CN1019379B

CN1019379B - Electric antishake device for container's crane

Info

Publication number: CN1019379B
Application number: CN 90102810
Authority: CN
Inventors: 章大章; 王蒨华
Original assignee: Individual
Current assignee: Individual
Priority date: 1990-03-02
Filing date: 1990-03-13
Publication date: 1992-12-09
Also published as: CN1054752A

Abstract

The present invention relates to an electric antishake device for a container crane. The device is composed of a unilateral antishake circuit which is formed by the connection of four ordinary ac wound rotor motors which are arranged on diagonal lines of a container trolley, motor rotor rectifier circuits, and rectifier circuits of two motors which are arranged on the diagonal lines. The antishake function is controlled by variable resistors which are connected in parallel, or active inverter circuits. The present invention is characterized in that the antishake function is unilateral, and the antishake effect is intense. The present invention has the characteristics of simple device structures, reliability, high durability and low manufacture cost. The present invention can conveniently replace universal antishake devices used at home and abroad, the modification is convenient, and only a motor is changed and a control circuit is added.

Description

Electric antishake device for container's crane

The present invention relates to be used on the hoisting crane reducing as far as possible or prevent suspended load when translation, the device of the vertical or horizontal swing of load.

Modern container handling crane crab traversing speed very high (more than 100 meters/minute), the trolley translation and the glancing impact that puts in place, the freight container load of by wire rope suspensioning as not taking measures, will making produces and waves significantly, influences the capacity rating of loading and unloading container.For this reason, at present domestic and international container handling crane all adopts anti roll device.Container handling crane anti roll device commonly used both at home and abroad now has the moment motor type, friction clutch formula, fluid pressure type and system controlled by computer formula etc.Torque motor formula anti roll device is on the two sides of swaying direction a torque motor to be installed respectively, utilize the Tension Difference of oblique rollering steel silk to prevent shaking, two torque motors all produce certain tension in steel rope, and anti-what shake effect only is that two pull of steel wire are poor but play, thereby the anti-effect of shaking is less.The effect of friction clutch formula anti roll device and fluid pressure type anti roll device is better than the torque motor formula, but owing to be unsuitable for long-term forward and reverse severe impact, thereby service life is short, poor durability; Though system controlled by computer formula effect is better, the expensive and poor durability of valency, thereby also do not apply.

Soviet Union inventors certificate SU640960(79 announced January 5) " device of goods oscillation damping method and realization thereof ", disclose the method and apparatus that comes vibration damping with the directly proportional reciprocal power of speed (acceleration/accel) that puts on operating unit, its technology more formerly has the anti-preferably effect of shaking.But its structure is comparatively complicated, increase a whole set of speed, and the control system of links such as acceleration detection, sensing, conversion has increased the cost of making and keeping in repair, and belongs to system controlled by computer class anti-sway system, applies difficulty.

The objective of the invention is to develop a kind of have strong anti-shake effect, reliable operation, the life-span is long and the low novel anti roll device of container handling crane of cost.

The objective of the invention is to realize by following manner.The interchange wound rotor motor that it is used by four hoisting cranes is used motor as anti-shaking, on every rotor, connect all-wave silicon power rectification circuit, four electrical motors are installed in respectively on four angles of container handling crane dolly, wherein the two motors on the diagonal line is formed one group, its silicon rectifier device is in parallel in the same way, and on silicon rectifier device in parallel in the same way, shunt resistance VR or active inverter again.Anti-shake the moment that motor produces,, tiltedly be pulled on four jiaos of container spreader with the anti-rope that shakes by reel and pulley.

Fig. 1 is a structural representation of the present invention; Table 1 is under the various swing operating modes, and the anti-braking force direction table that shakes, Fig. 2 are to be positioned at the anti-circuit that shakes that the two motors on the dolly diagonal line is formed; Fig. 3, Fig. 4, Fig. 5 draw the respectively stop position of lifting motor, anti-voltage one speed diagram that shakes electrical motor when hoisting position and lowering position.Fig. 6 is the anti-circuit that shakes that has source inventer.1 is to prevent shaking rope among Fig. 1, and 2 is raising line, and 3 is to prevent shaking reel, and 4 is retarder, and 5 is to prevent shaking the common hoisting crane electrical motor of usefulness, and 6 is car frame, and 7 is suspender, and 8 is freight container, and 9,10 is deflection sheave.

Raising line 2 bears weight and the lifting container of container 8 and suspender 7 and uses, four anti-rope 1 oblique pulls of shaking are on container spreader 7, anti-rope 1 other end that shakes is around in anti-shaking on the reel 3 by pulley 9,10, and the anti-tube 3 that shakes connects with wound rotor motor 5 with common crane by decelerator 4. Prevent that shaking rope is oblique pull, has an angle with vertical line. Four motor 5(JDa, JDd, JDc, JDb) respectively be installed on four angles of car frame 6, JDa and JDb form set of circuits, JDc and JDb form one group, (Fig. 2), the voltage that the rotor slip ring is drawn is U2, become DC voltage (Ua) and (Ub) through 6 silicon kenotrons (6SR), the polarity of voltage U a, Ub is identical, all be about. Because anti-during work Shake motor JDa, JDb, JDc, JDd and all be connected into the rising operating mode, and select when motor speed and decelerator, so that no matter suspender is in rising, descends or hovers, prevent that shaking motor always is in counter dragging under the operating mode, again because selected anti-to shake power of motor littler, thus always the stopping, rising or descend by the stopping of raising line, rise of container, on fall operating mode and decide. Thereby no matter be that suspender is in to hover or be in and rises or the decline state; as long as when suspender is swung to the A direction (Fig. 1); the anti-anti-rotating speed that drags that drags rotating speed just to be slightly larger than motor b of motor a, thereby its rotor voltage U2a is slightly larger than the rotor voltage U2b of motor b. Certainly, the anti-anti-rotating speed that drags that drags rotating speed also to be slightly larger than motor C of motor d simultaneously, when lifting motor was in different operating mode, U2a and U2b relatively saw Fig. 3-Fig. 5. Operating mode when Fig. 3 does not turn to for lifting motor; Fig. 4 represents that lifting motor is in the operating mode when rising; Operating mode when Fig. 5 is decline. As seen from Figure 3 so long as the A of suspender to swing, always form U2a＞U2b, the DC voltage that rotor voltage forms after rectification, Ua=1.35U2a, Ub=1.35U2b is so must form Ua＞Ub, because Ua, Ub are in parallel, as Ua＞Ub, can only supply electric forming 1a to resistance VR by Ua, and 1b=0. The i2a that forms owing to 1a makes motor JDa produce the anti-tension force SA(Fig. 1 that shakes). Since 1b=0, i2b=0, thus SB=0, thereby at the powerful anti-tension force SA that shakes of the opposite direction generation of swing. The present invention is different from common torque motor anti-roll device, and it is to use S_ASame S_BThe difference of tension force consists of the anti-moment of shaking. And the anti-effect of shaking of the present invention is stronger, as seen from Figure 1: so long as to the swing of A direction, no matter where suspender and container are in, all be S_B=0, produce the oppositely anti-pulling force that shakes by SA, when suspender and container are swung to the B direction, S always_A=0 and by S_BProduce the reciprocal anti-pulling force that shakes. This shows: the present invention does not need to measure the suspender pendulum angle, can produce automatically that strongly unidirectional (monolateral) of preventing the suspender swing is anti-to shake tension force, and S not_AAnd S_BAnti-the shaking of pulling force difference, thereby the anti-effect of shaking is especially strong.

Because with AC winding induction motor JDa, JDb and rectification circuit form one group of anti-electricity that shakes The road, with JDc, JDd partners and prevents shaking the circuit group, that is to say the anti-motor composition that shakes on the dolly diagonal positions is prevented that shaking the circuit group (sees Fig. 1, Fig. 2), thereby in Fig. 1, no matter suspender and lift heavy be to A, B, C, in any direction when swing among the D, always have two motor and produce and monolaterally strong anti-ly shake effect, thereby the anti-effect of shaking has increased again one times.

Provide most preferred embodiment of the present invention in conjunction with the accompanying drawings.

The present invention is used for various flexible cable container handling hoisting cranes, anti-sway control equipment as container handling crane, Fig. 1 is seen in its concrete enforcement, on container handling crane car frame 6, four anti-steel rope wiring reels 3 that shake have been installed, on it, prevent shaking steel ropes 1 around four that arrange by diagonal line, in order to guarantee that the anti-steel rope that shakes can be because of suspender 7 and freight container 8 swing slippages, the anti-steel rope that shakes all draws to declivity by deflection sheave 9 and 10 and awards admittedly on the container spreader 7, the anti-reel 3 that shakes links by the rotor shaft of retarder 4 with electrical motor 5, JZR or YZR ac wound rotor motor that the most common hoisting crane that electrical motor 5 adopts is used, the stator of electrical motor 5 and rotor, can be by the wiring of Fig. 2 circuit, per two electrical motor (same JDb of the JDa among Fig. 1 that are on the diagonal line; The same JDd of JDc) forms one group of anti-circuit that shakes, also be about to electrical motor on the diagonal line rotor each use six silicon diode rectifications (6SR among Fig. 2) respectively, after the rectification, link together by equidirectional, two groups of rectifying circuits of two motors are with variable resistance VR and connect again.VR can also can use the silicon control active inverter with common hoisting crane speed adjusting resistance.When adopting conventional, electric-resistance, can control anti-power of shaking effect by the resistance that changes shunt resistance VR, a little less than the big effect of VR resistance, the little effect of VR resistance is strong.Shake in the process anti-, by motor JDa(or JDb), or motor JDc(or JDd) Uz voltage that rotor produces, will on resistance VR, become heat, though anti-to shake effect be good, can not economize on electricity.When adopting the silicon control active inverter, can control the anti-effect of shaking by the inversion feedback current size of change active inverter, the greatly then anti-effect of shaking of inverter current is strong, little then anti-the shaking a little less than the effect of inverter current.Same can produce the strong anti-effect of shaking, and because the active inverter internal resistance is very little, it can produce big electric current, anti-effect stronger than resistance-type that shake, and under the effect of active inverter, also the slip power of motor JD can be become and the alternating current of electrical network the anti-electrical network of sending back to, the effect of having added economize on electricity with the frequency homophase.(see figure 6)

The overall anti-effect of shaking is as follows: when container crane or dolly startup, operation speed governing or glancing impact, because the acceleration/accel effect of horizontal direction, the swing that makes container spreader produce horizontal direction together with freight container is with reference to Fig. 1, if suspender is to the swing of A direction, then S _B=0, S _AProduce to prevent the power of swing, anti-ly shake effect strongly thereby produce, before suspender swings to high order end, S all the time _B=0, by S _APrevent shaking braking; After suspender swung to left, during backswing to the right, though at this moment suspender is also on balance position 0 left side, it had returned to right-hand pendulum again, at this moment, and S _A=0 and produce the strong anti-power of shaking by SB, suspender to the whole process of B swing, exists S from A all the time _A=0, by S _BProduce anti-this relation of shaking power, no matter and suspender and freight container were in the left side or the right side of balance position 0 at that time, that is to say, as long as suspender is in swing, then will inevitably produce automatically and prevent shaking monolateral pulling force, its effect is to prevent swing consumingly, and without any need for the facility of measuring pivot angle.

Further analyze as can be known: suspender is swung (no matter being in the left side or the right side of balance position when suspender) to A again, JDa, anti-the shaking of JDd generation lock torque; Suspender is to the swing of D direction, and then JDa is with anti-the shaking of JDc generation lock torque, and total anti-effect of shaking sees Table 1, as seen from the table, no matter suspender and freight container be to the swing of which direction, certainly lead to a pulling force at the reversing sense of swing, that plays strong prevention swing anti-ly shakes effect.

Anti-the shaking automatically of control carried out, do not need crane driver to participate in control, operation brings great convenience to crane driver for this, the driver only need handle hoisting crane routinely, container spreader and freight container just can produce the monolateral strong anti-effect of shaking automatically, and it is anti-to shake effect and be much better than that torque motor formula differential force is anti-to shake effect.

The present invention compared with prior art has following positive effect. The one, the anti-effect of shaking is remarkable, the 2nd, because the present invention's employing is common interchange wound rotor motor and mechanical part, advantage with structure comparative maturity, do not need the pivot angle of general electrical control gear and be flapped toward detection, transducing signal processing, a whole set of electric or Hydraulic Elements such as executing agency, be convenient to make and maintenance, working life is longer simultaneously.

Claims

1, electric antishake device for container's crane, it prevents that by four shaking rope tiltedly is pulled on the container spreader, it is characterized in that the anti-other end that shakes rope, by reel, retarder, links with wound rotor formula AC electrical arbor; On motor rotor, connect all-wave silicon power rectification circuit; Be contained in two pairs of electrical motors on the container handling crane dolly diagonal line and form the anti-circuit that shakes of two groups of monolateral effects, the rectifying circuit of these two pairs of electrical motors each shunt resistance VR or active inverter.

2, according to the said electric antishake device for container's crane of claim 1, it is characterized in that being parallel with shunt resistance VR on the all-wave silicon power rectification circuit, regulate the resistance of shunt resistance VR, promptly changing electric current in the circuit, to control the anti-effect of shaking strong and weak.

3, according to the said electric antishake device for container's crane of claim 1, it is characterized in that being parallel with the silicon control active inverter on the all-wave silicon power rectification circuit, regulate the inversion feedback current of active inverter and control anti-power of shaking effect, and simultaneously with the anti-AC network of sending back to of electrical motor slip power.

4,, it is characterized in that the anti-rope that shakes is by being positioned at deflection sheave 10 and 9 on the dolly angle on the reel 3 according to the said electric antishake device for container's crane of claim 1.