Anti-swing grab bucket for hoisting port portal crane and anti-swing method

Abstract

The invention relates to the technical field of port container crane grab bucket control, and particularly discloses an anti-swing grab bucket for port portal crane hoisting and an anti-swing method. The grab bucket posture detection mechanism can detect the posture of the hoisting grab bucket, the horizontal shaking preliminary reduction mechanism, the hoisting point adjusting mechanism and the horizontal shaking secondary reduction mechanism can restrain horizontal shaking of the hoisting grab bucket, and the winding and unwinding mechanism and the torsion detection mechanism can restrain vertical shaking of the hoisting grab bucket. The rotating and shaking hindering mechanism can restrain rotating and shaking of the lifting grab bucket, and all-directional shaking control can be conducted on the grab bucket in different shaking scenes through combination of the three.

Description

Technical Field

[0001] The present application relates to the technical field of grab bucket control of a port container crane, and in particular to an anti-sway grab bucket and an anti-sway method for a port gantry crane. Background Art

[0002] As an important part of large-scale material handling equipment, port container cranes are widely used in port cargo loading and unloading operations, especially for grabbing and lifting bulk materials such as coal, ore, grain, sand and gravel. However, with the continuous expansion of port logistics scale and the improvement of automation level, the requirements for the stability, accuracy and operation efficiency of grab equipment are increasing.

[0003] The grab bucket of a port container crane often shakes during actual lifting operations due to the following factors: First, when the grab bucket grabs materials with uneven weight distribution, the center of gravity shift will cause obvious lateral or longitudinal swings; second, the rapid start or stop of the gantry crane during lifting will cause a drastic change in inertia force, thus causing the grab bucket to shake; third, the external environment such as wind has a significant impact, especially when the grab bucket is lifted at high altitude, the wind will exert irregular thrust on the grab bucket, significantly amplifying its swing amplitude. It can be seen that these shaking problems are not caused by a single factor, but by the superposition of multiple reasons.

[0004] For example, the invention patent with publication number CN114104962A discloses a slender rod anti-sway clamping device installed on a crane, which mentions: In the traditional offshore slender rod lifting operation, the swing suppression of the load is usually achieved by relying on the operator's experience and manual dragging, but the anti-sway effect is very limited, the operation efficiency is low, the intensity of manual work is high, and the risk factor is high.

[0005] In addition, the shaking of the grab bucket may also cause other problems during lifting, loading and unloading operations. For example, the shaking of the grab bucket will aggravate the mechanical wear of the lifting equipment, increase the probability of failure, and increase maintenance costs and energy consumption. The shaking of the grab bucket also increases the difficulty of operation. When operating in special environments, it will also increase the operational risks. In severe cases, it may collide with surrounding facilities or obstacles, which will produce loud noise and affect the environment. The collision will also damage the structure of the grab bucket. In severe cases, it will cause materials to fall off accidentally, causing major construction accidents.

[0006] In summary, these problems not only affect the efficiency of grab bucket lifting, but also significantly increase the difficulty of operation and safety hazards, becoming an important bottleneck restricting the performance improvement of port gantry crane grab bucket equipment. Summary of the invention

[0007] In order to suppress various shakes generated during the operation of the grab bucket, the present application provides an anti-sway grab bucket and an anti-sway method for a port gantry crane.

[0008] This application provides an anti-sway grab for port portal crane operation, adopting the following technical solutions: An anti-sway grab for port portal crane operation includes a lifting frame and a lifting grab. A base is provided at the end of the lifting frame. Multiple pulling slings for suspending the lifting grab are provided on the base. A fixed seat is fixed at the top of the lifting grab. Each of the pulling slings is fixedly connected to the top of the fixed seat. The fixed seat and the base are respectively provided with: A grab attitude detection mechanism, which is arranged on the fixed seat; A primary horizontal sway reduction mechanism, which is arranged at the top of the lifting grab; A winding and unwinding mechanism, a torsion detection mechanism, and a hoisting point position adjustment mechanism are respectively arranged at the bottom of the base. Multiple groups of the winding and unwinding mechanisms are provided corresponding to each pulling sling. Multiple groups of the torsion detection mechanisms and the hoisting point position adjustment mechanisms are provided corresponding to each winding and unwinding mechanism; A secondary horizontal sway reduction mechanism, which is arranged outside the fixed seat and is used to limit the horizontal sway of the fixed seat when the hoisting point position adjustment mechanism moves the upper ends of the pulling slings away from each other; A rotational sway hindrance mechanism, which is arranged on the base and is used to provide a force to hinder rotational sway for the fixed seat after the secondary horizontal sway reduction mechanism restricts the horizontal movement of the fixed seat.

[0009] By adopting the above technical solutions, the grab attitude detection mechanism in this application can detect different sway postures of the lifting grab. The sway of the lifting grab mainly includes: only horizontal sway, only vertical sway, only rotational sway, and both rotational sway and horizontal sway; Compared with the conventional technical solutions, this solution can classify and regulate different sway types generated by the lifting grab in different working environments. Compared with the conventional single adjustment, this solution realizes all-round sway control and can adjust to different degrees according to the sway degree of different sway types.

[0010] For example: when the lifting grab only has horizontal sway, the adjustment for the horizontal sway degree less than the set degree and greater than the set degree is different. When the lifting grab has both rotational sway and horizontal sway, the adjustment for the horizontal sway degree less than the set degree and greater than the set degree will also be different.

[0011] Through different classification treatments of the shaking degree of the lifting grab, targeted adjustment can be carried out for different shaking scenarios of the lifting grab, more accurate control can be performed according to the actual posture of the lifting grab, the shaking of the lifting grab under different working conditions and different scenarios is greatly reduced, the lifting efficiency and lifting safety of the lifting grab are improved, the wear and energy consumption of the lifting equipment are reduced, the operation difficulty of operating the lifting equipment is reduced, and the noise generated by the shaking of the lifting rotating bucket is reduced, improving and optimizing the existing defects and drawbacks of the lifting equipment in many aspects, and greatly enhancing the performance of the grab equipment of the port portal crane.

[0012] Optionally, the grab attitude detection mechanism includes an attitude monitoring gyroscope, an accelerometer, and an inclination sensor. The attitude monitoring gyroscope is used to monitor the angular velocity of the rotation of the lifting grab in real time. The accelerometer is used to monitor the acceleration and vibration amplitude of the lifting grab. The inclination sensor is used to monitor the inclination angle of the lifting grab relative to the horizontal plane. The attitude monitoring gyroscope, the accelerometer, and the inclination sensor are all electrically connected to the control system.

[0013] By adopting the above technical solution, the attitude monitoring gyroscope can monitor the rotation angular velocity of the lifting grab in real time and capture its dynamic rotation trend. The accelerometer detects the change in the linear acceleration of the lifting grab, reflecting the action of the center of gravity offset and inertial force. The inclination sensor measures the inclination angle of the lifting grab relative to the horizontal plane and provides its static attitude information. By fusing the data of the three sensors, the dynamic and static attitude changes of the lifting grab in three-dimensional space can be comprehensively grasped, so as to provide accurate detection basis for the control system and ensure the stability of the lifting grab attitude and operation safety.

[0014] Optionally, the preliminary horizontal shaking reduction mechanism includes two active anti-shaking gyroscopes arranged at the top of the lifting grab and two corresponding rotating bodies. The two active anti-shaking gyroscopes are used to separately control the rotation speed and direction of the corresponding rotating bodies, and both active anti-shaking gyroscopes are electrically connected to the control system, and the two rotating bodies are symmetrically arranged on both sides of the center line of the top end face of the lifting grab.

[0015] By adopting the above technical solution, when the gyroscope sensor, accelerometer, and inclination sensor cooperate to detect that the lifting grab is in a shaking state, the two active anti-shaking gyroscopes control the two rotating bodies to rotate in a certain direction and speed, so as to realize the preliminary control of the horizontal or rotational shaking of the lifting grab, reduce the shaking amplitude of the lifting grab or make the lifting grab stable.

[0016] Optionally, the winding and unwinding mechanism includes a rotating seat, a roller, and a driving member. The rotating seat is mounted on the base, the roller is rotatably mounted on the rotating seat, and each of the pulling slings is wound around the corresponding rotating seat. The driving member is disposed at one end of the rotating seat, and the output end is coaxially fixed to the roller.

[0017] By adopting the above technical solution, when it is detected that the lifting grab is shaking in the vertical direction, it means that the center of gravity of the material grabbed in the lifting grab is unstable or unbalanced. At this time, the torque detection mechanism detects the forces received by each pulling sling. When it is detected that the force received by one or more pulling slings is greater than the force received by other pulling slings, the driving member drives the roller to rotate, so as to contract the pulling sling with a greater force, realizing the control of the vertical shaking of the lifting grab. The attitude of the lifting grab is repeatedly detected, and the winding and unwinding of the pulling sling are coordinated multiple times to realize the control of the shaking of the lifting grab.

[0018] Optionally, the torque detection mechanism includes a torque sensor disposed between the roller and the driving member. The torque sensor is used to measure the different torques received by the corresponding pulling sling from the lifting grab.

[0019] By adopting the above technical solution, the torque sensor can detect the torque received by the roller, so as to retract the pulling sling with a greater force. By dynamically adjusting the length of the pulling sling multiple times, the control of the vertical shaking of the lifting grab is realized.

[0020] Optionally, the hoisting point position adjusting mechanism includes a power member, a turntable, a sliding seat, a sliding block, and a plug rod. The power member is mounted on the base, the turntable is rotatably mounted on the base and is coaxially fixed to the output end of the power member. The sliding seat is disposed corresponding to the rotating seat, and a sliding groove for slidably engaging the sliding block is formed in the sliding seat along the direction facing the rotating seat. The sliding block is slidably engaged in the corresponding sliding groove and is fixedly connected to one end of the rotating seat; The plug rod is fixed to the sliding block, and an arc-shaped limiting groove is formed in the turntable corresponding to the plug rod. The plug rod is inserted into the corresponding limiting groove.

[0021] By adopting the above technical solution, when it is detected that the lifting grab is shaking in the horizontal direction, the power member works to drive the turntable to rotate. The sliding grooves on the turntable drive the plug rods to move along the sliding grooves, so that the plug rods drive the rotating seats to move away from each other through the sliding blocks, thereby realizing the mutual separation of the upper hoisting points of the pulling slings, making the lower lifting grab more stable, and realizing the suppression of the horizontal shaking of the lifting grab.

[0022] Optionally, the horizontal shaking secondary reduction mechanism includes a metal block and a ring-shaped permanent magnet. The metal block is fixedly installed between the fixed seat and the lifting grab bucket. The ring-shaped permanent magnet is sleeved outside the metal block, and a space for the fixed seat to shake is reserved between the inner side wall of the ring-shaped permanent magnet and the outer side wall of the metal block.

[0023] By adopting the above technical solution, if the adjustment of the upper suspension points of each pulling sling still fails to make the lifting grab bucket stable, continue to control the upper ends of the pulling slings to move away from each other. At this time, the metal block gradually rises until it enters the ring-shaped permanent magnet. The ring-shaped permanent magnet will generate eddy currents in the shaking metal block, thereby suppressing the shaking of the metal block and greatly reducing the horizontal shaking degree of the lifting grab bucket, enabling the lifting grab bucket to return to a stable state faster.

[0024] Optionally, the distance between the upper end and the lower end of the ring-shaped permanent magnet is greater than the thickness of the metal block.

[0025] By adopting the above technical solution, the metal block can move a greater stroke in the ring-shaped permanent magnet, so that the inhibitory effect of the ring-shaped permanent magnet on the metal block is stronger, thereby enabling the lifting grab bucket to return to a stable state faster.

[0026] Optionally, the rotation shaking hindrance mechanism includes a rotating ring, a ring-shaped gear, a driving gear, an output motor, a suspension rope, a winding wheel, and a winding motor. The base is in a disc shape. The rotating ring is rotatably installed outside the base. The ring-shaped gear is coaxially fixed on the rotating ring. The output motor is arranged on the base. The driving gear is coaxially fixed on the output shaft of the base. The driving gear meshes with the ring-shaped gear; There are multiple groups of the suspension ropes, the winding wheels, and the winding motors correspondingly, and the winding wheels are spaced and installed on the rotating ring. The output end of the winding motor is coaxially fixed to the corresponding winding wheel. One end of each suspension rope is wound on the corresponding winding wheel, and the other end is respectively fixedly connected to the corresponding part of the ring-shaped permanent magnet.

[0027] By adopting the above technical solution, when it is detected that the lifting grab bucket is in rotational shaking, although it is in rotational shaking, the rotational shaking may have two situations: only rotation and both rotation and horizontal shaking. When the lifting grab bucket only rotates, each winding motor synchronously extends the suspension ropes, so that the ring-shaped permanent magnet descends to a position directly opposite to the metal block. At this time, the output motor drives the ring-shaped gear to rotate through the driving gear, and the ring-shaped gear drives the rotating ring to rotate, so that each suspension rope drives the ring-shaped permanent magnet to rotate in the opposite rotation direction to the metal block, realizing the rotation control of the lifting grab bucket; When the lifting grab rotates and shakes horizontally at the same time, the method of suppressing horizontal shaking is used to suppress the shaking first. When the metal block enters the ring-shaped permanent magnet, the ring-shaped permanent magnet is then driven to rotate in the opposite direction of the rotation of the metal block, so as to control the horizontal and rotational directions of the lifting grab.

[0028] The present application also discloses an anti-shaking method for an anti-shaking grab used in a port gantry crane, which is applied to the anti-shaking grab used in the above-mentioned port gantry crane, and includes the following steps: S1: When the lifting grab shakes, the grab attitude detection mechanism monitors the attitude of the lifting grab and transmits the monitored attitude data to the control system; S2: When the grab attitude detection mechanism detects that the shaking of the lifting grab is horizontal shaking, the control system controls the horizontal shaking preliminary reduction mechanism to work to preliminarily control the horizontal shaking of the lifting grab, and the grab attitude detection mechanism detects the attitude of the lifting grab again; S3: When the grab attitude detection mechanism detects that the shaking of the lifting grab is vertical shaking, the control system controls the winding and unwinding mechanism to work, and the winding and unwinding mechanism contracts the pulling sling with greater force, and cooperates with the grab attitude detection mechanism to monitor the attitude of the lifting grab in real time, and adjusts the attitude of the lifting grab to a stable state; S4: When the grab attitude detection mechanism detects that the shaking of the lifting grab is rotational shaking and there is only rotational shaking, the moving part of the horizontal shaking secondary reduction mechanism descends to the height of the fixed seat, and the rotational shaking blocking mechanism rotates in the opposite direction of the rotation of the lifting grab, and the grab attitude detection mechanism detects the attitude of the lifting grab until the attitude of the lifting grab is stable; S5: When the grab attitude detection mechanism detects that the shaking of the lifting grab is rotational shaking and there is both rotation and horizontal shaking, the control system controls the horizontal shaking preliminary reduction mechanism to work, and the grab attitude detection mechanism detects the attitude of the lifting grab again.

[0029] In summary, the present application includes at least one of the following beneficial technical effects: 1. The grab attitude detection mechanism in the present application can detect different shaking postures of the lifting grab. The shaking of the lifting grab is mainly divided into: only horizontal shaking, only vertical shaking, only rotational shaking, and both rotational shaking and horizontal shaking; compared with the conventional technical solution, it can classify and control different types of shaking generated by the lifting grab in different working environments. Compared with the conventional single adjustment, this solution realizes all-round shaking control and can adjust to different degrees according to the shaking degree of different shaking types; 2. By classifying and processing the shaking degree of the lifting grab in different ways, it is possible to adjust the different shaking scenarios of the lifting grab in a targeted manner, to perform more precise control according to the actual posture of the lifting grab, to greatly reduce the shaking of the lifting grab under different working conditions and different scenarios, to improve the lifting efficiency and safety of the lifting grab, to reduce the wear and energy consumption of the lifting equipment, to reduce the operation difficulty of operating the lifting equipment, and to reduce the noise generated by the shaking of the lifting rotating bucket. Thus, the existing defects and drawbacks of the lifting equipment are improved and optimized in many aspects, and the performance of the port gantry crane grab equipment is greatly enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0031] Figure 1 is the overall structural schematic diagram of the anti-shaking grab in the present application; Figure 2 is Figure 1 the overall structural schematic diagram at the lifting grab in Figure 3 is Figure 2 the overall structural schematic diagram from the bottom view of the lifting grab in Figure 4 is Figure 2 the enlarged view at A in Figure 5 is Figure 3 the partial internal structural schematic diagram of the lifting grab in Figure 6 is Figure 5 the partial structural schematic diagram at the base in Figure 7 is Figure 6 the structural schematic diagram at the hoisting point position adjusting mechanism in Figure 8 is Figure 2 the enlarged view at B in

[0032] Reference numerals: 1, base; 11, winding and unwinding mechanism; 111, rotating seat; 112, roller; 113, driving member; 12, torque detection mechanism; 13, lifting point position adjustment mechanism; 131, power member; 132, turntable; 1321, limiting groove; 133, sliding seat; 1331, sliding groove; 134, sliding block; 135, inserting rod; 2, lifting grab; 21, primary horizontal sway reduction mechanism; 3, pulling sling; 4, fixed seat; 41, grab attitude detection mechanism; 411, attitude monitoring gyroscope; 412, accelerometer; 413, inclination sensor; 5, secondary horizontal sway reduction mechanism; 51, metal block; 52, annular permanent magnet; 6, rotational sway hindrance mechanism; 61, rotating ring; 62, annular gear; 63, driving gear; 64, output motor; 65, suspension rope; 66, winding wheel; 67, winding motor. Detailed implementation manners

[0033] The following Figure 1-8 is a further detailed description of the present application in conjunction with the attached drawings.

[0034] An embodiment of the present application discloses an anti-sway grab for port gantry crane operation.

[0035] Referring to Figure 1 , Figure 2 and Figure 3 , an anti-sway grab for port gantry crane operation includes a base, a body, a lifting frame, and a lifting grab 2. A base 1 is provided at the end of the lifting frame. A plurality of pulling slings 3 for suspending the lifting grab 2 are provided on the base 1. A fixed seat 4 is fixed to the top of the lifting grab 2. Each pulling sling 3 is fixedly connected to the top of the fixed seat 4. A grab attitude detection mechanism 41, a primary horizontal sway reduction mechanism 21, a winding and unwinding mechanism 11, a torque detection mechanism 12, a lifting point position adjustment mechanism 13, a secondary horizontal sway reduction mechanism 5, a rotational sway hindrance mechanism 6, and a control system are respectively provided on the fixed seat 4 and the base 1. The control system is electrically connected to each mechanism and can control the operation, start, and stop of each mechanism.

[0036] Referring to Figure 2 , Figure 3 and Figure 4, The grab attitude detection mechanism 41 is arranged on the fixed seat 4 and is used to detect the attitude of the fixed seat 4, so as to detect the sway degree of the hoisting grab 2. The grab attitude detection mechanism 41 includes an attitude monitoring gyroscope 411, an accelerometer 412 and an inclination sensor 413. The attitude monitoring gyroscope 411 is used to monitor the angular velocity of the rotation of the hoisting grab 2 in real time. The accelerometer 412 is used to monitor the acceleration and vibration amplitude of the hoisting grab 2. The inclination sensor 413 is used to monitor the inclination angle of the hoisting grab 2 relative to the horizontal plane. The attitude monitoring gyroscope 411, the accelerometer 412 and the inclination sensor 413 are all electrically connected to the control system.

[0037] During the operation process, it is inevitable that the hoisting grab 2 will sway due to various external factors. The sway of the hoisting grab 2 can generally be divided into three situations: horizontal sway, vertical sway and rotational sway. The horizontal sway preliminary reduction mechanism 21, the suspension point position adjustment mechanism 13, and the horizontal sway secondary reduction mechanism 5 can control the horizontal sway. The torsion detection mechanism 12 and the winding and unwinding mechanism 11 can control the vertical sway of the hoisting grab 2. The rotational sway blocking mechanism 6 can control the rotational sway. However, when the hoisting grab 2 is in rotational sway, it may be accompanied by horizontal sway. Therefore, it may be necessary to cooperate with the control structure of the horizontal sway to carry out anti-sway control.

[0038] The following will separately describe each sway control structure for horizontal sway: Refer to Figure 2 , Figure 3 and Figure 4 , The horizontal sway preliminary reduction mechanism 21 is arranged at the top of the hoisting grab 2 and is used to preliminarily reduce the horizontal sway of the hoisting grab 2. The horizontal sway preliminary reduction mechanism 21 includes two active anti-sway gyroscopes arranged at the top of the hoisting grab 2 and two corresponding rotating bodies. The two active anti-sway gyroscopes are used to separately control the rotation speed and direction of the corresponding rotating bodies, and both active anti-sway gyroscopes are electrically connected to the control system, and the two rotating bodies are symmetrically arranged on both sides of the center line of the top end face of the hoisting grab 2.

[0039] The suspension point position adjustment mechanism 13 is arranged at the lower bottom of the base 1, and multiple groups are provided corresponding to each winding and unwinding mechanism 11, and are used to adjust the horizontal position of each winding and unwinding mechanism 11 on the base 1, so as to realize the adjustment of the upper suspension point position of each pulling sling 3.

[0040] Refer to Figure 5 and Figure 6, the suspension point position adjusting mechanism 13 includes a power member 131, a turntable 132, a sliding seat 133, a sliding block 134 and a plug rod 135. The power member 131 is installed on the base 1. The power member 131 is a servo motor. The turntable 132 is rotatably installed on the base 1 and is coaxially fixed to the output end of the servo motor. The sliding seat 133 is arranged corresponding to the rotating seat 111. A chute 1331 for sliding and clamping the sliding block 134 is formed on the sliding seat 133 along the direction facing the rotating seat 111. The sliding block 134 is slidably clamped in the corresponding chute 1331 and is fixedly connected to one end of the rotating seat 111. The plug rod 135 is fixed to the sliding block 134. An arc-shaped limiting groove 1321 is formed on the turntable 132 corresponding to the plug rod 135. The plug rod 135 is inserted into the corresponding limiting groove 1321.

[0041] The horizontal shaking secondary reduction mechanism 5 is arranged outside the fixed seat 4 and is used to limit the horizontal shaking of the fixed seat 4 when the suspension point position adjusting mechanism 13 moves the upper ends of the pulling suspension cables 3 away from each other. Refer to Figure 3 and Figure 5 , the horizontal shaking secondary reduction mechanism 5 includes a metal block 51 and a ring-shaped permanent magnet 52. The metal block 51 is fixedly installed between the fixed seat 4 and the lifting grab 2. The ring-shaped permanent magnet 52 is sleeved outside the metal block 51, and a space for the fixed seat 4 to shake is reserved between the inner side wall of the ring-shaped permanent magnet 52 and the outer side wall of the metal block 51. In the initial position, the ring-shaped permanent magnet 52 is located above the fixed seat 4. In order to enable the ring-shaped permanent magnet 52 to better suppress the shaking of the metal block 51, so as to better control the lifting grab 2, the distance between the upper end and the lower end of the ring-shaped permanent magnet 52 is greater than the thickness of the metal block 51.

[0042] When the gyroscope sensor, the accelerometer 412 and the inclination sensor 413 jointly detect that the lifting grab 2 is in a shaking state, the data is transmitted to the control system. The control system can adopt a controller. When it is detected that the lifting grab 2 is horizontally shaken, the control system transmits the data to the active anti-shake gyroscope. The two active anti-shake gyroscopes control the two rotating bodies to rotate in a certain direction and speed, so as to realize the preliminary control of the horizontal or rotational shaking of the lifting grab 2, reduce the shaking amplitude of the lifting grab 2 or make the lifting grab 2 stable; Then the gyroscope sensor, the accelerometer 412 and the inclination sensor 413 detect the attitude of the lifting grab 2 again; When it is detected that the horizontal shaking degree of the lifting grab 2 is less than the set degree, the rotating shaking hindrance mechanism 6 drives the annular permanent magnet 52 to descend to the outside of the fixed seat 4. Since the fixed seat 4 is fixed to the top of the lifting grab 2, when the lifting grab 2 shakes, the fixed seat 4 will shake along with it, and the water inlet pipe will also shake along with it. At this time, the shaking metal block 51 moves relative to the magnetic field. According to Faraday's law of electromagnetic induction, under the influence of the changing magnetic field, eddy currents will be generated inside the metal block 51. Due to the interaction between the eddy currents and the magnetic field of the annular permanent magnet 52, a reverse magnetic force will be generated, thereby hindering the movement of the metal block 51, so that the metal block 51 quickly stops shaking, so as to realize the shaking control of the lifting grab 2; When it is detected that the horizontal shaking degree of the lifting grab 2 is greater than the set degree, when it is detected that the lifting grab 2 shakes in the horizontal direction, the power member 131 works to drive the turntable 132 to rotate. The sliding groove 1331 on the turntable 132 drives each inserting rod 135 to move along the sliding groove 1331, so that the inserting rod 135 drives each rotating seat 111 to move away from each other through the sliding seat 134, so as to realize the mutual separation of the upper suspension points of each pulling sling 3. At this time, the fixed seat 4 will move upward and stop rising when the fixed seat 4 rises into the annular permanent magnet 52. At this time, adjusting the suspension point positions of each pulling sling 3 can greatly reduce the shaking of the lifting grab 2, and cooperate with the magnetic force hindrance generated at the annular permanent magnet 52 to jointly realize the shaking control of the lifting grab 2.

[0043] The following will explain each structure in detail for vertical shaking: Refer to Figure 6 and Figure 7 The winding and unwinding mechanism 11 is arranged at the lower bottom of the base 1 and there are multiple groups corresponding to each pulling sling 3, and is used for controlling the winding and unwinding of each pulling sling 3. The winding and unwinding mechanism 11 includes a rotating seat 111, a roller 112 and a driving member 113. The rotating seat 111 is installed on the base 1, the roller 112 is rotatably installed on the rotating seat 111, and each pulling sling 3 is wound around the corresponding rotating seat 111. The driving member 113 adopts a stepping motor with large torque. The stepping motor is arranged at one end of the rotating seat 111 and the output end is coaxially fixed with the roller 112.

[0044] In order to detect the torque on the roller 112, the torque detection mechanism 12 is arranged on one side of the roller 112 at the lower bottom of the base 1 and there are multiple groups corresponding to each winding and unwinding mechanism 11, and is used for detecting the torque when each winding and unwinding mechanism 11 winds and unwinds the corresponding pulling sling 3. The torque detection mechanism 12 includes a torque sensor arranged between the roller 112 and the stepping motor. The torque sensor is used for measuring the different torques of the corresponding pulling sling 3 received by the lifting grab 2.

[0045] When it is detected that the lifting grab 2 is shaking in the vertical direction, it means that the center of gravity of the materials grabbed in the lifting grab 2 is unstable or unbalanced. At this time, the torque sensor detects the forces on each pulling sling 3. When it is detected that the force on one or more pulling slings 3 is greater than the force on other pulling slings 3, the stepping motor drives the roller 112 to rotate, so as to contract the pulling sling 3 with a greater force, realizing the control of the vertical shaking of the lifting grab 2. The attitude of the lifting grab 2 is repeatedly detected, and the pulling sling 3 is retracted and released multiple times to realize the control of the shaking of the lifting grab 2.

[0046] The following will detail the structure for controlling rotational shaking: The rotational shaking hindrance mechanism 6 is arranged on the base 1 and is used to provide a force to hinder rotational shaking for the fixed seat 4 after the horizontal shaking secondary reduction mechanism 5 restricts the horizontal movement of the fixed seat 4.

[0047] Referring to Figure 2 and Figure 8 As shown in, the rotational shaking hindrance mechanism 6 includes a rotating ring 61, an annular gear 62, a driving gear 63, an output motor 64, a suspension rope 65, a winding wheel 66, and a winding motor 67. The base 1 is disc-shaped. The rotating ring 61 is rotatably installed outside the base 1. The annular gear 62 is coaxially fixed on the rotating ring 61. The output motor 64 is arranged on the base 1. The driving gear 63 is coaxially fixed on the output shaft of the base 1. The driving gear 63 meshes with the annular gear 62.

[0048] There are multiple groups of the suspension rope 65, the winding wheel 66, and the winding motor 67, and the winding wheels 66 are spaced and installed on the rotating ring 61. The output end of the winding motor 67 is coaxially fixed to the corresponding winding wheel 66. One end of each suspension rope 65 is wound on the corresponding winding wheel 66, and the other end is respectively fixedly connected to the corresponding part of the annular permanent magnet 52.

[0049] When it is detected that the lifting grab 2 is in rotational shaking, although it is in rotational shaking, the rotational shaking may have two situations: only rotation and both rotation and horizontal shaking. When the lifting grab 2 only rotates, each winding motor 67 synchronously extends the suspension rope 65, so that the annular permanent magnet 52 descends to a position directly opposite to the metal block 51. At this time, the output motor 64 drives the annular gear 62 to rotate through the driving gear 63, and the annular gear 62 drives the rotating ring 61 to rotate, so that each suspension rope 65 drives the annular permanent magnet 52 to rotate in the direction opposite to the rotation direction of the metal block 51. When the rotation directions of the annular permanent magnet 52 and the metal block 51 are opposite, the relative movement of the magnetic field and the metal block 51 will generate an electromagnetic force. The direction of this force is opposite to the rotation direction of the metal block 51, and a reverse torque will be generated to realize the rotational control of the lifting grab 2; When the rotation and shaking are in both the rotational and horizontal shaking states, the control system causes the active anti-shaking gyroscope to control the rotating body to rotate at a corresponding speed and direction, thereby preliminarily controlling the horizontal shaking of the lifting grab 2; When it is detected that the horizontal shaking degree of the lifting grab 2 is less than the set degree, the winding motor 67 synchronously realizes the elongation of each suspension rope 65, so that the ring-shaped permanent magnet 52 descends to a position directly opposite to the metal block 51. At this time, the output motor 64 drives the ring gear 62 to rotate through the drive gear 63, and the ring gear 62 drives the rotating ring 61 to rotate, so that each suspension rope 65 drives the ring-shaped permanent magnet 52 to rotate in the direction opposite to the rotation direction of the metal block 51. When the rotation directions of the ring-shaped permanent magnet 52 and the metal block 51 are opposite, the relative movement of the magnetic field and the metal block 51 will generate an electromagnetic force, and the direction of this force is opposite to the rotation direction of the metal block 51, which will generate a reverse torque to realize the rotation control of the lifting grab 2; When it is detected that the horizontal shaking degree of the lifting grab 2 is greater than the set degree, the power member 131 works to drive the turntable 132 to rotate. The sliding grooves 1331 on the turntable 132 drive each insertion rod 135 to move along the sliding grooves 1331, so that the insertion rods 135 drive each rotating seat 111 to move away from each other through the sliding seat 134, thereby realizing the mutual separation of the upper suspension points of the upper ends of the respective pulling suspension cables 3. At this time, the fixed seat 4 will move upward, and when the fixed seat 4 rises into the ring-shaped permanent magnet 52, it stops rising. The output motor 64 drives the ring gear 62 to rotate through the drive gear 63, and the ring gear 62 drives the rotating ring 61 to rotate, so that each suspension rope 65 drives the ring-shaped permanent magnet 52 to rotate in the direction opposite to the rotation direction of the metal block 51.

[0050] The implementation principle of an anti-shaking grab used in a port gantry crane in an embodiment of the present application is as follows: The grab attitude detection mechanism 41 can detect the attitude of the lifting grab 2 in real time, and the control system can control different mechanisms according to the attitude of the lifting grab 2 detected by the grab attitude detection mechanism 41 to perform shaking control on the lifting grab 2. The shaking of the lifting grab 2 may be horizontal shaking, vertical shaking or rotational shaking. The horizontally shaking preliminary reduction mechanism 21, the winding and unwinding mechanism 11, the torsion detection mechanism 12, the suspension point position adjustment mechanism 13, the horizontally shaking secondary reduction mechanism 5, and the rotational shaking obstruction mechanism 6 provided in the present application can separately process these three types of shaking, enabling the lifting grab 2 to quickly perform shaking control when encountering various shakes, enabling the lifting grab 2 to lift materials more stably, and making the lifting of materials safer and faster.

[0051] An embodiment of the present application also discloses an anti-shaking method for a port gantry crane using an anti-shaking grab, which is applied to the above-mentioned port gantry crane using an anti-shaking grab, and includes the following steps: S1: When the lifting grab 2 shakes, the grab attitude detection mechanism 41 monitors the attitude of the lifting grab 2 and transmits the detected attitude data to the control system; S2: When the grab attitude detection mechanism 41 detects that the shaking of the lifting grab 2 is a horizontal shake, the control system controls the horizontal shake preliminary reduction mechanism 21 to work, initially controls the horizontal shake of the lifting grab 2, and the grab attitude detection mechanism 41 detects the attitude of the lifting grab 2 again; When it is detected that the degree of horizontal shake of the lifting grab 2 is less than the set degree, the moving part of the horizontal shake secondary reduction mechanism 5 descends to the height of the fixed seat 4. When it is detected that the degree of horizontal shake of the lifting grab 2 is greater than the set degree, the hoisting point position adjustment mechanism 13 makes the hoisting points at the upper ends of the respective pulling suspension cables 3 move away from each other, and raises the fixed seat 4 to the height of the moving part of the horizontal shake secondary reduction mechanism 5; When the grab attitude detection mechanism 41 detects that the shaking of the lifting grab 2 is a vertical shake, the control system controls the winding and unwinding mechanism 11 to work. The winding and unwinding mechanism 11 contracts the pulling suspension cable 3 that is more stressed, and cooperates with the grab attitude detection mechanism 41 to monitor the attitude of the lifting grab 2 in real time, and adjusts the attitude of the lifting grab 2 to a stable state; When the grab attitude detection mechanism 41 detects that the shaking of the lifting grab 2 is a rotational shake and there is only shaking, the moving part of the horizontal shake secondary reduction mechanism 5 descends to the height of the fixed seat 4, and the rotational shake hindrance mechanism 6 rotates in the opposite direction to the rotation of the lifting grab 2. The grab attitude detection mechanism 41 detects the attitude of the lifting grab 2 until the attitude of the lifting grab 2 is stable; When the grab attitude detection mechanism 41 detects that the shaking of the lifting grab 2 is a rotational shake and there is both rotation and horizontal shake, the control system controls the horizontal shake preliminary reduction mechanism 21 to work, and the grab attitude detection mechanism 41 detects the attitude of the lifting grab 2 again; When the shaking degree of the lifting grab 2 is less than the set degree, the moving part of the horizontal shake secondary reduction mechanism 5 descends to the height of the fixed seat 4, the rotational shake hindrance mechanism 6 rotates in the opposite direction to the rotation of the lifting grab 2, and the grab attitude detection mechanism 41 detects the attitude of the lifting grab 2 until the attitude of the lifting grab 2 is stable; When the shaking degree of the lifting grab 2 is greater than the set degree, the hoisting point position adjustment mechanism 13 makes the hoisting points at the upper ends of the respective pulling suspension cables 3 move away from each other, raises the fixed seat 4 to the height of the moving part of the horizontal shake secondary reduction mechanism 5, the rotational shake hindrance mechanism 6 rotates in the opposite direction to the rotation of the lifting grab 2, and the grab attitude detection mechanism 41 detects the attitude of the lifting grab 2 until the attitude of the lifting grab 2 is stable.

[0052] The above are all optional embodiments of the present application, and do not limit the protection scope of the present application. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A port gantry crane using an anti-sway grab bucket, comprising a lifting frame and a lifting grab bucket (2), characterized in that: A base (1) is provided at the end of the lifting frame, and a plurality of pulling slings (3) for suspending the lifting grab (2) are provided on the base (1). A fixed seat (4) is fixed on the top of the lifting grab (2), and each of the pulling slings (3) is fixedly connected to the top of the fixed seat (4). The fixed seat (4) and the base (1) are respectively provided with: A grab bucket posture detection mechanism (41) is arranged on the fixing seat (4); A horizontal shaking preliminary reduction mechanism (21) is arranged on the top of the lifting grab (2); The bottom of the base (1) is respectively provided with a reeling and unreeling mechanism (11), a torque detection mechanism (12), and a suspension point position adjustment mechanism (13); the reeling and unreeling mechanism (11) is provided with a plurality of groups corresponding to each pulling sling (3); the torque detection mechanism (12) and the suspension point position adjustment mechanism (13) are provided with a plurality of groups corresponding to each reeling and unreeling mechanism (11); The horizontal shaking secondary reduction mechanism (5) is arranged outside the fixed seat (4) and is used to limit the horizontal shaking of the fixed seat (4) when the suspension point position adjustment mechanism (13) causes the upper ends of the pulling slings (3) to move away from each other. The rotational shaking obstruction mechanism (6) is arranged on the base (1) and is used to provide a force to obstruct the rotational shaking of the fixed seat (4) after the horizontal shaking secondary reduction mechanism (5) restricts the horizontal movement of the fixed seat (4).

2. The anti-sway grab bucket for port gantry crane according to claim 1, characterized in that: The grab bucket posture detection mechanism (41) comprises a posture monitoring gyroscope (411), an accelerometer (412) and an inclination sensor (413). The posture monitoring gyroscope (411) is used to monitor the angular velocity of the rotation of the lifting grab bucket (2) in real time. The accelerometer (412) is used to monitor the acceleration and vibration amplitude of the lifting grab bucket (2). The inclination sensor (413) is used to monitor the inclination angle of the lifting grab bucket (2) relative to the horizontal plane. A control system is provided on the base (1). The posture monitoring gyroscope (411), the accelerometer (412) and the inclination sensor (413) are all electrically connected to the control system.

3. The anti-sway grab bucket for port gantry crane according to claim 1 is characterized by: The horizontal shaking preliminary reduction mechanism (21) comprises two active anti-sway gyroscopes arranged on the top of the lifting grab (2) and two corresponding rotating bodies, the two active anti-sway gyroscopes are used to independently control the rotation speed and direction of the corresponding rotating bodies, and both of the active anti-sway gyroscopes are electrically connected to the control system, and the two rotating bodies are axially symmetrically arranged on both sides of the center line of the top end surface of the lifting grab (2).

4. The anti-sway grab bucket for port gantry crane according to claim 1 is characterized by: The reeling and unwinding mechanism (11) comprises a rotating seat (111), a roller (112) and a driving member (113); the rotating seat (111) is mounted on the base (1); the roller (112) is rotatably mounted on the rotating seat (111); each pulling sling (3) is wound on the corresponding rotating seat (111); the driving member (113) is arranged at one end of the rotating seat (111), and the output end is coaxially fixed with the roller (112).

5. The anti-sway grab bucket for port gantry crane according to claim 4, characterized in that: The torque detection mechanism (12) comprises a torque sensor arranged between the rotating roller (112) and the driving member (113), and the torque sensor is used to measure different torques exerted on the pulling sling (3) by the lifting grab (2).

6. The anti-sway grab bucket for port gantry crane according to claim 4, characterized in that: The suspension point position adjustment mechanism (13) comprises a power piece (131), a rotating disk (132), a sliding seat (133), a sliding seat (134) and an insertion rod (135); the power piece (131) is mounted on the base (1); the rotating disk (132) is rotatably mounted on the base (1) and is coaxially fixed with the output end of the power piece (131); the sliding seat (133) is arranged corresponding to the rotating seat (111); and a sliding groove (1331) for slidingly engaging the sliding seat (134) is provided on the sliding seat (133) in a direction facing the rotating seat (111); the sliding seat (134) is slidably engaged in the corresponding sliding groove (1331), and one end is fixedly connected to the rotating seat (111); The insertion rod (135) is fixed on the sliding seat (134), and an arc-shaped limiting groove (1321) is provided on the rotating disk (132) corresponding to the insertion rod (135), and the insertion rod (135) is inserted into the corresponding limiting groove (1321).

7. The anti-sway grab bucket for port gantry crane according to claim 1, characterized in that: The horizontal shaking secondary reduction mechanism (5) comprises a metal block (51) and an annular permanent magnet (52), wherein the metal block (51) is fixedly installed between the fixing seat (4) and the lifting grab (2), the annular permanent magnet (52) is sleeved outside the metal block (51), and a space for the fixing seat (4) to shake is reserved between the inner wall of the annular permanent magnet (52) and the outer wall of the metal block (51).

8. The anti-sway grab bucket for port gantry crane according to claim 7, characterized in that: The distance between the upper end and the lower end of the annular permanent magnet (52) is greater than the thickness of the metal block (51).

9. The anti-sway grab bucket for port gantry crane according to claim 7, characterized in that: The rotation and shaking obstruction mechanism (6) comprises a rotating ring (61), an annular gear (62), a driving gear (63), an output motor (64), a suspension rope (65), a winding wheel (66) and a winding motor (67); the base (1) is in the shape of a disk; the rotating ring (61) is rotatably mounted outside the base (1); the annular gear (62) is coaxially fixed on the rotating ring (61); the output motor (64) is arranged on the base (1); the driving gear (63) is coaxially fixed on the output shaft of the base (1); and the driving gear (63) is meshed with the annular gear (62); The suspension rope (65), the winding wheel (66) and the winding motor (67) are correspondingly arranged in multiple groups, and the winding wheels (66) are installed on the rotating ring (61) at intervals. The output end of the winding motor (67) is coaxially fixed with the corresponding winding wheel (66). One end of each suspension rope (65) is wound on the corresponding winding wheel (66), and the other end is fixedly connected to the corresponding part of the annular permanent magnet (52).

10. An anti-sway method for a port gantry crane using an anti-sway grab bucket, applied to an anti-sway grab bucket for a port gantry crane as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1: When the lifting grab bucket (2) shakes, the grab bucket posture detection mechanism (41) monitors the posture of the lifting grab bucket (2) and transmits the monitored posture data to the control system; S2: When the grab bucket posture detection mechanism (41) detects that the shaking of the lifting grab bucket (2) is in the horizontal direction, the control system controls the horizontal shaking preliminary reduction mechanism (21) to operate, performs preliminary control on the horizontal shaking of the lifting grab bucket (2), and the grab bucket posture detection mechanism (41) detects the posture of the lifting grab bucket (2) again; S3: When the grab bucket posture detection mechanism (41) detects that the shaking of the lifting grab bucket (2) is in the vertical direction, the control system controls the winding and unwinding mechanism (11) to operate, and the winding and unwinding mechanism (11) contracts the pulling sling (3) with greater force, cooperates with the grab bucket posture detection mechanism (41) to monitor the posture of the lifting grab bucket (2) in real time, and adjusts the posture of the lifting grab bucket (2) to a stable state; S4: When the grab bucket posture detection mechanism (41) detects that the shaking of the lifting grab bucket (2) is rotational shaking and only rotational shaking exists, the moving part of the horizontal shaking secondary reduction mechanism (5) descends to the height of the fixed seat (4), and the rotational shaking obstruction mechanism (6) rotates in the opposite direction of the rotation of the lifting grab bucket (2), and the grab bucket posture detection mechanism (41) detects the posture of the lifting grab bucket (2) until the posture of the lifting grab bucket (2) is stable; S5: When the grab bucket posture detection mechanism (41) detects that the shaking of the lifting grab bucket (2) is rotational shaking and there is both rotational shaking and horizontal shaking, the control system controls the horizontal shaking preliminary reduction mechanism (21) to work, and the grab bucket posture detection mechanism (41) detects the posture of the lifting grab bucket (2) again.

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