Anti-swing and anti-twisting system for skew trolley of container crane

Abstract

The invention discloses an anti-swing and anti-twist system for a skew trolley of a container crane. The anti-swing and anti-twist system comprises a main crane, a lifting appliance, an anti-swing and anti-twist assembly, a sensing detection assembly and an anti-swing and anti-twist control system for the skew trolley. The surface of the main hoisting car is provided with a main hoisting component for main hoisting and winding and at least four steel wire ropes, the top surface of the lifting appliance is provided with movable pulley steel wire ropes of which the number corresponds to that of the steel wire ropes, and the movable pulley steel wire ropes are discharged from the main hoisting component, wound around the lifting appliance movable pulley and then wound back to the Skew trolley of the main hoisting car fixing and anti-swing and anti-twisting component. The anti-swing and anti-twist assembly is installed on the surface of the main hoisting vehicle and comprises a Skew trolley track cross beam, a Skew trolley, a driving motor, a speed reducer and a chain wheel box installed on the Skew trolley track cross beam. The output end of the driving motor and the output end of the speed reducer are in transmission connection with the chain wheel box, the Skew trolley is driven by a chain to horizontally move on the Skew trolley rail cross beam, and therefore the fixed end of the lifting steel wire rope is controlled to move. According to the system, through accurate Skew trolley control and an advanced anti-swing and anti-twisting algorithm, swing and twisting of the lifting appliance and the container in the operation process can be remarkably reduced, the stability and accuracy of loading and unloading operation are improved, and therefore the operation speed is increased, and cargo damage or operation interruption caused by swing is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of container cranes, in particular to a skew trolley anti-sway and anti-twist system for a container crane. Background Art

[0002] In the field of container crane technology, the increasing size of container ships and the advancement of port automation have placed higher demands on the operating efficiency and stability of container cranes. Particularly in harsh port environments, the operating state of container cranes is easily affected by a variety of factors, causing spreaders to sway and twist during operation. This not only reduces loading and unloading efficiency but also increases operational safety risks. Currently, a variety of anti-sway and anti-twist technologies for container crane spreaders are available on the market, primarily including inverted triangle eight-rope anti-sway systems, auxiliary wire rope anti-sway systems, rigid guide drum brake anti-sway systems, and electronic anti-sway systems.

[0003] Existing Technologies: 1. Inverted Triangle Eight-Rope Anti-sway System: By adding a pulley block, the lifting wire ropes are arranged in an inverted triangle, utilizing the horizontal component of the lifting rope force to reduce sway. 2. Auxiliary Wire Rope Anti-sway System: A set of intersecting auxiliary wire ropes is placed between the trolley and the spreader, forming several stable triangular structures through intersection. The resulting diagonal tension suppresses sway. 3. Rigid Guide Cylinder Braking Anti-sway System: A guide cylinder is installed above the spreader. The guide cylinder rolls or slides up and down within an outer cylinder and frame connected to the trolley frame. The rigidity of the guide cylinder and trolley counteracts horizontal forces acting on the spreader, effectively preventing sway of the spreader and load. 4. Electronic Anti-sway System: Using modern control and measurement methods, the trolley and spreader are linked. A detection device measures the relative distance and height of the trolley to the target position, controlling when to decelerate and brake the trolley, reducing the load deflection angle and accurately positioning it above the target, thereby proactively preventing sway.

[0004] The shortcomings or disadvantages of the existing technology are: the winding of the wire rope of the inverted triangle eight-rope anti-sway system is complicated, the wire rope wear increases, the life is shortened, and the cost is high; the auxiliary wire rope anti-sway system has a complex structure, many peripheral equipment, high cost, and troublesome maintenance and debugging; the rigid guide drum brake type has a complex structure and high cost, and is mainly suitable for occasions with low lifting heights; compared with the above three types, the electronic anti-sway system has a slightly worse anti-sway effect and is easily affected by wind. The anti-sway effect decreases under windy conditions, and it cannot prevent the container from twisting.

[0005] In view of this, we have studied and improved the existing problems and provided a container crane skew trolley anti-sway and anti-twist system to solve the current problems. The purpose is to solve the problems and improve the practical value through this technology. Summary of the Invention

[0006] The present invention aims to solve one of the technical problems existing in the prior art or related technologies.

[0007] To this end, the technical solution adopted by the present invention is: a container crane skew trolley anti-sway and anti-twist system, including: a main starting vehicle, a spreader, an anti-sway and anti-twist component and a sensor detection component and a Skew trolley anti-sway and anti-twist control system, the surface of the main starting vehicle is provided with a main hoisting component and at least four steel ropes for main lifting winding, the top surface of the spreader is provided with a movable pulley corresponding to the number of steel ropes, the anti-sway and anti-twist component is fixed to the surface of the main starting vehicle, the anti-sway and anti-twist component includes a Skew trolley track beam, a Skew trolley, a drive motor and a reducer and a skew trolley installed on the skew trolley. The sprocket box on the surface of the Skew trolley track beam, the input end of the sprocket box is transmission-connected to the output end of the drive motor and the reducer, the surface of the Skew trolley is provided with a steel wire rope fixed end and the surface of the main sailing vehicle is provided with a limit detection plate, one end of the steel wire rope is wound and fixed to the surface of the main hoisting assembly and the other end passes through the movable pulley and is fixed to the surface of the steel wire rope fixed end, the Skew trolleys are slidingly or rollingly installed on the surface of the Skew trolley track beam and the number thereof corresponds to the number of steel wire ropes, and the Skew trolley track beam guides the sliding or rolling movement of the Skew trolley; The skew trolley anti-sway and anti-twist control system includes: a servo driver connected to a drive motor for controlling the movement of the skew trolley; a control unit that receives signals from a signal acquisition system, calculates the sway and torsion compensation of the container using a preset algorithm, and controls the servo motor to drive the skew trolley to perform corresponding actions to eliminate the sway and torsion of the container; the sensing detection component includes: at least one sensor mounted on the spreader or limit detection plate for detecting signals such as the horizontal plane torsion angle and sway angle of the spreader and container; and a communication processor for converting the DC analog signal detected by the sensor into a CAN communication signal and transmitting it to the control unit; Among them, the Skew trolley anti-sway and anti-torsion control system realizes fast and accurate container stacking operations of the container crane under severe wind load conditions through the rapid response and precise control of the Skew trolley, combined with the algorithm assistance of the control unit.

[0008] In a preferred example, the present invention can be further configured as follows: the number of the wire ropes and movable pulleys are four and they are distributed at the four corners of the top surface of the sling, one end of the four groups of wire ropes are arranged on the surface of the same main hoisting assembly or fixed in groups of two to the surfaces of two synchronously moving main hoisting assemblies, and a four-rope winding design is adopted to enhance the flexibility and stability of the system. According to the load-bearing weight of the container, one or two sets of synchronously working main hoisting assemblies are selected to adapt to the needs of different lifting weights.

[0009] In a preferred example, the present invention can be further configured as follows: the sensing detection component also includes a data processing module for filtering, amplifying and digitizing the received signal to improve signal quality and system response speed.

[0010] In a preferred example, the present invention can be further configured as follows: the control unit adopts advanced control algorithms, such as fuzzy control, PID control or neural network control, to achieve precise control of the Skew car's movements.

[0011] In a preferred example, the present invention can be further configured as follows: the sensor is a laser sensor fixed to the bottom surface of the limit detection plate and is used to detect marks on the surface of the spreader to determine the horizontal displacement of the spreader.

[0012] In a preferred example, the present invention can be further configured as follows: the sensor is one or more combinations of an acceleration sensor, a gyroscope, and an inclination sensor fixed to the surface of the spreader.

[0013] In a preferred example, the present invention can be further configured as follows: the driving motor is a servo motor structure, the sprocket box is an open sprocket structure, and a chain that is compatible with the sprocket box is provided on the inner side of the Skew trolley. The driving motor and the sprocket chain are used to achieve precise movement control of the Skew trolley on the surface of the Skew trolley track beam.

[0014] In a preferred example, the present invention can be further configured as follows: the container crane skew trolley anti-sway and anti-twist system also includes a safety protection device for immediately stopping the operation of the skew trolley and the main hoisting assembly when an abnormal situation is detected to ensure the safety of equipment and personnel.

[0015] The beneficial effects achieved by the present invention are: 1. This system, through precise skew trolley control and advanced anti-sway and anti-twist algorithms, significantly reduces sway and twisting of spreaders and containers during operations, improving the stability and accuracy of loading and unloading operations. This speeds up operations and reduces cargo damage or interruptions caused by sway. By integrating modern control and measurement technologies, the system achieves intelligent, coordinated control of the trolley and spreader, automatically adjusting operating parameters based on real-time data, reducing manual intervention and improving the level of automation.

[0016] 2. Compared with traditional complex anti-sway systems, such as the inverted triangle eight-rope anti-sway system and the auxiliary wire rope anti-sway system, your design adopts a simpler and more durable mechanical structure and electronic control components, reducing the number and complexity of wearing parts, thereby reducing maintenance and replacement costs.

[0017] 3. In the present invention, the system has higher flexibility and adaptability, and can be applied to containers of different sizes and weights and different port operating environments. Especially under conditions of strong winds, by optimizing the control algorithm, the system can more effectively resist external interference, maintain the stability of the spreader and container, and reduce the swinging and twisting of the spreader and container. This not only improves the operating efficiency, but also significantly reduces the risk of safety accidents caused by shaking, such as collisions and falls, thereby ensuring the safety of operators and surrounding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the surface structure of the main launching vehicle according to an embodiment of the present invention; Figure 3 A schematic diagram of the surface structure of a spreader according to an embodiment of the present invention; Figure 4 This is a schematic structural diagram of an anti-sway and anti-torsion assembly according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of a Skew trolley according to an embodiment of the present invention.

[0019] Reference numerals: 100. Main launching vehicle; 110. Main hoisting winch assembly; 120. Wire rope; 200, sling; 210, movable pulley; 300, anti-sway and anti-twist assembly; 310, skew trolley track beam; 320, skew trolley; 330, drive motor and reducer; 340, sprocket box; 321, wire rope fixed end; 322, limit detection plate; 400. Sensing detection component. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be noted that the embodiments of the present invention and the features therein can be combined with each other without conflict.

[0021] It should be understood that these descriptions are exemplary only and are not intended to limit the scope of the invention.

[0022] The following describes, with reference to the accompanying drawings, a container crane skew trolley anti-sway and anti-torsion system provided by some embodiments of the present invention.

[0023] Combine Figure 1-Figure 5As shown, the container crane skew trolley anti-sway and anti-twist system provided by the present invention includes: a main sailing vehicle 100, a spreader 200, an anti-sway and anti-twist component 300 and a sensor detection component 400 and a Skew trolley anti-sway and anti-twist control system. The surface of the main sailing vehicle 100 is provided with a main hoisting component 110 and at least four steel wire ropes 120 for main lifting winding, the top surface of the spreader 200 is provided with a movable pulley 210 corresponding to the number of steel wire ropes 120, the anti-sway and anti-twist component 300 is installed on the surface of the main sailing vehicle 100, and the anti-sway and anti-twist component 300 includes a beam seat 310, a Skew trolley 320, a drive motor and a reducer 330 and a sensor detection component 400 installed on the Skew trolley. The sprocket box 340 is on the surface of the track beam 310, and the input end of the sprocket box 340 is transmission-connected to the output end of the drive motor and the reducer 330. The surface of the skew trolley 320 is provided with a wire rope fixed end 321 and the surface of the main sailing vehicle is provided with a limit detection plate 322. One end of the wire rope 120 is wound and fixed to the surface of the main hoisting assembly 110, and the other end passes through the movable pulley 210 and is fixed to the surface of the wire rope fixed end 321. The skew trolleys 320 are slidably or rollingly installed on the surface of the skew trolley track beam 310, and the number of the skew trolleys 320 corresponds to the number of the wire ropes 120. The skew trolley track beam 310 guides the skew trolleys 320 to slide or move; The skew trolley anti-sway and anti-twist control system includes: a servo driver correspondingly connected to the drive motor and the reducer 330, for controlling the movement of the skew trolley 320; The control unit receives signals from the signal acquisition system, calculates the sway and torsion compensation of the container using a preset algorithm, and controls the servo motor to drive the skew trolley 320 to perform corresponding actions to eliminate the sway and torsion of the container; The sensing detection assembly 400 includes: at least one sensor mounted on the spreader 200 or the limit detection plate 322, for detecting signals such as the horizontal torsion angle and swing angle of the spreader 200 and the container; A communication processor is used to convert the DC analog signal detected by the sensor into a CAN communication signal and transmit it to the control unit; Among them, the Skew trolley anti-sway and anti-torsion control system realizes the fast and accurate stacking operation of the container crane under severe wind load conditions through the rapid response and precise control of the Skew trolley 320, combined with the algorithm assistance of the control unit.

[0024] In this embodiment, the number of the steel wire ropes 120 and the movable pulleys 210 are both four and are distributed at the four corners of the top surface of the sling 200. One end of the four groups of steel wire ropes 120 are arranged on the surface of the same main hoisting assembly 110 or are fixed in groups of two to the surfaces of two synchronously moving main hoisting assemblies 110. The other ends of the four groups of steel wire ropes (120) are arranged on the surface of the Skew trolley (320) or are fixed in groups of two to the surface of the Skew trolley (320).

[0025] Specifically, a four-rope winding design is adopted to enhance the flexibility and stability of the system. One or two sets of synchronously working main hoisting assemblies 110 are selected according to the container load to adapt to the needs of different lifting weights.

[0026] In this embodiment, the sensing detection component 400 further includes a data processing module for filtering, amplifying and digitizing the received signal to improve signal quality and system response speed.

[0027] In this embodiment, the control unit adopts advanced control algorithms, such as fuzzy control, PID control or neural network control, to achieve precise control of the motion of the Skew car.

[0028] The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that the sensor is a laser sensor fixed to the bottom surface of the limit detection plate 322 and is used to detect punctuation points on the surface of the spreader 200 to determine the horizontal displacement of the spreader 200.

[0029] In this embodiment, the sensor is one or more combinations of an acceleration sensor, a gyroscope, and an inclination sensor fixed to the surface of the spreader 200 .

[0030] Specifically, an accelerometer can sense changes in an object's acceleration and convert them into a measurable electrical signal. To detect sway in the spreader 200, the accelerometer measures the acceleration changes caused by the sway. Gyroscope data can be used to analyze the sway trajectory and stability of the spreader 200, providing important information for anti-sway and anti-twist control. When the spreader 200 experiences sway, the inclination sensor quickly detects and outputs tilt angle data, enabling the control system to make timely adjustments.

[0031] In this embodiment, the drive motor and reducer 330 are servo motor structures, the sprocket box 340 is an open sprocket structure, and a chain compatible with the sprocket box 340 is provided on the inner side of the skew trolley 320, with both ends of the chain fixed to the skew trolley 320.

[0032] Specifically, the driving motor, the reducer 330 and the sprocket box 340 are used to realize the precise movement control of the skew trolley 320 on the surface of the skew trolley track beam 310.

[0033] In this embodiment, the container crane skew trolley anti-sway and anti-torsion system also includes a safety protection device for immediately stopping the operation of the skew trolley 320 and the main hoisting assembly 110 when an abnormal situation is detected to ensure the safety of equipment and personnel.

[0034] The working principle and use process of the present invention: Main hoisting vehicle 100: Serving as the supporting platform for the entire system, it is provided with a main hoisting assembly 110 and at least four steel ropes 120. One end of the steel rope 120 is fixed to the main hoisting assembly 110, and the other end passes through the movable pulley 210 on the top surface of the sling 200 and is connected to the Skew trolley 320 of the anti-sway and anti-torsion assembly 300.

[0035] The anti-sway and anti-torsion assembly 300 is fixed to the surface of the main launching vehicle 100 and includes a skew trolley track beam 310 and a skew trolley 320. The skew trolley 320 is connected to a servo motor and a reducer 330 via a sprocket box 340. It can slide or roll on the skew trolley track beam to achieve precise position adjustment.

[0036] Sensor detection: The sensing detection component 400 includes sensors installed on the spreader 200 or the main launching vehicle 100, such as laser sensors, acceleration sensors, gyroscopes, inclination sensors, etc., which are used to detect signals such as the horizontal plane torsion angle and swing angle of the spreader 200 and the container in real time.

[0037] Signal processing and control: The communication processor converts the DC analog signal detected by the sensor into a CAN communication signal and transmits it to the control unit. After receiving the signal, the control unit calculates the container's sway and torsion compensation using a preset algorithm such as fuzzy control, PID control, or neural network control.

[0038] Based on the calculation results, the control unit sends instructions to the servo driver, driving the servo motor and reducer 330 to rotate. This, in turn, drives the skew trolley 320 via the sprocket 340 to slide or roll on the skew trolley track beam 310, generating the necessary horizontal force component. This controls the horizontal movement of the fixed end of the wire rope to offset the sway and twist of the container. The system continuously monitors and provides feedback on the status of the spreader 200 and the container throughout the operation, making real-time adjustments and optimizations based on actual conditions to ensure operational stability and accuracy.

[0039] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, illustrative uses of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0040] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. The container crane skew trolley anti-sway and anti-torsion system is characterized by: include: A main launching vehicle (100), a hoist (200), an anti-sway and anti-twist assembly (300), a sensor detection assembly (400), and a skew trolley anti-sway and anti-twist control system, wherein the surface of the main launching vehicle (100) is provided with a main hoisting assembly (110) and at least four steel wire ropes (120) for main lifting winding, the top surface of the hoist (200) is provided with a fixed pulley (210) corresponding to the number of steel wire ropes (120), the anti-sway and anti-twist assembly (300) is installed on the surface of the main launching vehicle (100), the anti-sway and anti-twist assembly (300) includes a skew trolley track beam (310), a skew trolley (320), a drive motor and a reducer (330), and a sprocket box (340) installed on the skew trolley track beam (310), The input end of the sprocket box (340) is transmission-connected to the output end of the drive motor and the reducer (330); a steel wire rope fixed end (321) is provided on the surface of the skew trolley (320) and a limit detection plate (322) is provided on the main hoisting vehicle (100); one end of the steel wire rope (120) is wound and fixed to the main hoisting assembly (110) and the other end passes through the movable pulley (210) and is fixed to the surface of the steel wire rope fixed end (321); the skew trolleys (320) are slidingly or rollingly mounted on the surface of the skew trolley track beam (310) and the number of the skew trolleys corresponds to the number of the steel wire ropes (120) (two steel wire ropes correspond to one skew trolley); the skew trolley track beam (310) guides the skew trolleys (320) to slide or roll; The skew trolley anti-sway and anti-twist control system comprises: a servo driver correspondingly connected to the drive motor and the reducer (330), for controlling the movement of the skew trolley (320); A control unit receives a signal from the signal acquisition system, calculates the sway and torsion compensation of the container through a preset algorithm, and controls the servo motor to drive the skew trolley (320) to perform corresponding actions to eliminate the sway and torsion of the container; The sensing detection assembly (400) includes: at least one sensor installed on the spreader (200) or the limit detection plate (322), used to detect signals such as the horizontal plane torsion angle and swing angle of the spreader (200) and the container; A communication processor is used to convert the DC analog signal detected by the sensor into a CAN communication signal and transmit it to the control unit; The skew trolley anti-sway and anti-torsion control system realizes fast and accurate stacking operations of the container crane under severe wind load conditions through the rapid response and precise control of the skew trolley (320) combined with the algorithm assistance of the control unit.

2. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The number of the steel wire ropes (120) and the movable pulleys (210) are four and they are distributed at the four corners of the top surface of the sling (200). One end of the four groups of steel wire ropes (120) is arranged on the surface of the same main hoisting assembly (110) or fixed in pairs to the surfaces of two synchronously moving main hoisting assemblies (110). The other ends of the four groups of steel wire ropes (120) are arranged on the surface of the skew trolley (320) or fixed in pairs to the surface of the skew trolley (320).

3. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The sensing detection component (400) further comprises a data processing module for filtering, amplifying and digitally processing the received signal to improve signal quality and system response speed.

4. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The control unit adopts advanced control algorithms, such as fuzzy control, PID control or neural network control, to achieve precise control of the Skew car's movements.

5. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The sensor is a laser sensor fixed to the bottom surface of the limit detection plate (322) and is used to detect punctuation points on the surface of the sling (200) to determine the horizontal displacement and posture of the sling (200).

6. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The sensor is one or more combinations of an acceleration sensor, a gyroscope, and an inclination sensor fixed on the surface of the sling (200).

7. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: The driving motor and reducer (330) are servo motor structures, the sprocket box (340) is an open sprocket structure, and a chain that matches the sprocket box (340) is provided on the inner side of the skew trolley (320), and is fixed to the skew trolley (320) at both ends.

8. The container crane skew trolley anti-sway and anti-torsion system according to claim 1 is characterized in that: A safety protection device is also included for immediately stopping the operation of the Skew trolley (320) and the main hoisting assembly (110) when an abnormal situation is detected, so as to ensure the safety of equipment and personnel.

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