KR101200336B1 - Apparatus for providing equilibrium maintenance of crane - Google Patents

Abstract

The present invention relates to a technique for maintaining the equilibrium of a crane. At present, there is an urgent need to maintain the equilibrium of ships or floaters serving as mobile ports and cranes mounted thereon, but the fluctuations of ships are indispensable under the influence of wind, blue, or tidal current at sea. Nevertheless, there is a need for a crane having a structure capable of maintaining equilibrium while the ship is working at sea, that is, capable of absorbing or damping the movement of the ship. In the present invention, by mounting a double acting cylinder using high pressure nitrogen and hydraulic pressure on the wheel of the bottom of the crane so that the movement of the vessel is not transmitted to the upper crane to provide a stable container loading and unloading environment Pitch, rolling, and heave motions of ships measured by gyroscope sensors and global positioning systems, or gyroscope sensors and differential GPS Considering this, it is possible to maintain the equilibrium of the crane by driving the double drive cylinder.

Mobile harbor, ship, crane, equilibrium, cylinder

Description

Equalizer for cranes {APPARATUS FOR PROVIDING EQUILIBRIUM MAINTENANCE OF CRANE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane balancing technology, and more particularly, to a crane balancing device that can provide a stable container loading and unloading environment by allowing a ship's movement to be absorbed without being transferred to an upper crane. .

Maritime transportation using ships as remote commodity transportation means less energy than other means of transportation, and the transportation cost is low, making up a large part of international trade.

In recent years, in marine transportation such as container ships, large-scale ships are used to improve the efficiency of transportation, which is intended to secure the economics of transportation by increasing the transportation volume of the vessel. Accordingly, more and more ports are required to have mooring and unloading facilities for docking large vessels.

However, the ports that can berth large container ships are limited at home and abroad, and the construction of such ports requires a lot of expenses due to dredging to maintain the necessary port depth, and requires a large place. In addition, due to the construction of a large port has a lot of influence on the surrounding environment, such as causing a traffic jam or destruction of the coastal environment, there are many restrictions on the construction of a large port.

Accordingly, the invention relates to a mobile port (mobile harbor) capable of loading and unloading cargo while anchored in a sea off the land without docking a large vessel on the inner wall of the port and a method of conveying the cargo using the same. Registration number 10-0895604).

On the other hand, since the cargo unloading operation is to move the cargo of several tons to tens of tons, it is urgently required to maintain the equilibrium of the ship or floating body and the crane mounted thereon as a mobile port, but at sea, wind, blue, or The fluctuation of the ship is indispensable under the influence of tidal currents.In spite of this fluctuation, the ship can maintain the equilibrium while the ship is working at sea, that is, it can absorb or damp the movement of the ship. It is necessary to have a crane.

The present invention takes into account the situation of the prior art, by mounting a double acting cylinder using high-pressure nitrogen and hydraulic pressure on the wheel (wheel) of the lower part of the crane so that the movement of the ship is absorbed without being transferred to the upper crane An object of this invention is to provide a crane balancing system that can provide a stable container loading and unloading environment.

In addition, in the present invention, a pitch operation, a rolling operation and a hive of a ship measured through a gyroscope sensor and a global positioning system (GPS) or a gyroscope sensor and a differential GPS (DGPS). In view of the heavy operation, the present invention is to provide a crane equilibrium maintaining apparatus capable of maintaining a real-time equilibrium state of a crane by driving a dual drive cylinder.

According to the equilibrium maintaining device of the crane for solving the problems of the present invention, a plurality of wheels for supporting and moving the crane (crane) on the floating body, and connecting the plurality of wheels and the body of the crane with each other A double acting cylinder having a double piston movement so that the movement of the floating body is not directly transmitted to the body of the crane, and supplying oil and / or gas to the double driving cylinder to supply the double acting cylinder. It may include a dual drive module for controlling the crane to maintain a balanced state through the piston movement.

Here, the double drive cylinder may include an upper region in which gas is supplied from the dual driving module unit, and a lower region in which oil is supplied from the dual driving module unit.

In addition, the upper region may be connected to the dual driving module unit through a gas supply line.

In addition, the lower region may be connected to the dual driving module unit through an oil supply line.

In addition, the gas may be a high pressure nitrogen (N ₂ ) gas.

In addition, the balancing device of the crane may further include a motion measuring unit for measuring the movement of the floating body, and provides the measured movement measurement to the dual drive module.

The motion measuring unit may further include: a gyroscope sensor configured to measure a first motion of the floating body and to provide a measured first motion measurement value to the dual drive module unit, and to measure and measure a second motion of the floating body. It may include a GPS (Global Positioning System) for providing a second motion measurement to the dual drive module.

The dual drive module unit may selectively supply oil and / or gas to the dual drive cylinder according to the gyroscope sensor and the first and second movement measurements of the GPS to maintain the body of the crane in an equilibrium state. Can be controlled.

The dual drive module unit may further include a gas supply unit supplying gas to an upper region of the dual drive cylinder, an oil supply unit supplying oil to a lower region of the dual drive cylinder, the gyroscope sensor, and the GPS. And a controller configured to control the gas supply unit and / or the oil supply unit according to the first and second motion measurement values input through the data input unit. .

The first motion measurement may be a pitch motion measurement and / or a rolling motion measurement of the floating body.

Also, the second motion measurement value may be a measurement of a heave motion of the floating body.

The control unit may store a preset control table for maintaining the crane body in an equilibrium state.

The control unit may control the gas supply unit to supply gas to an upper region of the double drive cylinder according to the control table, and control the oil supply unit to supply oil to a lower region of the double drive cylinder. .

The motion measuring unit may further include: a gyroscope sensor configured to measure a first motion of the floating body and to provide a measured first motion measurement value to the dual drive module unit, and to measure and measure a second motion of the floating body. It may include a differential global positioning system (DGPS) for providing a second motion measurement value to the dual drive module.

According to the present invention, a double acting cylinder using high pressure nitrogen and hydraulic pressure may be mounted on a wheel under the crane to prevent movement of the ship to the upper crane. In addition, the ship's pitch, rolling, and heave motions are measured using a gyroscope sensor and a global positioning system (GPS) or a gyroscope sensor and differential GPS (DGPS). In consideration of the above, it is possible to maintain the equilibrium state of the crane by driving the double drive cylinder. For this reason, in the present invention, it is possible to quickly and precisely respond to the movement of the ship can implement a more stable container loading and unloading environment.

Advantages and features of the present invention, and methods of achieving the same will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like numbers refer to like elements throughout.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be based on the contents throughout this specification.

Each block of the accompanying block diagrams and combinations of steps of the flowchart may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus so that the instructions, which may be executed by a processor of a computer or other programmable data processing apparatus, And means for performing the functions described in each step are created. These computer program instructions may be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. It is also possible for the instructions stored in to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of each step of the block diagram. Computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps may be performed on the computer or other programmable data processing equipment to create a computer-implemented process to create a computer or other programmable data. Instructions that perform processing equipment may also provide steps for performing the functions described in each block of the block diagram and in each step of the flowchart.

In addition, each block or step may represent a portion of a module, segment, or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, the two blocks or steps shown in succession may in fact be executed substantially concurrently or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved.

Prior to the description of the embodiment, the equilibrium maintaining device of the crane according to the present embodiment is provided on a ship or float, which allows the crane to remain in equilibrium at all times without the movement of the ship or float being transferred to the crane. Therefore, the object of the present invention can be easily achieved from this technical idea.

1 is a view illustrating a schematic configuration of a device for maintaining a balance of a crane according to an embodiment of the present invention, a crane body 1, a double acting module (10a) (10b), gas supply Lines 12a, 12b, oil supply lines 14a, 14b, double acting cylinders 16a, 16b, wheels 18, and the like.

As illustrated in FIG. 1, the dual drive module portions 10a and 10b are modules for dual drive control of the double drive cylinders 16a and 16b, specifically double piston movement control, Respectively formed at both ends to provide gas or oil to each of the double drive cylinders 16a and 16b to maintain the gas pressure or hydraulic pressure of the double drive cylinders 16a and 16b in a constant state to maintain the crane in an equilibrium state. Can play a role. The dual drive module units 10a and 10b will be described in more detail with reference to FIG. 3.

The gas supply lines 12a and 12b, for example the gas supply line 12a, are connection lines for providing gas from the dual drive module portion 10a to the dual drive cylinder 16a. As the gas provided through the gas supply line 12a, for example, a high pressure nitrogen (N ₂ ) gas may be applied.

The oil supply lines 14a and 14b, for example the oil supply line 14a, are connection lines for supplying oil from the double drive module portion 10a to the double drive cylinder 16a.

The dual drive cylinders 16a and 16b connect the crane body 1 and the wheels 18 with each other, and the movement of the ship or the floating body which can proceed from the wheel 18 in close contact with the ship or the floating body is It is characterized in that the dual drive so as not to be transferred to the crane body (1).

Such dual drive cylinders 16a and 16b, for example dual drive cylinders 16a, may be connected to the dual drive module part 10a through a gas supply line 12a and an oil supply line 14a. It is possible to maintain the equilibrium of the crane body 1 by performing a piston movement according to the gas supply control or oil supply control of the module unit 10a.

Such double drive cylinders 16a and 16b are illustrated in more detail in FIG. 2.

As illustrated in FIG. 2, the double drive cylinders 16a and 16b, for example the double drive cylinders 16a, can be divided into an upper region (a) and a lower region (b), the upper region (a). The high pressure gas N ₂ through the gas supply line 12a may be supplied to the lower region b, and the oil through the oil supply line 14a may be supplied to the lower region b.

Thus, by dividing the double drive cylinder 16a into the upper region a and the lower region b, it is possible to control not only the piston driven by the hydraulic pressure but also the piston driven by the high pressure gas pressure. Quick and precise response to the movement of the ship is possible.

FIG. 3 is a detailed block diagram of the dual drive module unit 10a and 10b, for example, the dual drive module unit 10a of FIG. 1, and includes a data input unit 102, a control unit 104, and a gas supply unit 106. It may include an oil supply unit 108, and may be connected to the motion measuring unit 20 according to the present embodiment.

The motion measuring unit 20 may include a coupling structure of a gyroscope sensor and a global positioning system (GPS), or a coupling structure of a gyroscope sensor and a differential GPS (DGPS).

Here, the gyroscope sensor, for example, may be mounted at a predetermined position in the deck or crane boom (not shown) of the ship or floating body, and the pitch operation, rolling operation, etc. of the ship And the measured pitch motion measurement value and rolling motion measurement value are provided to the data input part 102 of the dual driving module part 10a.

In addition, the GPS (or DGPS) may be mounted at a predetermined position in the deck or crane boom of a ship or float, for example, to measure the ship's heave motion, and to measure the measured heave motion measured by the dual drive module unit ( It serves to provide to the data input unit 102 of 10a). The hive motion at this time refers to a phenomenon in which the entire ship (including the bow and stern) floats.

The data input unit 102 of the dual driving module unit 10a receives a pitch motion measurement, a rolling motion measurement, and a hib motion measurement of the ship provided from the motion measuring unit 20 and transmits the measured values to the controller 104.

The measurement transfer between the motion measuring unit 20 and the data input unit 102 may be implemented through a wired communication network or a wireless communication network (not shown). For example, a local area network (LAN) or the like may be applied to the wired communication network, and for example, Bluetooth, Wi-Fi, Ultra Wide Band (UWB), or the like may be applied to the wireless communication network. .

The control unit 104 serves to selectively control the gas supply unit 106 and the oil supply unit 108 according to the pitch motion measurement, the rolling motion measurement, and the heave motion measurement from the data input unit 102. For example, in the controller 104, a preset control table for keeping the crane in an equilibrium state may be stored, and according to the control table, the upper region of the double drive cylinder 16a through the gas supply line 12a may be stored. The gas supply unit 106 is controlled to supply a high pressure nitrogen gas N _{2 to a} ), and the oil supply unit supplies oil to the lower region b of the dual drive cylinder 16a through the oil supply line 14a. It may be possible to control 108 individually or simultaneously.

As described above, in the present embodiment, a dual drive cylinder using high pressure nitrogen and hydraulic pressure is mounted on the wheel under the crane to prevent the movement of the ship to the upper crane. The gyroscope sensor and the GPS (or DGPS) Considering the pitch motion and rolling motion of the vessel, which is measured by the dual drive cylinder, the crane is implemented to maintain the real-time equilibrium state.

1 is an overall configuration diagram of the crane maintaining the balance according to an embodiment of the present invention,

2 is a detailed configuration diagram of a dual drive cylinder in the crane balance maintaining apparatus according to an embodiment of the present invention,

Figure 3 is a detailed configuration of the dual drive module in the balance maintaining apparatus of the crane according to an embodiment of the present invention.

Claims (14)

delete delete delete delete delete delete A number of wheels that support and move cranes on ships or floats, And a lower region receiving a gas and a lower region receiving a gas, and connecting the plurality of wheels and the body of the crane to each other so that the movement of the ship or the floating body is not directly transmitted to the body of the crane. A double acting cylinder in motion, A dual drive module unit for supplying oil or gas to the double drive cylinder to control the crane to be in equilibrium through the double piston movement of the double drive cylinder; It includes a motion measuring unit for measuring the movement of the vessel or floating body, and provides the measured movement measurement to the dual drive module unit, The motion measuring unit, A gyroscope sensor for measuring the first movement of the vessel or the floating body and providing the measured first movement measurement to the dual drive module unit; And a GPS (Global Positioning System) for measuring the second movement of the vessel or the floating body and providing the measured second movement measurement to the dual drive module unit. Equilibrium crane. delete delete delete delete delete delete delete

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