Four-connecting-rod type combined arm frame of portal crane with hopper, balance system and design method of four-connecting-rod type combined arm frame

Abstract

The invention relates to a four-connecting-rod type combined arm frame of a portal crane with a hopper, a balance system and a design method, and relates to the technical field of portal cranes. The four-connecting-rod type combined arm support comprises a rotary table, a stand column, an arm support, a trunk beam and a large pull rod, the stand column is arranged on the surface of the rotary table, one end of the arm support is hinged to the rotary table, the other end of the arm support is hinged to the side edge of the trunk beam, one end of the large pull rod is hinged to the end, away from the rotary table, of the stand column, and the other end of the large pull rod is hinged to the trunk beam. The balance system comprises a stand column, an arm frame, a balance beam, a small pull rod and a balance weight, the balance beam is hinged to the top end of the stand column, one end of the small pull rod is hinged to the balance beam, the other end of the small pull rod is hinged to the arm frame, and the balance weight is arranged at the end, away from the small pull rod, of the balance beam. The operation power consumption of the portal crane with the hopper is reduced, the impact and shaking of the portal crane with the hopper are reduced, and the operation stability is improved.

Description

Technical Field

[0001] The present application relates to the technical field of portal cranes, and in particular to a four-link combined boom, a balancing system and a design method for portal cranes. Background Art

[0002] Gantry cranes, commonly known as gantry cranes, are traditional cranes used at the forefront of ports and terminals. They have the advantages of stable structure, flexible operation, safety and reliability. The current size design of the four-link combined boom and the balancing system has the following room for improvement: (1) Energy-saving performance can be further improved. Gantry cranes with buckets have their own properties and characteristics. The current commonly used size design considers the energy saving of each amplitude in the entire amplitude of the gantry crane, and does not make corresponding size design based on the characteristics of the gantry crane with buckets; (2) Operational stability can be further improved. Gantry cranes with buckets usually have to operate near the minimum amplitude position. The horizontal linear speed of the trunk head at this position is relatively large. Starting and stopping at this position will result in a large acceleration, which will cause a large impact and shaking to the gantry crane, so it needs to be improved. Summary of the invention

[0003] In order to reduce the power consumption of the machine with a bucket, the impact and shaking of the machine with a bucket, and improve the operation stability, the present application provides a four-link combination boom, a balancing system and a design method for the machine with a bucket.

[0004] In the first aspect, the technical solution of the four-link combined boom with a bucket door seat provided in the present application is as follows: A four-link combined boom with a bucket seat comprises a turntable, a column, a boom, an elephant trunk bridge and a large pull rod, wherein the column is arranged on the surface of the turntable, one end of the boom is hinged to the turntable, the other end of the boom is hinged to the side of the elephant trunk bridge, one end of the large pull rod is hinged to the end of the column away from the turntable, and the other end of the large pull rod is hinged to the elephant trunk bridge.

[0005] Preferably, a luffing mechanism is provided on the column, and the luffing mechanism includes a luffing rack, and the torque generated by the four-link combined boom is transmitted by the luffing rack.

[0006] On the second aspect, the present application also provides a balancing system with a bucket gate seat machine. Based on the above-mentioned four-link combination boom, the balancing system includes a column, a boom, a balancing beam, a small pull rod and a counterweight. The balancing beam is hinged at the top of the column, one end of the small pull rod is hinged to the balancing beam, and the other end is hinged to the boom. The counterweight is arranged at the end of the balancing beam away from the small pull rod.

[0007] Thirdly, the present application also provides a design method for a machine with a bucket door. The size design of the four-link combined boom and the balance system must meet the following constraints: Constraint 1: The moment M1 caused by the hoisting weight of the crane with bucket door on the lower hinge point of the boom is positive in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 2: The combined moment M2 on the lower hinge point of the four-link combined boom, the balance system and the deadweight of the counterweight is negative in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 3: When the grab bucket of the machine with bucket gate is unloaded, the moment M3 caused by the weight of the grab bucket on the lower hinge point of the boom is positive within the entire amplitude range; Constraint 4: M1-|M2|≥0, |M2|-M3≥0, M3≥0, the values ​​of M1-|M2|, |M2|-M3, and M3 tend to 0; Constraint 5: The turntable, column, boom, trunk beam and large pull rod should be small in size, bear the force smoothly and have a light structure weight.

[0008] Preferably, the horizontal moving speed of the hanging point of the trunk bridge head is further adjusted to meet the following constraints: Constraint 6: The ratio of the maximum horizontal moving speed of the trunk bridge head to the minimum horizontal moving speed is less than or equal to 2, that is, Vmax / Vmin≤2, where Vmax is the maximum horizontal moving speed of the trunk bridge head and Vmin is the minimum horizontal moving speed of the trunk bridge head; Constraint 7: Reduce the horizontal linear speed of the trunk head by electronically controlled frequency modulation technology.

[0009] Preferably, the potential energy generated by the weight of the cargo, the four-link combined boom, the balance system and the deadweight of the counterweight during the recovery process must meet the following constraints: Constraint 8: An energy recovery device is installed on the luffing mechanism of the locomotive with bucket door.

[0010] In summary, the present application includes at least one of the following beneficial technical effects: 1. The four-link combined boom and balancing system with bucket door seat machine of the present application can effectively save the power consumption of operation and has high economic benefits; 2. The machine with bucket door that adopts the four-link combined boom and balancing system of the present application can effectively reduce the impact and shaking to itself, and improve the safety of operation and the stability of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of a base machine with a bucket door in an embodiment of the present application.

[0012] Figure 2 It is a horizontal displacement deviation curve diagram of the hanging point position of the head of the trunk bridge of the embodiment of the present application.

[0013] Figure 3It is a curve diagram of the moment on the lower hinge point of the boom caused by the lifting weight in the embodiment of the present application.

[0014] Figure 4 It is a curve diagram of the torque on the lower hinge point of the boom caused by the deadweight of the combined boom and the balancing system in the embodiment of the present application.

[0015] Figure 5 It is a comprehensive torque curve diagram showing the superposition of the torque on the lower hinge point of the boom caused by the deadweight of the hanging weight, combined boom and balancing system in the embodiment of the present application.

[0016] Figure 6 It is a comprehensive torque curve diagram showing the superposition of the torque on the lower hinge point of the boom caused by the deadweight of the grab bucket, the combined boom and the deadweight of the balancing system in the embodiment of the present application.

[0017] Figure 7 It is a curve diagram of the horizontal movement speed of the hanging point at the head of the trunk bridge of an embodiment of the present application.

[0018] Figure 8 It is a horizontal displacement deviation curve diagram of the hanging point position of the head of the trunk bridge of the comparative example of the present application.

[0019] Fig. 9 It is the moment curve of the lower hinge point of the boom caused by the hanging weight in the comparative example of the present application.

[0020] Fig.10 It is the moment curve of the combined boom and the balance system caused by the deadweight of the boom lower hinge in the comparative example of the present application.

[0021] Fig.11 It is a comprehensive moment diagram of the combined boom, the deadweight of the balancing system and the overlapping of the suspension on the lower hinge point of the boom in the comparative example of the present application.

[0022] Fig.12 It is a curve diagram of the horizontal movement speed of the hanging point at the head of the trunk bridge of the comparative example of the present application.

[0023] Explanation of the accompanying reference numerals: 1. turntable; 2. boom; 3. trunk beam; 4. large pull rod; 5. balance beam; 6. column; 7. small pull rod; 8. counterweight; 9. luffing rack; 10. luffing mechanism. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1 This application is described in further detail.

[0025] The embodiments of the present application disclose a four-link combined boom with a bucket door seat, a balancing system and a design method.

[0026] Reference Figure 1The four-link combined boom comprises a turntable 1, a column 6, a boom 2, a trunk beam 3 and a large pull rod 4. The column 6 is vertically arranged on the surface of the turntable 1, one end of the boom 2 is hinged to the turntable 1, and the other end of the boom 2 is hinged to the side of the trunk beam 3. One end of the large pull rod 4 is hinged to the end of the column 6 away from the turntable 1, and the other end of the large pull rod 4 is hinged to the trunk beam 3. A luffing mechanism 10 is arranged on the column 6, and the luffing mechanism 10 includes a luffing rack 9. The torque generated by the four-link combined boom 2 is transmitted by the luffing rack 9.

[0027] Reference Figure 1 The balancing system based on the above-mentioned four-link closed boom includes a column 6, a boom 2, a balancing beam 5, a small pull rod 7 and a counterweight 8. The balancing beam 5 is hinged at the top of the column 6, one end of the small pull rod 7 is hinged to the balancing beam 5, and the other end is hinged to the boom 2. The counterweight 8 is arranged at the end of the balancing beam 5 away from the small pull rod 7.

[0028] The present application also provides a design method for a base station with a bucket door, comprising the following steps: S1: The dimension design of the four-link combined boom 2 and the balancing system must meet the following constraints: Constraint 1: The moment M1 caused by the hoisting weight of the crane with bucket door on the lower hinge point of the boom is positive in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 2: The combined moment M2 on the lower hinge point of the four-link combined boom, the balance system and the counterweight 8 caused by their own weight is negative in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 3: When the grab bucket of the machine with bucket gate is unloaded, the moment M3 caused by the weight of the grab bucket on the lower hinge point of the boom is positive within the entire amplitude range; Constraint 4: M1-|M2|≥0, |M2|-M3≥0, M3≥0, the values ​​of M1-|M2|, |M2|-M3, and M3 tend to 0; Constraint 5: The turntable 1, column 6, arm 2, trunk beam 3 and large pull rod 4 are selected to be small in size, have gentle force and light in structure weight.

[0029] S2: Further adjust the horizontal moving speed of the head suspension point of the trunk bridge 3, which needs to meet the following constraints: Constraint 6: The ratio of the maximum horizontal moving speed of the head of the trunk bridge 3 to the minimum horizontal moving speed is less than or equal to 2, that is, Vmax / Vmin≤2, where Vmax is the maximum horizontal moving speed of the head of the trunk bridge 3, and Vmin is the minimum horizontal moving speed of the head of the trunk bridge 3; Constraint 7: Reduce the horizontal linear velocity of the head of the trunk bridge 3 by electronically controlled frequency modulation technology.

[0030] S3: The potential energy generated by the weight of the cargo, the four-link combined boom, the balance system and the deadweight of the counterweight 8 during the recovery process must meet the following constraints: Constraint 8: An energy recovery device is configured on the luffing mechanism 10 of the bucket gate machine.

[0031] The dimensional design results of the four-link combined boom and balance system of the bucket-type machine are usually represented by diagrams to show the performance of its structural dimensions. Based on the above constraints, the design is carried out by taking a bucket-type machine with a range of 10-35 meters for design. The characteristic curves of its displacement, torque and horizontal speed are as follows: Figure 2 As shown by Figure 2 It can be seen that the horizontal displacement deviation curve of the head of the elephant's trunk is an upward slanting line, that is, the head of the elephant's trunk gradually decreases in the process of changing from the maximum amplitude to the minimum amplitude.

[0032] Depend on Figure 3 It can be seen that the torque on the lower hinge point of the boom caused by the lifting weight is almost always positive and relatively stable. The torque caused by the lifting weight will keep the four-link boom system in a decreasing trend and the luffing rack will be compressed.

[0033] Depend on Figure 4 It can be seen that the torque on the lower hinge point of the boom caused by its own weight is almost always negative and relatively stable. The torque caused by its own weight will keep the four-link boom system in an increasing trend and the luffing rack will be pulled.

[0034] Depend on Figure 5 It can be seen that the moments on the lower hinge point of the boom caused by the hoisting weight, combined boom and balance system are almost all positive and relatively stable. The moment caused by the hoisting weight will keep the four-link boom system in a decreasing trend and the variable-length rack will be compressed.

[0035] Depend on Figure 6 It can be seen that the torque on the lower hinge point of the boom caused by the comprehensive deadweight is almost always negative and relatively stable. The torque caused by the hanging weight will keep the four-link combined boom system in an increasing trend and the luffing rack will be pulled.

[0036] Combined with the working characteristics of the above-mentioned machine with bucket door: During operation, when the luffing mechanism changes from a large amplitude to a minimum amplitude, it is fully loaded; During operation, when the luffing mechanism changes from the minimum amplitude to the maximum amplitude, it is a no-load operation; That is, the four-link combined boom and balancing system of the present application, whether in the reduction operation or the amplification operation, the variable amplitude rack is in passive movement and does not do work, and the motor and the corresponding electrical system are in the energy recovery state most of the time.

[0037] Depend on Figure 7It can be seen that the horizontal movement speed of the hanging point at the head of the elephant trunk bridge does not vary much within the entire amplitude range, is relatively stable, and can effectively reduce impact and shaking.

[0038] The four-link combined boom and balancing system of the crane with a bucket gate of the present application can save electricity consumption during the operation of the crane with a bucket gate, and can effectively reduce the impact and shaking of the crane with a bucket gate itself, and improve the operational stability of the crane with a bucket gate. In order to highlight the performance improvement of the four-link combined boom and balancing system of the present application, a specific comparative explanation is given below taking a conventional 10-meter-35-meter-wide crane with a bucket gate as an example.

[0039] Comparative Example: Reference Figure 1 The four-link combined boom includes a turntable, a column, an arm, an elephant trunk beam and a large pull rod. The column is vertically arranged on the surface of the turntable, one end of the arm is hinged to the turntable, and the other end of the arm is hinged to the side of the elephant trunk beam. One end of the large pull rod is hinged to the end of the column away from the turntable, and the other end of the large pull rod is hinged to the elephant trunk beam.

[0040] In the specific implementation process, the size design must meet the following constraints: The horizontal displacement difference of the hanging point position of the trunk bridge head: Δh≤0.02*(Smax-Smin), where Smax is the maximum amplitude of the portal machine and Smin is the minimum amplitude of the portal machine; The moment of the lifting weight of the crane with bucket door on the hinge point under the boom should be as small as possible, divided into positive and negative values, floating around the zero point; During the entire luffing process from the minimum amplitude to the maximum amplitude of the crane with bucket door, the horizontal moving speed of the hanging point position of the trunk head cannot differ too much. The general requirement is: Vmax / Vmin≤2.6, where Vmax is the maximum horizontal moving speed of the trunk head, and Vmin is the minimum horizontal moving speed of the trunk head; The size of the turntable, column, arm, trunk beam and large pull rod should be as small as possible, the force should be gentle and the structure weight should be light.

[0041] Reference Figure 1 The balancing system based on the above-mentioned four-link combined boom includes a column, a boom, a balancing beam, a small pull rod and a counterweight. The balancing beam is hinged at the top of the column, one end of the small pull rod is hinged to the balancing beam, and the other end is hinged to the boom, and the counterweight is arranged at the end of the balancing beam away from the small pull rod.

[0042] In the specific implementation process, the balance system size and counterweight weight design meet the following constraints: The boom moves from the minimum amplitude to the maximum amplitude, and the rise or fall of the counterweight and the balance beam compensates for the fall or rise of the center of gravity of the above-mentioned four-link type combined boom, that is, Gb*h1=Gd*h2, wherein Gb is the center of gravity of the balance beam and the counterweight, h1 is the height difference of the center of gravity of the balance beam and the counterweight at the minimum amplitude and the maximum amplitude of the machine with a bucket door; Gd is the center of gravity of the above-mentioned four-link type combined boom, and h2 is the height difference of the center of gravity of the four-link type combined boom at the minimum amplitude and the maximum amplitude of the machine with a bucket door; The unbalanced moment of the balanced system ΔM≤0.1*Mq, where ΔM= , Mq is the moment caused by the load when the machine with bucket door reaches the maximum amplitude; The maximum positive and negative values ​​of the unbalanced torque of the balanced system must satisfy |+ΔM|≈|-ΔM|.

[0043] In the torque diagram: the curve above the x (amplitude) axis represents that the rack of the luffing mechanism is under compression, and the amplitude of the luffing system tends to decrease under the action of the torque; the curve below the x-axis represents that the rack of the luffing mechanism is under tension, and the amplitude of the luffing system tends to increase under the action of the torque.

[0044] Depend on Figure 8-Figure 10 It can be seen that both the torque on the lower hinge point of the boom caused by its own weight and the torque on the lower hinge point of the boom caused by the hanging weight are floating up and down near the zero point. This is to minimize the force on the boom rack during the boom length adjustment process of the bucket gate base, thereby reducing the energy loss of the boom mechanism.

[0045] Depend on Fig.11 It can be seen that the comprehensive torque also fluctuates around zero.

[0046] Horizontal moving speed curve of the hanging point at the head of the trunk bridge ( Fig.12 ) It can be seen that the speed value of the minimum amplitude is the largest, and compared with the speed value at the maximum amplitude, it reaches more than 2.5. In this way, when the variable amplitude mechanism stops and starts at a small amplitude, there will be a large acceleration, causing a large impact and shaking on the gantry crane; The above is the design method commonly used in the current luffing system of the crane with bucket door, but in fact, the crane with bucket door has its own properties: When the crane with bucket gate is operating, when the luffing mechanism changes from a large amplitude to a minimum amplitude, it is fully loaded; when the luffing mechanism changes from a minimum amplitude to a large amplitude, it is no-load operation; the number of starts and stops is the largest when close to the minimum amplitude, while the number of operations at the maximum amplitude position is relatively small. The grabbing point is usually at a large amplitude, not at the maximum amplitude position, and the position of the grabbing point changes with the stacking position of the goods, but the discharge position is the funnel of the crane with bucket gate, which is basically located at the minimum amplitude and is fixed.

[0047] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application. Four-link combined boom with bucket door seat, balance system, and design method.

Claims

1. The four-link combined boom with bucket door base is characterized by: It includes a turntable, a column, an arm, an elephant trunk bridge and a large pull rod. The column is arranged on the surface of the turntable, one end of the arm is hinged to the turntable, the other end of the arm is hinged to the side of the elephant trunk bridge, one end of the large pull rod is hinged to the end of the column away from the turntable, and the other end of the large pull rod is hinged to the elephant trunk bridge.

2. The four-link combined boom with bucket door seat according to claim 1 is characterized in that: The column is provided with a luffing mechanism, which includes a luffing rack, and the torque generated by the four-link type combined boom is transmitted by the luffing rack.

3. A balancing system of a four-link type combined boom with a bucket door seat machine according to claim 1, characterized in that: It includes a column, a boom, a balance beam, a small pull rod and a counterweight. The balance beam is hinged to the top of the column. One end of the small pull rod is hinged to the balance beam and the other end is hinged to the boom. The counterweight is arranged at one end of the balance beam away from the small pull rod.

4. A design method for a seated machine with a bucket door, characterized in that: The dimensional design of the four-link combined boom and the balancing system must meet the following constraints: Constraint 1: The moment M1 caused by the hoisting weight of the crane with bucket door on the lower hinge point of the boom is positive in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 2: The combined moment M2 on the lower hinge point of the four-link combined boom, the balance system and the deadweight of the counterweight is negative in the entire amplitude range, and the moment value fluctuates smoothly; Constraint 3: When the grab bucket of the machine with bucket gate is unloaded, the moment M3 caused by the weight of the grab bucket on the lower hinge point of the boom is positive within the entire amplitude range; Constraint 4: M1-|M2|≥0, |M2|-M3≥0, M3≥0, the values ​​of M1-|M2|, |M2|-M3, and M3 tend to 0; Constraint 5: The turntable, column, boom, trunk beam and large pull rod should be small in size, bear the force smoothly and have a light structure weight.

5. The design method of the seated machine with a bucket door according to claim 4 is characterized in that: To further adjust the horizontal moving speed of the hanging point at the head of the trunk bridge, the following constraints must be met: Constraint 6: The ratio of the maximum horizontal moving speed of the trunk bridge head to the minimum horizontal moving speed is less than or equal to 2, that is, Vmax / Vmin≤2, where Vmax is the maximum horizontal moving speed of the trunk bridge head and Vmin is the minimum horizontal moving speed of the trunk bridge head; Constraint 7: Reduce the horizontal linear speed of the trunk head by electronically controlled frequency modulation technology.

6. The design method of a seated machine with a bucket door according to claim 5 is characterized in that: The potential energy generated by the weight of the cargo, the four-link combined boom, the balance system and the deadweight of the counterweight during the recovery process must meet the following constraints: Constraint 8: An energy recovery device is installed on the luffing mechanism of the locomotive with bucket door.

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