CN202829333U - Tilt rotation driving mechanism and crane - Google Patents

Abstract

A tilting driving mechanism provided by the utility model includes a frame, a spreader assembly, a left lifting reel and a right lifting reel installed on the frame, and two lifting reels installed on the spreader assembly. The first left pulley and the first right pulley on the side, the first left hoisting wire rope, and the first right hoisting wire rope. It also includes a first tilting drum; the first right hoisting wire rope is wound on the first tilting drum, the first right pulley, and the right hoisting drum; the first left hoisting wire rope is wound on the On the first tilting drum, the first left pulley, and the left lifting drum. The tilting driving mechanism has the advantages of simple structure, good stability and high control precision. The utility model also provides a crane including the tilting drive mechanism.

Description

Tilting drive mechanism and crane

technical field

The utility model relates to the technical field of engineering machinery, in particular to a tilting drive mechanism and a crane.

Background technique

At present, when the crane grabs the container, it is difficult for the spreader to align with the lock hole of the container because the container is placed obliquely. In particular, when grabbing a container on a ship, the shaking of the waves will also cause alignment difficulties. Therefore, it is necessary to adjust the tilting of the spreader assembly to realize alignment between the spreader assembly and the container to complete the task of loading and unloading the container.

Most of the tilting mechanisms of the spreader assembly on the existing cranes use hydraulic cylinders or linear motion elements of screw rods or electro-hydraulic push rods to realize the movement of the wire ropes to change the wire ropes at each pulley lifting point on the container spreader. length, and then realize the rotation of the container spreader in the horizontal plane, which can be used for cranes with small tilt angles; but as the tilt angle required by users increases, the distance that the steel wire rope needs to move will increase accordingly, while the current Due to the limitation of the structural size of the linear motion element, it will appear bulky and cumbersome to use, and due to the limitation of the linear motion element, the movement speed cannot be too high and the stroke is limited. Can not solve the large tilt angle of the spreader assembly to the box.

Utility model content

In order to solve the above technical problems, the utility model provides a tilting drive mechanism, including a frame, a spreader assembly, a left lifting drum and a right lifting drum installed on the frame, The first left pulley and the first right pulley on both sides on the tool assembly, the first left hoisting wire rope, and the first right hoisting wire rope. It also includes a first tilting drum; the first right hoisting wire rope is wound on the first tilting drum, the first right pulley, and the right hoisting drum; the first left hoisting wire rope is wound on the On the first tilting drum, the first left pulley, and the left hoisting drum; the first right hoisting wire rope and the first left hoisting wire rope are wound on the first tilting drum, winding direction on the contrary.

Preferably, it also includes a second tilting drum, a second left pulley and a second right pulley installed on both sides of the spreader assembly, a second left hoisting wire rope, and a second right hoisting wire rope; The second right hoisting wire rope is wound on the second tilting drum, the second right pulley, and the right hoisting drum; the second left side hoisting wire rope is wound on the second tilting drum, the second On the left side pulley and the left side hoisting drum; the second right side hoisting wire rope and the second left side hoisting wire rope are wound on the second tilting drum, and the winding direction is opposite.

Preferably, the rotation axes of the first right pulley and the first left pulley are coincident, the rotation axes of the second right pulley and the second left pulley are coincident, and the rotation axes of the two are arranged symmetrically with respect to the central plane of the spreader assembly.

Preferably, it also includes guide pulleys, the rotation plane of the first tilting drum and the second tilting drum and the first right side pulley, the first left side pulley, the second right side pulley, the second left side pulley, the left side The rotation planes of the hoisting drum and the right hoisting drum are vertical; the first right hoisting wire rope is wound on the first tilting drum, the guide pulley, the first right pulley, and the right hoisting drum in turn; The first left hoisting wire rope is wound on the first tilting drum, the guide pulley, the first left pulley, and the left hoisting drum in turn; the second right hoisting wire rope is wound on the second tilting drum in turn. Drum, guide pulley, second right pulley, right lifting drum; second left lifting wire rope is wound on the second tilting drum, guide pulley, second left pulley, left lift on the liter reel.

Preferably, one end of the first right hoisting wire rope is fixed on the first tilting drum, and the other end is fixed on the right hoisting drum; one end of the second right hoisting wire rope is fixed on the second tilting drum , the other end is fixed on the right hoisting drum; one end of the first left hoisting wire rope is fixed on the first tilting drum, and the other end is fixed on the left hoisting drum; the second left hoisting wire rope One end is fixed on the second tilting drum, and the other end is fixed on the left lifting drum.

Preferably, it also includes a first motor for driving the rotation of the first tilting drum, a second motor for driving the rotation of the second tilting drum, and a first sensor for detecting the rotation angle of the first tilting drum , a second sensor for detecting the rotation angle of the first tilting drum, and a controller; the controller acquires signals from the first sensor and the second sensor, and controls the rotation of the first motor and the second motor.

Preferably, it also includes a reducer, the first motor drives the first tilting drum to rotate through the reducer, and the second motor drives the second tilting drum to rotate through the reducer; The tilting drum or/and the second tilting drum are braked.

Preferably, the winding direction of the first right hoisting wire rope wound on the first tilting drum and the second right hoisting wire rope wound on the second tilting drum are the same; The winding direction of the first left hoisting wire rope on the drum and the second left hoisting wire rope wound on the second tilting drum are the same; when the operator needs to grab the container, the height difference between the left and right of the spreader assembly needs to be adjusted When; the controller controls the first motor and the second motor to rotate forward or reverse at the same time; when the operator needs to adjust the rotation of the spreader assembly; the controller controls the first motor and the second motor to rotate in opposite directions.

Preferably, the winding direction of the first right hoisting wire rope wound on the first tilting drum and the second right hoisting wire rope wound on the second tilting drum are opposite; The winding direction of the first left hoisting wire rope on the drum is opposite to that of the second left hoisting wire rope wound on the second tilting drum; when the operator needs to grab the container, the height difference between the left and right of the spreader assembly needs to be adjusted when the controller controls the first motor and the second motor to rotate in opposite directions; when the operator needs to adjust the rotation of the spreader assembly, the controller controls the first motor and the second motor to rotate forward or reverse at the same time.

The utility model also provides a crane, comprising: the tilting drive mechanism described in any one of claims 1 to 9, a beam, a cart, and a trolley, the frame is mounted on the trolley, and the trolley walks on the track of the beam, The cart drives the whole machine to walk.

The beneficial effects of the tilting drive mechanism and the crane provided by the utility model are:

First, the structure is simple, and the tilting angle of the adjustable spreader assembly is large. Second, sensors are installed on the first tilting drum and the second tilting drum to detect the rotation angle, and the rotation angle of the first motor and the second motor is controlled through calculation and accurate feedback, so as to realize the precise adjustment of the tilting of the spreader assembly. purpose of turning angle. Third, adopting the tilting drive mechanism of the utility model can also control the rotation of the spreader assembly within a certain range to realize the alignment problem with the container.

Description of drawings

Fig. 1 shows the front view of the tilting drive mechanism of the present utility model;

Figure 2 shows a top view of Figure 1;

Fig. 3 shows the left side view of Fig. 1;

Fig. 4 shows a schematic diagram of the wire rope winding of the tilting drive mechanism of the present invention;

FIG. 5 shows a schematic diagram of the tilting reel of FIG. 1 .

Detailed ways

The specific implementation manners according to the present utility model are described below in conjunction with the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

In the following description, a lot of specific details have been set forth in order to fully understand the utility model, but the utility model can also be implemented in other ways different from those described here, therefore, the protection scope of the utility model is not limited by the following Limitations of specific embodiments are disclosed.

As shown in Figure 1, Figure 2, and Figure 3, the tilting drive mechanism includes: frame 5, spreader assembly 1 (as shown in Figure 4), frame 5 connected to trolley 6, and trolley driving frame 5 on the beam Move on track 100. The spreader assembly 1 consists of a spreader upper frame 11 and a spreader lower frame 10. The spreader lower frame 10 is used to grab the goods of the container 101 (as shown in Figure 4), and the spreader lower frame for grabbing other goods can also be designed . The upper frame 11 of the spreader is detachably connected with the lower frame 10 of the spreader through a lock pin. The spreader assembly 1 can also be made into an overall structure, or other types.

The left lifting reel 40 and the right lifting reel 41 installed on the frame 5. The axes of rotation of the left lifting reel 40 and the right lifting reel 41 are substantially coincident, and the left lifting reel 40 and the right lifting reel 41 are driven to rotate after being decelerated by the motor to lift container goods. Taking the rotation axes of the left lifting drum 40 and the right lifting drum 41 as a plane of symmetry, a first tilting drum 21 and a second tilting drum 20 are provided, and the first tilting drum 21 and the second tilting drum The tilting reel 20 is installed on the frame 5 . The rotation axes of the first tilting drum 21 and the second tilting drum 20 are coincident and perpendicular to each other with the rotation axes of the left lifting drum 40 and the right lifting drum 41, and may not be perpendicular to each other at the same time, and other methods are adopted structure.

A first left side pulley 32 , a second left side pulley 33 , a first right side pulley 31 , and a second right side pulley 30 are arranged on both sides of the upper frame 11 of the spreader. As shown in FIG. 3 , the rotation axes of the first left pulley 32 and the first right pulley 31 coincide. The rotation axes of the second left pulley 33 and the second right pulley 30 coincide. The two tools are arranged symmetrically with the longitudinal center plane of the upper frame 11 of the spreader. As shown in FIG. 1 , the first left pulley 32 , the first right pulley 31 , the second left pulley 33 , and the second right pulley 30 are not in the same rotation plane. Simultaneously, also can adopt other ways to arrange movable pulley.

It also includes four lifting wire ropes, the first left lifting wire rope 82, the second left lifting wire rope 83, the first right lifting wire rope 81, and the second right lifting wire rope 80.

8 guide pulleys are also arranged on the frame 5, and the 8 guide pulleys are arranged symmetrically. Each hoisting wire rope is equipped with two guide pulleys.

As shown in Figure 4, after one end of the first left lifting wire rope 82 is fixed on the first tilting drum 21, it is wound around the first tilting drum 21, the guide pulley 97, the guide pulley 92, the first left Side pulley 32, left side hoist drum 40, and then the other end is fixed on the left side hoist drum 40.

After one end of the second left lifting wire rope 83 is fixed on the second tilting drum 20, it is wound around the second tilting drum 20, the guide pulley 96, the guide pulley 93, the second left side pulley 33, the left side The lifting drum 40 is fixed on the left side lifting drum 40 at the other end.

After one end of the first right lifting wire rope 81 is fixed on the first tilting drum 21, it is wound around the first tilting drum 21, the guide pulley 95, the guide pulley 91, the first right side pulley 31, the right side Lifting drum 41, then the other end is fixed on the right side lifting drum 41.

After one end of the second right lifting wire rope 80 is fixed on the second tilting drum 20, it is wound around the second tilting drum 20, the guide pulley 94, the guide pulley 90, the second right side pulley 31, and the right side in turn. Lifting drum 41, then the other end is fixed on the right side lifting drum 41.

The winding directions of the first left hoisting wire rope 82 and the first right hoisting wire rope 81 around the first tilting drum 21 are opposite, so that the first left hoisting wire rope 82 and the first right hoisting wire rope 81 The rope-out direction is opposite. Regardless of whether the first tilting drum 21 is rotating forward or reverse, the first left side hoisting wire rope 82 and the first right side hoisting wire rope 81 have opposite directions of rope exit, and one is rolled up by the first tilting drum 21 to take in the rope. , one is laid rope by the first tilting reel 21. Thereby realize that the left and right sides retract and release the rope freely, realize the tilting drive of the upper frame 11 of the spreader.

Similarly, the winding directions of the second left hoisting wire rope 83 and the second right hoisting wire rope 80 on the second tilting drum 20 are opposite, so that the second left hoisting wire rope 83 and the second right side Hoisting steel wire rope 80 rope-out directions are opposite.

The first left side hoisting wire rope 82 and the second left side hoisting wire rope 83 are wound around the left side hoisting drum 40 in the same direction. The wire rope 82 and the second left side hoisting wire rope 83 take in or release the rope simultaneously.

Similarly, the first right hoisting wire rope 81 and the second right hoisting wire rope 80 wind around the right hoisting drum 41 in the same direction.

The first left side hoisting wire rope 82, the second left side hoisting wire rope 83, the first right side hoisting wire rope 81, and the second right side hoisting wire rope 80 are respectively wound around the first left side pulley 32 and the second left side pulley. 33. The angles of the first right pulley 31 and the second right pulley 31 are equal, so that the tilting drive mechanism is balanced. But they can also be unequal.

As shown in FIG. 5 and FIG. 3 , the first tilting drum 21 is driven to rotate by a first motor 105 through a reducer, and a first sensor 106 is installed on the rotation axis of the first tilting drum 21 . The second tilting drum 20 is driven to rotate by a second motor 102 through a reducer 103 , and a second sensor 104 is installed on the rotation axis of the second tilting drum 20 . Brakes are arranged in the two speed reducers to brake the first tilting drum 21 and the second tilting drum 20, thus ensuring reliable stop or start of the tilting drive mechanism.

The first sensor 106 and the second sensor 104 are absolute encoders. It is used to detect the rotation angles of the first tilting drum 21 and the second tilting drum 20 . Thereby detecting the length of the first tilting drum 21 and the second tilting drum 20 to retract and unwind the rope, the tilting angle of the spreader assembly 1 , and feedback control the rotation of the first motor 105 and the second motor 102 . The first sensor 106 and the second sensor 104 can also use other types of rotation angle sensors, such as angle sensors, electromagnetic sensors, etc., or use motor direct control instead of sensor feedback control technology, but the control accuracy is low.

The working process of the tilting drive mechanism is as follows:

1. When the tilting drive mechanism needs to lift container goods, firstly, the container needs to be grabbed by the lower frame 10 of the spreader, the left lifting drum 40 and the right lifting drum 41 are reversed at the same time, and the lower frame 10 of the spreader is lowered. Then adjust the tilting angle of spreader assembly 1.

If the hoisting wire rope 81 on the first right side is wound on the first tilting drum 21 and the second right side hoisting wire rope 80 is wound on the second tilting drum 20, the winding direction is the same; The winding direction of the first left hoisting wire rope 82 on the tilting drum 21 and the second left hoisting wire rope 83 wound on the second tilting drum 20 are the same;

When the operator needs to grab the container 101 and adjust the left and right height difference of the spreader assembly 1; the controller controls the first motor 105 and the second motor 102 to rotate forward at the same time; so that the first right lifting wire rope 81 and the second right The side hoisting wire rope 80 receives the rope, the right side of the spreader assembly 1 increases; the first left hoisting wire rope 82 and the second left hoisting wire rope 83 release the rope, and the left side of the spreader assembly 1 descends; reach to adjust the spreader The purpose of assemblage 1 left and right height difference. The same is true if the controller controls the first motor 105 and the second motor 102 to reverse at the same time.

When the operator needs to adjust the rotation of the spreader assembly 1 , the controller controls the first motor 105 and the second motor 102 to rotate in opposite directions. If the first motor 105 rotates forward, the second motor 102 rotates reversely. The first tilting drum 21 is rotated forward, and the second tilting drum 20 is reversed; the first right side hoisting wire rope 81 and the second left side hoisting wire rope 83 are laid down and lowered; the second right side hoisting wire rope 80 and the first left side hoisting wire rope 82 receive rope and increase. The spreader assembly 1 is heightened on one diagonal and lowered on the other. The spreader assembly 1 rotates at a certain angle under the action of its own weight to achieve the purpose of adjusting the inclination angle of the spreader assembly 1 .

Two, if the hoisting wire rope 81 on the first right side is wound on the first tilting drum 21 and the second right side hoisting wire rope 80 is wound on the second tilting drum 20, the winding direction is opposite; The winding direction of the first left hoisting wire rope 82 on the first tilting drum 21 and the second left hoisting wire rope 83 wound on the second tilting drum 20 are opposite;

When the operator needs to grab the container 101 and needs to adjust the left and right height difference of the spreader assembly 1; similarly, the controller controls the first motor 105 and the second motor 102 to rotate in opposite directions; When the assembly 1 rotates, the controller controls the first motor 105 and the second motor 102 to rotate forward or reverse at the same time.

After one pair of boxes is completed in the spreader assembly, the container 101 is grabbed, and the left lifting reel 40 and the right lifting reel 41 rotate forward simultaneously to lift the container 101 goods.

The purpose of tilting drive can also be realized by adopting a tilting reel in the tilting drive mechanism.

The utility model also provides a crane with the tilting drive mechanism, which includes a cart, a trolley, a beam, and a frame 5 installed on a trolley 6, and the trolley 6 walks on the rail 100 of the beam, and the trolley drives the whole machine to walk .

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

Claims (10)

1. A tilting drive mechanism, including a frame, a spreader assembly, a left lifting reel and a right lifting reel installed on the frame, and the second lifting reel installed on both sides of the spreader assembly A left pulley and a first right pulley, a first left hoisting wire rope, and a first right hoisting wire rope, characterized in that: a first tilting drum is also included; The first right side hoisting wire rope is wound on the first tilting drum, the first right side pulley, and the right side hoisting drum; The first left hoisting wire rope is wound on the first tilting drum, the first left pulley, and the left hoisting drum; The first right side hoisting wire rope and the first left side hoisting wire rope are wound on the first tilting drum, and the winding directions are opposite. 2. The tilting drive mechanism according to claim 1, further comprising a second tilting reel, a second left pulley and a second right pulley installed on both sides of the spreader assembly, the second Two left hoisting wire ropes, the second right hoisting wire ropes; The second right side hoisting wire rope is wound on the second tilting drum, the second right side pulley, and the right side hoisting drum; The second left side hoisting wire rope is wound on the second tilting drum, the second left side pulley, and the left side hoisting drum; The second right hoisting wire rope and the second left side hoisting wire rope are wound on the second tilting drum, and the winding directions are opposite. 3. The tilting drive mechanism according to claim 2, wherein the rotation axes of the first right pulley and the first left pulley are coincident, the rotation axes of the second right pulley and the second left pulley are coincident, and the two Or the axis of rotation is arranged symmetrically with the central plane of the spreader assembly. 4. The tilting drive mechanism according to claim 2, further comprising a guide pulley, First tilting drum and second tilting drum rotation plane and first right pulley, first left pulley, second right pulley, second left pulley, left lifting drum, right The rotating plane of the hoisting drum is vertical; The first right side hoisting wire rope is wound on the first tilting drum, the guide pulley, the first right side pulley, and the right side hoisting drum in sequence; The first left hoisting wire rope is wound on the first tilting drum, the guide pulley, the first left pulley, and the left hoisting drum in sequence; The second right side hoisting wire rope is wound on the second tilting drum, the guide pulley, the second right side pulley, and the right side hoisting drum in turn; The second left side hoisting wire rope is wound on the second tilting drum, the guide pulley, the second left side pulley, and the left side hoisting drum successively. 5. The tilting drive mechanism according to claim 2, characterized in that: One end of the first right lifting wire rope is fixed on the first tilting drum, and the other end is fixed on the right lifting drum; One end of the second right hoisting wire rope is fixed on the second tilting drum, and the other end is fixed on the right hoisting drum; One end of the first left hoisting wire rope is fixed on the first tilting drum, and the other end is fixed on the left hoisting drum; One end of the second left side hoisting wire rope is fixed on the second tilting drum, and the other end is fixed on the left side hoisting drum. 6. The tilting drive mechanism according to any one of claims 2 to 5, further comprising a first motor for driving the rotation of the first tilting drum, and a motor for driving the rotation of the second tilting drum. The second motor, the first sensor for detecting the rotation angle of the first tilting drum, the second sensor for detecting the rotation angle of the first tilting drum, the controller; the controller acquires the first sensor and the second sensor signal to control the rotation of the first motor and the second motor. 7. The tilting drive mechanism according to claim 6, further comprising a speed reducer, the first motor drives the first tilting reel to rotate through the speed reducer, and the second motor drives the second tilting drum through the speed reducer. The reel rotates; a brake is provided in the reducer, and the brake is used to brake the first tilting drum or/and the second tilting drum. 8. The tilting drive mechanism according to claim 6, characterized in that: the hoisting wire rope is wound on the first right side of the first tilting drum and is wound on the second right side of the second tilting drum. The hoisting wire ropes are wound in the same direction; The winding direction of the first left hoisting wire rope wound on the first tilting drum is the same as that of the second left hoisting wire rope wound on the second tilting drum; When the operator needs to grab the container and adjust the height difference between the left and right of the spreader assembly; the controller controls the first motor and the second motor to rotate forward or reverse at the same time; when the operator needs to adjust the rotation of the spreader assembly; the controller Both the first motor and the second motor are controlled to rotate in opposite directions. 9. The tilting drive mechanism according to claim 6, characterized in that: the first right side hoisting wire rope is wound on the first tilting drum and the second right side is wound on the second tilting drum. The winding direction of the hoisting wire rope is opposite; The winding direction of the first left hoisting wire rope wound on the first tilting drum and the second left hoisting wire rope wound on the second tilting drum are opposite; When the operator needs to grab the container and needs to adjust the height difference between the left and right of the spreader assembly; the controller controls the first motor and the second motor to rotate in opposite directions; when the operator needs to adjust the rotation of the spreader assembly, the controller Control the first motor and the second motor to rotate forward or reverse at the same time. 10. A crane, characterized in that it comprises: the tilting drive mechanism according to any one of claims 1 to 9, a beam, a cart, and a trolley, the frame is mounted on the trolley, and the trolley walks on the rail of the beam , the cart drives the whole machine to walk. the

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