Anti-swing device for lifting appliance

Abstract

The invention discloses a lifting appliance anti-swing device which comprises a quay crane and further comprises a control system, a quay crane trolley is arranged on the quay crane and connected with a lifting appliance assembly through a steel wire rope, the lifting appliance assembly comprises a lifting appliance upper frame and a lifting appliance, the quay crane trolley is connected with the lifting appliance upper frame through a steel wire rope, and the lifting appliance upper frame is connected with the lifting appliance. A motor and a flywheel device which are sequentially connected are arranged on one end face, away from the lifting appliance, of the lifting appliance upper frame, the flywheel device is connected with the lifting appliance upper frame, and the control system is connected with the motor. Plane rotation of the lifting appliance in the operation process can be rapidly stopped, and the operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to a sling anti-sway device and belongs to the technical field of sling anti-sway. Background Art

[0002] As a key loading and unloading equipment in container terminals, the efficiency improvement of container quay cranes has always been a bottleneck restricting the overall efficiency improvement of terminals. In the operation process of quay cranes, the problem of matching the spreader and the container has always been time-consuming, generally accounting for more than half of the entire operation process, and the problem of matching the container needs to be optimized urgently.

[0003] Due to the wind at the dock or the vibration of the quay crane itself, the spreader swings and rotates irregularly in the air. The spreader in motion cannot be well aligned with the static container, which is the main reason for the long time spent on container alignment. In actual operation, if the spreader swings in one direction, the quay crane driver can use the mobile quay crane trolley or quay crane car to stop suddenly and use inertia to stop the swing. However, if the spreader rotates in a plane, it is more troublesome and the swing cannot be stopped quickly by operating methods. Therefore, in actual production, it is urgent to find a way to quickly stop the spreader from rotating. Summary of the invention

[0004] The object of the present invention is to provide a sling anti-sway device, which can quickly stop the plane rotation of the sling during operation and improve the operation efficiency.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: a sling anti-sway device, including a quay crane and a control system. A quay crane trolley is provided on the quay crane, and the quay crane trolley is connected to a sling assembly through a steel wire rope. The sling assembly includes a sling frame and a sling. The quay crane trolley is connected to the sling frame through a steel wire rope, and the sling frame is connected to the sling. A motor and a flywheel device connected in sequence are provided on the end surface of the sling frame away from the sling, the flywheel device is connected to the sling frame, and the control system is connected to the motor.

[0006] The aforementioned anti-sway device for a sling, the flywheel device comprises a flywheel frame, a flywheel and a transmission shaft, the flywheel frame is connected to the upper frame of the sling, the transmission shaft passes through the flywheel and is connected, and the transmission shaft passes through the flywheel frame and is connected to the motor shaft.

[0007] In the aforementioned anti-sway device for a sling, a reduction box and a coupling which are connected in sequence are arranged between the transmission shaft and the motor shaft.

[0008] In the aforementioned anti-sway device for a sling, an encoder is provided at one end of the transmission shaft away from the motor.

[0009] The aforementioned anti-sway device for a sling has a bearing seat on the flywheel frame, a bearing in the bearing seat, the bearing is connected to the end of the transmission shaft away from the motor, and a bearing is also provided at the end of the transmission shaft connected to the motor.

[0010] In the aforementioned anti-sway device for a sling, the quay crane trolley, the sling upper frame, the flywheel frame, the flywheel, the transmission shaft and the bearing are all placed on the same vertical center line.

[0011] In the aforementioned anti-sway device for a sling, the vertical cross-section of the flywheel is thick at both ends and thin in the middle.

[0012] In the aforementioned anti-sway device for a sling, the thickness of the middle of the vertical cross section of the flywheel gradually extends toward both ends, and the transition section from the middle to both ends is an inclined surface.

[0013] The aforementioned anti-sway device for a sling is provided with an angular velocity sensor and an angular acceleration sensor.

[0014] In the aforementioned anti-sway device for a sling, the coupling is a flexible coupling with an elastic element.

[0015] Compared with the prior art, the present invention is beneficial in that:

[0016] During the daily operation of the quay crane, the spreader often shakes in the plane due to external disturbances. The swing of the spreader in the front and back directions or left and right directions can be offset by the inertia when moving the trolley or car, but the rotation of the spreader in the plane cannot be offset by the operation of the quay crane driver, and it is often necessary to wait until the spreader itself stops rotating.

[0017] The present invention obtains data such as the angular velocity and angular acceleration of the swing of the hanger through an angular velocity sensor on the hanger, and after analysis by the control system, controls the flywheel to rotate at a certain angular acceleration in the same direction as the rotation direction of the hanger under the drive of the motor. The moment of inertia of the flywheel is multiplied by the angular acceleration to obtain the total external torque received by the flywheel. The external forces received by the flywheel are all provided by the motor, and the motor is fixed on the flywheel frame. In fact, the flywheel frame will be subjected to a torque equal to and opposite to the torque received by the flywheel. The flywheel frame is fixed on the upper frame of the hanger, and the flywheel frame will eventually transmit this torque to the upper frame of the hanger. Therefore, the rotational torque of the flywheel finally acts on the hanger, balancing the torque of the hanger rotation caused by the external force, thereby achieving the purpose of anti-sway of the hanger. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the structure of the flywheel device in the present invention;

[0020] Figure 3 It is a structural schematic diagram of the spreader and the container in the present invention;

[0021] Figure 4 It is a structural schematic diagram of the quay bridge and the spreader in the present invention;

[0022] Figure 5 It is a schematic diagram of the connection relationship between the control system and the motor in the present invention;

[0023] Figure 6 It is a top view of the flywheel device in the present invention.

[0024] Figure numerals: 1-shore crane, 2-control system, 3-shore crane trolley, 4-wire rope, 5-sling frame, 6-sling, 7-motor, 8-flywheel device, 9-flywheel frame, 10-flywheel, 11-drive shaft, 12-reduction box, 13-encoder, 14-angular velocity sensor.

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0026] Embodiment 1 of the present invention: A sling anti-sway device comprises a quay crane 1 and a control system 2. A quay crane trolley 3 is provided on the quay crane 1. The quay crane trolley 3 is connected to a sling assembly via a steel wire rope 4. The sling assembly comprises a sling frame 5 and a sling 6. The quay crane trolley 3 is connected to the sling frame 5 via the steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on one end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5. The control system 2 is connected to the motor 7.

[0027] Embodiment 2 of the present invention: A sling anti-sway device includes a quay crane 1 and a control system 2. A quay crane trolley 3 is provided on the quay crane 1. The quay crane trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly includes a sling frame 5 and a sling 6. The quay crane trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. An end surface of the sling frame 5 away from the sling 6 is provided with a motor 7 and a flywheel device 8 connected in sequence. The flywheel device 8 is connected to the sling frame 5, and the control system 2 is connected to the motor 7; the flywheel device 8 includes a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5, and the transmission shaft 11 passes through the flywheel 10 to be connected. The transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft.

[0028] Embodiment 3 of the present invention: A sling anti-sway device includes a quay crane 1 and a control system 2. A quay crane trolley 3 is provided on the quay crane 1. The quay crane trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly includes a sling frame 5 and a sling 6. The quay crane trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. An end surface of the sling frame 5 away from the sling 6 is provided with a motor 7 and a flywheel device 8 connected in sequence. The flywheel device 8 is connected to the sling frame 5, and the control system 2 is connected to the motor 7; the flywheel device 8 includes a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5, and the transmission shaft 11 passes through the flywheel 10 and is connected. The transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft; a reduction box 12 and a coupling connected in sequence are provided between the transmission shaft 11 and the motor 7 shaft.

[0029] Embodiment 4 of the present invention: A sling anti-sway device includes a quay crane 1 and a control system 2. A quay crane trolley 3 is provided on the quay crane 1. The quay crane trolley 3 is connected to a sling assembly through a wire rope 4. The sling assembly includes a sling frame 5 and a sling 6. The quay crane trolley 3 is connected to the sling frame 5 through a wire rope 4. The sling frame 5 is connected to the sling 6. An end surface of the sling frame 5 away from the sling 6 is provided with a motor 7 and a flywheel device 8 connected in sequence. The flywheel device 8 is connected to the sling frame 5, and the control system 2 is connected to the motor 7; the flywheel device 8 includes a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5, and the transmission shaft 11 passes through the flywheel 10 and is connected. The transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft; a reduction box 12 and a coupling connected in sequence are provided between the transmission shaft 11 and the motor 7 shaft; an encoder 13 is provided at the end of the transmission shaft 11 away from the motor 7.

[0030] Embodiment 5 of the present invention: A sling anti-sway device comprises a quay bridge 1 and a control system 2. A quay bridge trolley 3 is provided on the quay bridge 1. The quay bridge trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly comprises a sling frame 5 and a sling 6. The quay bridge trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on the end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5. The control system 2 is connected to the motor 7. The flywheel device 8 comprises a flywheel device 8. The flywheel frame 9, the flywheel 10 and the transmission shaft 11, the flywheel frame 9 is connected to the upper frame 5 of the sling, the transmission shaft 11 passes through the flywheel 10 and is connected, the transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft; a reduction box 12 and a coupling connected in sequence are arranged between the transmission shaft 11 and the motor 7 shaft; an encoder 13 is arranged at the end of the transmission shaft 11 away from the motor 7; a bearing seat is arranged on the flywheel frame 9, a bearing is arranged in the bearing seat, the bearing is connected to the end of the transmission shaft 11 away from the motor 7, and a bearing is also arranged at the end of the transmission shaft 11 connected to the motor 7.

[0031] Embodiment 6 of the present invention: A sling anti-sway device comprises a quay bridge 1 and a control system 2. A quay bridge trolley 3 is provided on the quay bridge 1. The quay bridge trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly comprises a sling frame 5 and a sling 6. The quay bridge trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on the end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5. The control system 2 is connected to the motor 7. The flywheel device 8 comprises a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling The upper frame 5 is connected, the transmission shaft 11 passes through the flywheel 10, and the transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft; a reduction box 12 and a coupling connected in sequence are arranged between the transmission shaft 11 and the motor 7 shaft; an encoder 13 is arranged at the end of the transmission shaft 11 away from the motor 7; a bearing seat is arranged on the flywheel frame 9, a bearing is arranged in the bearing seat, the bearing is connected to the end of the transmission shaft 11 away from the motor 7, and a bearing is also arranged at the end of the transmission shaft 11 connected to the motor 7; the quay crane trolley 3, the hoisting device upper frame 5, the flywheel frame 9, the flywheel 10, the transmission shaft 11, and the bearing are all placed on the same vertical center line.

[0032] Embodiment 7 of the present invention: A sling anti-sway device comprises a quay bridge 1 and a control system 2. A quay bridge trolley 3 is provided on the quay bridge 1. The quay bridge trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly comprises a sling frame 5 and a sling 6. The quay bridge trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on the end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5. The control system 2 is connected to the motor 7. The flywheel device 8 comprises a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5. The transmission shaft 11 1 passes through the flywheel 10 and is connected, and the transmission shaft 11 passes through the flywheel frame 9 and is connected to the motor 7 shaft; a reduction box 12 and a coupling are arranged between the transmission shaft 11 and the motor 7 shaft; an encoder 13 is arranged at the end of the transmission shaft 11 away from the motor 7; a bearing seat is arranged on the flywheel frame 9, and a bearing is arranged in the bearing seat. The bearing is connected to the end of the transmission shaft 11 away from the motor 7, and a bearing is also arranged at the end of the transmission shaft 11 connected to the motor 7; the quay crane trolley 3, the hoisting device upper frame 5, the flywheel frame 9, the flywheel 10, the transmission shaft 11, and the bearing are all placed on the same vertical center line; the vertical section of the flywheel 10 is thick at both ends and thin in the middle.

[0033] Embodiment 8 of the present invention: A sling anti-sway device comprises a quay bridge 1 and a control system 2. A quay bridge trolley 3 is provided on the quay bridge 1. The quay bridge trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly comprises a sling frame 5 and a sling 6. The quay bridge trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on the end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5. The control system 2 is connected to the motor 7. The flywheel device 8 comprises a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5. The transmission shaft 11 passes through the flywheel 10. The transmission shaft 11 passes through the flywheel 10. The flywheel frame 9 is connected to the motor 7 shaft; a reduction box 12 and a coupling are arranged between the transmission shaft 11 and the motor 7 shaft, which are connected in sequence; an encoder 13 is arranged at the end of the transmission shaft 11 away from the motor 7; a bearing seat is arranged on the flywheel frame 9, and a bearing is arranged in the bearing seat, the bearing is connected to the end of the transmission shaft 11 away from the motor 7, and the end of the transmission shaft 11 connected to the motor 7 is also provided with a bearing; the quay crane trolley 3, the hoisting device frame 5, the flywheel frame 9, the flywheel 10, the transmission shaft 11, and the bearing are all placed on the same vertical center line; the vertical section of the flywheel 10 is thick at both ends and thin in the middle; the thickness in the middle of the vertical section of the flywheel 10 gradually extends to both ends, and the transition section from the middle to the two ends is an inclined surface.

[0034] Embodiment 9 of the present invention: A sling anti-sway device includes a quay bridge 1 and a control system 2. A quay bridge trolley 3 is provided on the quay bridge 1. The quay bridge trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly includes a sling frame 5 and a sling 6. The quay bridge trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. A motor 7 and a flywheel device 8 connected in sequence are provided on the end surface of the sling frame 5 away from the sling 6. The flywheel device 8 is connected to the sling frame 5, and the control system 2 is connected to the motor 7; the flywheel device 8 includes a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5, and the transmission shaft 11 runs through the flywheel 10. The transmission shaft 11 runs through the flywheel frame 9 and the motor 7-axis connection; a reduction gearbox 12 and a coupling are arranged between the transmission shaft 11 and the motor 7 shaft in sequence; an encoder 13 is arranged at the end of the transmission shaft 11 away from the motor 7; a bearing seat is arranged on the flywheel frame 9, and a bearing is arranged in the bearing seat, the bearing is connected to the end of the transmission shaft 11 away from the motor 7, and a bearing is also arranged at the end of the transmission shaft 11 connected to the motor 7; the quay crane trolley 3, the hoisting device frame 5, the flywheel frame 9, the flywheel 10, the transmission shaft 11, and the bearing are all placed on the same vertical center line; the vertical section of the flywheel 10 is thick at both ends and thin in the middle; the thickness in the middle of the vertical section of the flywheel 10 gradually extends to both ends, and the transition section from the middle to the two ends is an inclined surface; an angular velocity sensor 14 is arranged on the hoisting device 6.

[0035] Embodiment 10 of the present invention: A sling anti-sway device includes a quay crane 1 and a control system 2. A quay crane trolley 3 is provided on the quay crane 1. The quay crane trolley 3 is connected to a sling assembly through a steel wire rope 4. The sling assembly includes a sling frame 5 and a sling 6. The quay crane trolley 3 is connected to the sling frame 5 through a steel wire rope 4. The sling frame 5 is connected to the sling 6. An end surface of the sling frame 5 away from the sling 6 is provided with a motor 7 and a flywheel device 8 connected in sequence. The flywheel device 8 is connected to the sling frame 5, and the control system 2 is connected to the motor 7; the flywheel device 8 includes a flywheel frame 9, a flywheel 10 and a transmission shaft 11. The flywheel frame 9 is connected to the sling frame 5, and the transmission shaft 11 runs through the flywheel 10 and is connected. The transmission shaft 11 runs through the flywheel frame 9 and is connected to the motor 7 shaft; the transmission shaft 11 is connected to A reduction box 12 and a coupling are connected in sequence between the shafts of the motor 7; an encoder 13 is provided at the end of the transmission shaft 11 away from the motor 7; a bearing seat is provided on the flywheel frame 9, a bearing is provided in the bearing seat, the bearing is connected to the end of the transmission shaft 11 away from the motor 7, and a bearing is also provided at the end of the transmission shaft 11 connected to the motor 7; the quay crane trolley 3, the hoisting device frame 5, the flywheel frame 9, the flywheel 10, the transmission shaft 11, and the bearing are all placed on the same vertical center line; the vertical section of the flywheel 10 presents a shape that is thick at both ends and thin in the middle; the thickness in the middle of the vertical section of the flywheel 10 gradually extends to both ends, and the transition section from the middle to the two ends is an inclined surface; an angular velocity sensor 14 and an angular acceleration sensor are provided on the hoist 6; the coupling 13 adopts a flexible coupling with an elastic element.

[0036] Working principle of an embodiment of the present invention: When the present invention is working, the angular velocity sensor 14 on the sling 6 obtains data such as the angular velocity and angular acceleration of the swing of the sling 6. After analysis by the control system 2, the flywheel 10 is controlled to rotate in the same direction as the rotation direction of the sling 6 at a certain angular acceleration under the drive of the motor 7. The moment of inertia of the flywheel 10 multiplied by the angular acceleration can obtain the total external torque received by the flywheel 10. The external forces received by the flywheel 10 are all provided by the motor 7, and the motor 7 is fixed on the flywheel frame 9. In fact, the flywheel frame 9 will be subjected to a torque equal to the torque received by the flywheel 10 and in the opposite direction. The flywheel frame 9 is fixed on the sling upper frame 5. Similarly, the flywheel frame 9 will eventually transfer this torque to the sling upper frame 5; therefore, the rotational torque of the flywheel 10 finally acts on the sling 6, balancing the torque of the rotation of the sling 6 caused by the external force, thereby achieving the purpose of anti-sway of the sling 6;

[0037] From the overall point of view, the external disturbance on the sling 6 and the sling frame 5 as a whole is equivalent to the external world giving a torque to the sling 6 and the sling frame 5 as a whole. The product of this torque and time is the increase in the angular momentum of the system. If there is no rotation of the flywheel 10, the increase in angular momentum will appear as the rotation of the sling 6. However, now there is the rotation of the flywheel 10. As for the sling 6 and the sling frame 5, the angular momentum should be conserved in the absence of external force. However, now there is an increase in angular momentum of the flywheel 10. As long as it is properly set, the increase in angular momentum of the flywheel 10 is equal to the product of the external torque and time, which means that the external disturbance only causes the rotation of the flywheel 10. Specifically in terms of control, the moment of inertia of the sling 6 and the sling frame 5 system multiplied by the swing angular acceleration is equal to the moment of inertia of the flywheel 10 multiplied by the angular acceleration of the flywheel 10.

Claims

1. A sling anti-sway device, comprising a quay crane (1), It is characterized in that It also includes a control system (2). A quay crane trolley (3) is provided on the quay crane (1). The quay crane trolley (3) is connected to a sling assembly via a steel wire rope (4). The sling assembly includes a sling frame (5) and a sling (6). The quay crane trolley (3) is connected to the sling frame (5) via the steel wire rope (4). The sling frame (5) is connected to the sling (6). An electric motor (7) and a flywheel device (8) connected in sequence are provided on an end surface of the sling frame (5) away from the sling (6). The flywheel device (8) is connected to the sling frame (5). The control system (2) is connected to the motor (7).

2. A sling anti-sway device according to claim 1, It is characterized in that The flywheel device (8) comprises a flywheel frame (9), a flywheel (10) and a transmission shaft (11); the flywheel frame (9) is connected to the upper frame (5) of the sling; the transmission shaft (11) passes through the flywheel (10) and is connected; the transmission shaft (11) passes through the flywheel frame (9) and is connected to the shaft of the motor (7).

3. A sling anti-sway device according to claim 2, It is characterized in that A reduction box (12) and a coupling are provided between the transmission shaft (11) and the motor (7) shaft, which are connected in sequence.

4. A sling anti-sway device according to claim 3, It is characterized in that An encoder (13) is provided at one end of the transmission shaft (11) away from the motor (7).

5. A sling anti-sway device according to claim 4, It is characterized in that The flywheel frame (9) is provided with a bearing seat, in which a bearing is provided. The bearing is connected to an end of the transmission shaft (11) away from the motor (7), and a bearing is also provided at an end of the transmission shaft (11) connected to the motor (7).

6. A sling anti-sway device according to claim 5, It is characterized in that The quay crane trolley (3), the sling upper frame (5), the flywheel frame (9), the flywheel (10), the transmission shaft (11), and the bearing are all placed on the same vertical center line.

7. A sling anti-sway device according to any one of claims 2 to 6, It is characterized in that The flywheel (10) has a vertical cross section that is thick at both ends and thin in the middle.

8. A sling anti-sway device according to claim 7, It is characterized in that The thickness of the middle of the vertical section of the flywheel (10) gradually extends toward both ends, and the transition section from the middle to both ends is an inclined surface.

9. The anti-sway device for a sling according to claim 1, It is characterized in that The sling (6) is provided with an angular velocity sensor (14).

10. The anti-sway device for a sling according to claim 3, It is characterized in that The coupling adopts a flexible coupling with elastic elements.

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