CN111452916B - Non-self-navigation passing traction device and method for navigation tunnel ship - Google Patents
Non-self-navigation passing traction device and method for navigation tunnel ship Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
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Abstract
The invention discloses a non-self-navigation passing traction device for a ship in a navigable tunnel, which comprises a tractor track arranged in the tunnel along the length direction of the tunnel and a tractor arranged on the tractor track, wherein the tractor is provided with a driving device capable of driving the tractor to run on the tractor track; the tunnel is characterized in that the tractor tracks and the tractor are arranged in the middle of the top of the tunnel. The non-self-navigation passing traction method for the navigable tunnel ship adopting the device is also disclosed. The invention has the advantages of simple structure, lower requirement on tunnel excavation construction, less engineering cost, better ship traction navigation effect, better safety and high navigation efficiency.
Description
Technical Field
The invention relates to the technical field of tunnel ship navigation, in particular to a non-self-navigation passing traction device and method for a navigation tunnel ship.
Background
In water transportation engineering, in order to realize ship navigation in a restricted area, a closed water delivery channel called a navigation tunnel is constructed by excavating through mountains. The mountain area of China accounts for nearly 70% of the total area of national soil, and in order to further improve the grade of river channels of mountain areas, artificial canals are often required to be designed and excavated. When the artificial canal encounters the mountains and is difficult to bypass, the artificial canal needs to be tunneled by digging a tunnel penetrating the mountains and mountains. The axis of the hydraulic tunnel is generally a straight line, the water depth, the width, the navigation and the air purification and the like of the tunnel all meet the navigation requirements, and the hydraulic tunnel is usually designed according to a single-line channel. The tunnel is internally provided with equipment for ventilation, illumination, communication and the like. The tunnel is dug, so that the obstruction point of the shipping aorta can be thoroughly opened, the channel scale of the restrictive navigation section is greatly improved, and the navigation mileage of the ship is shortened.
Current tunnel mainly adopts self-navigation mode navigation, and boats and ships rely on self power drive to pass through the tunnel promptly, but this mode all provides higher requirement to the section yardstick of tunnel, and the safety of tunnel, ventilation, illumination, communication etc.. Therefore, the non-self-propelled mode is adopted to assist the ship to pass through the tunnel, so that the economic and safe measure scheme is provided.
CN110901831A discloses a device for non-self-propelled ships to pass through tunnels for long distances. The device sets up the driving track through bank top in tunnel channel both sides, and the tractor moves along the driving track, and the drive is waited to pull boats and ships and is moved along the tunnel channel, simple structure, and the technique is reliable, and it is convenient to implement, has improved the navigation efficiency of boats and ships. However, due to the limitations of mountain rock and the existing tunnel excavation technology, and considering economy, the tunnel dimension should be reduced as much as possible for navigation of ships of the same tonnage. In the patent, the tractor arranged on the tops of the two side banks needs to occupy a certain tunnel width, so that the construction difficulty and the engineering investment are greatly increased. In addition, the traction mechanisms on the tops of the two side banks are fixed, and when the water level is lowered, the component force of the same traction rope pulling force in the sailing direction of the ship is smaller, so that the arrangement of a traction device is not facilitated. In addition, in the actual operation of the technology, the hauling ropes on the two sides need to be thrown to the ship, and the process complexity of field operation is increased.
Aiming at the problems, how to provide a technology which has lower requirements on tunnel excavation, less engineering cost, better navigation traction effect on ships and high navigation efficiency becomes a problem to be considered and solved by technical personnel in the field.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a simple structure, it is lower to the tunnel excavation construction requirement, and the engineering cost is still less, and navigation is efficient, and the non-self-propelled of navigation tunnel boats and ships that the effect is better to boats and ships traction navigation passes through draw gear and method.
In order to solve the technical problems, the invention adopts the following technical scheme:
a non-self-propelled passing traction device for a ship in a navigable tunnel comprises a tractor rail arranged in the tunnel along the length direction of the tunnel and a tractor arranged on the tractor rail, wherein a driving device capable of driving the tractor to run on the tractor rail is arranged on the tractor, and the tractor is also provided with a traction device which comprises a traction rope for traction of the ship; the tunnel is characterized in that the tractor tracks and the tractor are arranged in the middle of the top of the tunnel.
Thus, when the ship enters the tunnel, the central controller puts down the traction rope from the tractor by controlling the traction device, the lower end of the traction rope is tied on the ship, and then the tractor is controlled to drag the ship forwards until the ship is driven out of the tunnel. Wherein, tractor track and tractor setting are at the tunnel top, need not to excavate tractor track platform toward width direction in the tunnel both sides like this, have greatly reduced tunnel width direction's excavation size, because tunnel width size need strut firm degree of difficulty more greatly more, so tunnel width direction size requires to reduce the back and just greatly reduced the engineering degree of difficulty and risk, has improved the security of tunnel construction and maintenance. Simultaneously, adopt the mode of dragging boats and ships from the tunnel top, haulage rope and boats and ships are connected and apply traction force from relative vertical direction, and it is less to compare haulage rope inclination with the direction from both sides, and the component force that can act on boats and ships is bigger, can reduce the requirement to traction force, reduces energy loss. In addition, the hauling cable needs to be manually operated when being thrown to the ship from two sides, and can be conveniently mechanically operated to realize automatic action when being put down from the top of the tunnel, so that the operation of workers is not needed, and the labor cost is greatly saved. In practice, the central controller may be located on the tractor, but is preferably located in a separate control room within the tunnel and is in wireless communication with the signal sensing portion components and the device power control portion components.
As optimization, a plurality of support frames are arranged at intervals along the length direction at the top of the tunnel, the support frames are integrally arranged along the width direction of the tunnel, anchor rod piles extending upwards and anchored into a rock stratum at the top of the tunnel are arranged at the upper ends of the support frames, a lower cantilever extending downwards is respectively arranged at each of two ends of the support frames in the width direction of the tunnel, a section of horizontal and inwards extending tractor support cross arm is respectively arranged at the lower end of each lower cantilever, and a tractor track is fixedly arranged on each tractor support cross arm; the wheels on two sides of the tractor are supported on the tractor track in a matching mode, a space is reserved between the tractor supporting cross arms on two sides, and the traction device is correspondingly arranged on the lower portion of the tractor between the spaces.
Like this, rely on the anchor pole to support the basis as tractor track erection, the tractor track mounting structure who sets up has simple structure, and to tractor simple to operate swift, support reliable and stable, make things convenient for characteristics such as draw gear below haulage rope.
Furthermore, the support frame upper end has the top crossbeam that sets up along the tunnel width direction, is provided with an stock pile on the top crossbeam along left side well right position each direction, and the cantilever is fixed in top crossbeam both sides below and just to the stock pile setting of the left and right sides down.
Therefore, the anchoring is more reliable, and the whole structure of the support frame is more stable.
Furthermore, the joint of the anchor rod pile and the top cross beam is formed with a reinforcing disc along the circumferential direction, a circle of stiffening ribs are arranged around the lower end of the anchor rod pile on two sides, and the lower ends of the stiffening ribs are connected with the lower cantilever below the lower portion in the inclined inward direction.
In this way, the overall structural support stability is further improved.
Preferably, the cross section of the track of the tractor is in an I shape, and two sides of the wheels of the tractor are provided with flanges protruding outwards along the circumferential direction and are limited on two sides of the upper end of the I shape of the track of the tractor by the flanges.
Like this, adopt simple limit structure, guaranteed the stability and the controllability that the tractor travelled along the tractor track, guarantee that the process of drawing navigation can obtain accurate control.
Furthermore, the traction device comprises a traction motor arranged on the tractor, the output end of the traction motor is in transmission connection with a cable disc, and two traction ropes are wound on the cable disc in parallel.
Therefore, the two hauling ropes are arranged in parallel, and can be unfolded to be splayed to be connected with the cable piles on the two sides of the ship below in the working process, so that the hauling of the ship is more stable and reliable.
Furthermore, the driving device comprises a driving motor arranged on the tractor, and the driving motor is in transmission connection with wheels of the tractor; the tractor both sides outside extend and are formed with the brush support arm, cantilever lower part inboard still has the level brush platform that inwards extends and form down, is provided with the brush device between brush support arm and the brush platform, and the brush device links to each other and supplies power for it with driving motor and traction motor.
This enables better power and control of the tractor.
Further, the tractors are arranged in groups, and each group of tractors comprises a front tractor and a rear tractor.
Therefore, each ship is pulled to advance by four traction ropes of two front tractors and two rear tractors, and the stability of the ship navigation process can be better ensured.
Further, be provided with the multiunit tractor on the tractor track, the tractor top still is provided with the tractor and picks up the driving system of returning, the tractor picks up the driving system of returning and supports the xarm including being located two lower cantilever middle parts one section driving that inboard set up, the driving supports and is erect the driving track on the xarm, both sides driving is supported and is left the space that the interval and driving support arm and below left and can hold a tractor between the xarm, the tractor picks up the driving system of returning and still sets up the driving on the driving track including the cooperation, driving lower extreme middle part is provided with lifting device, lifting device includes a lifting motor, lifting motor output and lifting rope dish transmission are connected, the winding is provided with the lifting rope on the lifting rope dish, the fixed grabbing device that is provided with the lifting rope lower extreme, grabbing device can accomplish and realize snatching with the connection of.
Like this, after every group tractor pulls boats and ships and passes through the tunnel, can rely on the driving above the tractor to put down the lifting rope, lean on grabbing device to catch the tractor and promote the tractor unsettledly again. Then the driving is reset fast and is put down the tractor to the tunnel starting point, when avoiding the tractor to reset with all the other groups tractor interference. Therefore, the back and forth movement of the plurality of groups of tractors can be realized to realize the continuous navigation of a plurality of ships. Greatly reducing the navigation queuing time of the ships and improving the ship passing efficiency of the tunnel. In practice, the power supply and control structure on the travelling crane may be similar to that of a tractor and will not be described in detail here.
Preferably, the gripping device is an electromagnet device, and the electromagnet device is arranged right opposite to an iron stressed part at the top of the tractor. Therefore, the device has the advantages of simple structure, convenient control, and convenient and reliable grabbing and putting down.
Furthermore, the control system also comprises a laser displacement sensor arranged on the lower surface of the tractor and right facing the lower part, and a traction rope tension sensor arranged on the traction device, wherein the laser detection sensor is in communication connection with the traction rope tension sensor and the central controller. The lower end of the support frame is also provided with an image sensor used for acquiring image information in the tunnel below, and the image sensor is in communication connection with the central controller.
Therefore, automatic detection control of navigation is more conveniently realized. The image sensor arranged in the ship navigation system can acquire image information of a navigation ship below the ship navigation system, and positioning calculation of the ship navigation position is realized by the aid of the central controller through an image processing algorithm.
The invention also discloses a non-self-navigation passing traction method for the navigation tunnel ship, which is realized based on the device and comprises the following steps:
a. stopping power and advancing by means of inertia at a position near a traction area at an entrance of a tunnel, sending a signal to a central controller after a laser displacement sensor on a tractor detects a ship signal below the laser displacement sensor, controlling a traction rope of the tractor to be put down on the ship by the central controller, fixing the traction rope of the tractor in front to mooring columns on two sides of a bow by ship workers, and fixing the traction rope of the tractor in rear to mooring columns on two sides of a stern;
b. the method comprises the following steps that a ship boarding crew sends ship shape information and draft information to a central controller in advance, and the central controller calculates a ship driving resistance value according to the ship shape information and the draft; detecting the vertical distance information from the tractor to the ship by means of a laser displacement sensor and sending the information to a central controller; the method comprises the steps that full-coverage monitoring of a ship in a tunnel is achieved by means of an image sensor, positioning of a ship navigation position is achieved in a central controller through an image processing algorithm, according to the ship position obtained through calculation and a preset longitudinal position relation between a front tractor and a rear tractor and the ship, the tractor reaches a specified position under the control of the central controller, a rear tractor applies a reverse constraint force according to a set cable force value, a front tractor provides forward traction force of a cable according to a conversion result of the calculated ship driving resistance value and the rear tractor constraint cable force value, and constant-speed driving of the ship in the tunnel is achieved by monitoring and controlling the traction force of the cable;
c. releasing a traction rope on the ship when the ship drives out of the tunnel, controlling a tractor to retract the traction rope released from the ship, and then hoisting the tractor at the tunnel outlet position and conveying the tractor back to the tunnel inlet position for next use by a tractor picking-up and returning vehicle system;
d. when a plurality of ships are queued for navigation, the queued ships keep safe distances and sequentially and continuously enter the tunnel, and sequentially pass through the tunnel according to the steps a-c, and the tractors corresponding to the ships after passing through the tunnel are lifted by the tractor picking-up and returning trolley system to a sufficient height, so as to avoid the tractors of the subsequent ships in the tunnel and convey the tractors back to the tunnel opening for recycling.
Therefore, when the ship is sailed, the front tractor pulls forwards and provides a pulling force for sailing of the ship, the rear tractor pulls backwards and provides a pulling force for preventing the ship from swinging, the front pulling force, the rear pulling force and the ship running resistance are kept balanced, and the ship is ensured to run at a constant speed according to the pulling speed. According to the invention, as the tractor is arranged above the tunnel, the inclination angle of the traction rope is reduced, so that the component force loss caused by the inclination of the traction rope to two sides in a two-side traction mode is greatly avoided, and the traction force of the front tractor can be better converted into the forward tension of the ship. Meanwhile, a smaller backward reverse constraint force is applied by means of a backward tractor, so that the ship can be well prevented from swinging left and right in the navigation process, and the ship can be better ensured to stably pass through the tunnel.
In the step b, the navigation running speed of the ship is specified in advance according to the size of the ship type of the ship, the larger the ship is, the wider the ship is, the smaller the traction speed is, and otherwise, the traction speed can be larger, so that the running safety of the ship can be ensured through actual navigation inspection as a criterion. The ship driving resistance is related to the size of a ship model and the draft, under the condition that the flow speed of the tunnel river is determined, the ship driving resistance is larger when the ship model is larger and the draft is deeper, specifically, a ship resistance table can be established in advance through physical model experiments, real ship experiment verification and the like, and the corresponding ship driving resistance is obtained according to the determined tunnel river flow speed (the tunnel with large flow speed change can detect the river flow speed in real time every month or every week or every day, and the river with small flow speed change can determine a fixed value flow speed in advance) and the ship model and draft information acquired in real time during navigation control. The backward reverse restraining force of the rear tractor is used for keeping the ship stably running, so that only a small force is required. The force value taking mode has two types, firstly, a fixed value can be taken according to the size of the ship and the draft according to the mode of physical model experiment and real ship experiment verification, and the larger the ship and the deeper the draft are, the larger the value is. A second way is to take a smaller proportional value, for example one tenth, as the backward traction force, depending on the determined running resistance of the ship. After the running resistance and the backward traction of the ship are determined, the forward traction and the forward traction angle required by the ship can be calculated, and the control required by the front tractor and the longitudinal distance of the ship are determined according to the pythagorean theorem and the measured vertical distance between the ship and the tractor. The rear tractor adopts the same principle to realize calculation and control. After the traction ropes of the front and rear tractors are tightened, the tension force of the traction ropes can be detected, and the ship is controlled to stably run at a required speed, so that tunnel navigation is completed.
In the step b, the backward traction angle of the rear tractor is smaller than the forward traction angle of the front tractor. Thus, better ship swing prevention effect can be generated by using smaller backward traction force, and the function loss of the forward traction vehicle to the front is reduced after the backward traction force is reduced.
Preferably, in the step c, after the front tractor runs to the tunnel exit position, the front tractor stops advancing, the ship continues to run out of the tunnel under the inertia effect, at the moment, the front tractor is controlled to gradually retract the traction rope and keep the tension of the traction rope, and the rear tractor is controlled to start to actively run forwards and continuously provide the traction force of the ship; after the front end of the ship exceeds the position of the front tractor, the rear tractor starts to apply forward traction to the ship to drag the ship to continue to drive forwards, and the front tractor correspondingly gradually releases a traction rope and keeps a small backward reverse constraint force (smaller than the forward traction of the rear tractor) on the ship; stopping advancing after the rear tractor runs to the tunnel exit position, removing the traction ropes on two sides of the bow, withdrawing the traction ropes by the front tractor to the traction device, controlling the traction ropes to be gradually withdrawn by the rear tractor to keep forward tension, removing the traction ropes on two sides of the stern after the stern passes below the rear tractor, withdrawing the traction ropes by the rear tractor to the traction device, and hoisting and transporting the tractor at the tunnel exit position to the tunnel entrance position for next use by the tractor picking-up and returning system.
Therefore, the ship can be better ensured to be in a state that both ends of the ship are effectively subjected to traction control in the whole process of running out of the tunnel, and the ship is still kept under controlled forces in the front and back directions, so that the stability and the safety of the whole running-out process are better ensured.
In conclusion, the tunnel excavation construction method has the advantages of simple structure, lower requirements on tunnel excavation construction, less engineering cost, better ship traction navigation effect, better safety and high navigation efficiency.
Drawings
Fig. 1 is a schematic view of a non-self-propelled through-draft gear of a navigable tunnel vessel of the present invention.
Fig. 2 is a left side view of fig. 1.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
The specific implementation mode is as follows: referring to fig. 1 and 2, a non-self-propelled traction device for a navigable tunnel ship comprises a tractor track 1 arranged in the tunnel along the length direction of the tunnel and a tractor 2 arranged on the tractor track 1, wherein a driving device capable of driving the tractor to run on the tractor track is arranged on the tractor 2, and the tractor is also provided with a traction device which comprises a traction rope 3 for traction of the ship; and the control system is provided with a central controller 17 connected with the driving device and the traction device, and the tractor track and the tractor are arranged in the middle position of the top of the tunnel.
Thus, when the ship enters the tunnel, the central controller puts down the traction rope from the tractor by controlling the traction device, the lower end of the traction rope is tied on the ship, and then the tractor is controlled to drag the ship forwards until the ship is driven out of the tunnel. Wherein, tractor track and tractor setting are at the tunnel top, need not to excavate tractor track platform toward width direction in the tunnel both sides like this, have greatly reduced tunnel width direction's excavation size, because tunnel width size need strut firm degree of difficulty more greatly more, so tunnel width direction size requires to reduce the back and just greatly reduced the engineering degree of difficulty and risk, has improved the security of tunnel construction and maintenance. Simultaneously, adopt the mode of dragging boats and ships from the tunnel top, haulage rope and boats and ships are connected and apply traction force from relative vertical direction, and it is less to compare haulage rope inclination with the direction from both sides, and the component force that can act on boats and ships is bigger, can reduce the requirement to traction force, reduces energy loss. In addition, the hauling cable needs to be manually operated when being thrown to the ship from two sides, and can be conveniently mechanically operated to realize automatic action when being put down from the top of the tunnel, so that the operation of workers is not needed, and the labor cost is greatly saved. In this embodiment, the central controller 17 is disposed in a separate control room in the tunnel and is in wireless communication with the signal detection part components and the device power control part components.
The top of the tunnel is provided with a plurality of support frames 4 at intervals along the length direction, the support frames 4 are integrally arranged along the width direction of the tunnel, anchor rod piles 5 extending upwards and anchored in a rock stratum at the top of the tunnel are arranged at the upper ends of the support frames, two ends of the support frames in the width direction of the tunnel are respectively provided with a lower cantilever 6 extending downwards, the lower end of each lower cantilever 6 is provided with a section of tractor support cross arm 7 extending horizontally inwards, and the tractor track 1 is fixedly arranged on the tractor support cross arm 7; the wheels on two sides of the tractor are supported on the tractor track 1 in a matching mode, a space is reserved between the tractor supporting cross arms on two sides, and the traction device corresponds to the lower portion of the tractor arranged between the spaces.
Like this, rely on the anchor pole to support the basis as tractor track erection, the tractor track mounting structure who sets up has simple structure, and to tractor simple to operate swift, support reliable and stable, make things convenient for characteristics such as draw gear below haulage rope.
Wherein, support frame 4 upper end has the top beam 8 that sets up along the tunnel width direction, and top beam 8 is gone up along left side well right position and is provided with an stock pile on each side, and lower cantilever 6 is fixed in 8 both sides belows in top beam and just to the stock pile setting of the left and right sides.
Therefore, the anchoring is more reliable, and the whole structure of the support frame is more stable.
Wherein, the anchor rod pile 5 and the top crossbeam 8 department of meeting expands outward along circumference and is formed with a reinforcing disc 9, and the anchor rod pile lower extreme of both sides is provided with the round stiffening rib all around, and the lower cantilever of stiffening rib lower extreme slant inside and below links to each other.
In this way, the overall structural support stability is further improved.
The section of the tractor track 1 is I-shaped, and two sides of wheels of the tractor 2 are provided with flanges protruding outwards along the circumferential direction and are limited on two sides of the I-shaped upper end of the tractor track by the flanges.
Like this, adopt simple limit structure, guaranteed the stability and the controllability that the tractor travelled along the tractor track, guarantee that the process of drawing navigation can obtain accurate control.
The traction device comprises a traction motor arranged on the tractor 2, the output end of the traction motor is in transmission connection with a cable drum (not shown in the figure), and two traction ropes are wound on the cable drum in parallel.
Therefore, the two hauling ropes are arranged in parallel, and can be unfolded to be splayed to be connected with the cable piles on the two sides of the ship below in the working process, so that the hauling of the ship is more stable and reliable.
The driving device comprises a driving motor (not shown in the figure) arranged on the tractor, and the driving motor is in transmission connection with wheels of the tractor; the tractor both sides outwards extend and are formed with brush support arm 10, cantilever lower part inboard still has the level and inwards extends the brush platform 11 that forms down, is provided with the brush device between brush support arm 10 and the brush platform 11, and the brush device links to each other and supplies power for it with driving motor and traction motor.
This enables better power and control of the tractor.
Wherein, the tractor sets up in groups, and every group tractor includes two tractors in tandem.
Therefore, each ship is pulled to advance by four traction ropes of two front tractors and two rear tractors, and the stability of the ship navigation process can be better ensured.
Wherein, be provided with the multiunit tractor on the tractor track, the tractor top still is provided with the tractor and picks up the driving system of returning, the tractor picks up the driving system of returning and supports xarm 12 including being located one section driving that two lower cantilever middle parts inboardly set up, driving supports and erects driving track 14 on the xarm, leave the space that the interval and leave between driving support arm and the below tractor between the both sides driving support xarm and can hold a tractor, the tractor picks up the driving system of returning and still includes the driving 13 that the cooperation set up on the driving track, driving lower extreme middle part is provided with draw gear, draw gear includes a carry and draw motor, carry and draw motor output and carry and draw the transmission of rope reel and connect, it is provided with the lifting rope to carry the winding on the rope reel, lifting rope lower extreme is fixed to be provided with grabbing device 15, grabbing device.
Like this, after every group tractor pulls boats and ships and passes through the tunnel, can rely on the driving above the tractor to put down the lifting rope, lean on grabbing device to catch the tractor and promote the tractor unsettledly again. Then the driving is reset fast and is put down the tractor to the tunnel starting point, when avoiding the tractor to reset with all the other groups tractor interference. Therefore, the back and forth movement of the plurality of groups of tractors can be realized to realize the continuous navigation of a plurality of ships. Greatly reducing the navigation queuing time of the ships and improving the ship passing efficiency of the tunnel. In practice, the power supply and control structure on the travelling crane may be similar to that of a tractor and will not be described in detail here.
The grabbing device is an electromagnet device, and the electromagnet device is arranged right opposite to an iron stressed part at the top of the tractor. Therefore, the device has the advantages of simple structure, convenient control, and convenient and reliable grabbing and putting down.
The control system further comprises a laser displacement sensor 16 arranged on the lower surface of the tractor and right below the tractor, and a traction rope tension sensor (not shown in the figure) arranged on the traction device, wherein the laser detection sensor is in communication connection with the traction rope tension sensor and a central controller 17. The lower end of the support frame is also provided with an image sensor used for acquiring image information in the tunnel below, and the image sensor is in communication connection with the central controller.
Therefore, automatic detection control of navigation is more conveniently realized. The image sensor arranged in the ship navigation system can acquire image information of a navigation ship below the ship navigation system, and positioning calculation of the ship navigation position is realized by the aid of the central controller through an image processing algorithm.
The invention also discloses a non-self-navigation passing traction method for the navigation tunnel ship, which is realized based on the device and comprises the following steps:
a. stopping power and advancing by means of inertia at a position near a traction area at an entrance of a tunnel, sending a signal to a central controller after a laser displacement sensor on a tractor detects a ship signal below the laser displacement sensor, controlling a traction rope of the tractor to be put down on the ship by the central controller, fixing the traction rope of the tractor in front to mooring columns on two sides of a bow by ship workers, and fixing the traction rope of the tractor in rear to mooring columns on two sides of a stern;
b. the method comprises the following steps that a ship boarding crew sends ship shape information and draft information to a central controller in advance, and the central controller calculates a ship driving resistance value according to the ship shape information and the draft; detecting the vertical distance information from the tractor to the ship by means of a laser displacement sensor and sending the information to a central controller; the method comprises the steps that full-coverage monitoring of a ship in a tunnel is achieved by means of an image sensor, positioning of a ship navigation position is achieved in a central controller through an image processing algorithm, according to the ship position obtained through calculation and a preset longitudinal position relation between a front tractor and a rear tractor and the ship, the tractor reaches a specified position under the control of the central controller, a rear tractor applies a reverse constraint force according to a set cable force value, a front tractor provides forward traction force of a cable according to a conversion result of the calculated ship driving resistance value and the rear tractor constraint cable force value, and constant-speed driving of the ship in the tunnel is achieved by monitoring and controlling the traction force of the cable;
c. releasing a traction rope on the ship when the ship drives out of the tunnel, controlling a tractor to retract the traction rope released from the ship, and then hoisting the tractor at the tunnel outlet position and conveying the tractor back to the tunnel inlet position for next use by a tractor picking-up and returning vehicle system;
d. when a plurality of ships are queued for navigation, the queued ships keep safe distances and sequentially and continuously enter the tunnel, and sequentially pass through the tunnel according to the steps a-c, and the tractors corresponding to the ships after passing through the tunnel are lifted by the tractor picking-up and returning trolley system to a sufficient height, so as to avoid the tractors of the subsequent ships in the tunnel and convey the tractors back to the tunnel opening for recycling.
Therefore, when the ship is sailed, the front tractor pulls forwards and provides a pulling force for sailing of the ship, the rear tractor pulls backwards and provides a pulling force for preventing the ship from swinging, the front pulling force, the rear pulling force and the ship running resistance are kept balanced, and the ship is ensured to run at a constant speed according to the pulling speed. According to the invention, as the tractor is arranged above the tunnel, the inclination angle of the traction rope is reduced, so that the component force loss caused by the inclination of the traction rope to two sides in a two-side traction mode is greatly avoided, and the traction force of the front tractor can be better converted into the forward tension of the ship. Meanwhile, a smaller backward reverse constraint force is applied by means of a backward tractor, so that the ship can be well prevented from swinging left and right in the navigation process, and the ship can be better ensured to stably pass through the tunnel.
In the step b, the navigation running speed of the ship is specified in advance according to the size of the ship type of the ship, the larger the ship is, the wider the ship is, the smaller the traction speed is, and otherwise, the traction speed can be larger, so that the running safety of the ship can be ensured through actual navigation inspection as a criterion. The ship driving resistance is related to the size of a ship model and the draft, under the condition that the flow speed of the tunnel river is determined, the ship driving resistance is larger when the ship model is larger and the draft is deeper, specifically, a ship resistance table can be established in advance through physical model experiments, real ship experiment verification and the like, and the corresponding ship driving resistance is obtained according to the determined tunnel river flow speed (the tunnel with large flow speed change can detect the river flow speed in real time every month or every week or every day, and the river with small flow speed change can determine a fixed value flow speed in advance) and the ship model and draft information acquired in real time during navigation control. The backward reverse restraining force of the rear tractor is used for keeping the ship stably running, so that only a small force is required. The force value taking mode has two types, firstly, a fixed value can be taken according to the size of the ship and the draft according to the mode of physical model experiment and real ship experiment verification, and the larger the ship and the deeper the draft are, the larger the value is. A second way is to take a smaller proportional value, for example one tenth, as the backward traction force, depending on the determined running resistance of the ship. After the running resistance and the backward traction of the ship are determined, the forward traction and the forward traction angle required by the ship can be calculated, and the control required by the front tractor and the longitudinal distance of the ship are determined according to the pythagorean theorem and the measured vertical distance between the ship and the tractor. The rear tractor adopts the same principle to realize calculation and control. After the traction ropes of the front and rear tractors are tightened, the tension force of the traction ropes can be detected, and the ship is controlled to stably run at a required speed, so that tunnel navigation is completed.
In practice, it is better to choose that in the step b, the backward traction angle of the rear tractor is smaller than the forward traction angle of the front tractor. Thus, better ship swing prevention effect can be generated by using smaller backward traction force, and the function loss of the forward traction vehicle to the front is reduced after the backward traction force is reduced.
During implementation, wherein a better choice is that in the step c, after the front tractor runs to the tunnel exit position, the front tractor stops advancing, the ship continues to run out of the tunnel under the inertia effect, at the moment, the front tractor is controlled to gradually retract the traction rope and keep the tension of the traction rope, and meanwhile, the rear tractor is controlled to start to actively run forwards and continuously provide the traction force of the ship; after the front end of the ship exceeds the position of the front tractor, the rear tractor starts to apply forward traction to the ship to drag the ship to continue to drive forwards, and the front tractor correspondingly gradually releases a traction rope and keeps a small backward reverse constraint force (smaller than the forward traction of the rear tractor) on the ship; stopping advancing after the rear tractor runs to the tunnel exit position, removing the traction ropes on two sides of the bow, withdrawing the traction ropes by the front tractor to the traction device, controlling the traction ropes to be gradually withdrawn by the rear tractor to keep forward tension, removing the traction ropes on two sides of the stern after the stern passes below the rear tractor, withdrawing the traction ropes by the rear tractor to the traction device, and hoisting and transporting the tractor at the tunnel exit position to the tunnel entrance position for next use by the tractor picking-up and returning system.
Therefore, the ship can be better ensured to be in a state that both ends of the ship are effectively subjected to traction control in the whole process of running out of the tunnel, and the ship is still kept under controlled forces in the front and back directions, so that the stability and the safety of the whole running-out process are better ensured.
Claims (8)
1. A non-self-propelled passing traction device for a ship in a navigable tunnel comprises a tractor rail arranged in the tunnel along the length direction of the tunnel and a tractor arranged on the tractor rail, wherein a driving device capable of driving the tractor to run on the tractor rail is arranged on the tractor, and the tractor is also provided with a traction device which comprises a traction rope for traction of the ship; the tunnel is characterized in that the tractor track and the tractor are arranged at the middle position of the top of the tunnel;
the top of the tunnel is provided with a plurality of supporting frames at intervals along the length direction, the supporting frames are integrally arranged along the width direction of the tunnel, the upper ends of the supporting frames are provided with anchor rod piles which extend upwards and are anchored into a rock stratum at the top of the tunnel, two ends of the supporting frames in the width direction of the tunnel are respectively provided with a lower cantilever which extends downwards, the lower end of each lower cantilever is provided with a section of tractor supporting cross arm which extends horizontally and inwards, and the tractor tracks are fixedly arranged on the tractor supporting cross arms; wheels on two sides of the tractor are supported on the tractor track in a matched mode, a space is reserved between the tractor supporting cross arms on the two sides, and the traction device is correspondingly arranged on the lower portion of the tractor between the spaces;
the tractors are arranged in groups, and each group of tractors comprises a front tractor and a rear tractor;
the tractor picking and returning system comprises a section of travelling crane supporting cross arm which is positioned in the middle of two lower cantilevers and is arranged inwards, a travelling crane track is erected on the travelling crane supporting cross arm, a space is reserved between the travelling crane supporting cross arms at two sides, a space capable of accommodating one tractor is reserved between the travelling crane supporting cross arms and the lower tractor, the tractor picking and returning system further comprises a travelling crane which is arranged on the travelling crane track in a matching mode, a lifting device is arranged in the middle of the lower end of the travelling crane and comprises a lifting motor, the output end of the lifting motor is in transmission connection with a lifting rope disc, a lifting rope is wound on the lifting rope disc, a grabbing device is fixedly arranged at the lower end of the lifting rope, and the grabbing device can complete connection with the tractor to realize grabbing; after each group of tractors draw the ship to pass through the tunnel, the lifting ropes can be put down by means of driving above the tractors, the tractors are grabbed by the grabbing devices, and then the tractors are lifted and suspended; then the driving resets to the tunnel starting point and puts down the tractor, avoids tractor when reseing to interfere with all the other groups of tractors.
2. The navigable tunnel ship non-self-propelled traction device according to claim 1, wherein the upper end of the support frame is provided with a top beam arranged along the width direction of the tunnel, the top beam is provided with an anchor rod pile upwards along the left, middle and right positions, and the lower cantilever is fixed below two sides of the top beam and is arranged opposite to the anchor rod piles on the left and right sides;
the joint of the anchor pile and the top cross beam is formed with a reinforcing disc by expanding along the circumferential direction, the lower ends of the anchor pile on two sides are provided with a circle of stiffening ribs all around, and the lower ends of the stiffening ribs are connected with the lower cantilever below and inwards in an inclined mode.
3. The navigable tunnel vessel non-self-navigating traction device according to claim 1, wherein the tractor track is i-shaped in cross-section, and both sides of the wheels of the tractor are provided with flanges protruding outwards in the circumferential direction and are limited by the flanges at both sides of the i-shaped upper end of the tractor track.
4. The navigable tunnel vessel non-self-propelled towing device according to claim 3, wherein the towing device comprises a towing motor mounted on the towing vehicle, the output end of the towing motor is in driving connection with the cable drum, and two towing ropes are wound on the cable drum in parallel.
5. The navigable tunnel vessel non-self-propelled traction device of claim 3, wherein the drive means comprises a drive motor mounted on the towing vehicle, the drive motor being in driving connection with wheels of the towing vehicle; the tractor both sides outside extend and are formed with the brush support arm, cantilever lower part inboard still has the level brush platform that inwards extends and form down, is provided with the brush device between brush support arm and the brush platform, and the brush device links to each other and supplies power for it with driving motor and traction motor.
6. The navigable tunnel vessel non-self-propelled traction device according to claim 1, wherein the control system further comprises a laser displacement sensor mounted on the lower surface of the towing vehicle and disposed just below, and a towline tension sensor mounted on the traction device, the laser detection sensor and the towline tension sensor being in communication connection with the central controller; the lower end of the support frame is also provided with an image sensor used for acquiring image information in the tunnel below, and the image sensor is in communication connection with the central controller.
7. A non-self-propelled passing traction method for a navigable tunnel ship, which is realized based on the device of claim 6 and comprises the following steps:
a. stopping power and advancing by means of inertia at a position near a traction area at an entrance of a tunnel, sending a signal to a central controller after a laser displacement sensor on a tractor detects a ship signal below the laser displacement sensor, controlling a traction rope of the tractor to be put down on the ship by the central controller, fixing the traction rope of the tractor in front to mooring columns on two sides of a bow by ship workers, and fixing the traction rope of the tractor in rear to mooring columns on two sides of a stern;
b. the method comprises the following steps that a ship boarding crew sends ship shape information and draft information to a central controller in advance, and the central controller calculates a ship driving resistance value according to the ship shape information and the draft; detecting the vertical distance information from the tractor to the ship by means of a laser displacement sensor and sending the information to a central controller; the method comprises the steps that full-coverage monitoring of a ship in a tunnel is achieved by means of an image sensor, positioning of a ship navigation position is achieved in a central controller through an image processing algorithm, according to the ship position obtained through calculation and a preset longitudinal position relation between a front tractor and a rear tractor and the ship, the tractor reaches a specified position under the control of the central controller, a rear tractor applies a reverse constraint force according to a set cable force value, a front tractor provides forward traction force of a cable according to a conversion result of the calculated ship driving resistance value and the rear tractor constraint cable force value, and constant-speed driving of the ship in the tunnel is achieved by monitoring and controlling the traction force of the cable;
c. releasing a traction rope on the ship when the ship drives out of the tunnel, controlling a tractor to retract the traction rope released from the ship, and then hoisting the tractor at the tunnel outlet position and conveying the tractor back to the tunnel inlet position for next use by a tractor picking-up and returning vehicle system;
d. when a plurality of ships are queued to pass through the tunnel, the queued ships keep safe distances and sequentially and continuously enter the tunnel, the ships are controlled to sequentially pass through the tunnel according to the steps a-c, and the tractors corresponding to the ships after passing through the tunnel are hoisted by the tractor picking-up and returning trolley system, so that tractors of subsequent ships in the tunnel are avoided, and the tractors are conveyed back to the tunnel opening for recycling.
8. The navigable tunnel ship non-self-propelled traction method according to claim 7, wherein in the step c, after the front tractor drives to the tunnel exit position, the front tractor stops advancing, the ship continues to drive out of the tunnel under the inertia effect, at this time, the front tractor is controlled to gradually withdraw the haulage rope and keep the tension of the haulage rope, and simultaneously, the rear tractor is controlled to start to actively drive forwards and continue to provide the ship traction force; after the front end of the ship exceeds the position of the front tractor, the rear tractor starts to apply forward traction to the ship to drag the ship to continue to drive forwards, and the front tractor correspondingly gradually releases a traction rope and keeps backward reverse constraint force on the ship, wherein the backward constraint force is smaller than the forward traction of the rear tractor; stopping advancing after the rear tractor runs to the tunnel exit position, removing the traction ropes on two sides of the bow, withdrawing the traction ropes by the front tractor to the traction device, controlling the traction ropes to be gradually withdrawn by the rear tractor to keep forward tension, removing the traction ropes on two sides of the stern after the stern passes below the rear tractor, withdrawing the traction ropes by the rear tractor to the traction device, and hoisting and transporting the tractor at the tunnel exit position to the tunnel entrance position for next use by the tractor picking-up and returning system.
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| CN113968318B (en) * | 2021-10-27 | 2022-11-01 | 中国核动力研究设计院 | Track type traction device for deep submersible vehicle culvert maintenance and maintenance culvert comprising track type traction device |
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| GB218652A (en) * | 1923-07-02 | 1925-03-05 | Arthur Hugo Mueller | Means for towing vessels |
| CN2918213Y (en) * | 2006-01-25 | 2007-07-04 | 郭伟明 | Device for pulling ship sail |
| JP5291113B2 (en) * | 2007-10-24 | 2013-09-18 | カボテック ムーアマスター リミティド | Automatic docking and mooring system |
| CN103708355A (en) * | 2013-12-26 | 2014-04-09 | 安徽机电职业技术学院 | Rail-mounted fault motor vehicle shifter inside tunnel |
| CN107558435A (en) * | 2017-09-07 | 2018-01-09 | 中交第三航务工程勘察设计院有限公司 | Ship under all-weather wharf and the structure is from pool operating type |
| CN108820735A (en) * | 2018-06-19 | 2018-11-16 | 北京市煤气热力工程设计院有限公司 | Axial transport device and its construction method in a kind of heating-power tunnel |
| CN110901831A (en) * | 2019-12-25 | 2020-03-24 | 长江勘测规划设计研究有限责任公司 | Device for enabling non-self-propelled ship to pass through tunnel in long distance |
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