RU98752U1 - SHIP CRANE WITH STABILIZATION SYSTEM - Google Patents

Abstract

 A ship crane with a stabilization system, which is a crane mounted on the deck of a vessel with actuators, an arrow and a hook for suspension of cargo, incorporating a control panel with a computing module and a display for displaying information containing a digital data transmission unit, a crane actuator control unit and a stabilization module, characterized in that a three-axis accelerometer sensor is installed on the hook for reading the parameters of the movement of cargo in space along all three axes and three-axis the third inclinometer for determining the angle of inclination of the load, at the end of the crane boom - a three-axis inclinometer for reading data on the angle of the crane boom and a three-axis accelerometer for reading motion parameters and tracking the offset of the hook relative to the end of the crane boom, and on the deck or in the crane cabin - a three-axis inclinometer sensor for reading the data of the inclination of the vessel relative to the horizon and a three-axis accelerometer for reading the rolling parameters of the vessel, data is transmitted from the sensors to the computing module by wireless Water and / or a wired interface.

Description

The utility model relates to the construction of cranes, namely, ship cranes mounted on the decks of ships, and can be used for loading and unloading of goods in rolling conditions.

There is a METHOD FOR MANAGING A LOADING CRANE AND A DEVICE FOR ITS IMPLEMENTATION (1), which consists in the fact that, by acting on the crane controls, the actuators of the mechanisms moving the crane equipment are started and disabled, and the actuators are disabled by processing the signals of the mechanisms by the factor of movement restrictions or overload factor. To reduce the level of load swinging, an additional rope length sensor and a chain hoist switch are installed, whose signals are used to determine the height of the load suspension and the period of swinging of the suspended load. The device comprises a motion control unit, an amplifier unit, sensors monitoring the position of the mobile crane equipment, inertial parameters of the equipment, the actual speeds and accelerations of the equipment when starting up and shutting down the drives to determine the moments of shutting down and turning on the mechanism drives, a load limiting block, a movement limiting block, a determining block the height of the suspension of the load, the unit for determining the period of swinging of the suspended load, actuators of the crane.

However, the implementation of this method and device provides for the stationary location of the crane and is not intended for use in the case of installing the crane on boats, where part, for example, of a vessel with a crane installed can rotationally translate relative to its center of mass, which should affect the control of the crane mechanism for the maximum possible damping of water masses during their excitement.

It is known that the horizontal fluctuations of the load relative to the attachment point are divided into vibrations across the boom and vibrations in the direction of the crane boom, while the former are damped by rotating the crane tower with a given angular velocity, providing a linear speed of the end of the boom equal in magnitude and direction to the speed of the cargo and the second ones are extinguished by changing the angle of the boom. The vertical vibrations of the load are damped by changing the length of the cable from the end of the crane arm to the hook, due to the operation of the crane winch.

The objective of the utility model is to reduce or completely damp the vertical and horizontal fluctuations of the load relative to the ground (pier) under sea rolling conditions to ensure shock-free loading and unloading of fragile, breaking loads.

The task is solved by a ship crane with a stabilization system, which is a crane installed on the deck of the vessel with actuators, an arrow and a hook for suspension of cargo, which includes a control panel with a computing module with a display for displaying information containing a digital data transmission unit, a control unit crane actuators and a stabilization module, characterized in that a three-axis accelerometer sensor is installed on the hook for reading the parameters of cargo movement in space along all three axes and a three-axis inclinometer for determining the angle of inclination of the load, at the end of the crane boom - a three-axis inclinometer sensor for reading data of the angle of the crane arrow and a three-axis accelerometer for reading motion parameters and tracking the offset of the hook relative to the end of the crane arrow, and on deck or cockpit of the crane - a three-axis inclinometer sensor for reading the tilt of the vessel relative to the horizon and a three-axis accelerometer for reading the pitching parameters of the vessel, the transmission of data from which (sensors) to the calculation telnomu module is carried out by wireless and / or wired interface.

Based on the measurement results of the sensors, control actions are formed on the actuators of the crane, which compensate for the influence of rolling on the process of loading and unloading cargo.

The operation diagram of the crane control panel is shown in Fig. 1.

The sensors provide LED indication of operating modes.

The antenna mounted on the sensors is hidden in its waterproof and shockproof housing.

The display of the computing module displays the modes of operation of the stabilization system:

- unloading. Active 1 (stabilization in three axes) when lifting cargo from the hold,

- unloading Active 2 (stabilization along the vertical axis) when loading cargo onto the pier,

- loading. Active 1 (stabilization in three axes) when loading cargo in the hold,

- loading. Active 2 (stabilization along the vertical axis) when loading cargo in the hold,

- calibration (for tuning and checking the stabilization system),

as well as the status of sensors, service and user menus.

In this case, the display shows the speed of movement of the cargo in three coordinates in various modes and the activity of the respective sensors.

The application of the proposed stabilization system installed on a ship crane gives high rates when stabilizing vertical and horizontal (in the direction perpendicular to the crane arrow) movements of the cargo.

References:

1. RF patent for IZ No. 2309112, 2006

Claims (1)

A ship crane with a stabilization system, which is a crane mounted on the deck of a vessel with actuators, an arrow and a hook for suspension of cargo, incorporating a control panel with a computing module and a display for displaying information containing a digital data transmission unit, a crane actuator control unit and a stabilization module, characterized in that a three-axis accelerometer sensor is installed on the hook for reading the parameters of the movement of cargo in space along all three axes and three-axis the third inclinometer for determining the angle of inclination of the load, at the end of the crane boom - a three-axis inclinometer for reading data on the angle of the crane boom and a three-axis accelerometer for reading motion parameters and tracking the offset of the hook relative to the end of the crane boom, and on the deck or in the crane cabin - a three-axis inclinometer sensor for reading the data of the inclination of the vessel relative to the horizon and a three-axis accelerometer for reading the rolling parameters of the vessel, data is transmitted from the sensors to the computing module by wireless Water and / or a wired interface.