A multi-dimensional anti-sway device for slings

Abstract

The application discloses a multi-dimension anti-swing device for a lifting appliance, which comprises a shore crane trolley arranged on a shore crane, a total control system, a lifting appliance upper frame arranged on the shore crane trolley, a sliding connection between the lifting appliance upper frame and the shore crane trolley through a steel cable, a lifting appliance fixedly connected below the lifting appliance upper frame, a flywheel machine frame arranged above the lifting appliance upper frame, a horizontal rotary flywheel, a longitudinal flywheel and a transverse flywheel arranged on the flywheel machine frame, the horizontal rotary flywheel arranged in the vertical direction of the flywheel machine frame, the longitudinal flywheel and the transverse flywheel arranged in the horizontal direction of the flywheel machine frame, and electrical connections between the horizontal rotary flywheel, the longitudinal flywheel, the transverse flywheel and the total control system. The torque of the rotation of the three flywheels acts on the lifting appliance, balances the torque of the rotation of the lifting appliance caused by external force, and realizes the anti-swing purpose of the lifting appliance.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-dimensional anti-swing device for a spreader, belonging to the technical field of spreader anti-swing. BACKGROUND

[0002] In the operation process of the shore crane, the container matching problem of the spreader and the container has always been time-consuming, generally accounting for more than half of the entire operation process, the spreader is generally connected with the shore crane trolley by a steel cable, and the length of the steel cable from the spreader to the trolley frame can reach more than 30 meters during the operation of the shore crane. When the shore crane trolley moves forward and backward, the spreader will swing greatly, and the spreader cannot be well aligned with the stationary container, so it is mostly relied on the driving experience to control the trolley movement speed and use inertia to stop the swing, but the spreader often rotates in multiple directions, and cannot be quickly stopped by operation, so the container matching problem in the operation process of the shore crane needs to be optimized. SUMMARY

[0003] The purpose of the present application is to provide a multi-dimensional anti-swing device for a spreader, three different faces of the flywheel are analyzed by the total control system, the flywheel is driven by the motor to rotate in the same direction as the rotation direction of the spreader at a certain angular acceleration, the moment of the flywheel is obtained by multiplying the moment of inertia of the flywheel by the angular acceleration, the external force acting on the flywheel is all provided by the motor, and the motor is fixed on the flywheel frame, so the flywheel frame will actually be subjected to a moment equal in size and opposite in direction to the moment acting on the flywheel, the flywheel frame is fixed on the spreader upper frame, and the flywheel frame will finally transmit the moment to the spreader upper frame; Therefore, the moments of the three groups of flywheels acting on the spreader finally balance the moments of the spreader caused by the external force, so as to achieve the purpose of preventing the spreader from swinging.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley arranged on a shore crane, and a total control system, wherein the shore crane trolley is provided with a spreader upper frame, the spreader upper frame is slidably connected with the shore crane trolley through a steel cable, the spreader upper frame is fixedly connected with a spreader below, the spreader upper frame is provided with a flywheel frame above, the flywheel frame is provided with a horizontal rotary flywheel, a longitudinal flywheel and a transverse flywheel, the horizontal rotary flywheel is arranged in the vertical direction of the flywheel frame, the longitudinal flywheel and the transverse flywheel are arranged in the horizontal direction of the flywheel frame, and the horizontal rotary flywheel, the longitudinal flywheel and the transverse flywheel are electrically connected with the total control system.

[0005] The multi-dimensional anti-swing device for the lifting appliance, the flywheel frame is provided with a longitudinal flywheel mounting frame and a transverse flywheel mounting frame, the longitudinal flywheel mounting frame and the transverse flywheel mounting frame are arranged on the side of the flywheel frame, the shaft of the longitudinal flywheel penetrates the longitudinal flywheel mounting frame and is connected with the longitudinal flywheel mounting frame, and the shaft of the transverse flywheel penetrates the transverse flywheel mounting frame and is connected with the transverse flywheel mounting frame.

[0006] The multi-dimensional anti-swing device for the lifting appliance, the horizontal rotary flywheel is provided with an A transmission shaft, one end of the A transmission shaft penetrates the flywheel frame and is connected with an A motor, the longitudinal flywheel is provided with a B transmission shaft, one end of the B transmission shaft penetrates the longitudinal flywheel mounting frame and is connected with a B motor, the transverse flywheel is provided with a C transmission shaft, one end of the C transmission shaft penetrates the transverse flywheel mounting frame and is connected with a C motor, and the A motor, the B motor and the C motor are electrically connected with the general control system.

[0007] The multi-dimensional anti-swing device for the lifting appliance, the lifting appliance is provided with an angular velocity sensor and an angular acceleration sensor, and the angular velocity sensor and the angular acceleration sensor are each provided with three groups, for detecting the angular velocity and the angular acceleration in three rotating directions.

[0008] The multi-dimensional anti-swing device for the lifting appliance, the vertical section of the horizontal rotary flywheel, the longitudinal flywheel and the transverse flywheel is in the shape of a dumbbell.

[0009] The multi-dimensional anti-swing device for the lifting appliance, the moment of inertia of the horizontal rotary flywheel is greater than that of the longitudinal flywheel and the transverse flywheel, the structure and the swinging form of the lifting appliance determine that the moment of inertia is the largest when the lifting appliance rotates horizontally, and the horizontal rotation is more frequent than the transverse swinging and the longitudinal swinging, therefore, the size of the horizontal rotary anti-swing flywheel is greater than that of the other two flywheels, so as to provide greater moment of inertia.

[0010] The multi-dimensional anti-swing device for the lifting appliance, the A transmission shaft is provided with an A encoder at the end away from the A motor, the B transmission shaft is provided with a B encoder at the end away from the B motor, and the C transmission shaft is provided with a C encoder at the end away from the C motor.

[0011] The multi-dimensional anti-swing device for the lifting appliance, the horizontal rotary flywheel is arranged on the center line of the lifting appliance frame.

[0012] The multi-dimensional anti-swing device for the lifting appliance, the longitudinal flywheel and the transverse flywheel are arranged on the two adjacent side surfaces of the flywheel frame.

[0013] The multi-dimensional anti-swing device for the lifting appliance, the A transmission shaft and the B transmission shaft are perpendicular, the A transmission shaft and the C transmission shaft are perpendicular, and the B transmission shaft and the C transmission shaft are perpendicular to each other.

[0014] Compared with the prior art, the three sets of flywheels of the present application are respectively installed on three different surfaces of the flywheel mechanism, corresponding to the horizontal rotation, longitudinal swing and lateral swing of the spreader, the sensors on the spreader obtain the angular velocity and angular acceleration and other data of the spreader swing, which are analyzed by the total control system, to control the flywheel to rotate at a certain angular acceleration in the same direction as the rotation direction of the spreader under the driving of the motor, the moment of the flywheel is obtained by multiplying the moment of inertia of the flywheel by the angular acceleration, all the external forces acting on the flywheel are provided by the motor, and the motor is fixed on the flywheel frame, so that the flywheel frame will actually bear a moment equal in size and opposite in direction to the moment acting on the flywheel, and the flywheel frame is fixed on the spreader frame, so that the flywheel frame will finally transmit the moment to the spreader frame; therefore, the rotation moment of the flywheel finally acts on the spreader, balances the rotation moment of the spreader caused by the external force, and achieves the purpose of preventing the spreader from swinging, improves the accuracy of the container on the trolley of the shore crane, improves the operation efficiency as a whole, and is convenient for the driver to operate. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic diagram of the present application;

[0016] Figure 2 is a top view of the present application;

[0017] Figure 3 is a schematic diagram of the position relationship between the horizontal rotation flywheel and the longitudinal flywheel of the present application;

[0018] Figure 4 is a schematic diagram of the position relationship between the horizontal rotation flywheel and the lateral flywheel of the present application;

[0019] Figure 5 is a schematic diagram of the position relationship between the trolley of the shore crane and the spreader frame and the spreader of the present application;

[0020] Figure 6 is a schematic diagram of the connection relationship between the total control system and the A motor, the B motor and the C motor of the present application.

[0021] The drawings show that: 1 is a trolley of a shore crane, 2 is a total control system, 3 is a spreader frame, 4 is a spreader, 5 is a flywheel frame, 6 is a horizontal rotation flywheel, 7 is a longitudinal flywheel, 8 is a lateral flywheel, 9 is a longitudinal flywheel mounting frame, 10 is a lateral flywheel mounting frame, 11 is an A transmission shaft, 12 is an A motor, 13 is a B transmission shaft, 14 is a B motor, 15 is a C transmission shaft, and 16 is a C motor.

[0022] The present application will be further described below in combination with the drawings and specific embodiments. EMBODIMENT

[0023] Embodiment 1 of the present application: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, further comprising a general control system 2, the shore crane trolley 1 is arranged with a spreader upper rack 3, the spreader upper rack 3 is slidably connected with the shore crane trolley 1 through a steel cable, the spreader upper rack 3 is fixedly connected with a spreader 4 below, the spreader upper rack 3 is arranged with a flywheel machine rack 5 above, the flywheel machine rack 5 is arranged with a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8, the horizontal rotary flywheel 6 is arranged in the vertical direction of the flywheel machine rack 5, the longitudinal flywheel 7 and the transverse flywheel 8 are both arranged in the horizontal direction of the flywheel machine rack 5, and the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are all electrically connected with the general control system 2.

[0024] Embodiment 2 of the present application: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, further comprising a general control system 2, the shore crane trolley 1 is arranged with a spreader upper rack 3, the spreader upper rack 3 is slidably connected with the shore crane trolley 1 through a steel cable, the spreader upper rack 3 is fixedly connected with a spreader 4 below, the spreader upper rack 3 is arranged with a flywheel machine rack 5 above, the flywheel machine rack 5 is arranged with a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8, the horizontal rotary flywheel 6 is arranged in the vertical direction of the flywheel machine rack 5, the longitudinal flywheel 7 and the transverse flywheel 8 are both arranged in the horizontal direction of the flywheel machine rack 5, and the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are all electrically connected with the general control system 2; the flywheel machine rack 5 is arranged with a longitudinal flywheel mounting rack 9 and a transverse flywheel mounting rack 10, the longitudinal flywheel mounting rack 9 and the transverse flywheel mounting rack 10 are arranged on the side of the flywheel machine rack 5, the shaft of the longitudinal flywheel 7 penetrates through the longitudinal flywheel mounting rack 9 and is connected with the longitudinal flywheel mounting rack 9, and the shaft of the transverse flywheel 8 penetrates through the transverse flywheel mounting rack 10 and is connected with the transverse flywheel mounting rack 10.

[0025] Embodiment 3 of the present application: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, further comprising a general control system 2, the shore crane trolley 1 is arranged with a spreader upper rack 3, the spreader upper rack 3 is slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 is fixedly connected below the spreader upper rack 3, a flywheel machine rack 5 is arranged above the spreader upper rack 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 are arranged on the flywheel machine rack 5, the horizontal rotary flywheel 6 is arranged in the vertical direction of the flywheel machine rack 5, the longitudinal flywheel 7 and the transverse flywheel 8 are both arranged in the horizontal direction of the flywheel machine rack 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are all electrically connected with the general control system 2; the flywheel machine rack 5 is arranged with a longitudinal flywheel mounting rack 9 and a transverse flywheel mounting rack 10, the longitudinal flywheel mounting rack 9 and the transverse flywheel mounting rack 10 are arranged on the side of the flywheel machine rack 5, the shaft of the longitudinal flywheel 7 penetrates through the longitudinal flywheel mounting rack 9 and is connected with the longitudinal flywheel mounting rack 9, the shaft of the transverse flywheel 8 penetrates through the transverse flywheel mounting rack 10 and is connected with the transverse flywheel mounting rack 10; the horizontal rotary flywheel 6 is arranged with an A transmission shaft 11, one end of the A transmission shaft 11 penetrates through the flywheel machine rack 5 and is connected with an A motor 12, the longitudinal flywheel 7 is arranged with a B transmission shaft 13, one end of the B transmission shaft 13 penetrates through the longitudinal flywheel mounting rack 9 and is connected with a B motor 14, the transverse flywheel 8 is arranged with a C transmission shaft 15, one end of the C transmission shaft 15 penetrates through the transverse flywheel mounting rack 10 and is connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 are all electrically connected with the general control system 2.

[0026] Embodiment 4 of the present application: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, further comprising a general control system 2, the shore crane trolley 1 is arranged with a spreader upper rack 3, the spreader upper rack 3 is slidably connected with the shore crane trolley 1 through a steel cable, the spreader upper rack 3 is fixedly connected with a spreader 4 below, the spreader upper rack 3 is arranged with a flywheel machine rack 5 above, the flywheel machine rack 5 is arranged with a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8, the horizontal rotary flywheel 6 is arranged in the vertical direction of the flywheel machine rack 5, the longitudinal flywheel 7 and the transverse flywheel 8 are both arranged in the horizontal direction of the flywheel machine rack 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are electrically connected with the general control system 2; the flywheel machine rack 5 is arranged with a longitudinal flywheel mounting rack 9 and a transverse flywheel mounting rack 10, the longitudinal flywheel mounting rack 9 and the transverse flywheel mounting rack 10 are arranged at the side of the flywheel machine rack 5, the shaft of the longitudinal flywheel 7 penetrates through the longitudinal flywheel mounting rack 9 and is connected with the longitudinal flywheel mounting rack 9, the shaft of the transverse flywheel 8 penetrates through the transverse flywheel mounting rack 10 and is connected with the transverse flywheel mounting rack 10; the horizontal rotary flywheel 6 is arranged with an A transmission shaft 11, one end of the A transmission shaft 11 penetrates through the flywheel machine rack 5 and is connected with an A motor 12, the longitudinal flywheel 7 is arranged with a B transmission shaft 13, one end of the B transmission shaft 13 penetrates through the longitudinal flywheel mounting rack 9 and is connected with a B motor 14, the transverse flywheel 8 is arranged with a C transmission shaft 15, one end of the C transmission shaft 15 penetrates through the transverse flywheel mounting rack 10 and is connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 are electrically connected with the general control system 2; the spreader 4 is arranged with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor are both arranged with three groups, for detecting the angular velocity and the angular acceleration of three rotating directions.

[0027] Embodiment 5 of the present application: a multi-dimensional anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, further comprising a general control system 2, the shore crane trolley 1 is arranged with a spreader upper rack 3, the spreader upper rack 3 is slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 is fixedly connected below the spreader upper rack 3, a flywheel rack 5 is arranged above the spreader upper rack 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 are arranged on the flywheel rack 5, the horizontal rotary flywheel 6 is arranged in the vertical direction of the flywheel rack 5, the longitudinal flywheel 7 and the transverse flywheel 8 are both arranged in the horizontal direction of the flywheel rack 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are electrically connected with the general control system 2; the flywheel rack 5 is arranged with a longitudinal flywheel mounting rack 9 and a transverse flywheel mounting rack 10, the longitudinal flywheel mounting rack 9 and the transverse flywheel mounting rack 10 are arranged on the side of the flywheel rack 5, the shaft of the longitudinal flywheel 7 penetrates through the longitudinal flywheel mounting rack 9 and is connected with the longitudinal flywheel mounting rack 9, the shaft of the transverse flywheel 8 penetrates through the transverse flywheel mounting rack 10 and is connected with the transverse flywheel mounting rack 10; the horizontal rotary flywheel 6 is arranged with an A transmission shaft 11, one end of the A transmission shaft 11 penetrates through the flywheel rack 5 and is connected with an A motor 12, the longitudinal flywheel 7 is arranged with a B transmission shaft 13, one end of the B transmission shaft 13 penetrates through the longitudinal flywheel mounting rack 9 and is connected with a B motor 14, the transverse flywheel 8 is arranged with a C transmission shaft 15, one end of the C transmission shaft 15 penetrates through the transverse flywheel mounting rack 10 and is connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 are electrically connected with the general control system 2; the spreader 4 is arranged with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor are both arranged with three groups, for detecting the angular velocity and the angular acceleration of three rotating directions; the vertical section of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 is in dumbbell shape.

[0028] The embodiment 6 of the present application is a multi-dimension anti-swing device for a spreader, which comprises a shore crane trolley 1 arranged on a shore crane, a general control system 2, a spreader upper frame 3 arranged on the shore crane trolley 1, the spreader upper frame 3 being slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 fixedly connected below the spreader upper frame 3, a flywheel frame 5 arranged above the spreader upper frame 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 arranged on the flywheel frame 5, the horizontal rotary flywheel 6 being arranged in a vertical direction of the flywheel frame 5, the longitudinal flywheel 7 and the transverse flywheel 8 being arranged in a horizontal direction of the flywheel frame 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 being electrically connected with the general control system 2; the flywheel frame 5 is provided with a longitudinal flywheel mounting frame 9 and a transverse flywheel mounting frame 10, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 being arranged on side portions of the flywheel frame 5, the shaft of the longitudinal flywheel 7 penetrating the longitudinal flywheel mounting frame 9 and being connected with the longitudinal flywheel mounting frame 9, the shaft of the transverse flywheel 8 penetrating the transverse flywheel mounting frame 10 and being connected with the transverse flywheel mounting frame 10; the horizontal rotary flywheel 6 is provided with an A transmission shaft 11, one end of the A transmission shaft 11 penetrating the flywheel frame 5 and being connected with an A motor 12, the longitudinal flywheel 7 is provided with a B transmission shaft 13, one end of the B transmission shaft 13 penetrating the longitudinal flywheel mounting frame 9 and being connected with a B motor 14, the transverse flywheel 8 is provided with a C transmission shaft 15, one end of the C transmission shaft 15 penetrating the transverse flywheel mounting frame 10 and being connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 being electrically connected with the general control system 2; the spreader 4 is provided with angular velocity sensors and angular acceleration sensors, the angular velocity sensors and the angular acceleration sensors being arranged in three groups for detecting angular velocities and angular accelerations in three rotating directions; vertical sections of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are in dumbbell shapes; a moment of inertia of the horizontal rotary flywheel 6 is greater than those of the longitudinal flywheel 7 and the transverse flywheel 8.

[0029] The embodiment 7 of the present application is a multi-dimension anti-swing device for a spreader, which comprises a shore crane trolley 1 arranged on a shore crane, a general control system 2, a spreader upper frame 3 arranged on the shore crane trolley 1, the spreader upper frame 3 being slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 fixedly connected below the spreader upper frame 3, a flywheel machine frame 5 arranged above the spreader upper frame 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 arranged on the flywheel machine frame 5, the horizontal rotary flywheel 6 being arranged in a vertical direction of the flywheel machine frame 5, the longitudinal flywheel 7 and the transverse flywheel 8 being arranged in a horizontal direction of the flywheel machine frame 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 being electrically connected with the general control system 2; the flywheel machine frame 5 is provided with a longitudinal flywheel mounting frame 9 and a transverse flywheel mounting frame 10, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 being arranged on side portions of the flywheel machine frame 5, the shaft of the longitudinal flywheel 7 penetrating the longitudinal flywheel mounting frame 9 and being connected with the longitudinal flywheel mounting frame 9, the shaft of the transverse flywheel 8 penetrating the transverse flywheel mounting frame 10 and being connected with the transverse flywheel mounting frame 10; the horizontal rotary flywheel 6 is provided with an A transmission shaft 11, one end of the A transmission shaft 11 penetrating the flywheel machine frame 5 and being connected with an A motor 12, the longitudinal flywheel 7 is provided with a B transmission shaft 13, one end of the B transmission shaft 13 penetrating the longitudinal flywheel mounting frame 9 and being connected with a B motor 14, the transverse flywheel 8 is provided with a C transmission shaft 15, one end of the C transmission shaft 15 penetrating the transverse flywheel mounting frame 10 and being connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 being electrically connected with the general control system 2; the spreader 4 is provided with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor each being provided with three groups, for detecting angular velocities and angular accelerations in three rotating directions; vertical sections of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are in dumbbell shapes; a moment of inertia of the horizontal rotary flywheel 6 is greater than those of the longitudinal flywheel 7 and the transverse flywheel 8; an A encoder is arranged at one end of the A transmission shaft 11 away from the A motor 12, a B encoder is arranged at one end of the B transmission shaft 13 away from the B motor 14, and a C encoder is arranged at one end of the C transmission shaft 15 away from the C motor 16.

[0030] The embodiment 8 of the present application is a multi-dimension anti-swing device for a spreader, which comprises a shore crane trolley 1 arranged on a shore crane, a general control system 2, a spreader upper frame 3 arranged on the shore crane trolley 1, the spreader upper frame 3 being slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 fixedly connected below the spreader upper frame 3, a flywheel frame 5 arranged above the spreader upper frame 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 arranged on the flywheel frame 5, the horizontal rotary flywheel 6 being arranged in a vertical direction of the flywheel frame 5, the longitudinal flywheel 7 and the transverse flywheel 8 being arranged in a horizontal direction of the flywheel frame 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 being electrically connected with the general control system 2; the flywheel frame 5 is provided with a longitudinal flywheel mounting frame 9 and a transverse flywheel mounting frame 10, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 being arranged on side portions of the flywheel frame 5, the shaft of the longitudinal flywheel 7 penetrating the longitudinal flywheel mounting frame 9 and being connected with the longitudinal flywheel mounting frame 9, the shaft of the transverse flywheel 8 penetrating the transverse flywheel mounting frame 10 and being connected with the transverse flywheel mounting frame 10; the horizontal rotary flywheel 6 is provided with an A transmission shaft 11, one end of the A transmission shaft 11 penetrating the flywheel frame 5 and being connected with an A motor 12, the longitudinal flywheel 7 is provided with a B transmission shaft 13, one end of the B transmission shaft 13 penetrating the longitudinal flywheel mounting frame 9 and being connected with a B motor 14, the transverse flywheel 8 is provided with a C transmission shaft 15, one end of the C transmission shaft 15 penetrating the transverse flywheel mounting frame 10 and being connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 being electrically connected with the general control system 2; the spreader 4 is provided with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor each being provided with three groups, for detecting angular velocities and angular accelerations in three rotating directions; vertical sections of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are in dumbbell shapes; a moment of inertia of the horizontal rotary flywheel 6 is greater than those of the longitudinal flywheel 7 and the transverse flywheel 8; one end of the A transmission shaft 11 away from the A motor 12 is provided with an A encoder, one end of the B transmission shaft 13 away from the B motor 14 is provided with a B encoder, and one end of the C transmission shaft 15 away from the C motor 16 is provided with a C encoder; the horizontal rotary flywheel 6 is arranged on a center line of the spreader upper frame 3.

[0031] The embodiment 9 of the present application is a multi-dimension anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, a general control system 2, a spreader upper frame 3 arranged on the shore crane trolley 1, the spreader upper frame 3 being slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 fixedly connected below the spreader upper frame 3, a flywheel machine frame 5 arranged above the spreader upper frame 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 arranged on the flywheel machine frame 5, the horizontal rotary flywheel 6 being arranged in a vertical direction of the flywheel machine frame 5, the longitudinal flywheel 7 and the transverse flywheel 8 being arranged in a horizontal direction of the flywheel machine frame 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 being electrically connected with the general control system 2; the flywheel machine frame 5 is provided with a longitudinal flywheel mounting frame 9 and a transverse flywheel mounting frame 10, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 being arranged on side portions of the flywheel machine frame 5, the shaft of the longitudinal flywheel 7 penetrating the longitudinal flywheel mounting frame 9 and being connected with the longitudinal flywheel mounting frame 9, the shaft of the transverse flywheel 8 penetrating the transverse flywheel mounting frame 10 and being connected with the transverse flywheel mounting frame 10; the horizontal rotary flywheel 6 is provided with an A transmission shaft 11, one end of the A transmission shaft 11 penetrating the flywheel machine frame 5 and being connected with an A motor 12, the longitudinal flywheel 7 is provided with a B transmission shaft 13, one end of the B transmission shaft 13 penetrating the longitudinal flywheel mounting frame 9 and being connected with a B motor 14, the transverse flywheel 8 is provided with a C transmission shaft 15, one end of the C transmission shaft 15 penetrating the transverse flywheel mounting frame 10 and being connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 being electrically connected with the general control system 2; the spreader 4 is provided with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor each being provided with three groups, for detecting angular velocities and angular accelerations in three rotating directions; vertical sections of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are in dumbbell shapes; a moment of inertia of the horizontal rotary flywheel 6 is greater than those of the longitudinal flywheel 7 and the transverse flywheel 8; one end of the A transmission shaft 11 away from the A motor 12 is provided with an A encoder, one end of the B transmission shaft 13 away from the B motor 14 is provided with a B encoder, and one end of the C transmission shaft 15 away from the C motor 16 is provided with a C encoder; the horizontal rotary flywheel 6 is arranged on a center line of the spreader upper frame 3; the longitudinal flywheel 7 and the transverse flywheel 8 are arranged on two adjacent side surfaces of the flywheel machine frame 5.

[0032] The embodiment 10 of the present application is a multi-dimension anti-swing device for a spreader, comprising a shore crane trolley 1 arranged on a shore crane, a general control system 2, a spreader upper frame 3 arranged on the shore crane trolley 1, the spreader upper frame 3 being slidably connected with the shore crane trolley 1 through a steel cable, a spreader 4 fixedly connected below the spreader upper frame 3, a flywheel frame 5 arranged above the spreader upper frame 3, a horizontal rotary flywheel 6, a longitudinal flywheel 7 and a transverse flywheel 8 arranged on the flywheel frame 5, the horizontal rotary flywheel 6 being arranged in a vertical direction of the flywheel frame 5, the longitudinal flywheel 7 and the transverse flywheel 8 being arranged in a horizontal direction of the flywheel frame 5, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 being electrically connected with the general control system 2; the flywheel frame 5 is provided with a longitudinal flywheel mounting frame 9 and a transverse flywheel mounting frame 10, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 being arranged on side portions of the flywheel frame 5, the shaft of the longitudinal flywheel 7 penetrating the longitudinal flywheel mounting frame 9 and being connected with the longitudinal flywheel mounting frame 9, the shaft of the transverse flywheel 8 penetrating the transverse flywheel mounting frame 10 and being connected with the transverse flywheel mounting frame 10; the horizontal rotary flywheel 6 is provided with an A transmission shaft 11, one end of the A transmission shaft 11 penetrating the flywheel frame 5 and being connected with an A motor 12, the longitudinal flywheel 7 is provided with a B transmission shaft 13, one end of the B transmission shaft 13 penetrating the longitudinal flywheel mounting frame 9 and being connected with a B motor 14, the transverse flywheel 8 is provided with a C transmission shaft 15, one end of the C transmission shaft 15 penetrating the transverse flywheel mounting frame 10 and being connected with a C motor 16, the A motor 12, the B motor 14 and the C motor 16 being electrically connected with the general control system 2; the spreader 4 is provided with an angular velocity sensor and an angular acceleration sensor, the angular velocity sensor and the angular acceleration sensor each being provided with three groups, for detecting angular velocities and angular accelerations in three rotating directions; vertical sections of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are in dumbbell shapes; a moment of inertia of the horizontal rotary flywheel 6 is greater than those of the longitudinal flywheel 7 and the transverse flywheel 8; one end of the A transmission shaft 11 away from the A motor 12 is provided with an A encoder, one end of the B transmission shaft 13 away from the B motor 14 is provided with a B encoder, and one end of the C transmission shaft 15 away from the C motor 16 is provided with a C encoder; the horizontal rotary flywheel 6 is arranged on a center line of the spreader upper frame 3; the longitudinal flywheel 7 and the transverse flywheel 8 are arranged on two adjacent side surfaces of the flywheel frame 5; the A transmission shaft 11 is perpendicular to the B transmission shaft 13, the A transmission shaft 11 is perpendicular to the C transmission shaft 15, and the B transmission shaft 13 and the C transmission shaft 15 are mutually spatially perpendicular.

[0033] The working principle of one embodiment of the present application is as follows: when the present application works, the angular velocity and angular acceleration of the hoist 4 swinging are obtained by the angular velocity sensor and the angular acceleration sensor on the hoist 4, and the data are analyzed by the total control system 2, the rotational inertia of the hoist 4 and the hoist superstructure 3 system multiplied by the swinging angular acceleration is equal to the rotational inertia of the flywheel 10 multiplied by the angular acceleration of the flywheel 10, the data are obtained, the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 are driven by the respective motors to rotate in the same direction as the rotation direction of the hoist 4 with a certain angular acceleration, the rotational inertia of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 multiplied by the angular acceleration can obtain the resultant external moment of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8, the external force of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 is all provided by the respective motors, while the A motor 12, the B motor 14 and the C motor 16 are fixed on the flywheel machine frame 5, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 respectively, in fact, the flywheel machine frame 5, the longitudinal flywheel mounting frame 9 and the transverse flywheel mounting frame 10 will receive the moment which is equal in size and opposite in direction to the moment received by the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8, the flywheel machine frame 5 is fixed on the hoist superstructure 3, and the flywheel machine frame 9 will finally transmit the moment to the hoist superstructure 3; therefore, the rotational moment of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 finally acts on the hoist 4, balances the rotational moment of the hoist 4 caused by the external force, and realizes the purpose of preventing the hoist 4 from swinging;

[0034] From the whole, the disturbance of the outside to the hoist 4 and the hoist superstructure 3 as a whole is equivalent to that the outside gives the hoist 4 and the hoist superstructure 3 a moment, the product of the moment and time is the increment of the angular momentum of the system, if there is no rotation of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8, the increment of the angular momentum will be manifested as the rotation of the hoist 4, but now there is the rotation of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8, as far as the hoist 4 and the hoist superstructure 3 are concerned, the angular momentum should be conserved under the condition of no external force, but now the angular momentum of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 has an increment, the angular momentum increment of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8 is equal to the product of the external moment and time, which is equal to that the disturbance of the outside only causes the rotation of the horizontal rotary flywheel 6, the longitudinal flywheel 7 and the transverse flywheel 8.

Claims

1. A multi-dimensional anti-sway device for a sling, comprising a quay crane trolley (1) arranged on a quay crane, characterized in that: It also includes a master control system (2), wherein the quay crane trolley (1) is provided with a sling frame (3), the sling frame (3) is slidably connected to the quay crane trolley (1) through a steel cable, a sling (4) is fixedly connected below the sling frame (3), a flywheel frame (5) is provided above the sling frame (3), a horizontal rotary flywheel (6), a longitudinal flywheel (7) and a transverse flywheel (8) are provided on the flywheel frame (5), the horizontal rotary flywheel (6) is provided in the vertical direction of the flywheel frame (5), the longitudinal flywheel (7) and the transverse flywheel (8) are both provided in the horizontal direction of the flywheel frame (5), the horizontal rotary flywheel (6), the longitudinal flywheel (7) and the transverse flywheel (8) are all electrically connected to the master control system (2); the flywheel frame (5) is provided with a longitudinal flywheel mounting frame (9) and a transverse flywheel mounting frame (10), the longitudinal flywheel mounting frame (9) and the transverse flywheel mounting frame (10) are provided On the side of the flywheel frame (5), the shaft of the longitudinal flywheel (7) passes through the longitudinal flywheel mounting frame (9) and is connected to the longitudinal flywheel mounting frame (9), and the shaft of the transverse flywheel (8) passes through the transverse flywheel mounting frame (10) and is connected to the transverse flywheel mounting frame (10); the horizontal rotary flywheel (6) is provided with an A transmission shaft (11), one end of the A transmission shaft (11) passes through the flywheel frame (5) and is connected to the A motor (12); the longitudinal flywheel (7) is provided with a B transmission shaft (13), one end of the B transmission shaft (13) passes through the longitudinal flywheel mounting frame (9) and is connected to the B motor (14); the transverse flywheel (8) is provided with a C transmission shaft (15), one end of the C transmission shaft (15) passes through the transverse flywheel mounting frame (10) and is connected to the C motor (16); the A motor (12), the B motor (14) and the C motor (16) are all electrically connected to the master control system (2).

2. A multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The sling (4) is provided with an angular velocity sensor and an angular acceleration sensor, and three groups of the angular velocity sensor and the angular acceleration sensor are provided for detecting the angular velocity and angular acceleration in three rotation directions.

3. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The vertical cross-sections of the horizontal rotary flywheel (6), the longitudinal flywheel (7) and the transverse flywheel (8) are in the shape of a dumbbell.

4. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The moment of inertia of the horizontal rotary flywheel (6) is greater than the moment of inertia of the longitudinal flywheel (7) and the transverse flywheel (8).

5. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: An A encoder is provided at one end of the A transmission shaft (11) away from the A motor (12), a B encoder is provided at one end of the B transmission shaft (13) away from the B motor (14), and a C encoder is provided at one end of the C transmission shaft (15) away from the C motor (16).

6. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The horizontal rotary flywheel (6) is placed on the center line of the sling upper frame (3).

7. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The longitudinal flywheel (7) and the transverse flywheel (8) are placed on two adjacent side surfaces of the flywheel frame (5).

8. The multi-dimensional anti-sway device for a sling according to claim 1, characterized in that: The A transmission shaft (11) is perpendicular to the B transmission shaft (13), the A transmission shaft (11) is perpendicular to the C transmission shaft (15), and the B transmission shaft (13) and the C transmission shaft (15) are spatially perpendicular to each other.

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