CN106495027B - Method and system for hoisting and unloading goods with automatic wave compensation and crane platform - Google Patents
Method and system for hoisting and unloading goods with automatic wave compensation and crane platform Download PDFInfo
- Publication number
- CN106495027B CN106495027B CN201611227630.8A CN201611227630A CN106495027B CN 106495027 B CN106495027 B CN 106495027B CN 201611227630 A CN201611227630 A CN 201611227630A CN 106495027 B CN106495027 B CN 106495027B
- Authority
- CN
- China
- Prior art keywords
- speed
- ship
- cargo
- deck
- period
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention provides a method and a system for hoisting and unloading goods along with automatic compensation of wave and a crane platform, wherein the method for hoisting the goods along with automatic compensation of wave comprises the following steps: detecting the heave displacement of the ship and the height H0 of the highest point of a deck loaded with cargos in the process of the heave of the ship; detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship; when the ship is in a rising period Tx or a falling period Td, the sling is controlled to lift the cargo on the deck at a first speed V1 to enable the height of the bottom surface of the cargo to reach or exceed a height H0, wherein the first speed V1 is not less than the rising and sinking speed V0 of the ship. The method and the system for hoisting and unloading the goods along with the automatic compensation of the waves and the crane platform provided by the embodiment of the invention can ensure that the goods do not collide with the deck in the hoisting and unloading processes and ensure the safety of the goods and the deck during hoisting and unloading the goods.
Description
Technical Field
The invention relates to the technical field of hoisting equipment, in particular to a method and a system for hoisting and unloading goods along with wave automatic compensation and a crane platform, which can be used for an offshore wind generating set.
Background
When the hoisting operation is carried out on the sea, the deck of the ship fluctuates up and down along with the waves due to the fact that the sea stormy waves are large, so that goods can collide with the deck in the hoisting process through the steel wire rope, and therefore damage can be brought to an operation platform or the goods during the hoisting operation.
Disclosure of Invention
The embodiment of the invention provides a method and a system for hoisting and unloading goods along with wave automatic compensation and a crane platform, which solve the problem that goods and a ship deck are damaged due to mutual collision when the goods are hoisted or fall to the ship deck from a ship.
According to one aspect of the invention, a method for automatically compensating for lifting goods along with waves is provided, which comprises the following steps
Detecting the heave displacement of the ship and the height H0 of the highest point of a deck loaded with cargos in the process of the heave of the ship;
detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship;
when the ship is in a rising period Tx or a falling period Td, the sling is controlled to lift the cargo on the deck at a first speed V1 to enable the height of the bottom surface of the cargo to reach or exceed a height H0, wherein the first speed V1 is not less than the rising and sinking speed V0 of the ship.
Alternatively, when the height of the bottom surface of the cargo reaches or exceeds the height H0, the control slings hoist the cargo at a second speed V2.
Alternatively, 0 ≦ second speed V2 < first speed V1.
Optionally, the method for hoisting the cargo with the automatic compensation of the wave further comprises
When the sling is controlled to lift the goods on the deck at a first speed V1, the tension N of the sling is detected, and when the tension N is larger than a preset threshold N0, the sling is controlled to release the goods.
The method for hoisting the goods along with the automatic compensation of the waves can ensure that the goods do not collide with the deck in the hoisting process and ensure the safety of the goods and the deck when hoisting the goods.
According to another aspect of the invention, a method for unloading goods with automatic compensation of wave is provided, which comprises
Detecting the heave displacement of the ship and the height H0 of the highest point of the deck of the ship in the heave process of the ship;
detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship;
controlling a sling to drive the cargo to descend to a height H0+ △ H at a third speed V3, and judging whether the ship is in a descending period Td, wherein △ H is a preset threshold value, and △ H is more than 0;
if the ship is in the descending period Td and the cargo can descend onto the deck of the ship at the fourth speed V4 before the descending period is finished or at the end of the descending period Td, controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4, otherwise, controlling the sling to stop descending, and controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4 through the height H0 and when the ship is in the descending period Td; wherein the fourth speed V4 is greater than the heave speed V0 of the vessel.
Alternatively, 0 ≦ third speed V3 < fourth speed V4.
Alternatively, a contact signal is detected when the cargo is in contact with the deck, and the suspension cable is controlled to stop according to the contact signal.
The method for unloading the goods along with the automatic compensation of the waves can ensure that the goods do not collide with the deck in the unloading process and ensure the safety of the goods and the deck when the goods are unloaded.
According to a third aspect of the present invention, there is provided an automatic compensation control system comprising
The inertia measurement unit is used for detecting the heave displacement of the ship, the heave speed V0 of the ship, a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and the height H0 of the highest point of a deck of the ship in the heave process of the ship;
the hoisting device is used for controlling the sling to stretch;
the controller is used for controlling the hoisting device to control the sling to drive the cargo on the deck to reach or exceed the height H0 at a first speed V1 by controlling the hoisting device when the ship is in a rising period Tx or a falling period Td, wherein the first speed V1 is more than or equal to the rising and sinking speed V0 of the ship;
and/or the controller is further used for judging whether the ship is in a descending period Td or not when the hoisting device is controlled to control the sling to lower the cargo to the height H0+ △ H at a third speed V3, wherein △ H is a preset threshold value, △ H is more than 0, if the ship is in the descending period Td and the cargo can descend to the deck of the ship before the end Td of the descending period or at the end of the descending period Td at a fourth speed V4, controlling the sling to drive the cargo to descend to the deck of the ship at a fourth speed V4, and otherwise, controlling the sling to stop descending, and controlling the sling to pass through the height H0 and descend to the deck of the ship at the fourth speed V4 when the ship is in the descending period Td, wherein the fourth speed V4 is more than the ascending and descending speed V0 of the ship.
Alternatively, when the height of the bottom surface of the cargo reaches or exceeds the height H0, the hoist is controlled to control the hoist rope to hoist the cargo at the second speed V2.
Alternatively, the second speed V2 is the third speed V3.
Optionally, the inertial measurement unit sends data to the controller in a wireless transmission manner;
and/or the controller controls the winding device in a wireless transmission mode.
Optionally, the automatic compensation control system further comprises
And the encoder is used for receiving the control signal of the controller and adjusting the rotating speed of the hoisting device according to the control signal.
Optionally, the automatic compensation control system further comprises
And the limit sensor is arranged on the deck and used for detecting a contact signal when the cargo is in contact with the deck and/or a separation signal when the cargo is separated from the deck and sending the contact signal to the controller.
Optionally, the automatic compensation control system further comprises
And the tension sensor is arranged on the sling and used for detecting a tension signal of the sling and sending the tension signal to the controller.
The automatic compensation control system provided by the embodiment of the invention can ensure that goods do not collide with a deck in the hoisting and unloading processes, and ensure the safety of the goods and the deck during hoisting and unloading the goods.
According to a fourth aspect of the present invention there is provided a crane platform for cargo handling comprising
The automatic compensation control system described above;
a loading and unloading platform;
the base is fixedly arranged on the loading and unloading platform;
a boom mounted on the base, the sling being mounted to a pulley on the boom.
Optionally, the hoisting device is fixedly mounted to the cantilever, the base or the loading platform.
Optionally, the cantilever is mounted on the top of the base in a hinged manner, and a hydraulic telescopic cylinder is arranged on the base, and a telescopic end of the hydraulic telescopic cylinder is supported on the cantilever.
Alternatively, the cantilever is rotatable in a horizontal direction about the base.
Optionally, the base includes a fixed seat fixed to the loading platform and a rotary support rotatably mounted to the fixed seat, and the boom is mounted to the rotary support.
Optionally, the crane platform for cargo handling further comprises
The yaw gear is mounted on the rotary support, and the yaw motor is used for driving the yaw gear to enable the rotary support to rotate on the fixed seat.
Optionally, the crane platform for cargo handling further comprises
And the remote control device is used for controlling the hoisting device.
Optionally, the loading and unloading platform is an outer platform of the offshore wind turbine generator system.
The crane platform for loading and unloading the goods, provided by the embodiment of the invention, can ensure that the goods do not collide with the deck in the hoisting and unloading processes, and ensure the safety of the goods and the deck during hoisting and unloading the goods.
Drawings
The invention may be better understood from the following description of specific embodiments thereof taken in conjunction with the accompanying drawings, in which:
other features, objects and advantages of the invention will become apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings in which like or similar reference characters refer to the same or similar parts.
FIG. 1 is a schematic diagram showing the construction of a crane platform for cargo handling in accordance with one embodiment of the present invention, illustrating an automatic compensation control system provided by an embodiment of the present invention;
fig. 2 is a schematic structural view showing a crane platform for cargo handling according to an embodiment of the present invention, in which an automatic compensation control system according to an embodiment of the present invention is shown.
Wherein:
10. an inertial measurement unit;
20. a hoisting device; 21. a sling;
30. a controller;
50. a limit sensor; 51. a deck;
60. a tension sensor;
70. a base; 71. a fixed seat; 72. a rotating support; 73. a yaw motor; 74. a yaw gear;
80. a cantilever; 81. a pulley;
90. a telescopic oil cylinder;
100. a loading and unloading platform;
200. a tower drum.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. In the drawings and the following description, well-known structures and techniques are not shown in order to avoid unnecessarily obscuring the present invention. The same reference numerals denote the same or similar structures in the drawings, and thus detailed descriptions thereof will be omitted. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, the directional terms used are the directions shown in the drawings, and do not limit the specific structure of the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.
Wherein, the related terms in the invention:
(1) the heave velocity V0 of the ship refers to the rising and falling velocities of the ship in the heave direction (i.e. vertical direction), the heave velocity of the ship is actually a velocity that changes in magnitude and direction periodically, and the heave velocity V0 of the ship can be considered to represent an average velocity value in a rising period or a falling period.
(2) The heave displacement of the ship refers to the displacement of the ship in the heave direction, and because the size and frequency of the sea wave have stability, the ship has periodic characteristics in the sea along with the heave of the wave correspondingly, although the heave in a single period has slight differences, if the slight differences are ignored, the ship has determined heave displacement in general.
(3) The outer platform of the offshore wind turbine generator system refers to an operation platform arranged outside a tower barrel or a tower frame of the offshore wind turbine generator system, and the platform is usually arranged around the outside of the tower barrel or the tower frame to form an annular platform structure for installing and overhauling the offshore wind turbine generator and for loading and unloading goods.
In a first aspect, as shown in fig. 1-2, an embodiment of the present invention provides an automatic compensation control system, including an inertial measurement unit 10, a hoisting device 20, and a controller 30, wherein:
the inertia measurement unit 10 is used for detecting the heave displacement of the ship, the heave speed V0 of the ship, a rising period Tx of the ship corresponding to a rising state and a falling period Td of the ship corresponding to a falling state, and the height H0 of the highest point of the deck 51 of the ship in the heave process of the ship;
the winding device 20 is used for controlling the suspension cable 21 to stretch;
the controller 30 is used for controlling the hoisting device 20 to control the sling 21 to lift the cargo on the deck 51 at a first speed V1 to make the height of the bottom surface of the cargo reach or exceed a height H0 when the ship is in a rising period Tx or a falling period Td, wherein the first speed V1 is not less than a rising-and-sinking speed V0 of the ship, and the controller 30 is also used for controlling the hoisting device 20 to control the sling 21 to lower the cargo to a height H0+ △ H at a third speed V3, wherein 4653925H is a preset threshold value, H > 0, if the ship is in the falling period Td and the cargo can be lowered to the deck of the ship before the end Td of the falling period or at the end of the falling period Td, controlling the hoisting device 20 to control the sling 21 to drive the cargo to be lowered to the sling 51 of the deck of the ship at a fourth speed V2, otherwise, controlling the hoisting device 21 to stop the lowering and further control the sling 21 to lower the cargo to be lowered to pass through the height V7342 of the fourth speed V0 and the ship is more than the height V68542 of the ship.
Generally, the rising speed of the ship in the rising period is equal to the falling speed of the ship in the falling period, namely V0; in fact, however, there will be a slight difference between the speed of the vessel rising during the rising period and the speed of the vessel falling during the falling period, so during operation:
when the cargo lifting operation is performed in the lifting period Tx of the ship, the first speed V1 is greater than or equal to the lifting speed of the ship in the lifting period;
when the cargo lifting operation is carried out in the descending period Td of the ship, the first speed V1 is more than or equal to the descending speed of the ship of the descending period Td;
when the unloading operation is performed during the descent period Td of the ship, the first speed V1 is greater than the descent speed of the ship for the descent period Td.
The automatic compensation control system provided by the embodiment of the invention can ensure that goods do not collide with a deck in the hoisting and unloading processes, and ensure the safety of the goods and the deck during hoisting and unloading the goods.
Specifically, during the process of lifting the cargo, the cargo is lifted at a speed higher than the heave speed V0 of the ship by controlling the lifting speed of the cargo (i.e. the first speed V1), so that the cargo is prevented from colliding with the bottom of the cargo when the ship is in a lifting cycle Tx due to the rapid heave of the ship during the lifting process, and the safety of the cargo lifting process is ensured; and the controller 30 controls the suspension line 21 to continue hoisting at a relatively low speed (second speed V2) when the cargo reaches or exceeds the height H0 of the highest point of the deck 51 of the vessel during the heave of the vessel (optionally after stopping).
During the cargo unloading process, the cargo is controlled to stop when the cargo is lowered to a position which is higher than the height H0 of the highest point of the deck 51 in the ship heaving process by a preset threshold value △ H, and the cargo is controlled to descend onto the deck at a speed (namely, a fourth speed V4) which is higher than the ship heaving speed V0 when the ship is in a descending period Td.
After unloading the cargo onto the deck 51, a contact signal generated when the cargo contacts the deck 51 is detected by the limit sensor 50 disposed on the deck, and the contact signal is transmitted to the controller 30, after the controller 30 receives the contact signal, it is determined that the cargo is completely placed on the deck, that is, the unloading operation is completed, the controller 30 transmits a control signal to the hoisting device, and the hoisting device 20 is controlled to stop by the controller 30. The limit sensors 50 are disposed on the deck, and one or more limit sensors may be disposed, and particularly, at least one limit sensor 50 is generally disposed at a position where the cargo is unloaded, which is adjusted according to the size of the cargo to be unloaded, the size of the deck, and the like.
When the height of the bottom surface of the cargo reaches or exceeds the height H0, the hoist 20 is controlled to control the hoist rope 21 to hoist the cargo at the second speed V2.
Alternatively, the second speed V2 is the third speed V3, that is, the speed for continuously hoisting when the height of the bottom surface of the cargo reaches or exceeds the height H0 during the hoisting process (the second speed V2) and the speed for lowering the cargo to the height H0+ △ H during the unloading process (the third speed V3) are equal, and the two speeds may be the same or different, and the two speeds may be the same as each other, or may be different from each other.
Alternatively, the inertial measurement unit 10 sends the data to the controller 30 by wireless transmission; in the application process of the automatic compensation control system provided by the embodiment of the invention, corresponding data are generally required to be respectively acquired for different ships, and the signal acquisition can be easier by adopting a wireless transmission mode, so that the trouble of wiring in the application process of wired data transmission is avoided; but in some specific cases, wired transmission may be used, as will be appreciated by those skilled in the art.
Alternatively, the controller 30 controls the winding device 20 by wireless transmission, and controls the winding device 20 by wireless transmission, so that the controller 30 can be connected to the winding device 20 without using a wire. At this point, the controller 30 may be mounted on the vessel and is no longer limited by the manner of control.
The two wireless transmission modes can be combined for use, so that the control process and the mode are more convenient.
Optionally, the automatic compensation control system provided by the embodiment of the present invention further includes
And an encoder for receiving the control signal of the controller 30 and adjusting the rotation speed of the winding device according to the control signal. The arrangement of the encoder can realize stepless speed regulation of the hoisting device. Because the heave speed of the ship is not a constant quantity but continuously changes in the heave process, the speed of the hoisting device 20 can be more accurately adjusted by adopting the encoder, and particularly, after the heave speed of the ship is acquired by the controller 30, the controller 30 further controls the rotating speed of the hoisting device 20 through the encoder, so that the expansion and contraction speed of the sling is always greater than the heave speed of the ship, the cargo cannot collide with a deck in the hoisting and unloading processes, and the safety of the cargo and the deck is ensured.
Optionally, the automatic compensation control system provided by the embodiment of the present invention further includes a tension sensor 60, and the tension sensor 60 is disposed on the sling 21, and is configured to detect a tension signal of the sling 21 and send the tension signal to the controller 30. The controller 30 can judge the hoisting weight of the goods according to the size of the tension sensor 60, so that the hoisting weight of the goods can be controlled according to the tension parameters, when the hoisting weight of the goods is larger than the rated weight, the risk is judged to exist by the controller 30, then the sling is controlled to release the rope, the situation that the hoisting weight is too large, and the potential safety hazard exists in the whole hoisting process is avoided.
In a second aspect, with reference to fig. 1-2, an embodiment of the present invention further provides a method for lifting a cargo with automatic compensation of waves, including
Detecting the heave displacement of the ship and the height H0 of the highest point of a deck loaded with cargos in the process of the heave of the ship;
detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship;
the detection of the height H0, the rising period Tx, the falling period Td, and the heave velocity V0 of the ship is generally accomplished by the inertia detection unit 10; however, the above parameters may be detected by different sensors.
In the process of hoisting operation, when the ship is in a rising period Tx or a falling period Td, controlling the sling 21 to drive the cargo on the deck to reach or exceed the height H0 at a first speed V1, wherein the first speed V1 is more than or equal to the heave speed V0 of the ship;
generally, the rising speed of the ship in the rising period is equal to the falling speed of the ship in the falling period, namely V0; in fact, however, there will be a slight difference between the speed of the vessel rising during the rising period and the speed of the vessel falling during the falling period, so during operation: when the cargo lifting operation is performed in the lifting period Tx of the ship, the first speed V1 is greater than or equal to the lifting speed of the ship in the lifting period; when the cargo lifting operation is performed during the ship descent period Td, the first speed V1 is equal to or higher than the ship descent speed during the ship descent period Td.
When the height of the bottom surface of the cargo reaches or exceeds the height H0, the control slings hoist the cargo at a second speed V2.
The hoisting work of the goods is preferably set to be completed within a falling period Td, so that the collision can be better avoided; particularly, considering that the hoisting process has an acceleration stage, the hoisting operation is operated in the falling period Td, so that the problem that the cargo is unstable in the hoisting process due to the mutual overlapping of the ship lifting speed in the rising period Tx and the acceleration stage of the sling can be better avoided.
Alternatively, 0 ≦ second speed V2 < first speed V1.
Optionally, the method for automatically compensating and lifting the cargo along with the waves further includes controlling the sling to lift the cargo on the deck at a first speed V1, detecting a tension N of the sling, and controlling the sling to release the cargo when the tension N is greater than a preset threshold N0.
The method for hoisting the goods along with the automatic compensation of the waves can ensure that the goods do not collide with the deck in the hoisting process and ensure the safety of the goods and the deck when hoisting the goods.
Specific operation examples, for example:
when the goods are lifted, the controller 30 can automatically recognize the falling period Td of the ship falling along with the waves, at this time, the controller feeds back a signal for quickly lifting the sling 21 to the encoder, the encoder adjusts the rotating speed of the hoisting device 20 to the first speed V1, and the goods are lifted through the sling 21. After the goods rise for a period of time, the controller 30 receives the distance signal, compares the rising distance of the goods with the distance from the ship to the highest point of the ship, and when the rising distance of the goods is greater than the highest point H0 of the ship, the controller 30 feeds back the slow rising signal of the sling 21 to the encoder, and the encoder adjusts the rotating speed of the winch motor 3 to be the second speed V2 to slowly lift the goods.
In a third aspect, with reference to fig. 1-2, an embodiment of the present invention further provides a method for unloading cargo with automatic compensation of waves, including
Detecting the heave displacement of the ship and the height H0 of the highest point of the deck of the ship in the heave process of the ship;
detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship;
the detection of the height H0, the rising period Tx, the falling period Td, and the heave velocity V0 of the ship is generally accomplished by the inertia detection unit 10; however, the above parameters may be detected by different sensors.
In the unloading operation process, firstly, when the slings are controlled to drive the goods to descend to a height H0+ △ H at a third speed V3, judging whether the ship is in a descending period Td, wherein △ H is a preset threshold value, △ H is more than 0, generally, the preset value of △ H is set to be relatively small, namely, the goods are ensured to be close to the height H0 as much as possible at the moment so as to facilitate the next unloading operation;
if the ship is in the descending period Td and the cargo can descend onto the deck of the ship at the fourth speed V4 before the descending period is finished or at the end of the descending period Td, controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4, otherwise, controlling the sling to stop descending, and controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4 through the height H0 and when the ship is in the descending period Td; wherein the fourth speed V4 is greater than the heave speed V0 of the vessel.
Alternatively, 0 ≦ third speed V3 < fourth speed V4.
Generally, the rising speed of the ship in the rising period is equal to the falling speed of the ship in the falling period, namely V0; however, in fact, there is a slight difference between the rising speed of the ship in the rising period and the falling speed of the ship in the falling period, so that the first speed V1 is greater than the falling speed of the ship in the falling period Td when the cargo unloading operation is performed in the falling period Td of the ship during the operation.
The unloading operation is performed during the ship's descent period Td, so that the problem that the ascent speed of the ascent period Tx is opposite to the descent speed of the cargo, resulting in a greater impact force to damage the deck or the cargo, can be avoided. In the lowering period Td, it is ensured that the lowering speed (the fourth speed V4) is faster than the heave speed of the vessel, so that cargo can be released on the deck 21 in the lowering period Td.
Optionally, the method for unloading goods with automatic compensation following wave provided by the embodiment of the invention further comprises
And detecting a contact signal when the goods are in contact with the deck, and controlling the suspension cable to stop according to the contact signal. Normally, the acquisition of the contact signal is completed by the limit sensor 50 disposed on the deck 21, and the contact signal is transmitted to the controller 30, and the controller 30 determines that the cargo is completely released and transmits a control command to the hoisting device 20, thereby controlling the hoisting device to stop.
The method for unloading the goods along with the automatic compensation of the waves can ensure that the goods do not collide with the deck in the unloading process and ensure the safety of the goods and the deck when the goods are unloaded.
In a fourth aspect, as shown in fig. 1-2, embodiments of the present invention further provide a crane platform for cargo handling, including an automatic compensation control system, a loading platform 100, a base 70, and a cantilever 80, as provided in the above embodiments, wherein:
the base 70 is fixedly mounted on the loading platform 100;
the boom 80 is mounted on the base 70, and the sling 21 is mounted on a pulley 81 on the boom 80.
The crane platform that this embodiment provided combines to use with the automatic compensation control system that above embodiment provided, accomplishes the work of lifting by crane and unloading the goods, guarantees the safety of goods and deck when lifting by crane goods and uninstallation goods.
Optionally, the hoisting device 20 is fixedly mounted on the cantilever 80 and used for controlling the extension and retraction of the sling 21 on the cantilever 80, so that the distribution area of the sling 21 can be reduced, and the layout of the hoisting system is more reasonable; particularly, when the winding device 20 is controlled by wireless transmission, the advantages are more obvious.
In the implementation, the hoisting device 20 may be fixedly mounted on the base 70 or the loading platform 100.
Alternatively, in this embodiment, the loading platform 100 is an external platform of an offshore wind turbine.
Alternatively, the embodiment of the present invention further provides a crane platform for cargo handling, wherein the boom 80 is mounted on the top of the base 70 by means of an articulated joint, and the base 70 is provided with a hydraulic telescopic cylinder 90, and the telescopic end of the hydraulic telescopic cylinder 90 is supported on the boom 80. Through the articulated connection of cantilever 80 to the flexible supporting role of cooperation hydraulic telescoping cylinder 90, hydraulic telescoping cylinder 90 can realize the luffing motion of cantilever 80, when cantilever 80 and its accessory part need be maintained, can retrieve hydraulic telescoping cylinder 90, and cantilever 80 descends, makes things convenient for personnel to maintain cantilever 80.
Optionally, the embodiment of the present invention further provides a crane platform for cargo handling, wherein: the cantilever 80 can rotate around the base 70 in the horizontal direction, and specifically, the base 70 includes a fixed seat 71 and a rotary support 72, the fixed seat 71 is fixed on the loading and unloading platform 100, the rotary support 72 is rotatably mounted on the fixed seat 71, and the cantilever 80 is mounted on the rotary support 72.
Optionally, an embodiment of the present invention further provides a crane platform for cargo handling, further including: a yaw motor 73 and a yaw gear 74, the yaw gear 74 being mounted on the rotary support 72, the yaw motor 73 being configured to drive the yaw gear 74 to rotate the rotary support 72 on the fixed base 72.
Optionally, an embodiment of the present invention further provides a crane platform for cargo handling, further including: and a remote control device (not shown) for controlling the winding device 20. When the controller 30 fails, the automatic control function cannot be realized, and a backup measure, i.e., a remote control panel, is provided.
When goods are lifted from a ship, the inertia measurement unit 10 on the ship can measure the displacement and the speed of the ship in the heave direction, data can be transmitted to the remote control device in real time through wireless communication, when a person sees that the ship descends along with waves on a panel of the remote control device, the winch device 20 is started immediately to lift the goods, in order to avoid collision between the ship and the goods when the ship ascends to the highest point in the next period, the person can control the speed of the winch device 20 through the encoder to realize rapid ascending, and when the ascending distance is greater than the highest point of the ship, the person reduces the speed of the winch device 20 through the encoder, so that the goods slowly and stably ascend.
When goods are hung on the ship from the platform, after people see that the ship descends from the highest point on the remote control panel, the speed of the hoisting device 20 is adjusted through the encoder, the goods are quickly descended until the goods reach the deck of the ship, and the cargo descending process can be finished in the process that the ship descends from the highest point to the lowest point. When the cargo falls on the ship deck, the limit sensor 50 receives a contact signal of the cargo and the limit sensor and transmits the contact signal to the remote control panel, at the moment, the personnel stop the operation of the hoisting device 20, and the cargo moves up and down along with the ship deck on the ship deck. The sling 21 is provided with a tension sensor 60 which can measure the tension of the sling 21, when the weight of the lifted goods exceeds the rated lifting capacity of the crane, the tension sensor 60 transmits a signal to a remote control device, and a person immediately stops the operation of the winding device 20 after seeing the signal to release the goods. The whole process has more personnel operation time.
The crane platform for loading and unloading the goods, provided by the embodiment of the invention, can ensure that the goods do not collide with the deck in the hoisting and unloading processes, and ensure the safety of the goods and the deck during hoisting and unloading the goods.
The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Also, different features that are present in different embodiments may be combined to advantage. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art upon studying the drawings, the specification, and the claims.
Claims (21)
1. A method for automatically compensating with wave to lift and unload cargos comprises the following steps:
detecting the heave displacement of the ship and the height H0 of the highest point of a deck loaded with cargos in the process of the heave of the ship;
detecting a rising period Tx corresponding to a rising state and a falling period Td corresponding to a falling state of the ship, and a sinking speed V0 of the ship;
when the ship is in a rising period Tx or a falling period Td, controlling the lifting ropes to drive the goods on the deck to be lifted at a first speed V1 to enable the height of the bottom surface of the goods to reach or exceed a height H0, wherein the first speed V1 is not less than the rising and sinking speed V0 of the ship; alternatively, the first and second electrodes may be,
controlling a sling to drive the cargo to descend to a height H0+ △ H at a third speed V3, and judging whether the ship is in a descending period Td, wherein △ H is a preset threshold value, and △ H is more than 0;
if the ship is in the descending period Td and the cargo can descend onto the deck of the ship at the fourth speed V4 before the descending period is finished or at the end of the descending period Td, controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4, otherwise, controlling the sling to stop descending, and controlling the sling to descend the cargo onto the deck of the ship at the fourth speed V4 through the height H0 and when the ship is in the descending period Td; wherein the fourth speed V4 is greater than the heave speed V0 of the vessel.
2. The method of claim 1,
when the height of the bottom surface of the cargo reaches or exceeds the height H0, the control slings hoist the cargo at a second speed V2.
3. The method of claim 2,
the second speed V2 is more than or equal to 0 and less than the first speed V1.
4. The method of claim 1, 2 or 3, further comprising
When the sling is controlled to lift the goods on the deck at a first speed V1, the tension N of the sling is detected, and when the tension N is larger than a preset threshold N0, the sling is controlled to release the goods.
5. The method of claim 1,
the third speed V3 is more than or equal to 0 and less than the fourth speed V4.
6. The method of claim 1 or 5, further comprising
And detecting a contact signal when the cargo is in contact with the deck, and controlling the suspension cable to stop according to the contact signal.
7. An automatic compensation control system, comprising:
an inertia measurement unit (10) for detecting a heave displacement of the vessel, a heave velocity V0 of the vessel, a rise period Tx of the vessel corresponding to a rising state and a fall period Td corresponding to a falling state, and a height H0 of a highest point of a deck (51) of the vessel during heave of the vessel;
the hoisting device (20) is used for controlling the hoisting rope (21) to stretch and retract;
the controller (30) is used for controlling the hoisting device (20) to control the sling (21) to drive the cargo on the deck (51) to hoist at a first speed V1 to enable the height of the bottom surface of the cargo to reach or exceed a height H0 when the ship is in a rising period Tx or a falling period Td, wherein the first speed V1 is not less than the rising and sinking speed V0 of the ship;
the controller (30) is also used for judging whether the ship is in a descending period Td when the sling (21) is controlled to descend the cargo to a height H0+ △ H at a third speed V3 by controlling the hoisting device (20), wherein △ H is a preset threshold value, △ H is more than 0, if the ship is in the descending period Td and the cargo can descend to the deck of the ship before the descending period Td or at the end of the descending period Td at a fourth speed V4, the sling (21) is controlled to drive the cargo to descend to the deck (51) of the ship at a fourth speed V4 by controlling the hoisting device (20), otherwise, the sling is controlled to stop descending, and the cargo passes through the height H0 and descends to the deck of the ship at the fourth speed V4 by controlling the sling when the ship is in the descending period Td, wherein a fourth speed V4 is more than a sinking speed V0 of the ship.
8. The system of claim 7,
when the height of the bottom surface of the cargo reaches or exceeds the height H0, the hoisting device (20) is controlled to control the hoisting ropes (21) to hoist the cargo at a second speed V2.
9. The system of claim 8,
the second speed V2 is equal to the third speed V3.
10. The system of claim 7,
the inertial measurement unit (10) sends data to the controller (30) in a wireless transmission mode;
and/or the controller (30) controls the winding device (20) in a wireless transmission mode.
11. The system of any of claims 7 to 10, further comprising
And the encoder is used for receiving the control signal of the controller (30) and adjusting the rotating speed of the hoisting device according to the control signal.
12. The system of any of claims 7 to 10, further comprising
And the limit sensor (50) is arranged on the deck (51) and is used for detecting a contact signal when the cargo is contacted with the deck (51) and/or a separation signal when the cargo is separated from the deck (51) and sending the contact signal to the controller (30).
13. The system of any of claims 7 to 10, further comprising
And the tension sensor (60) is arranged on the sling (21) and used for detecting a tension signal of the sling (21) and sending the tension signal to the controller (30).
14. A crane platform for cargo handling, comprising:
the automatic compensation control system of one of claims 7-13;
a loading platform (100);
a base (70) fixedly mounted on the loading platform (100);
a boom (80) mounted on the base, the sling (21) being mounted on a pulley (81) on the boom (80).
15. The crane platform of claim 14,
the hoisting device (20) is fixedly arranged on the cantilever (80), the base (70) or the loading and unloading platform (100).
16. The crane platform of claim 14,
the cantilever (80) is installed at the top of the base (70) in a hinged mode, a hydraulic telescopic oil cylinder (90) is arranged on the base (70), and the telescopic end of the hydraulic telescopic oil cylinder (90) is supported on the cantilever (80).
17. The crane platform of any of claims 14 to 16,
the cantilever (80) is rotatable in a horizontal direction about the base (70).
18. The crane platform of claim 17,
the base (70) comprises a fixed seat (71) and a rotary supporting piece (72), the fixed seat (71) is fixed on the loading and unloading platform (100), the rotary supporting piece (72) is rotatably arranged on the fixed seat (71), and the cantilever (80) is arranged on the rotary supporting piece (72).
19. The crane platform of claim 18, further comprising
A yaw motor (73) and a yaw gear (74), wherein the yaw gear (74) is installed on the rotary support (72), and the yaw motor (73) is used for driving the yaw gear (74) to enable the rotary support (72) to rotate on the fixed seat (71).
20. The crane platform of claim 14, further comprising
And the remote control device is used for controlling the winding device (20).
21. The crane platform of claim 14,
the loading and unloading platform (100) is an outer platform of the offshore wind generating set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106495027A CN106495027A (en) | 2017-03-15 |
| CN106495027B true CN106495027B (en) | 2020-03-10 |
Family
ID=58334312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611227630.8A Active CN106495027B (en) | 2016-12-27 | 2016-12-27 | Method and system for hoisting and unloading goods with automatic wave compensation and crane platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106495027B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107128792B (en) * | 2017-06-12 | 2018-06-19 | 南京艾曼达船舶设备制造有限公司 | A kind of ship heavy lift derrick |
| WO2020035119A1 (en) * | 2018-08-13 | 2020-02-20 | Liftra Ip Aps | Suspended crane system |
| EP3653484A1 (en) * | 2018-11-19 | 2020-05-20 | Ørsted Wind Power A/S | A system for transferring an object from a ship to an offshore structure |
| NL2025683B1 (en) * | 2020-05-26 | 2021-12-14 | Eagle Access B V | Offshore transfer system with internal relative movement compensation |
| CN113697688B (en) * | 2021-08-16 | 2024-06-04 | 中际联合（北京）科技股份有限公司 | Loading and unloading equipment for ship cargoes, compensation method and device and offshore platform thereof |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0840360A (en) * | 1994-07-29 | 1996-02-13 | Mitsubishi Heavy Ind Ltd | Crane barge with float |
| US7367464B1 (en) * | 2007-01-30 | 2008-05-06 | The United States Of America As Represented By The Secretary Of The Navy | Pendulation control system with active rider block tagline system for shipboard cranes |
| CN101585486A (en) * | 2008-05-21 | 2009-11-25 | 利勃海尔南兴有限公司 | Has the initiatively crane control system of fluctuation compensation |
| CN103318776A (en) * | 2012-06-28 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Active heave compensation control system and control method thereof |
| CN103979419A (en) * | 2014-05-30 | 2014-08-13 | 大连海事大学 | Active wave compensation control system and method based on wave trend judgment |
| CN204125991U (en) * | 2014-09-11 | 2015-01-28 | 镇江明润信息科技有限公司 | Strand inhales ship heave compensator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104370229B (en) * | 2014-11-18 | 2016-08-24 | 中国石油大学(华东) | Novel offshore crane heave compensation system and compensation method |
-
2016
- 2016-12-27 CN CN201611227630.8A patent/CN106495027B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0840360A (en) * | 1994-07-29 | 1996-02-13 | Mitsubishi Heavy Ind Ltd | Crane barge with float |
| US7367464B1 (en) * | 2007-01-30 | 2008-05-06 | The United States Of America As Represented By The Secretary Of The Navy | Pendulation control system with active rider block tagline system for shipboard cranes |
| CN101585486A (en) * | 2008-05-21 | 2009-11-25 | 利勃海尔南兴有限公司 | Has the initiatively crane control system of fluctuation compensation |
| CN103318776A (en) * | 2012-06-28 | 2013-09-25 | 上海振华重工(集团)股份有限公司 | Active heave compensation control system and control method thereof |
| CN103979419A (en) * | 2014-05-30 | 2014-08-13 | 大连海事大学 | Active wave compensation control system and method based on wave trend judgment |
| CN204125991U (en) * | 2014-09-11 | 2015-01-28 | 镇江明润信息科技有限公司 | Strand inhales ship heave compensator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106495027A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106495027B (en) | Method and system for hoisting and unloading goods with automatic wave compensation and crane platform | |
| KR101832516B1 (en) | A method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement | |
| US8297597B2 (en) | Method for lift compensation | |
| KR101304038B1 (en) | The lifting gear for ship | |
| JP6538569B2 (en) | Improved apparatus and method for transferring objects between sea transport vessels and structures or vessels | |
| CN109553005B (en) | Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform | |
| JP2007290799A (en) | Lifting device and landing management method using the same | |
| CN105236257B (en) | A kind of lifting goods device for adjusting posture | |
| EP3820770B1 (en) | Device and method for lifting an object from a deck of a vessel subject to movements | |
| JP4986643B2 (en) | Tower crane equipped with suspended load position display method and suspended load position display device in tower crane | |
| US4174188A (en) | Process and apparatus for transfer of cargo at sea | |
| CN212243715U (en) | Marine gangway ladder device | |
| CN113697688B (en) | Loading and unloading equipment for ship cargoes, compensation method and device and offshore platform thereof | |
| CN112340620B (en) | Mounting method for crane of semi-submersible type hoisting and disassembling platform | |
| EP3857061B1 (en) | Method for moving an object between a platform of a wind turbine and a deck of a vessel and frame structure used for coupling of a pulling means | |
| CN215248971U (en) | Hoisting construction device for large-scale overweight electromechanical equipment of high-rise and super high-rise building | |
| JP7336041B2 (en) | Offshore transfer system with internal relative motion compensation | |
| CN214935431U (en) | Gantry crane with anti-rolling function | |
| NL2026970B1 (en) | Crane for handling a cable-suspended load, method of manufacturing such a crane and use of such a crane. | |
| KR20220054202A (en) | Guided lifting system | |
| CN113682978A (en) | Hoisting method and hoisting device for offshore platform crane | |
| CN109399456B (en) | Hoisting equipment with lifting rope motion sensing mechanism and hoisting control method thereof | |
| JP5691676B2 (en) | Offshore cargo handling system and offshore floating body equipped with the same | |
| TW202108444A (en) | Marine transfer apparatus and method of using the same | |
| CN111620256A (en) | Hoisting device and hoisting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |