CN113184723B - Hoisting limiting device of marine crane and setting method thereof - Google Patents

Hoisting limiting device of marine crane and setting method thereof Download PDF

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Publication number
CN113184723B
CN113184723B CN202110279617.1A CN202110279617A CN113184723B CN 113184723 B CN113184723 B CN 113184723B CN 202110279617 A CN202110279617 A CN 202110279617A CN 113184723 B CN113184723 B CN 113184723B
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China
Prior art keywords
lifting
amplitude
limit switch
lower limit
luffing
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CN113184723A (en
Inventor
张永华
朱振东
钱秋峰
王月阳
唐文献
黄志峰
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JIANGSU MASADA HEAVY INDUSTRIES CO LTD
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JIANGSU MASADA HEAVY INDUSTRIES CO LTD
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/50—Applications of limit circuits or of limit-switch arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • B66D1/20—Chain, belt, or friction drives, e.g. incorporating sheaves of fixed or variable ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/10—Numerical modelling

Abstract

The invention discloses a hoisting limiting device of a marine crane, which can effectively prevent collision in the operation process of the marine crane, and comprises an amplitude changing scale shaft, a lifting screw rod, an amplitude changing screw rod and a lifting scale shaft which are arranged in a mechanical chamber, wherein an output shaft of a lifting reel drives the lifting screw rod, the output shaft of the amplitude changing reel drives the amplitude changing screw rod, and the amplitude changing scale shaft is provided with an amplitude changing stop limit switch, an amplitude changing lower limit switch and an amplitude changing upper limit switch; a luffing limit slide block is movably sleeved on the luffing lead screw, and the top of the luffing limit slide block can be respectively contacted with the luffing stop limit switch, the luffing lower limit switch and the contact point at the bottom of the luffing lower limit switch; a lifting limit slide block is movably sleeved on the lifting screw rod, and a collision limit switch which can be contacted with the bottom of the amplitude-variable slide block is arranged at the top of the lifting slide block; and a lifting lower limit switch and a lifting upper limit switch are sequentially arranged on the lifting scale shaft from left to right. The invention also discloses a setting method of the device.

Description

Hoisting limiting device of marine crane and setting method thereof
Technical Field
The invention relates to the field of hoisting equipment, in particular to a marine crane limiting device and a setting method thereof.
Background
The marine crane is an important ship supporting device, is a large deck machine on a ship, is used for loading and unloading ship cargoes, and is widely applied to the ship transportation industry. The main operation actions of the marine crane comprise lifting of a lifting hook, amplitude variation of a lifting arm and rotation of a tower body, and limit conditions required by main mechanisms of the marine crane are different when the marine crane operates on different ships due to different actual use conditions of various ships.
At present, the marine crane mainly relies on operating personnel to observe the position of the goods manually in the actual use process, so that the marine crane does not interfere with other devices on the ship and the structure of the marine crane in the hoisting process, the efficiency of the method is lower, the sight of the operating personnel is often shielded when the large-sized goods are hoisted, the hoisting operation can be completed by matching of multiple persons, and the cost is greatly increased. Patent CN203794520U proposes a device for controlling the lifting amplitude of a boom through a worm gear mechanism and setting a fixed contact to limit the lifting upper limit position of the boom, which can prevent the interference between the boom and the tower body due to excessive amplitude, but for the lifting hook and the boom of a ship crane, the collision between the cargo and the ship is difficult to solve.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the lifting limiting device of the marine crane can effectively prevent collision in the operation process of the marine crane.
In order to solve the technical problems, the invention adopts the following technical scheme: the hoisting limiting device of the marine crane comprises a hoisting screw rod and a luffing screw rod, wherein the hoisting screw rod and the luffing screw rod are horizontally arranged in a machine room on a tower body, the hoisting screw rod is arranged below the luffing screw rod, an output shaft of a hoisting reel drives the hoisting screw rod to rotate through a hoisting transmission mechanism, and an output shaft of the luffing reel drives the luffing screw rod to rotate through a luffing transmission mechanism;
a luffing scale shaft is arranged above the luffing screw rod in the mechanical chamber, and a luffing stop limit switch, a luffing lower limit switch and a luffing upper limit switch which are adjustable in position are arranged on the luffing scale shaft from left to right;
a luffing limit slide block is movably sleeved on the luffing screw rod, and moves back and forth on the luffing screw rod along with luffing operation of the marine crane, and the top of the luffing limit slide block can be contacted with a luffing stop limit switch, a luffing lower limit switch and a contact point at the bottom of the luffing lower limit switch in the moving process; a lifting limit slide block is movably sleeved on the lifting screw rod, a collision limit switch is arranged at the top of the lifting slide block, and the collision limit switch can be contacted with the bottom of the amplitude slide block; a lifting scale shaft is arranged at the lower position of the lifting screw rod in the mechanical chamber, and a lifting lower limit switch and a lifting upper limit switch are sequentially arranged on the lifting scale shaft from left to right.
As a preferable scheme, the lifting transmission mechanism comprises a lifting driving sprocket sleeved on the output shaft of the lifting winding drum, and the lifting driving sprocket is connected with a lifting driven sprocket sleeved on the lifting screw rod through a lifting chain.
As a preferable scheme, the amplitude-variable transmission mechanism comprises an amplitude-variable driving sprocket sleeved on an output shaft of the amplitude-variable winding drum, and the amplitude-variable driving sprocket is connected with an amplitude-variable driven sprocket sleeved on an amplitude-variable lead screw through an amplitude-variable chain.
Another technical problem to be solved by the invention is: the method for setting the hoisting limiting device of the marine crane can effectively prevent collision in the operation process of the marine crane.
In order to solve the technical problems, the invention adopts the following technical scheme: the setting method of the lifting limiting device of the marine crane comprises a luffing limit switch position defining method and a lifting limit switch position defining method;
the method for defining the amplitude limit switch position comprises the following steps:
step 1, defining the position of a variable amplitude stop limit switch, which is specifically as follows:
when the suspension arm is in the horizontal position, namely when the included angle beta between the suspension arm and the horizontal plane is zero, setting the suspension arm as a stop position of the suspension arm; placing an amplitude-changing stop limit switch in a limit switch box at the initial scale of an amplitude-changing scale shaft, and establishing a coordinate system by taking the position of the amplitude-changing stop limit switch as an origin, so that the coordinates of the amplitude-changing stop limit switch are (0, 0);
step 2, defining the upper limit and lower limit switch positions of amplitude variation of the suspension arm
Step 2-1, defining the maximum working radius: setting the maximum lifting radius R of cargoes according to actual conditions max And a maximum hoisting radius R min ；
Step 2-2, calculating the amplitude limit angle: at this time, the included angle between the lower limit of the suspension arm of the marine crane and the horizontal direction is as follows:the upper limit of the suspension arm and the included angle in the horizontal direction are as follows: />In which L d Is the inherent length of the boom;
step 2-3, analyzing the variable length of the variable-amplitude steel wire rope: the length of the steel wire rope in the variable amplitude variation state is as follows:wherein:
N b the number of the pairs of the variable amplitude fixed pulleys is; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f An included angle with the horizontal position; j= {1,2,3}, j=1 represents the luffing stop limit, in which case β=0°; j=2 represents a lower limit of variation; j=3 represents the upper limit of variation;
the maximum length of the steel wire varying at amplitude isWhere a= {1,2,3}; z= {1,2,3};
step 2-4, the expansion and contraction amount of the steel wire rope at the amplitude limit position: taking the amplitude variation stop limit position as a reference, the lower limit and the upper limit of amplitude variation are respectively as follows:
step 2-5, variable amplitude pitch calculation: the reduction ratio of the driving sprocket and the driven sprocket of the amplitude variation mechanism is i b The pitch of the amplitude-variable screw rod is p b The number of threads is m b ，D b Is the diameter of the amplitude-variable winding drum; the distance from the amplitude lower limit switch to the amplitude stop limit switch is as follows:the distance between the amplitude variation upper limit switch and the amplitude variation stop limit switch is as follows:that is, the amplitude lower limit switch has a coordinate of (0, x b1 ) The upper limit switch of amplitude has the coordinates of (0, x b2 )；
The method for defining the lifting limit switch position comprises the following steps:
step 1, lifting limit switch y-axis definition:
the y-axis coordinate of the lifting limit switch is determined by the limit switch size, the slide block size and the screw rod size, and after the relevant components are selected in model, the y-axis coordinate of the lifting limit switch is a fixed value and is recorded as y t ；
Step 2, lifting lower limit switch position calculation:
the suspension arm is positioned at the amplitude stop limit position, namely when the lifting hook is lowered onto the deck of the ship to be fixed by the non-working lifting mechanism of the marine crane, the height difference between the suspension arm and the bilge is recorded as H f The method comprises the steps of carrying out a first treatment on the surface of the While the lower limit of the lifting of the ship crane, namely the lifting, ensures that the ship crane rotatesThe minimum height of the ship which does not collide with the ship body in the industry is marked as H min ；
Step 2-1, minimum lifting height judgment: determining H according to actual use condition min Then, judging the relation between the suspension arm and the amplitude lower limit of the suspension arm; if it isThen go to step 2-2; if it isThen go to step 2-3;
step 2-2, lifting lower limit coordinate calculation 1: at the moment, because the lifting lower limit is smaller than the amplitude lower limit, the lifting mechanism also needs to lift compared with the amplitude lower limit positionThe difference value of the horizontal coordinates of the lifting lower limit switch and the amplitude lower limit switch is as follows:
wherein L is d Is the inherent length of the boom; i.e t D, for the reduction ratio of the driving chain wheel and the driven chain wheel of the lifting mechanism t To raise the spool diameter; p is p t To increase the pitch of the screw, m t Is the number of threads; the abscissa x of the lifting lower limit switch at the moment can be obtained t1 ＝x b1 -Δx t1 The coordinates of the lifting lower limit are: (x) t1 ，y t )；
Step 2-3, lifting lower limit coordinate calculation 2: at the moment, the lifting lower limit is larger than the amplitude lower limit, and an anti-collision limit switch is arranged between the lifting hook and the suspension arm and cannot collide with the suspension arm, so that the position of the lifting lower limit switch coordinate is the position of the suspension arm after amplitude variation.
Angle between the boom and the horizontal plane after amplitude variation:
the beta obtained is t The angle brings into the analysis described above, and the abscissa of the lower lifting limit is:
wherein N is b The number of the pairs of the variable amplitude fixed pulleys is; d (D) b Is the diameter of the amplitude-variable winding drum; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f An included angle with the horizontal position; i.e t To the reduction ratio of the driving chain wheel and the driven chain wheel of the lifting mechanism, p t To increase the pitch of the screw, m t Is the number of threads;
the lower limit switch coordinates of the lifting mechanism are: (x) t1 ，y t )；
Step 3, lifting upper limit switch position calculation
Step 3-1, calculating the total hoisting shrinkage of the steel wire rope: in the whole lifting process of the marine crane, the length of the steel wire rope which needs to be wound on the lifting reel comprises three parts, namely, the reserved length of the lifting reel, the length of the lifting fixed pulley block for lifting the tower body and the length of the lifting fixed pulley block for lifting the lifting arm, which changes amplitude along with the lifting arm, and the length of the lifting hook from the bilge to the upper limit of amplitude, wherein:
(a) The length of the reserved steel wire rope of the amplitude varying winding drum is as follows: s is S ty ＝πD t n t Wherein n is t In order to ensure that the number of turns of the steel wire rope on the safe winding drum is reserved, D t To raise the diameter of the spool;
(b) The length of the steel wire rope between the fixed pulleys is as follows: the length of the steel wire rope which is always in a variable state between the tower top lifting fixed pulley block and the suspension arm lifting fixed pulley block isWherein N is t To lift the fixed pulley pair number; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f And level withIncluded angles of the positions; j= {1,2,3}, j=1 represents the luffing stop limit, in which case β=0°; j=2 represents a lower limit of variation; j=3 represents the upper limit of variation;
the maximum length of the lifting steel wire varying in amplitude is
(c) The length of the hook steel wire rope is as follows: the maximum value of the change of the lifting hook steel wire rope is the distance between the fixed pulleys when the lifting hook steel wire rope changes from the bilge to the upper limit of the amplitude of the lifting arm, S tg ＝(L d +R min ) 1/2 (L d -R min ) 1/2 +H f -H d In which H d The height of the lifting hook is the height of the lifting hook;
the total length of the steel wire rope wound on the lifting reel is S t ＝S ty +ΔS tc +S tg ；
Step 3-2, lifting upper limit switch coordinate calculation: the shortest length of the steel wire rope which is not wound by the lifting mechanism is H r ＝S tg -S g ；S g The upper limit of rope containing capacity of the hoisting drum of the marine crane is set; the upper limit of lift of the lift mechanism is increased compared to the lower limit:
ΔH＝(L d +R min ) 1/2 (L d -R min ) 1/2 -(H min -H f -H d )-H r ＝2H d +S g -H min ；
the upper limit abscissa of the lifting is increased compared with the lower limit abscissaAt this time, the upper limit abscissa x is lifted t2 ＝x t1 +Δx t2 The upper limit of lift coordinates is (x t2 ，y t )。
The beneficial effects of the invention are as follows:
1. the device adopts a limit switch mode to define each limit position in the operation process of the marine crane, fully considers the lifting, luffing and rotation operation conditions of the marine crane, and ensures that the marine crane cannot collide with each other in the cooperative operation process.
2. The device adopts the coordinates to quantitatively define the positions of the limit switches, so that the device can quickly obtain the coordinates of each limit position according to the actual use conditions of various ships, meanwhile, the limit switches are sleeved on the scale shafts, and the position change is very simple, so that the marine crane provided with the device can be quickly applied to different ships.
3. The device adopts the floating limiting device to ensure that the lifting hook of the device can not collide with the lifting arm in the lifting process no matter how the lifting arm of the marine crane changes amplitude, so that the lifting operation of the marine crane provided with the device is safer.
Drawings
Fig. 1 is a schematic view of the working limit position of the marine crane according to the invention.
Fig. 2 is a diagram showing the composition of the crane lifting and luffing drive mechanism of the present invention.
Fig. 3 is a diagram showing the constitution of the limit switch device of the crane of the present invention.
In fig. 1-3: the device comprises a 1-tower body, a 2-tower top lifting fixed pulley, a 3-tower top amplitude fixed pulley, a 4-lifting steel wire rope, a 5-amplitude steel wire rope, a 6-boom lifting fixed pulley, a 7-boom amplitude fixed pulley, an 8-lifting hook, a 9-boom, a 10-amplitude motor, a 11-amplitude winding drum, a 12-amplitude driving sprocket, a 13-amplitude driven sprocket, a 14-amplitude lead screw, a 15-lifting motor, a 16-lifting winding drum, a 17-lifting driving sprocket, a 18-lifting driven sprocket, a 19-lifting lead screw, a 20-amplitude stop limit switch, a 21-amplitude lower limit switch, a 22-amplitude upper limit switch, a 23-lifting lower limit switch, a 24-lifting upper limit switch, a 25-collision limit switch, a 26-amplitude sliding block, a 27-lifting sliding block, a 28-amplitude scale shaft and a 29-lifting scale shaft;
Detailed Description
Specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1-3, the bottom of a tower body 1 of the marine crane is connected with a suspension arm 9 through a pin shaft, a suspension arm lifting fixed pulley block 6 and a suspension arm variable fixed pulley block 7 are respectively arranged on the suspension arm 9 and are respectively arranged at the forefront end of the suspension arm, and the pulley blocks, a tower top lifting fixed pulley block 2 positioned at the top of the tower body 1 and a tower top variable fixed pulley block 3 form a transmission mechanism of the marine crane together; the luffing steel wire rope 5 pulls the suspension arm 9, so that the suspension arm can rotate along a fixed pin shaft on the tower body 1 according to the winding and unwinding steel wire rope 5 of the luffing reel 11; the hook 8 is suspended at the front end position of the boom 9 by the hoisting wire 4. The lifting mechanism and the luffing mechanism are arranged in the tower body 1, the lifting mechanism driving device mainly comprises a lifting motor 15, an output shaft of the motor is connected with a lifting winding drum 16, a lifting driving chain wheel 17 is fixed at the other end of the winding drum, the lifting driving chain wheel 18 is driven by a chain, and a lifting screw rod 19 is directly connected with the driven chain wheel 18, so that the lifting screw rod 18 can synchronously operate along with the lifting and descending of the lifting mechanism of the marine crane.
The amplitude variation mechanism comprises an amplitude variation motor 10 and a speed reducer which are connected together, an output shaft of the speed reducer is connected with an amplitude variation winding drum 11, an amplitude variation steel wire rope 5 is wound on the amplitude variation winding drum 11, an output end of the amplitude variation winding drum 11 is provided with an amplitude variation winding drum output shaft, an amplitude variation driving chain wheel 12 is sleeved on the amplitude variation winding drum output shaft, and the amplitude variation driving chain wheel 12 is connected with an amplitude variation driven chain wheel 13 sleeved on an amplitude variation lead screw 14 through an amplitude variation chain.
The limit switch device for controlling the operation of the marine crane is arranged in the tower body 1, and a luffing stop limit switch 20, a luffing lower limit switch 21 and a luffing upper limit switch 22 are arranged in the uppermost space of the limit switch device from left to right and are sleeved on a luffing scale shaft 28, so that the positions of the limit switches can be adjusted according to requirements; a coordinate system is established by taking the center of the position of the amplitude stop limit switch 20 as an origin, an amplitude limit slide block 26 is arranged on the amplitude lead screw 14 along the positive direction of the y axis, the amplitude limit slide block can move back and forth on the amplitude lead screw 14 along the x axis along the amplitude operation of the marine crane, and the top of the amplitude limit slide block 26 can be just contacted with the contacts at the bottoms of the amplitude stop limit switch 20, the amplitude lower limit switch 21 and the amplitude lower limit switch 22. A lift screw 19 is provided at a position parallel to the lower side of the amplitude screw 14, i.e., in the positive y-axis direction. A lifting limit slide block 27 is arranged on the lifting screw rod 19, and a collision limit switch 25 which can be contacted with the bottom of the amplitude-variable slide block 26 is arranged at the top of the lifting slide block 27; at the lower position of the lifting screw rod 19, a lifting lower limit switch 23 and a lifting upper limit switch 24 are sequentially arranged along the positive direction of the x axis, and the limit switches are arranged on a lifting scale shaft 29.
Because the amplitude and the lifting upper limit and lower limit of the marine crane are changed under different ships or application scenes, the specific positions of all limit switches in the limit switch device in the marine crane are required to be changed in real time according to actual application conditions. The position defining step of each limit switch in the limit switch box of the marine crane of the invention is described in detail as follows:
(1) Marine crane luffing limit switch position definition
Step 1, amplitude variation stops limiting switch definition.
As shown in fig. 1, the position where the boom is in the horizontal position, i.e., where the angle β is zero degrees, is set as the stop position of the boom. The amplitude-changing stop limit switch in the limit switch box is placed at the initial scale of the amplitude-changing scale shaft, and a coordinate system shown in figure 2 is established by taking the position of the amplitude-changing stop limit switch as an origin, namely the coordinates of the amplitude-changing stop limit switch are (0, 0).
And 2, defining upper limit and lower limit switches of amplitude of the suspension arm.
The upper limit and the lower limit of the amplitude of the suspension arm are defined according to the actual scene used by the marine crane, and the requirements of the suspension arm are as follows: the minimum and maximum radius of a lifting area for lifting cargoes can be met when the upper limit and the lower limit of the crane boom for the ship are met, namely the projection of the crane boom on the horizontal plane is required to be in R min And R is R max Between them.
And 2-1, defining a maximum working radius. According to the actual working condition of the ship crane, setting the maximum lifting radius R of the cargo max And a maximum hoisting radius R min 。
And 2-2, calculating the amplitude limit angle. At this time, the included angle between the lower limit of the suspension arm of the marine crane and the horizontal direction is as follows:suspension arm upper limit and horizontal directionThe included angle of the direction is as follows: />In which L d Is the natural length of the boom.
And 2-3, analyzing the variable length of the variable-amplitude steel wire rope. The variable amplitude steel wire rope of the suspension arm is only the part of the steel wire rope between the tower top fixed pulley block and the suspension arm front end fixed pulley block, and the steel wire ropes of the rest parts are unchanged along with the fixation of the marine crane structure, so that the variable amplitude steel wire rope is not considered. The length of the steel wire rope in the variable amplitude variation state isWherein:
N b the number of the pairs of the variable amplitude fixed pulleys is;
L f the distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set;
alpha is L f An included angle with the horizontal position;
j= {1,2,3}, j=1 represents the luffing stop limit, in which case β=0°; j=2 represents a lower limit of variation; j=3 represents the upper limit of the amplitude.
Therefore, the maximum length of the steel wire varying at the time of amplitude isWhere a= {1,2,3}; z= {1,2,3}.
And 2-4, changing the expansion and contraction amount of the steel wire rope at the limit position of amplitude. According to the analysis result of the step 2-3, taking the amplitude variation stop limit position as a reference, the lower limit and the upper limit of amplitude variation, and the lengths of the steel wire ropes needing to be contracted by the amplitude variation mechanism are respectively as follows:
and 2-5, calculating the variable amplitude pitch. And (3) converting the length of the steel wire rope contracted by the amplitude variation mechanism into the distance difference between each amplitude variation limit switch in the limit switch box according to the result of the step (2-4). The reduction ratio of the driving sprocket and the driven sprocket of the amplitude variation mechanism is i b The pitch of the amplitude-variable screw rod is p b The number of threads is m b The distance from the amplitude lower limit switch to the amplitude stop limit switch is as follows:the distance between the amplitude variation upper limit switch and the amplitude variation stop limit switch is as follows: />That is, the amplitude lower limit switch has a coordinate of (0, x b1 ) The upper limit switch of amplitude has the coordinates of (0, x b2 )。
(2) Marine crane lifting limit switch position definition
Step 1, lifting limit switch y-axis definition.
According to the above description about the structural composition of the limit switch device, the y-axis coordinate of the limit switch is determined by the limit switch size, the slider size and the screw size, and when the related components are selected, the y-axis coordinate of the limit switch is a fixed value, and is recorded as y t 。
And 2, lifting the lower limit switch position to calculate.
When the marine crane does not work, namely the suspension arm is positioned at the amplitude-changing stop limit position, the lifting mechanism needs to lower the lifting hook onto the deck of the ship to fix, so that the shaking of the lifting mechanism is prevented from threatening the running safety of the ship and the personal safety of a crew, and the height difference between the suspension arm and the bilge when the suspension arm stops working is recorded as H f . While the lower limit of the lifting of the marine crane is set according to the specific use condition, the lifting minimum height H min The height of the barrier which is higher than the highest barrier of the cargo stacking area on the ship is required to be used, so that the cargo can not collide with the ship body during the rotation operation of the ship crane.
Step 2-1, minimum elevation heightAnd (5) judging. Determining H according to actual use condition min Then, the relation between the boom amplitude lower limit and the boom amplitude lower limit needs to be judged first. If it isThen go to step 2-2; if it isThen go to step 2-3.
And 2-2, lifting the lower limit coordinate to calculate 1. At the moment, as the lifting lower limit is smaller than the amplitude lower limit and according to analysis of the change rule of the steel wire rope of the lifting mechanism, the lifting mechanism at the moment needs to lift compared with the amplitude lower limit positionTherefore, the difference value of the horizontal coordinates of the lifting lower limit switch and the amplitude lower limit switch is as follows: />Wherein i is t To the reduction ratio of the driving chain wheel and the driven chain wheel of the lifting mechanism, p t To increase the pitch of the screw, m t Is the number of threads. The abscissa x of the lifting lower limit switch at the moment can be obtained t1 ＝x b1 -Δx t1 The coordinates of the lifting lower limit are: (x) t1 ，y t )。
And 2-3, lifting the lower limit coordinate to calculate 2. At the moment, the lifting lower limit is larger than the amplitude lower limit, and an anti-collision limit switch is arranged between the lifting hook and the suspension arm, so that the lifting lower limit switch coordinate is the position of the suspension arm after amplitude variation.
Angle between the boom and the horizontal plane after amplitude variation:
the beta obtained is t The angle brings into the analysis described above, and the abscissa of the lower lifting limit is:
namely, the lower limit switch coordinates of the lifting mechanism are as follows: (x) t1 ，y t )。
And step 3, lifting the upper limit switch position to calculate.
The upper limit of the lifting goods of the marine crane depends on the rope containing amount of the lifting reel of the marine crane, and the upper limit of the rope containing amount of the lifting reel of the marine crane is recorded as S according to the related requirements of the number of layers of the rope containing amount of the reel and the length of the reel in national standard GB/T4446-1995 due to the limited space inside the tower body g 。
And 3-1, calculating the total lifting shrinkage of the steel wire rope. In the whole lifting process of the marine crane, the length of the lifting steel wire rope which is needed to be wound on the lifting reel theoretically comprises three parts, namely, the reserved length of the lifting reel, the length of the lifting fixed pulley block for lifting the tower body and the length of the lifting fixed pulley block for lifting the lifting arm along with the amplitude of the lifting arm, and the length of the lifting hook from the bilge to the upper limit of the amplitude.
(a) The reel reserves the wire rope length. The wire rope on the winding drum needs to be reserved for a certain number of turns to ensure the safety of the use, and n reserved wire ropes on the lifting winding drum are counted t The circle, then the amplitude steel wire rope reserves the length S ty ＝πD t n t In D t To raise the diameter of the spool.
(b) The length of the steel wire rope between the fixed pulleys is changed. The length of the steel wire rope which is always in a variable state between the tower top lifting fixed pulley block and the suspension arm lifting fixed pulley block isWherein N is t To raise the fixed pulley pair number.
The maximum length of the lifting steel wire varying in amplitude is
(c) The length of the hook wire rope is changed. In theory, the maximum value of the change of the steel wire rope of the lifting hook is from the bilge to the amplitude of the lifting armSpacing of timing pulleys, S tg ＝(L d +R min ) 1/2 (L d -R min ) 1/2 +H f -H d In which H d Is the height of the hook itself.
So the total length of the steel wire rope wound on the lifting reel is S t ＝S ty +ΔS tc +S tg 。
And 3-2, lifting the upper limit switch coordinate to calculate. Since the lifting drum cannot wind all the steel wire ropes in the step 3-1 practically, the shortest length H of the steel wire ropes which are not wound by the lifting mechanism r ＝S tg -S g . The upper limit of the lifting mechanism can be obtained as compared with the lower limit:
ΔH＝(L d +R min ) 1/2 (L d -R min ) 1/2 -(H min -H f -H d )-H r ＝2H d +S g -H min 。
thus the lifting upper abscissa increases compared to the lower abscissaAt this time, the upper limit abscissa x is lifted t2 ＝x t1 +Δx t2 The upper limit of lift coordinates is (x t2 ，y t )。
The above-described embodiments are merely illustrative of the principles and functions of the present invention, and some of the practical examples, not intended to limit the invention; it should be noted that modifications and improvements can be made by those skilled in the art without departing from the inventive concept, and these are all within the scope of the present invention.

Claims (5)

1. A hoisting limiting device of a marine crane is characterized in that: the device comprises a lifting screw rod and a luffing screw rod, wherein the lifting screw rod and the luffing screw rod are horizontally arranged in a machine room on a tower body, the lifting screw rod is arranged below the luffing screw rod, an output shaft of a lifting reel drives the lifting screw rod to rotate through a lifting transmission mechanism, and an output shaft of the luffing reel drives the luffing screw rod to rotate through a luffing transmission mechanism;
a luffing scale shaft is arranged above the luffing screw rod in the mechanical chamber, and a luffing stop limit switch, a luffing lower limit switch and a luffing upper limit switch which are adjustable in position are arranged on the luffing scale shaft from left to right;
a luffing limit slide block is movably sleeved on the luffing screw rod, and moves back and forth on the luffing screw rod along with luffing operation of the marine crane, and the top of the luffing limit slide block can be contacted with a luffing stop limit switch, a luffing lower limit switch and a contact point at the bottom of the luffing lower limit switch in the moving process; a lifting limit slide block is movably sleeved on the lifting screw rod, a collision limit switch is arranged at the top of the lifting slide block, and the collision limit switch can be contacted with the bottom of the amplitude slide block; a lifting scale shaft is arranged at the lower position of the lifting screw rod in the mechanical chamber, and a lifting lower limit switch and a lifting upper limit switch are sequentially arranged on the lifting scale shaft from left to right.
2. The lifting and limiting device of a marine crane as claimed in claim 1, wherein: the lifting transmission mechanism comprises a lifting driving sprocket sleeved on the output shaft of the lifting winding drum, and the lifting driving sprocket is connected with a lifting driven sprocket sleeved on the lifting screw rod through a lifting chain.
3. Hoisting limiting apparatus of a marine crane as claimed in claim 1 or 2, characterized in that: the amplitude-variable transmission mechanism comprises an amplitude-variable driving sprocket sleeved on the amplitude-variable winding drum output shaft, and the amplitude-variable driving sprocket is connected with an amplitude-variable driven sprocket sleeved on the amplitude-variable lead screw through an amplitude-variable chain.
4. A method of setting a hoisting limit of a marine crane according to any one of claims 1-3, comprising the steps of:
step 1, defining the position of a variable amplitude stop limit switch, which is specifically as follows:
when the suspension arm is in the horizontal position, namely when the included angle beta between the suspension arm and the horizontal plane is zero, setting the suspension arm as a stop position of the suspension arm; placing an amplitude-changing stop limit switch in a limit switch box at the initial scale of an amplitude-changing scale shaft, and establishing a coordinate system by taking the position of the amplitude-changing stop limit switch as an origin, so that the coordinates of the amplitude-changing stop limit switch are (0, 0);
step 2, defining the upper limit and lower limit switch positions of amplitude variation of the suspension arm
Step 2-1, defining the maximum working radius: setting the maximum lifting radius R of cargoes according to actual conditions max And a maximum hoisting radius R min ；
Step 2-2, calculating the amplitude limit angle: at this time, the included angle between the lower limit of the suspension arm of the marine crane and the horizontal direction is as follows:the upper limit of the suspension arm and the included angle in the horizontal direction are as follows: />In which L d Is the inherent length of the boom;
step 2-3, analyzing the variable length of the variable-amplitude steel wire rope: the length of the steel wire rope in the variable amplitude variation state is as follows:wherein:
N b the number of the pairs of the variable amplitude fixed pulleys is; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f An included angle with the horizontal position; j= {1,2,3}, j=1 represents the luffing stop limit, in which case β=0°; j=2 represents a lower limit of variation; j=3 represents the upper limit of variation;
the maximum length of the steel wire varying at amplitude isWhere a= {1,2,3};
z＝{1,2,3}；
step 2-4, the expansion and contraction amount of the steel wire rope at the amplitude limit position: taking the amplitude variation stop limit position as a reference, the lower limit and the upper limit of amplitude variation are respectively as follows:
step 2-5, variable amplitude pitch calculation: the reduction ratio of the driving sprocket and the driven sprocket of the amplitude variation mechanism is i b The pitch of the amplitude-variable screw rod is p b The number of threads is m b ，D b Is the diameter of the amplitude-variable winding drum; the distance from the amplitude lower limit switch to the amplitude stop limit switch is as follows:the distance between the amplitude variation upper limit switch and the amplitude variation stop limit switch is as follows: />That is, the amplitude lower limit switch has a coordinate of (0, x b1 ) The upper limit switch of amplitude has the coordinates of (0, x b2 )。
5. The method for setting a hoisting limit apparatus of a marine crane according to claim 4, wherein: the method for defining the lifting limit switch position comprises the following specific steps:
step 1, lifting limit switch y-axis definition:
the y-axis coordinate of the lifting limit switch is determined by the limit switch size, the slide block size and the screw rod size, and after the relevant components are selected in model, the y-axis coordinate of the lifting limit switch is a fixed value and is recorded as y t ；
Step 2, lifting lower limit switch position calculation:
the suspension arm is positioned at the amplitude-changing stop limit position, namely when the ship crane does not work, the lifting hook is lowered to the position when the lifting mechanism does not workWhen the crane is fixed on the deck of the ship, the height difference between the suspension arm and the bilge is recorded as H f The method comprises the steps of carrying out a first treatment on the surface of the The lower limit of the lifting of the ship crane, namely the minimum height of the ship crane which ensures that the cargo cannot collide with the ship body during the rotation operation is marked as H min ；
Step 2-1, minimum lifting height judgment: determining H according to actual use condition min Then, judging the relation between the suspension arm and the amplitude lower limit of the suspension arm; if it isThen go to step 2-2; if it isThen go to step 2-3;
step 2-2, lifting lower limit coordinate calculation 1: at the moment, because the lifting lower limit is smaller than the amplitude lower limit, the lifting mechanism also needs to lift compared with the amplitude lower limit positionThe difference value of the horizontal coordinates of the lifting lower limit switch and the amplitude lower limit switch is as follows:
wherein L is d Is the inherent length of the boom; i.e t D, for the reduction ratio of the driving chain wheel and the driven chain wheel of the lifting mechanism t To raise the spool diameter; p is p t To increase the pitch of the screw, m t Is the number of threads; the abscissa x of the lifting lower limit switch at the moment can be obtained t1 ＝x b1 -Δx t1 The coordinates of the lifting lower limit are: (x) t1 ，y t )；
Step 2-3, lifting lower limit coordinate calculation 2: at the moment, the lifting lower limit is larger than the amplitude lower limit, and an anti-collision limit switch is arranged between the lifting hook and the suspension arm, so that the lifting lower limit switch coordinate is the position of the suspension arm after amplitude variation;
angle between the boom and the horizontal plane after amplitude variation:
the beta obtained is t The angle brings into the analysis described above, and the abscissa of the lower lifting limit is:
wherein N is b The number of the pairs of the variable amplitude fixed pulleys is; d (D) b Is the diameter of the amplitude-variable winding drum; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f An included angle with the horizontal position; i.e t To the reduction ratio of the driving chain wheel and the driven chain wheel of the lifting mechanism, p t To increase the pitch of the screw, m t Is the number of threads;
the lower limit switch coordinates of the lifting mechanism are: (x) t1 ，y t )；
Step 3, lifting upper limit switch position calculation
Step 3-1, calculating the total hoisting shrinkage of the steel wire rope: in the whole lifting process of the marine crane, the length of the steel wire rope which needs to be wound on the lifting reel comprises three parts, namely, the reserved length of the lifting reel, the length of the lifting fixed pulley block for lifting the tower body and the length of the lifting fixed pulley block for lifting the lifting arm, which changes amplitude along with the lifting arm, and the length of the lifting hook from the bilge to the upper limit of amplitude, wherein:
(a) The length of the reserved steel wire rope of the amplitude varying winding drum is as follows: s is S ty ＝πD t n t Wherein n is t In order to ensure that the number of turns of the steel wire rope on the safe winding drum is reserved, D t To raise the diameter of the spool;
(b) The length of the steel wire rope between the fixed pulleys is as follows: the length of the steel wire rope which is always in a variable state between the tower top lifting fixed pulley block and the suspension arm lifting fixed pulley block isWherein N is t To lift the fixed pulley pair number; l (L) d Is the inherent length of the boom; l (L) f The distance from the center of a rotating shaft of the suspension arm on the tower body to the center of the fixed pulley block of the tower body is set; alpha is L f An included angle with the horizontal position; j= {1,2,3}, j=1 represents the luffing stop limit, in which case β=0°; j=2 represents a lower limit of variation; j=3 represents the upper limit of variation;
the maximum length of the lifting steel wire varying in amplitude is
(c) The length of the hook steel wire rope is as follows: the maximum value of the change of the lifting hook steel wire rope is the distance between the fixed pulleys when the lifting hook steel wire rope changes from the bilge to the upper limit of the amplitude of the lifting arm, S tg ＝(L d +R min ) 1/2 (L d -R min ) 1/2 +H f -H d In which H d The height of the lifting hook is the height of the lifting hook;
the total length of the steel wire rope wound on the lifting reel is S t ＝S ty +ΔS tc +S tg ；
Step 3-2, lifting upper limit switch coordinate calculation: the shortest length of the steel wire rope which is not wound by the lifting mechanism is H r ＝S tg -S g ；S g The upper limit of rope containing capacity of the hoisting drum of the marine crane is set; the upper limit of lift of the lift mechanism is increased compared to the lower limit:
ΔH＝(L d +R min ) 1/2 (L d -R min ) 1/2 -(H min -H f -H d )-H r ＝2H d +S g -H min ；
the upper limit abscissa of the lifting is increased compared with the lower limit abscissaAt this time, the upper limit abscissa x is lifted t2 ＝x t1 +Δx t2 The upper limit of lift coordinates is (x t2 ，y t )。
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GB191202758A (en) * 1912-02-02 1912-12-19 Armstrong W G Whitworth & Co Improvements in Compensating Luffing Cranes.
CN102001587A (en) * 2010-11-17 2011-04-06 武汉船用机械有限责任公司 Ship rotary crane jib laying automatic control method and control device
CN204689453U (en) * 2015-05-20 2015-10-07 徐伯琴 A kind of can the arm derrick crane of pressured rope
CN204873596U (en) * 2015-08-28 2015-12-16 中国能源建设集团湖南火电建设有限公司 Crane
CN108657969A (en) * 2018-07-02 2018-10-16 山东伟红建筑安装工程有限公司 A kind of fulcrum type hoisting machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB191202758A (en) * 1912-02-02 1912-12-19 Armstrong W G Whitworth & Co Improvements in Compensating Luffing Cranes.
CN102001587A (en) * 2010-11-17 2011-04-06 武汉船用机械有限责任公司 Ship rotary crane jib laying automatic control method and control device
CN204689453U (en) * 2015-05-20 2015-10-07 徐伯琴 A kind of can the arm derrick crane of pressured rope
CN204873596U (en) * 2015-08-28 2015-12-16 中国能源建设集团湖南火电建设有限公司 Crane
CN108657969A (en) * 2018-07-02 2018-10-16 山东伟红建筑安装工程有限公司 A kind of fulcrum type hoisting machine

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