Lifting appliance translation mechanism and control method thereof

Abstract

The invention discloses a lifting appliance translation mechanism which comprises a bottom beam mechanism, and a supporting cross beam mechanism, a servo electro-hydraulic driving device, a lower push rod mechanism and a movable lifting point mechanism which are arranged on the bottom beam mechanism, the output side of the servo electro-hydraulic driving device is connected with the lower push rod mechanism; the lower push rod mechanism is connected with the movable lifting point mechanism; and the servo electro-hydraulic driving device drives the lower push rod mechanism to move along the bearing cross beam mechanism so as to drive the movable lifting point mechanism to do translation motion along the bottom beam mechanism. The invention further discloses a control method of the lifting appliance translation mechanism. The invention provides an integrated driving device which is small in size and replaces an original hydraulic oil cylinder for driving, and the problem of electric lifting appliance can be solved.

Description

Technical Field

[0001] The invention relates to port crane technology, and more particularly to a spreader translation mechanism and a control method thereof. Background Art

[0002] The development of container handling equipment aims to improve operational efficiency, from the initial fixed container spreader that could only lift one container of a fixed size, to the latest double-box spreader, which can not only lift containers from 20 feet to 45 feet, but also lift two 20-foot containers, greatly improving the efficiency of container loading and unloading at the terminal.

[0003] The simultaneous loading and unloading of two containers involves the problem of container spacing. On a container ship, two 20-foot containers will use a 40-foot container locking position for easy fixation, so the two containers fit together without a gap. However, in order to facilitate the spreader to grab the container, the containers will be separated by a certain distance. Therefore, the double-box spreader will increase the translation function to adjust the spacing of the containers, and the maximum spacing can reach 1600mm. The translation mechanism needs to work in the state of lifting the container, which requires a large driving force. Conventional electric drive devices are difficult to arrange in this space, so the existing spreader mainly pushes the mobile lifting point for translation through a hydraulic cylinder, but the hydraulic system is large in size and occupies most of the space above the spreader. In addition, as the pipeline ages, there may be a risk of oil leakage. The area of ​​the rod cavity and the rodless cavity of the ordinary hydraulic cylinder are inconsistent. The displacement of the hydraulic system remains unchanged, which will lead to differences in the telescopic speed. In addition, when the push and pull forces are consistent, the hydraulic system needs to set a separate pressure to ensure that the pulling force and the thrust force are consistent.

[0004] The existing electrification development of double-box spreaders is mainly limited by the translation mechanism drive device, which needs to be small in size so that it can be easily arranged inside the spreader structure, and also needs to meet the heavy-load driving force and operating speed. Conventional electric motor drive cannot meet the volume requirements. Summary of the invention

[0005] In view of the defects existing in the prior art, the purpose of the present invention is to provide a sling translation mechanism and a control method thereof, and to provide a small-sized, integrated drive device to replace the original hydraulic cylinder drive solution, which can solve the problem of sling electrification.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a sling translation mechanism, comprising a bottom beam mechanism, and a supporting cross beam mechanism, a servo electro-hydraulic drive device, a lower push rod mechanism and a mobile lifting point mechanism arranged on the bottom beam mechanism;

[0008] The output side of the servo electro-hydraulic drive device is connected to the lower push rod mechanism;

[0009] The lower push rod mechanism is connected to the mobile suspension point mechanism;

[0010] The servo electro-hydraulic drive device drives the push rod mechanism to move along the supporting crossbeam mechanism, so as to drive the mobile suspension point mechanism to perform a translational movement along the bottom beam mechanism.

[0011] Preferably, the bottom beam mechanism comprises a main structure, and a connecting base, a cross beam connecting seat and a supporting guide rail arranged on the main structure;

[0012] The main structure is configured as a rectangular body;

[0013] There are two connecting bases, which are arranged on both sides of the length axis of the main structure;

[0014] The cross beam connecting seats are provided in three pairs and are evenly arranged on both sides of the length axis of the main structure;

[0015] The support guide rails are provided with two and are arranged at the lengthwise lateral sides of the main structure.

[0016] Preferably, the supporting crossbeam mechanism comprises a sliding supporting track;

[0017] The sliding support track is provided with connection points on the side of its length;

[0018] The connection point is connected to the beam connection seat.

[0019] Preferably, the servo electro-hydraulic drive device is provided with two sets, and the output side is a single-rod symmetrical cylinder arrangement, each including a servo motor, a hydraulic pump, a support box, a protection valve assembly, an execution drive hydraulic cylinder and a displacement sensor;

[0020] The servo motor is connected to the hydraulic pump and fixed on the supporting box;

[0021] The support box is fixed on the corresponding hydraulic cylinder;

[0022] The protection valve assembly is arranged on the hydraulic pump and is connected to the execution driving hydraulic cylinder through a pipeline;

[0023] The displacement sensor is arranged inside the execution driving hydraulic cylinder.

[0024] Preferably, the actuator driving hydraulic cylinder comprises a cylinder barrel, an intermediate piston and a fixed piston;

[0025] The fixed piston is located inside the cylinder;

[0026] The inner end of the fixed piston is connected to the inner bottom surface of the cylinder;

[0027] The intermediate piston is sleeved on the outer side of the fixed piston and moves along the fixed piston;

[0028] The outer end of the intermediate piston is located inside the cylinder.

[0029] Preferably, the cross-sectional area of ​​the cavity formed between the cylinder and the intermediate piston is the same as the cross-sectional area of ​​the cavity formed between the intermediate piston and the fixed piston.

[0030] Preferably, the lower push rod mechanism is provided with two sets, each of which includes a connecting ear plate, a push plate connecting seat and a lower push rod supporting structure;

[0031] The connecting ear plate is connected to the output side of the corresponding servo electro-hydraulic drive device;

[0032] The push plate connecting seat is connected to the connecting ear plate;

[0033] The lower push rod supporting structure is slidably connected to the sliding supporting track.

[0034] Preferably, the mobile suspension point mechanism comprises an upper supporting structure and a lower connecting seat;

[0035] The upper support structure is slidably connected to the support rail;

[0036] The lower connecting seat is connected to the push plate connecting seat.

[0037] The second aspect of the present invention provides a control method for the sling translation mechanism based on the first aspect of the present invention, wherein an action instruction is sent through the sling control system. When the sling translation mechanism performs a translation and extension action, the sling control system outputs instructions to the two servo electro-hydraulic drive devices, and the output side of the servo electro-hydraulic drive device drives the lower push rod structure to move outward along the sliding support track, and then drives the mobile suspension point mechanism to perform a translation action along the support guide rail through the connection between the push plate connecting seat and the lower connecting seat; when the sling translation mechanism performs a translation and retraction action, the sling control system outputs instructions to control the servo motor in the servo electro-hydraulic drive device to perform reversal.

[0038] The present invention provides a spreader translation mechanism and a control method thereof, which can separate two 20-foot containers to a required distance. The spreader translation mechanism of the present invention is controlled by a servo electro-hydraulic drive device, and the start and stop are smooth and impact-free. During operation, the internal displacement sensor is used for closed-loop control to ensure that the two servo electro-hydraulic drive devices operate synchronously. During the container translation process, the displacement sensor is used to determine whether the specified distance has been reached. This position is accurate and is not affected by other factors. The servo electro-hydraulic drive device executes the driving cylinder as a single-rod symmetrical cylinder design, which can ensure that the push-pull force and telescopic speed are the same under the same pressure and flow, solve the problem of inconsistent telescopic speeds of existing hydraulic container spreaders, and use two pressure levels to ensure that the pulling force and pushing force are consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the arrangement of the spreader translation mechanism of the present invention;

[0040] Figure 2 yes Figure 1 A side view schematic diagram of

[0041] Figure 3 It is a schematic diagram of the translational movement of the sling translation mechanism of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a servo electro-hydraulic drive device in a spreader translation mechanism of the present invention;

[0043] Figure 5 yes Figure 4 The schematic diagram of the structure of the actuator driving hydraulic cylinder;

[0044] Figure 6 It is a schematic flow chart of the translation action in the control method of the translation mechanism of the spreader of the present invention;

[0045] Figure 7 It is a flow chart of the instruction separation distance action in the control method of the spreader translation mechanism of the present invention. DETAILED DESCRIPTION

[0046] In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0047] Combination Figures 1 to 3 As shown, a sling translation mechanism provided by the present invention includes a bottom beam mechanism 1, and a supporting cross beam mechanism 2, a servo electro-hydraulic drive device 3, a lower push rod mechanism 4 and a movable lifting point mechanism 5 installed on the bottom beam mechanism 1.

[0048] The bottom beam mechanism 1 comprises a main structure 11 , and a connecting base 12 , a cross beam connecting base 13 and a supporting guide rail 14 which are installed on the main structure 11 .

[0049] The main structure 11 is configured as a rectangular frame body, which plays a supporting role and is connected to the supporting crossbeam mechanism 2, the servo electro-hydraulic drive device 3, the lower push rod mechanism 4 and the mobile suspension point mechanism 5 through various connection points.

[0050] Two connecting bases 12 are provided and are symmetrically arranged on both sides of the length axis of the main structure 11 .

[0051] Three pairs of beam connection seats 13 are provided, which are evenly arranged on both sides of the length axis of the main structure 11 .

[0052] Two support rails 14 are provided, and are respectively arranged at the side edges close to the length of the main structure 11 .

[0053] The supporting crossbeam mechanism 2 comprises a sliding supporting rail 22 .

[0054] The sliding support rail 22 is provided with connection points 21 on both sides of the length thereof.

[0055] The sliding support rail 22 is connected to the crossbeam connecting seat 13 via a connecting point 21 .

[0056] Combination Figure 4 As shown, two sets of servo electro-hydraulic drive devices 3 are provided, and the output sides of the two sets of servo electro-hydraulic drive devices 3 are arranged in a single-rod symmetrical cylinder, each including a servo motor 31, a hydraulic pump 32, a support box 33, a protective valve assembly 34, an execution drive hydraulic cylinder 35 and a displacement sensor 36.

[0057] The servo motor 31 is connected to the hydraulic pump 32 and is fixed on a supporting box 33 .

[0058] The supporting box 33 is fixed on the corresponding hydraulic cylinder 35 .

[0059] The protection valve assembly 34 is connected to the hydraulic pump 32 and is connected to the actuator driving hydraulic cylinder 35 through a pipeline.

[0060] The servo motor 31 drives the hydraulic pump 32 to work, providing hydraulic power for the hydraulic cylinder 35. The protection valve assembly 34 plays a role in buffering and protecting the entire servo electro-hydraulic drive device 3, and prevents the impact from being transmitted to the hydraulic pump 32 and the servo motor 31 when the driving hydraulic cylinder 35 receives an unexpected impact.

[0061] The displacement sensor 36 is arranged inside the actuator hydraulic cylinder 35 to detect the cylinder stroke.

[0062] Combination Figure 5 As shown, the actuator driving hydraulic cylinder 35 includes a cylinder tube 351 , an intermediate piston 352 and a fixed piston 353 .

[0063] The fixed piston 353 is located inside the cylinder 351 , and the inner end of the fixed piston 353 is connected and fixed to the inner bottom surface of the cylinder 351 .

[0064] The intermediate piston 352 is sleeved on the outer side of the fixed piston 353 and moves horizontally along the fixed piston 353 .

[0065] The outer end of the intermediate piston 352 is located inside the cylinder 351 .

[0066] The cross-sectional area of ​​the cavity formed between the cylinder 351 and the intermediate piston 352 is the same as the cross-sectional area of ​​the cavity formed between the intermediate piston 352 and the fixed piston 353. Similarly, the extension and retraction speeds and the push-pull forces are equal under the pressure of the hydraulic system, and the internal volumes of the two cavities are also the same. Only a small amount of hydraulic oil is stored inside the support box 33 to supplement the loss of hydraulic oil in the driving hydraulic cylinder 35.

[0067] The lower push rod mechanism 4 is provided with two sets, each of which includes a connecting ear plate 41, a push plate connecting seat 42 and a lower push rod supporting structure 43.

[0068] The connecting lug plate 41 is connected to the output side of the corresponding servo electro-hydraulic drive device 3 .

[0069] The push plate connecting seat 42 is connected to the connecting ear plate 41 .

[0070] The lower push rod support structure 43 is slidably connected to the sliding support rail 22 .

[0071] The mobile suspension point mechanism 5 comprises an upper supporting structure 51 and a lower connecting seat 52 .

[0072] The upper support structure 51 is slidably connected to the support rail 14 .

[0073] The lower connecting seat 52 is connected to the push plate connecting seat 42 .

[0074] Combination Figure 6 and Figure 7 As shown, the present invention further provides a control method based on the sling translation mechanism of the present invention, wherein an action instruction is sent through the sling control system, and when the sling translation mechanism of the present invention performs a translation extension action, the sling control system outputs instructions to two servo electro-hydraulic drive devices 3, and the output side of the servo electro-hydraulic drive device 3 drives the lower push rod structure 4 to move outward along the sliding support track 22, and is connected to the lower connection seat 52 through the push plate connecting seat 42, and then pushes the mobile suspension point mechanism 5 to perform a translation action along the support guide rail 14; when the sling translation mechanism of the present invention performs a translation retraction action, the sling control system outputs instructions to control the servo motor 31 in the servo electro-hydraulic drive device 3 to perform reversal.

[0075] When a conventional hydraulic cylinder performs an action, the fast start and stop speed will have an impact on the spreader mechanism and accelerate the aging of some parts. The servo electro-hydraulic drive device 3 of the spreader translation mechanism of the present invention is driven by a servo motor 31, and the acceleration and deceleration time of starting and stopping can be set to make the start and stop smooth and low-impact. In addition, due to changes in load size during the operation of the two servo electro-hydraulic drive devices 3, there may be asynchrony. At this time, the spreader translation mechanism of the present invention determines the speed of the action through the displacement sensor 36 arranged in the servo electro-hydraulic drive device 3, and then uses this data to perform closed-loop control on the speed of the servo electro-hydraulic drive device 3 to ensure that the operation of the two servo electro-hydraulic drive devices 3 is relatively synchronized.

[0076] The spreader translation mechanism of the present invention utilizes a displacement sensor 36 to replace the original limit switch type position sensor, so that the stop position can be accurately achieved without adjustment, and multiple position memories can be set to adapt to different container adjustment spacings.

[0077] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A sling translation mechanism, characterized in that: It includes a bottom beam mechanism, and a supporting cross beam mechanism, a servo electro-hydraulic drive device, a lower push rod mechanism and a mobile suspension point mechanism arranged on the bottom beam mechanism; The output side of the servo electro-hydraulic drive device is connected to the lower push rod mechanism; The lower push rod mechanism is connected to the mobile suspension point mechanism; The servo electro-hydraulic drive device drives the push rod mechanism to move along the supporting crossbeam mechanism, so as to drive the mobile suspension point mechanism to perform a translational movement along the bottom beam mechanism.

2. The sling translation mechanism according to claim 1, characterized in that: The bottom beam mechanism comprises a main structure, and a connecting base, a cross beam connecting base and a supporting guide rail arranged on the main structure; The main structure is configured as a rectangular body; There are two connecting bases, which are arranged on both sides of the length axis of the main structure; The cross beam connecting seats are provided in three pairs and are evenly arranged on both sides of the length axis of the main structure; The support guide rails are provided with two and are arranged at the lengthwise lateral sides of the main structure.

3. The sling translation mechanism according to claim 2, characterized in that: The supporting crossbeam mechanism comprises a sliding supporting track; The sliding support track is provided with connection points on the side of its length; The connection point is connected to the beam connection seat.

4. The sling translation mechanism according to claim 2, characterized in that: The servo electro-hydraulic drive device is provided with two sets, and the output side is a single-rod symmetrical cylinder arrangement, each including a servo motor, a hydraulic pump, a support box, a protection valve assembly, an execution drive hydraulic cylinder and a displacement sensor; The servo motor is connected to the hydraulic pump and fixed on the supporting box; The support box is fixed on the corresponding hydraulic cylinder; The protection valve assembly is arranged on the hydraulic pump and is connected to the execution driving hydraulic cylinder through a pipeline; The displacement sensor is arranged inside the execution driving hydraulic cylinder.

5. The sling translation mechanism according to claim 4, characterized in that: The execution drive hydraulic cylinder comprises a cylinder barrel, an intermediate piston and a fixed piston; The fixed piston is located inside the cylinder; The inner end of the fixed piston is connected to the inner bottom surface of the cylinder; The intermediate piston is sleeved on the outer side of the fixed piston and moves along the fixed piston; The outer end of the intermediate piston is located inside the cylinder.

6. The sling translation mechanism according to claim 5, characterized in that: The cross-sectional area of ​​the cavity formed between the cylinder barrel and the intermediate piston is the same as the cross-sectional area of ​​the cavity formed between the intermediate piston and the fixed piston.

7. The spreader translation mechanism according to claim 3, characterized in that: The lower push rod mechanism is provided with two sets, each of which includes a connecting ear plate, a push plate connecting seat and a lower push rod supporting structure; The connecting ear plate is connected to the output side of the corresponding servo electro-hydraulic drive device; The push plate connecting seat is connected to the connecting ear plate; The lower push rod supporting structure is slidably connected to the sliding supporting track.

8. The spreader translation mechanism according to claim 7, characterized in that: The mobile suspension point mechanism comprises an upper supporting structure and a lower connecting seat; The upper support structure is slidably connected to the support rail; The lower connecting seat is connected to the push plate connecting seat.

9. A control method for the spreader translation mechanism according to any one of claims 1 to 8, characterized in that: The action command is sent through the hoist control system. When the hoist translation mechanism performs a translation extension action, the hoist control system outputs a command to the two servo electro-hydraulic drive devices. The output side of the servo electro-hydraulic drive device drives the lower push rod structure to move outward along the sliding support track, and is connected to the lower connection seat through the push plate connecting seat, thereby pushing the mobile suspension point mechanism to perform a translation action along the support guide rail; when the hoist translation mechanism performs a translation retraction action, the hoist control system outputs a command to control the servo motor in the servo electro-hydraulic drive device to perform a reverse motion.

Images