Anti-sway grab and anti-sway method for port portal crane

Abstract

The application relates to the technical field of grab control of port container cranes, and particularly discloses a port portal crane hoisting anti-swing grab and an anti-swing method. A grab posture detection mechanism can detect the posture of a hoisted grab, a horizontal swing preliminary reduction mechanism, a hoisting point adjusting mechanism and a horizontal swing secondary reduction mechanism can inhibit the horizontal swing of the hoisted grab, a winding and unwinding mechanism and a torsion detection mechanism can inhibit the vertical swing of the hoisted grab, and a rotary swing hindering mechanism can inhibit the rotary swing of the hoisted grab. The three mechanisms can comprehensively control the swing of the grab under different swing scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of port container crane grab control, in particular to a port gantry crane hoisting anti-shake grab and anti-shake method. BACKGROUND

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

[0003] The grab of the port container crane often shakes in actual hoisting operations due to the following factors: first, when the grab grabs unevenly distributed materials, the shift of the center of gravity will cause significant lateral or longitudinal oscillation; second, the rapid start or stop of the gantry during hoisting will cause a dramatic change in inertial force, causing the grab to shake; third, external environmental influences such as wind are significant, especially when the grab is hoisted at high altitudes, wind will exert irregular thrust on the grab, significantly amplifying its swing amplitude. As can be seen, these shaking problems are not caused by a single factor, but by the superposition of multiple causes.

[0004] For example, the invention disclosed in CN114104962A discloses an elongated rod reducing shake grab device installed on a crane, which states that in traditional offshore elongated rod hoisting operations, the operator's experience and manual dragging are usually relied on to achieve swing suppression of the hoisted weight, but the effect of reducing shaking is very limited, the operation efficiency is low, the intensity of manual operation is high, and the risk coefficient is high.

[0005] Moreover, grab shaking during hoisting, loading, and unloading may also cause other problems, such as increased mechanical wear of hoisting equipment, increased failure probability, increased maintenance costs and energy consumption, and increased operating difficulty. In special environmental operations, it also increases the risk of operation, and in severe cases, it may also collide with surrounding facilities or obstacles, producing a large noise, affecting the environment, and causing damage to the structure of the grab. In severe cases, it may also cause accidental material falling, causing a major construction accident.

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

[0007] In order to suppress various shaking during the operation of the grab, the present application provides a port gantry crane hoisting anti-shake grab and anti-shake method.

[0008] The application provides a port portal crane hoisting anti-swing grab bucket, which adopts the following technical scheme:

[0009] A port portal crane hoisting anti-swing grab bucket, comprising a hoisting frame and a hoisting grab bucket, wherein the end of the hoisting frame is provided with a base, a plurality of pull-up slings for suspending the hoisting grab bucket are arranged on the base, a fixing seat is fixed to the top of the hoisting grab bucket, each pull-up sling is fixedly connected to the top of the fixing seat, and the fixing seat and the base are respectively provided with:

[0010] A grab bucket posture detection mechanism is arranged on the fixing seat.

[0011] A horizontal shaking preliminary reduction mechanism is arranged on the top of the hoisting grab bucket.

[0012] A winding and unwinding mechanism, a torsion detection mechanism and a lifting point position adjusting mechanism are arranged on the lower bottom of the base, a plurality of groups of the winding and unwinding mechanism are arranged corresponding to each pull-up sling, and a plurality of groups of the torsion detection mechanism and the lifting point position adjusting mechanism are arranged corresponding to each winding and unwinding mechanism.

[0013] A horizontal shaking secondary reduction mechanism is arranged outside the fixing seat and is used for limiting the horizontal shaking of the fixing seat when the lifting point position adjusting mechanism moves the upper ends of the pull-up slings in the direction away from each other,

[0014] A rotary shaking resistance mechanism is arranged on the base and is used for providing the fixing seat with a force resisting the rotary shaking after the horizontal shaking secondary reduction mechanism limits the horizontal movement of the fixing seat.

[0015] By adopting the above technical scheme, the grab bucket posture detection mechanism in the application can detect different shaking postures of the hoisting grab bucket. The shaking of the hoisting grab bucket mainly includes only horizontal shaking, only vertical shaking, only rotary shaking and both rotary shaking and horizontal shaking.

[0016] Compared with the conventional technical scheme, the present scheme can classify and control different shaking types of the hoisting grab bucket in different working environments. Compared with the conventional single adjustment, the present scheme realizes all-around shaking control and can adjust in different degrees according to the shaking degree of different shaking types.

[0017] For example, when the hoisting grab bucket only has horizontal shaking, the adjustment of the horizontal shaking degree less than the set degree and greater than the set degree is different, and when the hoisting grab bucket has both rotary shaking and horizontal shaking, the adjustment of the horizontal shaking degree less than the set degree and greater than the set degree is also different.

[0018] Through different classification processing of the shaking degree of the hoisting grab bucket, different shaking scenes of the hoisting grab bucket can be targeted and adjusted, and more accurate regulation and control can be performed according to the actual posture of the hoisting grab bucket, thereby greatly reducing the shaking of the hoisting grab bucket under different working conditions and different scenes, improving the hoisting efficiency and hoisting safety of the hoisting grab bucket, reducing the wear and energy consumption of the hoisting equipment, reducing the operation difficulty of the hoisting equipment, and reducing the noise generated by the shaking of the hoisting grab bucket, thereby improving and optimizing the existing defects and drawbacks of the hoisting equipment from multiple aspects, and greatly improving the performance of the port gantry grab bucket equipment.

[0019] Optionally, the grab bucket posture detection mechanism comprises a posture monitoring gyroscope, an accelerometer and an inclination sensor, the posture monitoring gyroscope is used for monitoring the angular velocity of the rotation of the hoisting grab bucket in real time, the accelerometer is used for monitoring the acceleration and vibration amplitude of the hoisting grab bucket, and the inclination sensor is used for monitoring the inclination angle of the hoisting grab bucket relative to the horizontal plane, and the posture monitoring gyroscope, the accelerometer and the inclination sensor are in electrical communication with the control system.

[0020] Through the above technical scheme, the posture monitoring gyroscope can monitor the rotational angular velocity of the hoisting grab bucket in real time, capture the dynamic rotation trend, the accelerometer detects the linear acceleration change of the hoisting grab bucket, reflects the effect of the gravity center offset and the inertial force, and the inclination sensor measures the inclination angle of the hoisting grab bucket relative to the horizontal plane and provides the static posture information. Through the fusion of the data of the three sensors, the dynamic and static posture changes of the hoisting grab bucket in the three-dimensional space can be comprehensively mastered, so as to provide accurate detection basis for the control system and ensure the stability of the hoisting grab bucket posture and the operation safety.

[0021] Optionally, the horizontal shaking preliminary reduction mechanism comprises two active anti-shaking gyroscopes arranged at the top of the hoisting grab bucket and two corresponding rotating bodies, the two active anti-shaking gyroscopes are used for separately controlling the rotation speed and direction of the corresponding rotating bodies, the two active anti-shaking gyroscopes are in electrical communication with 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 bucket.

[0022] Through the above technical scheme, when the gyro sensor, the accelerometer and the inclination sensor jointly detect that the hoisting grab bucket is in a shaking state, the two active anti-shaking gyroscopes control the two rotating bodies to rotate at a certain direction and speed, so as to realize the preliminary control of the horizontal or rotational shaking of the hoisting grab bucket, reduce the shaking amplitude of the hoisting grab bucket or make the hoisting grab bucket stable.

[0023] Optionally, the winding and unwinding mechanism comprises a rotating base, a rotating roller and a driving member, the rotating base is installed on the base, the rotating roller is rotatably installed on the rotating base, each of the pulling cables is wound on the corresponding rotating base, and the driving member is arranged at one end of the rotating base and coaxially fixed with the output end of the rotating roller.

[0024] By using the above technical scheme, when the hoisting grab is detected to shake in the vertical direction, it represents that the center of gravity of the material grabbed in the hoisting grab is unstable or unbalanced, at this time, the torsion detection mechanism detects the force borne by each pulling cable, when the force borne by one or more pulling cables is greater than the force borne by the other pulling cables, the driving member drives the rotating roller to rotate, thereby shrinking the pulling cable bearing greater force, realizing the control of the vertical shaking of the hoisting grab, repeatedly detecting the posture of the hoisting grab, and cooperating with the winding and unwinding of the pulling cable multiple times, thereby realizing the shaking control of the hoisting grab.

[0025] Optionally, the torsion detection mechanism comprises a torsion sensor arranged between the rotating roller and the driving member, and the torsion sensor is used for measuring different torsions borne by the corresponding pulling cable.

[0026] By using the above technical scheme, the torsion sensor can detect the torsion borne by the rotating roller, thereby retracting the pulling cable bearing greater force, and adjusting the length of the pulling cable dynamically multiple times, thereby realizing the control of the vertical shaking of the hoisting grab.

[0027] Optionally, the lifting point position adjusting mechanism comprises a power member, a rotating disc, a sliding base, a sliding seat and a plug rod, the power member is installed on the base, the rotating disc is rotatably installed on the base and coaxially fixed with the output end of the power member, the sliding base is arranged corresponding to the rotating base, a sliding groove for slidingly connecting the sliding seat is formed on the sliding base in the direction opposite to the rotating base, the sliding seat is slidingly connected in the sliding groove, and one end of the sliding seat is fixedly connected with the rotating base.

[0028] The plug rod is fixed on the sliding seat, an arc-shaped limiting groove is formed on the rotating disc corresponding to the plug rod, and the plug rod is inserted into the limiting groove.

[0029] By using the above technical scheme, when the hoisting grab is detected to shake in the horizontal direction, the power member works to drive the rotating disc to rotate, the sliding groove on the rotating disc drives each plug rod to move along the sliding groove, thereby driving each rotating base to move away from each other through the sliding seat, so as to move the upper ends of each pulling cable away from each other, thereby making the lower end of the hoisting grab more stable, and realizing the suppression of the horizontal shaking of the hoisting grab.

[0030] Optionally, the horizontal shaking secondary reduction mechanism comprises a metal block and a ring-shaped permanent magnet, the metal block is fixedly installed between the fixed seat and the hoisting grab bucket, the ring-shaped permanent magnet is sleeved outside the metal block, and a space for the shaking of the fixed seat is reserved between the inner side wall of the ring-shaped permanent magnet and the outer side wall of the metal block.

[0031] By adopting the above technical scheme, if the adjustment of the upper end hanging points of the pulling slings still cannot restore the hoisting grab bucket to be stable, the upper ends of the pulling slings continue to be controlled 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 generates eddy current in the shaking metal block, thereby inhibiting the shaking of the metal block, greatly reducing the horizontal shaking degree of the hoisting grab bucket, and enabling the hoisting grab bucket to be restored to a stable state more quickly.

[0032] 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.

[0033] By adopting the above technical scheme, the metal block can move a larger stroke in the ring-shaped permanent magnet, so that the inhibiting effect of the ring-shaped permanent magnet on the metal block is stronger, thereby enabling the hoisting grab bucket to be restored to a stable state more quickly.

[0034] Optionally, the rotating shaking prevention mechanism comprises 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 disc-shaped, 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, and the driving gear is engaged with the ring-shaped gear.

[0035] A plurality of groups of the suspension rope, the winding wheel and the winding motor are correspondingly arranged, the winding wheels are arranged at intervals on the rotating ring, the output ends of the winding motors are coaxially fixed with the corresponding winding wheels, one end of each suspension rope is wound on the corresponding winding wheel, and the other end is fixedly connected with the corresponding part of the ring-shaped permanent magnet.

[0036] By adopting the above technical scheme, when it is detected that the hoisting grab bucket is in rotating shaking, although it is in rotating shaking, there are only two cases of only rotating and both rotating and horizontally shaking, when the hoisting grab bucket only rotates, each winding motor synchronously realizes the elongation of the suspension rope, so that the ring-shaped permanent magnet is lowered to a position opposite to the metal block, at this time, the output motor drives the ring-shaped gear to rotate through the driving gear, 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 direction of the metal block, thereby realizing the rotating control of the hoisting grab bucket.

[0037] When the hoisting grab is both horizontally and rotationally shaken, the shaking suppression is first performed by using the horizontal shaking suppression mode, and when the metal block enters the annular permanent magnet, the annular permanent magnet is driven to rotate in the opposite direction of the metal block, so as to control the hoisting grab in the horizontal and rotational directions.

[0038] The application also discloses a rocking prevention method of the anti-rocking grab of the port gantry crane, which is applied to the anti-rocking grab of the port gantry crane and comprises the following steps.

[0039] S1: When the hoisting grab is shaken, the grab posture detection mechanism monitors the posture of the hoisting grab and transmits the monitored posture data to the control system;

[0040] S2: When the grab posture detection mechanism detects that the shaking of the hoisting grab is horizontal shaking, the control system controls the horizontal shaking preliminary reduction mechanism to work, and the horizontal shaking of the hoisting grab is preliminarily controlled, and the grab posture detection mechanism detects the posture of the hoisting grab again.

[0041] S3: When the grab posture detection mechanism detects that the shaking of the hoisting grab is vertical shaking, the control system controls the winding and unwinding mechanism to work, the winding and unwinding mechanism shrinks the tensioned cable that bears more force, and the grab posture detection mechanism monitors the posture of the hoisting grab in real time, so that the posture of the hoisting grab is adjusted to a stable state.

[0042] S4: When the grab posture detection mechanism detects that the shaking of the hoisting grab is rotational shaking and only rotational shaking exists, the moving part of the horizontal shaking secondary reduction mechanism is lowered to the height of the fixed seat, the rotational shaking resistance mechanism rotates in the opposite direction of the rotation of the hoisting grab, the grab posture detection mechanism detects the posture of the hoisting grab, and the posture of the hoisting grab is stable.

[0043] S5: When the grab posture detection mechanism detects that the shaking of the hoisting grab is rotational shaking and both rotational shaking and horizontal shaking exist, the control system controls the horizontal shaking preliminary reduction mechanism to work, and the grab posture detection mechanism detects the posture of the hoisting grab again.

[0044] In summary, the application has at least one beneficial technical effect as follows.

[0045] 1. The grab posture detection mechanism in the present application can detect different shaking postures of the hoisted grab bucket. The shaking of the hoisted grab bucket mainly includes: only horizontal shaking, only vertical shaking, only rotational shaking, and both rotational shaking and horizontal shaking. Compared with the conventional technical solution, the different shaking types generated by the hoisted grab bucket in different working environments can be classified and controlled. Compared with the conventional single adjustment, the present solution realizes omnidirectional shaking control and can adjust to different degrees according to the shaking degree of different shaking types.

[0046] 2. After different classification processing of the hoisted grab bucket shaking degree, the different shaking scenes of the hoisted grab bucket can be adjusted, the actual posture of the hoisted grab bucket can be more accurately controlled, the shaking of the hoisted grab bucket under different working conditions and different scenes is greatly reduced, the hoisting efficiency and safety of the hoisted grab bucket are improved, the wear and energy consumption of the hoisting equipment are reduced, the operation difficulty of the hoisting equipment is reduced, and the noise generated by the hoisting grab bucket shaking is reduced. From many aspects, the existing defects and drawbacks of the hoisting equipment are improved and optimized, and the performance of the port gantry grab bucket equipment is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 is the overall structure schematic diagram of the anti-shaking grab bucket in the present application;

[0049] Figure 2 is Figure 1 the overall structure schematic diagram of the hoisted grab bucket in the present application;

[0050] Figure 3 is Figure 2 the overall structure schematic diagram of the hoisted grab bucket bottom view in the present application;

[0051] Figure 4 is Figure 2 the enlarged view of A in the present application;

[0052] Figure 5 is Figure 3 the partial internal structure schematic diagram of the hoisted grab bucket in the present application;

[0053] Figure 6 is Figure 5 the partial structure schematic diagram of the base in the present application;

[0054] Figure 7 isFigure 6 Structure schematic view of the structure at the mid-hanging point position adjusting mechanism;

[0055] Figure 8 is Figure 2 Enlarged view at B.

[0056] Fig. 1 is a base; 11 is a winding and unwinding mechanism; 111 is a rotating seat; 112 is a rotating roller; 113 is a driving piece; 12 is a torsion detection mechanism; 13 is a hanging point position adjusting mechanism; 131 is a power piece; 132 is a rotating disc; 1321 is a limiting groove; 133 is a sliding seat; 1331 is a sliding groove; 134 is a sliding seat; 135 is an insertion rod; 2 is a hoisting grab bucket; 21 is a horizontal shaking preliminary reduction mechanism; 3 is a pulling sling; 4 is a fixed seat; 41 is a grab bucket posture detection mechanism; 411 is a posture monitoring gyroscope; 412 is an accelerometer; 413 is an inclination sensor; 5 is a horizontal shaking secondary reduction mechanism; 51 is a metal block; 52 is a ring-shaped permanent magnet; 6 is a rotating shaking hindering mechanism; 61 is a rotating ring; 62 is a ring-shaped gear; 63 is a driving gear; 64 is an output motor; 65 is a suspension rope; 66 is a winding wheel; 67 is a winding motor. DETAILED DESCRIPTION

[0057] The following will be described in detail with reference to the accompanying drawings. Figures 1-8 The application is further described in detail.

[0058] The embodiment of the application discloses a port portal crane hoisting use anti-shaking grab bucket.

[0059] With reference to Figure 1 , Figure 2 and Figure 3 , a port portal crane hoisting use anti-shaking grab bucket, comprising a base, a machine body, a hoisting frame and a hoisting grab bucket 2, the hoisting frame is provided with a base 1 at the end, a plurality of pulling slings 3 for suspending the hoisting grab bucket 2 are arranged on the base 1, a fixed seat 4 is fixed at the top of the hoisting grab bucket 2, each pulling sling 3 is fixedly connected with the top of the fixed seat 4, and the fixed seat 4 and the base 1 are respectively provided with a grab bucket posture detection mechanism 41, a horizontal shaking preliminary reduction mechanism 21, a winding and unwinding mechanism 11, a torsion detection mechanism 12, a hanging point position adjusting mechanism 13, a horizontal shaking secondary reduction mechanism 5, a rotating shaking hindering mechanism 6 and a control system, the control system is in electrical communication with each mechanism, and the operation and start-stop of each mechanism can be controlled.

[0060] With reference to Figure 2 , Figure 3 and Figure 4The grab posture detection mechanism 41 is arranged on the fixed seat 4 and is used for detecting the posture of the fixed seat 4 to realize detection of the shaking degree of the hoisting grab 2. The grab 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 for monitoring the angular velocity of the rotation of the hoisting grab 2 in real time. The accelerometer 412 is used for monitoring the acceleration and vibration amplitude of the hoisting grab 2. The inclination sensor 413 is used for monitoring the inclination angle of the hoisting grab 2 relative to the horizontal plane. The posture monitoring gyroscope 411, the accelerometer 412 and the inclination sensor 413 are in electrical communication with the control system.

[0061] In the working process, the hoisting grab 2 will inevitably shake due to various external factors. The shaking of the hoisting grab 2 can be generally divided into three cases: horizontal shaking, vertical shaking and rotational shaking. The horizontal shaking preliminary reduction mechanism 21, the lifting point position adjusting mechanism 13 and the horizontal shaking secondary reduction mechanism 5 can control the horizontal shaking. The torsion detection mechanism 12 and the winding and unwinding mechanism 11 can control the vertical shaking of the hoisting grab 2. The rotational shaking resistance mechanism 6 can control the rotational shaking. However, when the hoisting grab 2 is in rotational shaking, it may be accompanied by horizontal shaking, so the control structure for horizontal shaking may be needed to prevent shaking.

[0062] The following describes each shaking control structure for horizontal shaking respectively.

[0063] Referring to Figure 2 , Figure 3 and Figure 4 , the horizontal shaking preliminary reduction mechanism 21 is arranged on the top of the hoisting grab 2 and is used for preliminarily reducing the horizontal shaking of the hoisting grab 2. The horizontal shaking preliminary reduction mechanism 21 comprises two active anti-shaking gyroscopes arranged on the top of the hoisting grab 2 and two corresponding rotating bodies. The two active anti-shaking gyroscopes are used for separately controlling the rotation speed and direction of the corresponding rotating bodies. The two active anti-shaking gyroscopes are in electrical communication with the control system. The two rotating bodies are symmetrically arranged on both sides of the center line of the end face of the top of the hoisting grab 2.

[0064] The lifting point position adjusting mechanism 13 is arranged on the lower bottom of the base 1 and is provided with multiple groups corresponding to each winding and unwinding mechanism 11. The lifting point position adjusting mechanism 13 is used for adjusting the horizontal position of each winding and unwinding mechanism 11 on the base 1 to realize adjustment of the position of the upper end lifting point of each pulling sling 3.

[0065] Referring to Figure 5 and Figure 6The hoisting point position adjusting mechanism 13 comprises a power member 131, a rotating disc 132, a sliding seat 133, a sliding block 134 and a plug rod 135. The power member 131 is installed on the base 1 and is a servo motor. The rotating disc 132 is rotatably installed on the base 1 and coaxially fixed with the output end of the servo motor. The sliding seat 133 is arranged corresponding to the rotating seat 111 and is provided with a sliding groove 1331 for slidingly connecting the sliding block 134 in the direction opposite to the rotating seat 111. The sliding block 134 is slidingly connected in the corresponding sliding groove 1331 and fixedly connected with the rotating seat 111 at one end. The plug rod 135 is fixed on the sliding block 134 and the rotating disc 132 is provided with an arc-shaped limiting groove 1321 corresponding to the plug rod 135. The plug rod 135 is inserted into the corresponding limiting groove 1321.

[0066] The horizontal shaking secondary reduction mechanism 5 is arranged outside the fixed seat 4 and is used for limiting the horizontal shaking of the fixed seat 4 when the hoisting point position adjusting mechanism 13 moves the upper ends of the pulling slings 3 away from each other,

[0067] With reference to Figure 3 and Figure 5 The horizontal shaking secondary reduction mechanism 5 comprises 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 hoisting grab bucket 2. The ring-shaped permanent magnet 52 is sleeved outside the metal block 51 and a space for the shaking of the fixed seat 4 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 better inhibit the shaking of the metal block 51 and better control the hoisting grab bucket 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.

[0068] When the gyroscope sensor, the accelerometer 412 and the inclination sensor 413 jointly detect that the hoisting grab bucket 2 is in a shaking state, data is transmitted to the control system. The control system can adopt a controller. When the hoisting grab bucket 2 is horizontally shaken, the control system transmits data to the active anti-rolling gyroscope. Two active anti-rolling gyroscopes control two rotating bodies to rotate at a certain direction and speed, thereby realizing the preliminary control of the horizontal or rotational shaking of the hoisting grab bucket 2 and reducing the shaking amplitude of the hoisting grab bucket 2 or making the hoisting grab bucket 2 stable;

[0069] Then the gyroscope sensor, the accelerometer 412 and the inclination sensor 413 detect the posture of the hoisting grab bucket 2 again.

[0070] When the degree of horizontal shaking of the hoisting grab bucket 2 is detected to be less than the set degree, the rotating shaking hindering 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 on the top of the hoisting grab bucket 2, when the hoisting grab bucket 2 shakes, the fixed seat 4 also shakes together, and the inlet pipe also shakes together. At this time, the shaking metal block 51 moves relative to the magnetic field. According to Faraday's law of electromagnetic induction, the metal block 51 will generate eddy current inside the metal under the influence of the change of the magnetic field. Due to the interaction between the eddy current and the magnetic field of the annular permanent magnet 52, a reverse magnetic force is generated, thereby hindering the movement of the metal block 51, so as to make the metal block 51 quickly stop shaking, thereby realizing the shaking control of the hoisting grab bucket 2.

[0071] When the degree of horizontal shaking of the hoisting grab bucket 2 is detected to be greater than the set degree, when the hoisting grab bucket 2 is detected to shake in the horizontal direction, the power member 131 works to drive the rotating disc 132 to rotate. The sliding groove 1331 on the rotating disc 132 drives each insertion rod 135 to move along the sliding groove 1331, so as to drive each rotating seat 111 to move in the direction away from each other through the sliding seat 134, thereby realizing the mutual moving away of the upper end hanging points of each pulling sling 3. At this time, the fixed seat 4 moves upward, and stops rising when the fixed seat 4 rises into the annular permanent magnet 52. At this time, adjusting the hanging point position of each pulling sling 3 can greatly reduce the shaking of the hoisting grab bucket 2, and cooperate with the magnetic force hindering generated at the annular permanent magnet 52 to realize the shaking control of the hoisting grab bucket 2.

[0072] The following will be described in detail for each structure of the vertical shaking:

[0073] Referring to Figure 6 and Figure 7 , the winding and unwinding mechanism 11 is arranged at the lower bottom of the base 1 and is provided with multiple groups corresponding to each pulling sling 3, for winding and unwinding control of each pulling sling 3. The winding and unwinding mechanism 11 comprises a rotating seat 111, a rotating roller 112 and a driving member 113. The rotating seat 111 is installed on the base 1, the rotating roller 112 is rotatably installed on the rotating seat 111, each pulling sling 3 is wound on the corresponding rotating seat 111, and 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 rotating roller 112.

[0074] In order to detect the torsion on the rotating roller 112, the torsion detection mechanism 12 is arranged on one side of the rotating roller 112 at the lower bottom of the base 1, and is provided with multiple groups corresponding to each winding and unwinding mechanism 11, for detecting the torsion when each winding and unwinding mechanism 11 winds and unwinds the corresponding pulling sling 3. The torsion detection mechanism 12 comprises a torsion sensor arranged between the rotating roller 112 and the stepping motor, which is used to measure the different torsions of the corresponding pulling sling 3 caused by the hoisting grab bucket 2.

[0075] When the vertical swing of the hoisting grab bucket 2 is detected, it means that the center of gravity of the material grabbed in the hoisting grab bucket 2 is unstable or unbalanced. At this time, the torsion sensor detects the force 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 the other pulling slings 3, the stepping motor drives the rotating roller 112 to rotate, thereby shrinking the pulling slings 3 with greater force, achieving control of the vertical swing of the hoisting grab bucket 2. The posture of the hoisting grab bucket 2 is repeatedly detected, and the pulling slings 3 are repeatedly retracted and extended, thereby achieving control of the swing of the hoisting grab bucket 2.

[0076] The structure of the rotational swing control will be described in detail as follows:

[0077] The rotational swing hindering mechanism 6 is arranged on the base 1 and is used to provide the fixed seat 4 with a force hindering the rotational swing after the horizontal swing secondary reduction mechanism 5 limits the horizontal movement of the fixed seat 4.

[0078] Referring to Figure 2 and Figure 8 , the rotational swing hindering 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 roller 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, and the driving gear 63 is engaged with the annular gear 62.

[0079] The suspension rope 65, the winding roller 66, and the winding motor 67 are correspondingly arranged in multiple groups, the winding rollers 66 are spaced apart and installed on the rotating ring 61, the output end of the winding motor 67 is coaxially fixed with the corresponding winding roller 66, one end of each suspension rope 65 is wound on the corresponding winding roller 66, and the other end is fixedly connected with the corresponding part of the annular permanent magnet 52.

[0080] When the hoisting grab bucket 2 is in rotational swing, although it is in rotational swing, there are two cases of only rotation and both rotation and horizontal swing. When the hoisting grab bucket 2 only rotates, each winding motor 67 synchronously realizes the elongation of the suspension rope 65, so that the annular permanent magnet 52 is lowered to a position 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, the annular gear 62 drives the rotating ring 61 to rotate, thereby driving the annular permanent magnet 52 to rotate in the opposite direction of the metal block 51 through the suspension rope 65. When the rotating 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 rotating direction of the metal block 51, which will generate a reverse torque, thereby achieving control of the rotation of the hoisting grab bucket 2.

[0081] When the rotating and shaking is in the state of rotating and horizontal shaking, the control system controls the active anti-shaking gyroscope to rotate the rotating body at a corresponding speed and direction, so as to preliminarily control the horizontal shaking of the hoisting grab 2;

[0082] When it is detected that the horizontal shaking degree of the hoisting grab 2 is less than the set degree, the winding motor 67 synchronously realizes the elongation of each suspension rope 65, so that the annular permanent magnet 52 is lowered to a position 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, 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 opposite direction of the metal block 51. When the rotating directions of the annular permanent magnet 52 and the metal block 51 are opposite, the relative motion of the magnetic field and the metal block 51 generates an electromagnetic force, and the direction of the force is opposite to the rotating direction of the metal block 51, so that a reverse torque is generated to realize the rotating control of the hoisting grab 2.

[0083] When it is detected that the horizontal shaking degree of the hoisting grab 2 is greater than the set degree, the power member 131 works to drive the rotating disc 132 to rotate, the sliding groove 1331 on the rotating disc 132 drives each insertion rod 135 to move along the sliding groove 1331, so that each insertion rod 135 drives each rotating seat 111 to move in the direction away from each other through the sliding seat 134, so that the mutual separation of the upper end hanging points of each traction sling 3 is realized. At this time, the fixed seat 4 moves upward, and stops rising when the fixed seat 4 rises into the annular permanent magnet 52. The output motor 64 drives the annular gear 62 to rotate through the driving gear 63, 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 opposite direction of the metal block 51.

[0084] The implementation principle of the anti-shaking grab of the port gantry crane is that the grab posture detection mechanism 41 can detect the posture of the hoisting grab 2 in real time, and the control system can control different mechanisms to control the shaking of the hoisting grab 2 according to the posture of the hoisting grab 2 detected by the grab posture detection mechanism 41. The shaking of the hoisting grab 2 can be horizontal shaking, vertical shaking or rotating shaking. The horizontal shaking preliminary reduction mechanism 21, the winding and unwinding mechanism 11, the torsion detection mechanism 12, the hanging point position adjusting mechanism 13, the horizontal shaking secondary reduction mechanism 5 and the rotating shaking resistance mechanism 6 can process the three types of shaking respectively, so that the hoisting grab 2 can be quickly controlled when it is shaken, and the hoisting grab 2 can stably hoist materials, so that the hoisting of the materials is safer and faster.

[0085] The anti-shaking method of the anti-shaking grab of the port gantry crane is applied to the anti-shaking grab of the port gantry crane, and includes the following steps:

[0086] S1: When the grab bucket 2 shakes, the grab bucket posture detection mechanism 41 monitors the posture of the grab bucket 2, and transmits the monitored posture data to the control system;

[0087] S2: When the grab bucket posture detection mechanism 41 detects that the shaking of the grab bucket 2 is horizontal shaking, the control system controls the horizontal shaking preliminary reduction mechanism 21 to work, and preliminarily controls the horizontal shaking of the grab bucket 2, and the grab bucket posture detection mechanism 41 detects the posture of the grab bucket 2 again;

[0088] When the degree of the horizontal shaking of the grab bucket 2 is less than the set degree, the moving part of the horizontal shaking secondary reduction mechanism 5 is lowered to the height of the fixed seat 4, and when the degree of the horizontal shaking of the grab bucket 2 is greater than the set degree, the lifting point position adjusting mechanism 13 moves the lifting points at the upper ends of the traction cables 3 away from each other, and the fixed seat 4 is raised to the height of the moving part of the horizontal shaking secondary reduction mechanism 5;

[0089] When the grab bucket posture detection mechanism 41 detects that the shaking of the grab bucket 2 is vertical shaking, the control system controls the winding and unwinding mechanism 11 to work, and the winding and unwinding mechanism 11 shrinks the traction cable 3 under greater stress, and cooperates with the grab bucket posture detection mechanism 41 to monitor the posture of the grab bucket 2 in real time, and adjusts the posture of the grab bucket 2 to a stable state;

[0090] When the grab bucket posture detection mechanism 41 detects that the shaking of the grab bucket 2 is rotational shaking and only exists in shaking, the moving part of the horizontal shaking secondary reduction mechanism 5 is lowered to the height of the fixed seat 4, the rotational shaking hindering mechanism 6 rotates in the opposite direction of the rotation of the grab bucket 2, and the grab bucket posture detection mechanism 41 detects the posture of the grab bucket 2 until the posture of the grab bucket 2 is stable;

[0091] When the grab bucket posture detection mechanism 41 detects that the shaking of the grab bucket 2 is rotational shaking and exists in both rotation 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 grab bucket 2 again;

[0092] When the degree of the shaking of the grab bucket 2 is less than the set degree, the moving part of the horizontal shaking secondary reduction mechanism 5 is lowered to the height of the fixed seat 4, the rotational shaking hindering mechanism 6 rotates in the opposite direction of the rotation of the grab bucket 2, and the grab bucket posture detection mechanism 41 detects the posture of the grab bucket 2 until the posture of the grab bucket 2 is stable;

[0093] When the degree of swing of the hoisted grab 2 is greater than the set degree, the hoisting point position adjusting mechanism 13 moves the hoisting points of the upper ends of each of the pull hoisting ropes 3 away from each other, and makes the fixed seat 4 rise to the height of the moving part of the horizontal swing secondary reduction mechanism 5, rotates the swing hindering mechanism 6 in the opposite direction of the rotation of the hoisted grab 2, and the grab posture detecting mechanism 41 detects the posture of the hoisted grab 2 until the posture of the hoisted grab 2 is stable.

[0094] The above are optional embodiments of the present application, and do not limit the protection scope of the present application, so: all equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A port portal crane hoisting anti-swing grab bucket, comprising a hoisting frame and a hoisting grab bucket (2), characterized in that: The end of the lifting frame is provided with a base (1), the base (1) is provided with a control system, the base (1) is provided with a plurality of pull ropes (3) for suspending a lifting grab (2), the top of the lifting grab (2) is fixedly provided with a fixing seat (4), each pull rope (3) is fixedly connected with the top of the fixing seat (4), and the fixing seat (4) and the base (1) are respectively provided with: A grab 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); A base (1) is arranged on the bottom of the base (1), and a winding and unwinding mechanism (11), a torsion detection mechanism (12) and a lifting point position adjusting mechanism (13) are arranged on the bottom of the base (1), respectively, a plurality of groups of winding and unwinding mechanisms (11) are arranged corresponding to each pull rope (3), and a plurality of groups of torsion detection mechanisms (12) and lifting point position adjusting mechanisms (13) are arranged corresponding to each winding and unwinding mechanism (11); A horizontal shaking secondary reduction mechanism (5) is arranged outside the fixing seat (4) and is used for limiting the horizontal shaking of the fixing seat (4) when the lifting point position adjusting mechanism (13) moves the upper end of each pull rope (3) in the direction away from each other; A rotary shaking resistance mechanism (6) is arranged on the base (1) and is used for providing the fixing seat (4) with a force resisting rotary shaking after the horizontal shaking secondary reduction mechanism (5) limits the horizontal movement of the fixing seat (4); The horizontal shaking preliminary reduction mechanism (21) comprises two active anti-rolling gyroscopes arranged on the top of the lifting grab (2) and two corresponding rotating bodies, the two active anti-rolling gyroscopes are used for separately controlling the rotating speed and direction of the corresponding rotating bodies, the two active anti-rolling gyroscopes are in electrical connection with the control system, and the two rotating bodies are symmetrically arranged on the two sides of the center line of the end face of the lifting grab (2). The horizontal shaking secondary reduction mechanism (5) comprises a metal block (51) and a ring-shaped permanent magnet (52), the metal block (51) is fixedly installed between the fixing 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 shaking of the fixing seat (4) is reserved between the inner side wall of the ring-shaped permanent magnet (52) and the outer side wall of the metal block (51); The rotary shaking resistance mechanism (6) comprises a rotary ring (61), a ring-shaped 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 rotary ring (61) is rotatably installed outside the base (1), the ring-shaped gear (62) is coaxially fixed on the rotary 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 in meshing connection with the ring-shaped gear (62). A plurality of sets of the suspension ropes (65), the winding wheels (66) and the winding motors (67) are correspondingly provided, the winding wheels (66) are spaced apart and installed on the rotating ring (61), the output ends of the winding motors (67) are coaxially fixed with the corresponding winding wheels (66), one end of each of the suspension ropes (65) is wound on the corresponding winding wheel (66), and the other end is fixedly connected with the corresponding part of the annular permanent magnet (52).

2. The anti-swing grab for port portal crane according to claim 1, characterized in that: The 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 for monitoring the angular velocity of the rotation of the lifting grab (2) in real time. The accelerometer (412) is used for monitoring the acceleration and vibration amplitude of the lifting grab (2). The inclination sensor (413) is used for monitoring the inclination angle of the lifting grab (2) relative to the horizontal plane. The posture monitoring gyroscope (411), the accelerometer (412) and the inclination sensor (413) are in electrical communication with the control system.

3. The anti-swing grab for port portal crane according to claim 1, characterized in that: The winding and unwinding mechanism (11) comprises a rotating seat (111), a rotating roller (112) and a driving member (113). The rotating seat (111) is installed on the base (1). The rotating roller (112) is rotatably installed on the rotating seat (111). Each of the pulling slings (3) is wound on the corresponding rotating seat (111). The driving member (113) is arranged at one end of the rotating seat (111) and is coaxially fixed with the rotating roller (112) at the output end.

4. The anti-swing grab for port portal crane according to claim 3, characterized in that: The torsion detection mechanism (12) comprises a torsion sensor arranged between the rotating roller (112) and the driving member (113). The torsion sensor is used for measuring the different torsions of the lifting grab (2) on the corresponding pulling slings (3).

5. The anti-swing grab for port portal crane according to claim 3, characterized in that: The lifting point position adjusting mechanism (13) comprises a power member (131), a rotating disc (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 rotating disc (132) is rotatably installed on the base (1) and is coaxially fixed with the output end of the power member (131). The sliding seat (133) is arranged corresponding to the rotating seat (111). A sliding groove (1331) for slidingly connecting the sliding block (134) is formed on the sliding seat (133) in a direction opposite to the rotating seat (111). The sliding block (134) is slidingly connected in the corresponding sliding groove (1331) and is fixedly connected with the rotating seat (111) at one end. The plug rod (135) is fixed on the sliding block (134). An arc-shaped limiting groove (1321) is formed on the rotating disc (132) corresponding to the plug rod (135). The plug rod (135) is inserted into the corresponding limiting groove (1321).

6. The anti-swing grab for port portal crane according to claim 1, 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).

7. A method for anti-swinging of a port portal crane hoisting anti-swinging grab, applied to the anti-swinging grab of any one of claims 1-6, characterized in that: The method comprises the following steps: S1: When the grab bucket (2) is swinging, the grab bucket posture detection mechanism (41) monitors the posture of the 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 swinging of the grab bucket (2) is horizontal swinging, the control system controls the horizontal swinging preliminary reduction mechanism (21) to work, preliminarily controls the horizontal swinging of the grab bucket (2), and the grab bucket posture detection mechanism (41) detects the posture of the grab bucket (2) again; S3: When the grab bucket posture detection mechanism (41) detects that the swinging of the grab bucket (2) is vertical swinging, the control system controls the winding and unwinding mechanism (11) to work, the winding and unwinding mechanism (11) shrinks the tensioned sling (3) which bears more force, and the grab bucket posture detection mechanism (41) monitors the posture of the grab bucket (2) in real time to adjust the posture of the grab bucket (2) to a stable state; S4: When the grab bucket posture detection mechanism (41) detects that the swinging of the grab bucket (2) is rotational swinging and only exists in the rotational swinging, the moving part of the horizontal swinging secondary reduction mechanism (5) is lowered to the height of the fixed seat (4), the rotational swinging resistance mechanism (6) rotates in the opposite direction of the rotation of the grab bucket (2), the grab bucket posture detection mechanism (41) detects the posture of the grab bucket (2), and the posture of the grab bucket (2) is stable; S5: When the grab bucket posture detection mechanism (41) detects that the swinging of the grab bucket (2) is rotational swinging and exists in both the rotation and the horizontal swinging, the control system controls the horizontal swinging preliminary reduction mechanism (21) to work, and the grab bucket posture detection mechanism (41) detects the posture of the grab bucket (2) again.

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