CN112607598A

CN112607598A - Active swing restraining method and device for floating crane object lifting system

Info

Publication number: CN112607598A
Application number: CN202011564258.6A
Authority: CN
Inventors: 张永涛; 黄灿; 王紫超; 沈文爱; 程茂林; 刘修成; 严双桥; 朱浩; 周仁忠; 郑建新; 孙南昌; 杨切; 代百华; 李�浩; 王永威; 姬付全; 龙振滔; 宋子荣; 曹高威; 刘洋
Original assignee: Huazhong University of Science and Technology; CCCC Second Harbor Engineering Co
Current assignee: Huazhong University of Science and Technology; CCCC Second Harbor Engineering Co
Priority date: 2020-12-25
Filing date: 2020-12-25
Publication date: 2021-04-06

Abstract

The invention discloses an active swing restraining method and device for a floating crane lifting system, which are characterized in that a displacement value generated by the gravity center of a ship under the influence of sea waves at sea is obtained, the length l of a lifting rope and the swing angle of a lifting hook are obtained in real time, the length needed to be adjusted in real time is obtained by substituting into an equation, the motion damping of the lifting hook is actively formed, the lifting hook is restrained, the operation method is simple, the swing restraining effect is good, in addition, the active swing restraining device for the floating crane lifting system is provided with a longitudinal moving mechanism and a transverse moving mechanism to bidirectionally drive a fixed pulley to move, so that the bidirectional position of the lifting rope on the fixed pulley is changed, the active bidirectional damping is formed, the swing of the lifting hook is adjusted, and through the arrangement of an ear plate, the lifting rope can also swing along with a steering wheel and the ear plate in a self-adaptive.

Description

Active swing restraining method and device for floating crane object lifting system

Technical Field

The invention relates to the technical field of control of marine work floating crane equipment. More particularly, the invention relates to an active swing restraining method and device for a floating crane suspension system.

Background

In the middle-long period surge sea state water area environment, when a ship is adopted to carry out hook and weight hoisting operation, under the influence of wind wave current load, the following problems need to be solved: under the influence of wind, wave and current loads, the ship body is excited to move, and mainly generates pitching, surging, rolling and yawing, when the wave angle is within +/-30 degrees, the ship body mainly takes the pitching as the main part, and when the wave angle exceeds +/-30 degrees, the pitching and rolling are mainly taken as the main parts. The lifting hook is excited by the movement of the ship body, and can swing to a great extent in a resonance area, so that the window period of field construction operation is reduced, and the safety of personnel and equipment is greatly influenced. At present, a suspension arm is generally arranged on a ship body, a steering wheel is arranged on the upper surface of the tail end of the suspension arm, a hoisting rope is led out from a device similar to a steel wire rope reel and bypasses the steering wheel to be connected with a lifting hook, and the suspension is hooked through the lifting hook.

Disclosure of Invention

An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.

The invention also aims to provide an active swing restraining method and device for a floating crane lifting system, so as to solve the technical problem of low swing restraining efficiency in the prior art.

To achieve these objects and other advantages in accordance with the purpose of the invention, a method for actively restraining a floating crane suspended matter system is provided, which comprises the following steps:

s1, using the gravity center of the ship as a zero point O, using the top point of the suspension arm as a point q,the position of the lifting hook is a point p, the swing angle of the lifting hook and the length l of the lifting rope between the point q and the point p are monitored in real time, a three-dimensional coordinate system is constructed by taking the vertical upward direction as the z-axis direction and the extending direction of the tail end of the lifting arm as the x-axis direction, and the displacement value x of the zero point O on the three-dimensional coordinate system is monitored in real time_o(t)、y_o(t)；

S2, converting x obtained in the step S1_o(t)、y_o(t), l and the swing angle of the hook are substituted into the equation

Wherein k is a gain coefficient, beta (t-tau) is an included angle of a swing angle of the lifting hook in a xoz projection plane, beta' (t-tau) is an included angle of the swing angle of the lifting hook in a yoz projection plane, and the required displacement x in the x-axis direction when the point p is at the moment t is obtained through calculation_p(t) required displacement of point p in y-axis direction_p(t)；

S3, arranging an adjusting mechanism on the top of the suspension arm, wherein the adjusting mechanism is used for adjusting the part of the lifting rope on the top of the suspension arm in the x-axis direction according to x_p(t) is adjusted and/or is adjusted in the y-axis direction according to y_pAnd (t) adjusting the numerical value to realize active swing suppression of the suspended object.

Preferably, the τ value formula is as follows:

wherein, T_sIs the sampling period, T is the wave period, and N is a constant.

Preferably, the value range of k is 0.01-0.1, and the value range of tau is 0.1-3 s.

Preferably, in step S3, when the absolute value of the angle of attack of the waves during the operation of the vessel is less than or equal to 30 degrees, the adjusting mechanism adjusts the part of the hoisting rope on the top of the boom in the x-axis direction according to x_p(t) is adjusted or in the y-axis direction according to y_p(t) adjusting the absolute value of the angle of attack of the vessel during the operation of the vessel>At 30 degrees, the adjusting mechanism respectively adjusts the part of the hoisting rope on the top of the suspension arm in the x-axis direction and the y-axis direction according to the x-axis direction_p(t) and y_p(t) numerical valueAnd the active swing suppression of the hoisted object is realized by adjusting the corresponding distance.

The invention also provides an active swing restraining device of the floating crane lifting system, which is arranged on the lifting arm, the tail end of the lifting arm extends outwards and horizontally to form a olecranon part, one end of the olecranon part, which is close to the lifting arm, is vertically provided with a steering wheel, the olecranon part is provided with an adjusting mechanism, and the adjusting mechanism comprises:

the longitudinal moving mechanism comprises a pair of longitudinal slide rails which are horizontally arranged along the length direction of the olecranon part and fixed on the upper surface of the olecranon part, each longitudinal slide rail is respectively connected with a longitudinal slide block in a sliding manner, a longitudinal driving cylinder is horizontally arranged on the outer side of each longitudinal slide block along the extension direction of the longitudinal slide rail, the cylinder body of each longitudinal driving cylinder is fixed on the upper surface of the olecranon part, and the telescopic end of each longitudinal driving cylinder is fixedly connected with the corresponding longitudinal slide block;

the transverse moving mechanism comprises a transverse sliding rail connected between the opposite longitudinal sliding blocks along the horizontal direction and a transverse driving cylinder arranged along the extending direction of the transverse sliding rail, the transverse sliding rail is perpendicular to the longitudinal sliding rail, the transverse sliding rail is connected with the transverse sliding block in a sliding manner, the cylinder body of the transverse driving cylinder is fixed on the inner side of the longitudinal sliding block, and the telescopic end of the transverse driving cylinder is connected with the transverse sliding block;

the fixed pulley is fixed on the transverse sliding block, a rotating shaft is horizontally connected onto the fixed pulley through a pair of bearing seats, a fixed pulley is fixedly sleeved on the rotating shaft, and the hoisting rope sequentially bypasses the steering wheel and the fixed pulley and then extends downwards to be connected with the lifting hook.

Preferably, the directive wheel passes through the otic placode setting on the olecranon portion, the otic placode is upwards for C type structure and notch direction, and a pair of round pin shaft hole has been seted up to the upper end of otic placode, wears a round pin axle in a pair of round pin shaft hole altogether, the directive wheel cover is established on selling the epaxial and can be for selling the free rotation of axle, and the lower extreme of otic placode is cylindrical structure, correspond on the olecranon portion the columniform through-hole has been seted up to the position of otic placode, the lower extreme of otic placode penetrate in the through-hole and with the through-hole between the lateral wall be provided with the sleeve, the lower extreme of otic placode be in the part more than the through-hole.

Preferably, the transverse slide rail and the longitudinal slide rail are both roller type slide rails, the longitudinal slide block is sleeved on the longitudinal slide rail, and the transverse slide block is sleeved on the transverse slide rail.

Preferably, the longitudinal slide rail is provided with a longitudinal slide rail support at one end far away from the steering wheel, the bottom of the longitudinal slide block is provided with a supporting cushion block, the supporting cushion block is fixed on the upper surface of the olecranon part, the upper surface of the olecranon part is respectively and fixedly provided with a longitudinal rear support and a longitudinal front support in the installation direction of the longitudinal driving cylinder, the cylinder body of the longitudinal driving cylinder is fixed with the longitudinal rear support, and the telescopic end of the longitudinal driving cylinder is hinged and fixed with the longitudinal slide block through a connecting plate after penetrating through the longitudinal front support.

Preferably, a hoisting rope limiter is fixed upwards at one end of the fixed pulley close to the steering wheel, and after the hoisting rope passes around the steering wheel, the hoisting rope firstly penetrates through the hoisting rope limiter and then passes around the fixed pulley.

Preferably, be provided with annular groove along the circumference on the fixed pulley, the jack-up rope is walked around be located annular groove when the fixed pulley, the olecranon portion is in be provided with vertical top-pushing cylinder in the below of fixed pulley, the flexible end of vertical top-pushing cylinder is connected with vertical round pin axle, and the upper end and the annular groove cooperation of vertical round pin axle set up.

The invention at least comprises the following beneficial effects:

according to the active swing restraining method for the floating crane lifting system, the displacement value generated when the gravity center of a ship is influenced by sea waves at sea is obtained, the length l of the lifting rope and the swing angle of the lifting hook are obtained in real time, the length l and the swing angle of the lifting hook are substituted into an equation to be calculated to obtain the length needing to be adjusted in real time, the movement damping of the lifting hook is actively formed, the swing restraining is carried out on the lifting hook, the operation method is simple, and the swing restraining effect is good. The active swing restraining device of the floating crane object lifting system disclosed by the invention has the advantages that the longitudinal movement mechanism and the transverse movement mechanism are arranged to bidirectionally drive the fixed pulley to move, so that the bidirectional position of the hoisting rope on the fixed pulley is changed, active bidirectional damping is formed, the swing amplitude of the lifting hook is adjusted, the whole device is simple in structure, good in safety and high in adjustment stability, and the hoisting rope can be adaptively swung along with the steering wheel and the lug plate by arranging the lug plate.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic diagram of a floating crane pendulum of an active pendulum restraining method of a floating crane system in an implementation process;

FIG. 2 is a graph comparing the swing angle of the hook of example 1 of the present invention with that of comparative example 1 with time;

FIG. 3 is a top view structural diagram of the active swing restraining device of the floating crane suspension system of the present invention;

FIG. 4 is a side view of the active swing restraining device of the floating crane system of the present invention;

fig. 5 is a sectional view of the steering wheel of fig. 4 in the direction of a-a according to an embodiment of the present invention.

The specification reference numbers indicate: 1. the lifting rope device comprises a lifting arm, 2, a hawk mouth part, 3, a steering wheel, 4, a longitudinal sliding rail, 5, a longitudinal sliding block, 6, a longitudinal driving cylinder, 7, a transverse sliding rail, 8, a transverse driving cylinder, 9, a transverse sliding block, 10, a fixed pulley, 11, a bearing seat, 12, a rotating shaft, 13, a fixed pulley, 14, an ear plate, 15, a pin shaft, 16, a sleeve, 17, a conical bearing, 18, a longitudinal sliding rail support, 19, a support cushion block, 20, a longitudinal rear support, 21, a longitudinal front support, 22, a connecting plate, 23, a lifting rope limiter, 24, an annular groove, 25, a vertical pushing cylinder, 26, a vertical pin shaft, 27 and a lifting rope.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, the present invention provides an active swing restraining method for a floating crane suspended matter system, which comprises the following steps:

s1, taking the gravity center of the ship as a zero point O, the top point of the suspension arm 1 as a q point, the position of the lifting hook as a p point, monitoring the swing angle of the lifting hook and the length l of the lifting rope 27 between the q point and the p point in real time, constructing a three-dimensional coordinate system by taking the vertical upward direction as the z-axis direction and the extending direction of the tail end of the suspension arm 1 as the x-axis direction, and monitoring the displacement value x of the zero point O on the three-dimensional coordinate system in real time_o(t)、y_o(t) of (d). In the actual operation, the point q is taken at the position where the hoisting rope 27 first changes its extending direction from the hook, and if the hoisting rope 27 is extended by a certain length to be connected to the hook after passing around the fixed sheave 13, the critical point at which the hoisting rope 27 leaves the fixed sheave 13 is set as the point q.

Wherein k is a gain coefficient, beta (t-tau) is an included angle of a swing angle of the lifting hook in a xoz projection plane, beta' (t-tau) is an included angle of the swing angle of the lifting hook in a yoz projection plane, and the required displacement x in the x-axis direction when the point p is at the moment t is obtained through calculation_p(t) required displacement of point p in y-axis direction_p(t) of (d). The accessible sets up the gyroscope on the lifting hook and measures the inclination of lifting hook, carry out the projection conversion again, obtain beta (t-tau) and beta '(t-tau), the length accessible of jack-up rope 27 between q point and p point is installed the encoder on the axis of rotation of the reel of receiving and releasing jack-up rope 27, adopt prior art during the installation encoder can, can make an encoder support, fix the encoder, install a toothed belt wheel in encoder support one end, reuse a shaft coupling to the encoder's of shaft coupling againThe shaft is connected with the shaft of the toothed belt wheel, the toothed belt wheel is arranged on the rotating shaft of the winding drum for winding and unwinding the lifting rope 27, the toothed belt wheel of the winding drum for winding and unwinding the lifting rope 27 is connected with the toothed belt wheel at one end of the support by the toothed belt, and the length l between the top point q of the suspension arm 1 and the lifting hook is measured in advance_oThe encoder calculates the length of the real-time hoisting rope 27 according to the number of turns and the angle of the toothed belt wheel, plus l_oI.e. l.

S3, an adjusting mechanism is arranged on the top of the suspension arm 1, and the adjusting mechanism is used for adjusting the part of the lifting rope 27 on the top of the suspension arm 1 in the x-axis direction according to x_p(t) is adjusted and/or is adjusted in the y-axis direction according to y_pAnd (t) adjusting the numerical value to realize active swing suppression of the suspended object.

In the actual operation process of the ship, the displacement value generated when the gravity center of the ship is influenced by sea waves at sea can be accurately obtained through an RTK real-time positioning technology, the length l of the lifting rope 27 and the swing angle of the lifting hook are obtained in real time, the length which needs to be adjusted in real time is obtained by substituting into an equation, the motion damping of the lifting hook is actively formed, the swing is restrained, the operation method is simple, the swing restraining effect is good, the values of k and tau can be automatically verified through numerical simulation analysis and experiments, the possible stroke of an adjusting mechanism and a neural network algorithm are combined, the swing restraining efficiency is calculated by carrying out value taking in advance, whether the ideal swing restraining efficiency value is achieved or not is seen, the optimal values of k and tau are determined, and the optimal swing restraining efficiency is achieved.

In another technical solution, the τ value formula is:

wherein, T_sIs the sampling period, T is the wave period, and N is a constant.

Tau is related to parameters of real-time sea conditions, the change of the state of the lifting hook is slower as the wave period is longer, whether the value is ideal or not is verified through numerical simulation analysis and test, N is a constant and can be an arbitrary value, and only the value of tau obtained through calculation needs to be ensured to be substituted into an equation

The internal energy can obtain an ideal swing restraining efficiency value.

In another technical scheme, the value range of k is 0.01-0.1, and the numerical range of tau is 0.1-3 s.

The method is set according to general sea state parameters, for example, under the sea state conditions that the wave period is 8s and the sense wave height is 0.2m, the sampling period is set to be 0.02s according to the sampling frequency, the value of N is ensured to be tau to be 0.1-3s, and the suggested value range of k is 0.01-0.1, so that the calculated oscillation suppression efficiency is more ideal in the application process.

In another technical solution, in step S3, when the absolute value of the angle of attack of the waves during the operation of the ship is less than or equal to 30 degrees, the adjusting mechanism adjusts the part of the lifting rope 27 on the top of the boom 1 in the x-axis direction according to x_p(t) is adjusted or in the y-axis direction according to y_p(t) adjusting the absolute value of the angle of attack of the vessel during the operation of the vessel>At 30 degrees, the adjusting mechanism is used for adjusting the part of the lifting rope 27 positioned at the top of the suspension arm 1 in the directions of the x axis and the y axis according to the x axis_p(t) and y_pAnd (t) adjusting the corresponding distance according to the numerical value to realize active swing suppression of the hoisted object.

When the wave-attack angle is within +/-30 degrees during ship operation, the ship body mainly adopts pitching as a main part, the motion damping of the lifting hook can be actively formed in only one direction, and when the wave-attack angle exceeds +/-30 degrees, pitching and rolling are mainly used, so that the active damping is formed in the two directions of the x axis and the y axis, the working efficiency is integrally improved, and the swing is pertinently restrained.

Example 1:

the active swing restraining method of the floating crane lifting system is utilized to simulate sea conditions for carrying out swing restraining effect verification, under the condition that the parameters of the sea conditions are wave period 8s and sense wave height 0.2m, the length l of the lifting rope 27 is set to be 2m, the value tau is 1s, the value k is 0.05, and the length l is substituted into an equation to monitor the change curve of the lifting rope inclination angle along with time within 80 s.

Comparative example 1:

under the same sea conditions as in example 1, the swing suppression control was not performed, and the time-dependent change curve of the inclination angle of the hoist rope over a period of 80 seconds was monitored.

The curve a of the change of the inclination angle of the lifting rope along with the time obtained in the embodiment 1 and the curve b of the change of the inclination angle of the lifting rope along with the time obtained in the comparative example 1 are drawn into a comparison graph, the comparison graph is shown in fig. 2, it can be seen from fig. 2 that the embodiment 1 generates a remarkable swing inhibiting effect relative to the comparative example 1, the numerical value of the inclination angle of the swinging of the lifting rope obtained in the embodiment 1 after the swing inhibition is compared with the numerical value of the inclination angle of the swinging of the lifting rope obtained in the comparative example 1 when the swing inhibition control is not carried out, the percentage is calculated to obtain the numerical value of the swing inhibiting efficiency, the swing inhibiting efficiency reaches more than 70%, and the swing inhibiting effect.

The invention also provides an active swing restraining device of the floating crane lifting system, as shown in fig. 3-5, the active swing restraining device is arranged on the lifting arm 1, the tail end of the lifting arm 1 extends outwards and horizontally to form a olecranon part 2, a steering wheel 3 is vertically arranged at one end of the olecranon part 2 close to the lifting arm 1, and an adjusting mechanism is arranged on the olecranon part 2 and comprises:

the longitudinal moving mechanism comprises a pair of longitudinal slide rails 4 which are horizontally arranged along the length direction of the olecranon part 2 and fixed on the upper surface of the olecranon part 2, each longitudinal slide rail 4 is respectively connected with a longitudinal slide block 5 in a sliding manner, the outer side of each longitudinal slide block 5 is respectively provided with a longitudinal driving cylinder 6 horizontally along the extending direction of the longitudinal slide rail 4, the cylinder body of each longitudinal driving cylinder 6 is fixed on the upper surface of the olecranon part 2, and the telescopic end of each longitudinal driving cylinder is fixedly connected with the corresponding longitudinal slide block 5;

the transverse moving mechanism comprises a transverse slide rail 7 connected between the opposite longitudinal sliding blocks 5 along the horizontal direction and a transverse driving cylinder 8 arranged along the extending direction of the transverse slide rail 7, the transverse slide rail 7 is perpendicular to the longitudinal slide rail 4, the transverse slide rail 7 is connected with a transverse sliding block 9 in a sliding manner, the cylinder body of the transverse driving cylinder 8 is fixed on the inner side of the longitudinal sliding block 5, and the telescopic end of the transverse driving cylinder is connected with the transverse sliding block 9;

the fixed pulley 10 is fixed on the transverse sliding block 9, a rotating shaft 12 is horizontally connected to the fixed pulley 10 through a pair of bearing seats 11, a fixed pulley 13 is fixedly sleeved on the rotating shaft 12, and the hoisting rope 27 sequentially bypasses the steering wheel 3 and the fixed pulley 13 and then extends downwards to be connected with a lifting hook.

Before use, the whole adjusting mechanism is arranged on the olecranon part 2, firstly, the longitudinal slide rail 4 is fixed on the olecranon part 2 along the length direction of the olecranon part 2 and is consistent with the x-axis direction shown in figures 3 and 4, then the longitudinal slide rail 4 is provided with the longitudinal slide block 5, the longitudinal slide rail 5 is provided with the transverse slide rail 7, the transverse slide rail 7 is provided with the transverse slide block 9, the movement direction of the transverse slide block 9 is consistent with the y-axis direction shown in figure 4, then the transverse slide block 9 of the transverse moving mechanism is provided with the fixed pulley 10, the fixed pulley 10 is provided with the fixed pulley 13, the hoisting rope 27 sequentially bypasses the steering wheel 3 and the fixed pulley 13 and then extends downwards to be connected with the lifting hook, a certain friction force is provided between the fixed pulley 13 and the hoisting rope 27 under the gravity action of a hanging object, when the adjusting mechanism is actually used, an intelligent control chip can be arranged in advance to be electrically connected with the corresponding longitudinal driving cylinder 6 and the transverse driving cylinder 8, thereby controlling the displacement of the longitudinal drive cylinder 6 and the transverse drive cylinder 8.

When in use, the longitudinal driving cylinder 6 is started to enable the longitudinal slide block 5 to move along the longitudinal slide rail 4 by the set displacement x_o(t), starting the transverse driving cylinder 8 to enable the transverse slide block 9 to move along the transverse slide rail 7 by the set displacement y_o(t) obtaining the displacement x to be adjusted at a certain moment t in real time according to the set adjustment interval_o(t)、y_oAnd (t), the swing of the lifting hook can actively form motion damping in the two directions of the x axis and the y axis, the swing amplitude of the lifting hook is adjusted, and the swing suppression is realized.

In another technical scheme, as shown in fig. 3-5, the steering wheel 3 is disposed on the olecranon portion 2 through an ear plate 14, the ear plate 14 is of a C-shaped structure, the direction of a notch of the ear plate is upward, a pair of pin shafts 15 are disposed at the upper end of the ear plate 14, one pin shaft 15 penetrates through the pair of pin shafts 15, the steering wheel 3 is sleeved on the pin shaft 15 and can freely rotate relative to the pin shaft 15, the lower end of the ear plate 14 is of a cylindrical structure, a cylindrical through hole is disposed at a position, corresponding to the ear plate 14, of the olecranon portion 2, the lower end of the ear plate 14 penetrates into the through hole and is provided with a sleeve 16 between the side wall of the through hole, and a conical bearing 17 is connected between the portion of the ear plate 14 above the through hole and the upper surface of.

The lug plate 14 is arranged below the steering wheel 3, the lower end of the lug plate 14 is arranged in the through hole of the olecranon part 2 and the sleeve 16 is arranged between the lug plate 14 and the olecranon part 2, the lower end of the lug plate 14 is protected, the uniformity and the stability of the rotation process are maintained, the mutual abrasion is reduced, the conical bearing 17 is arranged, the lower end of the lug plate 14 is penetrated into the inner ring of the conical bearing 17, the outer ring of the conical bearing 17 is fixed with the upper surface of the olecranon part 2, the lug plate 14 can rotate relative to the olecranon part 2, the steering wheel 3 is arranged on the lug plate 14 through the pin shaft 15, the steering wheel 3 can rotate around the pin shaft 15 and can rotate along with the whole body of the lug plate 14 along the circumference of the through hole, therefore, in the shaking process of the hoisting rope 27, the hoisting rope 27 can swing along with the steering wheel 3 in a self-adapting mode, and cannot cause obstruction when the position of the hoisting rope 27 is, the accuracy of the swing suppression is improved.

In another technical scheme, as shown in fig. 3-4, the transverse slide rail 7 and the longitudinal slide rail 4 are both roller type slide rails, the longitudinal slide block 5 is sleeved on the longitudinal slide rail 4, and the transverse slide block 9 is sleeved on the transverse slide rail 7.

Set up to the beam barrel formula slide rail, simple structure, it is stable high-efficient to slide, and easy to assemble and fixed.

In another technical solution, as shown in fig. 3-4, a longitudinal slide rail support 18 is disposed at one end of the longitudinal slide rail 4 far away from the steering wheel 3, a support pad 19 is disposed at the bottom of the longitudinal slide block 5, the support pad 19 is fixed on the upper surface of the olecranon part 2, a longitudinal rear support 20 and a longitudinal front support 21 are further fixedly disposed on the upper surface of the olecranon part 2 in the installation direction of the longitudinal driving cylinder 6, a cylinder body of the longitudinal driving cylinder 6 is fixed with the longitudinal rear support 20, and a telescopic end of the longitudinal driving cylinder 6 is hinged and fixed with the longitudinal slide block 5 through a coupling plate 22 after passing through the longitudinal front support 21.

The longitudinal driving cylinder 6 is supported by the longitudinal backward support 20 and the longitudinal forward support 21, so that the longitudinal driving cylinder 6 can stably move in the horizontal direction, the support block 19 is arranged to ensure the longitudinal sliding block 5 to stably move, the longitudinal sliding rail 4 and the longitudinal sliding block 5 are prevented from downwards deforming under the pressure action of the lifting rope 27, and the connecting plate 22 is arranged to facilitate detachment and fixation.

In another technical solution, as shown in fig. 3-4, a hoisting rope stopper 23 is fixed to one end of the fixed block 10 close to the steering wheel 3, and after the hoisting rope 27 passes around the steering wheel 3, the hoisting rope firstly passes through the hoisting rope stopper 23 and then passes around the fixed pulley 13.

The lifting rope 27 is limited by the lifting rope limiter 23, so that the adjusting mechanism can move the lifting rope 27 more accurately.

In another technical solution, as shown in fig. 3-5, an annular groove 24 is circumferentially arranged on the fixed pulley 13, the hoisting rope 27 is located in the annular groove 24 when passing around the fixed pulley 13, the olecranon portion 2 is provided with a vertical pushing cylinder 25 in the lower direction of the fixed pulley 13, the telescopic end of the vertical pushing cylinder 25 is connected with a vertical pin shaft 26, and the upper end of the vertical pin shaft 26 is matched with the annular groove 24.

The vertical pushing cylinder 25 is started to push the telescopic end upwards to enter the annular groove 24 to abut against the fixed pulley 13, so that the fixed pulley 13 can be vertically locked, a protection mechanism is provided for an adjusting mechanism, and the fixed pulley 13 is prevented from being out of control in rotation.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims

1. The active swing restraining method of the floating crane suspended matter system is characterized by comprising the following steps of:

s1, taking the gravity center of the ship as a zero point O, the top point of the suspension arm as a q point, the position of the lifting hook as a p point, monitoring the swing angle of the lifting hook and the length l of the lifting rope between the q point and the p point in real time, constructing a three-dimensional coordinate system by taking the vertical upward direction as the z-axis direction and the extending direction of the tail end of the suspension arm as the x-axis direction, and monitoring the displacement value x of the zero point O on the three-dimensional coordinate system in real time_o(t)、y_o(t)；

2. The active swing restraining method of the floating crane suspended matter system according to claim 1, wherein the τ value formula is as follows:

wherein, T_sIs the sampling period, T is the wave period, and N is a constant.

3. The active oscillation suppression method of the floating crane suspended matter system as claimed in claim 2, wherein the value range of k is 0.01-0.1, and the value range of τ is 0.1-3 s.

4. The active restraining method for a floating crane suspended matter system as claimed in claim 1, wherein in step S3, when the absolute value of the wave angle is less than or equal to 30 degrees during the operation of the vessel, the adjusting mechanism adjusts the x-axis direction of the part of the hoisting rope on the top of the boom according to x_p(t) is adjusted or in the y-axis direction according to y_p(t) adjusting the absolute value of the angle of attack of the vessel during the operation of the vessel>At 30 degrees, the adjusting mechanism is used for the part of the lifting rope on the top of the suspension armIn the x-axis and y-axis directions according to x_p(t) and y_pAnd (t) adjusting the corresponding distance according to the numerical value to realize active swing suppression of the hoisted object.

5. Device is suppressed to floating crane system initiative, its characterized in that sets up on the davit, and the outside level extension in terminal of davit forms the olecranon portion, and the vertical directive wheel that is provided with of one end that is close to the davit on the olecranon portion is provided with guiding mechanism on the olecranon portion, and guiding mechanism includes:

6. The active swing restraining device of the floating crane lifting system according to claim 5, wherein the steering wheel is disposed on the olecranon portion through an ear plate, the ear plate is of a C-shaped structure, the direction of the notch of the ear plate is upward, a pair of pin shaft holes are formed in the upper end of the ear plate, a pin shaft penetrates through the pair of pin shaft holes, the steering wheel is sleeved on the pin shaft and can rotate freely relative to the pin shaft, the lower end of the ear plate is of a cylindrical structure, a cylindrical through hole is formed in the olecranon portion corresponding to the position of the ear plate, the lower end of the ear plate penetrates into the through hole, a sleeve is disposed between the lower end of the ear plate and the side wall of the through hole, and a conical bearing is disposed between the portion of the ear plate above the through hole and the.

7. The active vibration suppressing device for a floating crane suspended matter system as claimed in claim 5, wherein the transverse sliding rail and the longitudinal sliding rail are both roller type sliding rails, the longitudinal sliding block is sleeved on the longitudinal sliding rail, and the transverse sliding block is sleeved on the transverse sliding rail.

8. The active swing-inhibiting device of a floating crane suspended matter system as claimed in claim 5, wherein a longitudinal slide rail support is disposed at one end of the longitudinal slide rail far away from the steering wheel, a support cushion block is disposed at the bottom of the longitudinal slide block, the support cushion block is fixed on the upper surface of the olecranon part, a longitudinal rear support and a longitudinal front support are further fixedly disposed on the upper surface of the olecranon part in the installation direction of the longitudinal driving cylinder, the cylinder body of the longitudinal driving cylinder is fixed with the longitudinal rear support, and the telescopic end of the longitudinal driving cylinder is hinged and fixed with the longitudinal slide block through a connecting plate after passing through the longitudinal front support.

9. The active restraint device of the floating crane suspended matter system as claimed in claim 5, wherein a hoisting rope stopper is fixed on one end of the fixed pulley close to the steering wheel, and after the hoisting rope passes around the steering wheel, the hoisting rope firstly passes through the hoisting rope stopper and then passes around the fixed pulley.

10. The active oscillation suppressing device of a floating crane suspended matter system as claimed in claim 5, wherein the fixed pulley is circumferentially provided with an annular groove, the hoisting rope is located in the annular groove when passing around the fixed pulley, the olecranon part is provided with a vertical pushing cylinder in a direction below the fixed pulley, a telescopic end of the vertical pushing cylinder is connected with a vertical pin shaft, and an upper end of the vertical pin shaft is matched with the annular groove.