Single-winding-drum anti-swing mechanism suitable for high stacking and crane
By combining mechanical and electronic anti-sway mechanisms in a single-drum anti-sway mechanism, the problems of interference between wire ropes and containers and low space utilization in high-stacking cranes are solved, achieving high-efficiency anti-sway performance and space optimization.
Patent Information
- Application Number
- CN202511505561.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-21
- Publication Date
- 2025-12-16
AI Technical Summary
With the increase in the stacking height, existing yard cranes are prone to the wire rope touching adjacent stacked containers when the trolley is digging deep into the bottom container, resulting in a decrease in anti-sway capability, low space utilization, and increased labor demand.
A single-drum anti-sway mechanism is adopted, combining mechanical and electronic anti-sway methods. Mechanical anti-sway is achieved by the layout of the steel wire rope, while electronic anti-sway is achieved in the trolley direction through the light source module and image acquisition module. This reduces the space occupied by the steel wire rope and ensures the stability of high stacking operations.
Under high stacking conditions, the space utilization rate of the wire rope is improved, the anti-sway performance is enhanced, the interference between the wire rope and the container is reduced, the manual labor requirement is reduced, and the operation efficiency is improved.
Smart Images
Figure CN121134541A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a crane, in particular to a single-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 single-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 single-drum anti-sway mechanism suitable for high stacking, comprising a trolley frame, a drum, an upper frame, a spreader, a transmission pulley, a guide pulley, a micro-trolley, a steel wire rope, a light source module, and an image acquisition module. The drum, the micro-trolley, and the transmission pulley are arranged on the trolley frame. 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 transmission pulleys, guide pulleys, and steel wire ropes is four. Four guide pulleys are fixed at the four corners of the upper surface of the upper frame, four transmission pulleys are arranged on the trolley frame corresponding to the four guide pulleys, and the first rope end of the four steel wire ropes is fixed to the drum. The steel wire rope extends downward in the vertical direction to the corresponding guide pulley from the drum under the guidance of the transmission pulley, and the second rope end of the steel wire rope is inclined to the micro-trolley in the direction of the trolley after passing through the guide pulley. Each transmission pulley, corresponding guide pulley, and second rope end form a triangle, the plane of which 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 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 compensatory movement in the direction of the trolley.
[0006] In an embodiment, the winding drum is arranged on the trolley frame along the trolley direction; the winding drum has four rope grooves for winding four steel wires respectively; two of the steel wires are wound on the winding drum in the same direction and the other two are wound in the opposite direction.
[0007] In an embodiment, the four steel wires are first, second, third and fourth steel wires respectively; the guide pulleys corresponding to the first and second steel wires and the third and fourth steel wires are arranged along the crab direction respectively; the rope grooves for winding the first and second steel wires are closer to the two ends of the winding drum than the rope grooves for winding the third and fourth steel wires.
[0008] In an embodiment, the four triangles formed by the first, second, third and fourth steel wires are congruent.
[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 can drive the sliding structure to move along the crab direction.
[0010] In an embodiment, the sliding structure is provided with two fixed heads connected to the second rope end of the steel wire; the second rope end connected to the fixed head can rotate around the fixed head.
[0011] In an embodiment, the number of micro trolleys is two; the two push rods are fixed to the trolley frame and the driving end of the push rod is connected to the sliding structure; the driving end of the two push rods can move simultaneously in the same direction or in the opposite direction.
[0012] In an embodiment, the single winding drum anti-sway mechanism further comprises a motor and a speed reducer; the output shaft of the motor is connected to the speed reducer, the speed reducer is connected to the winding drum respectively, and the motor can drive the winding drum to rotate.
[0013] In an embodiment, 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.
[0014] Another aspect of the present application provides a crane comprising a single winding drum anti-sway mechanism suitable for high stacking as described in any of the above embodiments.
[0015] The single-drum anti-sway mechanism suitable for high stacking of the application forms mechanical anti-sway in the trolley direction by using the layout of the steel wire rope, forms electronic anti-sway in the trolley direction by using the light source module and the image acquisition module, the steel wire rope does not need to be externally inclined and expanded, the space occupation can be greatly reduced, the use scene of deep excavation of the box is met in high stacking, the spatial arrangement of the balance steel wire rope and the anti-sway performance are met in the high stacking working condition, the operation demand of the deep excavation bottom layer box is met, and the problems of insufficient anti-sway performance, low space utilization and high labor demand in high stacking operation are effectively solved. BRIEF DESCRIPTION OF DRAWINGS
[0016] The above and other features, properties and advantages of the application will become more apparent by referring to the following description in conjunction with the accompanying drawings and examples, in which:
[0017] Figure 1 is a schematic diagram of an embodiment of the single-drum anti-sway mechanism suitable for high stacking according to the application;
[0018] Figure 2 is Figure 1 a side view of the single-drum anti-sway mechanism shown in
[0019] Figure 3 is Figure 1 a winding schematic diagram of the single-drum anti-sway mechanism shown in
[0020] Figure 4 is Figure 1 a structural arrangement schematic diagram of the single-drum anti-sway mechanism shown in DETAILED DESCRIPTION
[0021] Increasing the storage capacity and the number of stacked boxes on the limited wharf yard is a good solution. If a high stacking box area is operated by a stacking crane, more manual labor is required, and the middle box turning condition in the box area cannot be realized. If a conventional yard crane is used, after increasing the height of the stacked boxes, there will be a situation that the steel wire rope touches the adjacent stacked containers when the trolley digs the bottom layer box. If the lifting steel wire rope is retracted to avoid interference with the stacked containers, the anti-sway ability in the trolley direction will be greatly weakened.
[0022] 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 example, features shown 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.
[0023] 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.
[0024] Figures 1 to 4 The structure of an embodiment of the single-drum anti-sway mechanism suitable for high stacking of the present application is shown. In combination Figures 1 to 4 , the single-drum anti-sway mechanism suitable for high stacking of the present application comprises a trolley frame 10, a drum 20, an upper frame 30, a lifting tool 40, guide pulleys 31, transmission pulleys 32, a micro-trolley 50, steel wires 60, a light source module, and an image acquisition module. The number of the drum 20 is one, and the drum 20, the micro-trolley 50, and the transmission pulleys 32 are arranged on the trolley frame 10. The guide pulleys 31 are arranged on the upper surface of the upper frame 30, and the lifting tool 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. The lifting tool 40 is used to connect a container or other object to be lifted, and can be provided with a locking mechanism to ensure safety during lifting.
[0025] In combination Figure 1 and Figure 2 , the number of the guide pulleys 31 and the number of the steel wires 60 are consistent, both being four. The four guide pulleys 31 are respectively fixed at the four corners of the upper surface of the upper frame 30. The four transmission pulleys 32 are respectively arranged on the trolley frame 10 corresponding to the positions of the four guide pulleys 31, and the distance between each transmission pulley 32 and the distance between the four guide pulleys 31 are the same, that is, when the center axis of the trolley frame 10 and the center axis of the upper frame 30 coincide, the projections of the four transmission pulleys 32 on the upper frame 30 respectively coincide with the four guide pulleys 31. The first rope ends of the four steel wires 60 are fixed to the drum 20.
[0026] Referring to Figure 1 , the steel wires 60 extend downward in the vertical direction from the drum 20 to the corresponding guide pulleys 31 under the guidance of the corresponding transmission pulleys 32, and the second rope ends of the steel wires 60 are obliquely pulled to the micro-trolley 50 in the direction A-A after being guided by the guide pulleys 31. Each transmission pulley 32, the corresponding guide pulley 31, and the second rope end form a triangle, and the plane of the triangle is parallel to the direction A-A and perpendicular to the direction B-B. The steel wires 60 have a certain winding stiffness, thereby providing a sway-preventing effect when the direction A-A is shaken.
[0027] When the crane starts and stops along the direction A-A, the lifting tool 40 will shake along the direction A-A. At this time, by using the principle of triangular stability, the steel wires 60 will provide stable stiffness for the entire winding system (including the steel wires 60, the guide pulleys 31, the transmission pulleys 32, and the drum 20), preventing the lifting tool 40 from shaking, so that the anti-sway in the direction A-A can be achieved by mechanical means.
[0028] A light source module (not shown) is arranged on the upper rack 30, and an 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 anti-shake 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 along the trolley direction B-B. The light source module can be replaced by other positioning devices, such as an infrared emission module; and the image acquisition module can be a camera.
[0029] 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 rack 30, so that real-time feedback of the position information of the upper rack 30 can be achieved. When the spreader 40 and the upper rack 30 sway along the trolley direction B-B, the image acquisition module can capture the position and posture of the upper rack 30 at any time. At this time, the trolley frame 10 is controlled to move forward or backward in time to make a compensating movement by setting a program, so as to ensure that the trolley frame 10 and the upper rack 30 have the same movement amplitude, simulate the manual following situation, and achieve a better anti-shake effect in the trolley direction B-B.
[0030] Preferably, the light source module is fixed at the center position of the upper rack 30; and correspondingly, the image acquisition module is fixed at the center position of the trolley frame 10, so as to avoid interference with other structures.
[0031] The single-drum anti-shake mechanism suitable for high stacking of the present application forms mechanical anti-shake in the cart direction A-A by using the layout of the steel wire rope 60, and forms electronic anti-shake in the trolley direction B-B by using the light source module and the image acquisition module. Since electronic anti-shake 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 use scene of deep excavation of high stacking containers, balance the space layout and anti-shake performance of the steel wire rope 60 in the high stacking working condition, meet the operation demand of deep excavation of bottom containers, and effectively solve the problems of insufficient anti-shake performance, low space utilization and high labor demand in high stacking operation.
[0032] 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-shake performance, the steel wire rope 60 will interfere with the containers on both sides when the containers are excavated. In the present application, electronic anti-shake is adopted in the trolley direction B-B, so that the steel wire rope 60 does not need to be outwardly inclined, the occupation space of the steel wire rope 60 is reduced, and the steel wire rope 60 will not touch the adjacent stacked containers when deep excavation of bottom containers is performed, which is especially suitable for high stacking container areas.
[0033] As shown in FIG. 1, the present application is applied to a container crane 1, which includes a main frame 2, a trolley frame 10, a spreader 40, a single-drum anti-shake mechanism 50, and a single-drum anti-shake mechanism 50. Figure 1 and Figure 2The drum 20 extends along the trolley direction BB and is mounted on the trolley frame 10, meaning the rotation axis of the drum 20 extends along the trolley direction BB. Preferably, the drum 20 is positioned at the center of the trolley frame 10 to ensure the balance of each wire rope 60 during tensioning and unwinding. The drum 20 has four independent rope grooves for winding four wire ropes 60 respectively. (Reference) Figure 1 Two of the wire ropes 60 and the other two wire ropes 60 are wound in the same direction on the drum 20, and exit from the drum 20 in opposite directions. When the drum 20 rotates, all four wire ropes 60 can be tightened or released simultaneously without the need to adjust the winding and unwinding speeds of multiple wire ropes 60 separately. This reduces the operational complexity of manual or control systems, avoids action deviations caused by response delays in multiple drums, and shortens operation time.
[0034] by Figure 1 Taking the winding method shown as an example, when the drum 20 rotates around the first direction X, the four steel wire ropes 60 are wound upward around the drum 20 to realize the winding of the rope; when the drum 20 rotates around the second direction Y, the four steel wire ropes 60 are released from the drum 20 to realize the unwinding of the rope.
[0035] like Figure 2 and Figure 3 As shown, the four steel wire ropes 60 are 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. The guide pulleys 31 corresponding to the first steel wire rope 61 and the second steel wire rope 62, and the guide pulleys 31 corresponding to the third steel wire rope 63 and the fourth steel wire rope 64 are arranged along the trolley direction BB.
[0036] like Figure 3 As shown, the grooves on which the first wire rope 61 and the second wire rope 62 are wound are closer to the ends of the drum 20 than the grooves on which the third wire rope 63 and the fourth wire rope 64 are wound, in order to avoid interference between the wire ropes 60 and to reduce the stress on the drum 20 by distributing the load.
[0037] like Figure 4 As shown, this invention employs a single-motor driven drum 20. Specifically, the invention also includes a motor 71 and a reduction gearbox 72. Both the motor 71 and the reduction gearbox are mounted on the carriage frame 10. One end of the reduction gearbox 72 is connected to the drum 20, and the other end is connected to the motor 71; that is, the output shaft of the motor 71 is connected to the reduction gearbox 72. The motor 71 can drive the drum 20 to rotate. Through the synergistic effect of mechanical synchronization, structural compactness, and energy efficiency optimization, high reliability and flexibility are achieved while reducing costs.
[0038] In an embodiment, the four steel ropes 60 are respectively a first steel rope 61, a second steel rope 62, a third steel rope 63 and a fourth steel rope 64. The first steel rope 61 and the second steel rope 62 correspond to the guide pulleys 31, and the third steel rope 63 and the fourth steel rope 64 correspond to the guide pulleys 31, which are arranged along the A-A direction, i.e., the guide pulleys 31 rotate along the A-A direction, as shown in Figure 3 .
[0039] The first rope end of each steel rope 60 is fixed on the drum 20, and the first rope end of the first steel rope 61 and the second steel rope 62 and the first rope end of the third steel rope 63 and the fourth steel rope 64 are opposite in direction on the drum 20, as shown in Figure 1 In an embodiment, the first rope end of the first steel rope 61 and the second steel rope 62 faces the first direction X, and the first rope end of the third steel rope 63 and the fourth steel rope 64 faces the second direction Y.
[0040] In combination Figures 1 to 3 , after the first steel rope 61 and the second steel rope 62, the third steel rope 63 and the fourth steel rope 64 are out of the drum in opposite directions along the A-A direction, they are guided by the transmission pulleys 32 and then vertically downward, and then pass through the corresponding guide pulleys 31 and are pulled back to the micro-trolley 50 on the trolley frame 10 along the A-A direction.
[0041] Referring to Figure 3 , the second rope end of the first steel rope 61 and the second rope end of the third steel rope 63 are fixed symmetrically about the center axis of the upper frame 30 on the micro-trolley 50. The second rope end of the second steel rope 62 and the second rope end of the fourth steel rope 64 are fixed symmetrically about the center axis of the upper frame 30 on the micro-trolley 50.
[0042] The four triangles formed by the first steel rope 61, the second steel rope 62, the third steel rope 63 and the fourth steel rope 64 are congruent. Such a geometric design can keep the steel ropes in a uniform stress state during operation, thereby effectively reducing the shaking phenomenon caused by uneven tension of individual steel ropes 60.
[0043] As shown in Figure 3 , in an embodiment, the micro-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 along the A-A direction, thereby achieving flexible movement of the lifting device 40 and the upper frame 30 along the A-A direction.
[0044] Further, the sliding structure 51 is provided with two fixed heads 53, and the second rope head end of the steel wire rope 60 is connected to the fixed heads 53. The second rope head end connected to the fixed heads 53 can rotate around the fixed heads 53, so that when the drum winds or releases the steel wire rope 60, a certain rotational freedom is given to the second rope head end of the steel wire rope 60, realizing adaptive release of torsional stress and avoiding twisting or knotting of the steel wire rope 60.
[0045] The number of the micro 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 simultaneously in the same direction or in opposite directions. If the two push rods 52 are controlled to move in the same direction, the spreaders 40 and the upper frames 30 can be translated along the cart direction A-A. If the two push rods 52 are controlled to move in opposite directions, the spreaders 40 and the upper frames 30 can be rotated, which can adapt to complex working conditions and improve the operation efficiency.
[0046] The crane of the present application comprises the single-drum anti-sway mechanism suitable for high stacking as described in any of the above embodiments.
[0047] Since the electronic anti-sway is adopted in the trolley direction B-B, the space occupied by the steel wire rope 60 in the trolley direction B-B can be strictly limited, which can be used for high stacking conditions and is suitable for 1 over 7, 1 over 8 and other high stacking yard environments.
[0048] The present application uses automatic bidirectional anti-sway, which not only solves the problem of interference between the steel wire rope and the adjacent stack in the prior art, but also effectively meets the anti-sway demand in the trolley direction B-B, providing reliable technical support for operation in high stacking scenarios.
[0049] Although the present application is disclosed with the preferred embodiments as above, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the present application. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not deviate from the technical solutions of the present application, falls within the protection scope defined by the claims of the present application.
Claims
1. A single-drum anti-sway mechanism suitable for high stacking, characterized in that, It includes a trolley frame, drum, upper frame, lifting device, transmission pulley, guide pulley, micro-motion trolley, wire rope, light source module, and image acquisition module; among which, The drum, the micro-motion trolley, and the transmission pulley are mounted on the trolley frame; 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 transmission pulleys, guide pulleys, and steel wire ropes are all four. The four guide pulleys are respectively fixed at the four corners of the upper surface of the upper frame. The four transmission pulleys are respectively set on the trolley frame corresponding to the four guide pulleys. The first rope ends of the four steel wire ropes are fixed to the drum. The wire rope extends vertically downward from the drum through the transmission pulley 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 transmission pulleys, the corresponding guide pulleys, and the second rope end together form a triangle. The plane containing this triangle is parallel to the direction of the large vehicle and perpendicular to the direction of the small vehicle. 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 single-drum anti-sway mechanism as described in claim 1, characterized in that, The drum is mounted on the trolley frame along the direction of the trolley; The drum has four rope grooves, each for winding the four steel wire ropes. Two of the wire ropes and the other two wire ropes are wound in the same direction on the drum, and exit from the drum in opposite directions.
3. The single-drum anti-sway mechanism as described in claim 2, characterized in that, The four steel wire ropes are the first steel wire rope, the second steel wire rope, the third steel wire rope, and the fourth steel 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 grooves on which the first and second wire ropes are wound are closer to the ends of the drum than the grooves on which the third and fourth wire ropes are wound.
4. The single-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 single-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 single-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 single-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 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 single-drum anti-sway mechanism as described in any one of claims 1-4, characterized in that, The single-drum anti-sway mechanism also includes a motor and a gearbox; The output shaft of the motor is connected to the gearbox, and the gearbox is connected to the drum. The motor can drive the drum to rotate.
9. The single-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.
10. A crane, characterized in that, Includes a single-roll anti-sway mechanism suitable for high stacking as described in any one of claims 1-9.