Active anti-swing and all-directional lifting appliance micro-motion system

Abstract

The invention discloses an active anti-swing and all-directional lifting appliance micro-motion system, relates to the technical field of cranes, solves the problems of efficiency loss and safety risk caused by lifting appliance swing of a traditional container crane, repeated correction cost of alignment deviation, adaptive fault of precision speed and automation requirements and the like, and comprises a crane carriage and a special lifting appliance, the hoisting trolley is connected with the winding system, the winding system comprises a plurality of steel wire ropes, the special lifting appliance comprises a lifting appliance upper frame and a plurality of steel wire rope fixing devices, the steel wire ropes are connected to the corresponding steel wire rope fixing devices, and corresponding moving devices are connected between the steel wire rope fixing devices and the lifting appliance upper frame. And the moving device drives the steel rope fixing device and the lifting appliance upper frame to move relatively. Through a winding system and a plurality of moving devices, a combined system of active anti-swing and omni-directional lifting appliance micro-motion is completed, and the dual effects of swing suppression and fine alignment are achieved.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and in particular to an active anti-sway, omnidirectional micro-motion system for lifting devices. Background Technology

[0002] As ports accelerate their upgrade towards full automation, high density, and fast turnover, the shortcomings of traditional container cranes in operational scenarios are becoming increasingly prominent, becoming a key bottleneck restricting terminal efficiency and safety. Specific pain points are concentrated in the following three aspects: First, during lifting and lateral movement, the spreader and container are prone to significant swaying due to inertia and external forces, requiring waiting for the sway to subside before repositioning, severely slowing down the operation and increasing the risk of collisions; Second, uneven terminal ground and container stacking misalignment often lead to positional deviations between the spreader and container, which traditional control methods struggle to achieve precise adjustments, requiring repeated movement of the trolley and crane for correction, resulting in low efficiency; Third, fully automated terminals demand significantly higher operational precision and speed, which traditional systems cannot meet the requirements of high-frequency, low-error operations.

[0003] In summary, traditional container cranes suffer from three major pain points: efficiency loss and safety risks due to spreader sway, repeated correction costs for alignment deviations, and a mismatch between precision, speed, and automation requirements. These issues make it difficult for them to support the operational needs of modern terminals under high-density and rapid-turnover conditions, and also fail to meet the upgrade requirements of fully automated terminals in terms of high autonomy and low-error control. As a result, they have become key obstacles restricting the improvement of port operational efficiency and safety levels, and technological innovation is urgently needed to achieve a breakthrough. Summary of the Invention

[0004] The purpose of this invention is to provide an active anti-sway and omnidirectional spreader micro-motion system. Through a winding system and multiple moving devices, it completes a combination system of active anti-sway and omnidirectional spreader micro-motion, achieving a dual breakthrough in sway suppression and precise alignment.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution: An active anti-sway, omnidirectional micro-motion system for a lifting device includes a lifting trolley and a special lifting device. The lifting trolley is connected to a winding system, which includes several wire ropes. The special lifting device includes a lifting device frame and several wire rope fixing devices. The wire ropes are connected to the corresponding wire rope fixing devices. A corresponding moving device is connected between the wire rope fixing devices and the lifting device frame. The moving device drives the wire rope fixing devices to move relative to the lifting device frame.

[0006] Furthermore, the moving device includes a lateral moving component, which is arranged along the length direction of the upper frame of the lifting device and drives the corresponding steel rope fixing device to move along the length direction of the upper frame of the lifting device.

[0007] Furthermore, at least two lateral movement components are provided, respectively located on both sides of the upper frame of the lifting device, driving the corresponding steel rope fixing devices to move in the same direction / opposite direction to adjust the position / angle of the upper frame of the lifting device.

[0008] Furthermore, the moving device includes a longitudinal moving component, which is arranged along the width direction of the upper frame of the lifting device and drives the corresponding steel rope fixing device to move along the width direction of the upper frame of the lifting device.

[0009] Furthermore, the moving device includes a lead screw drive assembly and a micro motor. The output end of the micro motor is connected to the lead screw drive assembly. The lead screw drive assembly includes a nut seat that moves along the lead screw and is connected to the upper frame of the lifting device.

[0010] Furthermore, the upper frame of the lifting device is also equipped with several sensing sensors to detect the position of the upper frame of the lifting device relative to the object being lifted or a reference object.

[0011] Furthermore, the winding system includes a lifting motor and two lifting drums, which are respectively connected to the corresponding ends of the crane trolley. The lifting motor drives the two lifting drums to rotate. The lifting drums are provided with several rope grooves, and the wire ropes are connected to the corresponding rope grooves.

[0012] Furthermore, the lifting trolley is equipped with several sets of lifting pulleys, one end of the wire rope is wound around the lifting drum, and the other end passes over several lifting pulleys and is connected to the wire rope fixing device.

[0013] Furthermore, the reference speed of the hoisting motor is Vr = Vs / J w factor ; Where Vs is the expected allocation speed, J w factor As the dynamic compensation factor for the crane, through J w factor =C / D is calculated in real time. The wire rope is connected from the crane trolley downwards to the upper frame of the lifting device through the inclined section. C is the length of the inclined section of the wire rope, and D is the vertical height of the inclined section of the wire rope.

[0014] Furthermore, the upper frame of the lifting device is connected to the load via a twist lock, and the actual height of the twist lock from the ground is LH=H. D B is the height from the lower end of the inclined section of the wire rope to the twist lock, and H is the total height from the ground to the upper end of the inclined section of the wire rope.

[0015] In summary, the present invention has the following beneficial effects: (1) Significantly improved work efficiency: The 8-rope winding system enables rapid anti-swaying during high-speed operation. Combined with the micro-motion adjustment of ±250 bidirectional displacement / ±5 degree deviation of the lifting device, there is no need to wait for the sway to decay or repeatedly move the trolley / cart, and the single operation cycle is shortened by more than 30%. (2) Breakthrough in alignment accuracy: Through the dual guarantee of "anti-sway suppression of dynamic deviation - micro-motion correction of static deviation", combined with independent PLC control and precise sensor detection, the alignment of the spreader and the container is achieved at the "millimeter level", solving the problem of misalignment adjustment in traditional systems; (3) Superior structural design: The lifting drum, lifting gearbox and other components are distributed at both ends of the trolley, which reduces the weight by about 5 tons compared with the traditional central layout, optimizes the load distribution, simplifies the trolley structure and improves maintenance convenience, and the all-electric drive also reduces operation and maintenance costs. (4) Enhanced adaptability and safety: It can be seamlessly integrated into fully automatic, semi-automatic and other operating modes, resisting interference from uneven ground, wind and other factors; anti-sway and micro-motion work together to avoid collisions, reduce equipment and container wear and tear, and significantly improve operational safety. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of an active anti-sway, omnidirectional lifting device micro-motion system of the present invention; Figure 2 This is a schematic diagram of the crane control principle of an active anti-sway, omnidirectional lifting tool micro-motion system of the present invention; In the diagram, 1. Lifting motor; 2. Lifting gearbox; 3. Lifting drum; 4. Lifting pulley; 5. Lifting brake; 6. Lifting frame; 7. Moving device; 8. Micro motor; 9. Steel rope fixing device. Detailed Implementation

[0017] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. These embodiments do not constitute a limitation of the present invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application.

[0018] An active anti-sway, omnidirectional spreader micro-motion system, such as Figure 1 As shown, the system includes a lifting trolley and a special lifting device. The lifting trolley is connected to a winding system (an 8-rope winding system in this embodiment). The winding system includes several steel wire ropes, which are connected to the special lifting device. The lifting points on the special lifting device are symmetrically arranged. The special lifting device includes a lifting device frame 6 and several steel rope fixing devices 9. The steel wire ropes are connected to the corresponding steel rope fixing devices 9. A corresponding moving device 7 is connected between the steel rope fixing devices 9 and the lifting device frame 6. The moving device 7 drives the steel rope fixing devices 9 to move relative to the lifting device frame 6. Specialized spreaders are used to stably support heavy objects (containers). They use rigid ropes as a winding system and integrate micro-motion mechanisms (multiple moving devices 7) to achieve ±5-degree skew adjustment and bidirectional ±250mm displacement, precisely adapting to positioning requirements.

[0019] like Figure 1 As shown, the moving device 7 includes a lateral moving component and a longitudinal moving component. In this embodiment, there are two lateral moving components and two longitudinal moving components, which are symmetrically arranged on both sides and both ends of the upper frame 6 of the lifting device (four steel wire ropes on the same side are connected to the corresponding ends, and the other four are connected to the corresponding sides). The lateral moving component is arranged along the length direction of the upper frame 6 and drives the corresponding steel wire rope fixing device 9 to move along the length direction of the upper frame 6. The longitudinal moving component is arranged along the width direction of the upper frame 6 and drives the corresponding steel wire rope fixing device 9 to move along the width direction of the upper frame 6. In this embodiment, the position / angle of the upper frame 6 of the lifting device is adjusted by driving the corresponding steel rope fixing device 9 to move in the same or opposite directions through two lateral moving components. It can also be achieved by two longitudinal moving components, or by moving in the same direction through only the longitudinal moving components to adjust the position of the upper frame 6.

[0020] like Figure 1 As shown, specifically, the moving device 7 includes a linear guide rail assembly, a screw drive assembly, and a micro motor 8 (electric). The linear guide rail assembly guides the movement of the upper frame 6 of the lifting device, and it can be a structure such as a guide rail or a T-slot. The output end of the micro motor 8 is connected to the screw drive assembly. The screw drive assembly includes a nut seat that moves along the screw. The nut seat is fixedly connected to the frame of the upper frame 6 of the lifting device, so as to realize the position adjustment of the upper frame 6 of the lifting device. The upper frame 6 of the spreader is also equipped with several sensing sensors, which can be fixed at the "front / rear", "left / right" and "stop / center" positions of the end of the upper frame 6 to form a clear position scale. In some embodiments, each micro motor 8 is equipped with 3 or other numbers of sensing sensors to accurately detect the movement position of the spreader. At the same time, the micro motor 8 is equipped with independent PLC output control to achieve precise control of the spreader's movement based on the feedback of the sensing sensors. The position of the lifting device 6 relative to the object being lifted or a reference object can be easily adjusted by the moving device 7. The moving device 7 is powered by an electric micro motor 8 and, in conjunction with PLC control and sensor detection, can drive the lifting device to move in the gantry direction and the trolley direction. This can quickly suppress swaying, accurately correct the position, improve work efficiency and accuracy, reduce collision damage, and ensure safety.

[0021] like Figure 1As shown, the 8-rope winding system is used to adapt to automated scenarios, provide efficient anti-swaying and precise positioning, optimize the efficiency of automated operations, achieve efficient anti-swaying and anti-swaying through force balance design, ensure accurate displacement of the spreader when running at high speed, and reduce maintenance costs with all-electric drive. The 8-rope winding system includes a lifting motor 1 and two lifting drums 3. The lifting motor 1 adopts a fully electric design, which is more environmentally friendly and has lower maintenance costs compared to the traditional hydraulic system. The lifting motor 1 is fixedly installed on the long side of the crane trolley, so that the load is evenly distributed on the wheels of the crane trolley and the main beam of the crane. The lifting motor 1 drives the two lifting drums 3 to rotate (in this embodiment, the output end of the lifting motor 1 drives two symmetrically arranged lifting gear boxes 2 simultaneously through gear transmission, etc. The output end of the lifting gear box 2 is connected to the corresponding lifting drum 3 through gear transmission. The lifting gear box 2 transmits power between the lifting motor 1 and the lifting drum 3. Through gear transmission, the speed and torque are changed so that the lifting equipment can obtain appropriate power output to complete the lifting and lowering operation of the heavy object). The lifting drums 3 are symmetrically fixed at both ends of the crane trolley to optimize the structural load and make the load distribution even. The lifting drum 3 is provided with several rope grooves, and the wire rope is connected to the corresponding rope grooves. The hoisting drum 3 is also connected to a hoisting brake 5, which uses an existing braking structure to effectively brake the drum and prevent the goods from falling accidentally. Several sets of hoisting pulleys 4 are rotatably connected to the hoisting trolley to realize force transmission. One end of the wire rope is wound around the starting end of the rope groove of the hoisting drum 3, and the other end passes through several hoisting pulleys 4 and is connected to the wire rope fixing device 9 at the upper end of the special lifting device (in this embodiment, the hoisting trolley is also connected to a corresponding wire rope fixing device 9. After the wire rope passes through the wire rope fixing device 9 in the hoisting trolley, it tilts downward and passes through the wire rope fixing device 9 at the upper end of the special lifting device, and finally connects back to the fixing point of the hoisting trolley or the corresponding end of the wire rope in another rope groove).

[0022] like Figure 2 As shown, by establishing a spatial geometric model between the wire rope, the wire rope fixing device 9, and the upper frame of the lifting device 6, the accurate calculation of the height of key positions of the lifting device can be achieved. The reference speed of hoisting motor 1 is Vr = Vs / J w factor ; Where Vs is the expected allocation speed, J w factor As a dynamic compensation factor for the crane, it corrects the weighing data during lifting and maintains a constant speed during the lifting process, through J w factor=C / D is calculated in real time. The wire rope is connected to the upper frame 6 of the lifting device from the lifting trolley downward through the inclined section (for example, in this embodiment, the inclined section is the wire rope between the upper and lower sets of wire rope fixing devices 9. After the wire rope passes around the wire rope fixing device 9 in the lifting trolley, it is inclined downward and then passes around the wire rope fixing device 9 at the upper end of the special lifting device). C is the length of the inclined section of the wire rope, and D is the height of the inclined section of the wire rope in the vertical direction, which corresponds to the vertical distance between the upper and lower sets of wire rope fixing devices 9, etc.

[0023] The spreader frame 6 is connected to the load (container) via a twist lock below. The actual height of the twist lock from the ground is LH=H. D B, LH are the height dimensions of the twist lock location. In this embodiment, D=sqrt(C) 2 A 2 D is obtained from A, where A is the horizontal distance of the inclined section of the wire rope, which is the offset or interval of the upper frame 6 of the lifting device relative to the trolley or the corresponding two wire rope fixing devices 9 in the horizontal direction. α represents the tilt angle, which is used to describe the degree of tilt of the inclined section of the wire rope. B is the height from the lower end of the inclined section of the wire rope (the wire rope fixing device 9 on the upper frame 6) to the twist lock, which is also the vertical distance and is part of the vertical dimension of the upper frame 6. H is the total height from the ground to the upper end of the inclined section of the wire rope (the wire rope fixing device 9 on the trolley).

[0024] The operator uses an industrial camera and 3D LiDAR to acquire the relative position information of the spreader and the container corner fittings and determine whether there is any alignment deviation. Then, the operator issues a micro-adjustment command through the control panel button. The command is transmitted to the PLC control module via cable. Under the premise of meeting the safety interlock conditions, the PLC outputs control command to the driver of the electric micro motor 8 at the end of the spreader according to the button input signal, thereby driving the lateral movement device 7 to perform the corresponding translation or differential movement, realizing the micro-translation and rotation adjustment of the spreader. Meanwhile, the position sensing sensor installed on the lifting device is used to detect the critical alignment position. When the detection signal indicates that it has entered the preset alignment range, the PLC stops controlling the output of the micro motor 8 to prevent over-adjustment and assist in completing accurate alignment. For example, the lifting device can be controlled to move forward (button a), rotate clockwise (button b), move backward (button c), rotate counterclockwise (button d), translate back to center (press buttons a and c simultaneously), and rotate back to center (press buttons b and d simultaneously) by the corresponding control panel buttons.

[0025] Working principle: This device, as the core lifting execution unit of the tire crane, achieves the entire process of "anti-sway and stable lifting - precise positioning" through the mechanical linkage of the 8-rope winding system and special lifting tools, as well as the coordination of PLC electrical control. First, one end of the wire rope is fixed to the starting end of the rope groove of the hoisting drum 3. After the operation starts, the hoisting motor 1 outputs power first, which is decelerated and increased in torque by the hoisting gearbox 2. Then, the power is synchronously transmitted to the hoisting drums 3 at both ends of the hoisting trolley. The hoisting drums 3 rotate according to the preset trajectory, driving the rope to wind in an orderly manner along the drum groove, realizing contraction and release. The other end of the rope is distributed and guided by multiple sets of hoisting pulleys 4, and finally connected to the steel rope fixing device 9 at the upper end of the special lifting device frame 6, forming a complete power transmission link of "hoisting motor 1-hoisting gearbox 2-hoisting drum 3-hoisting pulley 4-special lifting device", providing power support for the lifting and operation of the lifting device. In particular, when the spreader frame 6 moves at high speed with the trolley or performs lifting / lowering operations, the 8-rope winding system ensures operational stability and safety through a dual mechanism: the 8 ropes are arranged in a symmetrical winding layout to form a force balance network with uniform force distribution. When the spreader frame 6 generates a swaying torque due to inertia, the symmetrically distributed ropes can quickly generate reverse tension to counteract the swaying, suppressing the sway amplitude to within 1 / 3 of that of a traditional 4-rope system, thus avoiding cargo collision; at the same time, the PLC control system collects the actual rope length C and horizontal distance D in real time, and uses formula J... w factor =C / D Calculation J w factor Then, based on Vr=Vs / J w factor The system dynamically corrects the speed of the hoisting motor, keeping the weighing error within ±2% and ensuring constant speed operation of the spreader. If the system detects a power failure or abnormal load, the normally closed hoisting brake 5 at the end of the hoisting drum 3 will apply an emergency brake within 0.5 seconds to prevent the cargo from falling through mechanical locking. When the spreader is close to the cargo, activate the fine adjustment mode; 1) In response to positional deviation, the micro motor 8 receives a signal and rotates, converting the rotational motion into linear displacement through the lead screw-nut pair, thereby driving the upper frame 6 of the spreader to perform longitudinal and lateral displacement compensation of ±250mm along the gantry direction or trolley direction, achieving millimeter-level alignment; after the goods are lifted or placed, the hoisting motor 1 rotates in reverse, driving the upper frame 6 of the spreader to reset via the power link. At this time, the rope winding system 8 releases tension, and the moving device 7 of the special spreader returns to the initial position; 2) Regarding the angular deviation, the differential displacement of the two lateral moving components: When the PLC outputs opposite direction commands to the two electric micro motors 8, the two lateral moving devices 7 generate a displacement difference, forming a differential force on both sides of the lifting device, thereby generating a torque around the vertical axis at the center of the lifting device, causing the lifting device to rotate slightly clockwise or counterclockwise, which is used for fine correction of the attitude angle (skew adjustment within ±5°). The spreader frame 6 can be equipped with sensing sensors at four specific positions: front, rear, left, and right, forming a multi-point position reference. This is used to detect the offset of the spreader relative to reference objects such as container corner pieces and gantry rails, and transmit the data to the PLC control module in real time. When the detection signal indicates that the spreader has entered the preset alignment range, the PLC stops the output control of the corresponding electric micro motor 8 and maintains the current mechanism position, thereby completing the rotation positioning and position locking of the spreader. Subsequently, the system enters a holding state waiting for the next operation command. In summary, relying on mechanical structure optimization and automated control technology, the 8-rope winding system and the special lifting tool complement each other under the unified control of PLC. The 8-rope winding system is mainly used to ensure the stability of the lifting tool during long stroke and high-speed operation, achieving active anti-sway, while the special lifting tool is used to complete fine alignment and attitude adjustment within a small range. The two work together to achieve the goal of efficient, safe and high-precision lifting operation. Through the force balance design of 8-rope winding and the precise control of PLC, a dual breakthrough of sway suppression and fine alignment is achieved.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within the scope of its essence and protection. Such modifications or equivalent substitutions should also be considered to fall within the protection scope of the present invention.

Claims

1. An active anti-sway, omnidirectional micro-motion system for lifting devices, characterized in that: It includes a lifting trolley and a special lifting device. The lifting trolley is connected to a winding system, which includes several wire ropes. The special lifting device includes a lifting device frame and several wire rope fixing devices. The wire ropes are connected to the corresponding wire rope fixing devices. A corresponding moving device is connected between the wire rope fixing devices and the lifting device frame. The moving device drives the wire rope fixing devices to move relative to the lifting device frame.

2. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 1, characterized in that: The moving device includes a lateral moving component, which is arranged along the length direction of the upper frame of the lifting device and drives the corresponding steel rope fixing device to move along the length direction of the upper frame of the lifting device.

3. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 2, characterized in that: At least two lateral movement components are provided, respectively located on both sides of the upper frame of the lifting device, driving the corresponding steel rope fixing devices to move in the same or opposite directions, and adjusting the position / angle of the upper frame of the lifting device.

4. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 1 or 2, characterized in that: The moving device includes a longitudinal moving component, which is arranged along the width direction of the upper frame of the lifting device and drives the corresponding steel rope fixing device to move along the width direction of the upper frame of the lifting device.

5. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 1, characterized in that: The moving device includes a lead screw drive assembly and a micro motor. The output end of the micro motor is connected to the lead screw drive assembly. The lead screw drive assembly includes a nut seat that moves along the lead screw. The nut seat is connected to the upper frame of the lifting device.

6. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 1 or 5, characterized in that: The upper frame of the lifting device is also equipped with several sensing sensors to detect the position of the upper frame of the lifting device relative to the object being lifted or a reference object.

7. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 1, characterized in that: The winding system includes a hoisting motor and two hoisting drums. The two hoisting drums are respectively connected to the corresponding ends of the hoisting trolley. The hoisting motor drives the two hoisting drums to rotate. The hoisting drums are provided with several rope grooves, and the wire ropes are connected to the corresponding rope grooves.

8. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 7, characterized in that: The lifting trolley is equipped with several sets of lifting pulleys. One end of the wire rope is wound around the lifting drum, and the other end passes over several lifting pulleys and is connected to the wire rope fixing device.

9. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 8, characterized in that: The reference speed of the hoisting motor is Vr = Vs / J w factor ; Where Vs is the expected allocation speed, J w factor As the dynamic compensation factor for the crane, through J w factor =C / D is calculated in real time. The wire rope is connected from the crane trolley downwards to the upper frame of the lifting device through the inclined section. C is the length of the inclined section of the wire rope, and D is the vertical height of the inclined section of the wire rope.

10. The active anti-sway, omnidirectional lifting device micro-motion system according to claim 9, characterized in that: The lifting device frame is connected to the load via a twist lock, and the actual height of the twist lock from the ground is LH=H. D B is the height from the lower end of the inclined section of the wire rope to the twist lock, and H is the total height from the ground to the upper end of the inclined section of the wire rope.

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