CN118144935A - Intelligent auxiliary device for offshore replenishment based on leaning ball - Google Patents
Intelligent auxiliary device for offshore replenishment based on leaning ball Download PDFInfo
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- CN118144935A CN118144935A CN202410279283.1A CN202410279283A CN118144935A CN 118144935 A CN118144935 A CN 118144935A CN 202410279283 A CN202410279283 A CN 202410279283A CN 118144935 A CN118144935 A CN 118144935A
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- 238000012545 processing Methods 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 17
- 238000013528 artificial neural network Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 4
- 238000004148 unit process Methods 0.000 abstract description 2
- 230000001502 supplementing effect Effects 0.000 abstract 2
- 238000013461 design Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
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- 235000004443 Ricinus communis Nutrition 0.000 description 1
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- 239000000446 fuel Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/02—Fenders integral with waterborne vessels or specially adapted therefor, e.g. fenders forming part of the hull or incorporated in the hull; Rubbing-strakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
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- Chemical & Material Sciences (AREA)
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Ship Loading And Unloading (AREA)
Abstract
The invention discloses an intelligent auxiliary device for marine replenishment based on a leaning ball, which relates to the field of ship replenishment and comprises a sensor module, a control algorithm module and an execution mechanism module; the sensor module is used for monitoring the position, speed, posture and force of the leaning ball of the ship in real time by combining a GPS (global positioning system) of the ship body and a gyroscope; the control algorithm module comprises a central processing unit and a plurality of cables, wherein the cables are used for transmitting acquired signals and signal instructions, and the central processing unit processes the data of the sensor module in real time based on fuzzy control and a neural network to generate control instructions; the actuator module comprises a hydraulic assembly and a mechanical transmission assembly; the mechanical transmission component and the hydraulic component cooperate together to ensure the accurate positioning and stable operation of the rubber backup ball. The invention can accurately control and adjust the position and the gesture of the leaning ball so as to ensure that the supplementing task is safely and reliably completed under higher-level sea conditions, enlarge the boundary of the meteorological environment conditions of the supplementing operation and reduce the uncertainty and the potential risk of manual operation.
Description
Technical Field
The invention relates to the technical field of ship replenishment, in particular to an intelligent auxiliary device for offshore replenishment based on a leaning ball.
Background
Offshore replenishment operations are an important component of the operation of vessels, particularly for vessels that perform ocean-going tasks for long periods of time, and safe, efficient replenishment of materials is critical. The conventional offshore replenishment operation often depends on the experience and manual operation of the crew, which is not only labor intensive, but also difficult to ensure replenishment safety and efficiency. Particularly in severe weather conditions, the traditional replenishment is extremely dangerous due to severe swaying of the ship, and even causes casualties and property loss. With the development of technology, various automated and intelligent auxiliary systems are widely studied and applied to improve the safety and efficiency of offshore operations. Under the background, a novel intelligent auxiliary device for offshore replenishment is developed to cope with the safety and efficiency challenges in offshore replenishment, and the development of the technology in the field is a necessary trend.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the intelligent auxiliary device for the offshore replenishment based on the backup ball, which is suitable for auxiliary operation in the ship replenishment operation.
The present invention achieves the above technical object by the following means.
An intelligent auxiliary device for offshore replenishment based on a leaning ball comprises a sensor module, a control algorithm module and an execution mechanism module; the sensor module is used for monitoring the position, speed, posture and force of the leaning ball of the ship in real time by combining a GPS (global positioning system) of the ship body and a gyroscope; the control algorithm module comprises a central processing unit and a plurality of cables, wherein the cables are used for transmitting acquired signals and signal instructions, and the central processing unit processes data of the sensor module in real time based on fuzzy control and a neural network to generate control instructions; the actuating mechanism module comprises a hydraulic assembly and a mechanical transmission assembly; the mechanical transmission assembly and the hydraulic assembly are matched together to ensure accurate positioning and stable operation of the rubber backup ball.
In the scheme, the sensor module comprises a pressure sensor, an image collector and an infrared range finder; the pressure sensor is arranged at an inflation hole at one end of the rubber backing ball and is used for detecting the internal pressure change of the rubber backing ball; the image collector and the infrared range finder are arranged in two groups, are symmetrically arranged at two ends of the mobile platform and are fixedly connected with the base below the coaxial winch.
In the scheme, the central processing unit is fixedly connected with the mobile platform and is arranged on one side of the hydraulic oil tank; the central processing unit is connected with the sensor module through a cable to acquire the information of each parameter acquired by the sensor; and the central processing unit is connected with the actuating mechanism module through a cable, transmits a motion instruction, delivers the rubber exploratory ball to a preset position and adjusts the rubber exploratory ball in real time.
In the scheme, the hydraulic assembly comprises a hydraulic pump, a hydraulic cylinder, a valve, a pipeline and a hydraulic oil tank; the hydraulic pump is connected with the hydraulic oil tank, and the valves are arranged at two ends of the hydraulic pump and are connected with the hydraulic cylinders at two ends through pipelines; the hydraulic cylinder is arranged between the suspension arm and the support column of the crane and is used for adjusting the elevation angle of the suspension arm; in addition, the inside of the suspension arm is also connected with a hydraulic system for the extension and retraction of the suspension arm.
In the scheme, the mechanical transmission group comprises a crane, a pulley block, a steel rope, a coaxial winch, a rack and a high-power motor; the cranes are arranged in two groups and are respectively piled up at two ends of the movable platform; the pulley blocks are divided into two groups, and each group is respectively and fixedly connected below the suspension arm; the fixed pulley A is positioned at the front end part of the suspension arm, the fixed pulley B is positioned at the middle part of the suspension arm, a circular turntable is arranged at the bottom of the crane pillar, and the circular turntable is rotationally connected with the movable receipt; the two groups of the coaxial winches are symmetrically arranged on the moving platform, and steel ropes for lifting the exploring ball bypass the fixed pulleys A and B and are connected with the coaxial winches; in addition, a high-power motor is fixed at the bottom of the platform and meshed with a rack fixed at the side of the ship body, and is used for controlling the transverse position of the whole device at the side of the ship body.
In the scheme, the sensor module, the control algorithm module and the execution mechanism module are integrated on the mobile platform together, four universal wheels are fixedly connected below the mobile platform, and when the mobile platform moves to a preset position in the ship width direction, the universal wheels lock the direction and cooperate with the movement of the racks relative to the ship head and tail directions.
In the above scheme, the mobile platform one side is provided with the weight box, the weight box is used for placing the balancing weight.
The beneficial effects are that:
1. The invention realizes the real-time monitoring and intelligent control of the replenishment process by integrating the advanced sensor module, the control algorithm module and the execution mechanism module; the sensor module is used for monitoring the states of the ship and the leaning ball in real time by combining a GPS and a gyroscope of the ship body by utilizing various sensing devices such as a pressure sensor, an image collector, an infrared range finder and the like; the control algorithm module adopts advanced control algorithms such as fuzzy control, neural network and the like to process the sensing data in real time and generate an accurate control instruction; the actuating mechanism module is composed of a hydraulic transmission assembly and a mechanical transmission assembly, and the actuating mechanism module is matched with the hydraulic transmission assembly to ensure accurate positioning and stable operation of the backing ball. The design greatly improves the automation degree of offshore replenishment operation, remarkably reduces operation risks and improves operation efficiency.
2. The control algorithm module in the invention adopts intelligent control algorithms such as fuzzy control, neural network and the like, so that the central processing unit can process the data of the sensor module in real time and generate accurate control instructions. In response to these commands, the hydraulic and mechanical transmission assemblies in the actuator module ensure that the armrest may be precisely positioned and stably operated. In addition, the man-machine interaction design of the whole system allows operators to intervene when necessary, so that the flexibility of operation is improved, and the supply operation can be flexibly switched between automation and semi-automation, so that different operation requirements are met.
3. The invention can monitor the relative position, speed and posture of the replenishing leaning ball and the ship and the stress state of the leaning ball in real time by integrating the advanced sensor module comprising the pressure sensor, the image collector and the infrared distance meter and combining the GPS and the gyroscope system of the ship, thereby obviously improving the safety of offshore replenishing operation. The invention can accurately control the position and the gesture of the leaning ball, ensure that the replenishment task can be safely and reliably completed under various sea conditions, and reduce the uncertainty and the potential risk of manual operation.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the intelligent auxiliary device for offshore replenishment based on the leaning ball;
FIG. 2 is a schematic bottom view of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the sensor module of FIG. 1;
FIG. 4 is a schematic diagram of the CPU of FIG. 1;
FIG. 5 is a schematic illustration of the hydraulic assembly referred to in FIG. 1;
FIG. 6 is a detailed schematic view of the hydraulic assembly referred to in FIG. 5;
FIG. 7 is a schematic illustration of the mechanical assembly referred to in FIG. 1;
FIG. 8 is a schematic view of the armrest of FIG. 1;
FIG. 9 is an enlarged schematic view of an end detail of the armrest shown in FIG. 1;
fig. 10 is a schematic workflow diagram.
Reference numerals:
1-a mobile platform; 2-infrared rangefinder; 3-an image collector; 4-a pressure sensor; 5-a central processing unit; 6-a hydraulic pump; 7-a hydraulic cylinder; 8-valve; 9-piping; 10-a hydraulic oil tank; 11-a crane; 12 a-fixed pulley a; 12B-fixed pulley B; 13-steel cord; 14-a coaxial winch; 15-a rack; 16-high power motor; 17-universal wheels; 18-backing ball; 19-a flange; 20-a chain; 21-a weight box; 22-a boom; 23-a turntable.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1 and 2, an intelligent marine replenishment auxiliary device based on a leaning ball 18 is used for ship replenishment operation and comprises a sensor module, a control algorithm module and an execution mechanism module; the sensor module combines a GPS of the ship body, a gyroscope and the like, and detects the position and the speed of the ship, the posture of the leaning ball 18 and the stress data. The control algorithm module comprises a central processing unit 5 and a plurality of cables, wherein the central processing unit 5 processes the data of the sensor module in real time based on advanced control algorithms such as fuzzy control and a neural network, and generates a control instruction which is arranged at the middle position of the mobile platform 1; the cable is used for transmitting the acquired signals and signal instructions, so that the real-time high efficiency of the data is ensured; the actuating mechanism module comprises a hydraulic assembly and a mechanical transmission assembly; the hydraulic assembly comprises a hydraulic pump 6, a hydraulic cylinder 7, a valve 8, a pipeline 9 and a hydraulic oil tank 10, and the mechanical transmission assembly mainly comprises a crane 11, a pulley block, a steel rope 13, a coaxial winch 14, a rack 15 and a high-power motor 16; the mechanical transmission assembly and the hydraulic assembly cooperate to ensure accurate positioning and stable operation of the armrest 18.
Referring to fig. 3 and 9, the pressure sensor 4 is used for monitoring the internal pressure change of the backup ball 18 in the compression process, and is arranged at a position close to the inflation inlet of the backup ball 18, the bottom of the pressure sensor 4 is fixedly connected with a flange 19 at one end of the backup ball 18, and signals of the pressure sensor can be transmitted back to the control algorithm module through a cable or can be transmitted through an additional wireless signal module, wherein the cable transmission can be connected to the control algorithm module through a chain 20 and a steel rope 13 which hang the backup ball 18. The image collector 3 and the infrared range finder 2 are arranged in two groups, are respectively arranged below windlass at two ends of the flat plate and are symmetrically arranged, and a larger visual angle and a larger detection range are provided.
Referring to fig. 4, the central processing unit 5 of the control algorithm module is mounted on the mobile platform 1, and is adjacent to the hydraulic oil tank 10. It is connected with the sensor module by a cable and receives data collected by various sensors, such as position, speed and attitude information of the leaning ball 18 in real time. The central processing unit 5 is built in with advanced algorithms, processes these data and generates accurate motion control instructions. These instructions are transmitted to the actuator module via the cable to direct the movement and adjustment of the armrest 18. In addition, the central processing unit 5 in the control algorithm module not only processes the sensor data in real time, but also dynamically adjusts the replenishment strategy according to the change of the marine environment. For example, in the event of sudden severe weather or ocean current changes, the controller will recalculate and adjust the trajectory of travel of the armrest 18 to maintain optimal replenishment efficiency and safety.
Referring to fig. 5, 6 and 7, the actuator module includes a mechanical transmission assembly and a hydraulic assembly. The hydraulic assembly comprises a hydraulic pump 6, a hydraulic cylinder 7, a valve 8, a pipeline 9 and a hydraulic oil tank 10, and is connected with the hydraulic pump 6. The hydraulic cylinder 7 is installed between the boom 22 and the pillar of the crane 11 and is responsible for adjusting the elevation angle of the boom 22, and meanwhile, the interior of the boom 22 is connected with a hydraulic system for controlling the extension and retraction of the boom 22. The design of the hydraulic cylinders 7 is intended to ensure that the boom 22 operates stably even under severe sway conditions, while the telescopic mechanism of the boom 22 allows a quick adjustment of the length of the boom 22 to accommodate the replenishment demands of vessels of different sizes. These components work together to precisely control the positioning and movement of the armrest 18 according to the instructions of the central processing unit 5, ensuring the precision and safety of the replenishment operation.
The mechanical transmission assembly comprises two independent sets of crane 11 systems, one set at each end of the mobile platform 1, providing a wide operating range and flexibility. Two sets of pulleys are arranged below each set of crane 11, and the design of the two pulleys aims at dispersing load, reducing abrasion to the steel ropes 13 and improving the overall stability and safety coefficient. The bottom of the support column of the crane 11 is provided with a circular turntable 23, which enhances the mobility and working radius of the crane 11. The provision of the coaxial hoist 14 ensures smooth lifting and positioning of the fence 18. The steel rope 13 is connected with the coaxial winch 14 through a two-group pulley system, so that stability and accurate control in the lifting process of the leaning ball 18 are ensured. In addition, the use of the high power motor 16 provides the necessary torque and stable driving force in view of the weight of the entire device and the challenges of the marine environment. These motors engage with racks 15 on the sides of the hull, allowing precise lateral movement of the device on the sides of the hull, maintaining smooth operation even in the case of unstable sea conditions or high resistance
Referring to fig. 2, four universal wheels 17 are arranged below the movement, are respectively arranged at four corners below the platform, and are fixedly connected with the platform; so that the whole device can be easily and accurately moved to a predetermined position along the hull. The locking mechanism of the castor 17 ensures that after reaching the predetermined position the device is only moved in the fore-and-aft direction along the hull, preventing unnecessary lateral sliding, thus maintaining the fixed position of the device during the replenishment process. In addition, a weight box 21 is arranged on one side of the platform, so that an operator can add or remove the weight according to the requirement, accidents caused by unstable gravity center or inclination in the operation process can be prevented, and the balance and stability of the whole device can be ensured. The design is particularly suitable for fine operation or severe sea conditions, and effectively reduces the influence caused by shaking of the ship body.
Working principle: the device integrates the innovative sensor module, the control algorithm module and the actuating mechanism module to cooperatively work so as to realize the highly accurate control and the automatic management of offshore replenishment operation. Firstly, the sensor module utilizes a pressure sensor, an image collector and an infrared range finder to comprehensively monitor the relative position, speed, gesture and stress condition of the ship and the leaning ball in real time by combining a GPS and a gyroscope which are arranged in the ship body. These critical data are transmitted in real time to the control algorithm module. And then, a central processing unit in the control algorithm module applies fuzzy control and a neural network algorithm to carry out deep analysis and processing on the received multi-element data, and an accurate control instruction is made. These instructions are then passed to the actuator module. The actuating mechanism module consists of a hydraulic assembly and a mechanical transmission assembly, and the position and the posture of the leaning ball are accurately adjusted according to the instruction of the control algorithm module, so that safe and accurate butt joint with the receiving ship is ensured. In the process, the cooperation of the hydraulic assembly and the mechanical transmission assembly provides accurate dynamic adjustment capability for the leaning ball, and high efficiency and safety of the replenishing operation are ensured. In addition, the whole device is integrated on a mobile platform with four universal wheels, and when the device moves to a preset position in the width direction, the universal wheels are locked to work cooperatively with racks on the side of the ship body, so that the stability and the accuracy of the device in the task execution process are ensured. This design not only increases the flexibility of operation, but also enhances the adaptability and reliability under complex sea conditions.
The execution flow of the whole device starts from the start command of the operator and then enters the automation flow. After the device self-tests, the sensor module is activated to continuously collect data of the environment and the target ship, including information such as position, speed and gesture. The data is transmitted in real time to a control algorithm module which uses advanced data processing and decision logic to analyze and fuse the collected information to determine the optimal adjustment scheme for the ball backup in the replenishment operation. Under the guidance of the control algorithm module, the actuating mechanism module responds to the decision output of the control algorithm module to dynamically adjust the position and the posture of the leaning ball in the replenishment operation, so as to ensure the safe docking with the receiving ship. The whole flow emphasizes an automatic monitoring and response mechanism to realize accurate motion control, and allows operator intervention through a human-computer interaction module when necessary, so as to ensure high flexibility and safety of operation.
The following list and description of the present solution: now a cargo vessel carrying important cargo is sailing on a busy international route. Due to sudden bad weather, ships are urgently required to be supplied with fuel and food. The traditional replenishment method has extremely high risk in severe weather, and is easy to cause personnel injury and material loss. At this time, our "lean-based on sea make-up intelligent auxiliary device" is activated. The operator activates the device from the control room and the sensor module immediately starts to collect real-time data of the target vessel, including its position fluctuations, speed changes and attitude sway in the severe ocean waves. Through image acquisition device and infrared range finder, the system real-time supervision is close to the relative position of ball and target ship, and pressure sensor ensures simultaneously that close to the inside pressure stability of ball. And then, comprehensively analyzing the data received by the control algorithm module. The central processing unit rapidly calculates the optimal replenishment operation strategy based on fuzzy control and a neural network algorithm, and transmits an instruction to the execution mechanism module. The hydraulic system and the motor in the actuator module respond quickly, and the position and the posture of the backing ball are accurately adjusted, so that the backing ball is ensured to be stably connected to the cargo ship on the fluctuating sea surface. During the whole replenishing process, the universal wheel of the mobile platform keeps stable, and the flexible adjustment of the weight box ensures that the whole device keeps balance in severe swing. Through the intelligent and automatic operation, the replenishing process is safe and efficient, and the risk caused by human factors is greatly reduced.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (7)
1. The intelligent marine replenishment auxiliary device based on the leaning ball is characterized by comprising a sensor module, a control algorithm module and an execution mechanism module; the sensor module is used for monitoring the position, speed, posture and stress of the leaning ball (18) of the ship in real time by combining a GPS (global positioning system) and a gyroscope of the ship body; the control algorithm module comprises a central processing unit (5) and a plurality of cables, wherein the cables are used for transmitting acquired signals and signal instructions, and the central processing unit (5) processes data of the sensor module in real time based on fuzzy control and a neural network to generate control instructions; the actuating mechanism module comprises a hydraulic assembly and a mechanical transmission assembly; the mechanical transmission assembly and the hydraulic assembly cooperate to ensure accurate positioning and stable operation of the rubber fence (18).
2. The intelligent back-up device for sea supply based on the ball according to claim 1, wherein the sensor module comprises a pressure sensor (4), an image collector (3) and an infrared range finder (2); the pressure sensor (4) is arranged at an inflation hole at one end of the rubber backing ball (18) and is used for detecting the internal pressure change of the rubber backing ball (18); the image collector (3) and the infrared range finder (2) are arranged in two groups, are symmetrically arranged at two ends of the mobile platform (1), and are fixedly connected with a base below the coaxial winch (14).
3. The intelligent auxiliary device for the marine replenishment based on the leaning ball according to claim 1 is characterized in that the central processing unit (5) is fixedly connected with the mobile platform (1) and is arranged on one side of the hydraulic oil tank (10); the central processing unit (5) is connected with the sensor module through a cable to acquire the information of each parameter acquired by the sensor; also, the central processing unit (5) is connected with the actuator module through a cable, transmits a motion instruction, delivers the rubber backup ball (18) to a preset position and adjusts in real time.
4. The ball-based offshore makeup intelligent assistance device of claim 1, wherein the hydraulic assembly comprises a hydraulic pump (6), a hydraulic cylinder (7), a valve (8), a pipe (9) and a hydraulic tank (10); the hydraulic pump (6) is connected with the hydraulic oil tank (10), and the valve (8) is arranged at two ends of the hydraulic pump (6) and is connected with the hydraulic cylinders (7) at two ends through the pipeline (9); the hydraulic cylinder (7) is arranged between the suspension arm (22) of the crane (11) and the support column and is used for adjusting the elevation angle of the suspension arm (22); the interior of the boom (22) is also connected to a hydraulic system for telescoping the boom (22).
5. The intelligent back-ball based offshore replenishment assistance device of claim 4, wherein the mechanical transmission group comprises a crane (11), a pulley block, a steel rope (13), a coaxial winch (14), a rack (15) and a high-power motor (16); the cranes (11) are arranged in two groups and are respectively piled up at two ends of the mobile platform (1); the pulley blocks are divided into two groups, and each group is respectively and fixedly connected below the suspension arm (22); the fixed pulley A (12 a) is positioned at the front end part of the suspension arm (22), the fixed pulley B (12B) is positioned at the middle part of the suspension arm (22), a circular turntable (23) is arranged at the bottom of a support column of the crane (11), and the circular turntable (23) is rotationally connected with the movable receipt; the two groups of the coaxial winders (14) are symmetrically arranged on the mobile platform (1), and the steel ropes (13) for lifting the leaning balls (18) bypass the fixed pulleys A (12 a) and the fixed pulleys B (12B) and are connected with the coaxial winders (14); in addition, a high-power motor (16) is fixed at the bottom of the mobile platform (1), and a gear at the output end of the high-power motor (16) is meshed with a rack (15) fixed on the side of the ship body and used for controlling the mobile platform (1) to move on the side of the ship body.
6. The intelligent back-to-ball based auxiliary device for offshore replenishment as claimed in any one of claims 1 to 5, wherein the sensor module, the control algorithm module and the actuator module are integrated together on the mobile platform (1), four universal wheels (17) are fixedly connected below the mobile platform (1), and when the mobile platform (1) moves to a predetermined position in the ship width direction, the universal wheels (17) lock in direction and cooperate with the movement of the rack (15) relative to the ship head and tail direction.
7. The intelligent auxiliary device for the marine replenishment based on the leaning ball according to claim 1 is characterized in that a weight box (21) is arranged on one side of the mobile platform (1), and the weight box (21) is used for placing a balancing weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410279283.1A CN118144935A (en) | 2024-03-12 | 2024-03-12 | Intelligent auxiliary device for offshore replenishment based on leaning ball |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410279283.1A CN118144935A (en) | 2024-03-12 | 2024-03-12 | Intelligent auxiliary device for offshore replenishment based on leaning ball |
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| Publication Number | Publication Date |
|---|---|
| CN118144935A true CN118144935A (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410279283.1A Pending CN118144935A (en) | 2024-03-12 | 2024-03-12 | Intelligent auxiliary device for offshore replenishment based on leaning ball |
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| Country | Link |
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| CN (1) | CN118144935A (en) |
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- 2024-03-12 CN CN202410279283.1A patent/CN118144935A/en active Pending
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