CN105384079A - Differential type track container crane - Google Patents
Differential type track container crane Download PDFInfo
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- CN105384079A CN105384079A CN201510780749.7A CN201510780749A CN105384079A CN 105384079 A CN105384079 A CN 105384079A CN 201510780749 A CN201510780749 A CN 201510780749A CN 105384079 A CN105384079 A CN 105384079A
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Abstract
The invention provides a differential type track container crane. The differential type track container crane comprises a portal structure, a trolley used for moving a container, and a drive mechanism driving the trolley to walk. The drive mechanism is arranged on the portal structure and not arranged on the trolley. The drive mechanism comprises eight differential reduction boxes with two freedom degrees. Container ascending and trolley walking are achieved through the same set of steel wire ropes, in other words, the eight differential reduction boxes can be connected with corresponding steel wire rope drums respectively, the first freedom degree that eight steel wire ropes are driven to achieve adjustment on ascending or descending or transportation of the container is adopted, the second freedom degree that eight steel wire ropes drag the trolley to walk in a combined movement manner at the same time is adopted, and therefore trolley walking and container ascending are integrally driven, the weight of the trolley is reduced, the movable load and the ascending or braking inertia of the trolley are reduced, and the dead load and the bearing condition of the portal structure are improved. Slipping, rail gnawing and other faults of the trolley can be avoided through dragging walking.
Description
Technical field
The invention belongs to hoisting crane technical field, relate to a kind of differential type track container handling crane.
Background technology
The feature of track type container crane (RMG) utilizes large mechanism of car to walk on track, belongs to the growth of rubber tyre gantry crane (RTG).Although it is more late at the Applicative time of port and pier, in automatic dock, obtain general application at present.In more than the 4000 platform field bridges (RTG and RMG is at general designation field, harbour bridge) that Shanghai Zhenhua heavy industry company produces, about 1000 is RMG.
Compared with rubber tyre gantry crane, track type container crane has following advantages:
The first, the running resistance of track type container crane is less than rubber tyre gantry crane.Not run on the ground because track type container crane orbits, so the resistance that its running resistance is run on the ground much smaller than rubber tyre gantry crane.Along with the reduction of running resistance, running velocity can respond raising, and the running velocity as RTG only has 45 ms/min, is subject to the restriction of speed and cannot completes some tasks of needing to complete at high speeds, as fallen the tasks such as case in stockyard; But the running velocity of RMG can reach 240 ms/min, has been enough to these tasks, therefore obtains general application in automatic pier storage yard.
The second, track type container crane can run without the need to using GPS navigation.At automatic dock, the machinery of horizontal motion must be equipped with navigation to realize automatic operating, especially GPS navigation, but, because the ship of harbour often has tall and big hull, and fully loaded freight container is usually stacked by the gross, easily block GPS navigation signal, often cause the appearance of the situation cannot navigating and then cannot realize automatic operating.In order to solve this problem, need to adopt other navigate mode, as arranged induction nail on the ground, but this kind of navigate mode is not only expensive, and error is large again, accurately cannot realize the automatic operating of hoisting crane.Because track type container crane travels in orbit, track inherently can retrain its service direction, and therefore track type container crane does not need to arrange other navigate mode and can realize automatic operating.
Three, track type container crane can use urban distribution network to power.The energy supply of RTG many employings combustion engine, because RMG running velocity and lifting velocity are much larger than RTG, power is large, adopts combustion engine energy supply cannot meet the demands, urban distribution network must be used to power.Because RMG has fixing track, direction of travel is fixed, and urban distribution network easy to use is powered.
The machinery bearing horizontal transport due to superimposed trailer etc. in container depot all should not be with Ming Guixiang district, thus in case district, the work such as handling, pile, case of freight container is all born by RMG, therefore, RMG needs to be played loaded van (fully loaded freight container) at a high speed walking by dolly.Dolly due to current RMG incorporates lifting mechanism and this Liang Tao mechanism of trolley driving mechanism, making the disposal load of this dolly comparatively large, causing at the inertia of dolly when starting or brake also larger.When dolly is when starting rapidly or braking, under the impact of inertia loading, dolly not only easily gnaws the faults such as rail, also may cause damage to the structure of girder.
Summary of the invention
The invention provides the differential type track container handling crane that faults such as " gnawing rail " not easily occurs one.
For achieving the above object, the present invention is by the following technical solutions:
A kind of differential type track container handling crane, comprise: portal-framed structure, be arranged on portal-framed structure support main beam on and for the dolly that lifts freight container and the driver train for driving dolly to walk on support main beam, driver train to be arranged on portal-framed structure and not to be arranged on dolly.Dolly is arranged no longer separately traditional container lift structure and wheeling mechanism.
In a preferred embodiment of the invention, differential type track container handling crane also comprises eight broken line reels, eight broken line reels are evenly distributed in the two ends of support main beam, dolly comprises trolley body and is arranged on the deflection sheave group in trolley body, driver train comprises eight rope drums and eight differential speed reducers for driving rope drum to rotate, and deflection sheave group is connected respectively by eight steel rope one_to_one corresponding with eight rope drums with eight broken line reels.Hoisting and all shared eight steel ropes of dolly driving of freight container, is not realized the driving of hoisting of freight container and dolly respectively as prior art by different steel ropes.
In a preferred embodiment of the invention, each differential speed reducer comprises differential reduction gearbox and drive motor, and eight differential reduction gearboxes are connected with eight drive motor one_to_one corresponding, and the inner gear of differential reduction gearbox is 56 teeth, and satellite gear is 20 teeth, and sun wheel is 16 teeth.Eight differential speed reducers adopt eight steel ropes can realize (forming one group of steel rope shared) walking of hoisting of freight container and dolly simultaneously.
In a preferred embodiment of the invention, above-mentioned drive motor is permagnetic synchronous motor.
In a preferred embodiment of the invention, above-mentioned support main beam is triangle tube structure list girder and its joint form is inclusion type node.
Owing to adopting technique scheme, the present invention has following beneficial effect:
First, in differential type track container handling crane of the present invention, dolly is not arranged on for driving the driver train of carriage walking, but be arranged on two door midlegs of portal-framed structure, drive carriage walking in realization and realize the weight that can alleviate dolly while freight container (being mounted with goods) hoists, thus alleviate the disposal load of dolly and the inertia of starting or braking thereof, the driving energy consumption of dolly can not only be alleviated, the fault such as the skidding of generation when effectively can also avoid dolly owing to starting rapidly or braking and " gnawing rail ", can realize running when the safety automation trouble free of dolly is long.
Second, in differential type track container handling crane of the present invention, deflection sheave group on dolly is connected respectively by eight steel rope one_to_one corresponding with eight rope drums with eight broken line reels, eight rope drums connect one to one with eight differential reduction gearboxes and eight drive motor respectively, like this, different drive motor can either drive separately the walking of dolly, combined synchronization can drive the walking of dolly again, can not only play and well " prevent shaking " effect, and be convenient to change impaired steel rope, suspender fine motion can also be realized, be conducive to the automatic operating realizing differential type track container handling crane.
Three, in differential type track container handling crane of the present invention, broken line reel is LEBUS reel, and it is the reel of thin-walled without guiding groove, can realize the multiple wraps of steel rope, is conducive to reducing its overall volume, can not be arranged on dolly.
Four, in differential type track container handling crane of the present invention, support main beam adopts triangle tube structure list girder and its joint form adopts inclusion type node, the overall weight of hoisting crane can either be alleviated, node fatigue resistance can be improved again, thus ensure the reliability of triangle tube structure truss and the safety of hoisting crane entirety.
In a word, differential type track container handling crane of the present invention has speed of advance fast (large vehicle speed is not less than 240 ~ 300 ms/min), from heavy and light (below 240 tons) and the full-automatic advantage running (without driver operation).
Accompanying drawing explanation
Fig. 1 is the block diagram of the differential type track container handling crane in the embodiment of the present invention.
Fig. 2 is the front view of the differential type track container handling crane in the embodiment of the present invention.
Fig. 3 is the lateral plan of the differential type track container handling crane in the embodiment of the present invention.
Fig. 4 is the birds-eye view of the differential type track container handling crane in the embodiment of the present invention.
Fig. 5 be the deflection sheave group of dolly in the embodiment of the present invention and broken line reel figure is set.
Fig. 6 is dolly, the suspender of freight container and the connection diagram of driver train in the embodiment of the present invention.
Fig. 7 is the schematic diagram of the driver train in the embodiment of the present invention.
Reference numeral:
Portal-framed structure 1, support main beam 2, dolly 3, trolley body 4, bearing support 5, broken line reel 6, rope drum 7, differential speed reducer 8, supporting station 9, suspender 10, first steel rope 11, first longitudinal pulley 12, first horizontal pulley 13, second horizontal pulley 14, first broken line reel 15, first rope drum 16, second steel rope 17, second longitudinal pulley 18, 3rd horizontal pulley 19, second broken line reel 20, second rope drum 21, 3rd steel rope 22, 3rd longitudinal pulley 23, 4th horizontal pulley 24, tri linear reel 25, 3rd rope drum 26, 4th steel rope 27, 4th longitudinal pulley 28, 5th horizontal pulley 29, 6th horizontal pulley 30, 4th broken line reel 31, 4th rope drum 32, 5th steel rope 33, 5th longitudinal pulley 34, 7th horizontal pulley 35, 8th horizontal pulley 36, 5th broken line reel 37, 5th rope drum 38, 6th steel rope 39, 6th longitudinal pulley 40, 9th horizontal pulley 41, 6th broken line reel 42, 6th rope drum 43, 7th steel rope 44, 7th longitudinal pulley 45, tenth horizontal pulley 46, 7th broken line reel 47, 7th rope drum 48, 8th steel rope 49, 8th longitudinal pulley 50, 11 horizontal pulley 51, 12 horizontal pulley 52, 8th broken line reel 53, 8th rope drum 54.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
Embodiment
As shown in Figures 1 to 4, present embodiments provide a kind of differential type track container handling crane, it comprises: portal-framed structure 1, dolly 3 and the driver train for driving dolly to walk at the top of door frame mechanism 1.
Wherein, portal-framed structure 1 comprises support main beam 2 and two bearing supports 5 for supporting this support main beam 2.Support main beam is triangle tube structure list girder and its joint form is inclusion type node.The parameter of triangle tube structure list girder is as follows: main chord adopts φ 400 × 12, and web member is φ 159 × 10, and span is 31m, and height is 3 meters, and cross sectional moment of inertia is 0.9 × 1011mm
4, the unit weight comprising track is 0.7 ton, and can bear lift heavy load is 50 tons, is that world's homotype product design is the lightest.The node of support main beam adopts inclusion type node, substantially increases the reliability of truss.After tested, little than the stress concentration factor passing through formula duct ligation head mutually more than 2 times, which simplify Fu Rod mounting process, Z-direction can be prevented stressed.The two ends of support main beam 2 are respectively arranged with four broken line reels 6.Broken line reel is LEBUS reel.
Two bearing supports 5 lay respectively at the two ends of support main beam 2, and each bearing support 5 is equipped with supporting station 9.
Dolly 3 to be arranged on support main beam 2 and along the track travel being located at support main beam 2 top, can to lift freight container (in-built goods) hoist while walking by suspender.Dolly 3 comprises trolley body 4 and is arranged on the deflection sheave group at trolley body 4 top, but dolly 3 also no longer arranges traditional container lift structure and wheeling mechanism.As shown in Figure 5, deflection sheave group comprises 12 horizontal pulleys and 8 longitudinal pulleys.12 horizontal pulleys and 8 longitudinal pulleys are sequentially arranged in the top of trolley body 4 according to specific sequentially (order as shown in Figure 5).
Driver train is arranged on the middle part of two door legs (i.e. bearing support 5) of portal-framed structure, is not arranged on dolly 3.This driver train comprises eight independently rope drum 7 and eight independently differential speed reducers 8.Eight rope drums 7 and eight differential speed reducer 8 mean allocation are on the supporting station 9 of two bearing supports 5, and namely the driver train of the present embodiment to be arranged on portal-framed structure 1 and not to be arranged on dolly 3.
Deflection sheave group on dolly 3 is connected respectively by eight steel ropes (being considered as one group of steel rope) one_to_one corresponding with eight rope drums 7 with suspender 10 (for hanging freight container), eight broken line reels 6, and its annexation as shown in Figure 6.In figure 6, the solid circles of black represents horizontal pulley, and hollow circle represents longitudinal pulley, and the solid line of black or dotted line represent eight steel ropes.
Wherein, one end of the first steel rope 11 is fixed on suspender 10, is then wrapped in successively on first longitudinal pulley 12, first horizontal pulley 14 of horizontal pulley 13, second and the first broken line reel 15, and is finally wrapped on the first rope drum 16.For convenience of explanation, the orientation of each rope drum 7 makes an adjustment in figure 6, below in like manner.
One end of second steel rope 17 is fixed on suspender 10, is then wrapped in second longitudinal pulley 18, the 3rd horizontal pulley 19 and the second broken line reel 20 successively, and is finally wrapped on the second rope drum 21.
One end of 3rd steel rope 22 is fixed on suspender 10, is then wrapped in the 3rd longitudinal pulley 23, the 4th horizontal pulley 24 and tri linear reel 25 successively, and is finally wrapped on the 3rd rope drum 26.
One end of 4th steel rope 27 is fixed on suspender 10, is then wrapped in the 4th longitudinal pulley 28, the 5th horizontal pulley 29, the 6th horizontal pulley 30 and the 4th broken line reel 31 successively, and is finally wrapped on the 4th rope drum 32.
One end of 5th steel rope 33 is fixed on suspender 10, is then wrapped in successively on the 5th longitudinal pulley 34, the 7th horizontal pulley 35, the 8th horizontal pulley 36 and the 5th broken line volume 37, and is finally wrapped on the 5th rope drum 38.
One end of 6th steel rope 39 is fixed on suspender 10, is then wrapped in successively on the 6th longitudinal pulley 40, the 9th horizontal pulley 41 and the 6th broken line reel 42, and is finally wrapped on the 6th rope drum 43.
One end of 7th steel rope 44 is fixed on suspender 10, is then wrapped in successively on the 7th longitudinal pulley 45, the tenth horizontal pulley 46 and the 7th broken line reel 47, and is finally wrapped on the 7th rope drum 48.
One end of 8th steel rope 49 is fixed on suspender 10, is then wrapped in successively on the 8th longitudinal pulley the 50, the 11 horizontal pulley 52 of horizontal pulley the 51, the 12 and the 8th broken line reel 53, and is finally wrapped on the 8th rope drum 54.
Wherein, each parts that first steel rope 11, second steel rope 17, the 3rd steel rope 22 are connected with the 4th steel rope 27 are positioned at one side of dolly 3, and each parts that the 5th steel rope 33, the 6th steel rope 39, the 7th steel rope 44 are connected with the 8th steel rope 49 are positioned at the another side of dolly 3.
As shown in Figure 7, differential speed reducer 8 is connected with rope drum 7 by S. A., the rotation of rope drum 7 can be driven, thus drive the rotation of broken line reel 6, and driven the action of corresponding longitudinal pulley and horizontal pulley by steel rope, and then the walking controlled on the track that arranges on support main beam 2 of dolly 3 also controls hoisting of the freight container lifted by dolly 3 simultaneously.
Due to eight steel ropes around to difference, different differential speed reducers 8 can drive separately the rope drum 7 corresponded, and also combined synchronization can drive all rope drums 7, therefore, just can realize being lifted with hoisting of the suspender of freight container and the walking of dolly on the track of support main beam by the velocity of rotation controlling each rope drum 7 simultaneously, therefore need not arrange on dolly simultaneously and to case the lifting mechanism that hoists and for driving the driver train of carriage walking for domination set, namely a set of driver train of the present embodiment just can realize the lifting mechanism of conventional hoist and the function of driver train, the disposal load and the dolly that effectively alleviate RMG play braking inertia, and reduce the driving energy consumption of dolly.
Each differential speed reducer 8 includes a differential reduction gearbox and a drive motor.Eight differential reduction gearboxes are connected with eight drive motor one_to_one corresponding.Differential reduction gearbox is three grades of decelerations, and the gears at different levels in planet case are the same number of teeth of same modulus (only the facewidth is different), and inner gear is 56 teeth, and satellite gear is 20 teeth, and sun wheel is 16 teeth.Drive motor is permagnetic synchronous motor.Because the power factor of permagnetic synchronous motor high (often keeping more than 95%), mechanical efficiency is also high, special when underload, still can keep more than 90% (and the Full Deadweight rate of freight container on average only has about 50%, at this moment the mechanical efficiency of asynchronous dynamo only have 45 ?55%), so for the purpose of energy-conservation, the present embodiment have employed permagnetic synchronous motor.Eight independently drive motor drive the different motion combination of corresponding differential reduction gearboxes, the action such as both can realize the lifting of freight container, vert, also can adopt same group of rope trolley walking.
The present invention use eight independently differential reduction gearbox can provide two degree of freedom, therefore adopts one group to share steel rope (eight steel ropes) just to realize freight container simultaneously and hoist and carriage walking.Wherein, one degree of freedom is: each differential reduction gearbox is connected with corresponding rope drum respectively, thus drive eight independently steel rope realize the adjustment that hoists, declines or vert of freight container, second degree of freedom is: eight independently steel rope while walk with the mode trailer wagon of aggregate motion.Owing to present invention employs the differential reduction gearbox with two degree of freedom, therefore while being integrated with driving carriage walking function and freight container lifting functions, also alleviate the weight of dolly and alleviate the disposal load of dolly and the inertia of starting or braking thereof, and then improving deadweight and the load situation of portal-framed structure; The fault such as the skidding of generation when traction walking effectively can avoid dolly owing to starting rapidly or braking or " gnawing rail ", be conducive to the safe trouble free automatic operating realizing dolly, also be conducive to the rapid Fraquent start of dolly or brake to boost productivity, reducing manufacturing cost and also improve the market competitiveness.
In the differential type track container handling crane of the present embodiment, the deadweight of differential reduction gearbox and freight container (including goods) can realize the running under power of dolly and unpowered tensioning, makes dolly achieve the towed operation of rain and snow tyre skidding.
In the differential type track container handling crane of the present embodiment, driver train not to be located on dolly 3 but to be arranged on the bearing support 5 of portal-framed structure 1, and this is conducive to carrying design alleviating support main beam 2; In addition, support main beam 2 of the present invention adopts triangle tube structure list girder and its joint form is inclusion type node, disposal load and the dolly that effectively can alleviate RMG play braking inertia, reduce dolly and drive energy consumption and complete machine structure weight, the deadweight of its complete machine is reduced to 185 tons (about light by more than 25%) by 245 tons of homotype.
In the differential type track container handling crane of the present embodiment; eight steel ropes, eight broken line reels, eight rope drums, eight differential reduction gearboxes and eight drive motor constitute " eight ropes are anti-to be shaken " system jointly; but because the suspension stiffness of this system is stronger; larger impulsive force may be produced when dolly is braked; therefore; the drg for braking dolly can also be set up; it effectively can absorb kinetic energy when dolly is braked; delay to impact, thus each structure of protection " eight ropes are anti-to be shaken " system.As the case may be, differential type track container handling crane of the present invention can be provided with eight drgs.
Differential type track container handling crane of the present invention is provided with eight independent differential speed reducers, each differential speed reducer is all connected with corresponding rope drum (can multiple wraps), thus drive eight independent steel ropes realize hoisting of freight container or decline, and realize carriage walking in the mode of rope traction.This kind of set-up mode greatly can be conducive to automated job and decrease the disposal load of dolly simultaneously.Because decrease the disposal load of dolly, be conducive to the rapid Fraquent start of dolly or braking, and then boost productivity.Because differential type track container handling crane is the main force's equipment realizing harbor automatic, therefore the present invention greatly can reduce the gross weight of hoisting crane, is conducive to energy-conservation, also can reduce manufacturing cost simultaneously, improves the market competitiveness.
Above-mentioned is can understand for ease of those skilled in the art and use the present invention to the description of embodiment.Person skilled in the art obviously easily can make various amendment to these embodiments, and General Principle described herein is applied in other embodiments and need not through performing creative labour.Therefore, the invention is not restricted to above-described embodiment, those skilled in the art, according to announcement of the present invention, do not depart from improvement that scope makes and amendment all should within protection scope of the present invention.
Claims (3)
1. a differential type track container handling crane, it is characterized in that: comprising: portal-framed structure, be arranged on described portal-framed structure support main beam on and for the dolly that lifts freight container and the driver train for driving described dolly to walk on described support main beam, described driver train to be arranged on described portal-framed structure and not to be arranged on described dolly, and described dolly does not arrange container lift structure and wheeling mechanism.
2. differential type track container handling crane according to claim 1, it is characterized in that: also comprise: eight broken line reels, described eight broken line reels are evenly distributed in the two ends of described support main beam, described dolly comprises trolley body and is arranged on the deflection sheave group in described trolley body, described driver train comprises eight rope drums and eight differential speed reducers for driving corresponding described rope drum to rotate, and described deflection sheave group is connected respectively by eight steel rope one_to_one corresponding with described eight rope drums with described eight broken line reels.
3. differential type track container handling crane according to claim 2, is characterized in that: eight described differential speed reducers adopt described eight steel ropes to realize the walking of hoisting of described freight container and described dolly simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510780749.7A CN105384079B (en) | 2015-11-13 | 2015-11-13 | Differential type track container crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510780749.7A CN105384079B (en) | 2015-11-13 | 2015-11-13 | Differential type track container crane |
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| Publication Number | Publication Date |
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| CN105384079A true CN105384079A (en) | 2016-03-09 |
| CN105384079B CN105384079B (en) | 2017-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510780749.7A Expired - Fee Related CN105384079B (en) | 2015-11-13 | 2015-11-13 | Differential type track container crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105905804A (en) * | 2016-06-13 | 2016-08-31 | 同济大学 | Hybrid differential driving mechanism for controlling lifting of crane and transverse moving of trolley |
| CN106144896A (en) * | 2016-09-08 | 2016-11-23 | 青岛海西重机有限责任公司 | A kind of pull-type carriage walking mechanism |
| CN107601294A (en) * | 2017-11-09 | 2018-01-19 | 三海洋重工有限公司 | Gantry and lifting unit |
| CN113412232A (en) * | 2019-02-20 | 2021-09-17 | 住友重机械搬运系统工程株式会社 | Crane and method for detecting vibration of lifting appliance of crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105905804A (en) * | 2016-06-13 | 2016-08-31 | 同济大学 | Hybrid differential driving mechanism for controlling lifting of crane and transverse moving of trolley |
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| CN113412232A (en) * | 2019-02-20 | 2021-09-17 | 住友重机械搬运系统工程株式会社 | Crane and method for detecting vibration of lifting appliance of crane |
| CN113412232B (en) * | 2019-02-20 | 2023-04-21 | 住友重机械搬运系统工程株式会社 | Crane and runout detection method for lifting appliance of crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105384079B (en) | 2017-08-25 |
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