CN109748185A - A kind of crane fine motion control device and adjusting method - Google Patents
A kind of crane fine motion control device and adjusting method Download PDFInfo
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- CN109748185A CN109748185A CN201910184889.6A CN201910184889A CN109748185A CN 109748185 A CN109748185 A CN 109748185A CN 201910184889 A CN201910184889 A CN 201910184889A CN 109748185 A CN109748185 A CN 109748185A
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- upper rack
- pulley
- sling upper
- inching
- driving mechanism
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- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000008450 motivation Effects 0.000 description 2
- 241000282693 Cercopithecidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The invention discloses a kind of crane fine motion control device and adjusting methods, including sling upper rack and the inching gear that four side of sling upper rack is arranged in, inching gear includes fixed frame, support wheel, pulley bracket, pulley and driving mechanism, horizontal concrete chute is opened up on fixed frame, support wheel is arranged in sliding slot, support wheel and pulley bracket are rotatablely connected, driving mechanism is arranged on fixed frame, mobile using driving mechanism driving pulley support level, pulley is spindle rotationally arranged on pulley bracket by pulley spindle.Compared with prior art, it is finely adjusted by four inching gears, sling upper rack not run-off the straight when guaranteeing to adjust；And inching gear structure is simple, and manufacturing cost is low, adjusts reliable, control precision height.In addition, adjusting method can realize the accurate positionin to suspender through the invention, horizontal translation and rotary micromotion control, while suspender not run-off the straight are realized, it is safe and reliable.
Description
Technical field
The present invention relates to crane field, in particular to a kind of crane fine motion control device and adjusting method.
Background technique
In the course of work of crane, the suspender of crane need with the aligned in position of container could to container into
Row lifting operation needs the position for being accurately controlled very much container to meet stacking requirement in the stacking procedure of container, this
It just needs to carry out accurate position control to crane hanger.
In the prior art, position control is carried out to container using following methods.
1, it aligns suspender with guide plate hardness or aligns container by the contact of other objects, this method
Disadvantage is that being oriented to contraposition with external force cannot accurately position, and is easy that container is made to collide.
2, using Electrohydraulic push rod folding and unfolding wire sling, to realize the fine motion of suspender.The shortcomings that this method, is to steel wire
The inconsistent suspender that will lead to of lifting rope folding and unfolding generates inclination, and inefficiency.
3, the movement and rotation of suspender are driven by the movement of door frame, the movement of monkey and rotation.This side
The shortcomings that method, is that working efficiency is low and the accurate positioning of suspender difficult to realize.
Summary of the invention
For the above defect of the existing technology, it is a primary object of the present invention to overcome the deficiencies in the prior art it
Place, discloses a kind of crane fine motion control device, fills including sling upper rack and the fine motion that four side of sling upper rack is arranged in
It sets, wherein
The inching gear includes fixed frame, support wheel, pulley bracket, pulley and driving mechanism, is opened on the fixed frame
If horizontal concrete chute, the support wheel is arranged in the sliding slot, and the support wheel and the pulley bracket are rotatablely connected, the drive
Motivation structure is arranged on the fixed frame, drives the pulley bracket to move horizontally using the driving mechanism, the pulley is logical
Pulley spindle is crossed to be spindle rotationally arranged on the pulley bracket.
Further, the driving mechanism includes telescoping cylinder, flexible jar support, motor and speed reducer, and the telescoping cylinder is logical
It crosses the flexible jar support to be fixed on the fixed frame, the output end of the telescoping cylinder is connect with the pulley bracket, is utilized
The motor and the speed reducer drive the telescoping cylinder movement, move horizontally the pulley bracket.
It further, further include absolute encoder, the absolute encoder is arranged on the speed reducer.
Further, the angle between the inching gear and vertical plane is more than or equal to 7 °.
A kind of crane fine motion control device adjusting method, when needing to sling upper rack around the center of wherein a side
Rotation, controls the inching gear of the opposite side of the rotation side, by driving mechanism propelling sheave bracket, and then changes pulley
With the relative position of sling upper rack.
A kind of crane fine motion control device adjusting method, when needing to rotate around its center to sling upper rack, simultaneously
Two inching gears for controlling sling upper rack opposite side by driving mechanism propelling sheave bracket, and then change pulley and suspender
The relative position of restocking, and the driving direction of two inching gears is opposite.
A kind of crane fine motion control device adjusting method controls simultaneously when needing to be horizontally moved to sling upper rack
Two inching gears of sling upper rack opposite side by driving mechanism propelling sheave bracket, and then change pulley and sling upper rack
Relative position, and the driving direction of two inching gears is identical.
It is that the present invention obtains the utility model has the advantages that
Compared with prior art, it is finely adjusted by four inching gears, sling upper rack not run-off the straight when guaranteeing to adjust；
And inching gear structure is simple, and manufacturing cost is low, adjusts reliable, control precision height.In addition, adjusting method can through the invention
It realizes the accurate positionin to suspender, realizes horizontal translation and rotary micromotion control, while suspender not run-off the straight, work safety
Reliably.
Detailed description of the invention
Fig. 1 is a kind of perspective view of crane fine motion control device of the present invention；
Fig. 2 is inching gear structural schematic diagram；
Fig. 3 is a kind of main view of crane fine motion control device；
Fig. 4 is the adjusting method schematic diagram of inching gear；
Fig. 5 is the schematic diagram of adjusting method one；
Fig. 6 is another schematic diagram of adjusting method one；
Fig. 7 is the schematic diagram of adjusting method two；
Fig. 8 is another schematic diagram of adjusting method two；
Fig. 9 is the schematic diagram of adjusting method three；
Figure 10 is another schematic diagram of adjusting method three；
Appended drawing reference is as follows:
1, the first inching gear, the 2, second inching gear, 3, third inching gear, the 4, the 4th inching gear, 5, on suspender
Frame, 11, fixed frame, 12, support wheel, 13, pulley bracket, 14, pulley, 15, driving mechanism, 16, pulley spindle, 111, sliding slot,
151, telescoping cylinder, 152, flexible jar support, 153, motor, 154, speed reducer, 155, absolute encoder.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right with reference to the accompanying drawings and embodiments
The present invention is described in further detail.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
A kind of crane fine motion control device of the invention, as shown in Figure 1, including sling upper rack 5 and four inching gears,
Four sides of sling upper rack 5, respectively the first inching gear 1, the second inching gear 2, is arranged in four inching gears clockwise
It is two wide that sling upper rack 5 is arranged in three inching gears 3 and the 4th inching gear 4, the first inching gear 1 and third inching gear 3
At the center of side, the second inching gear 2 and the 4th inching gear 4 are arranged at two narrow side centers of the sling upper rack 5.
Wherein,
As shown in Fig. 2, inching gear includes fixed frame 11, support wheel 12, pulley bracket 13, pulley 14 and driving mechanism
15, horizontal concrete chute 111 is opened up on fixed frame 11, support wheel 12 is arranged in sliding slot 111, and support wheel 12 and sliding slot 111 it
Between there are rolling friction, support wheel 12 and pulley bracket 13 are rotatablely connected, and driving mechanism 15 is arranged on fixed frame 11, utilize drive
111 channeling directions move horizontally 15 driving pulley bracket 13 of motivation structure along the chute, and then change family 13 and the fixed frame 11 of pulley
Between relative position.Pulley 14 is spindle rotationally arranged on pulley bracket 13 by pulley spindle 16, the hoist engine of crane
Wirerope is connect with pulley 14, realizes the connection to sling upper rack 5.Specifically, driving mechanism 15 includes telescoping cylinder 151, stretches
Jar support 152, motor 153 and speed reducer 154, flexible jar support 152 are fixed on fixed frame 11, and the one of telescoping cylinder 151
End is fixed on flexible jar support 152, and output end is connect with pulley bracket 13, and the shaft of motor 153 is connected to speed reducer
The output end of 154 input gear, speed reducer 154 is connect with telescoping cylinder 151, drives speed reducer 154 to rotate by motor 153,
And then telescoping cylinder 151 is driven to push or pull the movement of pulley bracket 13.It in other embodiments, further include absolute encoder
155, absolute encoder 155 is mounted on speed reducer 154, to realize closed-loop control of the motor 153 to telescoping cylinder 151, from
And realize pulley bracket 13 with respect to the accurately motion control of sling upper rack 5.
In one embodiment, as shown in figure 3, angle α >=7 ° between inching gear and vertical plane.
The present invention also provides a kind of adjustment methods of crane fine motion control device.
Referring to shown in Fig. 4, four sides of sling upper rack 5 are respectively provided with an inching gear, sequentially micro- for first clockwise
Dynamic device 1, the second inching gear 2, third inching gear 3 and the 4th inching gear 4.
Method 1:
As shown in figure 5, sling upper rack 5 may be implemented around 2 place side of the second inching gear in control the 4th inching gear 4 operation
Center rotate control.Specifically, negative side of 4 driving mechanism of the 4th inching gear, the 15 propelling sheave bracket 13 to Y-direction
To pushing away, then sling upper rack 5 rotates counterclockwise adjustment around the second inching gear 2；Driving mechanism propelling sheave bracket 13 is pushed away to Y-direction
Dynamic, then sling upper rack 5 rotates clockwise adjustment around the second inching gear 2.Similarly, the operation of the second inching gear 2 of control can be real
Existing sling upper rack 5 rotates control around the center on 4 place side of the 4th inching gear；
As shown in fig. 6, sling upper rack 5 may be implemented around 1 place side of the first inching gear in the control operation of third inching gear 3
Center rotate control.The 15 propelling sheave bracket 13 of driving mechanism of third inching gear 3 is pushed away to X-direction, then on suspender
Frame 5 rotates counterclockwise adjustment around the first inching gear 1；Driving mechanism propelling sheave bracket 13 is pushed to the opposite direction of X-direction, then
Sling upper rack 5 rotates clockwise adjustment around the first inching gear 1.Similarly, suspender may be implemented in the operation of the first inching gear 1 of control
Restocking 5 rotates control around the center on 3 place side of third inching gear.
Method 2:
As shown in fig. 7, controlling the second inching gear 2 and the operation of the 4th inching gear 4 simultaneously, and make the second inching gear 2
It is controlled with the traffic direction of the 4th inching gear 4 on the contrary, sling upper rack 5 may be implemented and rotated around its center；Specifically, the
The 15 propelling sheave bracket 13 of driving mechanism of two inching gears 2 is pushed to Y-direction, while the driving mechanism of the 4th inching gear 4
15 propelling sheave brackets 13 are pushed to the opposite direction of Y-direction, realize that sling upper rack 5 is rotated around its center inverse position hour hand.Similarly,
If the second inching gear 2 and the 4th inching gear 4 are contrary and push away, realize that sling upper rack 5 turns clockwise around its center
It is dynamic.
As shown in figure 8, controlling the first inching gear 1 and the operation of third inching gear 3 simultaneously, and make the first inching gear 1
It is controlled with the traffic direction of third inching gear 3 on the contrary, sling upper rack 5 may be implemented and rotated around its center；Specifically, the
The 15 propelling sheave bracket 13 of driving mechanism of one inching gear 1 is pushed to the opposite direction of X-direction, while third inching gear 3
15 propelling sheave bracket 13 of driving mechanism is pushed to X-direction, realizes that sling upper rack 5 is rotated around its center inverse position hour hand.Similarly,
If the first inching gear 1 and third inching gear 3 are contrary and push away, realize that sling upper rack 5 turns clockwise around its center
It is dynamic.
Method 3:
As shown in figure 9, controlling the first inching gear 1 and the operation of third inching gear 3 simultaneously, and make the first inching gear 1
It is identical with the traffic direction of third inching gear 3, may be implemented the direction on the side locating for the first inching gear 1 of sling upper rack 5 into
Row translation control；Specifically, the driving mechanism 15 of the first inching gear 1 and third inching gear 3 while propelling sheave bracket 13
It is mobile to X-direction, realize that sling upper rack 5 is mobile to the opposite direction of X.Similarly, if the first inching gear 1 and third inching gear
3, which are contrary, pushes away, then realizes that sling upper rack 5 is mobile to X-direction.
As shown in Figure 10, while the second inching gear 2 and the operation of the 4th inching gear 4 are controlled, and makes the second inching gear 2
It is identical with the traffic direction of the 4th inching gear 4, may be implemented the direction on the side locating for the second inching gear 2 of sling upper rack 5 into
Row translation control.Specifically, the driving mechanism 15 of the second inching gear 2 and the 4th inching gear 4 while propelling sheave bracket 13
It is mobile to Y-direction, realize that sling upper rack 5 is mobile to the opposite direction of Y.Similarly, if the second inching gear 2 and the 4th inching gear
4, which are contrary, pushes away, then realizes that sling upper rack 5 is mobile to Y-direction.
The above method more practical spreader position can require to be applied in combination, and limitation uses the above method with independent.
The foregoing is merely a prefered embodiment of the invention, practical range not for the purpose of limiting the invention；If not departing from this
The spirit and scope of invention, modify or equivalently replace the present invention, and should all cover the protection in the claims in the present invention
In range.
Claims (7)
1. a kind of crane fine motion control device, which is characterized in that including sling upper rack and be arranged on four side of sling upper rack
Inching gear, wherein
The inching gear includes fixed frame, support wheel, pulley bracket, pulley and driving mechanism, opens up water on the fixed frame
Smooth slot, the support wheel are arranged in the sliding slot, and the support wheel and the pulley bracket are rotatablely connected, the driving machine
Structure is arranged on the fixed frame, drives the pulley bracket to move horizontally using the driving mechanism, the pulley passes through cunning
Wheel shaft is spindle rotationally arranged on the pulley bracket.
2. a kind of crane fine motion control device according to claim 1, which is characterized in that the driving mechanism includes stretching
Contracting cylinder, flexible jar support, motor and speed reducer, the telescoping cylinder are fixed on the fixed frame by the flexible jar support,
The output end of the telescoping cylinder is connect with the pulley bracket, drives the telescoping cylinder to transport using the motor and the speed reducer
It is dynamic, move horizontally the pulley bracket.
3. a kind of crane fine motion control device according to claim 2, which is characterized in that it further include absolute encoder,
The absolute encoder is arranged on the speed reducer.
4. a kind of crane fine motion control device according to claim 1, which is characterized in that the inching gear and vertical
Angle between face is more than or equal to 7 °.
5. a kind of crane fine motion control device adjusting method, which is characterized in that when needing to sling upper rack around wherein a side
Center rotation, control the inching gear of the opposite side of the rotation side, by driving mechanism propelling sheave bracket, into
And change the relative position of pulley and sling upper rack.
6. a kind of crane fine motion control device adjusting method, which is characterized in that when needing to sling upper rack around its center
Rotation, while two inching gears of sling upper rack opposite side are controlled, by driving mechanism propelling sheave bracket, and then changes and slide
The relative position of wheel and sling upper rack, and the driving direction of two inching gears is opposite.
7. a kind of crane fine motion control device adjusting method, which is characterized in that when needing to be horizontally moved to sling upper rack,
Control two inching gears of sling upper rack opposite side simultaneously, by driving mechanism propelling sheave bracket, and then change pulley with
The relative position of sling upper rack, and the driving direction of two inching gears is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184889.6A CN109748185A (en) | 2019-03-12 | 2019-03-12 | A kind of crane fine motion control device and adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910184889.6A CN109748185A (en) | 2019-03-12 | 2019-03-12 | A kind of crane fine motion control device and adjusting method |
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| Publication Number | Publication Date |
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| CN109748185A true CN109748185A (en) | 2019-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910184889.6A Pending CN109748185A (en) | 2019-03-12 | 2019-03-12 | A kind of crane fine motion control device and adjusting method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113493161A (en) * | 2021-07-12 | 2021-10-12 | 上海振华重工(集团)股份有限公司 | Method for hoisting container |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR960022235A (en) * | 1994-12-31 | 1996-07-18 | 이해규 | Unmanned automated method of crane and its device |
| CN1810621A (en) * | 2006-02-16 | 2006-08-02 | 上海振华港口机械（集团）股份有限公司 | Centralizing mechanism for upper rack of double 40-feet sling |
| CN102992199A (en) * | 2011-09-15 | 2013-03-27 | 上海振华重工(集团)股份有限公司 | Container crane |
| CN104495647A (en) * | 2014-11-20 | 2015-04-08 | 珠海三一港口机械有限公司 | Sling and crane |
| CN106586829A (en) * | 2016-12-30 | 2017-04-26 | 三海洋重工有限公司 | Lifting appliance rotating and horizontally moving mechanism and container crane |
| CN207738328U (en) * | 2017-09-25 | 2018-08-17 | 湖南中铁五新重工有限公司 | Upper mobile device, sling upper rack and the container crane of sling upper rack |
| CN209651740U (en) * | 2019-03-12 | 2019-11-19 | 润邦卡哥特科工业有限公司 | A kind of crane fine motion control device |
-
2019
- 2019-03-12 CN CN201910184889.6A patent/CN109748185A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR960022235A (en) * | 1994-12-31 | 1996-07-18 | 이해규 | Unmanned automated method of crane and its device |
| CN1810621A (en) * | 2006-02-16 | 2006-08-02 | 上海振华港口机械（集团）股份有限公司 | Centralizing mechanism for upper rack of double 40-feet sling |
| CN102992199A (en) * | 2011-09-15 | 2013-03-27 | 上海振华重工(集团)股份有限公司 | Container crane |
| CN104495647A (en) * | 2014-11-20 | 2015-04-08 | 珠海三一港口机械有限公司 | Sling and crane |
| CN106586829A (en) * | 2016-12-30 | 2017-04-26 | 三海洋重工有限公司 | Lifting appliance rotating and horizontally moving mechanism and container crane |
| CN207738328U (en) * | 2017-09-25 | 2018-08-17 | 湖南中铁五新重工有限公司 | Upper mobile device, sling upper rack and the container crane of sling upper rack |
| CN209651740U (en) * | 2019-03-12 | 2019-11-19 | 润邦卡哥特科工业有限公司 | A kind of crane fine motion control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113493161A (en) * | 2021-07-12 | 2021-10-12 | 上海振华重工(集团)股份有限公司 | Method for hoisting container |
| CN113493161B (en) * | 2021-07-12 | 2023-09-26 | 上海振华重工(集团)股份有限公司 | Method for hoisting container |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20200628 Address after: 55 Russ air rail, Tampere, Finland Applicant after: Cargotec Finland Address before: 215427 Jiangsu Suzhou Taicang city Taicang port economic and Technological Development Zone Applicant before: RAINBOW-CARGOTEC INDUSTRIES Co.,Ltd. |
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Effective date of registration: 20220916 Address after: Dangqiankou, Port Area, Taicang Port Economic and Technological Development Zone, Suzhou City, Jiangsu Province Applicant after: Jiangsu Runbang Industrial Equipment Co.,Ltd. Address before: 55 Russ air rail, Tampere, Finland Applicant before: Cargotec Finland |
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Application publication date: 20190514 |
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