CN113184725A - Folding arm telescopic semi-active compensation crane - Google Patents

Folding arm telescopic semi-active compensation crane Download PDF

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Publication number
CN113184725A
CN113184725A CN202110445746.3A CN202110445746A CN113184725A CN 113184725 A CN113184725 A CN 113184725A CN 202110445746 A CN202110445746 A CN 202110445746A CN 113184725 A CN113184725 A CN 113184725A
Authority
CN
China
Prior art keywords
arm
winch
cylinder group
telescopic
crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110445746.3A
Other languages
Chinese (zh)
Inventor
姚磊
王志军
许亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
Original Assignee
Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd filed Critical Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
Priority to CN202110445746.3A priority Critical patent/CN113184725A/en
Publication of CN113184725A publication Critical patent/CN113184725A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

The invention discloses a folding arm telescopic semi-active compensation crane which comprises a base, wherein a slewing bearing is arranged on the base and is connected with a hydraulic slewing mechanism, a tower frame is arranged on the slewing bearing and is connected with a fixed arm, an amplitude-variable oil cylinder group is arranged between the tower frame and the fixed arm, a folding arm oil cylinder group is arranged between the fixed arm and the telescopic arm group, a measuring winch, a lifting winch and a telescopic oil cylinder group are further arranged on the telescopic arm group, a steel wire rope is arranged between the measuring winch and the lifting winch, the steel wire rope penetrates through a pulley at the top of the telescopic arm group to be connected with a lifting hook, and the telescopic oil cylinder group, the measuring winch, the lifting winch, the folding arm oil cylinder group, the amplitude-variable oil cylinder group and the hydraulic slewing mechanism are all connected with a. The invention has the advantages of ingenious design, small storage space, light weight, convenient arrangement on the crane because the crane stores the telescopic suspension arm on the deck as the folding arm for recovery, and large compensation stroke because the travel is controlled by the length of the steel wire rope due to the adoption of the steel wire rope winch.

Description

Folding arm telescopic semi-active compensation crane
Technical Field
The invention relates to a folding arm telescopic semi-active compensation crane.
Background
The method commonly used in the wave compensation mode of the marine crane in the current market mainly comprises the following two modes, 1, the wave compensation mode of a hydraulic oil cylinder: the method is characterized in that a compensation mode through a hydraulic oil cylinder is added on a crane jib for a ship, the main wave compensation method is that the vertical displacement of a ship body and the stroke of the hydraulic cylinder are controlled through the compensation oil cylinder, when wave compensation is started, the wave form is fed back through a PLC, when waves are lifted for a wave trough position, the compensation hydraulic cylinder is controlled to extend out from an original point, lifted goods are lifted, the displacement and speed parameters of the lifted goods are the same as the lifting position and speed of a mother ship, and when the mother ship descends from a wave crest, the displacement and speed of the lifted goods are the same as the parameters of the ship body. The method is mainly suitable for straight arms, requires a large installation space and is mainly suitable for large-tonnage marine cranes, and the compensation stroke is limited. 2. Constant tension wave compensation mode: mainly realize being hung the rising and the decline compensation of skiff through permanent tension hydraulic winch, have showing the effect to receiving and releasing lifeboat equipment etc. when the succour boat slowly transfers to the surface of water, permanent tension system can start, and wire rope between succour boat and the keel block at this moment keeps the tensioning, and the succour boat follows wave motion and is in a stable position all the time, breaks away from with the lifting hook until succour boat. When the rescue boat is withdrawn, the constant tension system can make the operation become much simpler, when the lifting hook is connected with the rescue boat (the rescue boat at the moment still moves along with the wave), the boat holder operator only needs to select the constant tension working condition and wait for the tensioning of the steel wire rope, and thus the rescue boat can be always in a stable position. The two compensation modes can simply meet the requirements of large-tonnage cranes, and the cranes have heavier self weight, but are not suitable for folding arm telescopic cranes with higher requirements on space and precision.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a folding arm telescopic semi-active compensation crane which is convenient to connect.
The utility model provides a roll over telescopic semi-initiative compensation hoist of arm, includes the base, be equipped with slewing bearing on the base, slewing bearing links to each other with hydraulic pressure rotation mechanism, the last pylon that is equipped with of slewing bearing, pylon and fixed arm link to each other, be equipped with between pylon and the fixed arm and become width of cloth hydro-cylinder group, be equipped with between fixed arm and the flexible arm group and roll over the arm hydro-cylinder group, still be equipped with on the flexible arm group and measure the winch, play to rise winch and flexible hydro-cylinder group, measure the winch and play to be equipped with wire rope between the winch, wire rope passes the pulley at flexible arm group top and links to each other with the lifting hook, flexible hydro-cylinder group, measure the winch, play to rise the winch, roll over the arm hydro-cylinder group, become width of cloth hydro-cylinder group and hydraulic pressure rotation mechanism and all link to each other with the pump station through hydraulic pressure oil circuit.
As a further improvement, the pump station is connected with the crane body through a pipeline, and the hydraulic pump station mainly comprises a motor, a coupling, a hydraulic pump and the like and is a main power source of the crane. When the crane is electrified, the power is provided for the system through the hydraulic pump station.
As a further improvement, the measuring winch and the lifting winch are provided with winding drums, and the steel wire rope is wound on the winding drums.
As a further improvement, the lifting hook comprises a main hook and an auxiliary lifting hook, and the auxiliary lifting hook is connected with a ground ream on a ship deck.
As a further improvement, the base is connected with the deck of the ship in a welding mode.
As a further improvement, the suspension arm structure realizes the change of the radius and the storage through the telescopic form of the folding arm.
Has the advantages that:
the invention has the advantages of ingenious design, small storage space, light weight, convenient arrangement on the crane because the crane stores the telescopic suspension arm on the deck as the folding arm for recovery, and large compensation stroke because the travel is controlled by the length of the steel wire rope due to the adoption of the steel wire rope winch.
Drawings
FIG. 1 is a schematic diagram of the general structure of a folding arm telescopic semi-active compensation crane;
FIG. 2 is a top view of a folding arm telescopic semi-active compensating crane;
FIG. 3 is a block diagram of a control strategy for a folding arm telescopic semi-active compensating crane;
FIG. 4 is a control flow diagram of the controller;
1. the device comprises a base 2, a slewing bearing 3, a tower 4, a fixed arm 5, a telescopic arm group 6, a steel wire rope 7, a lifting hook 8, a pump station 9, an amplitude-variable oil cylinder group 10, a folding arm oil cylinder group 11, a telescopic oil cylinder group 12, a lifting winch 13, a measuring winch 14, a hydraulic slewing mechanism 15, a hydraulic operation valve handle 16 and a remote control handle.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
As shown in fig. 1 to 4, the folding arm telescopic semi-active compensation crane comprises a base 1, a slewing bearing 2, a tower 3, a fixed arm 4, a telescopic arm group 5, a steel wire rope 6, a lifting hook 7, a pump station 8, a variable amplitude oil cylinder group 9, a folding arm oil cylinder group 10, a telescopic oil cylinder group 11, a lifting winch 12, a measuring winch 13, a hydraulic slewing mechanism 14, a hydraulic operating valve handle 15 and a remote control handle 16.
The utility model provides a roll over telescopic semi-initiative compensation hoist of arm, including base 1, be equipped with slewing bearing 2 on the base 1, slewing bearing 2 links to each other with hydraulic pressure rotation mechanism 14, the last pylon 3 that is equipped with of slewing bearing 2, pylon 3 links to each other with fixed arm 4, be equipped with between pylon 3 and the fixed arm 4 and become width of cloth oil cylinder group 9, be equipped with between fixed arm 4 and the flexible arm group 5 and roll over arm oil cylinder group 10, still be equipped with on the flexible arm group 5 and measure winch 13, play to rise winch 12 and flexible oil cylinder group 11, be equipped with wire rope 6 between measure winch 13 and the play to rise winch 12, wire rope 6 passes the pulley at flexible arm group 5 top and links to each other with lifting hook 7, flexible oil cylinder group 11, measure winch 13, play to rise winch 12, roll over arm oil cylinder group 10, become width of cloth oil cylinder group 9 and hydraulic pressure rotation mechanism 14 and all link to each other with pump station 8 through the hydraulic pressure oil circuit.
The pump station 8 is connected with a crane machine, and the crane machine is provided with a remote control handle 16 and a hydraulic operating valve handle 15.
And winding drums are arranged on the measuring winch 13 and the lifting winch 12, and the steel wire rope is wound on the winding drums.
Wherein, the lifting hook 7 comprises a main hook and an auxiliary lifting hook, and the auxiliary lifting hook is connected with a ground ream on a ship deck.
Wherein, base 1 and ship deck welding link to each other.
The lifting hook 7 comprises a main hook and an auxiliary hook, wherein the main hook is used for lifting goods, and the auxiliary hook is used for measuring the displacement of a supplied ship.
The working mode is as follows: the power supply is started, personnel control a hydraulic operating valve handle 15 or a remote control handle 16, a pump station 8 is driven by a motor, the pump station 8 conveys power to a folding arm oil cylinder group 5 and a telescopic oil cylinder group 11, so that folding arms of a fixed arm 4 and the telescopic arm group 5 are driven to stretch and become amplitude, a hydraulic motor drives a hoisting winch 12 drum and a steel wire rope 6 on a measuring winch 13 drum to lift and lower, the wave compensation function of a main crane is realized by a measuring winch 13 arranged in the front of a crane and hooked to a ground order of a supplied ship, the displacement data of the up-and-down motion of waves is detected, and the displacement data is fed back to the hoisting winch 12 through an encoder to perform wave compensation. The compensation method is that after the measuring hook is connected with the ship body, the main winch starts the compensation, and after the goods are lifted, the measuring hook is unhooked, so that the actions of lifting, rotating, stretching, lowering and the like of the crane are realized.
The general main control strategy is to introduce relative position and speed signals into a control system as parameter factors to realize logic control of semi-active compensation control. When the positions of the supplied goods and the supplied objects are higher than the set value of the compensation stroke, the semi-active wave compensation function is closed, the stage can be divided into a manual mode and an automatic mode, an operator manually realizes the lowering of the goods in the manual mode, and the position and the speed are controlled by a handle; in the automatic mode, a speed control mode is adopted, and a PID control strategy is used to realize the stability control of the system; when the positions of the goods and objects to be supplied are lower than the set value of the compensation stroke, the active wave compensation function is started at the stage, the wave disturbance amount is introduced, and the main control strategy of the active compensation control is realized by adopting (speed and acceleration) feedforward-fuzzy composite control.
The control flow of the controller is as follows: the control system adopts a PLC as a controller to realize various logics for controlling the crane and an active wave compensation control algorithm; detecting the relative movement displacement and speed of the tender vessel and the tender vessel by using a measuring winch; the I/0 point is adopted to control various switching value hydraulic valves, so that the weight of the goods is detected by the action force sensors for rotation, amplitude variation and the like of the crane; adopting a PLC; various operations are executed when the crane works by adopting a remote control operation box; the main motion of the crane adopts a driving mode of adopting a hydraulic winch, and the feedback of a belt encoder realizes the control closed-loop control.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The utility model provides a roll over telescopic semi-initiative compensation hoist of arm, a serial communication port, including the base, be equipped with slewing bearing on the base, slewing bearing links to each other with hydraulic pressure rotation mechanism, the last pylon that is equipped with of slewing bearing, pylon and fixed arm link to each other, be equipped with between pylon and the fixed arm and become width of cloth hydro-cylinder group, be equipped with between fixed arm and the flexible arm group and roll over the arm hydro-cylinder group, still be equipped with on the flexible arm group and measure the winch, play to rise winch and flexible hydro-cylinder group, measure the winch and play to be equipped with wire rope between the winch, wire rope passes the pulley at flexible arm group top and links to each other with the lifting hook, flexible hydro-cylinder group, measure the winch, play to rise winch, roll over the arm hydro-cylinder group, become width of cloth hydro-cylinder group and hydraulic pressure rotation mechanism and all link to each other with the pump station through the hydraulic pressure oil circuit.
2. The folding arm telescopic semi-active compensation crane according to claim 1, wherein the pump station is connected with the crane body through a pipeline, and the hydraulic pump station mainly comprises a motor, a coupler, a hydraulic pump and the like and is a main power source of the crane. When the crane is electrified, the power is provided for the system through the hydraulic pump station.
3. The folding arm telescopic semi-active compensation crane according to claim 1, wherein the measuring winch and the lifting winch are provided with a winding drum, and the steel wire rope is wound on the winding drum.
4. The folding arm telescopic semi-active compensation crane according to claim 1, wherein the lifting hook comprises a main hook and an auxiliary lifting hook, and the auxiliary lifting hook is connected with a ground on a ship deck.
5. The folding arm telescopic semi-active compensation crane according to claim 1, wherein the base is welded to the deck of the vessel.
6. The folding arm telescopic semi-active compensation crane according to claim 1, wherein the boom structure is in a folding arm telescopic form to realize radius change and storage.
CN202110445746.3A 2021-04-25 2021-04-25 Folding arm telescopic semi-active compensation crane Pending CN113184725A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110445746.3A CN113184725A (en) 2021-04-25 2021-04-25 Folding arm telescopic semi-active compensation crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110445746.3A CN113184725A (en) 2021-04-25 2021-04-25 Folding arm telescopic semi-active compensation crane

Publications (1)

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CN113184725A true CN113184725A (en) 2021-07-30

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114030998A (en) * 2021-11-24 2022-02-11 武汉船用机械有限责任公司 Automatic hook closing and unhooking control method for crane

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4448396A (en) * 1982-02-25 1984-05-15 American Hoist & Derrick Company Heave motion compensation apparatus
JP2010538944A (en) * 2007-09-14 2010-12-16 グッドクレーン コーポレーション Motion compensation system
CN104150372A (en) * 2014-07-22 2014-11-19 广西梧州运龙港船机械制造有限公司 Hydraulic foldable arm telescopic crane for ships
CN204848053U (en) * 2015-02-09 2015-12-09 镇江维斯特船用设备有限公司(外商独资) Ultralow headroom ship's crane

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4448396A (en) * 1982-02-25 1984-05-15 American Hoist & Derrick Company Heave motion compensation apparatus
JP2010538944A (en) * 2007-09-14 2010-12-16 グッドクレーン コーポレーション Motion compensation system
CN104150372A (en) * 2014-07-22 2014-11-19 广西梧州运龙港船机械制造有限公司 Hydraulic foldable arm telescopic crane for ships
CN204848053U (en) * 2015-02-09 2015-12-09 镇江维斯特船用设备有限公司(外商独资) Ultralow headroom ship's crane

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈张建: "波浪补偿执行器设计研究", 《工程科技Ⅱ辑》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114030998A (en) * 2021-11-24 2022-02-11 武汉船用机械有限责任公司 Automatic hook closing and unhooking control method for crane
CN114030998B (en) * 2021-11-24 2023-07-21 武汉船用机械有限责任公司 Automatic hook closing and unhooking control method for crane

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Application publication date: 20210730