includes a first rocker arm 19, a second rocker arm 20, a third rocker arm 32 and a fourth rocker arm 21. The third redirecting pulley group 15 includes an A pulley 25, a B pulley 26 and a C pulley 27. The first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with an A pulley 25 and a B pulley 26 at the fixed end. The A pulley 25 and the B pulley 26 are coaxially arranged. The end of the first rocker arm 19, the second rocker arm 20, the third rocker arm 32 and the fourth rocker arm 21 are each provided with a C pulley 27. The third steel wire rope 14 includes an A section rope 17 and a B section rope 18. The A section rope 17 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the A pulley 25 at the fixed end of the first rocker arm 19 and then connected to the C pulley 27 at the end of the first rocker arm 19; the B section rope 18 of the third steel wire rope 14 wound on the fourth drum 13 is redirected by the B pulley 26 at the fixed end of the first rocker arm 19 and the A pulley 25 or the B pulley 26 at the fixed end of the second rocker arm 20 and then connected to the second rocker arm 20. The A section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the A pulley 25 at the fixed end of the third rocker arm 19 and is connected to the C pulley 27 at the end; the B section 17 of the third steel wire rope 14 wound on the fifth drum 22 is redirected by the B pulley 26 at the fixed end of the third rocker arm 19 and the A pulley 25B pulley 26 at the fixed end of the fourth rocker arm 21 and is connected to the C pulley 27 at the end of the fourth rocker arm 21.

[0035] The trolley direction anti-sway device 29 includes a coupling 24, two second torque motors 7, a second drum 8, a third drum 23, a second redirecting pulley set 9 and a second steel wire rope 10. The two second torque motors 7 are symmetrically arranged on both sides of the trolley. The two second torque motors 7 are connected by a coupling 24. The second drum 8 is connected to one second torque motor 7, and the third drum 23 is connected to the other second torque motor 7. A second steel wire rope 10 is wound around each of the second drum 8 and the third drum 23. One end of the second steel wire rope 10 wound around the second drum 8 is passed through the second redirecting pulley set 9 and The C pulley 27 at the end of the first rocker arm 19 is turned and connected to the sling 31; the other end of the second wire rope 10 wound on the second drum 8 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the second rocker arm 20 and then connected to the sling 31; one end of the second wire rope 10 wound on the third drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the third rocker arm 19 and then connected to the sling 31; the other end of the second wire rope 10 wound on the fourth drum 23 is turned through the second redirecting pulley group 9 and the C pulley 27 at the end of the fourth rocker arm 21 and then connected to the sling 31.

[0036] The trolley direction anti-sway device 28 includes a first torque motor 1, a first drum 2, a first redirecting pulley group 3, and a first steel wire rope 4. The first drum 2 is connected to the first torque motor 1. The first steel wire rope 4 is wound on the first drum 2. The first steel wire rope 4 includes a head rope 5 and a tail rope 6 extending out of the first drum 2. The head rope 5 and the tail rope 6 are cross-connected to the sling 31 through the first redirecting pulley group 3. The first redirecting pulley group 3 includes pulley a 301, pulley b 302, pulley c 303, pulley d 304, pulley e 305 and pulley f 306. The head end rope 5 is connected to the sling 31 via pulley a 301, and the end rope 6 is connected to the sling 31 via pulley b 302, pulley c 303, pulley d 304, pulley e 305 and pulley f 306 in sequence. The pulley a 301 and pulley b 302 are coaxially arranged in parallel. The installation height of the pulley c 303 and the pulley d 304 is higher than the installation height of the pulley a 301. The installation height of the pulley f 306 is the same as the installation height of the pulley a 301, and the pulley e 305 is installed above the pulley f 306.

[0037] Working principle of the present invention:

[0038] Research has shown that spreader sway is periodic, swinging like a sine function. If the spreader's swing period is disrupted, the swing amplitude will quickly decay to zero. The spreader sway reduction system of the present invention reduces the spreader's sway amplitude by disrupting the spreader's swing period, thereby achieving a spreader anti-sway function.

[0039] The double-trolley quay crane with a mechanical spreader anti-sway device of the present invention consists of three subsystems: a trolley directional anti-sway device 28, a trolley directional anti-sway device 29, and a rocker arm pitch device 30. In the trolley directional anti-sway device 28, the head rope 5 and the tail rope 6 of the first wire rope 4 are drawn from a first drum 2 disposed at the end of and connected to the first torque motor 1. The head rope 5 is redirected by pulley a 301 of the first redirecting pulley block 3 and then connected to one end of the spreader. The tail rope 6 is redirected by pulley b 302, pulley c 303, pulley d 304, pulley e 305, and pulley f 306 of the first redirecting pulley block 3 and then connected to the other end of the spreader. Figure 4 As shown, the head rope 5 and tail rope 6, which have been redirected and connected to the spreader 31, are cross-connected. When the spreader sways in the direction of the trolley, the first torque motor 1 rotates in the corresponding direction, driving the first drum 2 connected to the first torque motor 1, which in turn drives the first steel wire rope 4 to pull the spreader 31, thereby disrupting the spreader's sway cycle and achieving the purpose of sway reduction. The trolley directional sway reduction device 28 of the present invention is a system that can independently reduce sway.

[0040] In the trolley directional anti-roll device 29, two second torque motors 7 are symmetrically located on either side of the trolley. The two second torque motors 7 are connected via a coupling 24 to ensure synchronous operation. Two ends of the second wire rope 10 are drawn from the second drum 8. After being diverted by the second redirecting pulley block 9, one end of the rope is diverted by the second redirecting pulley block 9 and the C pulley 27 at the end of the first rocker arm 19 before connecting to the sling 31. The other end of the rope is diverted by the second redirecting pulley block 9 and the C pulley 27 at the end of the second rocker arm 20 before connecting to the sling 31.

[0041] In the rocker arm pitch device 30, the fourth drum 13 and the fifth drum 22 are driven by the pitch motor 11 to adjust the tension of the third steel rope 14 wound on the fourth drum 13 and the fifth drum 22. The pitch of the rocker arm device 16 is controlled by the pitch motor 11 to control the tension angle between the third steel ropes 14 to adjust the horizontal force component. The rocker arm pitch device 30 and the trolley direction anti-roll device 29 work together to achieve anti-roll of the sling 31 in the direction of movement of the trolley.

Claims

1. A double-trolley quay crane with a mechanical spreader anti-sway device, characterized in that: The invention comprises an upper trolley device (33), a lower trolley device (34), a trolley direction anti-sway device (28), a trolley direction anti-sway device (29) and a rocker arm pitching device (30), wherein the upper trolley device (33) and the lower trolley device (34) are both provided with the trolley direction anti-sway device (29) and the trolley direction anti-sway device (28), and the upper trolley device (33) and the lower trolley device (34) are both provided with a rocker arm pitching device (30); the rocker arm pitching device (30) comprises a pitching motor (11), a reduction gear box (12), a fourth reel (1 3), a fifth drum (22), a third steel wire rope (14), a third redirecting pulley set (15) and a rocker device (16), the pitch motor (11) is connected to the reduction box (12), the fourth drum (13) and the fifth drum (22) are respectively arranged on the left and right sides of the reduction box (12) and are both connected to the reduction box (12), a third steel wire rope (14) is wound around the fourth drum (13), and a third steel wire rope (14) is also wound around the fifth drum (22), and the third redirecting pulley set (15) is arranged on the rocker device (16); The rocker arm device (16) includes a first rocker arm (19), a second rocker arm (20), a third rocker arm (32) and a fourth rocker arm (21); the third redirecting pulley group (15) includes an A pulley (25), a B pulley (26) and a C pulley (27); the fixed ends of the first rocker arm (19), the second rocker arm (20), the third rocker arm (32) and the fourth rocker arm (21) are each provided with an A pulley (25) and a B pulley (26); the A pulley (25) and the B pulley (26) are coaxially arranged; the ends of the first rocker arm (19), the second rocker arm (20), the third rocker arm (32) and the fourth rocker arm (21) are each provided with a C pulley (27); The third steel wire rope (14) includes a rope section A (17) and a rope section B (18). The rope section A (17) of the third steel wire rope (14) wound on the fourth drum (13) is connected to the pulley C (27) at the end of the first rocker arm (19) after being redirected by the pulley A (25) at the fixed end of the first rocker arm (19); The B section rope (18) of the third steel wire rope (14) wound on the fourth drum (13) is redirected through the B pulley (26) at the fixed end of the first rocker arm (19) and the A pulley (25) or B pulley (26) at the fixed end of the second rocker arm (20) and then connected to the C pulley (27) at the end of the second rocker arm (20); The A section rope (17) of the third steel wire rope (14) wound on the fifth drum (22) is connected to the C pulley (27) at the end of the third rocker arm (32) after being redirected by the A pulley (25) at the fixed end of the third rocker arm (32); The B section rope (18) of the third steel wire rope (14) wound on the fifth drum (22) is redirected through the B pulley (26) at the fixed end of the third rocker arm (32) and the A pulley (25) or the B pulley (26) at the fixed end of the fourth rocker arm (21) and then connected to the C pulley (27) at the end of the fourth rocker arm (21).

2. A double-trolley quay crane with a mechanical spreader anti-sway device according to claim 1, characterized in that: The trolley direction anti-roll device (29) comprises a coupling (24), two second torque motors (7), a second drum (8), a third drum (23), a second redirecting pulley set (9) and a second steel wire rope (10), wherein the two second torque motors (7) are symmetrically arranged on both sides of the trolley, the two second torque motors (7) are connected via a coupling (24), the second drum (8) is connected to one second torque motor (7), the third drum (23) is connected to the other second torque motor (7), and a second steel wire rope (10) is wound around each of the second drum (8) and the third drum (23); One end of the second steel wire rope (10) wound on the second drum (8) is connected to the sling (31) after being diverted by the second redirecting pulley group (9) and the C pulley (27) at the end of the first rocker arm (19); The other end of the second steel wire rope (10) wound on the second drum (8) is connected to the sling (31) after being diverted by the second redirecting pulley group (9) and the C pulley (27) at the end of the second rocker arm (20); One end of the second steel wire rope (10) wound on the third drum (23) is connected to the sling (31) after being diverted by the second redirecting pulley group (9) and the C pulley (27) at the end of the third rocker arm (32); The other end of the second steel wire rope (10) wound on the fourth drum (13) is connected to the sling (31) after being diverted through the second redirecting pulley group (9) and the C pulley (27) at the end of the fourth rocker arm (21).

3. A double-trolley quay crane with a mechanical spreader anti-sway device according to claim 1 or 2, characterized in that: The trolley directional anti-sway device (28) includes a first torque motor (1), a first drum (2), a first redirecting pulley group (3), and a first steel wire rope (4). The first drum (2) is connected to the first torque motor (1). The first steel wire rope (4) is wound on the first drum (2). The first steel wire rope (4) includes a head rope (5) and a tail rope (6) extending from the first drum (2). The head rope (5) and the tail rope (6) are both cross-connected to the sling (31) via the first redirecting pulley group (3).

4. The double-trolley quay crane with a mechanical spreader anti-sway device according to claim 3, characterized in that: The first redirecting pulley group (3) comprises an a pulley (301), a b pulley (302), a c pulley (303), a d pulley (304), an e pulley (305) and an f pulley (306); the head end rope (5) is connected to the sling (31) via the a pulley (301); the end rope (6) is connected to the sling (31) via the b pulley (302), the c pulley (303), the d pulley (304), the e pulley (305) and the f pulley (306) in sequence; the a pulley (301) and the b pulley (302) are coaxially arranged in parallel; the installation heights of the c pulley (303) and the d pulley (304) are higher than the installation height of the a pulley (301); the installation height of the f pulley (306) is the same as the installation height of the a pulley (301); and the e pulley (305) is installed above the f pulley (306).

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