A dynamic balancing system and container gantry crane

Abstract

The utility model provides a kind of dynamic balance system and container gantry crane, it is related to port large-scale mechanical equipment technical field, dynamic balance system is applied to container gantry crane, container gantry crane includes crane gantry assembly and the travelling bogie being set below crane gantry assembly, dynamic balance system includes: lever beam and hydraulic oil cylinder, lever beam is used to articulate between the lower crossbeam of crane gantry assembly and the balance beam of travelling bogie, hydraulic oil cylinder is arranged along vertical direction, and the plunger rod of hydraulic oil cylinder is articulated to lower crossbeam, the cylinder body of hydraulic oil cylinder is articulated to lever beam.The utility model's dynamic balance system, compared to relevant technology, hydraulic oil cylinder can actively adjust the balance beam side of lever beam to rise or fall, make wheel pressure restore to normal state, by the combination of this mechanical structure and hydraulic system, realized from "passive alarm" to "active adjustment" upgrade, greatly improve wheel pressure uniformity.

Description

Technical Field

[0001] This utility model relates to the technical field of large-scale port machinery and equipment, and more specifically, to a dynamic balancing system and a container gantry crane. Background Technology

[0002] Traditional four-legged gantry cranes are prone to uneven stress distribution on their outriggers when encountering road or rail subsidence or structural deformation. Specifically, this manifests as a decrease in stress on one leg and an increase in stress on the other, or vice versa, when the gantry crane moves on one side. This leads to a dramatic increase, even doubling, in wheel pressure on one side of the crane, exceeding the design load-bearing capacity of the rail beam and causing risks such as rail damage, cracking of the rail beam, and structural damage to the gantry crane. Utility Model Content

[0003] The problem this utility model aims to solve is: how to address the uneven stress on the outriggers caused by road or track subsidence and structural deformation due to the movement of large vehicles.

[0004] This utility model provides a dynamic balancing system applied to a container gantry crane. The container gantry crane includes a crane gantry assembly and a traveling trolley disposed below the crane gantry assembly. The dynamic balancing system includes a lever beam and a hydraulic cylinder. The lever beam is hinged between the lower crossbeam of the crane gantry assembly and the balance beam of the traveling trolley. The hydraulic cylinder is arranged vertically, and the piston rod of the hydraulic cylinder is hinged to the lower crossbeam. The cylinder body of the hydraulic cylinder is hinged to the lever beam.

[0005] The dynamic balancing system provided by this utility model has, but is not limited to, the following beneficial effects compared to related technologies: The dynamic balancing system described in this invention uses a lever beam, which is a force-transmitting component with a fulcrum structure, specifically a rigid beam with double hinges. A hydraulic cylinder is an actuator with pressure feedback functionality, specifically a single-acting piston cylinder, which senses load fluctuations through changes in oil chamber pressure. When the crane experiences uneven force on its outriggers, the displacement change of the balance beam is converted into a torque change through the lever beam. The cylinder body of the hydraulic cylinder generates pressure fluctuations as it moves with the lever beam, and this pressure signal triggers flow compensation in the hydraulic system. The connection between the piston rod of the hydraulic cylinder and the lower crossbeam forms a reaction force fulcrum, amplifying the thrust of the hydraulic cylinder through the leverage ratio and applying it to the balance beam, thereby correcting the load distribution of each outrigger in real time. Specifically, when the crane encounters road or rail subsidence or partial structural deformation, the wheel pressure of one outrigger decreases, causing an imbalance in the lever system on that outrigger side. This imbalance allows the balance beam to descend, thus appropriately increasing the wheel pressure and reducing the increase in wheel pressure on other outriggers, achieving mechanical self-adaptation. Meanwhile, the imbalance of the lever beam will cause the internal oil pressure of the hydraulic cylinder to increase or decrease. When the oil pressure change reaches a set threshold, the oil pressure sensor will trigger the hydraulic system to adjust. The hydraulic system actively adjusts the balance beam side of the lever beam to rise or fall by controlling the retraction or extension of the piston rod of the hydraulic cylinder, so that the wheel pressure returns to normal. Through this combination of mechanical structure and hydraulic system, an upgrade from "passive alarm" to "active adjustment" is achieved, which greatly improves the wheel pressure balance. Compared with related technologies, traditional solutions rely on structural stiffness to passively bear the load and cannot actively adjust the force on the outriggers. This utility model is based on the lever principle and hydraulic system to convert displacement changes into measurable pressure signals, combined with the active adjustment capability of the hydraulic system, to form a closed-loop control system. This dynamic balancing mechanism can effectively absorb the structural deformation caused by track settlement and avoid local overload. Through the above technical solution, this utility model achieves dynamic balance of the load on the outriggers of the traveling trolley, significantly reducing the peak wheel pressure on one side. When uneven settlement occurs in the track foundation, the system automatically compensates for the load difference between the outriggers to prevent track crushing accidents caused by local overload. Meanwhile, the balancing system transmits the main load through a mechanical structure, reducing the need for continuous power supply to the hydraulic system and improving the reliability of equipment operation.

[0006] Optionally, a first hinge support is provided below one end of the lever beam, and the lever beam and the balance beam are connected through the first hinge support; a fourth hinge support is provided below the lower crossbeam, and the lower crossbeam and the lever beam are connected through the fourth hinge support.

[0007] Optionally, a second hinge support is provided above the end of the lever beam away from the first hinge support, and the cylinder body of the hydraulic cylinder is connected to the second hinge support; a third hinge support is provided below the lower crossbeam, and the plunger rod of the hydraulic cylinder is connected to the third hinge support.

[0008] Optionally, in the horizontal direction, the fourth hinge support is located between the first hinge support and the second hinge support.

[0009] Optionally, the center distance L1 between the first hinge support and the fourth hinge support is 100mm, and the center distance L2 between the fourth hinge support and the second hinge support is 1200mm.

[0010] Optionally, the torque ratio of the lever beam is 1:12.

[0011] Optionally, the cylinder body of the hydraulic cylinder is equipped with a high-precision oil pressure sensor.

[0012] Optionally, the set oil pressure change threshold of the hydraulic cylinder is ±5% of the normal operating pressure.

[0013] Optionally, the dynamic balancing system further includes a hydraulic system connected to the hydraulic cylinder for controlling the extension and retraction of the piston rod of the hydraulic cylinder.

[0014] In addition, this utility model also provides a container gantry crane, including a crane gantry assembly, a traveling trolley, and a dynamic balancing system as described above.

[0015] Since the technical improvements and effects achieved by the container gantry crane are the same as those of the dynamic balancing system, the technical effects of the container gantry crane will not be described in detail. Attached Figure Description

[0016] Figure 1 This is a front view of the dynamic balancing system according to an embodiment of the present invention; Figure 2 This is a partial enlarged view of the dynamic balancing system according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Lower crossbeam; 2. Balance beam; 3. Lever beam; 4. Hydraulic cylinder; 5. First hinge support; 6. Second hinge support; 7. Third hinge support; 8. Fourth hinge support. Detailed Implementation

[0018] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0019] In the description of this utility model, the orientation or positional relationship indicated by terms such as "up", "down", "left", "right", "top", "bottom", "front", "back", "inner" and "outer" is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this utility model and is not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0022] Furthermore, in the attached diagram, the X-axis represents the horizontal direction, that is, the left and right position, and the positive direction of the X-axis represents the left, and the negative direction of the X-axis represents the right; in the attached diagram, the Z-axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z-axis represents the up, and the negative direction of the Z-axis represents the down.

[0023] It should also be noted that the aforementioned X-axis and Z-axis representations are only for the purpose of facilitating the description of the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0024] like Figures 1 to 2 As shown, the dynamic balancing system of this utility model embodiment includes: applied to a container gantry crane, the container gantry crane including a crane gantry assembly and a traveling trolley disposed below the crane gantry assembly, characterized in that the dynamic balancing system includes: a lever beam 3 and a hydraulic cylinder 4, the lever beam 3 being hinged between the lower crossbeam 1 of the crane gantry assembly and the balance beam 2 of the traveling trolley, and the hydraulic cylinder 4 being arranged vertically (see attached diagram). Figure 1(in the Z-axis direction), and the piston rod of the hydraulic cylinder 4 is hinged to the lower crossbeam 1, and the cylinder body of the hydraulic cylinder 4 is hinged to the lever beam 3.

[0025] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2 As shown, four traveling trolleys are typically installed below the crane gantry assembly, and each traveling trolley is connected to the crane gantry assembly by this dynamic balancing system. The lever beam 3 of this dynamic balancing system is a force-transmitting component with a fulcrum structure, which can be implemented using a rigid beam with double hinge points. The hydraulic cylinder 4 is an actuator with pressure feedback function, which can be implemented using a single-acting piston cylinder. It senses load fluctuations through changes in oil chamber pressure and can control its extension and retraction movement through the hydraulic system. When the crane experiences uneven force on its outriggers, the displacement change of the balancing beam 2 is converted into a torque change through the lever beam 3. The hydraulic cylinder 4 generates pressure fluctuations as it moves with the lever beam 3, and this pressure signal can trigger the hydraulic system to perform flow compensation. The lever beam 3 is hinged between the lower crossbeam 1 and the balance beam 2. The hinge point between the lever beam 3 and the lower crossbeam 1 serves as the rotation fulcrum of the lever system, and the hinge point between the lever beam 3 and the balance beam 2 serves as the force transmission fulcrum of the lever system. The connection between the plunger rod of the hydraulic cylinder 4 and the lower crossbeam 1 forms a reaction force fulcrum, so that the thrust of the hydraulic cylinder 4 is amplified by the leverage ratio and applied to the balance beam 2, thereby correcting the load distribution of each leg in real time.

[0026] For example, when a crane encounters road or rail subsidence or partial structural deformation, the wheel pressure on one outrigger decreases, causing an imbalance in the lever system (lever beam 3) on that outrigger side. This imbalance allows the balance beam 2 to lower, thus appropriately increasing the wheel pressure and reducing the increase in wheel pressure on other outriggers, achieving mechanical self-adaptation. Simultaneously, the imbalance in lever beam 3 causes the internal oil pressure of hydraulic cylinder 4 to increase or decrease. When the oil pressure change reaches a set threshold, the oil pressure sensor triggers the hydraulic system to adjust. The hydraulic system actively adjusts the rise or fall of the balance beam 2 side of lever beam 3 by controlling the retraction or extension of the piston rod of hydraulic cylinder 4, restoring the wheel pressure to normal. This combination of mechanical structure and hydraulic system achieves an upgrade from "passive alarm" to "active adjustment," significantly improving wheel pressure balance.

[0027] Compared to related technologies, traditional solutions rely on structural stiffness to passively bear loads, unable to actively adjust the force on the outriggers. This invention, based on the lever principle and a hydraulic system, converts displacement changes into measurable pressure signals, combining this with the active adjustment capability of the hydraulic system to form a closed-loop control system. This dynamic balancing mechanism can effectively absorb structural deformation caused by track settlement and avoid local overload.

[0028] Through the above technical solution, this utility model can achieve dynamic balancing of the load on the outriggers of the traveling trolley, significantly reducing the peak value of wheel pressure on one side. When uneven settlement occurs in the track foundation, the system automatically compensates for the load differences between the outriggers, preventing track crushing accidents caused by local overload. At the same time, this balancing system transmits the main load through a mechanical structure, which can reduce the need for continuous power supply to the hydraulic system and improve the reliability of equipment operation.

[0029] Optionally, one end of the lever beam 3 (attached) Figure 1 A first hinge support 5 is provided below the lever beam 3 (in the X-axis direction), and the lever beam 3 and the balance beam 2 are connected through the first hinge support 5; a fourth hinge support 8 is provided below the lower crossbeam 1, and the lower crossbeam 1 and the lever beam 3 are connected through the fourth hinge support 8.

[0030] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2 As shown, the first hinge support 5 refers to the support structure located below the end of the lever beam 3 for hinged connection. Specifically, it can be implemented using an ear plate structure with a pin, forming a rotatable connection with the balance beam 2 via the pin. This structure can convert the load transfer between the lever beam 3 and the balance beam 2 into hinged motion, avoiding stress concentration caused by rigid connection. The lever beam is hinged to the balance beam 2 of the traveling trolley via the first hinge support 5. When load fluctuations occur due to track settlement or structural deformation during crane travel, the first hinge support 5 allows relative rotation between the lever beam 3 and the balance beam 2, thereby dynamically adjusting the load distribution. This connection method can disperse abnormal loads borne by one side of the outrigger through the torque balancing effect of the lever beam 3, preventing the wheel pressure on one side from exceeding the load-bearing limit of the track beam. The fourth hinge support 8 refers to the support structure located at the bottom of the lower crossbeam 1 (attached). Figure 1 The hinged support structure (in the opposite direction of the Z-axis) is used to support the lever beam 3, and can be implemented using an ear plate structure with a pin. This hinged support increases the force transmission fulcrum, enabling the lever beam 3 and the lower crossbeam 1 to form a stable connection, thereby dispersing the dynamic load generated during crane operation.

[0031] Optionally, a second hinge support 6 is provided above the end of the lever beam 3 away from the first hinge support 5, and the cylinder body of the hydraulic cylinder 4 is connected to the second hinge support 6; a third hinge support 7 is provided below the lower crossbeam 1, and the plunger rod of the hydraulic cylinder 4 is connected to the third hinge support 7.

[0032] In this embodiment, in conjunction with the appendix Figure 1 and attached Figure 2As shown, the second hinge support 6 refers to the top connector fixed to the end of the lever beam 3 away from the first hinge support 5. Specifically, it can be implemented using an ear plate structure with a pin, used to form a rotatable connection between the cylinder body of the hydraulic cylinder 4 and the lever beam 3, thereby transmitting the load in the vertical direction. The third hinge support 7 refers to the support connector installed at the bottom of the lower crossbeam 1, specifically using an ear plate structure with a pin, used to form a hinge between the plunger rod of the hydraulic cylinder 4 and the lower crossbeam 1, so that the hydraulic cylinder 4 can extend and retract with the movement of the lever beam 3.

[0033] Specifically, the cylinder body of hydraulic cylinder 4 is connected to lever beam 3 via second hinge support 6, and the plunger rod is connected to lower crossbeam 1 via third hinge support 7. Thus, lever beam 3 can rotate around first hinge support 5, causing hydraulic cylinder 4 to extend and retract. Hydraulic cylinder 4 converts the rotation of lever beam 3 into displacement compensation through oil pressure changes in the rodless and rod-side chambers, thereby adjusting the support force distribution of the traveling trolley. The arrangement directions of second hinge support 6 and third hinge support 7 correspond to the moment application point of lever beam 3 and the fixed support point of lower crossbeam 1, respectively, forming a stable force transmission path.

[0034] Optionally, in the horizontal direction, the fourth hinge support 8 is located between the first hinge support 5 and the second hinge support 6. The center distance between the first hinge support 5 and the fourth hinge support 8 is 100 mm, and the center distance between the fourth hinge support 8 and the second hinge support 6 is 1200 mm.

[0035] In this embodiment, in conjunction with the appendix Figure 2 As shown, the center distance between the first hinge support 5 and the fourth hinge support 8 is 100mm, and the center distance between the fourth hinge support 8 and the second hinge support 6 is 1200mm. Therefore, the torque ratio of the lever beam 3 is 1:12. In practical applications, assuming that the wheel pressure of one leg decreases by 1 ton due to road subsidence, according to the torque ratio of 1:12, only about 83.3 kg of force from the hydraulic cylinder 4 is needed to balance this 1-ton wheel pressure difference.

[0036] Optionally, the torque ratio of the lever beam 3 is 1:12.

[0037] In this embodiment, the 1:12 torque ratio design achieves a significant force amplification effect, allowing the hydraulic system to balance large wheel pressure differences with only a small force. This design greatly reduces the requirements on the hydraulic system, decreases energy consumption, and improves the system's response speed and adjustment accuracy. Simultaneously, this torque ratio also ensures that the system has sufficient adjustment margin to cope with various degrees of wheel pressure variation.

[0038] Optionally, a high-precision oil pressure sensor is installed in the cylinder body of the hydraulic cylinder 4.

[0039] In this embodiment, the use of a high-precision hydraulic pressure sensor enables real-time and accurate monitoring of the balance state of the lever system. It can quickly detect minute changes in hydraulic pressure, thereby triggering timely adjustments to the hydraulic system. This design improves the system's sensitivity and response speed, allowing the dynamic balancing system to respond to wheel pressure changes more quickly and accurately, thus better maintaining the force balance of the four legs.

[0040] Optionally, the set oil pressure change threshold of the hydraulic cylinder 4 is ±5% of the normal operating pressure.

[0041] In this embodiment, setting a hydraulic pressure change threshold can prevent the system from overreacting to minor fluctuations, thus improving system stability and reliability. Simultaneously, a reasonable threshold setting ensures the system responds promptly when wheel pressure differences reach a certain level, guaranteeing timely and effective adjustment. This design balances system sensitivity and stability, reduces unnecessary adjustments, extends equipment lifespan, and ensures timely adjustment. Based on the system's actual operating conditions and requirements, the hydraulic pressure change threshold can be set to ±5% of the normal operating pressure. For example, if the normal operating pressure of the hydraulic cylinder is 10 MPa, the threshold range can be set from 9.5 MPa to 10.5 MPa. When the hydraulic pressure sensor detects pressure exceeding this range, the control system triggers the hydraulic system to adjust, controlling the piston rod of hydraulic cylinder 4 to retract or extend to restore the balance of the lever system.

[0042] Optionally, the dynamic balancing system further includes a hydraulic system connected to the hydraulic cylinder 4 for controlling the extension and retraction of the piston rod of the hydraulic cylinder 4.

[0043] In this embodiment, when the oil pressure change reaches a set threshold, the oil pressure sensor senses the oil pressure change and transmits it to the hydraulic system. The hydraulic system controls the piston rod of the hydraulic cylinder 4 to retract or extend by adjusting the amount of oil in the rod chamber and / or rodless chamber of the hydraulic cylinder 4, so as to actively control the balance beam side of the lever beam 3 to descend or rise, thereby restoring the wheel pressure to normal.

[0044] Optionally, the lever beam 3 is a sealed box-type structure beam.

[0045] In this embodiment, the box girder refers to a closed-section member formed by welding four steel plates. Specifically, it can be achieved by continuously welding the upper and lower cover plates and the two side webs to form a hollow cavity structure. Transverse stiffening ribs can be set inside the cavity to enhance local stability. The sealing structure refers to continuously welding or filling the joints of the box girder with sealing material. Specifically, it can be achieved by using argon arc welding combined with sealant coating to form a sealed space inside the box girder.

[0046] Specifically, the box girder structure achieves overall bending stiffness through a closed section design. When subjected to dynamic loads between the crane gantry assembly and the traveling trolley, its moment of inertia is significantly higher than that of traditional open-section beams. The sealed structure prevents external corrosive media from intruding into the box, while also preventing rainwater or dust from accumulating inside the cavity and causing structural corrosion. Transverse stiffening ribs are spaced along the length of the beam, effectively suppressing buckling deformation of the web under the action of hydraulic cylinders.

[0047] In addition, this utility model also provides a container gantry crane, including a crane gantry assembly, a traveling trolley, and a dynamic balancing system as described above.

[0048] Since the technical improvements and effects achieved by the container gantry crane are the same as those of the dynamic balancing system, the technical effects of the container gantry crane will not be described in detail.

[0049] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0050] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A dynamic balancing system applied to a container gantry crane, the container gantry crane comprising a crane gantry assembly and a traveling trolley disposed below the crane gantry assembly, characterized in that, The dynamic balancing system includes a lever beam (3) and a hydraulic cylinder (4). The lever beam (3) is hinged between the lower crossbeam (1) of the crane gantry assembly and the balance beam (2) of the traveling trolley. The hydraulic cylinder (4) is arranged in a vertical direction, and the plunger rod of the hydraulic cylinder (4) is hinged to the lower crossbeam (1). The cylinder body of the hydraulic cylinder (4) is hinged to the lever beam (3).

2. The dynamic equilibrium system according to claim 1, characterized in that, A first hinge support (5) is provided below one end of the lever beam (3), and the lever beam (3) and the balance beam (2) are connected through the first hinge support (5); a fourth hinge support (8) is provided below the lower crossbeam (1), and the lower crossbeam (1) and the lever beam (3) are connected through the fourth hinge support (8).

3. The dynamic equilibrium system according to claim 2, characterized in that, A second hinge support (6) is provided above the end of the lever beam (3) away from the first hinge support (5), and the cylinder body of the hydraulic cylinder (4) is connected to the second hinge support (6); a third hinge support (7) is provided below the lower crossbeam (1), and the plunger rod of the hydraulic cylinder (4) is connected to the third hinge support (7).

4. The dynamic equilibrium system according to claim 3, characterized in that, In the horizontal direction, the fourth hinge support (8) is located between the first hinge support (5) and the second hinge support (6).

5. The dynamic equilibrium system according to claim 4, characterized in that, The center distance L1 between the first hinge support (5) and the fourth hinge support (8) is 100mm, and the center distance L2 between the fourth hinge support (8) and the second hinge support (6) is 1200mm.

6. The dynamic equilibrium system according to claim 1, characterized in that, The torque ratio of the lever beam (3) is 1:

12.

7. The dynamic equilibrium system according to claim 1, characterized in that, The cylinder body of the hydraulic cylinder (4) is equipped with a high-precision oil pressure sensor.

8. The dynamic equilibrium system according to claim 1, characterized in that, The set oil pressure change threshold of the hydraulic cylinder (4) is ±5% of the normal working pressure.

9. The dynamic equilibrium system according to claim 1, characterized in that, It also includes a hydraulic system connected to the hydraulic cylinder (4) for controlling the extension and retraction of the piston rod of the hydraulic cylinder (4).

10. A container gantry crane, characterized in that, It includes a crane gantry assembly, a traveling trolley, and a dynamic balancing system as described in any one of claims 1-9.

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