Anti-swing stabilizing device of gantry crane

Abstract

The utility model discloses an anti-swing stabilizing device of a gantry crane. The anti-swing stabilizing device comprises a torque motor, a winding drum, a steel wire rope, a brake and a pulley block, the torque motor is in transmission connection with the winding drum, and the steel wire rope is wound on the winding drum and downwards bypasses the rear lower end of the pulley block to be connected with the hanger; a shaft of the winding drum is connected with the brake, the winding drum is provided with a one-way bearing, and the rotatable direction of the one-way bearing is the same as the winding direction of the steel wire rope. A preset number of steel wire ropes are respectively and oppositely pulled and wound around pulleys of the pulley blocks, and the pulley blocks can support the steel wire ropes by a preset inclined pulling angle when the lifting appliance is lifted upwards through the steel wire ropes. According to the technical scheme, the balance state of the lifting appliance can be quickly recovered, the swing amplitude of the lifting appliance is reduced, and the stability and the anti-swing effect of the lifting appliance in the lifting and pulling process are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of hanging and traction devices, in particular to an anti-sway and stability device for a gantry crane. Background Art

[0002] Traditional gantry cranes usually use ordinary torque motors for anti-sway. A single torque motor drives a single drum mechanism, and they are connected by steel ropes, that is, the spreader is pulled at four symmetrical angles. The torque motor continuously outputs a constant upward torque during operation, so that the four angles of the spreader are evenly stressed to keep the spreader stable. Since the torque motors work independently and continuously, the following problems exist:

[0003] 1. The motors are continuously put into operation for a long time, resulting in large motor losses and serious overheating, which is easy to damage.

[0004] 2. Under the condition that the steel ropes maintain a large constant tension for a long time, the wear and tear are large. According to actual statistics, basically one steel rope is scrapped every three months.

[0005] 3. The torque motors work independently and there is a state of offline out-of-control. That is, if the steel rope or the motor of one of the motor mechanisms is damaged, the forces on the four angles of the spreader will be asymmetric. Instead of preventing sway, the spreader will be pulled obliquely and cannot be used. If the steel rope of one mechanism suddenly breaks, the torque motor of this mechanism will be pulled upwards by the torque motor out of control and may swing like a whip and get out of control at the drum side and entangle other mechanisms, resulting in an enlarged equipment damage and personal injury accident. Summary of the Utility Model

[0006] In view of the above problems, the utility model provides an anti-sway and stability device for a gantry crane. The torque motor is used to drive the drum to drive the steel rope to lift and pull the spreader. The swinging state of the spreader can be judged according to the torque value output by the torque motor in real time, and the torque output increment of the torque motor can be adjusted in real time, so as to quickly restore the balance state of the spreader. At the same time, the inclined pulling mode of the pulley block on the steel rope can improve the stability and anti-sway effect of the spreader during the lifting and pulling process by relying on the inclined pulling characteristics. In addition, the one-way bearing enables the drum to rotate only in the direction of winding the steel rope, and the unwinding direction is locked with the transmission shaft, so that the steel rope always has a certain traction force, reducing the swinging amplitude of the spreader and improving the anti-sway effect.

[0007] To achieve the above object, the utility model provides an anti-sway and stability device for a gantry crane, including: a torque motor, a drum, a steel rope, a brake and a pulley block;

[0008] The torque motor is in transmission connection with the drum, the steel rope is wound around the drum, and then passes downward around the pulley block and is connected to the spreader at the lower end;

[0009] The shaft of the drum is connected to the brake. The drum is provided with a one-way bearing, and the rotatable direction of the one-way bearing is the same as the rope winding direction of the steel wire rope.

[0010] A preset number of the steel wire ropes respectively obliquely pull around the pulleys of the pulley block in opposite directions. When the pulley block hoists the spreader upward through the steel wire ropes, the pulley block can lift the steel wire ropes to a preset oblique pulling angle.

[0011] In the above technical solution, preferably, the anti-sway and stability device of the gantry crane includes four groups of the torque motors, the drum and the steel wire ropes. The pulley block includes four groups of the pulleys. The four steel wire ropes are respectively wound around the four groups of the pulleys and then connected to the four corners of the spreader.

[0012] In the above technical solution, preferably, the pulley block can lift the steel wire ropes to a maximum oblique pulling angle of 165°.

[0013] In the above technical solution, preferably, the torque motor is provided with a communication module to transmit the torque value output in real time to the control device;

[0014] The torque motor is provided with a speed encoder, and the rotation speeds obtained by the four groups of the speed encoders can respectively reflect the hoisting speeds of the corresponding steel wire ropes.

[0015] In the above technical solution, preferably, the brake can respectively provide a preset braking force to the corresponding drum, so that the spreader pulled by the four steel wire ropes reduces swing and reaches balance.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows: The torque motor is used to drive the drum to drive the steel wire ropes to hoist the spreader, and the swing state of the spreader can be determined according to the torque value output in real time by the torque motor, and the torque output increment of the torque motor can be adjusted in real time, so as to quickly restore the balance state of the spreader. At the same time, the oblique pulling mode of the pulley block on the steel wire ropes can improve the stability and anti-sway effect of the spreader during the hoisting process by relying on the oblique pulling characteristics. In addition, the one-way bearing can make the drum only rotate in the rope winding direction of the steel wire rope, and the rope unwinding direction is locked with the transmission shaft, so that the steel wire rope always has a certain traction force, reducing the swing amplitude of the spreader and improving the anti-sway effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the anti-sway and stability device of the gantry crane disclosed in an embodiment of the present utility model;

[0018] Figure 2 is a schematic diagram of the brief structure of the anti-sway and stability device of the gantry crane disclosed in an embodiment of the present utility model;

[0019] Figure 3 Schematic diagram of the wire rope layout of the anti-sway stability device of the gantry crane disclosed in an embodiment of the present utility model.

[0020] In the figure, the corresponding relationship between each component and the reference numeral is as follows:

[0021] 1. Torque motor, 2. Drum, 3. Wire rope, 4. Brake, 5. Pulley block, 6. Spreaders. Detailed implementation manners

[0022] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0023] The following further describes the present utility model in detail with reference to the accompanying drawings:

[0024] As Figure 1 and Figure 2 shown, according to an anti-sway stability device of a gantry crane provided by the present utility model, it includes: a torque motor 1, a drum 2, a wire rope 3, a brake 4 and a pulley block 5;

[0025] The torque motor 1 is in transmission connection with the drum 2. The wire rope 3 is wound around the drum 2 and then bypasses the pulley block 5 downward, and the lower end thereof is connected to the spreader 6;

[0026] The shaft of the drum 2 is connected to the brake 4. The drum 2 is provided with a one-way bearing, and the rotatable direction of the one-way bearing is the same as the wire rope retracting direction of the wire rope 3;

[0027] A preset number of wire ropes 3 are respectively obliquely pulled in opposite directions around the pulleys of the pulley block 5, and the pulley block 5 can support the wire rope 3 to a preset oblique pulling angle when hoisting the spreader 6 upward through the wire rope 3.

[0028] In this embodiment, the torque motor 1 is used to drive the drum 2 to drive the wire rope 3 to hoist the spreader 6. The swinging state of the spreader 6 can be determined according to the torque value output by the torque motor 1 in real time, and the torque output increment of the torque motor 1 can be adjusted in real time, so as to quickly restore the balance state of the spreader 6. At the same time, the oblique pulling mode of the pulley block 5 on the wire rope 3 can improve the stability and anti-sway effect of the spreader 6 during the hoisting process depending on the oblique pulling characteristics. In addition, the one-way bearing can make the drum 2 only rotate in the wire rope retracting direction of the wire rope 3, and the wire rope releasing direction is locked with the transmission shaft, so that the wire rope 3 always has a certain traction force, reducing the swinging amplitude of the spreader 6 and improving the anti-sway effect.

[0029] Specifically, add new control and protection programs to the main electric control PLC control system program. Obtain relevant data under different working conditions through the torque motor 1, such as closed-loop control information conditions of output torque, speed, voltage, current, etc. The control and protection program uses the torque value received by the torque motor 1 in real time to determine the swing state of the spreader 6. According to the swing state, effectively intervene in the variable-frequency torque motor 1 that symmetrically obliquely pulls the spreader 6, and effectively judge the points with greater torque requirements for the symmetric component forces, and give real-time incremental torque output compensation, so that the symmetric pulling points of the spreader 6 quickly return to balance, thus effectively stabilizing the swaying spreader 6 during the operation process.

[0030] Such as Figure 3 As shown, during the implementation process, variable-frequency anti-sway torque motors 1 are arranged in a row at the upper end, brakes 4 are arranged in the middle, and pulley blocks 5 are arranged at the lower part, so as to increase the symmetric oblique pulling angle of the steel wire ropes 3 as much as possible. Since the oblique pulling angle itself has a certain anti-sway effect without being controlled by the upper-end torque motor 1, the distribution and installation angle of the pulley block 5 is also a hardware basis for the anti-sway stabilizing device.

[0031] Due to the distribution structure of the trolley frame of the gantry crane being restricted by the width of the main beam, there must be a certain limit for the distributed and separated angle pulley blocks 5 without being interfered by other structural members. Therefore, for the steel wire ropes 3 that symmetrically obliquely pull the lower spreader 6 below, in addition to optimizing its own structure, it is also necessary to use the variable-frequency torque motor 1 to output the separated angle torque in real time to counteract the swinging tension of the spreader 6, so as to effectively improve the anti-sway effect of the spreader 6.

[0032] In the above-mentioned implementation manner, preferably, the anti-sway stabilizing device of the gantry crane includes four groups of torque motors 1, drums 2, and steel wire ropes 3. The pulley block 5 includes four groups of pulleys, and the four steel wire ropes 3 are respectively wound around the four groups of pulleys and then connected to the four corners of the spreader 6.

[0033] In the above-mentioned implementation manner, preferably, when the pulley block 5 hoists the spreader 6 upward through the steel wire rope 3, it can start from an oblique pulling angle of about 40°, and the oblique pulling angle gradually increases during the continuous ascent, and can support the steel wire rope 3 to a maximum oblique pulling angle of 165°. The larger the oblique pulling angle, the smaller the swing amplitude of the spreader 6, and the more stable the spreader 6.

[0034] In the above-mentioned implementation manner, preferably, the torque motor 1 is provided with a communication module to transmit the torque value output in real time to the control device;

[0035] The torque motor 1 is provided with a speed encoder, and the rotational speeds obtained by the four groups of speed encoders can respectively reflect the hoisting speeds of the corresponding steel wire ropes 3.

[0036] Specifically, the torque motor 1 is equipped with a speed encoder. The real-time speeds of the four torque motors 1 are used for comparative calculation. If it is found that the speed of a certain motor suddenly increases by more than 10% compared to the others, a fault alarm is output with a delay of 0.5 seconds to reduce the error rate. In the event of a fault, the instantaneous rope breakage condition of the wire rope 3 is judged to provide effective protection and avoid machine damage and injury accidents due to sudden rope breakage.

[0037] Among them, the difference between the variable-frequency torque motor 1 and an ordinary motor is that the variable-frequency torque motor 1 is equipped with a speed encoder and an operation output control system. The real-time output torque value of the torque motor 1 is used to judge the swinging state of the spreader 6. Effective intervention is carried out on the four variable-frequency torque motors 1 that symmetrically pull the spreader 6 obliquely, and an incremental torque output compensation is given in real time, so that the four symmetric pulling points of the spreader 6 quickly return to balance. Therefore, the swinging spreader 6 during the operation process is quickly and effectively stabilized.

[0038] Among them, the frequency converter of the torque motor 1 itself can expand the DP communication protocol. By expanding and adding a communication module, a PROFIBUS-DP communication can be established with the PLC of the main electric control system of the gantry crane.

[0039] In the above embodiment, preferably, the brake 4 can respectively provide a preset braking force to the corresponding drum 2, so that the spreader 6 pulled by the four wire ropes 3 reduces swinging and reaches balance.

[0040] According to the anti-sway and stabilization device of the gantry crane disclosed in the above embodiment, from the perspective of the mechanism, the system changes from the open-loop control of the prior art to the closed-loop control of the present invention. From the perspective of the mechanism hardware, not only the splitting angle of the pulley block 5 is increased, but also the anti-sway mechanism is connected in series coaxially, and a brake 4 is added therein for braking control, reducing the out-of-control rate. From the perspective of software control, the continuous states of the four motors under out-of-control are compared for secondary protection. The variable-frequency torque motor 1 is used for control to optimize the continuous working state of the torque motor 1, reduce the motor loss caused by the motor maintaining a large pulling force working state for a long time, and at the same time reduce the wear of the wire rope 3 and extend the service life.

[0041] During the implementation process, when the gantry crane is operating, the variable-frequency torque motor 1 is continuously powered on, always giving an upward tension to the wire rope 3, which is sufficient to roll up the loose wire rope 3 and pull one corner of the spreader 6 with a certain traction force. In the swinging state of the spreader 6, the disc brake 4 on the shaft connecting the drum 2 gives a certain restraining force to the wire rope 3, playing a role in preventing the spreader 6 from swinging. The magnitude of the braking resistance of the brake 4 can be easily adjusted by setting the spring force. Repeat the above actions several times to continuously reduce the swinging amplitude of the spreader 6 when lifting a container, achieving the final anti-sway effect.

[0042] Among them, the brake 4 is only opened during the hoisting and lowering operations, and is closed during the hoisting up, trolley, and gantry operations. Specifically, it includes:

[0043] (1) When the spreader 6 descends:

[0044] Under the action of the self - gravity of the spreader 6, each variable - frequency torque motor 1 receives a reverse force. The inner and outer rings of the one - way bearing are locked with each other, the shaft rotates, the brake 4 is opened, and the tension of the steel wire rope 3 is the blocked - rotor force of the variable - frequency torque motor 1 and the reverse efficiency of the mechanical transmission. The anti - sway stabilizing device only slightly restricts the tensioned steel wire rope 3.

[0045] (2) When the spreader 6 stops:

[0046] When the hoisting and lowering of the spreader 6 stops, the brake 4 locks, the inner and outer rings of the one - way bearing are disengaged from each other, the shaft is in a braking state. If the spreader 6 sways due to other factors, the brake 4 generates a damping effect to reduce the sway of the spreader 6.

[0047] (3) When the spreader 6 ascends:

[0048] The tension caused by the self - weight of the spreader 6 does not act on the steel wire rope 3. The variable - frequency torque motor 1 drives the drum 2 to wind up the steel wire rope 3. At this time, the inner and outer parts of the one - way bearing are separated from each other, the rotational force does not act on the shaft, and the brake 4 does not work.

[0049] When the trolley runs (or the combined operation of the trolley and hoisting), and when the gantry runs:

[0050] When the trolley runs (or the combined operation of the trolley and hoisting), and when the gantry runs, the brake 4 locks, the inner and outer rings of the one - way bearing are disengaged from each other, the shaft is in a braking state. If the spreader 6 sways due to other factors, the brake 4 generates a damping force, and at the same time, the variable - frequency torque motor 1 continuously winds up the loose steel wire rope 3 to reduce the sway of the spreader 6.

[0051] During the implementation process, according to the control requirements, the braking torque of the brake 4 is accurately adjusted. Analyzing from 3 swing cycles of the control requirements, the braking force starts to be the largest when the swinging force first acts, and the corresponding impact force is also the strongest. The force received during the second - round swing is significantly reduced, and the force received during the third - round swing is almost zero when it stops stably.

[0052] Through multiple on - site test runs and tracking, it is found that if the torque setting of the brake 4 is too large, during the first - round swing process of the spreader 6 with heavy load, the brake 4 is in a fully locked state throughout the process. The steel wire rope 3 receives a large reverse hard impact force from the spreader 6, resulting in broken wires and broken ropes of the steel wire rope 3, and greatly reducing the service life of the steel wire rope 3.

[0053] Therefore, for the above reasons, based on the force analysis of the swinging cycle, the set torque value of the first swinging brake 4 should not be too large, and it is sufficient to be in a semi-braking state, so as to convert the hard impact force into a soft impact force. In order to fully ensure the anti-sway braking effect, the second swinging cycle should be adjusted to the full braking state as much as possible. Therefore, for the actual set braking torque value of the brake 4, it should be determined according to the restriction of the second swinging cycle (this value will change with the actual load change of the spreader 6, so it is also necessary to set according to the average frequency of the actual on-site operation box weight and the comprehensive test results).

[0054] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An anti-sway and stabilization device for a gantry crane, characterized in that Comprising: A torque motor, a drum, a wire rope, a brake and a pulley block; The torque motor is in transmission connection with the drum, the wire rope is wound around the drum, and after passing downward around the pulley block, the lower end thereof is connected to a lifting tool; The shaft of the drum is connected to the brake, the drum is provided with a one-way bearing, and the rotatable direction of the one-way bearing is the same as the wire rope winding-in direction; A preset number of the wire ropes are respectively obliquely pulled around the pulleys of the pulley block in opposite directions, and the pulley block can support the wire ropes to a preset oblique pulling angle when lifting the lifting tool upward through the wire ropes.

2. The anti-sway and stabilization device for the gantry crane according to claim 1, characterized in that, Comprising four sets of the torque motors, the drums and the wire ropes, the pulley block comprises four sets of the pulleys, and the four wire ropes are respectively wound around the four sets of the pulleys and then connected to the four corners of the lifting tool.

3. The anti-sway and stability device of the gantry crane according to claim 1, characterized in that, The pulley block can support the wire ropes to a maximum oblique pulling angle of 165°.

4. The anti-sway and stability device for the gantry crane according to claim 2, characterized in that The torque motor is provided with a communication module to transmit the torque value output in real time to a control device; The torque motor is provided with a speed encoder, and the rotation speeds obtained by the four sets of the speed encoders can respectively reflect the lifting speeds of the corresponding wire ropes.

5. The anti-sway and stability device of the gantry crane according to claim 1, wherein The brake can respectively provide a preset braking force for the corresponding drum, so that the lifting tool pulled by the four wire ropes reduces swing and reaches balance.

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