CN108439200A - A kind of compensation of undulation A types Gate Foundation peculiar to vessel - Google Patents
A kind of compensation of undulation A types Gate Foundation peculiar to vessel Download PDFInfo
- Publication number
- CN108439200A CN108439200A CN201810399718.0A CN201810399718A CN108439200A CN 108439200 A CN108439200 A CN 108439200A CN 201810399718 A CN201810399718 A CN 201810399718A CN 108439200 A CN108439200 A CN 108439200A
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- compensation
- hydraulic cylinder
- undulation
- peculiar
- crossbeam
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 230000000694 effects Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 238000004064 recycling Methods 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- 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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
Abstract
The present invention relates to a kind of compensation of undulation A types Gate Foundation peculiar to vessel, compensation of undulation A types Gate Foundation peculiar to vessel is arranged on the ship side of hull；Including pedestal, expansion bracket and crossbeam, one end upper surface of pedestal is provided with expansion bracket, and the upper surface of pedestal is additionally provided with attitude transducer；Expansion bracket includes hinged with pedestal, and is symmetricly set on the swing span of pedestal both sides, and the interior cavity inner sleeve of the other end of swing span is connected to adjustable shelf；The crossbeam connect setting with the adjustable shelf far from swing span one end, and connector suspender member is additionally provided on the crossbeam；The compensation of undulation A types Gate Foundation peculiar to vessel further includes that adjustable shelf is driven to carry out flexible servo-actuating device A, the servo-actuating device B that driving expansion bracket is swung along swing span and be drivingly connected the servo-actuating device C that head suspender member makees transverse movement along crossbeam.The advantage of the invention is that：Compensation of undulation A types Gate Foundation peculiar to vessel through the invention, being capable of the hanging and recycling to the safety and steady of equipment in the case of high sea situation.
Description
Technical field
The invention belongs to Marine engineering technical fields, are related to marine A types door frame peculiar to vessel, more particularly to a kind of compensation of undulation ship
With A type Gate Foundations.
Background technology
All kinds of unmanned submersibles are the important tools of human development ocean, hang system as its important completed equipment, right
Ocean operation efficiency plays conclusive effect.All kinds of extension and retraction systems application of marine ships is very universal at present, wherein most
Surely belong to A type door frames for typical lowering equipment.
Existing A types door frame mainly by mating constant tension winch, carries out simply heaving wave by the folding and unfolding of hanger rope
Wave compensation, therefore operation can only be carried out under low sea situation mostly, it cannot be satisfied production work demand under the high sea situation of people；Also there is portion
Point A type door frames carry on crossbeam subtracts the buffer unit waved, but belongs to passive compensation of undulation, hysteresis quality is apparent and precision compared with
Difference, and this partial devices has larger quality, increases the load of system.
Therefore, research and development are a kind of to mend the wave for hanging and recycling of the safety and steady of equipment in the case of high sea situation
Repaying A types Gate Foundation peculiar to vessel is necessary.
Invention content
The technical problem to be solved in the present invention is to provide it is a kind of can be in the case of high sea situation to the safety and steady of equipment
The compensation of undulation for hanging and recycling A types Gate Foundation peculiar to vessel.
In order to solve the above technical problems, the technical scheme is that：A kind of compensation of undulation A types Gate Foundation peculiar to vessel, should
Compensation of undulation A types Gate Foundation peculiar to vessel is arranged on the ship side of hull；Its innovative point is：Including pedestal, expansion bracket and crossbeam,
One end upper surface of the pedestal is provided with expansion bracket, and the upper surface of pedestal is additionally provided with attitude transducer；
The expansion bracket includes hinged with pedestal, and is symmetricly set on the swing span of pedestal both sides, the other end of swing span it is interior
Intracavitary is socketed with adjustable shelf；The crossbeam connect setting with the adjustable shelf far from swing span one end, and is additionally provided on the crossbeam
Connector suspender member；
The compensation of undulation A types Gate Foundation peculiar to vessel further includes that driving adjustable shelf carries out flexible servo-actuating device along swing span
A, the servo-actuating device B and be drivingly connected the servo-drive that head suspender member makees transverse movement along crossbeam that driving expansion bracket is swung
Mechanism C.
Further, the servo-actuating device A includes two flexible servo hydraulic cylinders for carrying linear movement pick-up, institute
The one end for stating each flexible servo hydraulic cylinder is hinged on swing span, and the other end of each flexible servo hydraulic cylinder is hinged on adjustable shelf
On.
Further, the servo-actuating device B includes two wobble servo hydraulic cylinders for carrying linear movement pick-up, institute
The one end for stating each wobble servo hydraulic cylinder is hinged on pedestal, and the other end of each wobble servo hydraulic cylinder is hinged on swing span.
Further, the connector suspender member is slidably connected with crossbeam, and the servo-actuating device C is with displacement of the lines
The crossbeam servo hydraulic cylinder of sensor, and crossbeam servo hydraulic cylinder is fixedly connected with connector suspender member.
Further, the servo-actuating device B includes four wobble servo hydraulic cylinders for carrying linear movement pick-up, institute
It states each two wobble servo hydraulic cylinder and constitutes a wobble servo hydraulic cylinder group, and two swings in each wobble servo hydraulic cylinder group
Servo hydraulic cylinder bottom is hinged by the fulcrum post with two-freedom with pedestal, passes through two at the top of two wobble servo hydraulic cylinders
Degree of freedom flexible connection head is connect with swing span fixing end.
Further, the connector suspender member is fixedly connected with crossbeam, and the drive connection head suspender member is made along crossbeam
The servo-actuating device C of transverse movement is servo-actuating device B.
Further, the crossbeam is fixedly connected with the adjustable shelf far from swing span one end.
Further, the both ends of the crossbeam are hinged in the activity far from swing span one end.
The advantage of the invention is that：
（1）Compensation of undulation A types Gate Foundation peculiar to vessel of the present invention, by attitude transducer on pedestal detect in real time lash ship wave and
The exact numerical of displacement simultaneously passes to controller, and controller is mended after calculating compensation rate by controlling each servo-actuating device cooperation
The movement for repaying lash ship to keep the fixation of door frame crossbeam level and relative position, and then pair can be set in the case of high sea situation
Standby safety and steady hanging and recycling；
（2）Compensation of undulation A types Gate Foundation peculiar to vessel of the present invention, can be to the surging of the ship caused by stormy waves, swaying, heaving, cross
It shakes four degree of freedom and carries out real-time compensation, compensation of undulation platform uses the layout type of five servo hydraulic cylinders installation, Ji Nengman
Foot has larger bearing capacity to the high-accuracy compensation of hull, and it is excellent to have that stability is high, precision is high, bearing capacity is strong etc.
Point can keep hanging and recycling being in a kind of relatively steady state, be staff in the state that hull plays pendulum
The working environment for providing a safety and steady, ensures the safety of equipment, has high, highly reliable, function integration of precision etc. excellent
Point；
（3）Compensation of undulation A types Gate Foundation peculiar to vessel of the present invention, can be to the surging of the ship caused by stormy waves, swaying, heaving, vertical
It shakes, five degree of freedom progress real-time compensations of rolling, compensation of undulation platform is stretched using four wobble servo hydraulic cylinders installations and two
The layout type of contracting servo hydraulic cylinder reduces the load of single hydraulic cylinder so that entire door frame when receiving shock loading more
Add stabilization, and then keep single unit system structure reliable, principle is simple, is easy to carry out.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of 1 compensation of undulation of embodiment A types Gate Foundation peculiar to vessel.
Fig. 2 is 1 compensation of undulation of embodiment A types Gate Foundation control flow chart peculiar to vessel.
Fig. 3 is the structural schematic diagram of 2 compensation of undulation of embodiment A types Gate Foundation peculiar to vessel.
Fig. 4 is 2 compensation of undulation of embodiment A types Gate Foundation control flow chart peculiar to vessel.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
Embodiment 1
The present embodiment compensation of undulation A types Gate Foundation peculiar to vessel is four-degree-of-freedom compensation of undulation A words door frame peculiar to vessel, the compensation of undulation ship
It is arranged on the ship side of hull with A type Gate Foundations；Including pedestal 1, expansion bracket 2 and crossbeam 3.
One end upper surface of pedestal 1 is provided with expansion bracket 2, and the upper surface of pedestal 1 is additionally provided with attitude transducer 8.
Expansion bracket 2 includes hinged with pedestal 1, and is symmetricly set on the swing span 21 of 1 both sides of pedestal, and swing span 21 can be around
Plane Rotation, the interior cavity inner sleeve of the other end of swing span 21 is connected to adjustable shelf 22；The work of crossbeam 3 and separate 21 one end of swing span
Moving frame 22 is fixedly connected, and sliding sleeve is connected to connector suspender member 4 on crossbeam 3, and driving is fixedly connected on connector suspender member 4
Connector suspender member 4 makees the crossbeam servo hydraulic cylinder 5 with linear movement pick-up of transverse movement along crossbeam 3.
The present embodiment compensation of undulation A types Gate Foundation peculiar to vessel further includes two flexible servo-fluids for carrying linear movement pick-up
Cylinder pressure 6 and two wobble servo hydraulic cylinders 7 for carrying linear movement pick-up, one end of each flexible servo hydraulic cylinder 6 is hinged on pendulum
In moving frame 21, the other end of each flexible servo hydraulic cylinder 6 is hinged on adjustable shelf 22；It cuts with scissors one end of each wobble servo hydraulic cylinder 7
It is connected on pedestal 1, the other end of each wobble servo hydraulic cylinder 7 is hinged on swing span 21.
The present embodiment four-degree-of-freedom compensation of undulation A words door frame peculiar to vessel, the course of work, as shown in Fig. 2, specifically including following step
Suddenly：
1）Attitude transducer 8 on pedestal 1 is by the surging measured, swaying, heaving and rolling value, and real-time Transmission is to motion control
Device, motion controller calculate ship surging, swaying, heaving, rolling offset, control corresponding swing respectively according to offset
Servo hydraulic cylinder 7, flexible servo hydraulic cylinder 6 and crossbeam servo hydraulic cylinder 5；
2）It is mounted on the right side of ship for the side of a ship by whole device, if ship occurs to when heaving, two pendulum being arranged in front of A word door frames
Dynamic servo hydraulic cylinder 7 extends（Shorten）And two flexible servo hydraulic cylinders 6 for being arranged in telescopic A words door frame part extend
（Shorten）, heaving is carried out to hull and is compensated；If ship occurs to when swaying, two swings being arranged in front of A word door frames are watched
Take the shortening of hydraulic cylinder 7（Elongation）And two flexible servo hydraulic cylinders 6 for being arranged in telescopic A words door frame part extend（Contracting
It is short）, swaying is carried out to hull and is compensated；If ship occurs to when stern surging, the horizontal crossbeam servo on A word door frame crossbeams
Hydraulic cylinder 5 acts, and surging compensation is carried out to hull；By the Union Movement of this five servo hydraulic cylinders, realize whole to A word door frames
The compensation of undulation of body；Two wobble servo hydraulic cylinders 7 being arranged in front of A word door frames and two are arranged in telescopic A words door
6 common action of flexible servo hydraulic cylinder of frame part carries out rolling to hull and compensates；
3）Wobble servo hydraulic cylinder 7, flexible servo hydraulic cylinder 6 and crossbeam servo hydraulic cylinder 5 carry linear movement pick-up, five
Linear movement pick-up measures the actual displacement value of corresponding five servo hydraulic cylinders and feeds back to motion controller, motion controller
Actual displacement value and the offset are compared, control deviation is constituted, according to control deviation respectively to five servo-hydraulics
Cylinder carries out closed-loop control.
Embodiment 2
The present embodiment compensation of undulation A types Gate Foundation peculiar to vessel is five degree of freedom compensation of undulation A words door frame peculiar to vessel, the compensation of undulation ship
It is arranged on the ship side of hull with A type Gate Foundations；As shown in figure 3, including pedestal 1, expansion bracket 2 and crossbeam 3.
One end upper surface both sides of pedestal 1 are symmetrically distributed with revolution pin bank, each to turn round pin bank including three in angular distribution
Fulcrum post 9, the upper surface of pedestal 1 is additionally provided with attitude transducer 8.
Expansion bracket 2 includes being symmetricly set on the swing span 21 of 1 both sides of pedestal, and swing span 21 turns round time of apex angle in pin bank
It ships and resell on another market 9 hinged, the interior cavity inner sleeve of the other end of swing span 21 is connected to adjustable shelf 22；The both ends of crossbeam 3 are connected to by Hooke's hinge
On adjustable shelf 22 far from 21 one end of swing span, and it is provided with connector suspender member 4 on crossbeam 3, electronic water is installed on crossbeam 3
Level to monitor in real time crossbeam 3 whether be in horizontality.
The present embodiment compensation of undulation A types Gate Foundation peculiar to vessel further includes two flexible servo-fluids for carrying linear movement pick-up
Cylinder pressure 6 and four wobble servo hydraulic cylinders 7 for carrying linear movement pick-up, one end of each flexible servo hydraulic cylinder 6 is hinged on pendulum
In moving frame 21, the other end of each flexible servo hydraulic cylinder 6 is hinged on adjustable shelf 22；Each two wobble servo hydraulic cylinder 7 is constituted
One wobble servo hydraulic cylinder group, and two 7 bottoms of wobble servo hydraulic cylinder in each wobble servo hydraulic cylinder group and revolution pin bank
Middle remaining two fulcrum posts 9 are hinged, and two 7 tops of wobble servo hydraulic cylinder are socketed with flexible connection head 10, are flexibly connected head 10
And it is hinged on swing span 21 by cross link.
In the present embodiment, wobble servo hydraulic cylinder 7 and flexible servo hydraulic cylinder 6 receive different control signals, energy respectively
It is enough to realize linkage.In order to ensure integrally-built stabilization, the two relative angle is not less than two wobble servo hydraulic cylinders 7 when mounted
30 degree, in order to prevent take up the excessive lateral distance of pedestal 1, angle is not more than 60 degree.
The present embodiment five degree of freedom compensation of undulation A words door frame peculiar to vessel, the course of work, as shown in figure 4, being installed with whole device
For the side of a ship on the right side of ship, ship occurs to when stern surging, and attitude transducer 8 monitors real-time displacement distance, controls wobble servo
Right wobble servo hydraulic cylinder 7 extends in hydraulic cylinder group, and left swing is moved servo hydraulic cylinder 7 and shortened, and the elongation of servo hydraulic cylinder 6 of stretching is to mend
It repays；When swaying to the right occurs for ship, attitude transducer 8 monitors real-time displacement distance, controls right pendulum in wobble servo hydraulic cylinder group
Dynamic servo hydraulic cylinder 7 and left swing are moved servo hydraulic cylinder 7 and are shortened, and the elongation of servo hydraulic cylinder 6 of stretching is to compensate；Downward heaving occurs for ship
When, attitude transducer 8 monitors real-time displacement distance, controls right wobble servo hydraulic cylinder 7 and a left side in wobble servo hydraulic cylinder group
Wobble servo hydraulic cylinder 7 extends, and the elongation of servo hydraulic cylinder 6 of stretching is to compensate；When the low pitching of the high stern of bow occurs for ship, posture sensing
Device 8 monitors real-time flip angle, controls right wobble servo hydraulic cylinder 7 in wobble servo hydraulic cylinder group and extends, left wobble servo
Hydraulic cylinder 7 shortens, and flexible servo hydraulic cylinder 6 is elongated or shortened to compensate；When the rolling of right low left high occurs for ship, attitude transducer
8 monitor real-time flip angle, control right wobble servo hydraulic cylinder 7 and left swing in wobble servo hydraulic cylinder group and move servo hydraulic cylinder
7 shorten, and the elongation of servo hydraulic cylinder 6 of stretching is to compensate.
For 1 four-degree-of-freedom compensation of undulation of embodiment A words door frame peculiar to vessel, A type door frames crossbeam 3 plus a kind of butt joint and
Connector is hung with slewing equipment, the butt joint and the connector that hangs with slewing equipment can be by the swing mechanisms of itself and anti-
It waves hydraulic cylinder to realize rotation and swing, then aforementioned activities can be coordinated to realize surging, swaying, heaving, pitching, rolling, yawing
Six-freedom degree compensates；For 2 five degree of freedom compensation of undulation of embodiment A words door frame peculiar to vessel, adds and carry in A type door frames crossbeam 3
Slewing equipment hangs connector, and the included hydraulic cylinder of connector that hangs by Hooke's hinge and with slewing equipment is realized rotation and swung,
Aforementioned activities can be then coordinated to realize surging, swaying, heaving, pitching, rolling, the compensation of yawing six-freedom degree.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (8)
1. the ship side in hull is arranged in a kind of compensation of undulation A types Gate Foundation peculiar to vessel, compensation of undulation A types Gate Foundation peculiar to vessel
On；It is characterized in that：Including pedestal, expansion bracket and crossbeam,
One end upper surface of the pedestal is provided with expansion bracket, and the upper surface of pedestal is additionally provided with attitude transducer；
The expansion bracket includes hinged with pedestal, and is symmetricly set on the swing span of pedestal both sides, the other end of swing span it is interior
Intracavitary is socketed with adjustable shelf；The crossbeam connect setting with the adjustable shelf far from swing span one end, and is additionally provided on the crossbeam
Connector suspender member；
The compensation of undulation A types Gate Foundation peculiar to vessel further includes that driving adjustable shelf carries out flexible servo-actuating device along swing span
A, the servo-actuating device B and be drivingly connected the servo-drive that head suspender member makees transverse movement along crossbeam that driving expansion bracket is swung
Mechanism C.
2. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 1, it is characterised in that：The servo-actuating device A
The flexible servo hydraulic cylinder for carrying linear movement pick-up including two, one end of each flexible servo hydraulic cylinder is hinged on swing
On frame, the other end of each flexible servo hydraulic cylinder is hinged on adjustable shelf.
3. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 1, it is characterised in that：The servo-actuating device B
The wobble servo hydraulic cylinder for carrying linear movement pick-up including two, one end of each wobble servo hydraulic cylinder is hinged on pedestal
On, the other end of each wobble servo hydraulic cylinder is hinged on swing span.
4. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 3, it is characterised in that：The connector suspender member
It is slidably connected with crossbeam, the servo-actuating device C is the crossbeam servo hydraulic cylinder with linear movement pick-up, and crossbeam servo
Hydraulic cylinder is fixedly connected with connector suspender member.
5. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 1, it is characterised in that：The servo-actuating device B
The wobble servo hydraulic cylinder for carrying linear movement pick-up including four, each two wobble servo hydraulic cylinder constitute a swing and watch
Hydraulic cylinder group is taken, and two wobble servo hydraulic cylinder bottoms in each wobble servo hydraulic cylinder group pass through returning with two-freedom
It ships and resell on another market hinged with pedestal, be flexibly connected head by two-freedom at the top of two wobble servo hydraulic cylinders connects with swing span fixing end
It connects.
6. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 5, it is characterised in that：The connector suspender member
It is fixedly connected with crossbeam, the servo-actuating device C that the drive connection head suspender member makees transverse movement along crossbeam is that servo is driven
Motivation structure B.
7. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 1, it is characterised in that：The crossbeam and separate pendulum
The adjustable shelf of moving frame one end is fixedly connected.
8. compensation of undulation A types Gate Foundation peculiar to vessel according to claim 1, it is characterised in that：It cuts with scissors at the both ends of the crossbeam
It is connected in the activity far from swing span one end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399718.0A CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
| CN201810971399.6A CN108862056B (en) | 2018-04-28 | 2018-08-24 | Marine A type portal base of wave compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399718.0A CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
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| CN108439200A true CN108439200A (en) | 2018-08-24 |
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| CN201810399718.0A Pending CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
| CN201810971399.6A Active CN108862056B (en) | 2018-04-28 | 2018-08-24 | Marine A type portal base of wave compensation |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810971399.6A Active CN108862056B (en) | 2018-04-28 | 2018-08-24 | Marine A type portal base of wave compensation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334874A (en) * | 2018-10-25 | 2019-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of boat-carrying unmanned submersible lays recycling gantry crane system |
| CN112591012A (en) * | 2020-12-18 | 2021-04-02 | 武昌船舶重工集团有限公司 | Ship A-shaped frame and ship |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368514B (en) * | 2018-11-20 | 2020-05-08 | 衢州学院 | Wave compensation device for offshore floating crane |
| CN116692697B (en) * | 2023-08-08 | 2024-01-26 | 日照恒远船舶工程有限公司 | Hoisting device for ship maintenance |
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| AT401925B (en) * | 1995-03-24 | 1996-12-27 | Rochus Penz Kranbau Gmbh | LOADING CRANE |
| CN103663201A (en) * | 2013-12-14 | 2014-03-26 | 广西大学 | Six-range of motion flexible supporting device of extensible tower crane |
| CN103979416B (en) * | 2014-05-09 | 2016-05-04 | 哈尔滨工程大学 | Crane ship A support compensation of undulation actuating unit |
| CN103979419B (en) * | 2014-05-30 | 2016-01-20 | 大连海事大学 | Based on active heave compensation control system and the method for wave Trend judgement |
| CN105621275B (en) * | 2016-03-01 | 2018-10-12 | 江苏科技大学 | Crane device with Three Degree Of Freedom active compensation of undulation function and compensation method |
| CN208829148U (en) * | 2018-04-28 | 2019-05-07 | 江苏科技大学 | A kind of compensation of undulation A type Gate Foundation peculiar to vessel |
-
2018
- 2018-04-28 CN CN201810399718.0A patent/CN108439200A/en active Pending
- 2018-08-24 CN CN201810971399.6A patent/CN108862056B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334874A (en) * | 2018-10-25 | 2019-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of boat-carrying unmanned submersible lays recycling gantry crane system |
| CN112591012A (en) * | 2020-12-18 | 2021-04-02 | 武昌船舶重工集团有限公司 | Ship A-shaped frame and ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108862056B (en) | 2023-11-21 |
| CN108862056A (en) | 2018-11-23 |
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Application publication date: 20180824 |