CN116902830A - Active-passive shipborne crane heave compensation device based on gear-rack mechanism - Google Patents

Active-passive shipborne crane heave compensation device based on gear-rack mechanism Download PDF

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Publication number
CN116902830A
CN116902830A CN202310503618.9A CN202310503618A CN116902830A CN 116902830 A CN116902830 A CN 116902830A CN 202310503618 A CN202310503618 A CN 202310503618A CN 116902830 A CN116902830 A CN 116902830A
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CN
China
Prior art keywords
rack
compensation
passive
active
frame
Prior art date
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Pending
Application number
CN202310503618.9A
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Chinese (zh)
Inventor
王生海
王丙昱
靳国良
韩广冬
黄哲
陈海泉
赵庭祺
张洪朋
孙海龙
孙玉清
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Dalian Maritime University
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Dalian Maritime University
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Application filed by Dalian Maritime University filed Critical Dalian Maritime University
Priority to CN202310503618.9A priority Critical patent/CN116902830A/en
Publication of CN116902830A publication Critical patent/CN116902830A/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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C23/62—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
    • B66C23/88—Safety gear

Abstract

The invention provides an active and passive type shipborne crane heave compensation device based on a gear rack mechanism. The invention relates to the technical field of ocean engineering, which comprises an upper frame, a main frame and a lower frame which are sequentially arranged from top to bottom, wherein a pulley mechanism is fixedly connected to the upper surface of the main frame, the pulley mechanism is connected with a main sling, the lower surface of the upper frame is connected with the upper surface of the lower frame through four rack mechanisms, each of four sides of the main frame is provided with a gear mechanism, each side of the main frame is respectively meshed with the middle rack mechanism, eight motors are arranged in the main frame, a hydraulic cylinder is connected below the main frame, an energy storage mechanism is arranged in the main frame, and a lifting hook is fixed on the lower surface of the lower frame. The compensation operation of the device can effectively avoid the adverse effect of the heave motion on the work of the shipborne crane, so that the work of the shipborne crane is safer, more efficient and more stable.

Description

Active-passive shipborne crane heave compensation device based on gear-rack mechanism
Technical Field
The invention relates to the technical field of ocean engineering, in particular to a heave compensation device of a driven-driven shipborne crane based on a gear rack mechanism.
Background
The shipborne crane is important marine engineering equipment and plays a role in lifting cargoes on a ship. The shipborne crane is affected by wave, wind power, ship motion and other factors in the operation process. Adverse effects brought by the offshore working environment can cause heave movement of the hoisting weight, and the movement can seriously interfere with the normal operation of the shipborne crane, and can also cause great potential safety hazards.
The heave compensation device of the shipborne crane aims to reduce the influence of heave motion in the vertical direction on the crane operation. At present, most of shipborne cranes in China are not provided with any heave compensation device and do not have heave motion compensation capability. For heave compensation technology, many enterprises and universities in China have conducted some theoretical researches, and have made great progress in deep sea mining systems, underwater robot retraction and other application occasions, so that a borrowable experience is provided for the heave compensation research of various application scenes in the future, but a heave compensation scheme specially applied to a ship-borne crane is still to be developed and researched.
In summary, on-board cranes in China are rarely provided with heave compensation devices at present, and products of the heave compensation devices which are mature at present are fewer. In the existing products, some of the compensation methods are active compensation methods for heave motion, and others are passive compensation methods. The active compensation method has stronger compensation precision, but has poorer economy; the passive compensation method has better economical efficiency, but the compensation precision is poor. If the compensation device can only adopt one of the compensation methods to work, the appropriate compensation method can not be adopted to compensate the heave motion according to different sea conditions and different demands, and only one compensation method can not simultaneously have the advantages of high compensation precision and good economy, but the prior product proposal for compensating the heave motion by combining the two compensation methods is less. In addition, considering that the existing shipboard cranes are mostly not provided with heave compensation apparatuses, if the heave compensation capacity is to be obtained, the existing shipboard cranes need to be provided with heave compensation apparatuses. However, the existing heave compensation device has the characteristics of complex structure, multiple systems and the like, so that the existing product is difficult to install on the shipborne crane, is limited by the size of the deck space, and is required by a very high installation process, and high cost is required.
Disclosure of Invention
According to the technical problems that the conventional heave compensation device does not have both passive compensation and active compensation, the active-passive type on-board crane heave compensation device based on the gear rack mechanism is provided. The invention mainly utilizes the combined action of the energy accumulator and the motor to change the motion rule of the hydraulic oil cylinder and the gear rack mechanism, thereby playing a role of heave compensation and avoiding the adverse effect of heave motion on the normal operation of the shipborne crane.
The invention adopts the following technical means:
the utility model provides a passive formula ship-borne crane heave compensation arrangement based on rack and pinion mechanism, includes last frame, main frame and the lower frame that sets gradually from top to bottom, the main frame is cuboid structure, fixedly connected with pulley mechanism on the upper surface of main frame, pulley mechanism links to each other with main hoist cable, the lower surface of going up the frame links to each other through four rack mechanisms with the upper surface of lower frame, rack mechanism is provided with rack end mechanism with the junction of last frame, two sides of rack mechanism are the profile of tooth, respectively be provided with a gear mechanism on four sides of main frame, every gear mechanism includes two gears, the gear mechanism of every side of main frame meshes with middle rack mechanism respectively, the inside eight motors that are provided with of main frame, every two motors are connected with a gear mechanism respectively, the main frame below is connected with hydraulic cylinder, hydraulic cylinder includes piston rod and cylinder body, be fixed with the piston rod on the main frame lower surface, the piston rod below links to each other with the cylinder body, reciprocating motion is provided with the lifting hook in relation to the cylinder body inside the lifting hook, the lifting hook is fixed on the surface.
Further, the energy storage mechanism comprises a ball valve, an energy accumulator and a high-pressure gas cylinder, a hydraulic oil cavity of the energy accumulator is connected with the hydraulic oil cylinder through a hydraulic oil way, the ball valve is arranged on the hydraulic oil way, and a high-pressure gas cavity of the energy accumulator is connected with the high-pressure gas cylinder.
Further, a tension sensor bracket is fixedly connected to the upper surface of the main frame, a tension sensor is arranged on the tension sensor bracket, the tension sensor is arranged on the side surface of the pulley mechanism, and the tension sensor monitors the tension change of the main sling.
Further, the upper frame is of a cuboid structure, and the upper frame is hollow and hollowed out on six surfaces.
Further, an anti-falling mechanism protruding towards the middle part is arranged on the upper surface of the upper frame.
Further, a dampproof mechanism is arranged inside the main frame.
Further, a displacement sensor is arranged on the side face of the cylinder body and is used for measuring a displacement signal of the piston rod.
Further, the compensation method of the heave compensation device comprises passive compensation and active-passive compensation;
the passive compensation comprises the following steps:
when the heave motion occurs, the ball valve is opened, so that hydraulic oil flows into or out of the hydraulic oil cylinder;
at the moment, the piston rod and the cylinder body of the hydraulic oil cylinder generate relative displacement, and the lower rack is driven to be close to or far away from the main rack;
when the lower frame moves, the lifting weight generates upward or downward movement trend along with the lower frame, so that passive compensation is achieved.
Further, active-passive compensation occurs while entering passive compensation, the active-passive compensation comprising passive compensation and active compensation, the active-passive compensation comprising the steps of:
when the heave motion occurs, opening the ball valve to perform passive compensation;
the motor drives the gear mechanism to drive the rack mechanism to move, so that the lower rack is close to or far away from the main rack;
when the lower frame moves, the lifting weight generates upward or downward movement trend along with the lower frame, so that active and passive compensation is achieved.
Compared with the prior art, the invention has the following advantages:
the invention has good heave compensation effect. The device can control the motor to drive the gear rack mechanism according to signals obtained by the sensor on the basis of a passive compensation mode so as to drive the crane to move, so that active and passive compensation is realized, and accurate compensation can be realized for heave motion. Therefore, the device can obtain a good compensation effect, and the lifting work of the crane is more stable, efficient and safe.
The invention has good economy. The device can compensate the heave motion by a pure passive compensation mode and an active passive compensation mode. In the two different compensation modes, the energy accumulator plays roles of absorbing hydraulic impact force and storing heave motion energy, so that the device realizes energy recovery and reutilization and obtains good economy.
The invention has high safety. The device not only can effectively compensate the lifting and sinking movement of the hanging weight, but also has the functions of preventing the hanging weight from falling down, preventing the environment from being wet and preventing the rope from being too high in tension, thereby prolonging the service life of the device and improving the safety of the device.
The invention has ingenious structure. The device combines the upper rack, the main rack and the lower rack together through the rack-and-pinion structure to form the active-passive compensation device, has compact structure and good compensation effect, and simultaneously saves space occupation rate. This facilitates the transfer of the device or the attachment of the device to an existing crane.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic illustration of an arrangement of the present invention;
FIG. 2 is a schematic view of the device in a posture when the piston rod of the hydraulic cylinder of the present invention is fully extended out of the cylinder body;
FIG. 3 is a schematic view of the device in a fully retracted position of the piston rod of the hydraulic cylinder of the present invention;
FIG. 4 is a schematic diagram of the upper structure of the present invention;
FIG. 5 is a schematic view of the internal structure of the present invention;
FIG. 6 is a schematic view of the lower structure of the present invention;
FIG. 7 is a schematic diagram of a hydraulic system of the present invention;
fig. 8 is a schematic diagram of a control system of the present invention.
In the figure: 1. a main sling; 2. an upper frame; 3. an anti-falling mechanism; 4. a tension sensor; 5. a tension sensor bracket; 6. a pulley mechanism; 7. a rack end mechanism; 8. a main frame; 9. a gear mechanism; 10. a rack mechanism; 11. a motor; 12. a moisture-proof mechanism; 13. a piston rod; 14. a cylinder; 15. a displacement sensor; 16. a lower frame; 17. a lifting hook; 18. a ball valve; 19. an accumulator; 20. a high pressure gas cylinder.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1-8, the invention provides a driven shipborne crane heave compensation device based on a gear rack mechanism, which comprises an upper frame 2, a main frame 8 and a lower frame 16 which are sequentially arranged from top to bottom, wherein the main frame 8 is of a cuboid structure, a pulley mechanism 6 is fixedly connected to the center of the upper surface of the main frame 8, the pulley mechanism 6 is connected with a main sling 1, and the whole heave compensation device can be lifted by the main sling 1. The lower surface of the upper frame 2 is connected with the upper surface of the lower frame 16 through four rack mechanisms 10, a rack tail end mechanism 7 is arranged at the joint of the rack mechanisms 10 and the upper frame 2, two side faces of the rack mechanisms 10 are tooth-shaped, a gear mechanism 9 is respectively arranged on four side faces of the main frame 8, each gear mechanism 9 comprises two gears, and the gear mechanism 9 on each side face of the main frame 8 is respectively meshed with the middle rack mechanism 10. For safety reasons, the main frame 8 forms an enclosed space as a housing to protect the four sets of motors 11 so that the motors 11 are not exposed to the external environment nor are they exposed to water; eight motors 11 are arranged in the main frame 8, every two motors 11 are respectively connected with one gear mechanism 9, a hydraulic cylinder is connected below the main frame 8 and comprises a piston rod 13 and a cylinder body 14, the piston rod 13 is fixed on the lower surface of the main frame 8, the lower part of the piston rod 13 is connected with the cylinder body 14, the lower surface of the cylinder body 14 is connected with a lower frame 16, the piston rod 13 performs reciprocating linear motion relative to the cylinder body 14, an energy storage mechanism is arranged in the main frame 8, a lifting hook 17 is fixed on the lower surface of the lower frame 16, and a hanging weight is hung on the lifting hook 17.
The energy storage mechanism comprises a ball valve 18, an energy accumulator 19 and a high-pressure gas cylinder 20. The hydraulic oil cavity of the accumulator 19 is connected with the hydraulic oil cylinder through a hydraulic oil way, a ball valve 18 is arranged on the hydraulic oil way, and the high-pressure gas cavity of the accumulator 19 is connected with a high-pressure gas cylinder 20, so that the volume of the gas cavity of the accumulator 19 is correspondingly enlarged, and the working capacity of the accumulator 19 is enhanced. The energy accumulator 19 can convert a part of the energy of the heave motion into compression energy to be stored, and release the compression energy to compensate the heave motion when the device works, and is a key component for the device to be capable of performing passive compensation work. Hydraulic oil can flow into or out of the hydraulic ram when the ball valve 18 is open, at which point the device enters a passive compensation mode. And when the ball valve 18 is closed, no hydraulic oil can flow into or out of the hydraulic cylinder, at which point the device shuts down the passive compensation mode.
The tension sensor bracket 5 is fixedly connected to the upper surface of the main frame 8, the tension sensor bracket 5 is provided with a tension sensor 4, the tension sensor 4 is arranged on the side surface of the pulley mechanism 6, and the tension sensor 4 monitors the tension change of the main sling 1. The cylinder 14 is provided with a displacement sensor 15 on the side, and the displacement sensor 15 is used for measuring a displacement signal of the piston rod 13.
The upper frame 2 is of a cuboid structure, and the upper frame 2 is hollow and hollowed out on six surfaces. The hollow structure reduces the weight of the mechanism and improves the economical efficiency of the device. In order to improve safety, the system is designed with an anti-falling mechanism 3 protruding towards the middle part is arranged on the upper surface of the upper frame 2. If the device is out of control, the rack tail end structure 7 can be buckled on the gear mechanism 9 when the hanging weight drives the rack mechanism 10 to fall down; meanwhile, the upper frame 2 is buckled on the main frame 8 due to the design of the anti-falling structure 3, and the weight is born by the main frame 8.
A moisture-proof mechanism 12 is arranged inside the main frame 8. The dampproof mechanism 12 can adopt an electric heating device, and achieves the aim of dampproof and dehumidifying the inside of the main frame 2 through heating.
The invention combines the advantages of a passive compensation mode and an active compensation mode, and can be suitable for different working sea conditions to perform heave compensation on the hoisting weight. When there is no heave compensation demand, the ball valve 18 is closed so that hydraulic oil cannot enter and exit the hydraulic cylinder, in which case the hydraulic cylinder will not perform telescopic movements, nor will the device perform any form of heave compensation operation. When the compensation precision requirement is not high, the system can only put the hydraulic oil cylinder, the energy accumulator 19, the high-pressure gas cylinder 20 and other parts into operation to realize passive compensation, so that the purpose of heave compensation can be achieved, and no energy is consumed; when the system compensation precision requirement is higher, the device actively compensates the lifting and sinking motion of the lifting weight on the basis of passive compensation, and then enters an active and passive compensation working mode. The active-passive compensation operation mode can obtain more ideal compensation effect while maintaining relatively low energy consumption rate. The heave compensation device of the active and passive shipborne crane does not influence the normal lifting work of the shipborne crane no matter whether the heave motion is compensated or not. The main sling 1 of the shipborne crane is connected with the top of the main frame 8 of the heave motion compensation device through a pulley mechanism 6, and the hoisting weight is suspended below the device through a lifting hook 17, so that the shipborne crane can hoist the whole compensation device and the hoisting weight through the main sling 1 and then carry out transferring or hovering operation.
If the device is required to passively compensate for heave motion, then the ball valve 18 is left open and the device automatically passively compensates for heave motion of the shipboard crane. When the lifting movement of the lifting weight is caused, hydraulic oil in the energy accumulator 19 enters the hydraulic oil cylinder to control the piston rod 13 to extend, so that the piston rod 13 and the cylinder body 14 are relatively displaced. The relative displacement generated between the piston rod 13 and the cylinder body 14 of the hydraulic cylinder can enable the lower rack 16 to move downwards away from the main rack 8, and meanwhile, the upper rack 2, the rack mechanism 10, the lifting hook 17 and the lifting weight connected with the lower rack 16 can also move downwards, so that the original lifting motion of a part of the lifting weight can be counteracted, and rough compensation of the lifting motion is realized. When a heave motion, which causes the lifting weight to descend, occurs, the hydraulic oil in the hydraulic cylinder is forced into the accumulator 19, which in turn causes the piston rod 13 to contract and displace relative to the cylinder 14. The relative displacement caused by the shrinkage of the piston rod 13 of the hydraulic cylinder can cause the lower frame 16 to move upwards to be close to the main frame 8, and simultaneously the upper frame 2, the rack mechanism 10, the lifting hook 17 and the lifting weight connected with the lower frame 16 can also move upwards, so that the original descending movement of a part of the lifting weight can be counteracted, and the rough compensation of the descending movement is realized. When the device performs passive compensation operation, the hydraulic cylinder, the energy accumulator 19 and the high-pressure gas cylinder 20 are equivalent to a gas-liquid spring, and work in a follow-up compensation mode, and the required energy is completely from the heave motion of the shipborne crane.
If the device is required to perform active and passive compensation on the heave motion, the device performs active and passive compensation operation after completing passive compensation operation on the crane weight of the shipborne crane, so that active and passive compensation operation is realized. The ball valve 18 is first opened so that the device can perform passive compensation operations. When the lifting movement occurs, the hydraulic oil in the accumulator 19 enters the hydraulic oil cylinder to control the piston rod 13 to extend, so that the piston rod 13 and the cylinder body 14 are relatively displaced. The relative displacement between the piston rod 13 and the cylinder body 14 of the hydraulic ram causes the lower frame 17 to move downwardly away from the main frame 8, thereby compensating for a portion of the lifting movement. Then, after the passive compensation operation is completed, the device needs to perform active compensation operation, collect ship heave motion signals through the on-board IMU sensor, collect piston rod 13 displacement signals through the displacement sensor 15, and transmit the two signals to the control center. The control center corrects the ship heave motion signal through the displacement signal of the piston rod 13 acquired by the displacement sensor 15, so as to obtain the hoisting heave motion signal which is actively compensated and still should be continuously compensated. The control center sends out instructions to control the motor 11 to act according to the signals. The motor 11 drives the gear mechanism 9 to drive the rack mechanism 10 to move downwards, and then the lower frame 16, the cylinder 14, the lifting hook 17 and the lifting weight which are connected with the rack mechanism 10 move downwards simultaneously, and the piston rod 13 stretches out to generate relative displacement with the cylinder 14, so that the original lifting motion of the lifting weight is completely counteracted, and the accurate compensation of the lifting motion of the lifting weight is realized. When the lowering motion of the crane occurs, passive compensation is performed first, the hydraulic oil in the hydraulic cylinder is pressed into the accumulator 19, and the piston rod 13 is contracted and displaced relative to the cylinder 14. The relative displacement caused by the contraction of the piston rod 13 of the hydraulic cylinder will cause the lower frame 17 to move upwards close to the main frame 8, and at the same time the upper frame 2, the rack gear 10, the lifting hook 17, the lifting weight connected to the lower frame 17 will also move upwards, which counteracts a part of the lifting weight lowering movement. And then the heave compensation device utilizes an IMU sensor to collect a ship heave signal and a displacement sensor to collect a piston rod 13 displacement signal, and both signals are sent to a control center. The control center processes the two signals and calculates the compensation displacement required by the heave motion, and then sends out corresponding instructions to control the motor 11 to act. The motor 11 drives the gear mechanism 9 to drive the rack mechanism 10 to move upwards, the lower frame 16, the cylinder 14, the lifting hook 17 and the lifting weight connected with the rack mechanism 10 also ascend simultaneously, the piston rod 13 is contracted into the cylinder 14, and thus the original descending motion of the lifting weight is completely counteracted, and the accurate compensation of the descending motion of the lifting weight is completed.
In addition, the device sets a safe upper tension limit for the main slings 1 in order to prevent the main slings 1 from being too tensioned. If the tension is kept below the upper limit of the safe tension when the main slings 1 are in operation, the operation of the main slings 1 is safe. If the tension reaches or even exceeds the upper limit value of the safe tension when the main sling 1 is in operation, the main sling 1 is in an unsafe state. Since dangerous situations such as rope breakage may occur when the main slings 1 are in an unsafe state for a long period of time in operation, it is necessary to reduce the rope tension when the main slings 1 tension exceeds the upper limit value of the safe tension. When the main slings 1 tension exceeds the upper limit of the safety tension, the device will immediately operate to reduce the rope tension. The first tension sensor 4 detects that the main sling 1 is under tension to reach the upper limit value of safe tension, and transmits a signal to the control center. After being processed, the control center sends an instruction to the motor 11, and the motor 11 drives the gear mechanism 9 to drive the rack mechanism 10 to move downwards, so that the lower rack 16, the cylinder 14, the lifting hook 17 and the lifting weight connected with the rack mechanism 10 move downwards simultaneously. Since the tension of the main suspension rope 1 is reduced below the upper limit value of the safety tension when the hoisting weight moves downwards, the safety of the operation of the crane main suspension rope 1 is enhanced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (9)

1. A driven shipborne crane heave compensation device based on rack and pinion mechanism, its characterized in that: comprises an upper frame (2), a main frame (8) and a lower frame (16) which are sequentially arranged from top to bottom, wherein the main frame (8) is of a cuboid structure, a pulley mechanism (6) is fixedly connected to the upper surface of the main frame (8), the pulley mechanism (6) is connected with a main sling (1), the lower surface of the upper frame (2) is connected with the upper surface of the lower frame (16) through four rack mechanisms (10), a rack tail end mechanism (7) is arranged at the joint of the rack mechanisms (10) and the upper frame (2), two side surfaces of the rack mechanisms (10) are of tooth shapes, the four sides of the main frame (8) are respectively provided with a gear mechanism (9), each gear mechanism (9) comprises two gears, the gear mechanism (9) on each side of the main frame (8) is respectively meshed with a middle rack mechanism (10), eight motors (11) are arranged in the main frame (8), each two motors (11) are respectively connected with one gear mechanism (9), a hydraulic cylinder is connected below the main frame (8), the hydraulic cylinder comprises a piston rod (13) and a cylinder body (14), a piston rod (13) is fixed on the lower surface of the main frame (8), the lower part of the piston rod (13) is connected with the cylinder body (14), the cylinder body (14) lower surface links to each other with lower frame (16), piston rod (13) do reciprocating rectilinear motion for cylinder body (14), main frame (8) inside is provided with energy storage mechanism, be fixed with lifting hook (17) on lower frame (16) lower surface, hang on lifting hook (17) and hang the weight.
2. The active and passive shipborne crane heave compensation device based on the gear and rack mechanism according to claim 1, wherein the energy storage mechanism comprises a ball valve (18), an energy storage device (19) and a high-pressure gas cylinder (20), a hydraulic oil cavity of the energy storage device (19) is connected with the hydraulic oil cylinder through a hydraulic oil way, the ball valve (18) is arranged on the hydraulic oil way, and a high-pressure gas cavity of the energy storage device (19) is connected with the high-pressure gas cylinder (20).
3. The active-passive shipborne crane heave compensation device based on the gear-rack mechanism according to claim 1, wherein a tension sensor bracket (5) is fixedly connected to the upper surface of the main frame (8), a tension sensor (4) is arranged on the tension sensor bracket (5), the tension sensor (4) is arranged on the side surface of the pulley mechanism (6), and the tension sensor (4) monitors the tension change of the main sling (1).
4. The active and passive type shipborne crane heave compensation device based on the gear rack mechanism according to claim 1, wherein the upper frame (2) is of a cuboid structure, and the upper frame (2) is hollow and hollowed out on six surfaces.
5. The active and passive on-board crane heave compensation device based on the gear rack mechanism according to claim 4, wherein the upper surface of the upper frame (2) is provided with a falling prevention mechanism (3) protruding towards the middle.
6. Active and passive on-board crane heave compensation apparatus based on rack and pinion mechanism according to claim 1, characterized in that the main frame (8) is internally provided with a moisture proof mechanism (12).
7. The active and passive on-board crane heave compensation apparatus based on a rack and pinion mechanism according to claim 1, characterized in that the cylinder (14) is provided with a displacement sensor (15) on the side, the displacement sensor (15) being arranged to measure the displacement signal of the piston rod (13).
8. The active-passive on-board crane heave compensation apparatus based on the rack and pinion mechanism according to claim 2, wherein the compensation method of the heave compensation apparatus comprises passive compensation and active-passive compensation;
the passive compensation comprises the following steps:
when the heave motion occurs, opening the ball valve (18) to enable hydraulic oil to flow into or out of the hydraulic oil cylinder;
at the moment, a piston rod (13) and a cylinder body (14) of the hydraulic oil cylinder generate relative displacement to drive the lower rack (16) to be close to or far from the main rack (8);
when the lower frame (16) moves, the lifting weight moves upwards or downwards along with the lower frame (16), so that passive compensation is achieved.
9. Active-passive on-board crane heave compensation apparatus based on a rack and pinion mechanism according to claim 8, characterised in that active-passive compensation takes place simultaneously with entering passive compensation, the active-passive compensation comprising passive compensation and active compensation, the active-passive compensation comprising the steps of:
when the heave motion occurs, opening the ball valve (18) to perform passive compensation;
the motor (11) drives the gear mechanism (9) to drive the rack mechanism (10) to move, so that the lower rack (16) is close to or far from the main rack (8);
when the lower frame (16) moves, the lifting weight moves upwards or downwards along with the lower frame (16), so that active and passive compensation is achieved.
CN202310503618.9A 2023-05-06 2023-05-06 Active-passive shipborne crane heave compensation device based on gear-rack mechanism Pending CN116902830A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310503618.9A CN116902830A (en) 2023-05-06 2023-05-06 Active-passive shipborne crane heave compensation device based on gear-rack mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310503618.9A CN116902830A (en) 2023-05-06 2023-05-06 Active-passive shipborne crane heave compensation device based on gear-rack mechanism

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CN116902830A true CN116902830A (en) 2023-10-20

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117486064A (en) * 2024-01-02 2024-02-02 天津津岛船务有限公司 Wave compensation device for marine crane

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117486064A (en) * 2024-01-02 2024-02-02 天津津岛船务有限公司 Wave compensation device for marine crane
CN117486064B (en) * 2024-01-02 2024-03-08 天津津岛船务有限公司 Wave compensation device for marine crane

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