CN114735599B - Door-type crane ship capable of intelligently operating in coordination - Google Patents
Door-type crane ship capable of intelligently operating in coordination Download PDFInfo
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- CN114735599B CN114735599B CN202210318412.4A CN202210318412A CN114735599B CN 114735599 B CN114735599 B CN 114735599B CN 202210318412 A CN202210318412 A CN 202210318412A CN 114735599 B CN114735599 B CN 114735599B
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- sucker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
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- 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
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- 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
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- 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
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- 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
Abstract
The invention relates to a gate-type crane ship capable of intelligently cooperating, which comprises a main ship body, a crane system, a connecting system and a control system, wherein the main ship body is connected with the crane system; the hoisting system comprises a left portal frame, a right portal frame, a cross beam, a transverse moving mechanism and a hoisting device; the left door frame and the right door frame are respectively arranged on the left sheet body and the right sheet body along the longitudinal direction; the beam is movably arranged on the tops of the two door frames; the transverse moving mechanism is movably arranged on the cross beam; the hoisting device is arranged on the transverse moving mechanism; the connecting system comprises a plurality of mechanical arms arranged on the inner side of the ship body; the mechanical arm comprises a base, a large arm, a small arm, a sucker and a hydraulic system; the adsorption with the butted ship shell is realized through a sucker; the amplitude variation motion of the large arm and the small arm and the angle adjustment of the sucking disc are realized through a hydraulic system; the control system can remotely control the hoisting operation and the butt joint operation. The invention can improve the maximum hoisting capacity, hoisting precision and flexibility; and the connection system can intelligently realize stable connection with other ships to cooperate with each other.
Description
Technical Field
The invention belongs to the technical field of crane ships, and particularly relates to a portal crane ship capable of performing intelligent cooperative operation.
Background
The large crane ship plays an important role in the development of offshore oil and gas fields, hoisting in offshore engineering, marine salvage operation and the like as an auxiliary ship for marine engineering.
The fixed crane and the rotary crane equipped on the existing crane ship can not conveniently and accurately realize point positioning in the process of hoisting load. The crane arm of the fixed crane ship cannot rotate horizontally, can only change amplitude in the vertical direction, and has a small load moving range. Although the rotary crane ship is improved in the aspect, the rotary crane ship is provided with a rotating mechanism, a lifting mechanism and an amplitude changing mechanism, the structure is complex, the space is restricted, precise positioning operation is complex in construction due to floating state deviation and spatial movement operation of a lifting head, a large amount of time and energy are consumed for slow calibration, the center of gravity of a load is far away from a ship body, and a large amount of time is needed for adjusting the floating state, so that the operation efficiency is low.
In patent document with publication number CN201210134028.5 and name "catamaran movable jack-up ship", a catamaran movable jack-up ship is disclosed, which mainly comprises a main hull and a twin-beam portal crane capable of moving along the hull, and solves the problem of small load moving range of the crane ship equipped with a fixed crane to a certain extent, but the crane needs to depend on the movement of an integral truss with large mass when moving the load, so that the influence on ship stability is large in the moving process of the truss, the moving speed is very slow, and the efficiency and flexibility of operation are limited.
In patent document CN202120806655.3 entitled "a combined crane ship", a combined crane ship is disclosed, which mainly comprises a left ship body, a right ship body and a lifting platform, wherein the lifting platform can realize lifting through a sliding track, a pulley and a sliding rod on the two ship bodies; the lifting platform is complex in structure, the lifting capacity is limited, design consideration of the ship body is insufficient, the connecting pieces for connecting the two ship bodies are located at the head and tail ends of the two ship bodies (if the strength of the ship body located at one end is influenced), heavy objects cannot be transferred to other ships, and the operation range is limited.
Furthermore, the current connection method of the cooperative work between the engineering ships is limited to the connection by manual work using cables or other rigid structures, such as the rigid structure described in the patent document with the publication number CN201220129136.9 and the name "rigid connection device for crane ship". The connection operation has certain technical difficulty and risk, takes longer time, and cannot realize remote control or even automatic operation.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the door type crane ship capable of performing intelligent cooperative operation aiming at the defects in the prior art, wherein the equipped crane system has a simpler structure and can improve the maximum hoisting capacity, hoisting precision and flexibility; and it can be remotely controlled manually or intelligently by a connection system to realize a firm connection with other ships for cooperative work.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a gate-type crane ship capable of intelligently and cooperatively operating comprises a main ship body, a crane system, a connecting system and a control system, wherein the main ship body comprises a bow, a left sheet body and a right sheet body;
the hoisting system comprises a left portal frame, a right portal frame, a cross beam, a transverse moving mechanism and a hoisting device; the left door frame and the right door frame are respectively arranged on the left sheet body and the right sheet body along the longitudinal direction; the beam is movably arranged at the tops of the left gantry and the right gantry and can move longitudinally relative to the gantries; the transverse moving mechanism is movably arranged on the cross beam and can transversely move relative to the cross beam; the lifting device is arranged on the transverse moving mechanism;
the connecting system comprises a plurality of mechanical arms arranged on the inner sides of the left sheet body and the right sheet body; the mechanical arm comprises a base, a large arm, a small arm, a sucker and a hydraulic system; the base is connected with the ship body and can realize rotation and up-and-down tilting motion; one end of the large arm is hinged with the base, the other end of the large arm is hinged with one end of the small arm, and the other end of the small arm is hinged with the sucker; the suction with the butted ship shell is realized through the sucking discs; the variable-amplitude motion of the large arm and the small arm and the angle adjustment of the sucker are realized through the hydraulic system so as to adapt to butt-jointed ships with different sizes and molded lines;
the control system comprises information acquisition equipment and a central processing unit, the information acquisition equipment is used for acquiring the position and speed information of a cross beam of the hoisting system, the position and speed information of the transverse moving mechanism and the working state information of the hoisting device, the information is transmitted to the central processing unit for processing, and a controller remotely controls hoisting operation according to the processed data; and acquiring the attitude information of the mechanical arm, the working state information of the sucker and the distance information between the mechanical arm and a docking ship of the connecting system through the information acquisition equipment, transmitting the information to the central processing unit for processing, and remotely controlling docking operation by a control personnel according to the processed data.
In the scheme, longitudinal portal top rails are arranged at the tops of the left portal and the right portal, and beam wheel sets are arranged at two ends of each beam and move along the portal top rails; the two beams are arranged in parallel, the top of each beam is provided with a beam top rail, the two ends of the transverse moving mechanism are provided with transverse moving wheel sets, and the transverse moving wheel sets move along the beam top rails.
In the above scheme, the control of the hoisting system by the central processor includes adjusting the position of the hoisting device by controlling the moving speed and position of the cross beam and the transverse moving mechanism.
In the above scheme, the information acquisition device comprises a beam position and a speed sensor mounted on the beam, a transverse moving mechanism position and a speed sensor mounted on the transverse moving mechanism, and a first camera mounted below the transverse moving mechanism; each sensor and the first camera are in communication connection with the central processing unit respectively.
In the scheme, the base comprises a base turntable, a mechanical arm base and a base hydraulic rod, the base turntable is rotationally connected with a motor in the ship body, the mechanical arm base is rotationally mounted on the base turntable, one end of the base hydraulic rod is connected with the base turntable, the other end of the base hydraulic rod is connected with the mechanical arm base, and the mechanical arm base can tilt up and down through the extension of the base hydraulic rod; one end of the large arm is hinged with the mechanical arm base.
In the above scheme, the hydraulic system comprises a large arm hydraulic rod, a small arm hydraulic rod and a sucker hydraulic rod, the output end of the large arm hydraulic rod is connected with the large arm, the output end of the small arm hydraulic rod is connected with the small arm, and the output end of the sucker hydraulic rod is connected with the sucker.
In the above scheme, the suction cup comprises a fixed disc, a plurality of suction units and a connecting mechanism; the surface of the fixed disk is provided with the plurality of suction units, and the back surface of the fixed disk is hinged with the other end of the small arm; an electromagnet and/or a vacuum pump are/is arranged in the suction unit, and the suction unit and the shell of the butted ship are jointly or independently adsorbed through magnetic force and pressure; the connecting mechanism is arranged on the back surface of the fixed disk and is connected with the output end of the sucker hydraulic rod.
In the scheme, the central processing unit controls the connecting system to realize the adjustment of the extension range and the angle of the sucker by regulating and controlling the rotation and the inclination of the base, the extension of the large arm hydraulic rod, the extension of the small arm hydraulic rod and the extension of the sucker hydraulic rod; the adjustment of the suction force of the suction disc under different sizes of butted ships and sea conditions is realized by adjusting and controlling the working states of the electromagnet in the suction unit and the vacuum pump.
In the scheme, the information acquisition equipment comprises a distance sensor, a second camera, a mechanical arm attitude sensor and a sucker working state sensor; the distance sensor is arranged on the fixed disc of the sucker; the second camera is mounted at the edge of a deck above the mechanical arm; the mechanical arm attitude sensor comprises a hydraulic rod position sensor integrated in each hydraulic rod and a three-axis attitude sensor arranged in the large arm, the small arm and the sucker; the sucking disc working state sensor comprises an air pressure sensor arranged in the sucking disc; and each sensor and each camera are respectively in communication connection with the central processing unit.
In the scheme, the inner side wall of the ship body is provided with a groove, the mechanical arm is arranged in the corresponding groove, and the mechanical arm is accommodated in the groove when not in operation; the mechanical arms are arranged in a plurality of groups along the longitudinal direction, and each group of mechanical arms comprises two mechanical arms which are symmetrically arranged about the centerline plane of the ship body.
The invention has the beneficial effects that:
1. according to the invention, through the movement of the cross beam and the transverse moving mechanism in the portal crane system, the flexible and accurate movement of the hoisting device in a plane is realized, and three-degree-of-freedom flexible operation of the lifting appliance in a certain space range is realized by matching with the hoisting device to receive and release the rope, so that the efficiency and the precision of engineering construction are improved; the gravity center of the hoisting load is limited within a certain range in the waterline, the maximum hoisting capacity is improved, the workload of adjusting the floating state of the ship body during hoisting is reduced, and the working efficiency is improved.
2. The connecting system is matched with the control system, can realize stable connection and cooperative work with other transport or engineering ships within a certain scale range in a manual remote control or intelligent control mode, and further realize engineering operation in synchronous sailing; or a temporary or short-term working platform is formed by matching with a special ship to complete a specialized engineering task.
3. The connecting system can realize the adjustment of the extension range and the angle of the sucker by regulating and controlling the rotation and the inclination of the base, the extension of the large arm hydraulic rod, the extension of the small arm hydraulic rod and the extension of the sucker hydraulic rod so as to adapt to butt-jointed ships with different sizes and profiles; the adjustment of the suction force of the suction disc under different docking ship sizes and sea conditions is realized by regulating and controlling the working states of the electromagnet and the vacuum pump in the suction unit, and the application range is wide.
4. The main ship body adopts a U-shaped catamaran shape, so that the ship stability is improved; the portal crane system is simple in structure, and more deck areas can be reserved for operation compared with a common crane ship; the bow is a unitary body with sufficient deck area for the superstructure to be disposed, providing rigidity for the connection of the two panels.
Drawings
The invention will be further described with reference to the following drawings and examples, in which:
FIG. 1 is a perspective view of a portal crane vessel for intelligent cooperative work according to the present invention;
FIG. 2 is a top plan view of the intelligently interoperable gantry crane vessel of FIG. 1;
FIG. 3 is a schematic structural diagram of a crane system of the intelligently interoperable gantry crane vessel shown in FIG. 1;
FIG. 4 is a schematic diagram of the robotic arm of the connection system of the intelligently interoperable portal crane vessel of FIG. 1;
FIG. 5 is another angular schematic view of the robotic arm of FIG. 4;
fig. 6 is an operation schematic diagram of the control system of the intelligent cooperative portal crane ship of the present invention.
In the figure: 1. a main hull; 11. a bow; 12. a left sheet body; 13. a right sheet body; 2. a groove; 3. a propulsion device;
4. a hoisting system; 41. a left portal; 42. a right portal; 43. a cross beam; 431. a beam top rail; 432. a beam wheel set; 433. a beam fixing beam; 44. a lateral movement mechanism; 45. a gantry top rail; 46. a hoisting device;
5. a mechanical arm; 51. a base; 511. a base turntable; 512. a mechanical arm base; 513. a base hydraulic rod; 52. a large arm; 53. a large arm hydraulic rod; 54. a small arm hydraulic rod; 55. a small arm; 56. a sucker hydraulic rod; 57. a suction cup; 571. a suction unit; 572. fixing the disc; 573. and a connecting mechanism.
Detailed Description
For a more clear understanding of the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1-2, the intelligent and cooperative portal crane ship provided by the embodiment of the invention is self-propelled, and comprises a main hull 1, a crane system 4 mounted on the main hull 1, a connection system and a control system. The hoisting system 4 is used for completing various hoisting operations, the connecting system is used for realizing butt joint with other ships or platforms, and the control system is used for controlling the hoisting system 4 and the connecting system so as to realize remote control, field remote control or automatic control.
The main hull 1 is U-shaped and comprises a bow 11, a left sheet 12 and a right sheet 13 which are symmetrically arranged along a median plane. The bow 11 is an integral body and is used for arranging an upper-layer building; the ship is divided into a left sheet body 12 and a right sheet body 13 from the front middle part to the tail part, the left sheet body and the right sheet body are used for arranging a hoisting system 4, the distance between the two sheet bodies meets the requirements of hoisting operation and butt joint of other ships, and pod propulsion devices 3 are respectively arranged at the tail part.
As shown in fig. 3, the hoisting system 4 includes a left gantry 41, a right gantry 42, a cross beam 43, a lateral moving mechanism 44, and a hoisting device 46. The left door frame 41 and the right door frame 42 are box-type structures, the left door frame 41 and the right door frame 42 are respectively installed on the left sheet body 12 and the right sheet body 13 along the longitudinal direction, and longitudinal door frame top rails 45 are respectively arranged at the tops of the left door frame 41 and the right door frame 42. The cross beam 43 is a variable cross-section beam, the cross beam 43 spans the two door frames, the two ends of the cross beam 43 are provided with cross beam wheel sets 432, the cross beam wheel sets 432 comprise bearing wheels and variable frequency speed regulation brake motors, and the variable frequency speed regulation brake motors are controlled by a control system to realize the longitudinal movement and positioning of the cross beam 43 on the top rails 45 of the door frames. The two cross beams 43 are arranged in parallel, and a cross beam fixing beam 433 is arranged between the cross beam wheel sets 432 on the same side and used for keeping the distance between the two cross beams 43 equal. The top of each of the two beams 43 is provided with a beam top rail 431, the two ends of the transverse moving mechanism 44 are provided with transverse moving wheel sets, each transverse moving wheel set comprises a bearing wheel and a variable-frequency speed-regulating brake motor, and the variable-frequency speed-regulating brake motors are controlled by a control system to realize transverse movement and positioning of the transverse moving mechanism 44 on the beam top rails 431. The hoisting device 46 is mounted on the transverse moving mechanism 44 and comprises a plurality of groups of windlasses, drums, ropes and lifting hooks, and the hoisting device 46 can be moved and positioned within the range limited by the portal frame by adjusting the longitudinal position of the cross beam 43 and the transverse position of the transverse moving mechanism 44, so that the hoisting task can be completed flexibly and accurately.
As shown in fig. 4-5, the connecting system comprises a plurality of sets of robotic arms 5 arranged longitudinally mounted inside the left and right blades 12, 13, each set of robotic arms 5 comprising two robotic arms 5 arranged symmetrically about the mid-line plane of the hull. The inner sides of the left sheet body 12 and the right sheet body 13 are provided with grooves 2, the mechanical arm 5 is arranged in the corresponding groove 2, and the mechanical arm 5 can be accommodated in the groove 2 when not in operation. The mechanical arm 5 comprises a base 51, a large arm 52, a small arm 55, a suction cup 57 and a hydraulic system; the base 51 is connected with the ship body and can realize rotation and up-and-down tilting movement; one end of the large arm 52 is hinged with the base 51, the other end of the large arm is hinged with one end of the small arm 55, and the other end of the small arm 55 is hinged with the sucker 57; the suction with the butted ship shell is realized through a suction disc 57; the amplitude variation motion of the large arm 52 and the small arm 55 and the angle adjustment of the suction cup 57 are realized through a hydraulic system so as to adapt to the butt-joint ships with different sizes and profiles. The hydraulic system comprises a large arm hydraulic rod 53, a small arm hydraulic rod 54 and a sucker hydraulic rod 56, wherein the output end of the large arm hydraulic rod 53 is connected with the large arm 52, the output end of the small arm hydraulic rod 54 is connected with the small arm 55, and the output end of the sucker hydraulic rod 56 is connected with a sucker 57.
Further preferably, the base 51 comprises a base turntable 511, a mechanical arm base 512 and a base hydraulic rod 513, the base turntable 511 is rotatably connected with a motor in the ship body, the mechanical arm base 512 is rotatably mounted on the base turntable 511, one end of the base hydraulic rod 513 is connected with the base turntable 511, the other end of the base hydraulic rod 513 is connected with the mechanical arm base 512, and the up-and-down tilting motion of the mechanical arm base 512 is realized through the extension and retraction of the base hydraulic rod 513; the large arm 52 is hinged at one end to a robot arm base 512.
Preferably, the suction cup 57 comprises a fixed disk 572, a plurality of suction units 571, and a connecting mechanism 573; the fixed disk 572 plays a role of fixing various mechanisms, a plurality of suction units 571 are arranged on the surface of the fixed disk 572, and the back surface of the fixed disk 572 is hinged with the other end of the small arm 55; the suction unit 571 is internally provided with an electromagnet and/or a vacuum pump, and can complete the adsorption with the shell of the butted ship through magnetic force and pressure together or independently; the coupling mechanism 573 is mounted on the rear surface of the fixed disk 572 and is connected to the suction cup hydraulic rod 56 of the hydraulic system. In this embodiment, there are three suction units 571, and the three suction units 571 are installed on the surface of the fixing disk 572 in a triangular shape.
As shown in fig. 6, the control system includes an information collecting device and a central processing unit, the information collecting device includes a beam position and speed sensor integrated inside a bearing wheel of the beam 43, a lateral moving mechanism position and speed sensor integrated inside a bearing wheel of the lateral moving mechanism 44, and a first camera installed below the lateral moving mechanism 44. The information acquisition equipment also comprises a distance sensor, a second camera, a mechanical arm attitude sensor and a sucker working state sensor; the distance sensor is mounted on the fixed disk 572 of the suction cup 57 and used for collecting the distance from the docked ship; the second camera is arranged at the edge of the deck above the mechanical arm 5 and used for shooting pictures or videos of the ship docking process; the mechanical arm attitude sensor comprises a hydraulic rod position sensor integrated in each hydraulic rod and a three-axis attitude sensor positioned in the large arm, the small arm and the sucker; the suction cup operation state sensor includes an air pressure sensor disposed inside the suction cup 57. Each sensor and each camera are respectively in communication connection with the central processing unit.
For the hoisting system 4, the information of the position and the speed of the beam 43, the information of the position and the speed of the transverse moving mechanism 44 and the information of the working state of the hoisting device 46 are collected by the information collecting device, the sensor data are transmitted to the central processing unit for processing, transmitted and displayed on the wireless control panel, and a controller can remotely control the hoisting operation according to the processed data and pictures in a cab or control the hoisting operation on the spot by holding the wireless control panel, for example, the position of a hoisting tool is regulated and controlled by the control system. And the data are simultaneously transmitted to other systems of the ship, such as a dynamic positioning system and a floating state adjusting system, so that the overall working efficiency is improved.
For the connecting system, the posture information of the mechanical arm 5 of the connecting system, the working state information of the sucking disc 57 and the distance information between the sucking disc 57 and the butted ship are collected through the information collecting equipment, transmitted to the central processing unit for processing and transmitted and displayed in the wireless control panel, a controller can remotely control the butting operation according to the processed data and pictures in a cab or hand-hold the wireless control panel to control the butting operation on site, for example, the rotation and the inclination of the base 51, the extension and the contraction of the large arm hydraulic rod 53, the extension and the contraction of the small arm hydraulic rod 54 and the extension and the contraction of the sucking disc hydraulic rod 56 are regulated and controlled through the control system, so that the extending range and the angle of the sucking disc 57 are regulated, and the butting ships with different sizes and molded lines can be conveniently adapted; the control system regulates and controls the working states of the electromagnet and the vacuum pump in the suction unit 571, so as to realize the regulation of the suction force of the suction disc 57 under different docking ship sizes and sea conditions. The automatic butt joint operation can be realized by carrying out decision, control and feedback through certain algorithm and operation of a central processing unit by means of the data obtained by the sensor.
The invention relates to a working principle of a gate-type lifting ship capable of intelligently cooperating, which comprises the following steps: through the movement of the cross beam 43 and the transverse moving mechanism 44 in the portal crane system 4 on the rail, the lifting device 46 can be flexibly and accurately moved and positioned in the horizontal plane, and the lifting device 46 is matched to release and release the rope to move and position the lifting appliance in a certain space range. Through three groups of (each group is two symmetrically arranged along the midline) mechanical arms 5 of the connecting system, the rigid or flexible connection with the butt-jointed ship can be realized, and various offshore engineering tasks can be efficiently completed: laying a submarine tunnel immersed tube, constructing a cross-sea bridge, salvaging a sunken ship, installing, transforming, disassembling and researching other offshore structures on an ocean platform, a cylindrical platform and the like; or form a temporary or short-term offshore platform with other special ships to complete various specialized offshore tasks. Meanwhile, the control system can be used for realizing remote or on-site control of hoisting or docking operation or finishing docking operation through intelligent control, and fig. 4 is a working schematic diagram of the control system.
While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A door-type crane ship capable of intelligently and cooperatively operating comprises a main ship body, wherein the main ship body comprises a bow, a left sheet body and a right sheet body, and is characterized by further comprising a crane system, a connecting system and a control system which are arranged on the main ship body;
the hoisting system comprises a left portal frame, a right portal frame, a cross beam, a transverse moving mechanism and a hoisting device; the left door frame and the right door frame are respectively arranged on the left sheet body and the right sheet body along the longitudinal direction; the beam is movably arranged at the tops of the left gantry and the right gantry and can move longitudinally relative to the gantries; the transverse moving mechanism is movably arranged on the cross beam and can transversely move relative to the cross beam; the lifting device is arranged on the transverse moving mechanism;
the connecting system comprises a plurality of mechanical arms arranged on the inner sides of the left sheet body and the right sheet body; the mechanical arm comprises a base, a large arm, a small arm, a sucker and a hydraulic system; the base is connected with the ship body and can realize rotation and up-and-down tilting motion, the base comprises a base turntable, a mechanical arm base and a base hydraulic rod, the base turntable is rotationally connected with a motor in the ship body, the mechanical arm base is rotationally mounted on the base turntable, one end of the base hydraulic rod is connected with the base turntable, the other end of the base hydraulic rod is connected with the mechanical arm base, and the up-and-down tilting motion of the mechanical arm base is realized through the extension and retraction of the base hydraulic rod; one end of the large arm is hinged with the mechanical arm base of the base, the other end of the large arm is hinged with one end of the small arm, and the other end of the small arm is hinged with the sucker; the suction disc is used for realizing the suction with the shell of the butted ship; the variable-amplitude motion of the large arm and the small arm and the angle adjustment of the sucker are realized through the hydraulic system so as to adapt to butt-jointed ships with different sizes and molded lines;
the control system comprises information acquisition equipment and a central processing unit, the information acquisition equipment is used for acquiring the position and speed information of a cross beam of the hoisting system, the position and speed information of the transverse moving mechanism and the working state information of the hoisting device, the information is transmitted to the central processing unit for processing, and a controller remotely controls hoisting operation according to the processed data; and acquiring the attitude information of the mechanical arm, the working state information of the sucker and the distance information between the mechanical arm and a docking ship of the connecting system through the information acquisition equipment, transmitting the information to the central processing unit for processing, and remotely controlling docking operation by a control personnel according to the processed data.
2. The intelligently interoperable portal crane ship of claim 1, wherein the top of each of the left portal and the right portal is provided with a longitudinal portal top rail, and the two ends of the beam are provided with beam wheelsets which move along the portal top rails; the two beams are arranged in parallel, the top of each beam is provided with a beam top rail, the two ends of the transverse moving mechanism are provided with transverse moving wheel sets, and the transverse moving wheel sets move along the beam top rails.
3. The intelligently interoperable portal crane vessel of claim 1, wherein said central processor controlling said crane system comprises adjusting the position of the crane by controlling the speed and position of said transverse beams, transverse moving mechanism.
4. The intelligently and cooperatively operable gantry crane ship according to claim 3, wherein the information collecting device comprises a beam position and speed sensor mounted on the beam, a traverse mechanism position and speed sensor mounted on the traverse mechanism, and a first camera mounted below the traverse mechanism; each sensor and the first camera are in communication connection with the central processing unit respectively.
5. The intelligently and cooperatively operable gate-type crane ship according to claim 1, wherein the hydraulic system comprises a large arm hydraulic rod, a small arm hydraulic rod and a sucker hydraulic rod, an output end of the large arm hydraulic rod is connected with the large arm, an output end of the small arm hydraulic rod is connected with the small arm, and an output end of the sucker hydraulic rod is connected with the sucker.
6. The intelligently interoperable gantry crane ship of claim 5, wherein the suction cup comprises a fixed disc, a plurality of suction units, a connecting mechanism; the surface of the fixed disk is provided with the plurality of suction units, and the back surface of the fixed disk is hinged with the other end of the small arm; an electromagnet and/or a vacuum pump are/is arranged in the suction unit, and the suction unit and the shell of the butted ship are jointly or independently adsorbed through magnetic force and pressure; the connecting mechanism is arranged on the back surface of the fixed disc and is connected with the output end of the sucker hydraulic rod.
7. The intelligent cooperative work gate-type crane ship according to claim 6, wherein the central processor controls the connection system to adjust the extension range and angle of the suction cup by regulating and controlling the rotation and inclination of the base, the extension and contraction of the large arm hydraulic rod, the extension and contraction of the small arm hydraulic rod and the extension and contraction of the suction cup hydraulic rod; the adjustment of the suction force of the suction disc under different docking ship sizes and sea conditions is realized by adjusting and controlling the working states of the electromagnet in the suction unit and the vacuum pump.
8. The intelligent cooperative work portal crane ship as claimed in claim 7, wherein the information acquisition device comprises a distance sensor, a second camera, a mechanical arm attitude sensor and a sucker working state sensor; the distance sensor is arranged on a fixed disc of the sucker; the second camera is mounted at the edge of the deck above the mechanical arm; the mechanical arm attitude sensor comprises a hydraulic rod position sensor integrated in each hydraulic rod and a three-axis attitude sensor arranged in the large arm, the small arm and the sucker; the sucking disc working state sensor comprises an air pressure sensor arranged in the sucking disc; and each sensor and each camera are respectively in communication connection with the central processing unit.
9. The intelligent cooperative door type crane ship according to claim 1, wherein grooves are formed in the inner side walls of the ship body, the mechanical arms are mounted in the corresponding grooves, and the mechanical arms are accommodated in the grooves when not in operation; the mechanical arms are arranged in a plurality of groups along the longitudinal direction, and each group of mechanical arms comprises two mechanical arms which are symmetrically arranged about a centerline plane of the ship body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318412.4A CN114735599B (en) | 2022-03-29 | 2022-03-29 | Door-type crane ship capable of intelligently operating in coordination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210318412.4A CN114735599B (en) | 2022-03-29 | 2022-03-29 | Door-type crane ship capable of intelligently operating in coordination |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114735599A CN114735599A (en) | 2022-07-12 |
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| CN115057369B (en) * | 2022-08-18 | 2022-10-25 | 山东金科星机电股份有限公司 | Offshore wind turbine installation method |
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| JPH07137981A (en) * | 1993-11-12 | 1995-05-30 | Sekigahara Seisakusho:Kk | Crane device for container ship |
| JP2000318976A (en) * | 1999-05-06 | 2000-11-21 | Nippon Steel Logistics Co Ltd | On-board gate crane |
| CN107933834A (en) * | 2017-11-27 | 2018-04-20 | 武汉理工大学 | A kind of multifunction railway formula crane ship |
| CN108674582A (en) * | 2018-06-01 | 2018-10-19 | 大连理工大学 | A kind of automatic magnetic mooring gear |
| CN113697045A (en) * | 2021-07-20 | 2021-11-26 | 国网山东省电力公司烟台供电公司 | Unmanned ship for laying and recovering underwater vehicle and operation method thereof |
| CN215972015U (en) * | 2021-11-30 | 2022-03-08 | 北京华航方舟大洋装备科技有限公司 | Multifunctional marine installation platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011077085A2 (en) * | 2009-12-21 | 2011-06-30 | National Oilwell Varco L.P. | A crane on a vessel |
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| JPH07137981A (en) * | 1993-11-12 | 1995-05-30 | Sekigahara Seisakusho:Kk | Crane device for container ship |
| JP2000318976A (en) * | 1999-05-06 | 2000-11-21 | Nippon Steel Logistics Co Ltd | On-board gate crane |
| CN107933834A (en) * | 2017-11-27 | 2018-04-20 | 武汉理工大学 | A kind of multifunction railway formula crane ship |
| CN108674582A (en) * | 2018-06-01 | 2018-10-19 | 大连理工大学 | A kind of automatic magnetic mooring gear |
| CN113697045A (en) * | 2021-07-20 | 2021-11-26 | 国网山东省电力公司烟台供电公司 | Unmanned ship for laying and recovering underwater vehicle and operation method thereof |
| CN215972015U (en) * | 2021-11-30 | 2022-03-08 | 北京华航方舟大洋装备科技有限公司 | Multifunctional marine installation platform |
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