Double-winding-drum anti-swing mechanism suitable for high stacking and crane

Abstract

The invention provides a double-winding-drum anti-swing mechanism suitable for a high stack and a crane. The number of the guide pulleys and the number of the steel wire ropes are both four, the four guide pulleys are fixed to the four corners of the upper surface of the upper frame respectively, the first rope head ends of the two steel wire ropes are fixed to the first winding drum, and the first rope head ends of the two steel wire ropes are fixed to the second winding drum. The steel wire rope downwards extends to the corresponding guide pulley from the first winding drum or the second winding drum in the vertical direction, and the second rope head end of the steel wire rope is obliquely pulled to the micro-motion trolley in the cart direction after being guided by the guide pulley. The first rope end of each steel wire rope, the corresponding guide pulley and the second rope end define a triangle, and the plane where the triangle is located is parallel to the cart direction and perpendicular to the trolley direction. The light source module is arranged on the upper frame, the image acquisition module is arranged at the position, corresponding to the light source module, of the trolley frame, and the position of light emitted by the light source module is captured through the image acquisition module to control the trolley frame to make compensation motion in the trolley direction.

Description

TECHNICAL FIELD

[0001] The present application relates to a crane, in particular to a double-drum anti-sway mechanism suitable for high stacking and a crane. BACKGROUND

[0002] In the operation of a port terminal, the effective use of yard space is of great importance. To improve storage capacity, increasing the number of stacked containers is a common solution.

[0003] However, after the existing yard crane increases the height of the stacked containers, the trolley is likely to dig into the bottom layer of containers, causing the steel wire rope to touch the adjacent stacked containers. In this case, if the lifting steel wire rope is retracted in an attempt to avoid interference with the container stacks, it may adversely affect the anti-sway ability of the trolley in the direction, resulting in a decrease in the stability of the entire system and a significant weakening of the anti-sway ability of the trolley in the direction. SUMMARY

[0004] The purpose of the present application is to provide a double-drum anti-sway mechanism suitable for high stacking and a crane, which can achieve anti-sway effect while reducing the space occupied by the steel wire rope.

[0005] One aspect of the present application provides a double-drum anti-sway mechanism suitable for high stacking, comprising a trolley frame, a double-drum lifting structure, an upper frame, a spreader, a guide pulley, a micro-trolley, a steel wire rope, a light source module, and an image acquisition module. The double-drum lifting structure and the micro-trolley are arranged on the trolley frame. The double-drum lifting mechanism includes two independently arranged first and second drums. The guide pulley is arranged on the upper surface of the upper frame, and the spreader is arranged on the lower surface of the upper frame. The number of guide pulleys and steel wire ropes is four. Two of the guide pulleys are fixed to the four corners of the upper surface of the upper frame. The first ends of two steel wire ropes are fixed to the first drum, and the first ends of the remaining two steel wire ropes are fixed to the second drum. The steel wire rope extends vertically downward from the first drum or the second drum to the corresponding guide pulley. The second end of the steel wire rope is obliquely pulled to the micro-trolley in the direction of the trolley after being guided by the guide pulley. The first end of each steel wire rope, the corresponding guide pulley, and the second end form a triangle. The plane of the triangle is parallel to the direction of the trolley and perpendicular to the direction of the trolley. The light source module is arranged on the upper frame, and the image acquisition module is arranged on the trolley frame at a position corresponding to the light source module. The position of the light emitted by the light source module is captured by the image acquisition module to control the trolley frame to make compensating movements in the direction of the trolley.

[0006] In an embodiment, the first reel and the second reel are symmetrically arranged on the trolley frame in the trolley direction; the winding directions of the first reel and the second reel are opposite.

[0007] In an embodiment, the two steel wires wound on the first reel are a first steel wire and a second steel wire, and the two steel wires wound on the second reel are a third steel wire and a fourth steel wire; the corresponding guide pulleys of the first steel wire and the second steel wire, and the corresponding guide pulleys of the third steel wire and the fourth steel wire are arranged along the crab direction; the second rope end of the first steel wire and the second rope end of the third steel wire are symmetrically fixed to the micro trolley with the center axis of the upper frame as the axis; the second rope end of the second steel wire and the second rope end of the fourth steel wire are symmetrically fixed to the micro trolley with the center axis of the upper frame as the axis.

[0008] In an embodiment, the first steel wire, the second steel wire, the third steel wire and the fourth steel wire form four congruent triangles.

[0009] In an embodiment, the micro trolley comprises a sliding structure and a push rod; the push rod is connected to the sliding structure, and the push rod can drive the sliding structure to move in the crab direction.

[0010] In an embodiment, the sliding structure is provided with two fixed heads, and the fixed heads are connected to the second rope ends of the steel wires; the second rope ends connected to the fixed heads can rotate around the fixed heads.

[0011] In an embodiment, the number of micro trolleys is two; the two push rods are fixed to the trolley frame, the driving ends of the push rods are connected to the sliding structures; the driving ends of the two push rods can simultaneously move in the same direction or opposite directions.

[0012] In an embodiment, the double-reel anti-shake mechanism further comprises a motor and a speed reducer; the motor has a first output shaft and a second output shaft; the number of speed reducers is two, the first output shaft and the second output shaft of the motor are connected to two speed reducers respectively, and two speed reducers are connected to the first reel and the second reel respectively; the motor can drive the first reel and the second reel to rotate simultaneously.

[0013] In an embodiment, the double-drum anti-sway mechanism further comprises a first motor, a second motor, a first speed reducer and a second speed reducer; an output shaft of the first motor is connected to the first speed reducer, the first speed reducer is connected to the first drum, and the first motor can drive the first drum to rotate; an output shaft of the second motor is connected to the second speed reducer, the second speed reducer is connected to the second drum, and the second motor can drive the second drum to rotate.

[0014] In an embodiment, the light source module is fixed at a central position of the upper frame, and the image acquisition module is fixed at a central position of the trolley frame.

[0015] Another aspect of the present application provides a crane comprising the double-drum anti-sway mechanism suitable for high stacking as in any one of the above embodiments.

[0016] The double-drum anti-sway mechanism suitable for high stacking of the present application forms mechanical anti-sway in the direction of the cart by the layout of the steel wire rope, forms electronic anti-sway in the direction of the trolley by the light source module and the image acquisition module, and the steel wire rope does not need to be externally inclined and expanded, which can greatly reduce the space occupation, meet the high stacking deep excavation box use scene, balance the space layout of the steel wire rope and the anti-sway performance in the high stacking working condition, meet the operation demand of the deep excavation bottom box, and effectively solve the problems of insufficient anti-sway performance, low space utilization and high labor demand in high stacking operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other features, properties and advantages of the present application will become more apparent through the following description with reference to the accompanying drawings and embodiments, in which:

[0018] Figure 1 is a schematic view of an embodiment of the double-drum anti-sway mechanism suitable for high stacking according to the present application;

[0019] Figure 2 is Figure 1 a side view of the double-drum anti-sway mechanism shown in FIG. 1;

[0020] Figure 3 is Figure 1 a winding schematic view of the double-drum anti-sway mechanism shown in FIG. 1;

[0021] Figure 4 is Figure 1 a structural arrangement schematic view of the double-drum anti-sway mechanism suitable for high stacking according to the present application;

[0022] Figure 5 is Figure 1 a structural arrangement schematic view of the double-drum anti-sway mechanism suitable for high stacking according to the present application;

[0023] Figure 6 is Figure 1A perspective view of a double-drum anti-sway mechanism. DETAILED DESCRIPTION

[0024] Increasing the storage capacity by increasing the number of stacked containers on the limited terminal yard is a good solution. If a stacking crane is used to operate the high stacking container area, more manual labor is required, and the container area cannot be turned over in the middle. If a conventional yard crane is used, the wire rope will touch the adjacent stacked containers when the trolley digs into the bottom layer of containers. If the lifting wire rope is retracted to avoid interference with the stacked containers, the trolley direction anti-sway capability will be greatly weakened.

[0025] Reference will now be made in detail to embodiments of the application, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the application, not limitation of the application. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

[0026] As used herein, the terms "first", "second", "third", and "fourth" can be used interchangeably to distinguish one component from another and are not intended to signify location or importance of the individual components.

[0027] Figures 1 to 6 An embodiment of a double-drum anti-sway mechanism suitable for high stacking of the present application is shown. In combination Figures 1 to 6 , the double-drum anti-sway mechanism suitable for high stacking of the present application includes a trolley frame 10, a double-drum lifting structure, an upper frame 30, a spreader 40, guide pulleys 31, a micro-trolley 50, a wire rope 60, a light source module, and an image acquisition module. The double-drum lifting structure and the micro-trolley 50 are arranged on the trolley frame 10. The double-drum lifting mechanism includes two independently arranged first and second drums 21 and 22. The guide pulleys 31 are arranged on the upper surface of the upper frame 30, and the spreader 40 is arranged on the lower surface of the upper frame 30. The upper frame 30 is in the form of a rectangular flat plate structure. The spreader 40 is used to connect containers or other objects to be lifted and can be provided with a locking mechanism to ensure safety during lifting.

[0028] The number of guide pulleys 31 and the number of wire ropes 60 are consistent, both being four. The four guide pulleys 31 are fixed at the four corners of the upper surface of the upper frame 30. The first rope ends of two wire ropes 60 are fixed to the first drum 21, and the first rope ends of the other two wire ropes 60 are fixed to the second drum 22.

[0029] Reference Figure 6The steel wire rope 60 extends from the first or second winding drum 21 or 22 to the corresponding guide pulley 31 in the vertical direction, and the second rope end of the steel wire rope 60 is obliquely pulled to the micro-motion trolley 50 in the direction A-A of the trolley after being guided by the guide pulley 31. The first rope end of each steel wire rope 60, the corresponding guide pulley 31 and the second rope end enclose a triangle, and the plane of the triangle is parallel to the direction A-A of the trolley and perpendicular to the direction B-B of the trolley. The steel wire rope 60 has a certain winding stiffness, thereby providing a rocking prevention effect when the trolley is rocked in the direction A-A of the trolley.

[0030] When the crane is started and stopped in the direction A-A of the trolley, the lifting tool 40 will rock in the direction A-A of the trolley. At this time, the steel wire rope 60 will provide a stable stiffness for the entire winding system (including the steel wire rope 60, the guide pulley 31, the first winding drum 21 and the second winding drum 22) by using the principle of triangular stability, thereby preventing the lifting tool 40 from rocking, and thus the rocking prevention in the direction of the trolley can be achieved by a mechanical method.

[0031] The light source module (not shown) is arranged on the upper frame 30, and the image acquisition module (not shown) is arranged on the trolley frame 10 at a position corresponding to the light source module. The light source module and the image acquisition module are an electronic rocking prevention system, and the position of the light emitted by the light source module is captured by the image acquisition module to control the trolley frame 10 to make a compensating movement in the direction B-B of the trolley. The light source module can be replaced by other positioning devices, such as an infrared emission module; and the image acquisition module can be selected as a camera.

[0032] Specifically, the light emitted by the light source module is received by the image acquisition module, and the light received by the image acquisition module indicates the position of the upper frame 30, thereby achieving real-time feedback of the position information of the upper frame 30. When the lifting tool 40 and the upper frame 30 rock in the direction B-B of the trolley, the image acquisition module can capture the position and posture of the upper frame 30 at any time. At this time, the trolley frame 10 is controlled to make a compensating movement in time by setting a program to follow the position of the upper frame 30 and move forward or backward, thereby ensuring that the trolley frame 10 and the upper frame 30 have the same movement amplitude, simulating the manual following situation, and achieving a better rocking prevention effect in the direction B-B of the trolley.

[0033] Preferably, the light source module is fixed at the center position of the upper frame 30; and correspondingly, the image acquisition module is fixed at the center position of the trolley frame 10, thereby avoiding interference with other structures.

[0034] The double-drum anti-swing mechanism suitable for high stacking of the application forms mechanical anti-swing in the cart direction A-A by the layout of the steel wire rope 60, and forms electronic anti-swing in the trolley direction B-B by the light source module and the image acquisition module. Since electronic anti-swing is adopted in the trolley direction B-B, the steel wire rope 60 does not need to be outwardly inclined and expanded, which can greatly reduce the space occupation, meet the high stacking deep box use scenario, balance the space layout and anti-swing performance of the steel wire rope 60 in the high stacking working condition, and meet the operation demand of the deep bottom box, effectively solving the problems of insufficient anti-swing performance, low space utilization and high labor demand in high stacking operation.

[0035] In the related art, if the layout of the steel wire rope 60 is outwardly opened in the trolley direction B-B to increase the anti-swing performance, interference with the containers on both sides will occur when the box is excavated. In the application, electronic anti-swing is adopted in the trolley direction B-B, which ensures good anti-swing effect in the trolley direction B-B, and the steel wire rope 60 does not need to be outwardly inclined, which reduces the occupation space of the steel wire rope 60 and avoids the situation that the steel wire rope 60 touches the adjacent stacked containers when the bottom box is excavated, and is especially suitable for high stacking container areas.

[0036] As shown in Figure 1 and Figure 2 , the first drum 21 and the second drum 22 are symmetrically arranged on the trolley frame 10 in the trolley direction B-B, that is, symmetrically arranged about the center of the trolley frame 10. In combination with Figure 6 , the winding directions of the first drum 21 and the second drum 22 are opposite, that is, the rotation directions of the first drum 21 and the second drum 22 in the cart direction A-A are opposite, which ensures that the steel wire rope 60 maintains tension balance during tensioning.

[0037] As shown in Figure 4 , in an embodiment, the application adopts a scheme of driving the first drum 21 and the second drum 22 by a single motor. Specifically, the application further includes a motor 71, a speed reducer and a lifting high-speed brake 91. The motor 71 adopts double-output shafts, that is, the motor 71 has a first output shaft 71a and a second output shaft 71b. The number of speed reducers is two (that is, a first speed reducer 72 and a second speed reducer 73), and the two speed reducers adopt straight axes. One end of the two speed reducers is connected to the first drum 21 and the second drum 22 respectively, and the other end is connected to the lifting high-speed brake 91, which is further connected to the motor 71, that is, the first output shaft 71a and the second output shaft 71b of the motor 71 are connected to the two speed reducers respectively.

[0038] In this embodiment, the motor 71 can drive the first drum 21 and the second drum 22 to rotate simultaneously. Through the synergistic effect of mechanical synchronization, compact structure and energy efficiency optimization, this embodiment realizes high reliability and flexibility while reducing cost, and is suitable for scenes with strict requirements on synchronization accuracy, space layout and economy.

[0039] like Figure 5 As shown, in another embodiment, the present invention employs a dual-motor drive scheme for the first drum 21 and the second drum 22. Specifically, the present invention also includes a first motor 81, a second motor 82, a first reduction gearbox 83, a second reduction gearbox 84, and a high-speed lifting brake 91. The first reduction gearbox 83 and the second reduction gearbox 84 are arranged with parallel shafts. The output shaft of the first motor 81 is connected to the high-speed lifting brake 91, and then to the first reduction gearbox 83. The first reduction gearbox 83 is connected to the first drum 21, and the first motor 81 can drive the first drum 21 to rotate. The output shaft of the second motor 82 is connected to the high-speed lifting brake 91, and then to the second reduction gearbox 84. The second reduction gearbox 84 is connected to the second drum 22, and the second motor 82 can drive the second drum 22 to rotate. In this embodiment, the first motor 81, the first reduction gearbox 83, the second motor 82, and the second reduction gearbox 84 are independently arranged on the trolley frame 10 and symmetrically configured, which can control the lifting of the first drum 21 and the second drum 22 respectively, so as to realize the left and right tilting function of the lifting device 40, which can further improve the control accuracy.

[0040] Combining the two embodiments described above, a single-motor lifting scheme and a dual-motor lifting scheme can be selected according to actual needs; this invention does not impose any limitations.

[0041] In one embodiment, the two wire ropes 60 wound on the first drum 21 are a first wire rope 61 and a second wire rope 62, and the two wire ropes 60 wound on the second drum 22 are a third wire rope 63 and a fourth wire rope 64. The guide pulleys 31 corresponding to the first wire rope 61 and the second wire rope 62, and the guide pulleys 31 corresponding to the third wire rope 63 and the fourth wire rope 64 are respectively arranged along the trolley direction AA, as shown below. Figure 6 As shown.

[0042] Both the first drum 21 and the second drum 22 have two sections of rope grooves. The rope grooves on the first drum 21 are used to accommodate the first wire rope 61 and the second wire rope 62 wound around, respectively. The rope grooves on the second drum 22 are used to accommodate the third wire rope 63 and the fourth wire rope 64 wound around, respectively. One end of each wire rope 60 is fixed to the drum, extends vertically downwards, passes over the corresponding guide pulley 31, and is then pulled back diagonally to the micro-motion trolley 50 on the trolley frame 10 in the direction of the main trolley AA.

[0043] The second rope end of the first wire rope 61 and the second rope end of the third wire rope 63 are fixed symmetrically to the micro-motion trolley 50 with the central axis of the frame 30 as the axis, and front and rear (i.e., as shown) Figure 1 and Figure 6are fixed to the micro-motion trolley 50 above the center axis of the superstructure 30, and are staggered by a certain distance in the direction of the trolley (i.e. the direction of the arrow A-A shown in the drawings). Figure 1 and Figure 6 are staggered by a certain distance in the direction of the trolley (i.e. the direction of the arrow A-A shown in the drawings).

[0044] The four triangles formed by the first steel wire rope 61, the second steel wire rope 62, the third steel wire rope 63 and the fourth steel wire rope 64 are congruent. Such a geometric configuration design can keep the steel wire ropes in a uniform stress state during operation, thereby effectively reducing the shaking phenomenon caused by uneven tension of individual steel wire ropes.

[0045] As shown in Figure 3 and Figure 6 In an embodiment, the micro-motion trolley 50 includes a sliding structure 51 and a push rod 52. The push rod 52 is connected to the sliding structure 51, and the push rod 52 can drive the sliding structure 51 to move in the direction of the trolley A-A, thereby realizing flexible movement of the lifting device 40 and the superstructure 30 in the direction of the trolley A-A.

[0046] Further, the sliding structure 51 is provided with two fixed heads 53, and the fixed heads 53 are connected to the second rope end of the steel wire rope 60. The second rope end connected to the fixed head 53 can rotate around the fixed head 53, so that when the drum winds or releases the steel wire rope 60, a certain degree of rotational freedom is given to the second rope end of the steel wire rope 60, realizing adaptive release of torsional stress and avoiding twisting or knotting of the steel wire rope 60.

[0047] The number of micro-motion trolleys 50 is two. The two push rods 52 are fixed to the trolley frame 10, and the driving ends of the push rods 52 are connected to the sliding structures 51. The driving ends of the two push rods 52 can move in the same direction or opposite directions at the same time. If the two push rods 52 are controlled to move in the same direction, the lifting device 40 and the superstructure 30 can be translated in the direction of the trolley A-A. If the two push rods 52 are controlled to move in opposite directions, the lifting device 40 and the superstructure 30 can be rotated, which can adapt to complex working conditions and improve the operation efficiency.

[0048] The crane of the present application includes the double-drum anti-sway mechanism suitable for high stacking as described in any of the above embodiments.

[0049] Since the electronic anti-sway is adopted in the direction of the trolley B-B, the space occupied by the steel wire rope 60 in the direction of the trolley B-B can be strictly limited, which can be used in high stacking conditions and is suitable for 1 over 7, 1 over 8 and other high stacking yard environments.

[0050] The application uses automatic bidirectional anti-shaking, not only solves the problem of interference between the steel wire rope and the adjacent stacks in the prior art, but also effectively responds to the anti-shaking demand of the trolley direction B-B, and provides reliable technical guarantee for operation in a high stacking scene.

[0051] Although the application is disclosed in the preferred embodiments as above, it is not intended to limit the application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the application. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the application, without departing from the technical solutions of the application, fall within the protection scope defined by the claims of the application.

Claims

1. A double-drum anti-sway mechanism suitable for high stacking, characterized in that, It includes a trolley frame, a double-drum lifting structure, an upper frame, a lifting device, guide pulleys, a micro-motion trolley, wire ropes, a light source module, and an image acquisition module; among which, The double-drum lifting structure and the micro-motion trolley are mounted on the trolley frame; The dual-drum lifting mechanism includes two independently configured first drums and a second drum. The guide pulley is located on the upper surface of the upper frame, and the lifting device is located on the lower surface of the upper frame; The number of guide pulleys and steel wire ropes is four. The four guide pulleys are fixed at the four corners of the upper surface of the upper frame. The first rope ends of two of the steel wire ropes are fixed to the first drum, and the first rope ends of the other two steel wire ropes are fixed to the second drum. The wire rope extends vertically downward from the first drum or the second drum to the corresponding guide pulley. After being guided by the guide pulley, the second end of the wire rope is pulled obliquely to the micro-motion trolley in the direction of the main trolley. The first rope end of each wire rope, the corresponding guide pulley, and the second rope end together form a triangle. The plane containing this triangle is parallel to the direction of the large trolley and perpendicular to the direction of the small trolley. The light source module is mounted on the upper frame, and the image acquisition module is mounted on the trolley frame at a position corresponding to the light source module. The image acquisition module captures the position of the light emitted by the light source module and controls the trolley frame to make compensating movements along the trolley direction.

2. The dual-drum anti-sway mechanism as described in claim 1, characterized in that, The first and second rolls are symmetrically arranged on the trolley frame in the trolley direction; The first roll and the second roll are wound in opposite directions.

3. The dual-drum anti-sway mechanism as described in claim 1, characterized in that, The two wire ropes wound on the first drum are a first wire rope and a second wire rope, and the two wire ropes wound on the second drum are a third wire rope and a fourth wire rope; The guide pulleys corresponding to the first and second wire ropes, and the guide pulleys corresponding to the third and fourth wire ropes are respectively arranged along the direction of the trolley. The second end of the first wire rope and the second end of the third wire rope are fixed symmetrically to the micro-motion trolley with the central axis of the upper frame as the axis. The second end of the second wire rope and the second end of the fourth wire rope are fixed symmetrically to the micro-motion trolley with the central axis of the upper frame as the axis.

4. The dual-drum anti-sway mechanism as described in claim 3, characterized in that, The four triangles formed by the first wire rope, the second wire rope, the third wire rope, and the fourth wire rope are congruent.

5. The double-drum anti-sway mechanism as described in any one of claims 1-4, characterized in that, The micro-motion trolley includes a sliding structure and a push rod; The push rod is connected to the sliding structure, and the push rod can drive the sliding structure to move in the direction of the trolley.

6. The dual-drum anti-sway mechanism as described in claim 5, characterized in that, The sliding structure is provided with two fixed heads, which are connected to the second rope end of the wire rope; The second rope end connected to the fixing head can rotate around the fixing head.

7. The dual-drum anti-sway mechanism as described in claim 5, characterized in that, The number of micro-movement trolleys is two; The two push rods are fixed to the upper surface of the trolley frame, and the drive end of the push rods is connected to the sliding structure; The drive ends of the two push rods can move simultaneously in the same or opposite directions.

8. The double-drum anti-sway mechanism as described in any one of claims 1-4, characterized in that, The dual-drum anti-sway mechanism also includes a motor and a gearbox; The motor has a first output shaft and a second output shaft; The number of reduction gearboxes is two. The first output shaft and the second output shaft of the motor are respectively connected to the two reduction gearboxes. The two reduction gearboxes are respectively connected to the first drum and the second drum. The motor can drive the first drum and the second drum to rotate simultaneously.

9. The double-drum anti-sway mechanism as described in any one of claims 1-4, characterized in that, The dual-drum anti-sway mechanism also includes a first motor, a second motor, a first gearbox, and a second gearbox; The output shaft of the first motor is connected to the first gearbox, the first gearbox is connected to the first drum, and the first motor can drive the first drum to rotate. The output shaft of the second motor is connected to the second gearbox, the second gearbox is connected to the second drum, and the second motor can drive the second drum to rotate.

10. The double-drum anti-sway mechanism as described in any one of claims 1-4, characterized in that, The light source module is fixed at the center of the upper frame, and the image acquisition module is fixed at the center of the trolley frame.

11. A crane, characterized in that, Includes the double-drum anti-sway mechanism suitable for high stacking as described in any one of claims 1-10.

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