WO2021135902A1 - 具有三向移动补偿功能的举升系统 - Google Patents

具有三向移动补偿功能的举升系统 Download PDF

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Publication number
WO2021135902A1
WO2021135902A1 PCT/CN2020/136066 CN2020136066W WO2021135902A1 WO 2021135902 A1 WO2021135902 A1 WO 2021135902A1 CN 2020136066 W CN2020136066 W CN 2020136066W WO 2021135902 A1 WO2021135902 A1 WO 2021135902A1
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WIPO (PCT)
Prior art keywords
rack
main arm
mobile trolley
locking
support
Prior art date
Application number
PCT/CN2020/136066
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English (en)
French (fr)
Inventor
李亚东
刘夕全
李云峰
孙远慧
辛鹏
吕涛
吕晓辉
刘鹏
李建文
孙涛
宋永杰
Original Assignee
山东海洋能源有限公司
山东海洋工程装备有限公司
山东海洋工程装备研究院有限公司
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
Priority claimed from CN201911394243.7A external-priority patent/CN111137794A/zh
Priority claimed from CN201922439338.8U external-priority patent/CN211393654U/zh
Application filed by 山东海洋能源有限公司, 山东海洋工程装备有限公司, 山东海洋工程装备研究院有限公司 filed Critical 山东海洋能源有限公司
Priority to EP20909257.6A priority Critical patent/EP4053068B1/en
Publication of WO2021135902A1 publication Critical patent/WO2021135902A1/zh

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    • 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
    • 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
    • B66C23/62—Constructional features or details
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated

Definitions

  • the invention relates to a lifting system with a three-way movement compensation function, which belongs to the technical field of ocean engineering.
  • the present invention proposes a lifting system with three-way motion compensation function, which realizes motion compensation in three directions, avoids the influence of wave motion on the lifting equipment, and realizes the improvement of the multi-lifting system. Synchronize the lifting process.
  • the lifting system with three-way motion compensation function of the present invention includes a main boom, a mobile trolley II, a support I, a support II, a mobile trolley I, a lifting mechanism and a hull, and the front end of the main arm is installed on the mobile trolley I
  • the upper end and the rear end of the main boom are installed on the upper end of the mobile trolley II
  • the lower end of the mobile trolley I is installed on the support I
  • the lower end of the mobile trolley II is installed on the support II
  • the support I and the support II are respectively fixed on the hull
  • the main boom The two sides of the bottom of the front end are equipped with rails I
  • the upper end of the mobile trolley I is equipped with a walking wheel set I
  • the rail I is installed on the traveling wheel set I
  • the traveling wheel group II and the traveling wheel group II are installed in the concave track II which plays the role of restraining the main arm up and down; the main arm moves left and right through the traveling wheel group I and the traveling wheel group II; the lower end of
  • Support I is equipped with rail IV symmetrically on both sides, walking wheel III is installed on track IV, walking wheel III moves along the track IV so that the mobile trolley I moves back and forth relative to the support I; the lower end of the mobile trolley II is equipped with walking Wheel IV, U-shaped track IV is installed on both sides of support II. Traveling wheel IV is installed in track IV which plays the role of up and down positioning. Traveling wheel IV moves along track III to realize moving trolley II to move back and forth relative to support II. ; The moving trolley I and moving trolley II can drive the main arm to move forward and backward in synchronization; the lifting mechanism that drives the lift to move up and down is hinged on the front end of the main arm.
  • the main arm is equipped with a rack I, two racks I are symmetrically arranged on both sides of the main arm.
  • the racks III are symmetrically installed on the support I.
  • the upper end of the mobile trolley I is equipped with a pair of hydraulic motors I arranged symmetrically with respect to the main arm.
  • the hydraulic motor I is equipped with gears that mesh with the rack I on the main arm to drive the movement of the main arm;
  • the upper end of the mobile trolley I Install a pair of locking mechanisms I that are symmetrically arranged with respect to the main arm to lock the main arm, and realize the static of the main arm relative to the mobile trolley I;
  • the upper end of the mobile trolley I is symmetrically arranged with walking wheel set I, two sets on each side ;
  • the lower end of the mobile trolley I is arranged symmetrically with walking wheels III, four groups on each side;
  • the lower end of the mobile trolley I is equipped with a pair of hydraulic motors II arranged symmetrically with respect to the main boom, and the hydraulic motor II is equipped with gears and racks on the support I III is engaged to drive the movement of the mobile trolley I;
  • the lower end of the mobile trolley I is installed with a pair of locking mechanisms symmetrically
  • the locking mechanism I and the locking mechanism II include a locking device installed on the mobile trolley I; and the rack I of the main arm and the rack III of the support I that are engaged with the locking device;
  • the device includes a locking rack with an inverted trapezoid in cross section.
  • the locking rack is located on the side of rack I/rack III.
  • the bottom of the locking rack is hinged with two adjusting fluid cylinders with a certain angle between the adjusting fluid cylinders.
  • the locking rack is movably provided with two locking sliders on the left and right sides, the locking slider slides in one direction along the slideway, and is provided with an inclined surface that matches the locking rack; the adjusting hydraulic cylinder will lock Push the tightening rack into the rack I/rack III, the locking rack and the rack I/rack III are meshed with each other, the two locking sliders approach the locking rack, and the inclined surfaces of the two locking sliders are in contact with each other.
  • the inclined surface of the locking rack fits.
  • the support II is welded by plates, and a rack II is installed in the middle.
  • the mobile trolley II is welded by plates and rectangular tubes.
  • a hydraulic motor III is installed in the middle of the mobile trolley II.
  • the hydraulic motor III is equipped with gears that mesh with the rack II on the support II to drive the mobile trolley II.
  • Moving; the lower end of the mobile car II is also equipped with guide wheels I on the left and right sides.
  • the guide wheels I contact with the side walls of the U-shaped track III to position and guide the mobile car II.
  • the support frame of the mobile car II is equipped with guide wheels II.
  • the four are arranged symmetrically with respect to the main arm, and are installed in the concave track II, which guide the left and right movement of the main arm.
  • the lifting mechanism includes a connecting rod, a driving rod, a lifting bracket, and a hydraulic cylinder.
  • One end of the connecting rod is hinged to the lifting bracket, the other end is hinged to the main arm, and one end of the driving rod is hinged to the lifting bracket.
  • On the frame one end is hinged to the main arm, the cylinder rod end of the hydraulic cylinder is hinged to the driving rod, and the cylinder end is hinged to the main arm, and the up and down movement of the lifting bracket is realized through the expansion and contraction of the hydraulic cylinder.
  • the present invention can realize three-direction motion and compensation functions, and can effectively avoid mechanical collisions, position deviations, etc. caused by ship rolling, pitching, and heave;
  • the present invention is provided with a locking system in both directions of the main arm movement, which can effectively and reliably lock the main arm movement when compensation is not required;
  • the drive motor, traveling wheel, guide wheel, guide wheel, locking mechanism, etc. of the present invention are all symmetrically arranged to ensure the balance of forces and avoid the generation of additional torque;
  • the lifting bracket in the lifting mechanism of the present invention can be equipped with clamping mechanisms and other tooling to realize the lifting of lifting objects of various structures;
  • the lifting system of the present invention can be used in combination with multiple sets, has wide applicability, and uses hydraulic lifting, which has high lifting efficiency and low comprehensive cost.
  • Fig. 1 is a perspective view of the present invention.
  • Fig. 2 is a perspective view of the main arm.
  • Figure 3 is a perspective view of the upper part of the mobile trolley I.
  • Figure 4 is a perspective view of the bottom of the mobile trolley I.
  • Figure 5 is a perspective view of the support I.
  • Fig. 6 is a perspective view of the mobile trolley II.
  • Figure 7 is a perspective view of the support II.
  • Fig. 8 is a front view of the lifting mechanism.
  • Fig. 9 is a front view of the locking mechanism.
  • Moving trolley II 21. Traveling wheel group II, 22. Traveling wheel IV, 23. Hydraulic motor III, 24. Guide wheel I, 25. Guide wheel II;
  • Support II 31. Track III, 32. Rack II;
  • Bearing I 41. Track IV, 42. Rack III;
  • Mobile trolley I 51. Traveling wheel group I, 52. Traveling wheel III, 53. Hydraulic motor I, 54. Locking mechanism I, 55. Hydraulic motor II, 56. Locking mechanism II;
  • Lifting mechanism 61. Connecting rod, 62. Drive rod, 63. Lifting bracket, 64. Hydraulic cylinder;
  • Locking device 81. Locking rack, 82. Adjusting hydraulic cylinder, 83. Locking slider, 84. Slide.
  • the lifting system with three-way motion compensation function of the present invention includes a main boom 1, a mobile trolley I5, a mobile trolley II2, a support II3, a support I4, a lifting mechanism 6 and a hull 7 .
  • the front end of the main arm 1 is installed at the upper end of the mobile trolley I5, the rear end of the main arm 1 is installed at the upper end of the mobile trolley II2, and the lower end of the mobile trolley I5 is installed on the support I4.
  • the lower end of II2 is installed on the support II3, the lifting mechanism 6 is installed at the front end of the main boom 1, and the support II3 and the support I4 are fixed on the hull 7 respectively.
  • the two sides of the bottom of the front end of the main boom 1 are equipped with rails I11, the upper end of the mobile trolley I5 is equipped with a traveling wheel set I51, and the rail I11 is installed on the traveling wheel set I51; 1 Inwardly concave rails II 12 are installed on both sides of the rear end, and the upper end of the mobile trolley II 2 is equipped with traveling wheel set II 21.
  • the traveling wheel set II 21 is installed in the concave rail II 12 to restrain the main boom 1 up and down. ;
  • the main arm 1 can be moved left and right under the support of the walking wheel group I 51 and the walking wheel group II 21.
  • the lower end of the mobile trolley I5 is equipped with traveling wheels III 52, the two sides of the support I 4 are symmetrically equipped with rails IV 41, the traveling wheels III 52 are installed on the rail IV 41, and the traveling wheels III 52 can move on the rail IV 41 to realize the mobile trolley I 5 Move back and forth relative to the support II3; the lower end of the mobile trolley II2 is equipped with walking wheels IV22, the two sides of the support II3 are equipped with U-shaped rails III31, and the walking wheels IV22 are installed in the rails III31 to achieve vertical positioning.
  • the walking wheel IV22 can move in the track III31 so that the mobile trolley II2 can move back and forth relative to the support II3; the mobile trolley I5 and the mobile trolley II2 can move forward and backward by the synchronous action of the mobile trolley I5 and the mobile trolley II2. .
  • the lifting mechanism 6 is hingedly connected to the front end of the main arm 1, which can realize the up and down movement of the lift.
  • the locking mechanism I54 and the locking mechanism II56 include a locking device 8 installed on the mobile trolley I5; and the rack I13 of the main arm that meshes with the locking device 8 and the teeth of the support I Bar III 42; the locking device 8 includes a locking rack 81 with an inverted trapezoidal cross-section.
  • the locking rack 81 is located on the side of the rack I 13/rack III 42.
  • the bottom of the locking rack 81 is hinged with two adjusting fluid cylinders 82 ,
  • the adjustment liquid cylinder 82 has a certain included angle and is arranged in a figure eight shape;
  • the locking rack 81 is movably provided with two locking sliders 83 on the left and right sides, and the locking slider 83 slides unidirectionally along the slide 84, and is provided with The inclined surface matched with the locking rack 81;
  • the adjusting hydraulic cylinder pushes the locking rack 81 into the rack I 13/rack III 42, the locking rack 81 and the rack I 13/rack III 42 mesh with each other, and the two are locked
  • the sliding block 83 approaches the locking rack 81, and the inclined surfaces of the two locking sliding blocks 83 are in contact with the inclined surfaces of the locking rack 81.
  • the hydraulic motor II55 and hydraulic motor III23 move synchronously to complete the position adjustment of the main boom 1 in the front and rear direction, and then the hydraulic motor I53 moves to complete the position adjustment of the main boom 1 in the left and right direction, lifting mechanism
  • the hydraulic cylinder 64 in 6 moves to make the lifting bracket 63 approach the object to be lifted.
  • the lifting mechanism 6 cooperates with an accumulator to detect the pressure of the lifting bracket 63 to control the expansion and contraction of the hydraulic cylinder 64 to keep the force of the lifting bracket 63 constant and realize the passive compensation function.
  • the hydraulic motor I53, the hydraulic motor II55 and the hydraulic motor III23 are controlled to realize the compensation of the position deviation of the main boom 1 in the left, right, forward and backward directions.
  • the position of the lifting bracket 63 relative to the object to be lifted is constant and the pressure is constant.
  • multiple lifting systems can be used to complete the work together.
  • the invention can realize three-direction movement and compensation functions, and can effectively avoid mechanical collisions, position deviations, etc. caused by ship rolling, pitching, and heave.
  • the invention is provided with a locking mechanism, which can effectively and reliably lock the movement of the main arm when compensation is not required.
  • the lifting system of the present invention can be used in combination with multiple sets.
  • the system has wide applicability, and uses hydraulic lifting, which has high lifting efficiency and low comprehensive cost.
  • the invention can be widely used in marine engineering occasions.

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  • Mechanical Engineering (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种具有三向移动补偿功能的举升系统，其包括主臂（1）、移动小车Ⅰ（5）、移动小车Ⅱ（2）、支座Ⅱ（3）、支座Ⅰ（4）、举升机构（6）及船体（7），主臂（1）前端安装在移动小车Ⅰ（5）上端，主臂（1）后端安装在移动小车Ⅱ（2）上端，移动小车Ⅰ（5）下端安装在支座Ⅰ（4）上，移动小车Ⅱ（2）下端安装在支座Ⅱ（3）上，支座Ⅱ（3）及支座Ⅰ（4）分别固定于船体（7）上，主臂（1）前端底部两侧装有轨道Ⅰ（11），主臂（1）后端两侧装有内凹式轨道Ⅱ（12）；移动小车Ⅰ（5）和移动小车Ⅱ（2）同步动作即可带动主臂（1）前后移动；带动举升物上下移动的举升机构（6）铰接于主臂（1）前端。该举升系统可实现三个方向的运动及补偿功能，能有效避免因船体（7）横摇、纵摇、升沉引起的机械碰撞、位置偏差等，起升效率高、综合成本低，具有广泛的适用性。

Description

具有三向移动补偿功能的举升系统 技术领域
本发明涉及一种具有三向移动补偿功能的举升系统，属于海洋工程技术领域。
背景技术
在进行海上作业过程中，由于海况的存在，船体会随波浪产生运动，船体上设备同样也会跟随波浪产生运动，出现举升设备受力不均，机械碰撞，举升位置不断变化等现象，同步举升过程也难以保证，更危险的情况会导致海上事故的发生。现有技术中，多采用竖直方向的升沉补偿，补偿效果不理想，且结构复杂。即便是最近提出的双船起重方法，其起重臂采用杠杆原理，前端有压载浮筒，后端有配重罐，起升作业时，前端浮筒排水，后端配重罐充水，共同提供顶升力。此双船起重方法的缺点是：(1)结构复杂，且需要很长时间进行充排水；(2)在这一过程中，由于船体的晃动会对被抬升物发生撞击；(3)举升的效率较低。
发明内容
针对现有技术存在的上述缺陷，本发明提出了一种具有三向移动补偿功能的举升系统，实现三个方向的运动补偿，避免波浪运动对举升设备的影响，实现多举升系统的同步举升过程。
本发明所述的具有三向移动补偿功能的举升系统，包括主臂、移动小车Ⅱ、支座Ⅰ、支座Ⅱ、移动小车Ⅰ、举升机构及船体，主臂前端安装在移动小车Ⅰ上端，主臂后端安装在移动小车Ⅱ上端，移动小车Ⅰ下端安装在支座Ⅰ上，移动小车Ⅱ下端安装在支座Ⅱ上，支座Ⅰ及支座Ⅱ分别固定于船体上，主臂前端底部两侧装有轨道Ⅰ，移动小车Ⅰ上端装有行走轮组Ⅰ，轨道Ⅰ安装在行走轮组Ⅰ上；主臂后端两侧装有内凹式轨道Ⅱ，移动小车Ⅱ上端装有行走轮组Ⅱ，行走轮组Ⅱ安装在起到上下约束主臂的作用的内凹式轨道Ⅱ中；主臂通过行走轮组Ⅰ、行走轮组Ⅱ左右移动；移动小车Ⅰ下端装有行走轮Ⅲ，支座Ⅰ两侧对称装有轨道Ⅳ，行走轮Ⅲ安装于轨道Ⅳ上，行走轮Ⅲ沿轨道Ⅳ上移动从而实现移动小车Ⅰ相对于支座Ⅰ前后移动；移动小车Ⅱ下端装有行走轮Ⅳ，支座Ⅱ两侧装有U型轨道Ⅳ，行走轮Ⅳ安装于起到上下定位的作用的轨道Ⅳ中，行走轮Ⅳ沿轨道Ⅲ中移动从而实现移动小车Ⅱ相对于支座Ⅱ前后移动；移动小车Ⅰ和移动小车Ⅱ同步动作即可带动主臂前后移动；带动举升物上下移动的举升机构铰接于主臂前端。
优选地，所述主臂装有齿条Ⅰ，齿条Ⅰ共两条，对称布置于主臂两侧。
优选地，所述支座Ⅰ上左右对称安装齿条Ⅲ。
优选地，所述移动小车Ⅰ上端安装相对于主臂对称布置的一对液压马达Ⅰ，液压马达Ⅰ 上装有齿轮，与主臂上齿条Ⅰ啮合，从而驱动主臂的移动；移动小车Ⅰ上端安装相对于主臂对称布置的一对实现对主臂锁紧的锁紧机构Ⅰ，实现主臂相对于移动小车Ⅰ的静止；移动小车Ⅰ上端前后对称布置行走轮组Ⅰ，每侧各两套；移动小车Ⅰ下端左右对称布置行走轮Ⅲ，每侧各四组；移动小车Ⅰ下端安装相对于主臂对称布置的一对液压马达Ⅱ，液压马达Ⅱ上装有齿轮，与支座Ⅰ上齿条Ⅲ啮合，从而驱动移动小车Ⅰ的移动；移动小车Ⅰ下端安装相对于支座Ⅰ对称布置一对实现对移动小车Ⅰ锁紧的锁紧机构，实现移动小车Ⅰ相对于支座Ⅰ的静止。
优选地，所述锁紧机构Ⅰ和锁紧机构Ⅱ，包括安装于移动小车Ⅰ的锁紧装置；以及与锁紧装置啮合的主臂的齿条Ⅰ、支座Ⅰ的齿条Ⅲ；锁紧装置包括截面呈倒梯形设置的锁紧齿条，锁紧齿条位于齿条Ⅰ/齿条Ⅲ一侧，锁紧齿条底部铰接有两个调整液缸，调整液缸之间带一定夹角且呈八字型布置；锁紧齿条左右活动设置有两个锁紧滑块，锁紧滑块沿滑道单向滑动，且设置有与锁紧齿条相配合的斜面；调整液缸将锁紧齿条推入齿条Ⅰ/齿条Ⅲ，锁紧齿条与齿条Ⅰ/齿条Ⅲ相互啮合，两个锁紧滑块向锁紧齿条靠近，两个锁紧滑块的斜面与锁紧齿条的斜面贴合。
优选地，所述支座Ⅱ由板材焊接而成，中间安装一根齿条Ⅱ。
优选地，所述移动小车Ⅱ由板材及矩形管焊接而成，移动小车Ⅱ中部安装一个液压马达Ⅲ，液压马达Ⅲ上装有齿轮，与支座Ⅱ上齿条Ⅱ啮合，从而驱动移动小车Ⅱ的移动；移动小车Ⅱ下端左右侧还装有导向轮Ⅰ，导向轮Ⅰ与U型轨道Ⅲ侧壁接触起到对移动小车Ⅱ的左右定位及导向；移动小车Ⅱ支撑架上装有导向轮Ⅱ，共四个，相对于主臂对称布置，安装于内凹式轨道Ⅱ中，对主臂的左右运动起前后导向作用。
优选地，所述举升机构包括连杆、驱动杆、举升托架和液压缸，连杆一端铰接于举升托架上，另一端铰接于主臂上，驱动杆一端铰接于举升托架上，一端铰接于主臂上，液压缸缸杆端铰接于驱动杆上，缸筒端铰接于主臂上，通过液压缸的伸缩实现举升托架的上下运动。
本发明的有益效果是：
(1)本发明可实现三方向的运动及补偿功能，能有效避免因船体横摇、纵摇、升沉引起的机械碰撞、位置偏差等；
(2)本发明在主臂运动的两个方向上均设有锁紧系统，在不需要补偿时能有效可靠的锁紧主臂运动；
(3)本发明驱动马达、行走轮、导向轮、导向轮、锁紧机构等均采用对称布置，保证了受力均衡，避免产生额外扭矩；
(4)本发明举升机构中的举升托架可加装夹持机构等工装实现对多种结构举升物的举 升；
(5)本发明的举升系统可以多套联合使用，具有广泛的适用性，且利用液压起升，起升效率高，综合成本低。
附图说明
图1是本发明的立体图。
图2是主臂的立体图。
图3是移动小车Ⅰ上部的立体图。
图4是移动小车Ⅰ底部的立体图。
图5是支座Ⅰ的立体图。
图6是移动小车Ⅱ的立体图。
图7是支座Ⅱ的立体图。
图8是举升机构的主视图。
图9是锁紧机构的主视图。
图中：1.主臂、11.轨道Ⅰ、12.轨道Ⅱ、13.齿条Ⅰ；
2.移动小车Ⅱ、21.行走轮组Ⅱ、22.行走轮Ⅳ、23.液压马达Ⅲ、24.导向轮Ⅰ、25.导向轮Ⅱ；
3.支座Ⅱ、31.轨道Ⅲ、32.齿条Ⅱ；
4.支座Ⅰ、41.轨道Ⅳ、42.齿条Ⅲ；
5.移动小车Ⅰ、51.行走轮组Ⅰ、52.行走轮Ⅲ、53.液压马达Ⅰ、54.锁紧机构Ⅰ、55.液压马达Ⅱ、56.锁紧机构Ⅱ；
6.举升机构、61.连杆、62.驱动杆、63.举升托架、64.液压缸；
7.船体；
8.锁紧装置、81.锁紧齿条、82.调整液缸、83.锁紧滑块、84.滑道。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本发明所述的具有三向移动补偿功能的举升系统，包括主臂1，移动小车Ⅰ5，移动小车Ⅱ2，支座Ⅱ3，支座Ⅰ4，举升机构6及船体7。所述主臂1前端安装在所述移动小车Ⅰ5上端，所述主臂1后端安装在所述移动小车Ⅱ2上端，所述移动小车Ⅰ5下端安 装在所述支座Ⅰ4上，所述移动小车Ⅱ2下端安装在所述支座Ⅱ3上，所述举升机构6安装在主臂1前端，所述支座Ⅱ3及支座Ⅰ4分别固定于船体7上。
如图2至图7所示，所述主臂1前端底部两侧装有轨道Ⅰ11，所述移动小车Ⅰ5上端装有行走轮组Ⅰ51，轨道Ⅰ11安装在行走轮组Ⅰ51上；所述主臂1后端两侧装有内凹式轨道Ⅱ12，所述移动小车Ⅱ2上端装有行走轮组Ⅱ21，行走轮组Ⅱ21安装在内凹式轨道Ⅱ12中，起到上下约束所述主臂1的作用；所述主臂1可在行走轮组Ⅰ51，行走轮组Ⅱ21的支持下实现左右移动。所述移动小车Ⅰ5下端装有行走轮Ⅲ52，所述支座Ⅰ4两侧对称装有轨道Ⅳ41，行走轮Ⅲ52安装于轨道Ⅳ41上，行走轮Ⅲ52可在轨道Ⅳ41上移动从而实现所述移动小车Ⅰ5相对于所述支座Ⅱ3前后移动；所述移动小车Ⅱ2下端装有行走轮Ⅳ22，所述支座Ⅱ3两侧装有U型轨道Ⅲ31，行走轮Ⅳ22安装于轨道Ⅲ31中，起到上下定位的作用，行走轮Ⅳ22可在轨道Ⅲ31中移动从而实现所述移动小车Ⅱ2相对于所述支座Ⅱ3前后移动；所述移动小车Ⅰ5和所述移动小车Ⅱ2同步动作即可带动所述主臂1前后移动。
如图1、8所示，所述举升机构6铰接于所述主臂1前端，可实现对举升物的上下移动。
如图9所示，所述锁紧机构Ⅰ54和锁紧机构Ⅱ56，包括安装于移动小车Ⅰ5的锁紧装置8；以及与锁紧装置8啮合的主臂的齿条Ⅰ13、支座Ⅰ的齿条Ⅲ42；锁紧装置8包括截面呈倒梯形设置的锁紧齿条81，锁紧齿条81位于齿条Ⅰ13/齿条Ⅲ42一侧，锁紧齿条81底部铰接有两个调整液缸82，调整液缸82之间带一定夹角且呈八字型布置；锁紧齿条81左右活动设置有两个锁紧滑块83，锁紧滑块83沿滑道84单向滑动，且设置有与锁紧齿条81相配合的斜面；调整液缸将锁紧齿条81推入齿条Ⅰ13/齿条Ⅲ42，锁紧齿条81与齿条Ⅰ13/齿条Ⅲ42相互啮合，两个锁紧滑块83向锁紧齿条81靠近，两个锁紧滑块83的斜面与锁紧齿条81的斜面贴合。
当对某一被举升物进行举升时，液压马达Ⅱ55及液压马达Ⅲ23同步动作完成主臂1前后方向的位置调整，然后液压马达Ⅰ53动作完成主臂1左右方向的位置调整，举升机构6中液压缸64动作，使举升托架63接近被举升物。举升机构6配合蓄能器，通过检测举升托架63的压力，进而控制液压缸64的伸缩，保持举升托架63受力大小不变，实现被动补偿功能。通过检测船体相对于被举升物的位置偏移量，控制液压马达Ⅰ53，液压马达Ⅱ55及液压马达Ⅲ23，实现对所述主臂1在左右前后方向上的位置偏差补偿。最终实现举升托架63相对于被举升物位置恒定，压力恒定的效果。
此外，还可根据被举升物的重量使用多个举升系统共同完成作业。
本发明可实现三方向的运动及补偿功能，能有效避免因船体横摇、纵摇、升沉引起的机械碰撞、位置偏差等。本发明设有锁紧机构，在不需要补偿时能有效可靠的锁紧主臂运动。 且本发明的举升系统可以多套联合使用。本系统具有广泛的适用性，且利用液压起升，起升效率高，综合成本低。
本发明可广泛运用于海洋工程场合。
涉及到电路和电子元器件和模块均为现有技术，本领域技术人员完全可以实现，无需赘言，本发明保护的内容也不涉及对于软件和方法的改进。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (8)

  1. 一种具有三向移动补偿功能的举升系统，包括主臂(1)、移动小车Ⅱ(2)、支座Ⅰ(4)、支座Ⅱ(3)、移动小车Ⅰ(5)、举升机构(6)及船体(7)，主臂(1)前端安装在移动小车Ⅰ(5)上端，主臂(1)后端安装在移动小车Ⅱ(2)上端，移动小车Ⅰ(5)下端安装在支座Ⅰ(4)上，移动小车Ⅱ(2)下端安装在支座Ⅱ(3)上，支座Ⅰ(4)及支座Ⅱ(3)分别固定于船体(7)上，其特征在于，主臂(1)前端底部两侧装有轨道Ⅰ(11)，移动小车Ⅰ(5)上端装有行走轮组Ⅰ(51)，轨道Ⅰ(11)安装在行走轮组Ⅰ(51)上；主臂(1)后端两侧装有内凹式轨道Ⅱ(12)，移动小车Ⅱ(2)上端装有行走轮组Ⅱ(21)，行走轮组Ⅱ(21)安装在起到上下约束主臂(1)的作用的内凹式轨道Ⅱ(12)中；主臂(1)通过行走轮组Ⅰ(51)、行走轮组Ⅱ(21)左右移动；移动小车Ⅰ(5)下端装有行走轮Ⅲ(52)，支座Ⅰ(4)两侧对称装有轨道Ⅳ(41)，行走轮Ⅲ(52)安装于轨道Ⅳ(41)上，行走轮Ⅲ(52)沿轨道Ⅳ(41)上移动从而实现移动小车Ⅰ(5)相对于支座Ⅰ(4)前后移动；移动小车Ⅱ(2)下端装有行走轮Ⅳ(22)，支座Ⅱ(3)两侧装有U型轨道Ⅳ(41)，行走轮Ⅳ(22)安装于起到上下定位的作用的轨道Ⅳ(41)中，行走轮Ⅳ(22)沿轨道Ⅲ(31)中移动从而实现移动小车Ⅱ(2)相对于支座Ⅱ(3)前后移动；移动小车Ⅰ(5)和移动小车Ⅱ(2)同步动作即可带动主臂(1)前后移动；带动举升物上下移动的举升机构(6)铰接于主臂(1)前端。
  2. 根据权利要求1所述的具有三向移动补偿功能的举升系统，其特征在于，所述主臂(1)装有齿条Ⅰ(13)，齿条Ⅰ(13)共两条，对称布置于主臂(1)两侧。
  3. 根据权利要求2所述的具有三向移动补偿功能的举升系统，其特征在于，所述支座Ⅰ(4)上左右对称安装齿条Ⅲ(42)。
  4. 根据权利要求3所述的具有三向移动补偿功能的举升系统，其特征在于，所述移动小车Ⅰ(5)上端安装相对于主臂(1)对称布置的一对液压马达Ⅰ(53)，液压马达Ⅰ(53)上装有齿轮，与主臂(1)上齿条Ⅰ(13)啮合，从而驱动主臂(1)的移动；移动小车Ⅰ(5)上端安装相对于主臂(1)对称布置的一对实现对主臂(1)锁紧的锁紧机构Ⅰ(54)，实现主臂(1)相对于移动小车Ⅰ(5)的静止；移动小车Ⅰ(5)上端前后对称布置行走轮组Ⅰ(51)，每侧各两套；移动小车Ⅰ(5)下端左右对称布置行走轮Ⅲ(52)，每侧各四组；移动小车Ⅰ(5)下端安装相对于主臂(1)对称布置的一对液压马达Ⅱ(55)，液压马达Ⅱ(55)上装有齿轮，与支座Ⅰ(4)上齿条Ⅲ(42)啮合，从而驱动移动小车Ⅰ(5)的移动；移动小车Ⅰ(5)下端安装相对于支座Ⅰ(4)对称布置一对实现对移动小车Ⅰ(5)锁紧的锁紧机构，实现移动小车Ⅰ(5)相对于支座Ⅰ(4)的静止。
  5. 根据权利要求4所述的具有三向移动补偿功能的举升系统，其特征在于，所述锁紧机构Ⅰ(54)和锁紧机构Ⅱ(56)，包括安装于移动小车Ⅰ(5)的锁紧装置(8)；以及与锁紧装置(8)啮合的主臂的齿条Ⅰ(13)、支座Ⅰ的齿条Ⅲ(42)；锁紧装置(8)包括截面呈倒梯形设置的锁紧齿条(81)，锁紧齿条(81)位于齿条Ⅰ(13)/齿条Ⅲ(42)一侧，锁紧齿条(81)底部铰接有两个调 整液缸(82)，调整液缸(82)之间带一定夹角且呈八字型布置；锁紧齿条(81)左右活动设置有两个锁紧滑块(83)，锁紧滑块(83)沿滑道(84)单向滑动，且设置有与锁紧齿条(81)相配合的斜面；调整液缸将锁紧齿条(81)推入齿条Ⅰ(13)/齿条Ⅲ(42)，锁紧齿条(81)与齿条Ⅰ(13)/齿条Ⅲ(42)相互啮合，两个锁紧滑块(83)向锁紧齿条(81)靠近，两个锁紧滑块(83)的斜面与锁紧齿条(81)的斜面贴合。
  6. 根据权利要求1所述的具有三向移动补偿功能的举升系统，其特征在于，所述支座Ⅱ(3)由板材焊接而成，中间安装一根齿条Ⅱ(32)。
  7. 根据权利要求6所述的具有三向移动补偿功能的举升系统，其特征在于，所述移动小车Ⅱ(2)由板材及矩形管焊接而成，移动小车Ⅱ(2)中部安装一个液压马达Ⅲ(23)，液压马达Ⅲ(23)上装有齿轮，与支座Ⅱ(3)上齿条Ⅱ(32)啮合，从而驱动移动小车Ⅱ(2)的移动；移动小车Ⅱ(2)下端左右侧还装有导向轮Ⅰ(24)，导向轮Ⅰ(24)与U型轨道Ⅲ(31)侧壁接触起到对移动小车Ⅱ(2)的左右定位及导向；移动小车Ⅱ(2)支撑架上装有导向轮Ⅱ(25)，共四个，相对于主臂(1)对称布置，安装于内凹式轨道Ⅱ(12)中，对主臂(1)的左右运动起前后导向作用。
  8. 根据权利要求1所述的具有三向移动补偿功能的举升系统，其特征在于，所述举升机构(6)包括连杆(61)、驱动杆(62)、举升托架(63)和液压缸(64)，连杆(61)一端铰接于举升托架(63)上，另一端铰接于主臂(1)上，驱动杆(62)一端铰接于举升托架(63)上，一端铰接于主臂(1)上，液压缸(64)缸杆端铰接于驱动杆(62)上，缸筒端铰接于主臂(1)上，通过液压缸(64)的伸缩实现举升托架(63)的上下运动。
PCT/CN2020/136066 2019-12-30 2020-12-14 具有三向移动补偿功能的举升系统 WO2021135902A1 (zh)

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