RU2584047C1 - Method and system for dry and liquid cargo traverse transfer between ships in motion - Google Patents

Abstract

FIELD: shipbuilding.

SUBSTANCE: invention relates to ship building and can be used for handling operations between moving ships in rolling conditions. System and method of transferring dry and liquid cargo between moving ships includes construction of ropeway between transmitting and receiving vessels with masts. Vessels are fitted with inertial sensors to measure angular and linear acceleration of both vessels. Transmitting ship is fitted with cable rope length sensors for transmission of information by means of wireless or wire communication to control unit of winches with outputs of control panel and power supply. Electronic unit is used to calculate coordinates of vessels and coordinates of points of attachment of cables at a certain moment and depending on their change, control signal on drives of winches for optimum tension cables.

EFFECT: higher reliability and simple method for cargo transfer from one vessel to another during movement in rolling conditions.

8 cl, 4 dwg

Description

The invention relates to shipbuilding and can be used for loading and unloading between ships on the move under rolling conditions.

There is a method of traverse transfer of dry and liquid cargo between ships on the go, for the implementation of which special cargo transfer systems are used, equipped with cable ties between the ships and their corresponding mechanisms, in particular, hydraulic winches (http://www.sudmash.ru/ produce / sudmash / transfer-gears.html).

The disadvantage of this method is as follows. Under the rolling conditions of both vessels, the distance between the vessels, the coordinates of the attachment points of the beginning and end of the ropes are constantly changing, therefore, to ensure the conditions for the transportation of goods, it is necessary to adjust the length of the ropes and the speed of their movement. This is achieved by maintaining a constant tension of the ropes. A limitation of the existing method is the power of the winch drive, which provides operational compensation for changes in the length of the ropes, which requires drives with high rope speeds. Such speeds can only be provided by complex and expensive hydraulic equipment.

A device is known for transferring goods between ships at sea in rolling conditions, which contains a transmitting vessel with a mast and a receiving vessel with a mast, between which the rope branches are stretched with a freight trolley, the ends of which are connected to winches connected through gearboxes with electric motors, as well as an electronic unit control of the operation mode of electric motors, which includes two current frequency circuits, each of which consists of interconnected current inverters, current sensors and current rectifiers connected to to the tension stabilization circuits, which improves the dynamics of the rope tension regulation, two frequency controllers with corresponding adders, respectively connected to the speed stabilization circuits, which ensures stable speeds of the cargo trolley and the required overload capacity of electric motors (SU 1357307, IPC B63B 27/30, publ. 12/07/1987). The known device is taken as a prototype.

The disadvantage of the device and the described method of transferring goods is that the object of regulation is the tension of the rope. Under the rolling conditions of both vessels, the distance between the vessels, the coordinates of the attachment points of the beginning and end of the ropes are constantly changing, therefore, to ensure the conditions for the transportation of goods, it is necessary to adjust the length of the ropes and the speed of their movement. This is done by maintaining a constant tension of the ropes, implemented by a special electronic circuit. A limitation of the known devices lies in the narrow scope and low efficiency of the selected method of controlling the transfer of cargo.

The objective of the invention is to increase the reliability of the transfer of both dry and liquid cargo from one vessel to another on the move under rolling conditions by controlling the trajectory of the cargo, which is carried out by changing both the tension and the length of the ropes, as well as simplifying the method of transfer through the use of controlled electric winches.

The technical result is a reduction in the required power of the winches, the absence of buildup of cargo and resonance phenomena throughout the movement of cargo along the cableway, the provision of safe “detachment / landing” of cargo at the start / end point in the entire range of qualities, precise control of the movement of cargo.

The problem is solved, and the technical result is achieved by the method of transferring dry and liquid cargo between ships on the go, including the construction of a cableway between the transmitting and receiving ships with masts, measuring the angular and linear accelerations of both ships using inertial sensors placed on the ships, as well as determining the distance between the masts by measuring the length of the etched rope using rope length sensors located on the transmitting vessel, transmitting this information via wireless or wired communication the electronic control unit winches, with which the calculated coordinates and coordinates of vessels rope fixing points at a time, and depending on their form changing control signal to the winch drive for optimum tensioning ropes.

According to the invention:

- for the transfer of goods of small mass, a two-rope road is built, and two winches are controllable;

- for the transfer of goods of increased mass, a three-rope road is built, and three winches are controllable;

- for the transfer of liquid goods, a cableway is constructed with one load-bearing rope and several guy ropes, more than three winches being driven.

The problem is also solved by a system for transferring dry and liquid cargo between vessels on the move, including a transmitting and receiving vessel with masts, between which ropes are tensioned, the ends of which are connected to guided winches mounted on the transmitting vessel and connected to the electronic control unit of the winches, which is also connected to rope tension sensors installed on the transmitting and receiving vessels. In contrast to the prototype, inertial sensors are installed on both vessels, and rope length sensors are installed on the transmitting vessel to transmit information via wireless or wired communication to the winch control unit, to which the outputs of the control panel and the power source are connected.

According to the invention:

- the system contains two ropes and two guided winches;

- the system contains three ropes and three guided winches;

- the system contains one carrier rope and several guy ropes, more than three winches being controllable.

The technical result is achieved due to the following.

The control of the trajectory of the load is carried out by changing the length and tension of the ropes, while the winch drives are controlled by the electronic winch control unit, which, based on data from inertial sensors, calculates the coordinates of the ships and the coordinates of the rope attachment points at a specific point in time and forms a control a signal to the winch drive for optimal rope tension. By changing the length of the ropes, the control unit provides the movement of goods and compensation for pitching and linear movements of both vessels. The tension of the ropes does not remain constant.

This allows:

- take proactive corrective actions to change the length of the ropes, which reduces the required maximum speed and power of the winch, increases the duration of its operation;

- to promptly prevent unacceptable buildup of cargo, to extinguish resonance phenomena throughout the movement of cargo along the cableway;

- to provide safe “separation / landing” of cargo at the start / end point of the road in the entire range of qualities.

The use of controlled electric winches allows to simplify the method of transferring goods by eliminating the stationary hydraulic power station with hydraulic accumulators and high pressure pipelines; use the method on non-specialized vessels, without a stationary hydroelectric station; achieve more precise control of the movement of goods.

The invention is illustrated by drawings, where:

in FIG. 1 schematically shows a two-rope road for transferring cargo of small mass;

in FIG. 2 - three-rope road for the transfer of goods of increased mass;

in FIG. 3 - cableway with one load-bearing rope and several guy ropes for the transfer of liquid cargo;

in FIG. 4 is a block diagram of a cargo transfer control system.

In the drawings it is indicated: receiving vessel 1 with mast 2, transmitting vessel 3 with mast 4, bearing ropes 5, guided winches 6, cargo 7. In addition, in FIG. 3, reference numeral 8 denotes a flexible sleeve for transferring liquid cargoes; FIG. 2, position 9 — transport ropes, FIG. 3, position 10 - guy ropes.

Figure 4: 1 - inertial sensors of the receiving vessel, 12 - sensors of the tension of the rope of the receiving vessel, 13 - inertial sensors of the transmitting vessel, 14 - sensors of the tension of the rope of the transmitting vessel, 15 - sensors of the rope length of the transmitting vessel, 16 - winch control unit, 17 - control panel, 18 - power source.

The method of traverse transfer of dry goods between ships on the move is as follows (Fig. 1, Fig. 2).

A cableway is being built between the transmitting 3 and receiving 1 vessels. Inertial sensors 11 and 13 (Fig. 4), placed on the vessels, measure the angular and linear accelerations of both vessels, and the distance between the mast of the vessels is determined by measuring the length of the etched rope by sensors 15. Information is transmitted via wireless or wired communication to the electronic winch control unit 16 6, which calculates the coordinates of the ships and the coordinates of the points of attachment of the ropes 5 and 9 at a certain point in time and, depending on their change, generates a control signal "pickle - select the ropes" on the winch drives 6 for Optimal tension ropes 5 and 9.

For the transfer of goods of small mass, a two-rope road is constructed, and two winches are controllable (Fig. 1). To start the movement of the load, the control unit 16 (Fig. 4), without stopping the control of the winch 6 in order to compensate for pitching, gives the ropes 5 a gradually accelerating movement, which ensures a smooth separation of the load from the transmitting vessel. Near the receiving vessel, a similar smooth braking occurs in order to prevent a shock 7.

For the transfer of goods of increased mass, a three-rope road is constructed (supporting rope 5 and two transport 9), and three winches are controllable (Fig. 2). The control unit 16 (Fig. 4) in the process of transferring the load 7 constantly provides tension to the support rope 5, changing its length, proportionally changing the length of the transport ropes 9.

To transfer liquid goods, a cableway is constructed with one load-bearing rope 5 (Fig. 3) and several guy ropes 10, more than three winches being driven. In working condition, on the support cable 5, one end rigidly connected to the receiving vessel 1, a flexible sleeve 8 is suspended on the sliding supports for transferring liquids between the vessels. The support of the carrier rope on the transmitting vessel 3 is located above its fastening on the receiving vessel, therefore, the sleeve 8 on the sliding supports tends to move under its own weight to the receiving vessel 1. This is limited by guy wires 10 connected to the sliding supports of the sleeve 8 and controlled by winches 6. During transmission liquid cargo control unit 16 (Fig. 4) supports the supporting rope 5, compensating for the relative movement of ships and pitching. The lengths of guy ropes 10 are also changed by the control unit in proportion to the length of the support rope 5.

The method and system make it possible to implement 3 different schemes for the transfer of goods - a 2-cable car for dry goods, a 3- (or even 5-) cable car of increased carrying capacity for dry goods and a road for pumping liquids; transfer not only dry goods, but also pump liquids.

The invention improves the reliability of the transfer of both dry and liquid cargo from one vessel to another on the move under rolling conditions by controlling the trajectory of the cargo, which is carried out by changing the length and tension of the ropes, and also to simplify the transmission method by using controlled electric winches.

Claims (8)

1. A method of transferring dry and liquid cargo between ships on the go, including the construction of a cableway between the transmitting and receiving ships with masts, measuring the angular and linear accelerations of both ships using inertial sensors placed on the ships, as well as determining the distance between the masts by measuring the length etched rope using rope length sensors located on the transmitting vessel, the transmission of this information via wireless or wired communication to the electronic control unit for winches, using The vessel’s coordinates and the coordinates of the rope attachment points at a certain point in time are calculated and, depending on their changes, a control signal is generated on the winch drives for optimal rope tension. 2. The method according to claim 1, characterized in that for the transfer of goods of small mass, a two-rope road is constructed, and two winches are controllable. 3. The method according to claim 1, characterized in that for the transfer of goods of increased mass, a three-rope road is constructed, and three winches are controllable. 4. The method according to claim 1, characterized in that for the transfer of liquid cargoes, a cableway is constructed with one load-bearing rope and several guy ropes, more than three winches being driven. 5. A system for transferring dry and liquid cargo between vessels on the move, including a transmitting and receiving vessel with masts, between which ropes are stretched, the ends of which are connected to guided winches mounted on the transmitting vessel and connected to the electronic control unit of the winches, which is also connected to sensors rope tension installed on the transmitting and receiving vessels, characterized in that inertial sensors are installed on both vessels, and rope length sensors for transmitting information are installed on the transmitting vessel via wireless or wired communication to the winch control unit, to which the outputs of the control panel and the power source are connected. 6. The system according to claim 5, characterized in that it contains two ropes and two guided winches. 7. The system according to claim 5, characterized in that it contains three ropes and three guided winches. 8. The system according to claim 5, characterized in that it contains one load-bearing rope and several guy ropes, more than three winches being controllable.

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