WO2018205422A1 - 桥吊防风锚定系统和方法 - Google Patents

桥吊防风锚定系统和方法 Download PDF

Info

Publication number
WO2018205422A1
WO2018205422A1 PCT/CN2017/094833 CN2017094833W WO2018205422A1 WO 2018205422 A1 WO2018205422 A1 WO 2018205422A1 CN 2017094833 W CN2017094833 W CN 2017094833W WO 2018205422 A1 WO2018205422 A1 WO 2018205422A1
Authority
WO
WIPO (PCT)
Prior art keywords
windproof
anchoring
bridge crane
pull rod
driving
Prior art date
Application number
PCT/CN2017/094833
Other languages
English (en)
French (fr)
Inventor
张连钢
郑明辉
杨杰敏
张卫
刘汪洋
王延春
王照富
Original Assignee
青岛港国际股份有限公司
青岛新前湾集装箱码头有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛港国际股份有限公司, 青岛新前湾集装箱码头有限责任公司 filed Critical 青岛港国际股份有限公司
Priority to US16/306,531 priority Critical patent/US10807836B2/en
Priority to EP17908934.7A priority patent/EP3447022B1/en
Priority to JP2018555650A priority patent/JP6560460B2/ja
Publication of WO2018205422A1 publication Critical patent/WO2018205422A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/18—Travelling gear incorporated in or fitted to trolleys or cranes with means for locking trolleys or cranes to runways or tracks to prevent inadvertent movements
    • 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
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/002—Container 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

Definitions

  • the invention belongs to the technical field of automated ports, and in particular relates to a bridge crane windproof anchoring system and method.
  • Bridge crane is an indispensable shore lifting equipment for container terminals.
  • bridge cranes In the application of automated container terminals, bridge cranes have the characteristics of automation, remote operation and separation of human and machine.
  • the present application provides a bridge crane windproof anchoring system and method, which realizes automatic windproof anchoring of an automated container terminal without manual intervention.
  • a bridge crane windproof anchoring system which comprises a bridge crane, four windproof pull rods respectively disposed at two ends of the sea side of the bridge crane and two ends of the land side, and four sets of ground windproof corresponding to the four windproof pull rods respectively
  • the ground windproof foundation is fixed on the dock foundation; further comprising a windproof anchoring control module;
  • the windproof pull rod comprises a drawbar body, a tie rod nut, a driving device and a locking pin;
  • the driving device is connected to the windproof anchoring control module a control output end;
  • a top end of the pull rod body is mounted with a driven device, and the driven device is mounted in cooperation with the driving device, such that the driven device is driven by the driving device to drive the pull rod body to rotate;
  • the pull rod body is threaded, and the pull rod nut is based on the thread and the The pull rod body is connected; and the pull rod nut is fixed on the bridge crane;
  • the lock pin is fixed to the bottom end of the pull rod body;
  • the bridge crane windproof anchoring system further includes a limit detecting device; the limit detecting device includes a limit sensor and a limiting rod; the limiting rod is mounted on a lower end of the tie rod nut
  • the windproof anchor height limit, the windproof anchor height limit and the insertion limit are respectively arranged from top to bottom; the limit sensor is connected with the windproof anchor control module, and is installed at the limit rod relative to the limit rod On the body of the tie rod.
  • the driving device is a first driving motor or a first driving hydraulic motor and a first driving gear
  • the driven device is a long straight gear
  • the long straight gear meshes with the first driving gear to realize the a slave device is mounted in cooperation with the driving device
  • the first driving motor or the first driving hydraulic motor is used to drive the first driving gear to rotate
  • the driven device includes a driven gear and a multi-faceted a cylinder, the driven gear is sleeved on a periphery of the multi-faced cylinder, and the multi-faced cylinder is fixed to a top end of the rod body
  • the driving device is a second driving motor or a second driving hydraulic motor and a driving gear
  • the driven gear meshes with the second driving gear to achieve a cooperative mounting of the driven device and the driving device
  • the second driving motor or the second driving hydraulic motor is used for a driving device
  • the second drive gear rotates.
  • a fine adjustment device is connected to the pull rod body; the fine adjustment device is used for the pull rod The length is adjusted.
  • a torque sensor connected to the windproof anchoring control module is mounted on the driving device; the torque sensor is configured to detect a driving torque of the driving device.
  • the bridge crane windproof anchoring system further includes a bridge crane position detecting device; the bridge crane position detecting device includes a positioning detecting antenna and a positioning sensing component; the positioning detecting antenna is mounted on the bridge crane, and The windproof anchoring control module is connected to detect a position of the positioning sensing component; the positioning sensing component is mounted on a ground under the bridge crane for indicating a position of the bridge windproof anchoring.
  • the bridge windproof anchoring system further includes a brake connected to the windproof anchoring control module for braking the driving device after the windproof anchoring is completed.
  • the bridge crane windproof anchoring system further comprises an anti-displacement anchoring device;
  • the anti-displacement anchoring device comprises an anchoring slot, an anchoring plate, an anchoring plate cylinder and an anchor limit detector;
  • the anchoring groove is disposed on the dock foundation of the sea side and the land side of the bridge crane;
  • the anchoring plate cylinder is connected to the anchoring plate for driving the anchoring plate to insert or pull out the anchoring groove
  • the anchor limit detector is configured to detect whether the anchor plate is inserted into the anchor groove or whether the anchor groove is pulled out.
  • a bridge crane windproof anchoring method for the above-mentioned bridge crane windproof anchoring system, comprising: receiving a windproof anchoring instruction; determining whether the four windproof drawbars respectively correspond to the four sets of ground windproof foundations; Controlling the operation of the driving device, the driving device driving the driven device to drive the pull rod body to rotate, so that the pull rod body is lowered relative to the pull rod nut; determining whether the locking pin protrudes into the locking pin fixing groove Determining the depth; if so, determining whether the bridge crane is moved to the set anchoring position; if so, controlling the driving device to operate in reverse, so that the lever body is raised relative to the lever nut; acquiring the driving of the driving device And determining whether the driving torque reaches a set torque; if so, controlling to stop the driving device from operating, so that the locking pin is restricted by the first notch and is restricted in the locking pin fixing groove, A fixed connection of the pull rod body to the ground windproof foundation is achieved.
  • the method further includes: receiving a wind release anchoring command; controlling the operation of the driving device, wherein the driving device drives the slave device Driving the rod body to rotate, so that the rod body is lowered relative to the rod nut; determining whether the locking pin is lowered to a depth of the locking pin fixing groove; if yes, determining the bridge Whether the hoist is moved to the set unlocking position; if so, controlling the driving device to operate in reverse, so that the pull rod body is raised relative to the pull rod nut; determining whether the locking pin is raised to release the windproof anchoring height; And controlling the driving device to stop working to realize separation of the drawbar body from the ground windproof foundation.
  • the windproof anchoring instruction can be sent to the windproof anchoring control module by remote or local control.
  • the bridge crane position detecting device knows that the bridge crane moves to the four windproof pull rods respectively corresponding to the four groups of ground windproof foundations, and controls the driving device to work, so that the driven device installed with the same controls the rotation of the pull rod body; the overall relative pull rod during the rotation of the pull rod body The nut is lowered, and finally the lock pin at the end of the pull rod body enters the lock pin fixing groove via the second slot, and the limit detecting device detects that the insertion limit is reached, that is, after the lock pin is lowered to the set depth of the lock pin fixing groove, the control is controlled.
  • the windproof anchoring control module controls the driving device to reversely work, so that the driven device installed in conjunction with the driving device drives the rod body to rise, in the process, receiving the torque sensor
  • the obtained driving torque is determined according to whether the driving torque reaches the set torque to determine whether the locking pin rises to After the wind anchors the height, or after the limit detecting device knows that the lock pin rises to the windproof anchor height limit, the windproof anchor control module controls the driving device to stop working, so that the lock pin is restricted by the first notch and is restricted to the lock pin.
  • the windproof pull rod acts as a windproof and anti-overturning for the bridge crane; after the windproof tie rod is anchored, the anchor plate is controlled to be inserted into the anchoring groove to prevent the bridge from being Hang horizontally.
  • the wind-proof anchoring process realized by the above system and method is automatically executed, no manual participation is required, the number of field workers is reduced, the maintenance cost is reduced, the terminal automation level and work efficiency are improved, and the automated container terminal is realized without manual intervention. Automated windproof anchoring.
  • FIG. 1 is a system structural diagram of a bridge crane windproof system proposed in the present application.
  • FIG. 2 is a structural view of a windproof pull rod provided in the present application.
  • FIG. 3 is a structural view of another windproof pull rod provided by the present application.
  • FIG. 4 is a structural diagram of a ground windproof foundation proposed in the present application.
  • Figure 5 is a top plan view of the foundation windproof foundation proposed in the present application.
  • FIG. 6 is a flow chart of a method for anchoring a windbreak anchoring method according to the present application.
  • the bridge crane windproof anchoring system proposed by the present application comprises a bridge crane 1 , four windproof pull rods 2 respectively disposed at two ends of the sea side of the bridge crane and two ends of the land side (only one is shown in the figure).
  • the windproof pull rod 2 includes a pull rod body 21, a tie rod nut 22, a driving device A and a lock pin 23;
  • the driving device A is connected to the control output end of the windproof anchoring control module;
  • the top end of the pull rod body 21 is mounted with a driven device B, the driven device B is mounted in cooperation with the driving device A, so that the driven device is driven by the driving device to drive the rod body 21 to rotate, the rotation is rotated by the center of the shaft of the rod body;
  • the rod body 21 is provided with a thread
  • the tie rod nut 22 is connected to the rod body 21 based on the thread; and the tie rod nut 22 is fixed on the bridge crane;
  • the lock pin 23 is fixed to the bottom end of the rod body.
  • the ground windproof foundation 3 is provided with a lock pin fixing groove 31.
  • the slot of the lock pin fixing groove 31 is provided with a fixing plate 32, and the fixing plate 32 is provided with a first notch 33 adjacent to each other.
  • the second notch 34, and the area of the first notch 33 is smaller than the area of the second notch 34, and the area of the second notch 34 is larger than the cross-sectional area of the locking pin 23, and the area of the first notch 33 is smaller than The cross-sectional area of the locking pin 23, which enables the locking pin 23 to protrude into the locking pin fixing groove 31 via the second notch 34 when descending; the locking pin entering the locking pin fixing groove 31 is translated to the first notch 33 After being closed, it can be restricted by the restriction of the first notch 33 to be unable to rise in the locking pin fixing groove 31, so that the tie rod body 21 is connected with the ground windproof foundation 3, thereby achieving windproof anchoring to the bridge crane, and the windproof lever acts. Windproof and anti-overturning effect.
  • the windproof anchoring control module is configured to control the driving device A after receiving the windproof anchoring command, and the driving device drives the driven device B to drive the pulling rod body 21 to rotate, so that the pulling rod body 21 is lowered relative to the tie rod nut 22 until the locking pin 23 passes through
  • the second notch 34 of the ground windproof foundation 3 extends into the lock pin fixing groove 31; then, after the control bridge 1 is moved to the set anchor position in the direction of the first notch 33 of the ground windproof foundation 3,
  • the wind anchoring control module drives the driving device A to work in reverse, and the driven device also works in reverse, so that the pull rod body 21 rises, and when it rises to the windproof anchoring height, the driving device A is stopped, so that the locking pin 23 is subjected to the first
  • the restriction of a notch 33 is restricted to the locking pin fixing groove 31, and the fixed connection of the tie rod body to the ground windproof foundation is realized.
  • the above-mentioned control of the forward and reverse directions of the driving device A is realized by the wind-proof anchoring control module, and the forward and reverse directions are relatively limited, and the present application is not specifically limited.
  • the control of the bridge crane can be done by a separate bridge crane control system or by the wind protection anchor control module proposed by the present application.
  • the windproof anchoring instruction can be remotely implemented, that is, the windproof anchoring control module is connected to the remote control system through a wired or wireless connection, and the windproof anchoring control module is directly controlled by the remote control system.
  • the driving device is composed of a first driving motor or a first driving hydraulic motor 24 and a first driving gear 25 as shown in FIG. 2; the driven device is a long straight gear 26; and the long straight gear 26 meshes with the first driving gear 25 to realize
  • the movable device B is mounted in cooperation with the driving device A; the first driving motor or the first driving hydraulic motor 24 is for driving the first driving gear 25 to rotate; the first driving gear 25 is rotated to drive the long straight gear 26 to rotate, and the long straight gear 26 is thereby
  • the rod body 21 is driven to rotate, so that the rod body is raised or lowered.
  • the first driving gear 25 moves up and down relative to the long spur gear 26 while maintaining engagement with the long spur gear 26.
  • the driving device is composed of a second driving motor or a second driving hydraulic motor 44 and a second driving gear 45;
  • the driven device is composed of a driven gear 46 and a multi-faceted cylinder 47, and the driven gear 46 is internally
  • the driven gear 46 is sleeved on the periphery of the multi-faced cylinder 47, and the multi-faceted cylinder 47 is fixed to the top end of the pull rod body 21;
  • the driven gear 46 meshes with the second driving gear 45 to realize the driven device B and
  • the second driving motor or the second driving hydraulic motor 44 is used to drive the second driving gear 45 to rotate;
  • the second driving gear 45 is rotated to drive the driven gear 46 to rotate, and the driven gear 47 is based on the multi-faceted socket.
  • the relationship drives the multi-faced cylinder 47 to rotate, thereby driving the rod body 21 to rotate, so that the rod body is raised or lowered, and the second driving gear 45 is relatively multi-faced cylinder 47 while being engaged with the driven gear 46 during ascending or descending. move up and down.
  • the windproof anchoring system proposed by the present application further comprises a limit detecting device and a bridge crane position detecting device, which are used for detecting and controlling the height of the falling or rising of the drawbar body and detecting the moving position of the bridge crane during the windproof anchoring process. And control.
  • the limit detecting device includes a limit sensor 27 and a limiting rod 28; the limiting rod 28 is mounted on the lower end of the rod nut 22, and the upper and lower portions thereof are respectively provided with a windproof anchoring height limit a, a windproof anchoring height limit b and an insertion limit c;
  • the sensor 27 is coupled to a windproof anchor control module.
  • the wind-proof anchor height limit a, the wind-proof anchor height limit b, and the insertion limit c are respectively used to indicate that the lock pin 23 protrudes from the lock pin fixing groove 31, and the lock pin rises to the highest point of the lock pin fixing groove 31. And the locking pin extends into the set depth of the locking pin fixing groove 31.
  • the limit sensor 27 detects the three limit signs respectively, respectively, the windproof anchoring is completed, the windproof anchoring and the locking pin are extended into the locking pin anchor respectively. The intermediate state of the slot. As shown in FIG.
  • the bridge crane position detecting device includes a positioning detecting antenna 11 and a positioning sensing component 12; the positioning detecting antenna 11 is mounted on the bridge crane and connected to the windproof anchoring control module for detecting the position of the positioning sensing component 12.
  • the positioning sensing component 12 is mounted on the ground under the bridge crane for indicating the position of the bridge windproof anchoring.
  • the number of the positioning sensing components 12 is plural, and is arranged on the ground at a set interval, and each positioning sensing component 12 characterization of the different positions of the bridge crane, wherein there must be a positioning sensing component to characterize the position of the windproof anchor.
  • the detection of the completion of the windproof anchoring can also be realized by installing a torque sensor connected to the windproof anchoring control module on the driving device, the torque sensor is used for detecting the driving torque of the driving device, and when the driving torque reaches a predetermined value, It is characterized that the locking pin 23 rises to abut against the fixing plate 21, and is restricted by the first notch 33 so as to be unable to protrude from the locking pin fixing groove 31, thereby completing the windproof anchoring to achieve windproof and anti-overturning.
  • the bridge crane windproof anchoring system further includes a brake connected to the windproof anchoring control module, the brake is used to brake the driving device after the windproof anchoring is completed, and the windproof pull rod is prevented from being loosened at the anchoring or releasing anchor timing.
  • the windbreak anchoring system of the present application further includes an anti-displacement anchoring device for preventing the bridge crane from moving along the rail in the windproof state.
  • the displacement anchoring device comprises an anchoring groove, an anchoring plate 14, an anchoring plate cylinder 15 and an anchor limit detector, and the insertion limit detector 16 is included in the figure and is pulled out.
  • the anchoring plate cylinder 15 is connected to the anchoring plate 14 for driving the anchoring plate 14 to insert or withdraw the anchoring groove; the anchoring limit detector is connected with the bridge crane control system or the windproof anchoring control proposed by the present application.
  • the control of the anchoring plate cylinder 15 can be performed by the windproof anchoring control module proposed by the present application, or can be performed by other bridge crane control systems, which is not limited in the embodiment of the present application.
  • the present application also proposes a bridge crane windproof anchoring method.
  • the following is a detailed description of the bridge crane windproof anchoring method in combination with the bridge crane windproof anchoring system proposed by the present application.
  • the bridge crane windproof anchoring method proposed by the present application comprises the following steps:
  • Step S61 Receive a windproof anchoring instruction.
  • the windproof anchoring command is issued by the remote control system, and the remote control system is connected to the windproof anchoring control module by wire or wirelessly, and the windproof anchoring control command is issued to the windproof anchoring control module.
  • Step S62 Determine whether the four windproof levers respectively correspond to the four sets of ground windproof foundations.
  • the control bridge crane After receiving the windproof anchoring command, first determine the current position of the bridge crane based on the bridge crane position detecting device, and if the windproof anchoring is started at the set position, otherwise, the control bridge crane moves to the set position.
  • the windproof anchoring is performed afterwards; usually, the set position is a position corresponding to the upper and lower sides of the second slot of the windproof drawbar and the ground windproof foundation. After the four windproof levers correspond to the four sets of ground windproof foundations,
  • Step S63 Control the driving device to work.
  • the forward driving lever body is lowered, and the reverse driving lever body is raised as an example.
  • the first driving motor or the motor is controlled.
  • the first driving hydraulic motor is driven forward, the first driving gear rotates in the forward direction, and the first driving gear drives the long straight gear to rotate according to the meshing relationship, and drives the rod body to rotate, so that the rod body is lowered relative to the rod nut, that is, the foundation is close to the ground windproof foundation.
  • the forward and reverse directions here are relative, and are not specifically limited.
  • Step S64 It is judged whether the locking pin protrudes into the locking pin fixing groove setting depth.
  • the limit detecting device monitors the insertion limit c on the limit rod in real time. If not detected, the locking pin does not protrude into the locking pin fixing groove, and if the insertion limit is detected, It is indicated that the locking pin has protruded into the locking pin fixing groove via the second notch having a relatively large area, and reaches the locking pin fixing groove
  • the depth is set to at least keep the lock pin in the lock pin fixing groove and does not abut against the bottom of the lock pin fixing groove. At this point, control stops the drive and works.
  • Step S65 It is judged whether the bridge crane moves to the set anchor position.
  • the control bridge crane moves toward the first slot with a relatively small area, so that the windproof pull rod also follows the bridge crane to move toward the first slot, and receives the bridge crane position detecting device to detect the bridge crane.
  • Position information after judging that the bridge crane moves to the set anchor position according to the position information of the bridge crane,
  • Step S66 The control driving device operates in reverse.
  • the first driving motor is driven in the reverse direction, so that the first driving gear rotates in the reverse direction to drive the rod body to rise relative to the tension rod nut, and the locking pin moves toward the first slot during the rising of the rod body until the locking pin abuts in the first slot
  • the mouth is limited by the fixed plate and cannot rise any more.
  • Step S67 Acquire the driving torque of the driving device, and determine whether the driving torque reaches the set torque.
  • Step S68 The control stops the operation of the driving device, so that the locking pin is restrained in the locking pin fixing groove by the limitation of the first slot, and the fixed connection between the lever body and the ground windproof foundation is realized.
  • the control brake brakes the first driving motor, that is, the braking driving device, so that the windproof lever cannot rotate or move, and the limit sensor in the limit detecting device detects the windproof anchoring height.
  • the windproof anchor control module feeds back a signal that the windproof pull rod is in an anchor state.
  • the anti-displacement anchoring device controls the release of the four anchoring plate cylinders on both sides of the bridge and the sea, so that the four anchor plates are inserted into the anchoring groove, and the anchor limit detector detects After the anchoring plate is inserted into the anchoring groove, the signal inserted into the position is fed back to the windproof anchoring control module.
  • the four windproof drawbars and the four anchoring plates of the bridge crane are simultaneously anchored, and the bridge crane windproof anchoring system makes the bridge cranes in a windproof anchoring state, thereby preventing the overturning and moving of the bridge cranes in a high wind environment.
  • the windproof anchor control module can upload the anchored completion signal to the remote control system.
  • the lifting anchoring method of the bridge hanging windproof anchoring system proposed by the present application includes the following: After the bridge crane receives the wind-proof anchoring command, the anti-displacement anchoring device controls the four anchoring plate cylinders on both sides of the bridge and the sea to retract, so that the four anchoring plates are pulled out from the anchoring groove, and the anchoring limit is After detecting that the anchoring plate is pulled out from the anchoring slot, the position detector feeds back the signal to the windproof anchoring control module, and the windproof anchoring control module controls the driving device to operate, so that the driving device drives the driven device to drive the lever body.
  • the pull rod body is lowered relative to the pull rod nut; during the lowering process, according to the detection value of the limit detecting device, it is determined whether the lock pin is lowered to the set depth of the lock pin fixing groove, that is, the limit sensor monitors the insertion on the limit rod in real time.
  • the limit c if the insertion limit c is detected, it is judged that the lock pin has fallen to the set depth of the lock pin fixing groove, at this time, the control drive device stops driving, and the control bridge crane is in the second direction from the first slot.
  • the slot direction moves, in the process, receiving the bridge crane position information acquired by the bridge crane position detecting device, and determining whether the bridge crane moves to the set unlocking position based on the bridge crane position information; Then, the control driving device works in reverse, so that the pull rod body rises.
  • the control driving device works in reverse, so that the pull rod body rises.
  • the locking pin rises to release the windproof anchoring height, that is, the limit sensor monitors the limit rod in real time.
  • the windproof anchor height limit a is released, and if the windproof anchor height limit a is detected, it is judged that the lock pin has exited the lock pin fixing groove to release the windproof anchoring height, then the control driving device stops working, and the lever body and the lever body are realized.
  • the bridge crane windproof anchoring system and method proposed by the present application realizes the automatic implementation of the windproof anchoring process without manual participation, reduces the number of field workers, reduces maintenance costs, and improves the level of terminal automation and work efficiency.
  • the automatic windbreak anchoring of the automated container terminal without manual intervention is realized.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Abstract

一种桥吊防风锚定系统及其锚定方法，所述系统包括桥吊(1)、设置于桥吊(1)上的四个防风拉杆(2)和与四个防风拉杆(2)分别对应的四组地面防风基础(3)；防风拉杆(2)包括拉杆本体(21)、拉杆螺母(22)、驱动装置(A)和锁销(23)；拉杆本体(21)顶端固定有从动装置(B)，底端连接有锁销(23)；地面防风基础(3)上开设有锁销固定槽(31)，其槽口安装有开设有相互邻接的第一槽口(33)和第二槽口(34)的固定板(32)；防风锚定控制模块驱动驱动装置(A)工作，使得拉杆本体(21)下降经由第二槽口(34)伸入锁销固定槽(31)中，在桥吊(1)向第一槽口(33)的方向移动至设定的锚定位置后，驱动装置(A)反向工作，使得拉杆本体(21)上升直至锁销(23)受第一槽口(33)的限制而限制在锁销固定槽(31)中，实现拉杆本体(21)与地面防风基础(3)的固定连接。

Description

桥吊防风锚定系统和方法 技术领域
本发明属于自动化港口技术领域，具体地说，是涉及一种桥吊防风锚定系统和方法。
背景技术
桥吊是集装箱码头必不可少的岸边起重设备，在自动化集装箱码头应用中，桥吊具有自动化、远程操作和人机分离等特点。
技术问题
根据交通部港口大型装卸机械防风规定，港口大型装卸机械必须全部配备有效的防风、防倾覆装置。在传统的非自动化集装箱码头中，大型装卸机械的防风安全停车位置、防倾覆安全装置都依靠现场人员介入才能完成桥吊的防风锚定。一方面，人工完成桥吊的防风锚定需要耗费较多的人力和较长的时间，另一方面，针对自动化集装箱码头，人工介入的防风锚定也不适用于其自动化、远程操作和人机分离的特点。
问题的解决方案
技术解决方案
本申请提供了一种桥吊防风锚定系统和方法，实现的是自动化集装箱码头无人工介入的自动化防风锚定。
为解决上述技术问题，本申请采用以下技术方案予以实现：
提出一种桥吊防风锚定系统，包括桥吊、分别设置于所述桥吊的海侧两端以及陆侧两端的四个防风拉杆和与所述四个防风拉杆分别对应的四组地面防风基础；所述地面防风基础固定于码头基础上；还包括防风锚定控制模块；所述防风拉杆包括拉杆本体、拉杆螺母、驱动装置和锁销；所述驱动装置连接所述防风锚定控制模块的控制输出端；所述拉杆本体的顶端安装有从动装置，所述从动装置与所述驱动装置配合安装，使得所述从动装置受所述驱动装置的驱动带动所述拉杆本体转动；所述拉杆本体上有螺纹，所述拉杆螺母基于所述螺纹与所 述拉杆本体连接；且所述拉杆螺母固定于桥吊之上；所述锁销固定于所述拉杆本体的底端；所述地面防风基础上开设有锁销固定槽，所述锁销固定槽的槽口安装有固定板，所述固定板上开设有相互邻接的第一槽口和第二槽口，且所述第一槽口的面积小于所述第二槽口的面积，使得所述锁销能够在下降时经由所述第二槽口伸入所述锁销固定槽中，并经移动后受所述第一槽口的限制而限制在所述锁销固定槽中无法上升；所述防风锚定控制模块，用于控制所述驱动装置工作，使得所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降，直至所述锁销经由所述第二槽口伸入所述锁销固定槽中；在所述桥吊向所述第一槽口的方向移动至设定的锚定位置后，所述防风锚定控制模块驱动所述驱动装置反向工作，使得所述拉杆本体上升至防风锚定高度后控制所述驱动装置停止工作，使得所述锁销受所述第一槽口的限制而限制在所述锁销固定槽中，实现所述拉杆本体与所述地面防风基础的固定连接。
进一步的，所述桥吊防风锚定系统还包括限位检测装置；所述限位检测装置包括限位传感器和限位杆；所述限位杆安装于所述拉杆螺母的下端，其上从上至下分别设置有解除防风锚定高度限位、防风锚定高度限位和插入限位；所述限位传感器与所述防风锚定控制模块连接，相对于所述限位杆安装于所述拉杆本体上。
进一步的，所述驱动装置为第一驱动电机或第一驱动液压马达以及第一驱动齿轮；所述从动装置为长直齿轮；所述长直齿轮与所述第一驱动齿轮啮合实现所述从动装置与所述驱动装置的配合安装；所述第一驱动电机或所述第一驱动液压马达用于驱动所述第一驱动齿轮转动；或，所述从动装置包括从动齿轮和多面柱体，所述从动齿轮套接于所述多面柱体外围，且所述多面柱体固定于所述拉杆本体的顶端；所述驱动装置为第二驱动电机或第二驱动液压马达以及第二驱动齿轮；所述从动齿轮与所述第二驱动齿轮啮合实现所述从动装置与所述驱动装置的配合安装；所述第二驱动电机或所述第二驱动液压马达用于驱动所述第二驱动齿轮转动。
进一步的，所述拉杆本体上连接有微调装置；所述微调装置用于对所述拉杆的 长度进行调整。
进一步的，所述驱动装置上安装有与所述防风锚定控制模块连接的力矩传感器；所述力矩传感器用于检测所述驱动装置的驱动力矩。
进一步的，所述桥吊防风锚定系统还包括桥吊位置检测装置；所述桥吊位置检测装置包括定位检测天线和定位感应部件；所述定位检测天线安装于所述桥吊上，并与所述防风锚定控制模块连接，用于检测所述定位感应部件的位置；所述定位感应部件安装于所述桥吊下的地面上，用于标示所述桥吊防风锚定的位置。
进一步的，所述桥吊防风锚定系统还包括有与所述防风锚定控制模块连接的制动器，用于在防风锚定完成后制动所述驱动装置。
进一步的，所述桥吊防风锚定系统还包括防移位锚定装置；所述防移位锚定装置包括锚定槽、锚定板、锚定板油缸和锚定限位检测器；所述锚定槽设置于所述桥吊海侧和陆侧的码头基础上；所述锚定板油缸连接所述锚定板，用于驱动所述锚定板插入或拔出所述锚定槽；所述锚定限位检测器，用于检测所述锚定板是否插入所述锚定槽或是否拔出所述锚定槽。
提出一种桥吊防风锚定方法，用于上述的桥吊防风锚定系统中，包括：接收防风锚定指令；判断所述四个防风拉杆是否分别与所述四组地面防风基础对应；若是，控制所述驱动装置工作，所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降；判断所述锁销是否伸入锁销固定槽设定深度；若是，判断所述桥吊是否移动至设定的锚定位置；若是，控制所述驱动装置反向工作，使得所述拉杆本体相对所述拉杆螺母上升；获取所述驱动装置的驱动力矩，并判断所述驱动力矩是否达到设定力矩；若是，控制停止所述驱动装置工作，以使得所述锁销受所述第一槽口的限制而限制在所述锁销固定槽中，实现所述拉杆本体与所述地面防风基础的固定连接。
进一步的，在实现所述拉杆本体与所述地面防风基础的固定连接之后，所述方法还包括：接收解除防风锚定指令；控制所述驱动装置工作，所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降；判断所述锁销是否下降至所述锁销固定槽设定深度；若是，判断所述桥 吊是否移动至设定的解除锚定位置；若是，控制所述驱动装置反向工作，使得所述拉杆本体相对所述拉杆螺母上升；判断所述锁销是否上升至解除防风锚定高度；若是，控制所述驱动装置停止工作，实现所述拉杆本体与所述地面防风基础的分离。
发明的有益效果
有益效果
与现有技术相比，本申请的优点和积极效果是：本申请提出的防风锚定系统和方法中，可以通过远程或本地控制的方式，向防风锚定控制模块发送防风锚定指令，通过桥吊位置检测装置获知桥吊移动至四个防风拉杆分别与四组地面防风基础对应后，控制驱动装置工作，使得与其配合安装的从动装置带动拉杆本体转动；拉杆本体转动过程中整体相对拉杆螺母下降，最终使得拉杆本体末端的锁销经由第二槽口进入锁销固定槽中，限位检测装置检测达到插入限位后，也即锁销下降至锁销固定槽设定深度后，控制桥吊相对地面防风基础移动至设定的锚定位置后，防风锚定控制模块再控制驱动装置反向工作，使得与其配合安装的从动装置带动拉杆本体上升，在此过程中，接收力矩传感器获取的驱动力矩，根据驱动力矩是否达到设定力矩来判断锁销是否上升至防风锚定高度，或通过限位检测装置获知锁销上升至防风锚定高度限位后，防风锚定控制模块控制驱动装置停止工作，使得锁销受第一槽口的限制而限制在锁销固定槽中，从而实现拉杆本体与地面防风基础的固定连接，防风拉杆对桥吊起到防风防倾覆的作用；在防风拉杆锚定完成后，再控制锚定板插入锚定槽中，防止桥吊水平移动。使用上述系统和方法实现的防风锚定过程自动执行，无需人工参与，减少了现场工作人员的数量，降低了维护成本，提高了码头自动化水平和工作效率，实现的是自动化集装箱码头无人工介入的自动化防风锚定。
对附图的简要说明
附图说明
图1为本申请提出的桥吊防风系统的系统结构图；
图2为本申请提出的防风拉杆的结构图；
图3为本申请提出的又一防风拉杆的结构图；
图4为本申请提出的地面防风基础的结构图；
图5为本申请提出的地面防风基础的俯视结构图；
图6为本申请提出的桥吊防风锚定方法的方法流程图。
实施该发明的最佳实施例
本发明的最佳实施方式
下面结合附图对本申请的具体实施方式作进一步详细地说明。
如图1所示，本申请提出的桥吊防风锚定系统，包括桥吊1、分别设置于桥吊的海侧两端以及陆侧两端的四个防风拉杆2(图中仅示出一个)、与四个防风拉杆分别对应的四组地面防风基础3(图中仅示出一个)和防风锚定控制模块(图中未示出)；地面防风基础3固定于码头基础上。
如图2所示，防风拉杆2包括拉杆本体21、拉杆螺母22、驱动装置A和锁销23；驱动装置A连接防风锚定控制模块的控制输出端；拉杆本体21的顶端安装有从动装置B，从动装置B与驱动装置A配合安装，使得从动装置受驱动装置的驱动带动拉杆本体21转动，该转动是以拉杆本体的轴心为圆心进行的自转；拉杆本体21上开设有螺纹，拉杆螺母22基于螺纹与拉杆本体21连接；且拉杆螺母22固定于桥吊之上；锁销23固定于拉杆本体的底端。
如图4和图5所示，地面防风基础3上开设有锁销固定槽31，锁销固定槽31的槽口安装有固定板32，固定板32上开设有相互邻接的第一槽口33和第二槽口34，且第一槽口33的面积小于第二槽口34的面积，并且，第二槽口34面积大于锁销23的横截面积，而第一槽口33的面积小于锁销23的横截面积，这使得锁销23能够在下降时经由第二槽口34伸入锁销固定槽31中；进入锁销固定槽31中的锁销在平移至第一槽口33之下后，能够受第一槽口33的限制而限制在锁销固定槽31中无法上升，使得拉杆本体21与地面防风基础3相连，从而实现对桥吊的防风锚定，防风拉杆起到了防风防倾覆的作用。
防风锚定控制模块用于在接收到防风锚定指令之后，控制驱动装置A工作，驱动装置驱动从动装置B带动拉杆本体21转动，使得拉杆本体21相对拉杆螺母22下降，直至锁销23经由地面防风基础3的第二槽口34伸入锁销固定槽31中；继而，控制桥吊1向地面防风基础3的第一槽口33的方向移动至设定的锚定位置后，防 风锚定控制模块驱动驱动装置A反向工作，进而从动装置也反向工作，使得拉杆本体21上升，当上升至防风锚定高度后，控制驱动装置A停止工作，使得锁销23受第一槽口33的限制而限制在锁销固定槽31中，实现拉杆本体与地面防风基础的固定连接。
上述对驱动装置A正向和反向的控制由防风锚定控制模块实现，而正向和反向是相对而言，本申请不做具体限定。桥吊的控制可以由单独的桥吊控制系统来完成，也可以由本申请提出的防风锚定控制模块来完成。防风锚定指令的下发可以远程实现，也即，通过有线或无线连接的方式使得防风锚定控制模块与远程控制系统连接，由远程控制系统直接控制该防风锚定控制模块。
驱动装置如图2所示，由第一驱动电机或第一驱动液压马达24以及第一驱动齿轮25组成；从动装置为长直齿轮26；长直齿轮26与第一驱动齿轮25啮合实现从动装置B与驱动装置A的配合安装；第一驱动电机或第一驱动液压马达24用于驱动第一驱动齿轮25转动；第一驱动齿轮25转动带动长直齿轮26转动，长直齿轮26从而带动拉杆本体21自转，使得拉杆本体上升或者下降，上升或者下降过程中，第一驱动齿轮25在保持与长直齿轮26啮合的情况下相对长直齿轮26上下移动。
或者，如图3所示，驱动装置由第二驱动电机或第二驱动液压马达44以及第二驱动齿轮45组成；从动装置由从动齿轮46和多面柱体47组成，从动齿轮46内部安装内多面体套48后将从动齿轮46套接于多面柱体47外围，且多面柱体47固定于拉杆本体21的顶端；从动齿轮46与第二驱动齿轮45啮合实现从动装置B与驱动装置A的配合安装；第二驱动电机或第二驱动液压马达44用于驱动第二驱动齿轮45转动；第二驱动齿轮45转动带动从动齿轮46转动，从动齿轮47基于多面的套接关系，带动多面柱体47转动，从而带动拉杆本体21自转，使得拉杆本体上升或者下降，上升或者下降过程中，第二驱动齿轮45在保持与从动齿轮46啮合的情况下相对多面柱体47上下移动。
本申请提出的防风锚定系统还包括限位检测装置和桥吊位置检测装置，用于在上述防风锚定过程中，对于拉杆本体下降或上升的高度检测和控制，以及桥吊移动位置的检测和控制。如图2和图3所示，限位检测装置包括限位传感器27和 限位杆28；限位杆28安装于拉杆螺母22的下端，其上从上至下分别设置有解除防风锚定高度限位a、防风锚定高度限位b和插入限位c；限位传感器27与防风锚定控制模块连接。这里的解除防风锚定高度限位a、防风锚定高度限位b和插入限位c分别用于标示锁销23伸出锁销固定槽31、锁销上升至锁销固定槽31的最高点和锁销伸入锁销固定槽31的设定深度，当限位传感器27分别检测到这三个限位标示后，分别代表解除防风锚定、完成防风锚定和锁销伸入锁销锚定槽的中间状态。如图1所示，桥吊位置检测装置包括定位检测天线11和定位感应部件12；定位检测天线11安装于桥吊上，并与防风锚定控制模块连接，用于检测定位感应部件12的位置；定位感应部件12安装于桥吊下的地面上，用于标示桥吊防风锚定的位置，定位感应部件12的个数为多个，按照设定间隔布设于地面上，每个定位感应部件12表征桥吊不同的位置，其中必有一个定位感应部件表征防风锚定的位置，当定位检测天线11检测到该定位感应部件后，代表防风拉杆2正对应其地面防风基础，可以执行防风锚定。
而对完成防风锚定的检测也可以通过在驱动装置上安装与防风锚定控制模块连接的力矩传感器来实现，该力矩传感器用于检测驱动装置的驱动力矩，在驱动力矩达到预定值时，可以表征锁销23上升至与固定板21相抵，受第一槽口33的限制而无法伸出锁销固定槽31，从而完成防风锚定实现防风防倾覆。
如图2和图3所示，为保证拉杆本体21在受驱动上升和下降过程中不发生偏斜造成锚定失败，在防风拉杆21上套接有导向卡套29，该导向卡套29固定于桥吊上，对拉杆本体的移动形成导向。在拉杆本体21上连接有微调装置211，微调装置221用于在码头沉降或拉杆本体旋转移动产生误差时对拉杆的长度进行调整进行补偿。
桥吊防风锚定系统还包括有与防风锚定控制模块连接的制动器，该制动器用于在防风锚定完成后制动驱动装置，防止防风拉杆在锚定或解除锚定时松脱。
除去防风拉杆防风防倾覆，本申请提出的桥吊防风锚定系统还包括防移位锚定装置，用于在防风状态中防止桥吊沿轨道移动。具体的，如图1所示，该移位锚定装置包括锚定槽、锚定板14、锚定板油缸15和锚定限位检测器，图中包括插入限位检测器16和拔出限位检测器17；锚定槽设置于桥吊海侧和陆侧的码头基 础上；锚定板油缸15连接锚定板14，用于驱动锚定板14插入或拔出锚定槽；锚定限位检测器则与桥吊控制系统或本申请提出的防风锚定控制模块，用于检测锚定板14是否插入锚定槽或是否拔出锚定槽。锚定板油缸15的控制可由本申请提出的防风锚定控制模块来执行，也可以由其他桥吊控制系统来完成，本申请实施例不予限制。
基于上述提出的桥吊防风锚定系统，本申请还提出一种桥吊防风锚定方法，下面结合本申请提出的桥吊防风锚定系统对桥吊防风锚定方法做出详细说明。
如图6所示，本申请提出的桥吊防风锚定方法，包括如下步骤：
步骤S61：接收防风锚定指令。
本申请实施例中，防风锚定指令由远程控制系统发出，该远程控制系统通过有线或者无线的方式与防风锚定控制模块连接，向防风锚定控制模块下发防风锚定控制指令。
步骤S62：判断四个防风拉杆是否分别与四组地面防风基础对应。
在接收到防风锚定指令后，首先基于桥吊位置检测装置判断桥吊的当前位置，如果在设定的位置，在开始执行防风锚定，否则，则控制桥吊移动至该设定的位置后再执行防风锚定；通常该设定的位置为防风拉杆与地面防风基础的第二槽口上下对应的位置。在四个防风拉杆分别与四组地面防风基础对应后，
步骤S63：控制驱动装置工作。
以驱动装置为如图2所示的实施例，正向驱动拉杆本体下降，而反向驱动拉杆本体上升为例，四个防风拉杆分别与四组地面防风基础对应后，控制第一驱动电机或第一驱动液压马达正向驱动，第一驱动齿轮正向转动，第一驱动齿轮基于啮合关系带动长直齿轮转动，带动拉杆本体转动，使得拉杆本体相对拉杆螺母下降，也即向地面防风基础靠近。这里的正向与反向为相对而言，不做具体限定。
步骤S64：判断锁销是否伸入锁销固定槽设定深度。
防风拉杆受驱动下降过程中，限位检测装置实时监测限位杆上的插入限位c，若没有检测到，则锁销还未伸入锁销固定槽中，若检测到插入限位后，则说明锁销已经经由面积相对较大的第二槽口伸入锁销固定槽中，并到达锁销固定槽 设定深度，该设定深度至少保持锁销停留在锁销固定槽中并不会抵住锁销固定槽的底部。此时，控制停止驱动装置工作，并执行
步骤S65：判断桥吊是否移动至设定的锚定位置。
在控制驱动装置停止工作后，控制桥吊向面积相对较小的第一槽口方向移动，使得防风拉杆也跟随桥吊向第一槽口方向移动，并接收桥吊位置检测装置检测桥吊的位置信息，当根据桥吊的位置信息判断桥吊移动到设定的锚定位置之后，
步骤S66：控制驱动装置反向工作。
第一驱动电机反向驱动，使得第一驱动齿轮反向转动后带动拉杆本体相对拉杆螺母上升，锁销在拉杆本体上升过程中向第一槽口方向移动，直至锁销抵接在第一槽口上受限于固定板而无法再上升。
步骤S67：获取驱动装置的驱动力矩，并判断驱动力矩是否达到设定力矩。
在控制第一驱动电机反向工作过程同时，接收力矩传感器的驱动力矩信息，当驱动力矩达到设定力矩后，说明锁销抵接在锁销固定槽的固定板的力度达到设定要求，能够实现对桥吊防风防倾覆的效果，此时，
步骤S68：控制停止驱动装置工作，以使得锁销受第一槽口的限制而限制在锁销固定槽中，实现拉杆本体与地面防风基础的固定连接。
第一驱动电机停止驱动后，控制制动器制动第一驱动电机，也即制动驱动装置，使得防风拉杆不能转动也不能移动，同时，限位检测装置中的限位传感器检测到防风锚定高度限位b之后，向防风锚定控制模块反馈防风拉杆处于锚定状态的信号。
在完成防风拉杆的锚定之后，防移位锚定装置控制桥吊海陆两侧的四个锚定板油缸释放，使得四个锚定板插入锚定槽中，锚定限位检测器检测到锚定板插入锚定槽中后，向防风锚定控制模块反馈插入到位的信号。
由此，桥吊的四个防风拉杆和四个锚定板同时处于锚定状态，桥吊防风锚定系统使得桥吊处于防风锚定状态，防止在大风环境中造成桥吊的倾覆和移动。防风锚定控制模块可向远程控制系统上传锚定完成的信号。
相对防风锚定，本申请提出的桥吊防风锚定系统的解除锚定方法包括如下：当 桥吊接收到解除防风锚定指令后，防移位锚定装置控制桥吊海陆两侧的四个锚定板油缸缩回，使得四个锚定板从锚定槽中拔出，锚定限位检测器检测到锚定板从锚定槽中拔出后，向防风锚定控制模块反馈拔出到位的信号，防风锚定控制模块控制驱动装置工作，使得驱动装置驱动从动装置带动拉杆本体转动，使得拉杆本体相对拉杆螺母下降；下降过程中，根据限位检测装置的检测值判断锁销是否下降至锁销固定槽设定深度，也即，限位传感器实时监测限位杆上的插入限位c，若检测到了该插入限位c，则判断锁销已经下降至锁销固定槽设定深度，此时，则控制驱动装置停止驱动，控制桥吊从第一槽口方向相第二槽口方向移动，在此过程中，接收桥吊位置检测装置获取的桥吊位置信息，并基于桥吊位置信息判断桥吊是否移动至设定的解除锚定位置；若是，则控制驱动装置反向工作，使得拉杆本体上升，上升过程中，基于限位检测装置的检测值判断锁销是否上升至解除防风锚定高度，也即，限位传感器实时监测限位杆上的解除防风锚定高度限位a，若检测到了该解除防风锚定高度限位a，则判断锁销已经退出锁销固定槽达到解除防风锚定高度，则控制驱动装置停止工作，实现拉杆本体与所述地面防风基础的分离。此后，制动器制动驱动装置，使得防风拉杆不能转动也不能移动。在完成防风拉杆的解除锚定之后，由此，桥吊的四个防风拉杆和四个锚定板同时处于解除锚定状态，桥吊防风锚定系统使得桥吊处于解除防风锚定状态，桥吊可以正常工作。
上述可见，本申请提出的桥吊防风锚定系统和方法实现的是防风锚定过程自动执行，无需人工参与，减少了现场工作人员的数量，降低了维护成本，提高了码头自动化水平和工作效率，实现的是自动化集装箱码头无人工介入的自动化防风锚定。

Claims (10)

  1. 桥吊防风锚定系统，包括桥吊、分别设置于所述桥吊的海侧两端以及陆侧两端的四个防风拉杆和与所述四个防风拉杆分别对应的四组地面防风基础；所述地面防风基础固定于码头基础上；其特征在于，还包括防风锚定控制模块；
    所述防风拉杆包括拉杆本体、拉杆螺母、驱动装置和锁销；
    所述驱动装置连接所述防风锚定控制模块的控制输出端；所述拉杆本体的顶端安装有从动装置，所述从动装置与所述驱动装置配合安装，使得所述从动装置受所述驱动装置的驱动带动所述拉杆本体转动；
    所述拉杆本体上有螺纹，所述拉杆螺母基于所述螺纹与所述拉杆本体连接；且所述拉杆螺母固定于桥吊之上；所述锁销固定于所述拉杆本体的底端；
    所述地面防风基础上开设有锁销固定槽，所述锁销固定槽的槽口安装有固定板，所述固定板上开设有相互邻接的第一槽口和第二槽口，且所述第一槽口的面积小于所述第二槽口的面积，使得所述锁销能够在下降时经由所述第二槽口伸入所述锁销固定槽中，并经移动后受所述第一槽口的限制而限制在所述锁销固定槽中无法上升；
    所述防风锚定控制模块，用于控制所述驱动装置工作，使得所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降，直至所述锁销经由所述第二槽口伸入所述锁销固定槽中；在所述桥吊向所述第一槽口的方向移动至设定的锚定位置后，所述防风锚定控制模块驱动所述驱动装置反向工作，使得所述拉杆本体上升至防风锚定高度后控制所述驱动装置停止工作，使得所述锁销受所述第一槽口的限制而限制在所述锁销固定槽中，实现所述拉杆本体与所述地面防风基础的固定连接。
  2. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述桥吊防风锚定系统还包括限位检测装置；
    所述限位检测装置包括限位传感器和限位杆；所述限位杆安装于所述拉杆螺母的下端，其上从上至下分别设置有解除防风锚定高度限位、防风锚定高度限位和插入限位；所述限位传感器与所述防风锚定控制模块连接，相对于所述限位杆安装于所述拉杆本体上。
  3. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述驱动装置为第一驱动电机或第一驱动液压马达，以及第一驱动齿轮；所述从动装置为长直齿轮；所述长直齿轮与所述第一驱动齿轮啮合实现所述从动装置与所述驱动装置的配合安装；所述第一驱动电机或所述第一驱动液压马达用于驱动所述第一驱动齿轮转动；或，
    所述从动装置包括从动齿轮和多面柱体，所述从动齿轮套接于所述多面柱体外围，且所述多面柱体固定于所述拉杆本体的顶端；所述驱动装置为第二驱动电机或第二驱动液压马达，以及第二驱动齿轮；所述从动齿轮与所述第二驱动齿轮啮合实现所述从动装置与所述驱动装置的配合安装；所述第二驱动电机或所述第二驱动液压马达用于驱动所述第二驱动齿轮转动。
  4. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述拉杆本体上连接有微调装置；所述微调装置用于对所述拉杆的长度进行调整。
  5. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述驱动装置上安装有与所述防风锚定控制模块连接的力矩传感器；所述力矩传感器用于检测所述驱动装置的驱动力矩。
  6. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述桥吊防风锚定系统还包括桥吊位置检测装置；
    所述桥吊位置检测装置包括定位检测天线和定位感应部件；所述 定位检测天线安装于所述桥吊上，并与所述防风锚定控制模块连接，用于检测所述定位感应部件的位置；所述定位感应部件安装于所述桥吊下的地面上，用于标示所述桥吊防风锚定的位置。
  7. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述桥吊防风锚定系统还包括有与所述防风锚定控制模块连接的制动器，用于在防风锚定完成后制动所述驱动装置。
  8. 根据权利要求1所述的桥吊防风锚定系统，其特征在于，所述桥吊防风锚定系统还包括防移位锚定装置；
    所述防移位锚定装置包括锚定槽、锚定板、锚定板油缸和锚定限位检测器；所述锚定槽设置于所述桥吊海侧和陆侧的码头基础上；所述锚定板油缸连接所述锚定板，用于驱动所述锚定板插入或拔出所述锚定槽；所述锚定限位检测器，用于检测所述锚定板是否插入所述锚定槽或是否拔出所述锚定槽。
  9. 桥吊防风锚定方法，用于如权利要求1-8任一项所述的桥吊防风锚定系统中，其特征在于，包括：
    接收防风锚定指令；
    判断所述四个防风拉杆是否分别与所述四组地面防风基础对应；若是，
    控制所述驱动装置工作，所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降；
    判断所述锁销是否伸入锁销固定槽设定深度；若是，
    判断所述桥吊是否移动至设定的锚定位置；若是，
    控制所述驱动装置反向工作，使得所述拉杆本体相对所述拉杆螺母上升；
    获取所述驱动装置的驱动力矩，并判断所述驱动力矩是否达到设定力矩；若是，
    控制停止所述驱动装置工作，以使得所述锁销受所述第一槽口的限制而限制在所述锁销固定槽中，实现所述拉杆本体与所述地面 防风基础的固定连接。
  10. 根据权利要求9所述的桥吊防风锚定方法，其特征在于，在实现所述拉杆本体与所述地面防风基础的固定连接之后，所述方法还包括：
    接收解除防风锚定指令；
    控制所述驱动装置工作，所述驱动装置驱动所述从动装置带动所述拉杆本体转动，使得所述拉杆本体相对所述拉杆螺母下降；
    判断所述锁销是否下降至所述锁销固定槽设定深度；若是，
    判断所述桥吊是否移动至设定的解除锚定位置；若是，
    控制所述驱动装置反向工作，使得所述拉杆本体相对所述拉杆螺母上升；
    判断所述锁销是否上升至解除防风锚定高度；若是，
    控制所述驱动装置停止工作，实现所述拉杆本体与所述地面防风基础的分离。
PCT/CN2017/094833 2017-05-12 2017-07-28 桥吊防风锚定系统和方法 WO2018205422A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US16/306,531 US10807836B2 (en) 2017-05-12 2017-07-28 Crane windproof anchoring system and method
EP17908934.7A EP3447022B1 (en) 2017-05-12 2017-07-28 Crane windproof anchoring system and method
JP2018555650A JP6560460B2 (ja) 2017-05-12 2017-07-28 ブリッジクレーン防風アンカーシステム及び方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710331856.0 2017-05-12
CN201710331856.0A CN107032233B (zh) 2017-05-12 2017-05-12 桥吊防风锚定系统和方法

Publications (1)

Publication Number Publication Date
WO2018205422A1 true WO2018205422A1 (zh) 2018-11-15

Family

ID=59538126

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/094833 WO2018205422A1 (zh) 2017-05-12 2017-07-28 桥吊防风锚定系统和方法

Country Status (5)

Country Link
US (1) US10807836B2 (zh)
EP (1) EP3447022B1 (zh)
JP (1) JP6560460B2 (zh)
CN (1) CN107032233B (zh)
WO (1) WO2018205422A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110217701A (zh) * 2019-06-27 2019-09-10 赤湾集装箱码头有限公司 一种集装箱起重机大车防风装置
CN113928976A (zh) * 2021-11-11 2022-01-14 大连华锐重工集团股份有限公司 一种可补偿地震运动的港口机械防风锚定装置
CN115783999A (zh) * 2022-10-25 2023-03-14 江苏卫华海洋重工有限公司 一种港口机械大车锚定装置

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109973472B (zh) * 2019-04-24 2023-08-25 大连华锐重工焦炉车辆设备有限公司 一种螺杆式自动防风锚定装置
CN112707314B (zh) * 2021-01-04 2022-08-02 上海久能机电制造有限公司 电动防风拉杆
CN112707313B (zh) * 2021-01-04 2022-08-02 上海久能机电制造有限公司 电动伸缩和旋锁的防风拉杆
CN112850486A (zh) * 2021-01-06 2021-05-28 姚蓓琳 一种防风型起重机对准装置
CN113044713B (zh) * 2021-04-01 2022-04-08 浙江大学 港口吊机自动防风拉杆装置
CN113860160B (zh) * 2021-11-03 2024-05-17 上海振华重工(集团)股份有限公司 一种防风设备
KR102388177B1 (ko) * 2022-02-15 2022-04-19 두텍 주식회사 태풍 대비 컨테이너 크레인용 자동화 안전 고박 시스템

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5537778A (en) * 1994-10-25 1996-07-23 Trident Industries, Inc. Security barrier apparatus
JP2006160456A (ja) * 2004-12-08 2006-06-22 Koshihara:Kk 揚重機械の逸走防止装置
CN102311049A (zh) * 2011-06-03 2012-01-11 三一集团有限公司 一种港口起重机械及其锚定防风机构
CN104210959A (zh) * 2014-08-28 2014-12-17 润邦卡哥特科工业有限公司 一种集装箱岸桥设备的锚定兼防风机构
CN205023763U (zh) * 2015-10-14 2016-02-10 江苏聚业机械装备股份有限公司 一种浮吊防风自锚定系统

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2269386Y (zh) * 1995-07-20 1997-12-03 内江车务段装卸服务公司 龙门吊自动防风锚定装置
CN1220966A (zh) * 1997-12-23 1999-06-30 高元书 起重机防风锚定方法
US6349503B1 (en) * 1999-11-18 2002-02-26 Ijot Development, Inc. Fluid powered barrier system
JP3354921B2 (ja) * 2000-08-30 2002-12-09 三菱重工業株式会社 免震型逸走防止装置
CN2654580Y (zh) * 2003-10-22 2004-11-10 葛志成 龙门吊自动防风锚定装置
CN100361886C (zh) * 2005-04-06 2008-01-16 上海振华港口机械（集团）股份有限公司 码头前沿大型起重机防风锚定装置
CN201785137U (zh) * 2010-09-14 2011-04-06 无锡工力工程机械厂 自锁紧大车锚定装置
JP5752956B2 (ja) * 2011-03-02 2015-07-22 三井造船株式会社 岸壁クレーン
JP2012206849A (ja) * 2011-03-30 2012-10-25 Mitsui Eng & Shipbuild Co Ltd コンテナクレーン
CN203021201U (zh) * 2012-12-14 2013-06-26 上海梅山钢铁股份有限公司 双动力防风锚定装置
FI10466U1 (fi) * 2014-04-04 2014-04-28 Konecranes Oyj Liikkuva nosturi
JP5702487B2 (ja) * 2014-05-01 2015-04-15 三井造船株式会社 ヤードクレーンおよびその給電装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5537778A (en) * 1994-10-25 1996-07-23 Trident Industries, Inc. Security barrier apparatus
JP2006160456A (ja) * 2004-12-08 2006-06-22 Koshihara:Kk 揚重機械の逸走防止装置
CN102311049A (zh) * 2011-06-03 2012-01-11 三一集团有限公司 一种港口起重机械及其锚定防风机构
CN104210959A (zh) * 2014-08-28 2014-12-17 润邦卡哥特科工业有限公司 一种集装箱岸桥设备的锚定兼防风机构
CN205023763U (zh) * 2015-10-14 2016-02-10 江苏聚业机械装备股份有限公司 一种浮吊防风自锚定系统

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110217701A (zh) * 2019-06-27 2019-09-10 赤湾集装箱码头有限公司 一种集装箱起重机大车防风装置
CN113928976A (zh) * 2021-11-11 2022-01-14 大连华锐重工集团股份有限公司 一种可补偿地震运动的港口机械防风锚定装置
CN113928976B (zh) * 2021-11-11 2024-02-02 大连华锐重工集团股份有限公司 一种可补偿地震运动的港口机械防风锚定装置
CN115783999A (zh) * 2022-10-25 2023-03-14 江苏卫华海洋重工有限公司 一种港口机械大车锚定装置
CN115783999B (zh) * 2022-10-25 2023-09-29 江苏卫华海洋重工有限公司 一种港口机械大车锚定装置

Also Published As

Publication number Publication date
CN107032233B (zh) 2018-06-22
US20190185296A1 (en) 2019-06-20
EP3447022B1 (en) 2020-07-01
JP6560460B2 (ja) 2019-08-14
CN107032233A (zh) 2017-08-11
EP3447022A4 (en) 2019-05-08
US10807836B2 (en) 2020-10-20
EP3447022A1 (en) 2019-02-27
JP2019517966A (ja) 2019-06-27

Similar Documents

Publication Publication Date Title
WO2018205422A1 (zh) 桥吊防风锚定系统和方法
JP2024515115A (ja) 台風に備えたコンテナクレーン用自動化安全固縛システム
CN110482392A (zh) 用于预制构件吊装的调平装置及调平方法
EP3230195A1 (de) Turmdrehkran zum errichten einer windenergieanlage, sowie verfahren zum errichten des turmdrehkrans
CN201288033Y (zh) 八点液压同步顶升设备的控制装置
CN113734995B (zh) 一种全自动顶升加节的塔式起重机
RU2376433C2 (ru) Поднятие и опускание мачт
CN112429666B (zh) 一种兆瓦级塔式光热发电集热器安装方法及安装系统装置
US7021867B2 (en) Method and machine for dynamic ground compaction
CN102530782A (zh) 超大型构件液压同步提升吊装技术及设备
CN112141918B (zh) 利用吊装门架吊装兆瓦级塔式集热器的方法及吊装装置
CN207002026U (zh) 一种港口机械大车锚定装置
CN112456348B (zh) 一种吸热器吊装方法
CN108313889B (zh) 一种超高层爬模辅助吊装装置
CN112707313B (zh) 电动伸缩和旋锁的防风拉杆
CN116163535A (zh) 一种在柱顶行走品字形吊装预制构件的施工方法
CN214359828U (zh) 电动防风拉杆
CN214270035U (zh) 兆瓦级塔式集热器吊装系统装置及吊装装置
CN114735617A (zh) 一种楼房浇筑板同步顶升系统
RU2536074C1 (ru) Устройство для подъема-опускания буровой вышки при монтаже-демонтаже буровой установки
CN111960281A (zh) 自爬升系统
CN112591602A (zh) 一种适用于吊车等起重机的套索起吊一体化装置
CN220618226U (zh) 一种自爬机安全运行的防护系统
CN220201213U (zh) 一种电动防风系固装置
CN102040174A (zh) 一种大型设备与构件的整体吊装装置和方法

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2018555650

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2017908934

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2017908934

Country of ref document: EP

Effective date: 20181122

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17908934

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE