CN106495027A - Lifting, unloading goods method, system and loop wheel machine platform are compensated automatically with wave - Google Patents
Lifting, unloading goods method, system and loop wheel machine platform are compensated automatically with wave Download PDFInfo
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- CN106495027A CN106495027A CN201611227630.8A CN201611227630A CN106495027A CN 106495027 A CN106495027 A CN 106495027A CN 201611227630 A CN201611227630 A CN 201611227630A CN 106495027 A CN106495027 A CN 106495027A
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- ship
- goods
- speed
- deck
- hoist cable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
Abstract
The invention provides one kind compensates lifting, unloading goods method, system and loop wheel machine platform automatically with wave, therein compensate automatically lifting cargo method with wave, including：The heave displacement of detection ship, and load the height H0 of deck peak during ship heave of goods；Detection ship ramp-up cycle Tx corresponding with propradation and Td decline cycle corresponding with state is declined, and the heave velocity V0 of ship；When ship is in ramp-up cycle Tx or Td decline cycle, control hoist cable drives the goods on deck to sling with First Speed V1 makes the height of goods bottom surface meet or exceed height H0, wherein the heave velocity V0 of First Speed V1 >=ship.Provided in an embodiment of the present invention compensate automatically lifting, unloading goods method, system and loop wheel machine platform with wave, ensure that goods is not collided with deck in lifting, uninstall process, it is ensured that the safety of goods and deck when loading, unloading goods is hung.
Description
Technical field
The present invention relates to hanging device technical field, specifically, is compensated lifting, unloading goods method, is automatically with wave
System and loop wheel machine platform, can be used for offshore wind turbine.
Background technology
When at sea carrying out lifting operation, as marine stormy waves is larger, the deck of ship is caused upper lower with wave
Volt is larger, causes goods collide with deck during lifting by steel wire rope, so can give when lifting operation
Job platform or goods bring damage.
Content of the invention
Embodiments in accordance with the present invention provide one kind and compensate automatically lifting, unloading goods method, system with wave and hang
Machine platform, solve goods from ship lift by crane or under fall at ship deck when both mutually collide, cause goods and ship deck
The problem of damage.
According to an aspect of the invention, there is provided one kind compensates lifting cargo method automatically with wave, including
The heave displacement of detection ship, and load the height H0 of deck peak during ship heave of goods；
Detection ship ramp-up cycle Tx corresponding with propradation and corresponding with state is declined Td decline cycle, Yi Jichuan
The heave velocity V0 of oceangoing ship；
When ship is in ramp-up cycle Tx or Td decline cycle, control hoist cable and the goods on deck is driven with First Speed
V1 slings makes the height of goods bottom surface meet or exceed height H0, wherein the heave velocity V0 of First Speed V1 >=ship.
Selectively, when the height of goods bottom surface meets or exceeds height H0, control hoist cable is by goods with second speed
V2 slings.
Selectively, 0≤second speed V2 ＜ First Speed V1.
Selectively, lifting cargo method is compensated automatically with wave, also include
When control hoist cable drives the goods on deck to sling with First Speed V1, the pulling force N of the hoist cable is detected, works as pulling force
When N is more than predetermined threshold value N0, control hoist cable release goods.
Provided in an embodiment of the present invention compensate automatically lifting cargo method with wave, ensure that goods during lifting
Do not collide with deck, it is ensured that the safety of goods and deck when goods is lifted.
According to another aspect of the present invention, there is provided a kind of compensate automatically unloading goods method with wave, including
The heave displacement of detection ship, and the height H0 of the deck of ship peak during ship heave；
Detection ship ramp-up cycle Tx corresponding with propradation and corresponding with state is declined Td decline cycle, Yi Jichuan
The heave velocity V0 of oceangoing ship；
When control hoist cable drives goods height H0+ △ H to be dropped to third speed V3, judge whether ship is all in declining
Phase Td, wherein △ H are predetermined threshold values, △ H ＞ 0；
If ship is in Td decline cycle, and goods or can declined with fourth speed V4 before terminating decline cycle
Drop at the end of cycle T d on the deck of ship, goods is dropped on the deck of ship by control hoist cable with fourth speed V4,
Otherwise, control hoist cable stops declining, and when ship is in Td decline cycle, then hoist cable is controlled by goods with fourth speed V4 warp
Cross height H0 and drop on the deck of ship；The heave velocity V0 of wherein fourth speed V4 ＞ ships.
Selectively, 0≤third speed V3 ＜ fourth speeds V4.
Selectively, activation signal when detection goods is contacted with deck, according to the activation signal, control hoist cable stops
Only.
Provided in an embodiment of the present invention compensation with wave automatically unloads goods method, ensure that goods in uninstall process
Do not collide with deck, it is ensured that the safety of goods and deck when goods is unloaded.
According to the third aspect of the present invention, there is provided a kind of control system for automatic compensation, including
Inertial Measurement Unit, for detecting heave displacement, the heave velocity V0 of ship, ship and the propradation pair of ship
The ramp-up cycle Tx for answering and the deck of Td decline cycle corresponding with decline state and ship highest during ship heave
The height H0 of point；
Winding plant, stretches for controlling hoist cable；
Controller, for when ship is in ramp-up cycle Tx or Td decline cycle, by control the winding plant come
Control the winding plant come control hoist cable drive deck on goods reach the height of goods bottom surface with First Speed V1 or
Exceed height H0, wherein the heave velocity V0 of First Speed V1 >=ship；
And/or, the controller is additionally operable to control hoist cable by goods with third speed by controlling the winding plant
When V3 drops to height H0+ △ H, ship is judged whether in Td decline cycle, wherein △ H are predetermined threshold values, △ H ＞ 0；If ship
Oceangoing ship in decline cycle Td, and goods can with fourth speed V4 before Td is terminated decline cycle or decline cycle Td terminate
When drop on the deck of ship, drive goods to drop to fourth speed V4 by controlling the winding plant controlling hoist cable
On the deck of ship, otherwise, control hoist cable stops declining, and when ship is in Td decline cycle, then hoist cable is controlled by goods
With fourth speed V4 through height H0 and drop to ship deck on；The heave velocity V0 of wherein fourth speed V4 ＞ ships.
Selectively, when the height of goods bottom surface meets or exceeds height H0, controlled by controlling the winding plant
Goods is sling by hoist cable processed with second speed V2.
Selectively, second speed V2=third speed V3.
Selectively, the Inertial Measurement Unit sends the data to the controller by way of being wirelessly transferred；
And/or, the controller controls the winding plant by way of being wirelessly transferred.
Selectively, the control system for automatic compensation, also includes
Encoder, for receiving the control signal of the controller, and adjusts the elevator dress according to the control signal
The rotating speed that puts.
Selectively, the control system for automatic compensation, also includes
Limit sensors, on the deck, for activation signal and/or goods when detecting that goods is contacted with deck
Separation signal when thing is separated with deck, and it is sent to the controller.
Selectively, the control system for automatic compensation, also includes
Pulling force sensor, is arranged at the hoist cable, for detecting the pulling force signal of the hoist cable, and is sent to the control
Device.
Control system for automatic compensation provided in an embodiment of the present invention, ensure that goods lifting and uninstall process in not with
Collide on deck, it is ensured that the safety of goods and deck in lifting cargo and unloading goods.
According to the fourth aspect of the present invention, there is provided a kind of loop wheel machine platform for cargo handling, including
Above-described control system for automatic compensation；
Loading/unloading platform；
Base, is fixedly mounted on the loading/unloading platform；
Cantilever, on the base, the hoist cable is installed in the pulley on the cantilever.
Selectively, the winding plant is fixedly installed in the cantilever, the base or the loading/unloading platform.
Selectively, the cantilever is arranged on the top of the base by way of being hinged, and on the base
Hydraulically extensible oil cylinder is set, and the telescopic end of the hydraulically extensible oil cylinder is supported on the cantilever.
Selectively, the cantilever can be rotated in the horizontal direction around the base.
Selectively, the base includes that fixed seat and rotary support member, the fixed seat are fixed on the loading/unloading platform,
The rotary support member is rotatably mounted in the fixed seat, and the cantilever is installed on the rotary support member.
Selectively, the loop wheel machine platform for cargo handling, also includes
Yaw motor and yaw gear, the yaw gear on the rotary support member, use by the yaw motor
In the yaw gear is driven, the rotary support member is made to rotate in the fixed seat.
Selectively, the loop wheel machine platform for cargo handling, also includes
Remote control unit, for controlling the winding plant.
Selectively, the loading/unloading platform is offshore wind turbine outer platform.
Loop wheel machine platform for cargo handling provided in an embodiment of the present invention, ensure that goods in lifting and uninstall process
In do not collide with deck, it is ensured that the safety of goods and deck in lifting cargo and unloading goods.
Description of the drawings
The present invention may be better understood below in conjunction with the accompanying drawings in description to the specific embodiment of the present invention, wherein：
The detailed description that referring to the drawings non-limiting example is made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon, and wherein, same or analogous reference represents same or analogous feature.
Fig. 1 is the structural representation for representing the loop wheel machine platform for being used for cargo handling in one embodiment of the invention, shows in figure
Control system for automatic compensation provided in an embodiment of the present invention is gone out；
Fig. 2 is the structural representation for representing the loop wheel machine platform for being used for cargo handling in one embodiment of the invention, shows in figure
Control system for automatic compensation provided in an embodiment of the present invention is gone out.
Wherein：
10th, Inertial Measurement Unit；
20th, winding plant；21st, hoist cable；
30th, controller；
50th, limit sensors；51st, deck；
60th, pulling force sensor；
70th, base；71st, fixed seat；72nd, rotary support member；73rd, yaw motor；74th, yaw gear；
80th, cantilever；81st, pulley；
90th, telescopic oil cylinder；
100th, loading/unloading platform；
200th, tower.
Specific embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, it is proposed that many details, to provide complete understanding of the present invention.But, to those skilled in the art
It will be apparent that the present invention can be implemented in the case of some details in these details are not needed.Below to implementing
The description of example is better understood to the present invention to provide just for the sake of the example by illustrating the present invention.In accompanying drawing and following
Description in, known structure and technology is not shown, unnecessary fuzzy to avoid causing the present invention.Identical in figure
Reference represent same or similar structure, thus their detailed description will be omitted.Additionally, spy described below
Levy, structure or characteristic can be combined in one or more embodiments in any suitable manner.Also, middle appearance described below
The noun of locality be the direction illustrated in figure, be not to the present invention concrete structure be defined.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " installation ",
" being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or integratedly connect
Connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art, may be used
Above-mentioned term concrete meaning in the present invention is understood depending on concrete condition.
Wherein, related term in the present invention：
(1) the heave velocity V0 of ship, refers to the speed of raising and lowering of the ship in heave direction (i.e. vertical direction)
Degree, the heave velocity of ship is in fact the speed for being continually changing size and cyclically varying orientation, it is believed that ship
What the heave velocity V0 of oceangoing ship was represented is in a ramp-up cycle or the average speed value of decline cycle.
(2) the heave displacement of ship, refers to displacement of the ship in heave direction, as the size and frequency of waves of seawater have
There is stability, so ship is in the seawater as the heave of wave also correspondingly has periodic feature, although in signal period
Heave have minute differences, if these minute differences ignored, be in general with determine heave displacement.
(3) offshore wind turbine outer platform, refer to offshore wind turbine tower or pylon outside arrange
Operating platform, the generally platform are arranged outside tower or pylon, form the platform architecture of annular, for sending out to Oversea wind
Motor carries out installing, overhaul and using in handling goods.
In a first aspect, as shown in Figure 1-2, the embodiment of the present invention provides a kind of control system for automatic compensation, surveys including inertia
Amount unit 10, winding plant 20 and controller 30, wherein：
Inertial Measurement Unit 10 is used for heave displacement, the heave velocity V0 of ship, ship and the propradation for detecting ship
The deck 51 of corresponding ramp-up cycle Tx and Td decline cycle corresponding with state is declined and ship is during ship heave
The height H0 of peak；
Winding plant 20 stretches for controlling hoist cable 21；
Controller 30 is used for, when ship is in ramp-up cycle Tx or Td decline cycle, controlling by controlling winding plant 20
Hoist cable processed 21 drives the goods on deck 51 to sling with First Speed V1 makes the height of goods bottom surface meet or exceed height H0, its
The heave velocity V0 of middle First Speed V1 >=ship；Controller 30 is additionally operable to control the general of hoist cable 21 by controlling winding plant 20
When goods drops to height H0+ △ H with third speed V3, whether ship is judged in Td decline cycle, wherein △ H are default thresholds
Value, △ H ＞ 0；If ship in decline cycle Td, and goods can with fourth speed V4 before Td is terminated decline cycle or
Drop at the end of Td decline cycle on the deck of ship, goods is driven with the by controlling winding plant 20 controlling hoist cable 21
Four speed V4 drop on the deck 51 of ship, otherwise, and control hoist cable 21 stops declining, and in ship in Td decline cycle
When, then control hoist cable 21 by goods with fourth speed V4 through height H0 and drop to ship deck on；Wherein fourth speed
The heave velocity V0 of V4 ＞ ships.
Usually, it is believed that ship ramp-up cycle the rate of climb and ship decline cycle decrease speed phase
Deng being all V0；But in fact, ship can be deposited in the decrease speed of the rate of climb with ship in decline cycle of ramp-up cycle
In minute differences, so in operation：
When the ramp-up cycle Tx in ship carries out lifting cargo to be operated, ships of the First Speed V1 more than or equal to ramp-up cycle
The rate of climb of oceangoing ship；
When Td decline cycle in ship carries out lifting cargo to be operated, First Speed V1 is more than or equal to Td's decline cycle
The decrease speed of ship；
When the decline cycle in ship, Td carried out unloading cargo operation, ships of the First Speed V1 more than Td decline cycle
Decrease speed.
Control system for automatic compensation provided in an embodiment of the present invention, ensure that goods lifting and uninstall process in not with
Collide on deck, it is ensured that the safety of goods and deck in lifting cargo and unloading goods.
Specifically, during lifting cargo, by controlling the lifting speed (i.e. First Speed V1) of goods, to be more than ship
The speed lifting of the heave velocity V0 of oceangoing ship, goods is avoided during lifting makes ship because of the quick heave of ship
Deck 51 collides the bottom of goods when ship is in ramp-up cycle Tx, so as to ensure that goods lifts by crane the safety of process；And lead to
The control of controller 30 hoist cable 21 is crossed in goods arrival or the height of the peak during ship heave of deck 51 more than ship
During H0, control hoist cable 21 and lifting is continued (after can also selecting to pause again with a relatively small speed (second speed V2)
Continue lifting).
And during unloading goods, peak during ship heave is dropped to than deck 51 by controlling goods
Stop during the position of the high predetermined threshold value △ H of height H0, when ship is in Td decline cycle, control goods is with more than ship heave speed
The speed (i.e. fourth speed V4) of degree V0 is dropped on deck；In this process, the quick heave of ship can be avoided and make deck
Collide with goods, so as to ensure the safety of goods uninstall process.
After unloading goods is to deck 51, goods and deck is detected by the limit sensors 50 for arranging above deck
Activation signal during 51 contact, and the activation signal is sent to controller 30, after controller 30 receives activation signal, sentence
Supply shortage thing has been placed the action for completing unloading above deck completely, and controller 30 sends control signal and fills to elevator
Put, and then winding plant 20 is controlled by controller 30 and stop.Limit sensors 50 are arranged above deck, can arrange one or
Person is multiple, and especially, size of size, deck according to goods to be unloaded etc. is adjusted, and generally requires and unloads in goods
Where at least one limit sensors 50 are set.
When the height of goods bottom surface meets or exceeds height H0, hoist cable 21 is controlled by goods by controlling winding plant 20
Thing is sling with second speed V2.
Selectively, second speed V2=third speed V3, i.e.,：During lifting, the height of goods bottom surface reaches or surpasses
When crossing height H0, continue the speed (second speed V2) sling and in goods uninstall process, goods drops to height H0+
The decrease speed (third speed V3) of △ H, the two speed are equal, can adopt common lifting or unloading during the two
Speed, can with equal can also be unequal.
Selectively, Inertial Measurement Unit 10 sends the data to controller 30 by way of being wirelessly transferred；At this
During the control system for automatic compensation application that bright embodiment is provided, generally require and phase is acquired respectively to different ships
The data that answers, by the way of being wirelessly transferred the collection of signal can be easier, it is to avoid wired data transfer is in application
During connect up worry；But based on the understanding of those skilled in the art, in some specific occasions, it is also possible to using wired
The mode of transmission.
Selectively, controller 30 controls winding plant 20 by way of being wirelessly transferred, by way of being wirelessly transferred
Control winding plant 20, can be such that controller 30 is not connected with winding plant 20 by the way of wired.Now, controller 30 can
To be placed on ship, the restriction of control mode is no longer influenced by.
Both the above can be used in combination by the way of being wirelessly transferred, and control process and mode is more facilitated.
Selectively, control system for automatic compensation provided in an embodiment of the present invention, also includes
Encoder, for receiving the control signal of controller 30, and adjusts the rotating speed of winding plant according to control signal.Compile
The setting of code device, it is possible to achieve the stepless time adjustment of winding plant.Due to the heave velocity of ship be not one invariable
Amount, but lasting change during heave, using encoder to carrying out more accurately to the speed of winding plant 20
Adjust, especially, after the ship heave velocity that controller 30 is collected, controller 30 is further by encoder control volume
The rotating speed of device 20 is raised, makes the stretching speed moment of hoist cable be both greater than the heave velocity of ship, so as to more effectively ensure to rise
Hang with uninstall process, goods will not produce collision between deck, it is ensured that the safety on goods and deck.
Selectively, control system for automatic compensation provided in an embodiment of the present invention, also includes that pulling force sensor 60, pulling force are passed
Sensor 60 is arranged at hoist cable 21, for detecting the pulling force signal of hoist cable 21, and is sent to controller 30.Controller 30 can basis
The size of pulling force sensor 60 judges the lifting weight size of goods, such that it is able to heavy according to rising for pulling force state modulator goods
Amount, when the lifting weight of goods is more than specified weight, judges there is risk by controller 30, and then controls hoist cable release rope
Rope, it is to avoid lifting weight is excessive, causes the entirely process of lifting by crane to there is potential safety hazard.
Second aspect, in conjunction with Fig. 1-2, the embodiment of the present invention also provides one kind and compensates automatically lifting cargo method with wave,
Including
The heave displacement of detection ship, and load the height H0 of deck peak during ship heave of goods；
Detection ship ramp-up cycle Tx corresponding with propradation and corresponding with state is declined Td decline cycle, Yi Jichuan
The heave velocity V0 of oceangoing ship；
The liter to height H0, ramp-up cycle Tx, Td decline cycle and ship is completed by inertia detection unit 10 generally
The detection of heavy speed V0；But the detection of above parameter can also be respectively completed by different sensors.
During lifting operation is carried out, when ship is in ramp-up cycle Tx or Td decline cycle, 21 band of hoist cable is controlled
Goods on dynamic deck makes the height of goods bottom surface meet or exceed height H0, wherein First Speed V1 >=ship with First Speed V1
The heave velocity V0 of oceangoing ship；
Usually, it is believed that ship ramp-up cycle the rate of climb and ship decline cycle decrease speed phase
Deng being all V0；But in fact, ship can be deposited in the decrease speed of the rate of climb with ship in decline cycle of ramp-up cycle
In minute differences, so in operation：When the ramp-up cycle Tx in ship carries out lifting cargo to be operated, First Speed V1
The rate of climb more than or equal to the ship of ramp-up cycle；When Td decline cycle in ship carries out lifting cargo to be operated, first
The decrease speed of ship of speed V1 more than or equal to Td decline cycle.
When the height of goods bottom surface meets or exceeds height H0, goods is sling by control hoist cable with second speed V2.
The slinging work of goods is preferably disposed in Td decline cycle and is completed, so preferably can avoid colliding with；Special
There is the stage for accelerating during not allowing for lifting by crane, so slinging work is operated in decline cycle in Td, can be more preferable
Avoid that the ship rate of climb in ramp-up cycle Tx is overlapped with the boost phase of hoist cable to cause lifting process goods unstable
Problem.
Selectively, 0≤second speed V2 ＜ First Speed V1.
Selectively, provided in an embodiment of the present invention compensate automatically lifting cargo method with wave, also include control hoist cable
When driving the goods on deck to sling with First Speed V1, the pulling force N of hoist cable is detected, when pulling force N is more than predetermined threshold value N0, control
Hoist cable processed discharges goods.
Provided in an embodiment of the present invention compensate automatically lifting cargo method with wave, ensure that goods during lifting
Do not collide with deck, it is ensured that the safety of goods and deck when goods is lifted.
Specifically operational instances, for example：
When goods rises, controller 30 can automatically identify Td decline cycle that ship declines with wave, now control
21 fast rise signals of hoist cable are fed back to encoder by device, and 20 rotational speed regulation of winding plant is First Speed V1 by encoder, is led to
Cross hoist cable 21 goods is sling.After goods rises a period of time, controller 30 receives distance signal, by goods climb and ship
Oceangoing ship liter sinks to the distance of peak and is compared, after the peak H0 that the distance that goods rises rises more than ship, controller
By hoist cable 21, rising signals feed back to encoder at a slow speed for 30 meetings, and 3 rotational speed regulation of elevator motor is second speed V2 by encoder, will
Goods is sling at a slow speed.
The third aspect, in conjunction with Fig. 1-2, the embodiment of the present invention also provides a kind of compensation with wave automatically and unloads goods method,
Including
The heave displacement of detection ship, and the height H0 of the deck of ship peak during ship heave；
Detection ship ramp-up cycle Tx corresponding with propradation and corresponding with state is declined Td decline cycle, Yi Jichuan
The heave velocity V0 of oceangoing ship；
The liter to height H0, ramp-up cycle Tx, Td decline cycle and ship is completed by inertia detection unit 10 generally
The detection of heavy speed V0；But the detection of above parameter can also be respectively completed by different sensors.
During unloading operation is carried out, control hoist cable drives goods to drop to height H0+ △ H with third speed V3 first
When, ship is judged whether in Td decline cycle, wherein △ H are predetermined threshold values, △ H ＞ 0, usually, should be by the preset value of △ H
Arranged is relatively small, that is, guarantee goods at this moment as close as height H0, in order to ensuing unloading operation；
If ship is in Td decline cycle, and goods or can declined with fourth speed V4 before terminating decline cycle
Drop at the end of cycle T d on the deck of ship, goods is dropped on the deck of ship by control hoist cable with fourth speed V4,
Otherwise, control hoist cable stops declining, and when ship is in Td decline cycle, then hoist cable is controlled by goods with fourth speed V4 warp
Cross height H0 and drop on the deck of ship；The heave velocity V0 of wherein fourth speed V4 ＞ ships.
Selectively, 0≤third speed V3 ＜ fourth speeds V4.
Usually, it is believed that ship ramp-up cycle the rate of climb and ship decline cycle decrease speed phase
Deng being all V0；But in fact, ship can be deposited in the decrease speed of the rate of climb with ship in decline cycle of ramp-up cycle
In minute differences, so in operation, when the decline cycle in ship, Td carried out unloading cargo operation, First Speed V1
The decrease speed of the ship more than Td decline cycle.
Unloading operation is carried out in Td decline cycle of ship, the rate of climb and goods that can avoid ramp-up cycle Tx declines
Speed in opposite direction, cause bigger impact force, so as to damage the problem on deck or goods.In decline cycle Td, it is ensured that
The speed (fourth speed V4) of decline than ship heave velocity faster so that goods can be released in Td in decline cycle
On deck 21.
Selectively, provided in an embodiment of the present invention compensation with wave automatically unloads goods method, also includes
Activation signal when detection goods is contacted with deck, according to activation signal, control hoist cable stops.Normally, pass through
The limit sensors 50 being arranged on deck 21 complete the collecting work of activation signal, and activation signal is sent to controller
30, judge that goods discharges completely by controller 30, and control instruction is sent to winding plant 20, stop so as to control winding plant
Only.
Provided in an embodiment of the present invention compensation with wave automatically unloads goods method, ensure that goods in uninstall process
Do not collide with deck, it is ensured that the safety of goods and deck when goods is unloaded.
Fourth aspect, as shown in Figure 1-2, the embodiment of the present invention also provides a kind of loop wheel machine platform for cargo handling, bag
Control system for automatic compensation as above example is provided, loading/unloading platform 100, base 70 and cantilever 80 is included, wherein：
Base 70 is fixedly mounted on loading/unloading platform 100；
Cantilever 80 is installed on mount 70, and hoist cable 21 is installed in the pulley 81 on cantilever 80.
The loop wheel machine platform that the present embodiment is provided, the control system for automatic compensation provided with above example are used in combination, complete
The lifting of goods and unloading work in pairs, it is ensured that the safety of goods and deck in lifting cargo and unloading goods.
Selectively, winding plant 20 is fixedly installed on cantilever 80, for the flexible of control hoist cable 21 on cantilever 80,
Such that it is able to reduce 21 distributed areas of hoist cable, make the layout of hoisting system more reasonable；Especially by the side being wirelessly transferred
During formula control winding plant 20, advantage becomes apparent from.
During enforcement, it is also possible to which winding plant 20 is fixedly installed in base 70 or loading/unloading platform 100.
Selectively, in the present embodiment, loading/unloading platform 100 is offshore wind turbine outer platform.
Selectively, in the loop wheel machine platform for cargo handling that the embodiment of the present invention is also provided, cantilever 80 is by being hinged
Mode installed in the top of base 70, and hydraulically extensible oil cylinder 90 is set on mount 70, hydraulically extensible oil cylinder 90 is stretched
Contracting end is supported on cantilever 80.By being articulated and connected for cantilever 80, and the retractable support of hydraulically extensible oil cylinder 90 is coordinated to act on, liquid
Pressure telescopic oil cylinder 90 can achieve the elevating movement of cantilever 80, when needing to safeguard cantilever 80 and its appurtenances, can stretch hydraulic pressure
Contracting oil cylinder 90 is reclaimed, and cantilever 80 declines, and facilitates personnel to safeguard cantilever 80.
Selectively, in the loop wheel machine platform for cargo handling that the embodiment of the present invention is also provided：Cantilever 80 can be surrounded
Base 70 is rotated in the horizontal direction, and specifically design is that base 70 includes fixed seat 71 and rotary support member 72, and fixed seat 71 is solid
Loading/unloading platform 100 is scheduled, rotary support member 72 is rotatably mounted in fixed seat 71, and cantilever 80 is installed on rotary support member 72.
Selectively, the loop wheel machine platform for cargo handling that the embodiment of the present invention is also provided, also includes：Yaw motor 73
With yaw gear 74, on rotary support member 72, yaw motor 73 is used for driving yaw gear 74 yaw gear 74, makes rotation
Turn support member 72 to rotate in fixed seat 72.
Selectively, the loop wheel machine platform for cargo handling that the embodiment of the present invention is also provided, also includes：Remote control unit
(not shown), for controlling winding plant 20.When controller 30 breaks down, automatic control function cannot be realized, therefore
It is equipped with standby measure i.e. remote control panel.
When goods is lifted by crane from ship, the displacement of 10 measurable ship of Inertial Measurement Unit on ship on heave direction
And speed, and radio communication can be passed through by real-time data transmission to remote control unit, when personnel are in the panel of remote control unit
When declining with wave to ship, start winding plant 20 immediately and goods is sling, in order to avoid ship rises in next cycle
Bump against to peak with goods, personnel can control the velocity interpolation rapid increase of winding plant 20 by encoder, when risen
After the peak that distance rises more than ship, personnel reduce by 20 speed of winding plant by encoder, realize that goods is slowly stable
Rise.
Goods from platform hung on ship when, after personnel are seen on remote control panel to be declined from peak on ship,
The speed that winding plant 20 is adjusted by encoder, rapid decrease goods, until on goods arrived ship deck, it is ensured that fell
Journey can be completed during ship is from peak to minimum point.When falling on ship deck under goods, limit sensors 50
Both activation signals can be received, and the activation signal is transferred on remote control panel, now personnel stop 20 work of winding plant
Make, goods is moved up and down with wave together with ship deck on ship deck.With pulling force sensor 60 on hoist cable 21, can survey
The pulling force of amount hoist cable 21, when hung goods weight exceedes loop wheel machine rated load weight itself, pulling force sensor 60 is by signal transmission
Remote control unit is arrived, personnel stop winding plant 20 immediately after seeing signal and work, discharge goods.Whole process human users' time
More.
Loop wheel machine platform for cargo handling provided in an embodiment of the present invention, ensure that goods in lifting and uninstall process
In do not collide with deck, it is ensured that the safety of goods and deck in lifting cargo and unloading goods.
The present invention can be realized in other specific forms, without deviating from its spirit and essential characteristics.Therefore, current reality
Apply example be all counted as in all respects being exemplary rather than determinate, the scope of the present invention by claims rather than on
State description definition, also, fall into claim implication and equivalent in the range of whole changes so as to being all included in this
Among the scope of invention.Also, the different technologies feature for occurring in different embodiments can be combined, to obtain beneficial effect
Really.Those skilled in the art on the basis of studying accompanying drawing, specification and claims will be understood that and realize and be disclosed
The embodiment of other changes of embodiment.
Claims (22)
1. lifting cargo method is compensated automatically with wave, including
The heave displacement of detection ship, and load the height H0 of deck peak during ship heave of goods；
Detection ship ramp-up cycle Tx corresponding with propradation and Td decline cycle corresponding with state is declined, and ship
Heave velocity V0；
When ship is in ramp-up cycle Tx or Td decline cycle, controls hoist cable and drive the goods on deck to hang with First Speed V1
Rising makes the height of goods bottom surface meet or exceed height H0, wherein the heave velocity V0 of First Speed V1 >=ship.
2. the method for claim 1, it is characterised in that
When the height of goods bottom surface meets or exceeds height H0, goods is sling by control hoist cable with second speed V2.
3. method as claimed in claim 2, it is characterised in that
0≤second speed V2 ＜ First Speed V1.
4. the method as described in claim 1,2 or 3, it is characterised in that also include
Control hoist cable drives the goods on deck when slinging with First Speed V1, detects the pulling force N of the hoist cable, when pulling force N big
When predetermined threshold value N0, control hoist cable release goods.
5. unloading goods method is compensated automatically with wave, including
The heave displacement of detection ship, and the height H0 of the deck of ship peak during ship heave；
Detection ship ramp-up cycle Tx corresponding with propradation and Td decline cycle corresponding with state is declined, and ship
Heave velocity V0；
When control hoist cable drives goods to drop to height H0+ △ H with third speed V3, judge ship whether in decline cycle
Td, wherein △ H are predetermined threshold values, △ H ＞ 0；
If ship is in Td decline cycle, and goods can be with fourth speed V4 before terminating decline cycle or in decline cycle
Drop at the end of Td on the deck of ship, goods is dropped on the deck of ship by control hoist cable with fourth speed V4, otherwise,
Control hoist cable stop decline, and ship be in Td decline cycle when, then control hoist cable by goods with fourth speed V4 through too high
Degree H0 is simultaneously dropped on the deck of ship；The heave velocity V0 of wherein fourth speed V4 ＞ ships.
6. method as claimed in claim 5, it is characterised in that
0≤third speed V3 ＜ fourth speeds V4.
7. the method as described in claim 5 or 6, it is characterised in that also include
Activation signal when detection goods is contacted with deck, according to the activation signal, control hoist cable stops.
8. control system for automatic compensation, it is characterised in that include
Inertial Measurement Unit (10), for detecting heave displacement, the heave velocity V0 of ship, ship and the propradation pair of ship
The ramp-up cycle Tx for answering and the deck (51) of Td decline cycle corresponding with decline state and ship are during ship heave
The height H0 of peak；
Winding plant (20), stretches for controlling hoist cable (21)；
Controller (30), for when ship is in ramp-up cycle Tx or Td decline cycle, by controlling the winding plant
(20) goods on deck (51) is driven to sling with First Speed V1 and reach the height of goods bottom surface controlling the hoist cable (21)
Arrive or exceed height H0, wherein the heave velocity V0 of First Speed V1 >=ship；
And/or, controller (30) are additionally operable to control the hoist cable (21) by goods by controlling winding plant (20)
When thing drops to height H0+ △ H with third speed V3, whether ship is judged in Td decline cycle, wherein △ H are default thresholds
Value, △ H ＞ 0；If ship in decline cycle Td, and goods can with fourth speed V4 before Td is terminated decline cycle or
Drop at the end of Td decline cycle on the deck of ship, the hoist cable (21) is controlled by controlling winding plant (20)
Goods is driven to drop on the deck (51) of the ship, otherwise with fourth speed V4, control hoist cable stops declining, and in ship
In Td decline cycle when, then control hoist cable by goods with fourth speed V4 through height H0 and drop to ship deck on；
The heave velocity V0 of wherein fourth speed V4 ＞ ships.
9. system as claimed in claim 8, it is characterised in that
When the height of goods bottom surface meets or exceeds height H0, the hoist cable is controlled by controlling winding plant (20)
(21) goods is sling with second speed V2.
10. system as claimed in claim 9, it is characterised in that
Second speed V2=third speed V3.
11. systems as claimed in claim 8, it is characterised in that
Inertial Measurement Unit (10) send the data to the controller (30) by way of being wirelessly transferred；
And/or, controller (30) control the winding plant (20) by way of being wirelessly transferred.
12. systems as described in one of claim 8-11, it is characterised in that also include
Encoder, for receiving the control signal of the controller (30), and adjusts the elevator dress according to the control signal
The rotating speed that puts.
13. systems as described in one of claim 8-11, it is characterised in that also include
Limit sensors (50), on the deck (51), for detecting contact letter when goods is contacted with deck (51)
Number and/or separation signal of goods when separating with deck (51), and be sent to the controller (30).
14. systems as described in one of claim 8-11, it is characterised in that also include
Pulling force sensor (60), is arranged at the hoist cable (21), for detecting the pulling force signal of the hoist cable (21), and is sent to
Controller (30).
The 15. loop wheel machine platforms for being used for cargo handling, it is characterised in that include
Control system for automatic compensation as described in one of claim 8-14；
Loading/unloading platform (100)；
Base (70), is fixedly mounted on the loading/unloading platform (100)；
Cantilever (80), on the base, hoist cable (21) are installed in the pulley (81) on the cantilever (80).
16. loop wheel machine platforms as claimed in claim 15, it is characterised in that
Winding plant (20) are fixedly installed in the cantilever (80), the base (70) or the loading/unloading platform (100).
17. loop wheel machine platforms as claimed in claim 15, it is characterised in that
Cantilever (80) are arranged on the top of the base (70) by way of being hinged, and set on the base (70)
Hydraulically extensible oil cylinder (90) is put, the telescopic end of hydraulically extensible oil cylinder (90) is supported on the cantilever (80).
The 18. loop wheel machine platforms as described in one of claim 15-17, it is characterised in that
Cantilever (80) can be rotated in the horizontal direction around the base (70).
19. loop wheel machine platforms as claimed in claim 18, it is characterised in that
Described base (70) include fixed seat (71) and rotary support member (72), and it is flat that fixed seat (71) are fixed on the handling
Platform (100), rotary support member (72) are rotatably mounted in the fixed seat (71), and cantilever (80) are installed on described
Rotary support member (72).
20. loop wheel machine platforms as claimed in claim 19, it is characterised in that also include
Yaw motor (73) and yaw gear (74), described yaw gear (74) are arranged on the rotary support member (72), institute
Yaw motor (73) is stated for driving the yaw gear (74), the rotary support member (72) is made in the fixed seat (72)
Rotate.
The 21. loop wheel machine platforms as described in one of claim 15-20, it is characterised in that also include
Remote control unit, for controlling the winding plant (20).
The 22. loop wheel machine platforms as described in one of claim 15-21, it is characterised in that
Described loading/unloading platform (100) are offshore wind turbine outer platform.
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| CN201611227630.8A CN106495027B (en) | 2016-12-27 | 2016-12-27 | Method and system for hoisting and unloading goods with automatic wave compensation and crane platform |
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| CN201611227630.8A CN106495027B (en) | 2016-12-27 | 2016-12-27 | Method and system for hoisting and unloading goods with automatic wave compensation and crane platform |
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| CN113697688A (en) * | 2021-08-16 | 2021-11-26 | 中际联合（北京）科技股份有限公司 | Loading and unloading equipment for ship cargo, compensation method and device thereof and offshore platform |
| CN116133941A (en) * | 2020-05-26 | 2023-05-16 | 鹰通达私人有限公司 | Marine transport system with internal relative movement compensation |
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| CN112512954B (en) * | 2018-08-13 | 2024-04-09 | 力富特Ip公司 | Suspension Crane System |
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| CN113697688A (en) * | 2021-08-16 | 2021-11-26 | 中际联合（北京）科技股份有限公司 | Loading and unloading equipment for ship cargo, compensation method and device thereof and offshore platform |
| CN113682978A (en) * | 2021-08-18 | 2021-11-23 | 天津赛挪林柯国际贸易有限责任公司 | Hoisting method and hoisting device for offshore platform crane |
| CN113682978B (en) * | 2021-08-18 | 2024-03-12 | 天津赛挪林柯国际贸易有限责任公司 | Offshore platform crane lifting method and lifting device |
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