阅读说明：本技术 一种起吊集装箱的方法 (Method for hoisting container ) 是由 张明海 周筱川 吕军福 于 2021-07-12 设计创作，主要内容包括：本发明提供一种起吊集装箱的方法,包括如下步骤：步骤S1,将上架移动至集装箱上端；步骤S2,判断所述上架与所述集装箱位置误差,根据所述位置误差调节所述上架微动,且所述上架微动包括沿着左右方向微动；步骤S3,升降所述上架完成对所述集装箱的夹持。根据本发明实施例的起吊集装箱的方法,通过对上架的微动控制,实现对集装箱的夹持,且该方法简单,控制结构轻巧。(The invention provides a method for hoisting a container, which comprises the following steps: step S1, moving the upper rack to the upper end of the container; step S2, judging the position error between the upper rack and the container, and adjusting the upper rack micro-motion according to the position error, wherein the upper rack micro-motion comprises micro-motion along the left-right direction; and step S3, lifting the upper frame to complete clamping of the container. According to the method for hoisting the container, the container is clamped by micro-motion control of the upper frame, and the method is simple and has a light control structure.)

1. A method of lifting a container, comprising the steps of:

step S1, moving the upper rack to the upper end of the container;

step S2, judging the position error between the upper rack and the container, and adjusting the upper rack micro-motion according to the position error, wherein the upper rack micro-motion comprises micro-motion along the left-right direction;

and step S3, lifting the upper frame to complete clamping of the container.

2. A method of lifting a container as claimed in claim 1, wherein said racking motion in said left and right direction is specifically:

the micro trolley moves along a track arranged in the direction vertical to the axis of the winding drum, and when the micro trolley moves towards the first winding drum, a third steel wire rope and a fourth steel wire rope drive the upper frame to move towards the first winding drum under the traction of the micro trolley;

or when the micro trolley moves towards the second winding drum, the first steel wire rope and the second steel wire rope drive the upper frame to move towards the second winding drum under the traction of the micro trolley.

3. A method of lifting a container as claimed in claim 1, wherein said racking jogging of step S2 further comprises a fore-aft tilt jogging.

4. A method for lifting containers as claimed in claim 3 wherein said forward and backward tilting jogging of said upper frame along said longitudinal axis is embodied by:

when the first movable pulley frame and the second movable pulley frame move towards the first fixed pulley and the third fixed pulley, the upper frame moves obliquely towards the second fixed pulley and the fourth fixed pulley;

or when the first movable pulley yoke and the second movable pulley yoke move towards the second fixed pulley and the fourth fixed pulley, the upper frame moves obliquely towards the first fixed pulley and the third fixed pulley.

5. The method for lifting a container as claimed in claim 3, wherein said racking micro-motion of step S2 further comprises said racking rotational micro-motion.

6. The method for lifting containers as claimed in claim 5, wherein the micro-motion of the rotation of the upper frame is specifically:

when the first movable pulley yoke moves towards the first fixed pulley and the second movable pulley yoke moves towards the fourth fixed pulley,

or when the first movable pulley frame moves towards the second fixed pulley and the second movable pulley frame moves towards the third fixed pulley, the upper frame is driven to rotate and slightly move.

7. The method for lifting a container as claimed in claim 5, wherein said racking micro motion of step S2 further comprises said racking tilt micro motion.

8. The method for lifting containers as claimed in claim 7, wherein the fine movement of the left and right tilting of the upper frame is as follows:

when the wire rope wound on the first reel is elongated and the wire rope wound on the second reel is shortened,

or when the steel wire rope wound on the first winding drum is shortened and the steel wire rope wound on the second winding drum is extended, the upper frame is driven to slightly move leftwards and rightwards in an inclined mode.

9. The method for lifting a container according to claim 1, wherein said step S3, lifting said upper frame to complete the clamping of said container, comprises:

step S31, the first winding drum and the second winding drum rotate in the same direction and drive the upper frame to descend to the top end of the container through a steel wire rope;

and S32, clamping the container by the upper frame, and driving the upper frame to ascend through a steel wire rope by the first winding drum and the second winding drum rotating in the same direction to finish the hoisting operation.

10. A method of lifting a container as claimed in claim 1, wherein in step S3, the clamping of the container is accomplished by a claw attached to the bottom of the upper frame.

Technical Field

The invention relates to the technical field of port machinery, in particular to a method for lifting a container.

Background

When the single-drum eight-rope winding system is applied to crane equipment, due to the reasons of single multiplying power, thicker steel wire rope, larger drum diameter and the like, the selection of a series of driving mechanisms such as a lifting motor, a reduction gearbox and the like is increased, and the dead weight of the whole machine is increased; in addition, the single-drum eight-rope winding system only realizes the left-right tilting function of the container through one drum.

The double-drum eight-rope winding system can realize the micro-motion control of the upper frame or the lifting claw, and for this purpose, a support plate of the upper frame is generally flexibly connected with the lifting claw, and a micro-motion driving device is arranged between the support plate and the lifting claw. Although this method is simple to control and can perform the desired function, it adds weight to the upper frame and the replacement of the lifting claws is more cumbersome.

Disclosure of Invention

In view of the above, the present invention provides a method for lifting a container, which is simple and has a light control structure, and the container is clamped by micro-motion control of an upper frame.

In order to achieve the purpose, the invention adopts the following technical scheme:

a method of lifting a container according to an embodiment of the invention comprises the steps of:

step S1, moving the upper rack to the upper end of the container;

step S2, judging the position error between the upper rack and the container, and adjusting the upper rack micro-motion according to the position error, wherein the upper rack micro-motion comprises micro-motion along the left-right direction;

and step S3, lifting the upper frame to complete clamping of the container.

Further, the fine movement of the upper frame along the left-right direction is specifically as follows:

the micro trolley moves along a track arranged in the direction vertical to the axis of the winding drum, and when the micro trolley moves towards the first winding drum, a third steel wire rope and a fourth steel wire rope drive the upper frame to move towards the first winding drum under the traction of the micro trolley;

or when the micro trolley moves towards the second winding drum, the first steel wire rope and the second steel wire rope drive the upper frame to move towards the second winding drum under the traction of the micro trolley.

Further, the racking jogging in the step S2 further includes a forward and backward tilting jogging.

Furthermore, the fine motion of the upper frame along the front-back inclination is specifically as follows:

when the first movable pulley frame and the second movable pulley frame move towards the first fixed pulley and the third fixed pulley, the upper frame moves obliquely towards the second fixed pulley and the fourth fixed pulley;

or when the first movable pulley yoke and the second movable pulley yoke move towards the second fixed pulley and the fourth fixed pulley, the upper frame moves obliquely towards the first fixed pulley and the third fixed pulley.

Further, the racking micro-motion in the step S2 further includes the racking rotation micro-motion.

Furthermore, the upper frame rotation micro-motion is specifically as follows:

when the first movable pulley yoke moves towards the first fixed pulley and the second movable pulley yoke moves towards the fourth fixed pulley,

or when the first movable pulley frame moves towards the second fixed pulley and the second movable pulley frame moves towards the third fixed pulley, the upper frame is driven to rotate and slightly move.

Further, the racking micro-motion in the step S2 further includes a racking left-right tilting micro-motion.

Furthermore, the left-right tilting micro-motion of the upper frame is specifically as follows:

when the wire rope wound on the first reel is elongated and the wire rope wound on the second reel is shortened,

or when the steel wire rope wound on the first winding drum is shortened and the steel wire rope wound on the second winding drum is extended, the upper frame is driven to slightly move leftwards and rightwards in an inclined mode.

Further, in the step S3, the lifting the upper rack to complete the clamping of the container specifically includes:

step S31, the first winding drum and the second winding drum rotate in the same direction and drive the upper frame to descend to the top end of the container through a steel wire rope;

and S32, clamping the container by the upper frame, and driving the upper frame to ascend through a steel wire rope by the first winding drum and the second winding drum rotating in the same direction to finish the hoisting operation.

Further, in step S3, the container is clamped by the claws attached to the bottom of the upper frame.

The technical scheme of the invention at least has one of the following beneficial effects:

according to the method for hoisting the container, the container is clamped by micro-motion control of the upper frame, and the method is simple and has a light control structure.

Drawings

FIG. 1 is a flow chart of a method of lifting a container according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a hoisting device according to an embodiment of the present invention;

fig. 3 is a partial structural schematic view of a hoisting device according to an embodiment of the present invention.

Reference numerals: a first reel 1; a second reel 2; a jiggle trolley 3; a first track 4; a second track 5; a first fixed sheave 6; a second fixed sheave 7; a third fixed sheave 8; a fourth fixed sheave 9; a first movable sheave frame 10; a second movable sheave bracket 11; a first movable sheave 12; a second movable pulley 13; a third movable sheave 14; a fourth movable sheave 15; a first wire rope 16; a second wire rope 17; a third wire rope 18; a fourth wire rope 19; a fifth wire rope 20; a sixth wire rope 21; a seventh wire rope 22; an eighth wire rope 23; a support plate 24; and a hanging claw 25.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

A method of lifting a container according to an embodiment of the present invention will be described first in detail with reference to the accompanying drawings.

As shown in fig. 1 to 3, a method of lifting a container according to an embodiment of the present invention includes the steps of:

step S1, moving the upper rack to the upper end of the container;

step S2, judging the position error of the upper frame and the container, adjusting the micro-motion of the upper frame according to the position error, wherein the micro-motion of the upper frame comprises micro-motion along the left-right direction;

and step S3, lifting the upper rack to complete clamping the container.

The large-scale hoisting device is often in a situation that the position of the large-scale hoisting device deviates from the goods in the hoisting process, so that the goods cannot be hoisted, and the position of the hoisting device is relatively troublesome to adjust, as shown in fig. 2, the invention also provides the hoisting device which comprises an upper frame, and the container can be clamped at the bottom end of the upper frame. When the container needs to be lifted, the lifting device can be moved to the upper end of the container to be lifted by a crane, for example, and the upper frame is also positioned at the upper end of the container; then, by judging the position error of the upper frame and the container, such as the error in the left-right direction on the horizontal plane, the micro-motion of the upper frame along the left-right direction is adjusted at the moment, so that the zero error between the upper frame and the container in the left-right direction on the horizontal plane is ensured; and finally, clamping the container by lifting the upper frame. The method for hoisting the container realizes the clamping of the container through the micro-motion control of the upper frame, and the method is simple, the hoisting device is light and handy, and the control of operators is convenient.

The hoisting device provided by the embodiment of the invention further comprises a first winding drum 11, a second winding drum 2, a track, a micro trolley 3, a first group of steel wire ropes and a second group of steel wire ropes.

Wherein, first reel 1, second reel 2 parallel fixation are in hoisting accessory's frame, and first reel 1, second reel 2 are in same horizontal plane.

The track comprises a first track 4 and a second track 5, the first track 4 and the second track 5 are arranged between the first winding drum 1 and the second winding drum 2, and the first track 4 and the second track 5 are arranged in parallel along the vertical direction of the axis of the winding drum; the micro-motion trolley 3 is positioned on the track.

The upper frame comprises a body, a first fixed pulley 6, a second fixed pulley 7, a third fixed pulley 8, a fourth fixed pulley 9, a first movable pulley frame 10 and a second movable pulley frame 11. The body is positioned below the first winding drum 1 and the second winding drum 2 and used for buckling the container, and the four fixed pulleys are respectively fixed at the four corners of the body; the first fixed pulley 6 and the second fixed pulley 7 are fixed on one side of the body corresponding to the first winding drum 1, the third fixed pulley 8 and the fourth fixed pulley 9 are fixed on one side of the body corresponding to the second winding drum 2, the first fixed pulley 6 and the third fixed pulley 8 are positioned on the same side with the first rail 4, and the second fixed pulley 7 and the fourth fixed pulley 9 are positioned on the same side with the second rail 5; first activity pulley yoke 10 includes first movable pulley 12, second movable pulley 13, second activity pulley yoke 11 includes third movable pulley 14, fourth movable pulley 15, first activity pulley yoke 10, second activity pulley yoke 11 movably sets up in the both sides that correspond to first reel 1, second reel 2 of body respectively, first movable pulley 12, second movable pulley 13, third movable pulley 14, the position of fourth movable pulley 15 corresponds to first fixed pulley 6 respectively, second fixed pulley 7, third fixed pulley 8, fourth fixed pulley 9.

The first group of steel wire ropes comprises a first steel wire rope 16, a second steel wire rope 17, a third steel wire rope 18 and a fourth steel wire rope 19, one ends of the first steel wire rope 16 and the second steel wire rope 17 are wound at the positions, corresponding to the first fixed pulley 6 and the second fixed pulley 7, of the first winding drum 1, the other ends of the first steel wire rope 16 and the second steel wire rope 17 are vertically led out downwards and respectively surround the first fixed pulley 6 and the second fixed pulley 7, and are led out upwards and connected to the jiggle trolley 3, one ends of the third steel wire rope 18 and the fourth steel wire rope 19 are wound at the positions, corresponding to the third fixed pulley 8 and the fourth fixed pulley 9, of the second winding drum 2, and the other ends of the third steel wire rope 18 and the fourth steel wire rope are vertically led out downwards and respectively surround the third fixed pulley 8 and the fourth fixed pulley 9, and are led out upwards and connected to the jiggle trolley 3; the second group of steel wire ropes comprises a fifth steel wire rope 20, a sixth steel wire rope 21, a seventh steel wire rope 22 and an eighth steel wire rope 23, wherein one end of the fifth steel wire rope 20 and one end of the sixth steel wire rope 21 are wound at the positions, corresponding to the first movable pulley 12 and the second movable pulley 13, of the first reel 1, the other end of the fifth steel wire rope 20 and the other end of the sixth steel wire rope 21 are vertically led out downwards and respectively surround the first movable pulley 12 and the second movable pulley 13, and are led out upwards and connected to the rack, one end of the seventh steel wire rope 22 and one end of the eighth steel wire rope 23 are wound at the positions, corresponding to the third movable pulley 14 and the fourth movable pulley 15, of the second reel 2, and the other end of the seventh steel wire rope 22 and one end of the eighth steel wire rope 23 are vertically led out downwards and respectively surround the third movable pulley 14 and the fourth movable pulley 15, and are led out upwards and connected to the rack.

Further, the fine motion of the upper frame along the left-right direction is specifically as follows:

the jiggle trolley 3 moves along a track which is arranged in the direction vertical to the axis of the winding drum, and when the jiggle trolley 3 moves towards the first winding drum 1, the third steel wire rope 18 and the fourth steel wire rope 19 drive the upper frame to move towards the first winding drum 1 under the traction of the jiggle trolley 3; or when the jiggle trolley 3 moves towards the second winding drum 2, the first steel wire rope 16 and the second steel wire rope 17 drive the upper frame to move towards the second winding drum 2 under the traction of the jiggle trolley 3. This enables fine control in the left-right direction of the upper frame.

Further, the racking fine motion in step S2 further includes a forward and backward tilting fine motion, and when there is a position error between the racking and the container in the forward and backward directions, the tilting fine motion control of the racking in the forward and backward directions can be realized, further increasing the functionality of the racking fine motion control.

Furthermore, the fine motion of the upper frame along the front-back inclination is specifically as follows:

the first movable pulley frame 10 and the second movable pulley frame 11 can move along the direction of the winding drum relative to the upper frame, when the first movable pulley frame 10 and the second movable pulley frame 11 move in the same direction, for example, when the first movable pulley frame 10 and the second movable pulley frame 11 move towards the first fixed pulley 6 and the third fixed pulley 8, the gravity center shifts towards the direction, and the upper frame moves obliquely towards the second fixed pulley 7 and the fourth fixed pulley 9; or, when the first movable pulley frame 10 and the second movable pulley frame 11 move towards the second fixed pulley 7 and the fourth fixed pulley 9, the center of gravity shifts towards the direction, and the upper frame is driven to move towards the moving direction of the first fixed pulley 6 and the third fixed pulley 8. Thus, the fine motion control of the upper frame in the front-rear direction is realized.

Further, the upper rack fine movement in step S2 further includes an upper rack rotational fine movement.

Furthermore, the upper frame rotation micro-motion is specifically as follows:

when the first movable pulley frame 10 and the second movable pulley frame 11 move in opposite directions, the first movable pulley frame 10 moves towards the first fixed pulley 6, and the second movable pulley frame 11 moves towards the fourth fixed pulley 9, or when the first movable pulley frame 10 moves towards the second fixed pulley 7 and the second movable pulley frame moves towards the third fixed pulley 8, the upper frame is driven to rotate and slightly move. Thereby, the rotation micro-motion of the upper frame is realized.

Further, the upper rack fine movement in step S2 further includes an upper rack left and right tilt fine movement. When the upper frame and the container have certain angle deviation, the upper frame can be subjected to left-right inclination micro-motion adjustment, so that the functionality of upper frame micro-motion control is further improved.

Furthermore, the left-right tilting micro-motion of the upper frame is as follows:

the first reel 1 and the second reel 2 are controlled by the driving device to rotate, when the steel wire rope wound on the first reel 1 extends and the steel wire rope wound on the second reel 2 shortens,

or when the steel wire rope wound on the first winding drum 1 is shortened and the steel wire rope wound on the second winding drum 2 is extended, the upper frame is driven to incline and slightly move, so that the left-right inclining micro-motion control of the upper frame is realized.

Further, in step S3, the step of lifting the upper rack to complete the clamping of the container specifically includes:

step S31, the first reel 1 and the second reel 2 rotate in the same direction and drive the upper frame to descend to the top end of the container through the steel wire rope;

and step S32, clamping the container on the upper frame, and driving the upper frame to ascend through the steel wire rope by the first winding drum 1 and the second winding drum 2 rotating in the same direction to finish the hoisting operation.

Further, in step S3, the clamping of the container is completed by the claws 25 attached to the bottom of the upper frame. As shown in fig. 2, the body includes a support plate 24, a hanging claw 25. The four fixed pulleys and the two movable pulley carriages are arranged on the supporting plate 24; the hanging claws 25 are attached to the bottom of the support plate 24. Stability when clamping the container can be ensured by providing the lifting claws 25.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.