CN113914279A - Method for balancing weight of ship lift ship receiving chamber and balance weight system - Google Patents
Method for balancing weight of ship lift ship receiving chamber and balance weight system Download PDFInfo
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- CN113914279A CN113914279A CN202111182489.5A CN202111182489A CN113914279A CN 113914279 A CN113914279 A CN 113914279A CN 202111182489 A CN202111182489 A CN 202111182489A CN 113914279 A CN113914279 A CN 113914279A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02C—SHIP-LIFTING DEVICES OR MECHANISMS
- E02C5/00—Mechanisms for lifting ships vertically
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A method for balancing the weight of a ship lift ship receiving chamber and a balance weight system comprises the following steps: s1, determining a proportionality coefficient between the running torque of a driving motor of the ship reception chamber driving system and the driving load; s2, determining the rated water depth of a ship receiving chamber when the ship lift operates; s3, the ship reception chamber runs upwards at the rated water depth, and the running torque of the driving motor is recorded; s4, the ship reception chamber runs downwards at the rated water depth, and the running torque of the driving motor is recorded; s5, calculating the difference between the weight of the ship reception chamber and the weight of the counterweight system at the rated water depth according to the recorded running torque of the driving motor running up and down the ship reception chamber; and S6, adjusting the weight of the balance weight system according to the difference value to realize the balance of the ship reception chamber and the balance weight system. The design not only simplifies the balancing flow, reduces the balancing cost, but also improves the accuracy of the balancing result.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a weight balancing method for a ship lift ship reception chamber and a balance weight system, which is mainly suitable for simplifying a balancing process, reducing balancing cost and improving the accuracy of a balancing result.
Background
The ship lift is a navigation building which utilizes a mechanical device to lift a ship so as to overcome the concentrated water level drop on a channel. The full-balance ship lift is a ship lift with the total weight of the balance weight equal to the total weight of the ship receiving chamber, and on the premise of balancing the balance weight and the ship receiving chamber, the lifting force of the ship lift in the running process only needs to overcome the wrong water depth, steel wire rope stiffness resistance, inertia force, friction resistance and the like, so that the scale of the driving device is greatly reduced.
In the prior art, when balancing a balance weight and a ship reception chamber, the weight of the manufactured ship reception chamber is uncertain, generally by means of weighing, and the method comprises the following steps: respectively weighing and recording the weight of a steel structure of the balancing weight system and the weight of the balancing weight in the manufacturing process, or weighing and recording the weight of the balancing weight system in units after the balancing weight system is installed; before assembling ship chambers of the ship lift, a weighing sensor is arranged between a buttress and the ship chamber below the ship bearing chamber, the weight of the ship bearing chamber after being filled with water is obtained through the weighing sensor after the ship chamber is filled with water, and the weight of the ship bearing chamber after being filled with water is balanced by comparing the weight of the ship bearing chamber with the weight of the ship bearing chamber. However, with the method, the ship receiving chambers and the balance weights are weighed and balanced, so that a plurality of ship lifts needing weighing are needed, and the process is long; the weight of a ship bearing chamber (including the designed water depth) can usually reach thousands of tons or even tens of thousands of tons, the configuration scale of the weighing sensor has considerable requirements, the resource requirement cost is high, and meanwhile, the error of the ship bearing chamber and the counterweight is large during large-tonnage weighing and metering, so that the balancing cannot well meet the requirement of the actual working condition.
Disclosure of Invention
The invention aims to overcome the defects and problems of complex flow, high cost and low accuracy in the prior art, and provides a method for balancing the weight of a ship lift ship receiving chamber and a balance weight system, which has the advantages of simple flow, low cost and high accuracy.
In order to achieve the above purpose, the technical solution of the invention is as follows: a method for balancing the weight of a ship lift ship receiving chamber and a balance weight system comprises the following steps:
s1, determining a proportionality coefficient between the running torque of a driving motor of the ship reception chamber driving system and the driving load;
s2, determining the rated water depth of a ship receiving chamber when the ship lift operates;
s3, the ship reception chamber runs upwards at the rated water depth, and the running torque of the driving motor is recorded;
s4, the ship reception chamber runs downwards at the rated water depth, and the running torque of the driving motor is recorded;
s5, calculating the difference between the weight of the ship reception chamber and the weight of the counterweight system at the rated water depth according to the recorded running torque of the driving motor running up and down the ship reception chamber;
and S6, adjusting the weight of the balance weight system according to the difference value to realize the balance of the ship reception chamber and the balance weight system.
In step S1, the scaling factor includes the radius of the driving actuator, the transmission efficiency, the number of driving motors, and the transmission ratio of the driving system, and the scaling factor is obtained according to the following formula:
in the formula (1), F is a driving load acted on a driving element by the driving motor running torque, M is the driving motor running torque, r is the radius of a driving execution element, eta is the transmission efficiency, n is the number of the driving motors, and i is the transmission ratio of a driving system.
In step S1, the radius r of the driving actuator is a gear radius, the number n of the driving motors is 8, and the transmission ratio i of the driving system is a transmission ratio of the speed reducer.
In step S3, the ship reception chamber runs upwards at the rated water depth, the running torques of a plurality of driving motors are measured and read through the electric control system, and the sum sigma M of the running torques of all the driving motors is obtainedOn the upper part。
In step S4, the ship reception chamber runs downwards at the rated water depth, the running torque of a plurality of driving motors is measured and read by the electric control system, and the sum sigma M of the running torque of all the driving motors is obtainedLower part。
In step S5, when the ship reception chamber moves upward, the driving load applied to the driving element by the driving motor running torque is:
Fon the upper part＝FE+Ffx+Fax (2)
When the ship reception chamber goes down, the driving load of the driving motor running torque acting on the driving element is as follows:
Flower part＝FE-Ffx-Fax (3)
In the formulae (2) and (3), FEThe difference G between the weight of the ship bearing chamber and the weight of the counterweight system at the rated water depthShip-holding box-GBalancing weight，FfsFor frictional forces and stiff resistance of the wire rope during upward travel of the ship-holding compartment, FfxFor frictional force and stiff resistance of wire rope during the downward movement of ship-carrying chamber, FasDriving force required for upward acceleration of ship-carrying chamber, FaxDriving force required by the downward acceleration of the ship reception chamber;
the speeds and the acceleration values of the ship reception chamber ascending and the ship reception chamber descending are the same, so that the friction force, the steel wire rope stiffness resistance and the driving force required by the acceleration of the ship reception chamber ascending and the ship reception chamber descending are the same, the directions are opposite, and the ship reception chamber driving force can be obtained according to the formulas (1), (2) and (3):
the ship-receiving chamber moves upwards at a constant speed V, namely the upward acceleration is zero, FasThe value is zero;
the ship-receiving chamber runs downwards at a constant speed V, namely the downward acceleration is zero, FaxThe value is zero.
In step S5, the driving motor operating torque takes a positive value when the driving motor is outputting power, and takes a negative value when the driving motor is in a power generation state.
In step S6, if the difference is FEIf the weight is positive, the weight of the balance weight block is increased and adjusted; if the difference FEWhen the weight is negative, the weight of the balancing weight is reduced.
Compared with the prior art, the invention has the beneficial effects that:
according to the method for balancing the weight of the ship-carrying chamber and the balance weight system of the ship lift, the running torque of the driving motor in the electric control system of the ship lift is directly read when the ship-carrying chamber runs up and down, and the difference value between the weight of the ship-carrying chamber and the weight of the balance weight system is obtained through calculation, so that the weighing balancing process is simplified, the cost is saved, the balancing result is more accurate, meanwhile, the balancing of the ship-carrying chamber and the balance weight can be carried out and verified at any time in the running stage, and the convenience of engineering is increased. Therefore, the invention not only simplifies the balancing process and reduces the balancing cost, but also improves the accuracy of the balancing result.
Drawings
Fig. 1 is a schematic view of a transmission structure of a driving system of a ship lift according to the present invention.
Fig. 2 is a flow chart of a method for weight balancing of a ship lift ship receiving chamber and a counterweight system according to the invention.
In the figure: the device comprises a driving motor 1, a coupler 2, a speed reducer 3, a universal coupler 4 and a gear-rack pair 5.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 and 2, a method for balancing the weight of a ship lift ship receiving chamber and a counterweight system comprises the following steps:
s1, determining a proportionality coefficient between the running torque of a driving motor of the ship reception chamber driving system and the driving load;
s2, determining the rated water depth of a ship receiving chamber when the ship lift operates;
s3, the ship reception chamber runs upwards at the rated water depth, and the running torque of the driving motor is recorded;
s4, the ship reception chamber runs downwards at the rated water depth, and the running torque of the driving motor is recorded;
s5, calculating the difference between the weight of the ship reception chamber and the weight of the counterweight system at the rated water depth according to the recorded running torque of the driving motor running up and down the ship reception chamber;
and S6, adjusting the weight of the balance weight system according to the difference value to realize the balance of the ship reception chamber and the balance weight system.
In step S1, the scaling factor includes the radius of the driving actuator, the transmission efficiency, the number of driving motors, and the transmission ratio of the driving system, and the scaling factor is obtained according to the following formula:
in the formula (1), F is a driving load acted on a driving element by the driving motor running torque, M is the driving motor running torque, r is the radius of a driving execution element, eta is the transmission efficiency, n is the number of the driving motors, and i is the transmission ratio of a driving system.
In step S1, the radius r of the driving actuator is a gear radius, the number n of the driving motors is 8, and the transmission ratio i of the driving system is a transmission ratio of the speed reducer.
In step S3, the ship reception chamber moves upwards under the rated water depth, the electric control system measures and reads the running torque of a plurality of driving motors, and the sum sigma M of the running torque of all the driving motors is obtainedOn the upper part。
In step S4, the ship reception chamber runs downwards at the rated water depth, the running torque of a plurality of driving motors is measured and read by the electric control system, and the sum sigma M of the running torque of all the driving motors is obtainedLower part。
In step S5, when the ship reception chamber moves upward, the driving load applied to the driving element by the driving motor running torque is:
Fon the upper part＝FE+Ffs+Fas (2)
When the ship reception chamber goes down, the driving load of the driving motor running torque acting on the driving element is as follows:
Flower part＝FE-Ffx-Fax (3)
In the formulae (2) and (3), FEThe difference G between the weight of the ship bearing chamber and the weight of the counterweight system at the rated water depthShip reception chamber-GBalancing weight，FfsFor frictional forces and stiff resistance of the wire rope during upward travel of the ship-holding compartment, FfxFor frictional force and stiff resistance of wire rope during the downward movement of ship-carrying chamber, FasDriving force required for upward acceleration of ship-carrying chamber, FaxDriving force required by the downward acceleration of the ship reception chamber;
the speeds and the acceleration values of the ship reception chamber ascending and the ship reception chamber descending are the same, so that the friction force, the steel wire rope stiffness resistance and the driving force required by the acceleration of the ship reception chamber ascending and the ship reception chamber descending are the same, the directions are opposite, and the ship reception chamber driving force can be obtained according to the formulas (1), (2) and (3):
the ship-receiving chamber moves upwards at a constant speed V, namely the upward acceleration is zero, FasThe value is zero;
the ship-receiving chamber runs downwards at a constant speed V, namely the downward acceleration is zero, FaxThe value is zero.
In step S5, the driving motor operating torque takes a positive value when the driving motor is outputting power, and takes a negative value when the driving motor is in a power generation state.
In step S6, if the difference is FEIf the weight is positive, the weight of the balance weight block is increased and adjusted; if the difference FEWhen the weight is negative, the weight of the balancing weight is reduced.
The principle of the invention is illustrated as follows:
the moment of the driving motor at the constant-speed motion stage of the ship reception chamber is recorded, namely the moment when the acceleration is zero, and the driving force value required by the running acceleration of the ship reception chamber is zero, so that the recording and calculation are more convenient.
The ship lift counterweight system is usually provided with a certain amount of adjusting counterweight blocks, and when the actual weight of a ship bearing chamber deviates from the designed theoretical weight, the weight of the counterweight system can be balanced by increasing or reducing the adjusting counterweight blocks.
Example (b):
the embodiment relates to a ship lift, which is in a gear rack climbing type, wherein a driving system of the ship lift comprises 4 sets of driving mechanisms, and the transmission structure of a single set of driving mechanism is shown in figure 1; the driving mechanism is driven by two alternating current motors, and the power of the driving motor 1 is transmitted to the gear-rack pair 5 through the floating shaft, the coupler 2, the reducer 3 and the universal coupler 4.
Referring to fig. 2, a method for weight balancing of a ship lift ship receiving chamber and a counterweight system comprises the following steps:
s1, determining a proportionality coefficient between the running torque of a driving motor of the ship reception chamber driving system and the driving load;
the proportionality coefficient comprises the radius of a driving execution element, transmission efficiency, the number of driving motors and the transmission ratio of a driving system, and is obtained according to the following formula:
in the formula (1), F is a driving load acted on a driving element by the driving motor running torque, M is the driving motor running torque, r is the radius of a driving execution element, eta is the transmission efficiency, n is the number of the driving motors, and i is the transmission ratio of a driving system.
The radius r of the driving executing element is the radius of a gear, the number n of the driving motors is 8, and the transmission ratio i of the driving system is the transmission ratio of the speed reducer.
S2, determining the rated water depth of a ship receiving chamber when the ship lift operates;
s3, the ship reception chamber runs upwards at the rated water depth, and the running torque of the driving motor is recorded;
the ship reception chamber runs upwards under the rated water depth, the running torque of a plurality of driving motors is measured and read through the electric control system, and the sum sigma M of the running torque of all the driving motors is obtainedOn the upper part；
S4, the ship reception chamber runs downwards at the rated water depth, and the running torque of the driving motor is recorded;
the ship reception chamber runs downwards under the rated water depth, the running torque of a plurality of driving motors is measured and read through the electric control system, and the sum sigma M of the running torque of all the driving motors is obtainedLower part；
S5, calculating the difference between the weight of the ship reception chamber and the weight of the counterweight system at the rated water depth according to the recorded running torque of the driving motor running up and down the ship reception chamber;
when the ship reception chamber ascends, the driving load acted on the driving element by the running torque of the driving motor is as follows:
Fon the upper part＝FE+Ffs+Fas (2)
When the ship reception chamber goes down, the driving load of the driving motor running torque acting on the driving element is as follows:
Flower part＝FE-Ffx-Fax (3)
In the formulae (2) and (3), FEThe difference G between the weight of the ship bearing chamber and the weight of the counterweight system at the rated water depthShip reception chamber-GBalancing weight，FfsFor frictional forces and stiff resistance of the wire rope during upward travel of the ship-holding compartment, FfxFor frictional force and stiff resistance of wire rope during the downward movement of ship-carrying chamber, FasDriving force required for upward acceleration of ship-carrying chamber, FaxDriving force required by the downward acceleration of the ship reception chamber;
the speeds and the acceleration values of the ship reception chamber ascending and the ship reception chamber descending are the same, the friction force, the steel wire rope stiffness resistance and the driving force required by the acceleration of the ship reception chamber ascending and the ship reception chamber descending are the same, the directions are opposite, absolute values are obtained from the numerical values in the formula, and the absolute values can be obtained according to the formula (1), the formula (2) and the formula (3):
the ship-receiving chamber moves upwards at a constant speed V, namely the upward acceleration is zero, FasThe value is zero;
the ship-receiving chamber runs downwards at a constant speed V, namely the downward acceleration is zero, FaxThe value is zero;
the running torque of the driving motor takes a positive value when the driving motor outputs power, and takes a negative value when the driving motor is in a power generation state;
s6, adjusting the weight of the counterweight system according to the difference value to realize the balance of the ship receiving chamber and the counterweight system;
if the difference FEIf the weight is positive, the weight of the balance weight block is increased and adjusted; if the difference FEWhen the weight is negative, the weight of the balancing weight is reduced.
Claims (9)
1. A method for balancing the weight of a ship lift ship receiving chamber and a balance weight system is characterized by comprising the following steps:
s1, determining a proportionality coefficient between the running torque of a driving motor of the ship reception chamber driving system and the driving load;
s2, determining the rated water depth of a ship receiving chamber when the ship lift operates;
s3, the ship reception chamber runs upwards at the rated water depth, and the running torque of the driving motor is recorded;
s4, the ship reception chamber runs downwards at the rated water depth, and the running torque of the driving motor is recorded;
s5, calculating the difference between the weight of the ship reception chamber and the weight of the counterweight system at the rated water depth according to the recorded running torque of the driving motor running up and down the ship reception chamber;
and S6, adjusting the weight of the balance weight system according to the difference value to realize the balance of the ship reception chamber and the balance weight system.
2. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 1, wherein:
in step S1, the scaling factor includes the radius of the driving actuator, the transmission efficiency, the number of driving motors, and the transmission ratio of the driving system, and the scaling factor is obtained according to the following formula:
in the formula (1), F is a driving load acted on a driving element by the driving motor running torque, M is the driving motor running torque, r is the radius of a driving execution element, eta is the transmission efficiency, n is the number of the driving motors, and i is the transmission ratio of a driving system.
3. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 2, wherein: in step S1, the radius r of the driving actuator is a gear radius, the number n of the driving motors is 8, and the transmission ratio i of the driving system is a transmission ratio of the speed reducer.
4. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 2, wherein: step (ii) ofS3, the ship reception chamber moves upwards under the rated water depth, the electric control system measures and reads the running torque of the plurality of driving motors, and the sum sigma M of the running torque of all the driving motors is obtainedOn the upper part。
5. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 4, wherein: in step S4, the ship reception chamber runs downwards at the rated water depth, the running torque of a plurality of driving motors is measured and read by the electric control system, and the sum sigma M of the running torque of all the driving motors is obtainedLower part。
6. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 5, wherein:
in step S5, when the ship reception chamber moves upward, the driving load applied to the driving element by the driving motor running torque is:
Fon the upper part＝FE+Ffs+Fas (2)
When the ship reception chamber goes down, the driving load of the driving motor running torque acting on the driving element is as follows:
Flower part＝FE-Ffx-Fax (3)
In the formulae (2) and (3), FEThe difference G between the weight of the ship bearing chamber and the weight of the counterweight system at the rated water depthShip reception chamber-GBalancing weight，FfsFor frictional forces and stiff resistance of the wire rope during upward travel of the ship-holding compartment, FfxFor frictional force and stiff resistance of wire rope during the downward movement of ship-carrying chamber, FasDriving force required for upward acceleration of ship-carrying chamber, FaxDriving force required by the downward acceleration of the ship reception chamber;
the speeds and the acceleration values of the ship reception chamber ascending and the ship reception chamber descending are the same, so that the friction force, the steel wire rope stiffness resistance and the driving force required by the acceleration of the ship reception chamber ascending and the ship reception chamber descending are the same, the directions are opposite, and the ship reception chamber driving force can be obtained according to the formulas (1), (2) and (3):
7. the method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 6, wherein:
the ship-receiving chamber moves upwards at a constant speed v, namely the upward acceleration is zero, FasThe value is zero;
the ship reception chamber runs downwards at a constant speed v, namely the downward acceleration is zero, FaxThe value is zero.
8. The method for weight balancing of a ship lift ship reception chamber and counterweight system of claim 7, wherein: in step S5, the driving motor operating torque takes a positive value when the driving motor is outputting power, and takes a negative value when the driving motor is in a power generation state.
9. The method of claim 8, wherein the weight balancing of the ship lift chamber and counterweight system comprises: in step S6, if the difference is FEIf the weight is positive, the weight of the balance weight block is increased and adjusted; if the difference FEWhen the weight is negative, the weight of the balancing weight is reduced.
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| US20070297856A1 (en) * | 2006-06-21 | 2007-12-27 | Francis Brachet | System for dry transfer of boats from at least one water surface |
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| CN202466553U (en) * | 2012-02-14 | 2012-10-03 | 水利部交通运输部国家能源局南京水利科学研究院 | Full-level balanced vertical ship elevator suitable for ship reception chamber to go in and go out of water |
| CN103924570A (en) * | 2014-04-15 | 2014-07-16 | 中国葛洲坝集团机械船舶有限公司 | Safety protection device for ship reception chamber of full balanced steel wire rope hoisting vertical ship lift and lifting protection method |
| CN109837881A (en) * | 2019-03-25 | 2019-06-04 | 杭州国电机械设计研究院有限公司 | A kind of balance of full balance rope hoisting formula vertical ship lift re-mounts and ship reception chamber leveling method |
| CN112776956A (en) * | 2021-03-05 | 2021-05-11 | 杭州国电机械设计研究院有限公司 | Method for determining water level of balance critical point of vertical ship lift |
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2021
- 2021-10-11 CN CN202111182489.5A patent/CN113914279B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070297856A1 (en) * | 2006-06-21 | 2007-12-27 | Francis Brachet | System for dry transfer of boats from at least one water surface |
| CN102535424A (en) * | 2012-02-14 | 2012-07-04 | 水利部交通运输部国家能源局南京水利科学研究院 | Full flat type balance vertical ship lift adaptive to ship reception chamber outlet-inlet water |
| CN202466553U (en) * | 2012-02-14 | 2012-10-03 | 水利部交通运输部国家能源局南京水利科学研究院 | Full-level balanced vertical ship elevator suitable for ship reception chamber to go in and go out of water |
| CN103924570A (en) * | 2014-04-15 | 2014-07-16 | 中国葛洲坝集团机械船舶有限公司 | Safety protection device for ship reception chamber of full balanced steel wire rope hoisting vertical ship lift and lifting protection method |
| CN109837881A (en) * | 2019-03-25 | 2019-06-04 | 杭州国电机械设计研究院有限公司 | A kind of balance of full balance rope hoisting formula vertical ship lift re-mounts and ship reception chamber leveling method |
| CN112776956A (en) * | 2021-03-05 | 2021-05-11 | 杭州国电机械设计研究院有限公司 | Method for determining water level of balance critical point of vertical ship lift |
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