CN207713245U - The anti-torsion control device of suspender - Google Patents

Abstract

The utility model discloses an anti-twisting control device of a sling, which comprises a twist detection device, a motion controller and a screw motor mechanism. The twist detection device detects the twist of the spreader. The motion controller is connected to the twist detection device, and the motion controller converts the twist of the spreader detected by the twist detection device into a twist signal, and generates an anti-twist control signal according to the twist signal. The screw motor mechanism includes two sets of drivers and two screw motors, and the two screw motors are respectively connected to two pulley trolleys on the trolley frame. The two sets of drivers drive the two screw motors according to the anti-twist control signal to push or pull the respective connected pulley trolleys. The movement of the pulley trolleys follows the rotation of the spreader, and the rotation absorbs the torque of the spreader. The response speed and moving speed of the screw motor are fast, and the distance between the pulley trolley and the spreader is short, so the anti-twist control device of the spreader of the utility model has a very remarkable anti-twist effect.

Description

Anti-twist control device for spreader

technical field

The utility model relates to the field of crane spreaders, more specifically, relates to the anti-twist technology of spreaders.

Background technique

With the gradual increase of 3E large container ships, more and more terminals also choose large container cranes with high operating heights. As the working height becomes higher, the position and state control of the spreader suspended under the four flexible wire ropes becomes more difficult.

During the working process, due to the offset of the center of gravity of the load or the influence of the wind, there will be shaking in the front and rear directions, and rotation and twisting in the clockwise or counterclockwise direction. For the front and rear shaking of the spreader, an experienced driver can control the trolley to stabilize it, but for the clockwise or counterclockwise rotation of the spreader, the driver has nothing to do.

Therefore, the anti-twist technology of the spreader has been paid more and more attention. The traditional anti-twist technology is realized through the oil cylinder. Each of the four wire ropes of the spreader is connected to a tilting cylinder, which controls the expansion and contraction of the four tilting cylinders connected to the wire ropes to follow the rotation of the spreader and absorb the rotational kinetic energy of the spreader, so as to reduce or eliminate the lifting force of the spreader. twisting of the tool. However, due to the slow dynamic speed of the oil cylinder, and the applied force of the oil cylinder can reach the spreader through a very long winding wire rope. During this process, most of the force applied by the expansion and contraction of the oil cylinder is absorbed by the elasticity of the long steel wire rope, and the force that can actually reach and act on the spreader is very limited. The method has the defects of slow response and large loss. The driving power of the oil cylinder is large, and the energy consumption is high. After the phenomenon of rotation and twisting, the spreader needs several cycles to stabilize and return to the initial position.

Utility model content

The utility model proposes an anti-twisting control device of a hanger using a screw motor, which can respond quickly.

According to an embodiment of the present invention, an anti-twist control device for a hanger is proposed, including: a twist detection device, a motion controller, and a screw motor mechanism. The twist detection device detects the twist of the spreader. The motion controller is connected to the twist detection device, and the motion controller converts the twist of the spreader detected by the twist detection device into a twist signal, and generates an anti-twist control signal according to the twist signal. The screw motor mechanism includes two sets of drivers and two screw motors, and the two screw motors are respectively connected to two pulley trolleys on the trolley frame. The two sets of drivers drive the two screw motors according to the anti-twist control signal to push or pull the respective connected pulley trolleys. The movement of the pulley trolleys follows the rotation of the spreader, and the rotation absorbs the torque of the spreader.

In one embodiment, the twist detection device includes: a camera and a reflection plate. The camera is installed on the trolley frame. The reflector is mounted on the spreader. The irradiation direction of the camera is vertically downward, and when the spreader is not twisted, the reflector is located at the center of the camera.

In one embodiment, the motion controller includes: a motion analyzer and a logic controller. The motion analyzer is connected with the torsion detection device, and the motion analyzer generates a torsion waveform according to the torsion of the spreader detected by the torsion detection device, and the torsion waveform is used as a torsion signal. The logic controller generates an anti-twisting control signal according to the twisting waveform. The anti-twisting control signal is the driving signal of the screw motor. The anti-twisting control signal makes the two screw motors move to push or pull the respective connected pulley trolley, pulley table The moving direction of the car follows the twisting direction of the spreader and absorbs the twisting moment of the spreader.

In one embodiment, the motion analyzer is a Simotion motion controller and the logic controller is a PLC logic programming controller.

In one embodiment, the speed at which the lead screw motor pushes or pulls the pulley trolley is at least 50 mm per second.

In one embodiment, the movement of the pulley trolley follows the rotation of the spreader to absorb the torsional moment of the spreader, so that the spreader returns to its original position within one to two twist cycles.

The speed of the pulley trolley driven by the screw motor is much higher than that of the oil cylinder, so the screw motor can fully output in a short time to control and absorb the force that makes the spreader rotate and twist. The response speed of the screw motor is fast, at the level of milliseconds, while the response time of the oil cylinder is relatively slow because the oil cylinder needs to be pumped by the hydraulic station. The pulley trolley controlled by the screw motor is located on the small frame that hangs the spreader, and the distance from the spreader is very close. The anti-twist control of the pulley trolley can directly act on the spreader, so there is no long wire rope that will be elastic. Absorbing the force exerted by these control methods makes the anti-twist effect very significant.

Description of drawings

The above-mentioned and other features, properties and advantages of the present utility model will become more apparent through the following description in conjunction with the accompanying drawings and embodiments. In the accompanying drawings, the same reference numerals always represent the same features, wherein:

Fig. 1 discloses a structural schematic diagram of an anti-twisting control device of a spreader according to an embodiment of the present invention.

Fig. 2a discloses a side view of the connection structure between the screw motor and the pulley trolley in the anti-twist control device of the spreader according to an embodiment of the present invention.

Fig. 2b discloses a top view of the connection structure between the screw motor and the pulley trolley in the anti-twist control device of the spreader according to an embodiment of the present invention.

Fig. 2c discloses a connection structure diagram of two screw motors and two pulley trolleys in the anti-twist control device of the spreader according to an embodiment of the present invention.

Fig. 3a and Fig. 3b disclose the working principle of the anti-twisting control device of the spreader according to an embodiment of the present invention.

Fig. 4a and Fig. 4b disclose the schematic diagram of the effect of the anti-twisting control device of the spreader according to an embodiment of the present invention.

Detailed ways

Referring to FIG. 1 , FIG. 1 discloses a structural schematic diagram of an anti-twist control device for a spreader according to an embodiment of the present invention. The anti-twist control device of the spreader includes: a twist detection device, a motion controller and a screw motor mechanism. The twist detection device detects the twist of the spreader. The motion controller is connected to the twist detection device, and the motion controller converts the twist of the spreader detected by the twist detection device into a twist signal, and generates an anti-twist control signal according to the twist signal. The screw motor mechanism includes two sets of drivers and two screw motors, and the two screw motors are respectively connected to two pulley trolleys on the trolley frame. The two sets of drivers drive the two screw motors according to the anti-twist control signal to push or pull the respective connected pulley trolleys. The movement of the pulley trolleys follows the rotation of the spreader, and the rotation absorbs the torque of the spreader.

In the illustrated embodiment, the twist detection device includes: a camera 101 and a reflection plate 102 . Camera 101 is installed on the trolley frame. The reflector 102 is mounted on the hanger 100 . In the illustrated embodiment, the reflector 102 is mounted at the center of the spreader 100 . The camera 101 is installed on the trolley frame and is located directly above the reflector 102. The irradiation direction of the camera 101 is vertically downward, and a hole is opened on the trolley frame so that the camera 101 can obtain the images of the lower spreader 100 and the reflector 102. image. In one embodiment, the reflection plate 102 is set at the center of the image of the camera 101 . That is, when the suspender 100 is not twisted, the reflection plate is located at the center of the image of the camera 101 . In the illustrated embodiment, the reflective plate 102 has a black and white grid shape, which facilitates the motion controller to identify the reflective plate 102 from the image captured by the camera 101 .

The motion controller includes: a motion analyzer 103 and a logic controller 104 . The motion analyzer 103 is connected with the twist detection device, and the motion analyzer 103 generates a twist waveform according to the twist of the hanger detected by the twist detection device, and the twist waveform is used as a twist signal. In one embodiment, motion analyzer 103 is a Simotion motion controller. The motion analyzer 103 generates a twist waveform according to the image of the spreader acquired by the camera 101, more specifically, according to the motion state and motion track of the reflector 102 in the image acquired by the camera 101, and the twist waveform is Twist signal of the spreader. Fig. 4a reveals the initial torsion waveform of the spreader generated by the motion analyzer 103, that is, the torsion waveform of the spreader when no anti-twist control is performed. The logic controller 104 generates an anti-twisting control signal according to the twisting waveform. The anti-twisting control signal is the driving signal of the screw motor. The anti-twisting control signal makes the two screw motors act to push or pull the respective connected pulley trolley, pulley The movement of the trolley follows the twisting direction of the spreader and absorbs the torque of the spreader. In one embodiment, logic controller 104 is a PLC logic programming controller.

The screw motor mechanism includes a driver 105 and two screw motors 106 . In one embodiment, there are two sets of drivers 105 , and the two sets of drivers 105 drive their respective screw motors 106 . Two screw-screw motors 106 are respectively connected to two pulley trolleys 107 on the trolley frame. Referring to FIG. 2 a , FIG. 2 b and FIG. 2 c , a schematic diagram of connection between the screw motor 106 and the pulley trolley 107 is disclosed. Among them, Figure 2a reveals a side view of the connection structure between the screw motor and the pulley trolley, Figure 2b reveals a top view of the connection structure between the screw motor and the pulley trolley, and Figure 2c reveals two screw motors and two pulley platforms Connection structure diagram of the car. The screw motor 106 is connected with the pulley trolley 107, and the screw motor 106 performs telescopic movement, and can push or pull the pulley trolley 107 to move. The pulley trolley 107 on the trolley frame is connected with the pulley frame on the spreader by wire rope and pulley, and the distance between the pulley trolley 107 and the pulley frame is shorter, and the wire rope is also shorter. Therefore, the movement of the pulley trolley 107 can be quickly transmitted to the pulley frame connected to it by the steel wire rope, so that the pulley frame moves with the pulley trolley 107. Correspondingly, the movement of the pulley frame can drive the spreader to rotate. Therefore, the two sets of drivers 105 drive the two screw motors 106 according to the anti-twist control signal to push or pull the respective connected pulley trolleys 107, and the movement of the pulley trolleys 107 drives the spreader 100 to rotate. The screw motor 106 is driven by the driver 105, and acts on the spreader 100 through the pulley trolley 107, and the movement of the pulley trolley 107 follows the twisting direction of the spreader 100, so that the twist of the spreader 100 is not relative to the pulley trolley 107. There is also a torsional moment, so that the torsional moment is absorbed, so the rotation can absorb the torsional moment of the spreader, so that the spreader can be reset and stabilized as soon as possible, and play the role of anti-twist.

The working process of the anti-twist control device of the spreader is introduced below. Fig. 3a and Fig. 3b disclose the working principle of the anti-twisting control device of the spreader according to an embodiment of the present invention. Fig. 4a and Fig. 4b disclose the schematic diagram of the effect of the anti-twisting control device of the spreader according to an embodiment of the present invention. Figure 3a reveals the initial state of the spreader. As shown in Fig. 3a, the spreader 100 is in the initial position without twisting, and the pulley trolley 107 is also in the initial position. As shown in Fig. 3b, the spreader 100 twists clockwise. The motion controller acquires the image of the spreader through the reflector 102, and generates a twist waveform of the spreader, as shown in FIG. 4a, and the spreader twists periodically in an approximate sine wave manner. According to the twist waveform, the motion controller generates an anti-twist control signal and provides it to the driver. The driver drives the screw motor 106 to act. In the illustrated embodiment, the driver drives the screw motor 106 on the left side to stretch out, pushes out the pulley trolley 107 on the left side in the direction indicated by the arrow on the left side, and drives the screw motor 106 on the right side to shrink at the same time. The pulley trolley 107 on the right side is pulled back along the direction shown by the arrow on the right side. The movement of the two pulley trolleys 107 is transmitted to the pulley frame on the lower spreader 100 through the wire rope, so that the left pulley frame moves in the direction indicated by the left arrow, and the right pulley frame moves in the direction indicated by the right arrow . The combined effect produced by the movement of the two pulley frames is to follow the spreader 100 to rotate clockwise, that is, to rotate in the direction shown by the arrow in the figure. This rotation is the same as the twisting (clockwise direction) of the spreader itself, and can synchronize with the twisting of the spreader and absorb the twisting moment of the spreader.

In one embodiment, the speed at which the lead screw motor pushes or pulls the pulley trolley is at least 50 mm per second. The screw motor has a fast response speed and moving speed, and can push or pull the pulley trolley to move quickly. And the distance between the pulley trolley and the pulley frame on the spreader is short, the length of the wire rope is short, and the driving action is not easily absorbed by the wire rope. Therefore, its anti-twist effect has the characteristics of quick response and remarkable effect. The movement of the pulley trolley follows the rotation of the spreader to absorb the torsional moment of the spreader, so that the spreader returns to the initial position within one to two twist cycles. Referring to Fig. 4b, Fig. 4b is a waveform diagram of anti-twisting control using the anti-twisting control device of the spreader. After about one twisting cycle, the amplitude of the rotating waveform of the spreader is significantly reduced and quickly reaches a stable state. It shows that the twisting of the spreader is eliminated in about one twisting period, and the spreader is reset.

The speed of the pulley trolley driven by the screw motor is much higher than that of the oil cylinder, so the screw motor can fully output in a short time to control and absorb the force that makes the spreader rotate and twist. The response speed of the screw motor is fast, at the level of milliseconds, while the response time of the oil cylinder is relatively slow because the oil cylinder needs to be pumped by the hydraulic station. The pulley trolley controlled by the screw motor is located on the small frame that hangs the spreader, and the distance from the spreader is very close. The anti-twist control of the pulley trolley can directly act on the spreader, so there is no long wire rope that will be elastic. Absorbing the force exerted by these control methods makes the anti-twist effect very significant.

The above-mentioned embodiments are provided for those who are familiar with the field to realize or use the utility model. Those who are familiar with the field can make various modifications or modifications to the above-mentioned embodiments without departing from the utility model idea of the present utility model. Therefore, the scope of protection of the utility model is not limited by the above-mentioned embodiments, but should be the maximum range that meets the innovative features mentioned in the claims.

Claims (6)

1. An anti-twist control device for a spreader, characterized in that it comprises: Twisting detection device to detect the twisting of the spreader; The motion controller is connected to the twist detection device, and the motion controller converts the twist of the spreader detected by the twist detection device into a twist signal, and generates an anti-twist control signal according to the twist signal; The screw motor mechanism includes two sets of drivers and two screw motors, and the two screw motors are respectively connected to the two pulley trolleys on the trolley frame; The two sets of drivers drive the two screw motors according to the anti-twist control signal to push or pull the respective connected pulley trolleys. The movement of the pulley trolleys follows the rotation of the spreader, and the rotation absorbs the torque of the spreader. 2. The anti-twist control device of the spreader according to claim 1, wherein the twist detection device comprises: Camera, the camera is installed on the trolley frame; Reflector, the reflector is installed on the spreader; The irradiation direction of the camera is vertically downward, and when the spreader is not twisted, the reflector is located at the center of the camera. 3. The anti-twist control device of the spreader according to claim 1, wherein the motion controller comprises: A motion analyzer is connected to the twist detection device, and the motion analyzer generates a twist waveform according to the twist of the hanger detected by the twist detection device, and the twist waveform is used as a twist signal; The logic controller generates an anti-twisting control signal according to the twisting waveform. The anti-twisting control signal is the driving signal of the screw motor, and the anti-twisting control signal makes the two screw motors act to push or pull the respective connected pulleys The moving direction of the trolley and pulley trolley follows the twisting direction of the spreader and absorbs the torque of the spreader. 4. The anti-twist control device of the suspender according to claim 3, characterized in that, The motion analyzer is a Simotion motion controller; The logic controller is a PLC logic programming controller. 5. The anti-twist control device for a spreader according to claim 1, wherein the speed at which the screw motor pushes or pulls the pulley trolley is at least 50 mm per second. 6. The anti-twist control device of the spreader according to claim 1, characterized in that, the movement of the pulley trolley follows the rotation of the spreader to absorb the torsional moment of the spreader, so that the spreader twists in one to two Return to the initial position within a cycle.