CN106957009B - A kind of electrical differential ship unloaders position detecting device - Google Patents

Abstract

The invention discloses a position detection device for an electric differential ship unloader, which includes an encoder, a transfer case, a shaft coupling, a differential detection gear box, a servo motor, a casing, a combined base and a servo driver; the encoder The transfer case, differential detection gear box, and servo motor are connected in sequence through the coupling, the control end of the servo motor is connected with the output end of the servo drive, and the input end of the servo drive is connected with the lifting reel in the electric differential ship unloader The encoder of the electric differential ship unloader of the present invention not only has the basic function of the differential detection device, including the basic function of detecting the lifting height, but also has a servo motor and a driver to follow the lifting drum in real time. Rotational speed changes; the electric differential ship unloader position detection device of the present invention has a simple structure, and the position can be arranged arbitrarily, which can greatly reduce the weight of the ship unloader mechanism, improve the loading and unloading efficiency of the ship unloader, and also improve the economic benefits of the ship unloader .

Description

An electric differential ship unloader position detection device

technical field

The invention relates to the technical field of ship unloaders, in particular to an electric differential ship unloader position detection device.

Background technique

The ship unloader is an important port machinery used to load and unload bulk cargo in the port. It is widely used in port loading and unloading operations, especially in the field of bulk bulk cargo operations, such as coal loading and unloading, ore loading and unloading, etc.; due to the operating conditions of the ship unloader It is relatively complicated and limited by technical conditions in the past. The development of ship unloader technology has gone through several stages of self-propelled trolley ship unloader, main and auxiliary trolley ship unloader, gear differential ship unloader and electric differential ship unloader. Among them, the self-propelled trolley ship unloader is heavy in weight, requires a lot of wheel pressure at the wharf, and is very expensive. Later, it was gradually replaced by the main and auxiliary trolley ship unloader. This kind of ship unloader uses the main trolley and grab Carry out unloading operations, and the auxiliary trolley is used to compensate the change in the wire rope of the main trolley during the lifting operation, so as to realize the lifting of the grab by means of wire rope traction, so that the lifting mechanism can be set in the machine room on the land side Inside, there is no need for the hoisting mechanism of the self-propelled ship unloader to move with the trolley, thereby reducing the weight of the active load and reducing the weight of the whole machine; but the rope winding method of the main and auxiliary trolley ship unloader is complicated, and the wire rope The force is large, and the structure of the ship unloader is relatively cumbersome. At the end of the last century, a differential four-drum grab ship unloader was invented in China, and the simple wire rope winding method successfully solved the problem of the main and auxiliary trolley ship unloaders. , thereby replacing the main and auxiliary trolley ship unloaders at once. So far, this gear differential four-drum grab ship unloader is the most used on the wharf. The so-called gear differential is a pair of special planetary differentials The gear box is used to combine the horizontal movement of the trolley and the lifting movement of the grab on this gear box, thus realizing the compound movement of the trolley and the grab and greatly improving the loading and unloading efficiency of the ship unloader; at the beginning of this century, With the development of electronic control technology, the control mode of electric differential ship unloader has appeared. The basic idea is to precisely control the four drums through electric frequency conversion control, so as to realize the compound movement of trolley movement and grab lifting. In this way, a special planetary differential gearbox is not required for motion synthesis, and only an ordinary gearbox is needed to achieve compound motion. The difficulty at this time is that there is no precise motion transmission of the planetary differential gearbox, and only by electrical control The biggest problem is that when the trolley and the grab are running at the same time, the rotation speed and direction of the four reels are different, which will cause the electronic control encoder to only record the rotation speed and the number of turns of the reel and cannot calculate The height of the lift cannot be accurately controlled when the time comes.

Contents of the invention

The object of the present invention is to provide a position detection device for an electric differential ship unloader with simple structure, convenient use and high reliability.

The technical solution that realizes the object of the present invention is:

A position detection device for an electric differential ship unloader, characterized in that it includes an encoder, a transfer case, a shaft coupling, a differential detection gear box, a servo motor, a case, a combined base and a servo driver; the case An encoder, a transfer case, a shaft coupling, a differential detection gearbox and a servo motor are arranged inside, and the cover is arranged on the joint base; the main shaft of the encoder is connected with the output shaft of the transfer case through the shaft coupling The input shaft of the transfer case is connected with the output shaft of the differential detection gearbox through a coupling, and the input shaft of the differential detection gearbox is connected with the output shaft of the servo motor through a coupling; the control of the servo motor The terminal is connected with the output terminal of the servo driver, and the input terminal of the servo driver is connected with the encoder of the lifting reel in the electric differential ship unloader.

Preferably, the differential detection gearbox includes a case body, a first input shaft, a second input shaft, an output shaft, a planetary reducer and a speed reducer; one end of the case body is provided with the first input shaft and the second input shaft The other end of the box is provided with an output shaft, and the inside of the box is provided with a planetary reducer and a reducer; one end of the first input shaft is connected to the input end of the planetary reducer, and the output end of the planetary reducer is connected to the One end of the output shaft is connected, the other end of the output shaft is connected with the input shaft of the transfer case through a coupling, and the other end of the first input shaft is connected with the output end of a servo motor through a coupling; the second One end of the second input shaft is connected to the input end of the reducer, the output end of the reducer is connected to the planetary reducer through a gear pair, and the other end of the second input shaft is connected to the output end of another servo motor through a coupling .

Preferably, the output end of the encoder is further connected with the control system of the ship unloader.

Preferably, lifting lugs are provided at the four end corners of the joint base.

Compared with the prior art, the present invention has significant advantages:

(1) The electric differential ship unloader position detection device of the present invention can detect the lifting height of the ship unloader in real time through the differential detection gear box, and can move the trolley horizontally and catch the ship when unloading the ship from the ship unloader. During the bucket lifting compound movement, the lifting height position of the grab bucket is accurately calculated, and the precise transmission relationship of the gearbox is used to detect the change in the lifting height position, and the encoder transmits it to the PLC control system of the ship unloader. Realize the position control of the ship unloader.

(2) The position detection device of the electric differential ship unloader of the present invention is equipped with two sets of servo motors and drivers, which follow the changes in the rotational speed of the two lifting drums of the ship unloader in real time, and adjust the speed of the two lifting drums of the ship unloader to The information of the rotational speed and the number of rotations is received by the encoder in real time, and the driver drives the servo motor to rotate according to the rotational speed of the drum, so that the input rotational speed of the differential detection device is synchronized with the rotational speed of the lifting drum of the ship unloader.

(3) The two input shafts of the differential detection gearbox in the position detection device of the electric differential ship unloader of the present invention are respectively driven by two servo motors, instead of the original chain drive input. Therefore, the electric differential unloader of the present invention The position detection device of the marine machine is limited by the installation position and can be arranged at any position. It only needs to connect the encoder signal of the lifting drum to the servo drive.

(4) The position detection device of the electric differential ship unloader of the present invention has a simple structure and can be flexibly arranged at any position in the machine room, has great flexibility, can greatly reduce the weight of the ship unloader mechanism, and greatly improves the loading and unloading efficiency of the ship unloader , At the same time, it also improves the economic benefits of the ship unloader.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a structural schematic diagram of the position detection device of the electric differential ship unloader of the present invention.

Fig. 2 is a schematic structural diagram of the differential detection gear box in the position detection device of the electric differential ship unloader of the present invention.

Detailed ways

Example 1:

As shown in Figure 1 and Figure 2, an electric differential ship unloader position detection device includes an encoder 1, a transfer case 2, a shaft coupling 3, a differential detection gearbox 4, two servo motors 5, a cover Shell 6, combined base 7 and two servo drives; said housing 6 is provided with encoder 1, transfer case 2, shaft coupling 3, differential detection gear box 4 and two servo motors 5, said housing The shell 6 is arranged on the joint base 7, and the four end corners of the joint base 7 are provided with lifting lugs, which can be easily hoisted to any position in the machine room of the ship unloader as a whole; the main shaft of the encoder 1 passes through the joint The shaft device 3 is connected with the output shaft of the transfer case 2, and the input shaft of the transfer case 2 is connected with the output shaft 11 of the differential detection gearbox 4 through the coupling 3, and the differential detection gearbox 4 includes a box Body 8, first input shaft 9, second input shaft 10, output shaft 11, planetary reducer 12 and reducer 13; one end of the box body 8 is provided with the first input shaft 9 and the second input shaft 10, the box The other end of the body 8 is provided with an output shaft 11, and the inside of the box body 8 is provided with a planetary reducer 12 and a reducer 13; one end of the first input shaft 9 is connected to the input end of the planetary reducer 12, and the planetary reducer The output end of 12 is connected with one end of the output shaft 11, the other end of the output shaft 11 is connected with the input shaft of the transfer case 2 through the coupling 3, and the other end of the first input shaft 9 is connected with a shaft coupling 3 The output end of the servo motor is connected, and the input end of a servo motor is connected with the encoder of the lifting reel in the electric differential ship unloader; one end of the second input shaft 10 is connected with the input end of the reducer 13 , the output end of the reducer 13 is connected with the planetary reducer 12 through the gear pair, the other end of the second input shaft 10 is connected with the output end of another servo motor through the coupling 3, and the input end of the other servo motor is connected with the The encoder of another lifting drum in the electric differential ship unloader is connected; the output end of the encoder 1 is further connected with the control system of the ship unloader.

The two servo drivers are connected with the output signal of the lifting drum encoder with a cable, and follow the changes in the speed of the two lifting drums of the ship unloader in real time, and the servo driver drives the servo motor to rotate according to the speed of the drum to realize the position The input speed of the detection device is synchronized with the speed of the lifting drum of the ship unloader; the two servo motors follow the speed of the ship unloader drum in real time, and input the two speeds to the two gear boxes of the differential detection gear box through the coupling. The differential detection gearbox has two input shafts, one output shaft, one input shaft is connected to the planetary reducer, the other input shaft is connected to the reducer, and the other end of the reducer is connected to the planetary reducer through a pair of gear pairs. The planetary carrier is connected, so that the two input speeds are synthesized by the planetary reducer, and output from the output shaft at the other end. After the signal of the input speed is superimposed by the planetary reducer, it is synthesized into a speed signal, that is, the differential detection gear The box synthesizes the two rotating speeds that follow the reel in real time, and then outputs the rotating speed from the output shaft at the other end. The output rotating speed is the speed change of the lifting height of the ship unloader, so that the lifting height of the ship unloader can be calculated in real time. height; therefore, the differential detection gearbox can detect the lifting height of the ship unloader in real time, and can accurately calculate the horizontal movement of the trolley and the lifting of the grab when unloading the ship. The lifting height position of the grab uses the precise transmission relationship of the gearbox to detect the change in the lifting height position, and transmits it to the PLC control system of the ship unloader through the encoder to realize the detection of the electric differential ship unloader and control. The speed and distance of the trolley can be calculated by superimposing the output encoder signal of the differential detection gearbox and one of the encoder signals of the lifting drum.

The position detection device of the electric differential ship unloader of the present invention adopts the installation method of the joint base, and is equipped with lifting lugs, which can be conveniently hoisted to any position in the machine room of the ship unloader as a whole, and then use the cable to lift the drum encoder The signal is connected to the drivers of two servo motors for control, and the encoder signal at the output end is connected to the PLC control system of the ship unloader, so that the detection and control of the electric differential ship unloader can be realized.

In summary, the electric differential ship unloader position detection device of the present invention not only has the basic functions of a differential detection device, including the basic function of detecting the lifting height, but also has a servo motor and a driver to follow the rotation speed of the lifting drum in real time change, and the electric differential ship unloader position detection device of the present invention is simple in structure, and the position can be arranged arbitrarily. It can be flexibly arranged at any position in the machine room, has great flexibility, can greatly reduce the weight of the ship unloader mechanism, greatly improves the loading and unloading efficiency of the ship unloader, and also improves the economic benefits of the ship unloader.

Claims (3)

1. a kind of electrical differential ship unloaders position detecting device, which is characterized in that including encoder（1）, transfer case（2）, shaft coupling （3）, differential detection gear-box（4）, two servo motors（5）, case（6）, combined footing（7）With two servo-drivers；Institute State case（6）Inside it is provided with encoder（1）, transfer case（2）, shaft coupling（3）, differential detection gear-box（4）With two servo electricity Machine（5）, the case（6）It is arranged in combined footing（7）On；The encoder（1）Main shaft pass through shaft coupling（3）With transfer case （2）Output shaft be connected, transfer case（2）Input shaft pass through shaft coupling（3）With differential detection gear-box（4）Output shaft phase Connection, differential detection gear-box（4）Input shaft pass through shaft coupling（3）Respectively with two servo motors（5）Output shaft be connected It connects；Two servo motors（5）Control terminal be connected respectively with the output end of two servo-drivers, two servo-drivers Input terminal is connected with the encoder of hoisting drum in electrical differential ship unloaders；The differential detection gear-box（4）Including babinet （8）, the first input shaft（9）, the second input shaft（10）, output shaft（11）, planetary reduction gear（12）And retarder（13）；The case Body（8）One end be provided with the first input shaft（9）With the second input shaft（10）, babinet（8）The other end be provided with output shaft （11）, babinet（8）Be internally provided with planetary reduction gear（12）And retarder（13）；First input shaft（9）One end with Planetary reduction gear（12）Input terminal be connected, planetary reduction gear（12）Output end and output shaft（11）One end be connected, Output shaft（11）The other end pass through shaft coupling（3）With transfer case（2）Input shaft be connected, the first input shaft（9）It is another End passes through shaft coupling（3）It is connected with the output end of a servo motor；Second input shaft（10）One end and retarder （13）Input terminal be connected, retarder（13）Output end pass through gear pair and planetary reduction gear（12）It is connected, second is defeated Enter axis（10）The other end pass through shaft coupling（3）It is connected with the output end of another servo motor.

2. electrical differential ship unloaders position detecting device according to claim 1, which is characterized in that the encoder（1）'s Output end is further connected with ship unloaders control system.

3. electrical differential ship unloaders position detecting device according to claim 1, which is characterized in that the combined footing（7） Four end angle at be both provided with lifting lug.