CN105384079A - Differential type track container crane - Google Patents

Abstract

The invention provides a differential rail container crane, which includes a portal frame structure, a trolley for moving containers, and a driving mechanism for driving the trolley. The driving mechanism is arranged on the portal structure and not on the trolley. The driving mechanism includes Eight differential gearboxes with two degrees of freedom use the same set of steel wire ropes to realize container lifting and trolley travel, that is, each differential gearbox is connected to the corresponding steel rope reel, and drives eight steel wire ropes to realize container lifting. Lifting, lowering or tilting adjustment (the first degree of freedom), eight steel wire ropes simultaneously drive the vehicle in a combined motion (the second degree of freedom), so the present invention integrates driving trolley walking and container lifting , reduce the weight of the trolley and reduce the active load of the trolley and the inertia of starting or braking, thereby improving the self-weight and load-bearing condition of the mast structure; traction walking can avoid the trolley from slipping and rail gnawing and other faults.

Description

Differential Rail Container Crane

technical field

The invention belongs to the technical field of cranes and relates to a differential rail container crane.

Background technique

The rail-mounted container crane (RMG) is characterized by the use of a cart mechanism to walk on the track, and it is a derivative of the tire-mounted container crane (RTG). Although its application time in port terminals is relatively late, it has been widely used in automated terminals. Among the more than 4,000 field bridges (RTG and RMG are collectively referred to as field bridges in the port) produced by Shanghai Zhenhua Heavy Industry Company, about 1,000 are RMGs.

Compared with rubber-tyred container cranes, rail-mounted container cranes have the following advantages:

First, the running resistance of rail-mounted container cranes is smaller than that of tire-type container cranes. Since rail-mounted container cranes run on rails rather than on the ground, their running resistance is much smaller than that of rubber-tyred container cranes running on the ground. With the reduction of running resistance, the running speed can respond to increase. For example, the running speed of RTG is only 45 m/min. Due to the speed limit, some tasks that need to be completed at high speed cannot be completed, such as emptying boxes in the yard and other tasks. ; However, the RMG's operating speed can reach 240 m/min, which is sufficient to complete these tasks, so it has been widely used in automatic dock yards.

Second, the rail-mounted container crane can operate without using GPS navigation. In an automated terminal, horizontally moving machinery must be equipped with navigation, especially GPS navigation, in order to achieve automatic operation. However, because the ships at the terminal often have tall hulls, and full-loaded containers are often piled up in batches, it is easy to block the GPS navigation signal. The occurrence of situations that lead to inability to navigate and thus inability to automate operations. In order to solve this problem, other navigation methods are needed, such as arranging induction nails on the ground, but this navigation method is not only expensive, but also has large errors, and cannot accurately realize the automatic operation of the crane. Since the rail-mounted container crane travels on the rail, the rail itself can constrain its running direction, so the rail-mounted container crane can realize automatic operation without setting other navigation methods.

Third, the rail-mounted container crane can use the city power grid for power supply. Most RTGs are powered by internal combustion engines. Since the operating speed and lifting speed of RMG are much higher than those of RTGs, and the power is large, internal combustion engines can no longer meet the requirements, and urban power grids must be used for power supply. Since the RMG has a fixed track and a fixed walking direction, it is convenient to use the city power grid for power supply.

Because semi-trailers and other machinery that undertake horizontal transportation in the container yard are not suitable for entering the container area with open rails, the loading, unloading, stacking, and unloading of containers in the container area are all undertaken by RMG. Therefore, RMG needs to use trolley cranes. Heavy boxes (full loaded containers) travel at high speed. Since the current RMG trolley integrates two sets of mechanisms, the lifting mechanism and the trolley drive mechanism, the active load of the trolley is relatively large, resulting in a large moment of inertia when the trolley starts or brakes. When the trolley starts or brakes rapidly, under the influence of inertial load, the trolley is not only prone to failures such as rail gnawing, but may also cause damage to the structure of the main beam.

Contents of the invention

The invention provides a differential rail container crane which is not prone to faults such as "gnawing rails".

To achieve the above object, the present invention adopts the following technical solutions:

A differential track container crane, comprising: a gantry structure, a trolley arranged on the load-bearing main girder of the gantry structure and used for hoisting containers, and a driving mechanism for driving the trolley to walk on the load-bearing girder, the drive mechanism is arranged on The mast structure is not set on the trolley. The traditional container lifting mechanism and trolley running mechanism are no longer installed on the trolley.

In a preferred embodiment of the present invention, the differential rail container crane also includes eight folding line drums, and the eight folding line drums are evenly distributed at both ends of the main girder. The pulley block, the driving mechanism includes eight steel rope reels and eight differential reducers for driving the rotation of the steel rope reels, and the steering pulley block and the eight broken line reels and eight steel rope reels respectively pass eight steel wire ropes one by one Correspondingly connected. The lifting of the container and the driving of the trolley all share eight steel wire ropes, instead of using different steel wire ropes to respectively realize the lifting of the container and the driving of the trolley as in the prior art.

In a preferred embodiment of the present invention, each differential reducer includes a differential reducer and a drive motor, eight differential reducers are connected to eight drive motors one by one, and the internal gear of the differential reducer is 56 teeth , the planetary gear is 20 teeth, and the sun gear is 16 teeth. The eight differential reducers use eight steel wire ropes (comprising a group of shared steel wire ropes) to realize the lifting of the container and the walking of the trolley at the same time.

In a preferred embodiment of the present invention, the above-mentioned drive motor is a permanent magnet synchronous motor.

In a preferred embodiment of the present invention, the above-mentioned load-bearing main girder is a single main girder of triangular tube structure and its node form is a contained node.

Owing to adopting above-mentioned technical scheme, the present invention has following beneficial effect:

First, in the differential rail container crane of the present invention, the driving mechanism for driving the trolley is not arranged on the trolley, but on the middle part of the two door legs of the gantry structure. It can reduce the weight of the trolley while walking and lifting the container (loaded with goods), thereby reducing the active load of the trolley and the inertia of starting or braking, which can not only reduce the driving energy consumption of the trolley, but also effectively avoid the trolley due to Faults such as slipping and "rail gnawing" that occur during rapid starting or braking can realize safe, automatic, and trouble-free long-term operation of the trolley.

Second, in the differential rail container crane of the present invention, the diverting pulley block on the trolley is connected to the eight broken line drums and the eight steel rope drums respectively through eight steel wire ropes, and the eight steel rope drums are connected one by one respectively. It is connected with eight differential gearboxes and eight drive motors one by one, so that different drive motors can not only drive the trolley alone, but also jointly drive the trolley synchronously, which can not only play a good role in "anti-shake "Effect, and it is convenient to replace the damaged wire rope, and it can also realize the micro-movement of the spreader, which is conducive to the automatic operation of the differential rail container crane.

Third, in the differential rail container crane of the present invention, the broken line reel is a LEBUS reel, which is a thin-walled reel without guide grooves, which can realize multi-layer winding of steel wire ropes, which is conducive to reducing its overall volume, making It can not be set on the trolley.

Fourth, in the differential rail container crane of the present invention, the load-carrying main girder adopts a triangular tube structure single main girder and its node form adopts an inclusive node, which can not only reduce the overall weight of the crane, but also improve the anti-fatigue strength of the node. Thereby ensuring the reliability of the triangular tube structure truss and the overall safety of the crane.

In a word, the differential rail container crane of the present invention has the advantages of fast forward speed (the speed of the cart is not less than 240-300 m/min), light weight (below 240 tons) and fully automatic operation (operating without a driver).

Description of drawings

Fig. 1 is a perspective view of a differential rail container crane in an embodiment of the present invention.

Fig. 2 is a front view of the differential rail container crane in the embodiment of the present invention.

Fig. 3 is a side view of the differential rail container crane in the embodiment of the present invention.

Fig. 4 is a top view of the differential rail container crane in the embodiment of the present invention.

Fig. 5 is an arrangement diagram of the diverting pulley block and the folding line reel of the trolley in the embodiment of the present invention.

Fig. 6 is a connection diagram of the trolley, the spreader of the container and the driving mechanism in the embodiment of the present invention.

Fig. 7 is a schematic diagram of a driving mechanism in an embodiment of the present invention.

Reference signs:

Gantry structure 1, load-carrying main beam 2, trolley 3, trolley body 4, support frame 5, folding line reel 6, steel rope reel 7, differential reducer 8, support platform 9, spreader 10, first wire rope 11 , the first longitudinal pulley 12, the first transverse pulley 13, the second transverse pulley 14, the first folding line reel 15, the first steel rope reel 16, the second steel rope 17, the second longitudinal pulley 18, the third transverse pulley 19 , the second folding line reel 20, the second steel rope reel 21, the third steel wire rope 22, the third longitudinal pulley 23, the fourth transverse pulley 24, the third folding line reel 25, the third steel rope reel 26, the fourth Wire rope 27, fourth longitudinal pulley 28, fifth transverse pulley 29, sixth transverse pulley 30, fourth folding line drum 31, fourth steel rope drum 32, fifth steel wire rope 33, fifth longitudinal pulley 34, seventh transverse pulley Pulley 35, the eighth transverse pulley 36, the fifth broken line reel 37, the fifth steel rope reel 38, the sixth steel rope 39, the sixth longitudinal pulley 40, the ninth transverse pulley 41, the sixth broken line reel 42, the sixth Steel rope reel 43, the seventh steel rope 44, the seventh longitudinal pulley 45, the tenth transverse pulley 46, the seventh folding line reel 47, the seventh steel rope reel 48, the eighth steel rope 49, the eighth longitudinal pulley 50, the Eleven transverse pulleys 51, the twelfth transverse pulley 52, the eighth folding line reel 53, the eighth steel rope reel 54.

detailed description

The present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

Example

As shown in FIG. 1 to FIG. 4 , this embodiment provides a differential rail container crane, which includes: a mast structure 1 , a trolley 3 and a driving mechanism for driving the trolley to travel on the top of the mast mechanism 1 .

Wherein, the portal frame structure 1 includes a load-bearing main beam 2 and two support frames 5 for supporting the load-bearing main beam 2 . The load-bearing main girder is a triangular tube structure single main girder and its node form is a contained node. The parameters of the single main girder of the triangular tube structure are as follows: the main chord is φ400×12, the web is φ159×10, the span is 31m, the height is 3m, the section moment of inertia is 0.9×1011mm ⁴ , the unit including the track The length and weight are 0.7 tons, and it can bear a lifting load of 50 tons. It is the lightest product of the same type in the world. The nodes carrying the main girder adopt inclusive nodes, which greatly improves the reliability of the truss. After testing, the stress concentration factor of the intersecting pipe joint is more than 2 times smaller. It simplifies the installation process of the web bar and can prevent the Z-direction force. Two ends of the main beam 2 are respectively provided with four folding reels 6 . The folding reel is a LEBUS reel.

Two support frames 5 are respectively located at the two ends of the load-carrying main beam 2 , and each support frame 5 is provided with a support platform 9 .

The trolley 3 is arranged on the main girder 2 and can walk along the track on the top of the main girder 2, and lifts the container (contained goods) by a spreader while walking. The trolley 3 includes a trolley body 4 and a steering pulley block arranged on the top of the trolley body 4, but the trolley 3 is no longer provided with a traditional container lifting mechanism and a trolley running mechanism. As shown in Figure 5, the steering pulley block includes 12 transverse pulleys and 8 longitudinal pulleys. 12 transverse pulleys and 8 longitudinal pulleys are arranged on the top of the trolley body 4 in a specific order (the order shown in FIG. 5 ).

The driving mechanism is arranged on the middle part of the two door legs (that is, the support frame 5 ) of the door frame structure, and is not arranged on the dolly 3 . The drive mechanism includes eight independent steel rope drums 7 and eight independent differential reducers 8 . Eight steel rope reels 7 and eight differential reducers 8 are evenly distributed on the supporting platforms 9 of the two supporting frames 5, that is, the driving mechanism of this embodiment is arranged on the portal structure 1 and not on the trolley 3 .

The steering pulley block on the trolley 3 is connected to the spreader 10 (for hanging containers), eight broken line reels 6 and eight steel rope reels 7 through eight steel wire ropes (considered as a group of steel wire ropes) in one-to-one correspondence. The relationship is shown in Figure 6. In Fig. 6, black solid circles represent transverse pulleys, hollow circles represent longitudinal pulleys, and black solid or dotted lines represent eight steel wire ropes.

Wherein, one end of the first wire rope 11 is fixed on the sling 10, then is wound on the first longitudinal pulley 12, the first transverse pulley 13, the second transverse pulley 14 and the first folding line drum 15 in turn, and finally wound on the second On a steel rope reel 16. For ease of description, the arrangement direction of each steel rope reel 7 has been adjusted in FIG. 6 , and the same reasoning follows.

One end of the second wire rope 17 is fixed on the spreader 10, then wound on the second longitudinal pulley 18, the third transverse pulley 19 and the second folding line drum 20 in turn, and finally wound on the second steel rope drum 21.

One end of the third wire rope 22 is fixed on the spreader 10 , then wound on the third longitudinal pulley 23 , the fourth transverse pulley 24 and the third folding line drum 25 in turn, and finally wound on the third steel rope drum 26 .

One end of the fourth steel wire rope 27 is fixed on the spreader 10, then wound on the fourth longitudinal pulley 28, the fifth transverse pulley 29, the sixth transverse pulley 30 and the fourth folding line drum 31, and finally wound on the fourth steel rope on reel 32.

One end of the fifth steel wire rope 33 is fixed on the spreader 10, then wound on the fifth longitudinal pulley 34, the seventh transverse pulley 35, the eighth transverse pulley 36 and the fifth folding line coil 37 in turn, and finally wound on the fifth steel rope on reel 38.

One end of the sixth steel wire rope 39 is fixed on the spreader 10 , then wound on the sixth longitudinal pulley 40 , the ninth transverse pulley 41 and the sixth folding line drum 42 in turn, and finally wound on the sixth steel rope drum 43 .

One end of the seventh wire rope 44 is fixed on the spreader 10 , then wound on the seventh longitudinal pulley 45 , the tenth transverse pulley 46 and the seventh broken line drum 47 in turn, and finally wound on the seventh steel rope drum 48 .

One end of the eighth wire rope 49 is fixed on the spreader 10, and then wound on the eighth longitudinal pulley 50, the eleventh transverse pulley 51, the twelfth transverse pulley 52 and the eighth folding line reel 53 in turn, and finally wound on the On eight steel rope reels 54.

Wherein, the parts connected by the first steel rope 11, the second steel rope 17, the third steel rope 22 and the fourth steel rope 27 are located on one side of the trolley 3, the fifth steel rope 33, the sixth steel rope 39, the seventh steel rope 44 and the eighth steel rope The parts that 49 are connected are positioned at the other side of dolly 3.

As shown in Figure 7, the differential reducer 8 is connected to the steel rope reel 7 through the rotating shaft, which can drive the rotation of the steel rope reel 7, thereby driving the rotation of the broken line reel 6, and drives the corresponding longitudinal pulley and The action of the transverse pulley further controls the walking of the trolley 3 on the track provided on the main beam 2 and simultaneously controls the lifting of the container hoisted by the trolley 3 .

Due to the different winding directions of the eight wire ropes, different differential reducers 8 can individually drive the corresponding steel rope reels 7, and can also drive all the steel rope reels 7 jointly and synchronously. Therefore, by controlling each The rotation speed of the steel rope drum 7 can realize the lifting of the spreader with the container and the walking of the trolley on the track carrying the main girder at the same time, so there is no need to set a lifting mechanism for controlling the lifting of the container on the trolley at the same time and the driving mechanism for driving the trolley, that is, a set of driving mechanism in this embodiment can realize the functions of the hoisting mechanism and the driving mechanism of a traditional crane, effectively reducing the active load of the RMG and the braking inertia of the trolley, and Reduce the driving energy consumption of the trolley.

Each differential reducer 8 includes a differential reducer and a drive motor. The eight differential gearboxes are connected to the eight drive motors in one-to-one correspondence. The differential gearbox is a three-stage reduction gear. The gears of each stage in the planetary box have the same module and the same number of teeth (only the tooth width is different). The internal gear has 56 teeth, the planetary gear has 20 teeth, and the sun gear has 16 teeth. The drive motor is a permanent magnet synchronous motor. Because the power factor of the permanent magnet synchronous motor is high (often maintaining more than 95%), the mechanical efficiency is also high, especially when it is under-loaded, it can still maintain more than 90% (while the average full load rate of the container is only about 50%, at this time the asynchronous motor The mechanical efficiency is only 45-55%), so for the sake of energy saving, this embodiment adopts a permanent magnet synchronous motor. Eight independent drive motors drive the different motion combinations of the corresponding differential gearboxes, which can not only realize the lifting and tilting of the container, but also use the same set of wire ropes to pull the trolley to walk.

The eight independent differential reduction boxes used in the present invention can provide two degrees of freedom, so a group of shared steel wire ropes (eight steel wire ropes) can be used to simultaneously realize container lifting and trolley walking. Among them, the first degree of freedom is: each differential reduction box is connected to the corresponding steel rope drum, thereby driving eight independent steel wire ropes to realize the lifting, lowering or tilting adjustment of the container, and the second degree of freedom is : Eight independent wire ropes simultaneously pull the trolley to walk in a combined motion mode. Since the present invention adopts a differential reduction box with two degrees of freedom, it also reduces the weight of the trolley and reduces the active load of the trolley and its starting or braking while integrating the driving function of the trolley and the function of container lifting. Inertia, thereby improving the self-weight and load-carrying conditions of the mast structure; traction walking can effectively avoid the trolley from slipping or "rail-gnawing" failures caused by rapid starting or braking, which is conducive to the safe and trouble-free automatic operation of the trolley. It is beneficial for the trolley to start or brake quickly and frequently to increase productivity, reduce manufacturing costs and improve market competitiveness.

In the differential rail container crane of this embodiment, the self-weight of the differential reduction box and the container (contained goods) can realize the traction operation and powerless tensioning of the trolley, so that the trolley can realize the traction type of anti-rain and snow wheel slippage. run.

In the differential rail container crane of this embodiment, the driving mechanism is not arranged on the trolley 3 but on the support frame 5 of the portal frame structure 1, which is beneficial to reduce the load-bearing design of the main girder 2; in addition, this The inventive load-bearing girder 2 adopts a triangular tube structure single girder and its node form is an inclusive node, which can effectively reduce the active load of the RMG and the starting and braking inertia of the trolley, reduce the driving energy consumption of the trolley and the structural weight of the whole machine, and the whole machine The dead weight is reduced from 245 tons of the same type to 185 tons (about 25% lighter).

In the differential rail container crane of this embodiment, eight steel wire ropes, eight broken line reels, eight steel rope reels, eight differential reduction boxes and eight drive motors together form an "eight-rope anti-sway" system, but because the suspension rigidity of this system is strong, it may generate a large impact force when the trolley is braking. impact, thereby protecting the various structures of the "eight-rope anti-sway" system. According to specific conditions, the differential rail container crane of the present invention can be provided with eight brakes.

The differential rail container crane of the present invention is provided with eight separate differential reducers, and each differential reducer is connected with a corresponding steel rope reel (which can be wound in multiple layers), thereby driving eight separate steel wire ropes to realize The container is lifted or lowered, and the trolley is driven by wire rope. This setting method can greatly benefit the automatic operation and reduce the active load of the trolley at the same time. Because the active load of the trolley is reduced, it is conducive to the rapid and frequent starting or braking of the trolley, thereby improving productivity. Since the differential rail container crane is the main equipment for realizing port automation, the present invention can greatly reduce the total weight of the crane, which is beneficial to energy saving, and can also reduce manufacturing costs and improve market competitiveness.

The above description of the embodiments is for those of ordinary skill in the art to understand and use the present invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described here to other embodiments without creative effort. Therefore, the present invention is not limited to the above-mentioned embodiments. Improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should fall within the protection scope of the present invention.

Claims (3)

1. A differential rail container crane, characterized in that it comprises: a gantry structure, a trolley arranged on the load-bearing girder of the gantry structure and used for hoisting containers, and a trolley for driving the trolley on the load-carrying The driving mechanism for walking on the main beam, the driving mechanism is arranged on the gantry structure and not on the trolley, and the trolley is not provided with a container lifting mechanism and a trolley running mechanism. 2. The differential rail container crane according to claim 1, further comprising: eight folding line drums, the eight folding line drums are evenly distributed at both ends of the load-bearing main girder, the The trolley includes a trolley body and a steering pulley set arranged on the trolley body. The drive mechanism includes eight steel rope reels and eight differential reducers for driving the corresponding steel rope reels to rotate. The diverting pulley block is connected to the eight wire rope reels and the eight wire rope reels in one-to-one correspondence respectively through eight wire ropes. 3. The differential rail container crane according to claim 2, characterized in that the eight differential reducers use the eight steel wire ropes to realize the lifting of the container and the walking of the trolley at the same time.