EP3568349B1 - Bateau équipé d'une grue de bord - Google Patents

Bateau équipé d'une grue de bord Download PDF

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Publication number
EP3568349B1
EP3568349B1 EP18700020.3A EP18700020A EP3568349B1 EP 3568349 B1 EP3568349 B1 EP 3568349B1 EP 18700020 A EP18700020 A EP 18700020A EP 3568349 B1 EP3568349 B1 EP 3568349B1
Authority
EP
European Patent Office
Prior art keywords
watercraft
crane
movement
board crane
deck
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18700020.3A
Other languages
German (de)
English (en)
Other versions
EP3568349C0 (fr
EP3568349A1 (fr
Inventor
Hinnerk Treyde
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Marine Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by ThyssenKrupp AG, ThyssenKrupp Marine Systems GmbH filed Critical ThyssenKrupp AG
Publication of EP3568349A1 publication Critical patent/EP3568349A1/fr
Application granted granted Critical
Publication of EP3568349C0 publication Critical patent/EP3568349C0/fr
Publication of EP3568349B1 publication Critical patent/EP3568349B1/fr
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Anticipated expiration legal-status Critical

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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
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • 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
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B2017/0072—Seaway compensators

Definitions

  • the invention relates to a watercraft with an on-board crane and a method for controlling it.
  • a load is placed on or picked up from the water surface by a watercraft, a distinction must be made between two phases. If the load is near the water surface (a phase), it should if possible have little or no movement relative to the water surface, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.
  • a load is placed on or picked up from a structure by a watercraft, a distinction must also be made between two phases. If the load is close to the structure (a phase), it should if possible have little or no movement relative to the structure, in particular pendulum movement. If the load is near the side of the ship or the deck of the watercraft (other phase), it should, if possible, have little or no movement relative to the ship, in particular pendulum movement.
  • From the DE 33 15 888 A1 is a crane for transferring goods from one ship to another.
  • WO 2014/123407 A1 is a motion compensator for a crane on a watercraft, where the crane can be moved in the z direction and tilted in the plane.
  • a crane is known to have six hydraulic cylinders.
  • the object of the invention is to be able to safely pick up or set down a load even at sea.
  • the watercraft according to the invention with an on-board crane has a deck.
  • the watercraft can have additional decks.
  • the onboard crane is connected to the deck of the watercraft via a base.
  • the base can be moved parallel to the deck, in particular the base can be moved two-dimensionally parallel to the deck.
  • the watercraft has at least a first motion sensor for detecting the movement of the watercraft.
  • the watercraft also has a control device, the control device serving to control the base.
  • the control device is designed to record movement data from the first movement sensor.
  • the watercraft further has a detection device for detecting the position of a crane load.
  • the control device is designed to record position data of the crane load from the detection device.
  • the movement of the base parallel to the deck is used to prevent the load from swinging up.
  • the inclusion of this translational movement of the base in the compensating movement, which is determined and controlled by the control device, enables efficient stabilization of the load.
  • a deck is understood to mean any horizontal surface on a watercraft or any (in particular horizontal) structural element of the watercraft which is suitable for absorbing the loads arising at the foot of the on-board crane, for example a flight deck or the roof of a superstructure can.
  • the on-board crane is tiltably connected to the deck of the watercraft via the base.
  • the on-board crane is rotatably connected to the deck of the watercraft via the base.
  • the on-board crane does not have a mast.
  • the onboard crane is connected directly to the deck via the base.
  • an element comparable to a mast can be integrated into the watercraft within the watercraft below the base and the deck.
  • the detection device detects the position of the crane load without contact, in particular by means of electromagnetic waves and/or sound waves.
  • the detection is particularly preferably carried out optically in the visible and/or infrared spectral range.
  • detection is carried out using radar.
  • the detection is carried out using ultrasound.
  • the detection device is located on the ship.
  • the on-board crane has a mast and a boom, the length of the boom being adjustable by means of a boom drive.
  • the control device is designed to control the tree drive. It is advantageous if not only the base of the on-board crane but also the length of the boom can be adjusted.
  • the tree is designed to be telescopic.
  • the on-board crane has a boom, the length of which can be changed by means of a boom drive.
  • the on-board crane has a rope and a rope winch, the control device being designed to control the rope winch. If the control device can also control the length of the rope, swinging can be reduced, especially if the rope runs out long.
  • a rope includes all possible embodiments with which a load can be moved by a crane, for example but not limited to ropes, ropes, cables, chains or the like.
  • control device can be integrated into the control electronics of the on-board crane.
  • the on-board crane has additional driven swivel and thrust joints.
  • step e a movement of the base parallel to the deck is taken into account as a compensating movement. Taking the translation of the base into account allows the load to be particularly well stabilized.
  • the determination of the compensating countermovement in step c) is carried out in such a way that the load in the vicinity of the water surface has, if possible, little or no movement relative to the water surface, in particular pendulum movement.
  • the determination of the compensating countermovement in step c) is preferred in such a way that the load in the vicinity of the deck of the watercraft has, if possible, little or no movement relative to the deck, in particular pendulum movement.
  • the base and/or the tree drive and/or the cable winch are controlled in step f).
  • the method additionally has the following step: g) Prediction of likely future ship movement and/or crane load movement.
  • the method is carried out in parallel with manual control of the on-board crane.
  • the method is carried out in parallel with an automatic control of the on-board crane.
  • a first watercraft 10 is shown with an on-board crane.
  • the on-board crane is connected to the deck of the watercraft 10 via a base 20, the base 20 being movable horizontally on the deck.
  • the on-board crane also has a mast 30, a boom 40 and a rope 60.
  • the crane load 50 is attached to the rope 60. Because the watercraft 10 is moving, the crane load can easily swing. Therefore, the movement of the watercraft 10 is detected with a motion sensor and the base 20 is controlled via a control device in order to prevent rocking.
  • Fig. 2 shows a second watercraft 10, which differs from the first watercraft 10 in that the tree 40 consists of a fixed tree part 42 and an extendable tree part 44. This allows the length of the tree 40 to be changed.
  • the extendable tree part 44 can be extended by means of a tree drive, the tree drive being controllable by the control device.
  • Fig. 3 shows a third watercraft 10, which has a detection device 70 in addition to the second watercraft 10.
  • the detection device 70 detects the position of the crane load 50 and sends it to the control device. This active feedback makes it possible to prevent the crane load 50 from swinging up, even in the event of external influences.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)

Claims (9)

  1. Procédé de commande d'une grue embarquée sur un bateau (10), le bateau (10) ayant un pont, la grue embarquée n'ayant pas de mât, la grue embarquée étant directement reliée au pont du bateau (10) par l'intermédiaire d'une base (20), la base (20) étant mobile parallèlement au pont, le procédé comprenant les étapes suivantes :
    a) Détection du mouvement du véhicule nautique (10) à l'aide du premier capteur de mouvement,
    b) Transmission des données de mouvement du premier capteur de mouvement au dispositif de commande,
    c) Détection de la position d'une charge de grue (50) au moyen du dispositif de détection (70),
    d) Transfert des données de position de la charge de la grue (50) du dispositif de détection (70) au dispositif de commande.
    e) Déterminer un contre-mouvement de compensation,
    f) Contrôle de la grue embarquée en fonction du contre-mouvement déterminé,
    dans lequel, à l'étape e), un mouvement de la base (20) parallèle au pont est pris en compte en tant que mouvement compensatoire.
  2. Méthode de commande d'une grue embarquée sur un bateau (10) selon la revendication 1, caractérisée par le fait que à l'étape f), la base (20) et/ou l'entraînement de la flèche et/ou le treuil sont commandés.
  3. Procédé de commande d'une grue embarquée sur un bateau (10) selon l'une quelconque des revendications 1 à 2, caractérisé en ce que le procédé comprend en outre l'étape suivante :
    g) Prévision des mouvements futurs probables du navire et/ou de la charge de la grue.
  4. Procédé de commande d'une grue embarquée sur un navire (10) selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le procédé est exécuté en parallèle avec la commande manuelle de la grue embarquée.
  5. Procédé de commande d'une grue embarquée sur un bateau (10) selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le procédé est exécuté en parallèle avec la commande automatique de la grue embarquée.
  6. Bateau (10) avec une grue embarquée, le bateau (10) ayant un pont, la grue embarquée n'ayant pas de mât et étant directement reliée au pont du bateau (10) par l'intermédiaire d'une base (20), caractérisé en ce que la base (20) est mobile parallèlement au pont, l'embarcation (10) possède au moins un premier capteur de mouvement pour détecter le mouvement de l'embarcation (10), l'embarcation (10) possède un dispositif de commande, le dispositif de commande servant à contrôler la base (20), le dispositif de commande étant conçu pour détecter les données de mouvement du premier capteur de mouvement, dans lequel l'embarcation (10) possède un dispositif de détection (70) pour détecter la position d'une charge de grue (50), le dispositif de commande étant conçu pour détecter les données de position de la charge de grue (50) à partir du dispositif de détection (70), la grue de bord n'ayant pas de mât dans lequel le dispositif de commande est en outre configuré pour déterminer un contre-mouvement de compensation, en prenant en compte un mouvement de la base (20) parallèle au pont en tant que mouvement de compensation, et pour commander la grue de bord en fonction du contre-mouvement déterminé..
  7. Bateau (10) avec grue embarquée selon la revendication 6, caractérisé par le fait que le dispositif de détection (70) détecte la position de la charge de la grue (50) sans contact, notamment au moyen d'ondes électromagnétiques et/ou d'ondes sonores.
  8. Véhicule nautique (10) avec grue embarquée selon l'une des revendications 6 à 7, caractérisé par le fait que la grue embarquée comprend une flèche (40), la flèche (40) étant variable en longueur au moyen d'un entraînement de flèche, le dispositif de commande étant conçu pour commander l'entraînement de flèche.
  9. Véhicule nautique (10) avec grue embarquée selon l'une des revendications 6 à 8, caractérisé par le fait que la grue embarquée comprend un câble (60) et un treuil de câble, le dispositif de commande étant conçu pour commander le treuil de câble.
EP18700020.3A 2017-01-11 2018-01-02 Bateau équipé d'une grue de bord Active EP3568349B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017200392.8A DE102017200392A1 (de) 2017-01-11 2017-01-11 Wasserfahrzeug mit einem Bordkran
PCT/EP2018/050037 WO2018130430A1 (fr) 2017-01-11 2018-01-02 Bateau équipé d'une grue de bord

Publications (3)

Publication Number Publication Date
EP3568349A1 EP3568349A1 (fr) 2019-11-20
EP3568349C0 EP3568349C0 (fr) 2023-12-06
EP3568349B1 true EP3568349B1 (fr) 2023-12-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18700020.3A Active EP3568349B1 (fr) 2017-01-11 2018-01-02 Bateau équipé d'une grue de bord

Country Status (3)

Country Link
EP (1) EP3568349B1 (fr)
DE (1) DE102017200392A1 (fr)
WO (1) WO2018130430A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019216366A1 (de) * 2019-10-24 2021-04-29 Robert Bosch Gmbh System und Verfahren
DE102020210020A1 (de) 2020-08-07 2022-02-10 Zf Friedrichshafen Ag Radarabsorbierende Handhabunsvorrichtung

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014114331A1 (de) * 2014-10-02 2016-04-07 Thyssenkrupp Ag Wasserfahrzeug mit einem Kran zum Heben von Lasten

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DE2737285A1 (de) * 1977-08-18 1979-03-01 Nmf Neuenfelder Maschinenfabri Verfahren zum betrieb eines kranes und kran zur ausuebung dieses verfahrens, insbesondere zum verladen von containern durch portalkrane mit drehtraverse
DE3315888A1 (de) * 1983-05-02 1984-11-08 Liebherr-Werk Nenzing GmbH, Nenzing, Vorarlberg Kran zum umschlagen von guetern von einem schiff auf ein anderes
KR101217527B1 (ko) * 2009-07-31 2013-01-10 한국과학기술원 평형 유지 크레인 및 이를 장착한 선박
KR101173566B1 (ko) * 2009-12-23 2012-08-13 한국과학기술원 크레인 자세 안정화 장치와 이를 포함하는 크레인과 크레인을 탑재한 부유체 및 구조물 자세 제어 장치
KR101145253B1 (ko) * 2010-06-01 2012-05-24 한국과학기술원 피칭 텐셔너 장치
NL2007761C2 (en) * 2011-11-09 2013-05-13 Ihc Holland Ie Bv Vessel and crane with full dynamic compensation for vessel and wave motions.
EP2953883B1 (fr) * 2013-02-05 2017-04-05 Barge Master IP B.V. Dispositif de compensation de mouvement et procédé de transfert de charge
US20150030887A1 (en) 2013-07-23 2015-01-29 Seagate Technology Llc Magnetic devices with molecular overcoats
DE102013022107A1 (de) * 2013-12-27 2015-07-02 Hinnerk Treyde Automatischer Knickarmroboter zum Ein- und Aussetzen von Objekten von einem Schiff
CN105621275B (zh) * 2016-03-01 2018-10-12 江苏科技大学 具有三自由度主动波浪补偿功能的吊机装置及补偿方法
CN105668430B (zh) * 2016-03-01 2018-11-09 江苏科技大学 具有多自由度主动波浪补偿功能的吊机装置及补偿方法

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Publication number Priority date Publication date Assignee Title
DE102014114331A1 (de) * 2014-10-02 2016-04-07 Thyssenkrupp Ag Wasserfahrzeug mit einem Kran zum Heben von Lasten

Also Published As

Publication number Publication date
WO2018130430A1 (fr) 2018-07-19
EP3568349C0 (fr) 2023-12-06
DE102017200392A1 (de) 2018-07-12
EP3568349A1 (fr) 2019-11-20

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