CN109466718B - Lifting ship balance system and working method thereof - Google Patents
Lifting ship balance system and working method thereof Download PDFInfo
- Publication number
- CN109466718B CN109466718B CN201811388371.6A CN201811388371A CN109466718B CN 109466718 B CN109466718 B CN 109466718B CN 201811388371 A CN201811388371 A CN 201811388371A CN 109466718 B CN109466718 B CN 109466718B
- Authority
- CN
- China
- Prior art keywords
- water tank
- water
- crane
- balance
- ship
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 401
- 230000005484 gravity Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 60
- 239000007788 liquid Substances 0.000 claims description 27
- 238000005096 rolling process Methods 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 22
- 239000000725 suspension Substances 0.000 claims description 21
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000002441 reversible effect Effects 0.000 claims description 16
- 230000001502 supplementing effect Effects 0.000 claims description 10
- 230000001105 regulatory effect Effects 0.000 claims description 9
- 230000005570 vertical transmission Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000002829 reductive effect Effects 0.000 claims description 3
- 230000002401 inhibitory effect Effects 0.000 claims description 2
- 238000011068 loading method Methods 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000000670 limiting effect Effects 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
- B63B43/06—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability using ballast tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/08—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using auxiliary jets or propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a lifting ship balance system and a working method thereof, wherein the lifting ship balance system comprises a ship body, a balance water tank, a tuning balance water tank, a lift fan, a self-balancing crane and a PLC control system; the balance water tank is arranged on the side of the ship body on two sides, the tuning balance water tank is arranged at the head and the tail of the ship body, the tuning balance water tank comprises a main water tank and an auxiliary water tank, the lift fans are arranged on the deck around the ship body respectively, two groups of hoisting tracks are arranged on the deck, a self-balancing crane is arranged on the hoisting tracks, and a fixed balancing weight and a variable balancing weight water tank device are arranged on a balancing arm of the self-balancing crane. The invention provides the balance torque of the ship body by utilizing the gravity and the buoyancy of the balance water tank, the gravity of the tuning balance water tank and the lift fan, the balance force can be automatically adjusted when the crane lifts and carries goods, the whole system is connected to the PLC control system, the automatic control is realized, and the novel ship processing and manufacturing requirements are met.
Description
Technical Field
The invention belongs to the technical field of hoisting ships, and relates to a hoisting ship balance system and a working method thereof.
Background
There are medium and large sized crane and barge carriers, which can lift and transport cargo to large-sized oil tankers parked in deep sea and can be used in imperfect ports. The common hoisting and connecting transport ship is provided with the track cranes at two sides of the ship for hoisting and carrying goods, but in the process of hoisting the goods, the gravity center of the crane is easy to be unbalanced due to unstable ship, so that the phenomenon of tilting and overturning is caused, and the service life of the crane is shortened; meanwhile, when heavy objects are lifted in a large batch, the gravity center of a ship is unstable, the ship is prone to rollover, and cargo scattering phenomenon is caused by swinging when the ship is transported and navigated.
Disclosure of Invention
In order to solve the problems, the invention provides a lifting ship balance system and a working method thereof. The system comprises a balance water tank, a tuning balance water tank, a lift fan, a self-balancing crane and a PLC control unit; the balance water tanks are arranged on two sides of the ship board and can extend and expand towards two sides, the width of the ship body is increased to provide upward buoyancy, and when the ship body for lifting heavy objects inclines, water can be injected into one side of the ship body to provide gravity for balancing; the tuned balance water tank can apply gravity balance by adjusting the water filling position, and meanwhile, the shaking frequency is adjusted during navigation, so that automatic stabilization can be realized, and cargo scattering is avoided; the lift fan can provide upward lift at the inclined end to prevent the ship from inclining; the self-balancing crane can automatically adjust the gravity center balance when lifting, the crane is prevented from inclining and overturning, the whole system is connected to the PLC control unit, and automatic control is realized.
The technical scheme of the invention is as follows:
a lifting ship balance system comprises a ship body, a balance water tank, a tuning balance water tank, a lift fan, a self-balancing crane and a PLC control system; the balance water tanks are two groups and are respectively arranged on the ship boards on two sides of the ship body, each balance water tank comprises a tank body and a hydraulic telescopic arm, the tank body is of a U-shaped ship structure with an opening at the top, the bottom of the tank body is hinged to the extending end of the hydraulic telescopic arm, the side surface of the tank body is hinged to the extending end of a turning hydraulic cylinder, the bottom end of the turning hydraulic cylinder is hinged to the hydraulic telescopic arm, the head end of the hydraulic telescopic arm is hinged to the ship board, an extension hydraulic cylinder is arranged on the hydraulic telescopic arm, the extending end of the extension hydraulic cylinder is hinged to the hydraulic telescopic arm, and the bottom end of the extension hydraulic cylinder is hinged to the ship board; the two groups of the tuning balance water tanks are respectively arranged at the head part and the tail part in the cabin, the tuning balance water tank comprises a main water tank and an auxiliary water tank, the bottom of the main water tank is provided with a transverse water tank support, the water tank support is fixed at the bottom of the cabin, two ends of the water tank support are provided with limit blocks I, the water tank support is provided with a roller, the roller is in rolling connection with the main water tank, a piston plate is arranged in the main water tank and divides the main water tank into two parts, two sides of the piston plate are provided with servo hydraulic cylinders, the servo hydraulic cylinders penetrate through the side wall of the main water tank and are respectively fixed at two sides in the cabin, the upper end in the main water tank is provided with a conversion water channel, two groups of conversion water valves are arranged at two ends of the conversion water channel, a water replenishing valve is arranged at the side end of the conversion water channel, two groups of adjustable hydraulic dampers are transversely arranged at the outer side end of the main water tank and are connected and fixed between the side end of the cabin and the outer side end of the main water tank, two side ends of the main water tank are respectively provided with a low group of balance water tank liquid level sensors, a middle group of balance water tank liquid level sensors and a high group of balance water tank liquid level sensors; the auxiliary water tank is longitudinally arranged at the top of the main water tank, two groups of sliding tracks are arranged at the bottom of the auxiliary water tank, the sliding tracks support the auxiliary water tank and are fixed on the upper surface of the main water tank, two ends of each sliding track are provided with a limiting block II, a limiting switch is fixedly arranged on each limiting block II, a ball screw is fixedly arranged in the middle of the bottom of the auxiliary water tank, the end part of each ball screw is provided with a stepping motor, a grating ruler is arranged beside each ball screw, and the grating ruler and the sliding tracks are fixed on the upper surface of the main water tank in parallel; the ship lifting power system is characterized in that four groups of lifting fans are arranged on decks around a ship body respectively, each lifting fan is provided with two groups of transverse transmission shafts, automatic transmissions are arranged at two ends of each transverse transmission shaft, a conical gear transmission group I is arranged in the middle of each transverse transmission shaft and connected with two ends of a longitudinal transmission shaft, a conical gear transmission group II is arranged in the middle of each longitudinal transmission shaft and connected with the upper end of a vertical transmission shaft, the lower end of each vertical transmission shaft is connected to a conical gear transmission group III, each conical gear transmission group III is input and transmitted through a main transmission shaft, and the main transmission shafts are connected to a ship power system; a hoisting track is arranged on the deck, and the self-balancing crane is arranged on the hoisting track; the hydraulic telescopic arm, the stretching hydraulic cylinder, the overturning hydraulic cylinder, the servo hydraulic cylinder, the switching water valve, the water replenishing valve, the balance water tank liquid level sensor, the adjustable hydraulic damper, the stepping motor and the automatic transmission are all connected to the PLC control system; the tank body is a U-shaped ship with an opening at the top, water is conveniently injected into the water tank, the water tank can be pushed to turn over by the turning hydraulic cylinder so that the water tank with the opening at the top is turned over into the water for water injection, the extension hydraulic cylinder can adjust the angle between the hydraulic telescopic arm and the horizontal plane, so that the balance water tank provides gravity or buoyancy, the main water tank of the tuning balance water tank changes the water level at two sides through the extrusion of the piston plate, the auxiliary water tank can move back and forth under the driving of the stepping motor to adjust and change the position of the gravity center, the main water tank can swing left and right along with the roller when sailing, and the purpose of stabilizing the rolling is achieved by utilizing the water in the water tank to rock on the ship body which has the feedback action of dynamic pressure generated on the side wall, the lift fan can provide the size of lift according to automatic gearbox adjustment, self-balancing hoist can move the operation along the lifting orbit on the splint.
Furthermore, the hoisting tracks are fixed on two sides of the deck, the hoisting tracks are I-shaped, the tops of the hoisting tracks form an arc structure, three groups of hoisting track pressure sensors are arranged at the bottoms of the hoisting tracks, two groups of crane displacement sensors are arranged at two ends of the hoisting tracks, six groups of inclination angle sensors are arranged on the periphery and the front and back of the deck, and the track pressure sensors, the crane displacement sensors and the inclination angle sensors are all connected to the PLC control system. The crane rail is in an I shape and can be conveniently fastened by a movable connecting device, the crane rail pressure sensor detects the pressure applied to the rail, whether the crane can overturn or not is judged in advance and fed back to be adjusted, the crane displacement sensor can detect the stress position applied to the ship body by the crane, the inclination angle sensor can detect the inclination angle of the ship body and feed back the inclination angle to the PLC control system to be adjusted in time, and the ship body is prevented from overturning.
Furthermore, the self-balancing crane comprises a crane frame, a suspension arm and a balance arm, wherein four groups of moving devices are arranged at the bottom of the crane frame, a rotary workbench is arranged at the top of the crane frame, an operation cabin is fixedly arranged on the rotary workbench, a crane rotation angle sensor is arranged on the rotary workbench, the suspension arm is fixed on the rotary workbench, a lifting trolley is arranged on the suspension arm, the lifting trolley is connected with the suspension arm in a sliding manner, a crane weight sensor is arranged on the lifting trolley, and a lifting trolley displacement sensor is arranged at the tail part of the suspension arm; the balance arm is fixed on the rotary worktable, the balance arm and the suspension arm correspond to form a straight line and are butted together, the balance arm is provided with a fixed counterweight block and a variable counterweight water tank device, the variable counterweight water tank device is arranged on the right side of the fixed counterweight block, the variable counterweight water tank device comprises a plurality of groups of water tanks, counterweight water tank regulating pumps and counterweight water tank water replenishing pumps, at least two groups of water tanks are arranged on the plurality of groups of water tanks, the tops of the plurality of groups of water tanks are provided with counterweight water tank water inlet valves, the bottoms of the plurality of groups of water tanks are provided with counterweight water tank water outlet valves, the tops of the plurality of groups of water tanks are provided with counterweight water tank liquid level sensors, the counterweight water tank water outlet valves are connected to a return pipe, the return pipe is provided with counterweight water tank regulating pumps, the return pipe is connected to the counterweight water tank water inlet valves, the return pipe is connected to the counterweight water tank water discharge valves, and the counterweight water tank water replenishing pipes are arranged on the counterweight water tank water replenishing pumps, one end of the counterweight water tank water supply pipe is connected to a counterweight water tank water supply valve, the other end of the counterweight water tank water supply valve is connected to a water area, and an outlet of the counterweight water tank water supply valve is connected with a return pipe; the lifting trolley displacement sensor, the lifting weight sensor, the crane rotation angle sensor, the balance weight water tank water inlet valve, the balance weight water tank water outlet valve, the balance weight water tank liquid level sensor, the balance weight water tank water replenishing valve, the balance weight water tank regulating pump and the balance weight water tank water replenishing pump are all connected to the PLC control system. The lifting trolley is provided with a lifting weight sensor which can detect the weight of lifted goods, the lifting trolley displacement sensor can detect the gravity center change position in the process of carrying the lifted goods, and the variable counterweight water tank device can change the gravity center position and the gravity provided by the variable counterweight water tank device by changing water injection to different water tanks to achieve a balance state.
Furthermore, the moving device is of a square structure with a notch at the bottom, the notch of the moving device corresponds to the middle position of the I-shaped hoisting track and is provided with a rolling rod, the rolling rod is simultaneously in rolling connection with the moving device and the hoisting track, an inwards concave roller is arranged in the moving device, the roller is in rolling connection with the top of the hoisting track, the roller is connected with a crane moving motor, and the crane moving motor is connected to a PLC control system. The movable device accessible breach structure sliding lock is received and is prevented turning on one's side on the lifting rail, the reducible frictional resistance of roller rolls makes the movable device remove more smoothly, the gyro wheel is designed into the indent structure and is the increase of movable device track area of contact, can make the hoist apply the power on the guide rail more even, extension track life has the effect of preventing turning on one's side simultaneously.
The operation method of the invention comprises the following steps:
1) before lifting the goods, the PLC control system starts a self-checking program, detects that signals of a data acquisition end and a working end are normal, and enters a working preparation state;
2) when light goods are lifted, the hydraulic telescopic arms on the two sides of the ship body are ejected out to drive the tank bodies to descend to the water surface, and meanwhile, the hydraulic telescopic arms are supported by the extending hydraulic cylinders to expand towards the two sides, and the tank bodies on the two sides provide upward buoyancy, so that the ship body is kept stable on the water surface, and cannot incline; the self-balancing crane rotates the suspension arm to the position above the goods to be lifted, the lifting trolley loads the goods, the lifting weight sensor detects the weight of the goods, the lifting trolley displacement sensor detects the force arm, the crane rotation angle sensor detects the rotation angle position and feeds back the rotation angle position to the PLC control system to calculate the moment balance parameter, the PLC control system controls the variable counterweight water tank device on the balance arm to work, the counterweight water tank adjusting pump is started to adjust the water quantity in a plurality of groups of water tanks and select the box body to be filled with water, the counterweight water tank liquid level sensor feeds back a signal to the PLC control system to stop adjusting after detecting that the water quantity meets the requirement, and the distance between the center of gravity and the balance fulcrum and the gravity variation quantity are utilized to adjust the balance state, meanwhile, the moving device at the bottom of the crane rack is in rolling connection with the I-shaped hoisting track in a buckled mode, so that the self-balancing crane is prevented from derailing and overturning;
3) when lifting heavy goods, after the system executes the working process in the step 2), the self-balancing crane works to reach a preliminary balance state, but due to the fact that heavy goods are loaded, the ship tilts under the action of external lifting torque, a lifting rail pressure sensor on a deck detects applied external force, a crane displacement sensor detects the distance of the applied external force, an inclination angle sensor detects the inclination angle of the ship and feeds the inclination angle back to a PLC control system, after the PLC control system calculates reverse compensation restoring torque, a tilting reverse side turning hydraulic cylinder acts to drive the tank body to turn downwards to enable the tank body to be filled with water, after the tank body is filled with water, the turning hydraulic cylinder drives the tank body to return to the normal position, an extension hydraulic cylinder is ejected out to enable the tank body to be away from the water surface, and at the moment, the tank body is filled with water to provide downward reverse tilting gravity to pull the ship to return to the normal position; meanwhile, the adjustable hydraulic dampers at two ends of a main water tank on the tuned balance water tank are enlarged to prevent the main water tank from moving left and right, a servo hydraulic cylinder at the end in the opposite direction of inclination moves to push against a piston plate to move in the direction of inclination, a conversion water valve on a conversion water channel is opened, water at the inclined side in the main water tank flows to the side in the opposite direction of inclination through the conversion water channel and then is closed, the servo hydraulic cylinder at the inclined side pushes against the piston plate to compress in the direction of the opposite direction of inclination, a balance water tank liquid level sensor on the side surface of the main water tank stops compressing after detecting a high liquid level signal, at the moment, the water in the main water tank is stored to the side in the opposite direction of inclination and provides anti-inclination gravity downwards to press the ship to return to the positive direction; meanwhile, a lift fan arranged on the inclined direction side of a hull deck is in multi-stage transmission through a main transmission shaft, power output from a ship power system is transmitted into an automatic transmission, and a PLC control system controls the lift fan connected with the automatic transmission to rotate at a high speed at the inclined direction side so as to provide lift force for enabling the ship to return upwards;
4) when a ship is transported and navigated, the adjustable hydraulic dampers at two ends of the main water tank on the tuning balance water tank are reduced, the water levels at two sides of the main water tank are consistent, when the ship is navigated and navigated, the main water tank is navigated and navigated along with the rollers on the transverse water tank support on the ship, the water in the main water tank is navigated and navigated, and the main water tank is navigated and navigated, and the water in the main water tank is navigated and navigated, and the main water tank is navigated and navigated by the tilt sensor on the deck during the navigation, and the PLC control system calculates the tuned frequency, controls the adjustable hydraulic dampers and the servo hydraulic cylinder to adjust the swing frequency and water oscillation frequency of the main water tank, and simultaneously controls the secondary water tank to move back and forth along the sliding track, and the grating ruler feeds back the moving position of the secondary water tank in real time, so as to achieve the aim of navigating and navigating.
Compared with the prior art, the invention has the advantages that:
1. when the ship is used for lifting and carrying heavy objects, the ship can automatically adjust the inclination phenomenon, and the ship can quickly reach a balanced state by utilizing the simultaneous action of the gravity and the buoyancy of the balanced water tank, the gravity of the balanced water tank and the lift force of the fan, so that the ship is prevented from turning on one side, and the automation degree and the working efficiency are higher.
2. The crane used by the invention can automatically adjust balance, automatically adjust the balance weight water tank according to the hoisting weight and the moment, and simultaneously, the mobile device is connected with the track in a buckling and rolling mode, thereby preventing the crane from side turning and prolonging the service life of the crane.
3. The power system of the lift fan and the power system of the ship share one system, power is transmitted through the gear set, lift is automatically adjusted, and energy consumption is saved.
4. The tuning balance water tank provided by the invention can provide reverse gravity when a ship hoisting weight inclines, and can inhibit the ship from shaking when the ship runs, so that the ship runs more stably; meanwhile, the width of the ship body can be increased by stretching the balance water tank, the stability of the ship is further increased, reverse gravity can be provided for use when the lifting weight is inclined, and the design is ingenious and reasonable.
Drawings
Fig. 1 is an overall schematic view of a lifting vessel.
Fig. 2 is a right side view of the balancing sink.
Fig. 3 is a top view of the hull.
FIG. 4 is a schematic view of a trim tank balance.
FIG. 5 is a schematic view of the auxiliary tank.
FIG. 6 is a schematic view of a lift fan.
FIG. 7 is a schematic view of a lift fan power connection.
Fig. 8 is a schematic view of a self-balancing crane.
Fig. 9 is a schematic view of a self-balancing crane counterweight water tank.
Fig. 10 is a schematic view of a self-balancing crane mover.
Fig. 11 is a block diagram of a lifting vessel trim system.
Part names and serial numbers in the figure:
the device comprises a ship body 1, a balance water tank 2, a tuning balance water tank 3, a lift fan 4, a self-balancing crane 5, a PLC control system 6, a deck 1.1, a ship board 1.2, a cabin 1.3, an inclination angle sensor 1.4, a lifting track 1.5, a lifting track pressure sensor 1.6, a crane displacement sensor 1.7, a balance water tank 2, a tank body 2.1, a hydraulic telescopic arm 2.2, an extension hydraulic cylinder 2.3, a turning hydraulic cylinder 2.4, a tuning balance water tank 3, a main water tank 3.1, a piston plate 3.2, a switching water channel 3.3, a switching water valve 3.4, a water replenishing valve 3.5, a balance water tank liquid level sensor 3.6, a servo hydraulic cylinder 3.7, an adjustable hydraulic damper 3.8, a water tank support 3.9, a roller 3.10, an auxiliary water tank 3.11, a sliding track 3.12, a limit block II 3.13, a stepping motor 3.14, a ball screw rod 3.15, a grating 3.16, a limit switch 3.17, a limit switch 3.18, a fan I, a transverse transmission fan 4, a lift transmission shaft I, a conical gear group 3.2.4, a conical transmission gear group 3.4, a conical gear group I, a, 4.4 parts of a longitudinal transmission shaft, 4.5 parts of a conical gear transmission set II, 4.6 parts of a vertical transmission shaft, 4.7 parts of a conical gear transmission set III, 4.8 parts of a main transmission shaft, 5.1 parts of a self-balancing crane, 5.2 parts of a crane frame, 5.2 parts of a suspension arm, 5.3 parts of a balance arm, 5.4 parts of an operation cabin, 5.5 parts of a hoisting trolley, 5.6 parts of a rotary worktable, 5.7 parts of a fixed balancing weight, 5.8 parts of a variable balancing weight water tank device, 5.81 parts of a plurality of groups of water tanks, 5.82 parts of a water inlet valve of a balancing weight water tank, 5.83 parts of a water outlet valve of the balancing weight water tank, 5.84 parts of a return pipe, 5.85 parts of a drain valve of the balancing weight water tank, 5.86 parts of a regulating pump of the balancing weight water tank, 5.87 parts of a water replenishing valve of the balancing weight water tank, 5.88 parts of a water replenishing pump of the balancing weight tank, 5.89 parts of a liquid level sensor of the balancing weight tank, 5.810 parts of the water replenishing pipe of the balancing weight tank, 5.9 parts of a displacement sensor of the hoisting trolley, 5.10 parts of a hoisting trolley, 5.11 parts of a crane rotation angle sensor of a rotating angle sensor of the crane, 5.12 parts of a moving device, 5.13 parts of a roller, 5.14 parts of a rolling roller, 5.15 parts of a rolling moving motor I and a PLC (6.15 parts of a roller).
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1:
a lifting ship balance system comprises a ship body 1, a balance water tank 2, a tuning balance water tank 3, a lift fan 4, a self-balancing crane 5 and a PLC control system 6; the balance water tanks 2 are two groups and are respectively arranged on the ship board 1.2 on two sides of the ship body 1, each balance water tank 2 comprises a tank body 2.1 and a hydraulic telescopic arm 2.2, each tank body 2.1 is of a U-shaped ship structure with an open top, the bottom of each tank body 2.1 is hinged to the extending end of the hydraulic telescopic arm 2.2, the side surface of each tank body 2.1 is hinged to the extending end of a turning hydraulic cylinder 2.4, the bottom end of each turning hydraulic cylinder 2.4 is hinged to the corresponding hydraulic telescopic arm 2.2, the head end of each hydraulic telescopic arm 2.2 is hinged to the corresponding ship board 1.2, each hydraulic telescopic arm 2.2 is provided with a stretching hydraulic cylinder 2.3, the extending end of each stretching hydraulic cylinder 2.3 is hinged to the corresponding hydraulic telescopic arm 2.2, and the bottom end of each stretching hydraulic cylinder 2.3 is hinged to the corresponding ship board 1.2; the two groups of tuning balance water tanks 3 are respectively arranged at the head part and the tail part of the cabin 1.3, each tuning balance water tank 3 comprises a main water tank 3.1 and an auxiliary water tank 3.11, the bottom of the main water tank 3.1 is provided with a transverse water tank support 3.9, the water tank supports 3.9 are fixed at the bottom of the ship body 1, two ends of each water tank support 3.9 are provided with limit blocks I3.18, the water tank supports 3.9 are provided with rolling rods 3.10, the rolling rods 3.10 are in rolling connection with the main water tank 3.1, a piston plate 3.2 is arranged in the main water tank 3.1, the main water tank 3.1 is divided into two parts by the piston plate 3.2, two sides of the piston plate 3.2 are provided with servo hydraulic cylinders 3.7, the servo hydraulic cylinders 3.7 penetrate through the side wall of the main water tank 3.1 and are respectively fixed at two sides in the cabin 1.3, the main water tank 3.1 is internally provided with a conversion water passage 3.3, two groups of conversion water valves 3.4 are arranged at two ends of the conversion water passage 3, and a water valve 3.5 is arranged at the side end of the conversion water passage 3.3, two groups of adjustable hydraulic dampers 3.8 are transversely arranged at the outer side end of the main water tank 3.1, the adjustable hydraulic dampers 3.8 are fixedly connected between the side end of the cabin 1.3 and the outer side end of the main water tank 3.1, and two side ends of the main water tank 3.1 are respectively provided with a low group of balance water tank liquid level sensors 3.6, a middle group of balance water tank liquid level sensors and a high group of balance water tank liquid level sensors 3.6; the auxiliary water tank 3.11 is longitudinally arranged at the top of the main water tank 3.1, two groups of sliding rails 3.12 are arranged at the bottom of the auxiliary water tank 3.11, the sliding rails 3.12 support the auxiliary water tank 3.11 and are fixed on the upper surface of the main water tank 3.1, two ends of each sliding rail 3.12 are provided with a limit block II 3.13, a limit switch 3.17 is fixedly arranged on each limit block II 3.13, a ball screw 3.15 is fixedly arranged at the middle position of the bottom of the auxiliary water tank 3.11, a stepping motor 3.14 is arranged at the end part of each ball screw 3.15, a grating ruler 3.16 is arranged beside each ball screw 3.15, and the grating ruler 3.16 and the sliding rails 3.12 are fixed on the upper surface of the main water tank 3.1 in parallel; four groups of lift fans 4 are arranged and are respectively arranged on a deck 1.1 on the periphery of a ship body 1, the lift fans 4 are provided with two groups of transverse transmission shafts 4.1, automatic transmissions 4.2 are arranged at two ends of the transverse transmission shafts 4.1, a conical gear transmission group I4.3 is arranged in the middle of each transverse transmission shaft 4.1, the conical gear transmission group I4.3 is connected with two ends of a longitudinal transmission shaft 4.4, a conical gear transmission group II 4.5 is arranged in the middle of each longitudinal transmission shaft 4.4, the conical gear transmission group II 4.5 is connected with the upper end of a vertical transmission shaft 4.6, the lower end of the vertical transmission shaft 4.6 is connected to a conical gear transmission group III 4.7, the conical gear transmission group III 4.7 is input and driven by a main transmission shaft 4.8, and the main transmission shaft 4.8 is connected to a ship power system; a hoisting track 1.5 is arranged on the deck 1.1, and the self-balancing crane 5 is arranged on the hoisting track 1.5; the hydraulic telescopic arm 2.2, the extension hydraulic cylinder 2.3, the overturning hydraulic cylinder 2.4, the servo hydraulic cylinder 3.7, the switching water valve 3.4, the water supplementing valve 3.5, the balance water tank liquid level sensor 3.6, the adjustable hydraulic damper 3.8, the stepping motor 3.14 and the automatic transmission 4.2 are all connected to the PLC control system 6.
The crane is characterized in that two groups of crane rails 1.5 are arranged on the deck 1.1, the crane rails 1.5 are fixed on two sides of the deck 1.1, the crane rails 1.5 are I-shaped, the tops of the crane rails form an arc structure, three groups of crane rail pressure sensors 1.6 are arranged at the bottom of the crane rails 1.5, two groups of crane displacement sensors 1.7 are arranged at two ends of the crane rails 1.5, six groups of inclination angle sensors 1.4 are arranged on the periphery and front and back positions of the deck 1.1, and the rail pressure sensors 1.6, the crane displacement sensors 1.7 and the inclination angle sensors 1.4 are all connected to the PLC control system 6.
The self-balancing crane 5 comprises a crane frame 5.1, a suspension arm 5.2 and a balance arm 5.3, wherein four groups of moving devices 5.12 are arranged at the bottom of the crane frame 5.1, a rotary workbench 5.6 is arranged at the top of the crane frame 5.1, an operation cabin 5.4 is fixedly arranged on the rotary workbench 5.6, the suspension arm 5.2 is fixedly arranged on the rotary workbench 5.6, a hoisting trolley 5.5 is arranged on the suspension arm 5.2, the hoisting trolley 5.5 is in sliding connection with the suspension arm 5.2, a hoisting weight sensor 5.10 is arranged on the hoisting trolley 5.5, and a hoisting trolley displacement sensor 5.9 is arranged at the tail part of the suspension arm 5.2; the balance arm 5.3 is fixed on the rotary worktable 5.6, the balance arm 5.3 and the suspension arm 5.2 correspondingly form a straight line and are butted together, the balance arm 5.3 is provided with a variable counterweight water tank device 5.8, the variable counterweight water tank device 5.8 is arranged at the bottom of the balance arm 5.3, the variable counterweight water tank device 5.8 comprises a plurality of groups of water tanks 5.81, counterweight water tank regulating pumps 5.86 and counterweight water tank water replenishing pumps 5.88, at least two groups of water tanks 5.81 are arranged, the tops of the groups of water tanks 5.81 are provided with counterweight water tank inlet valves 5.82, the bottoms of the groups of water tanks 5.81 are provided with counterweight water tank outlet valves 5.83, the tops of the groups of water tanks 5.81 are provided with counterweight water tank liquid level sensors 5.89, the counterweight water tank outlet valves 5.83 are connected to a return pipe 5.84, the return pipe 5.84 is provided with counterweight water tank regulating pumps 5.86, the return pipe 5.84 is connected to a counterweight water tank return pipe 5.82, the return pipe 5.84 is connected to a counterweight water tank drain valve 5.85, a counterweight water tank water-replenishing pipe 5.810 is arranged on the counterweight water tank water-replenishing pump 5.88, one end of the counterweight water tank water-replenishing pipe 5.810 is connected to the counterweight water tank water-replenishing valve 5.87, the other end of the counterweight water tank water-replenishing pipe is connected to the water area, and the outlet of the counterweight water tank water-replenishing valve 5.87 is connected with the return pipe 5.84; and the hoisting trolley displacement sensor 5.9, the hoisting weight sensor 5.10, the balance weight water tank inlet valve 5.82, the balance weight water tank outlet valve 5.83, the balance weight water tank drain valve 5.85, the balance weight water tank liquid level sensor 5.89, the balance weight water tank water replenishing valve 5.87, the balance weight water tank regulating pump 5.86 and the balance weight water tank water replenishing pump 5.88 are connected to the PLC control system 6.
The mobile device 5.12 is provided with a gap square structure at the bottom, the gap position of the mobile device 5.12 corresponds to the middle position of the I-shaped hoisting track 1.5, the mobile device is provided with a rolling rod I5.14, the rolling rod I5.14 is simultaneously in rolling connection with the mobile device 5.12 and the hoisting track 1.5, an inwards concave roller 5.13 is arranged in the mobile device 5.12, the roller 5.13 is in rolling connection with the top of the hoisting track 1.5, the roller 5.13 is connected with a crane moving motor 5.15, and the crane moving motor 5.15 is connected to the PLC control system 6.
The invention comprises the following steps:
before lifting the goods, the PLC control system 6 starts a self-checking program, detects that signals of a data acquisition end and a working end are normal, and enters a working preparation state; when light goods are lifted, the hydraulic telescopic arms 2.2 at the two sides of the ship body 1 are ejected out to drive the tank bodies 2.1 to descend to the water surface, and simultaneously, the extending hydraulic cylinders 2.3 support the hydraulic telescopic arms 2.2 to expand towards the two sides, and the tank bodies 2.1 at the two sides provide upward buoyancy, so that the ship body 1 is kept stable on the water surface and cannot incline; the self-balancing crane 5 rotates the boom 5.2 to the upper part of the goods to be lifted, the lifting trolley 5.5 loads the goods, the lifting weight sensor 5.10 detects the weight of the goods, the lifting trolley displacement sensor 5.9 detects the force arm, the crane rotary angle sensor 5.11 detects the rotary angle position and feeds back the rotary angle position to the PLC control system 6 to calculate moment balance parameters, the PLC control system 6 controls the variable counterweight water tank device 5.8 on the balance arm 5.3 to work, the counterweight water tank adjusting pump 5.86 is started to adjust the water quantity in the multiple groups of water tanks 5.81 and select the box body to be filled with water, the counterweight water tank liquid level sensor 5.89 feeds back a signal to the PLC control system 6 to stop adjusting after detecting the water quantity to meet the requirements, at the moment, the balance state is adjusted by the distance between the center of gravity and the balance fulcrum and the gravity variation, meanwhile, the moving device 5.12 at the bottom of the crane frame 5.1 is in rolling connection with the I-shaped lifting track 1.5, ensuring that the self-balancing crane 5 cannot derail and overturn; when heavy goods are lifted, after the system executes the work flow in the step 2, the self-balancing crane 5 works to reach a preliminary balance state, but the ship tilts under the action of external lifting moment due to the loading of heavy goods, a lifting track pressure sensor 1.6 on a deck 1.1 detects applied external force, a crane displacement sensor 1.7 detects the distance of the applied external force, an inclination angle sensor 1.4 detects the inclination angle of the ship and feeds back the inclination angle to a PLC (programmable logic controller) control system 6, after the PLC control system 6 calculates reverse compensation restoring moment, an inclined reverse side turning hydraulic cylinder 2.4 acts to drive a tank body 2.1 to turn downwards so as to enable the tank body 2.1 to be filled with water, the turning hydraulic cylinder 2.4 drives the tank body 2.1 to return to be positive after the tank body 2.1 is filled with water, an extension hydraulic cylinder 2.3 is ejected out to enable the tank body 2.1 to leave the water surface, and the tank body 2.1 is filled with water to provide downward reverse tilting gravity to pull the ship to return to be positive; meanwhile, the adjustable hydraulic dampers 3.8 at two ends of a main water tank 3.1 on the tuned balance water tank 3 are enlarged to enable the main water tank 3.1 not to move left and right, a servo hydraulic cylinder 3.7 at the end of the inclined reverse direction moves to push against a piston plate 3.2 to move in the inclined direction, a conversion water valve 3.4 on a conversion water channel 3.3 is opened, water at the inclined side in the main water tank 3.1 flows to the inclined reverse direction side through the conversion water channel 3.3 and then is closed, the servo hydraulic cylinder 3.7 at the inclined side compresses to the inclined reverse direction side against the piston plate, a balance water tank liquid level sensor 3.6 on the side surface of the main water tank 3.1 stops compressing after detecting a high liquid level signal, at the moment, the water in the main water tank 3.1 is stored to the inclined reverse direction side and provides reverse inclined gravity downwards to press the ship to return to the straight direction; meanwhile, a lift fan 4 arranged on the upper inclined direction side of a deck 1.1 of a ship body 1 is driven by multiple stages of a main drive shaft 4.8, power output from a ship power system is driven into an automatic transmission 4.2, and a PLC (programmable logic controller) control system 6 controls the lift fan 4 connected with the automatic transmission 4.2 on the upper inclined direction side to rotate at a high speed so as to provide upward lift force for enabling the ship to return to a positive state; when a ship is transported and navigated, the adjustable hydraulic dampers 3.8 at two ends of a main water tank 3.1 on a tuned balance water tank 3 are reduced, the water levels at two sides of the main water tank 3.1 are consistent, when the ship is navigated and sways left and right, the main water tank 3.1 sways left and right along with a rolling rod 3.10 on a transverse water tank support 3.9 on the ship, water in the main water tank 3.1 sways on the ship body 1 which has the feedback effect on the dynamic pressure generated by the side wall, the left and right swaying can be restrained, when swaying, an inclination angle sensor 1.4 on a deck 1.1 detects the swaying frequency of the ship, a PLC control system 6 calculates the tuning frequency, controls the adjustable hydraulic dampers 3.8 and a servo hydraulic cylinder 3.7 to adjust the swaying frequency and the water swaying frequency of the main water tank 3.1, meanwhile, the stepping motor 3.14 rotates forwards and backwards to control the front-back movement frequency of the auxiliary water tank 3.11 along the sliding track 3.12, and the grating ruler 3.16 feeds back the movement position of the auxiliary water tank 3.11 in real time, so that the aim of inhibiting the front-back and left-right shaking during the transportation and navigation of the ship is fulfilled.
Example 2:
the structure and the principle of the embodiment 2 are basically the same as those of the embodiment 1, except that the rotary worktable 5.6 is provided with a crane rotary angle sensor 5.11, and the rotary angle of the crane when the crane detects the goods carried by the crane is fed back to the PLC control system, so that the control system can calculate the gravity center position quickly and adjust the balance of the ship body.
Example 3:
the structure and the principle of the embodiment 3 are basically the same as those of the embodiment 1, and the difference is that the balance arm 5.3 is provided with the fixed balancing weight 5.7, the balancing weight can be used for balancing the weight when the crane is in no-load, so that the phenomenon of side turning caused by the shaking of the ship body when the crane is in no-load is avoided, and meanwhile, the goods can be lifted by the balancing weight.
Example 4:
the structure and the principle of the embodiment 4 are basically the same as those of the embodiment 1, except that a crane rotation angle sensor 5.11 is arranged on the rotary worktable 5.6, and the rotation angle of the crane when the crane detects goods carried by the crane is fed back to the PLC control system by the crane rotation angle sensor 5.11, so that the control system can calculate the gravity center position quickly and adjust the balance of the ship body; the balance arm 5.3 is provided with a fixed balancing weight 5.7, the balancing weight can balance and balance the weight when the crane is in no-load, the phenomenon of side turning caused by the shaking of the ship body when the crane is in no-load is avoided, and meanwhile, the goods can be lifted by the balance weight.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (3)
1. A lifting vessel trim system comprising a hull (1), characterized in that: the device also comprises a balance water tank (2), a tuning balance water tank (3), a lift fan (4), a self-balancing crane (5) and a PLC control system (6); the balance water tanks (2) are provided with two groups and are respectively arranged on the ship boards (1.2) on two sides of the ship body (1), each balance water tank (2) comprises a tank body (2.1) and a hydraulic telescopic arm (2.2), the tank body (2.1) is of a U-shaped ship structure with an open top, the bottom of the tank body (2.1) is hinged to the extending end of the hydraulic telescopic arm (2.2), the side surface of the tank body (2.1) is hinged to the extending end of a turning hydraulic cylinder (2.4), the bottom end of the turning hydraulic cylinder (2.4) is hinged to the hydraulic telescopic arm (2.2), the head end of the hydraulic telescopic arm (2.2) is hinged to the ship board (1.2), an extending hydraulic cylinder (2.3) is arranged on the hydraulic telescopic arm (2.2), and the extending end of the bottom end of the extending hydraulic cylinder (2.3) is hinged to the ship board (1.2); the two groups of tuning balance water tanks (3) are respectively arranged at the head part and the tail part of the ship body (1), each tuning balance water tank (3) comprises a main water tank (3.1) and an auxiliary water tank (3.11), a transverse water tank support (3.9) is arranged at the bottom of the main water tank (3.1), the water tank supports (3.9) are fixed at the bottom of the cabin (1.3), limit blocks I (3.18) are arranged at two ends of each water tank support (3.9), rolling rods (3.10) are arranged on the water tank supports (3.9), the rolling rods (3.10) are in rolling connection with the main water tank (3.1), a piston plate (3.2) is arranged in the main water tank (3.1), the main water tank (3.1) is divided into two parts by the piston plate (3.2), servo hydraulic cylinders (3.7) are arranged at two sides of the piston plate (3.2), and the servo hydraulic cylinders (3.7) penetrate through the side wall of the main water tank (3.1) and are respectively fixed at two sides of the cabin (1), the conversion water channel (3.3) is arranged at the upper end inside the main water tank (3.1), two groups of conversion water valves (3.4) are arranged at two ends of the conversion water channel (3.3), a water replenishing valve (3.5) is arranged at the side end of the conversion water channel (3.3), two groups of adjustable hydraulic dampers (3.8) are transversely arranged at the outer side end of the main water tank (3.1), the adjustable hydraulic dampers (3.8) are fixedly connected between the side end of the cabin (1.3) and the outer side end of the main water tank (3.1), and three groups of low, medium and high balance water tank liquid level sensors (3.6) are respectively arranged at two side ends of the main water tank (3.1); the auxiliary water tank (3.11) is longitudinally arranged at the top of the main water tank (3.1), two groups of sliding rails (3.12) are arranged at the bottom of the auxiliary water tank (3.11), the sliding rails (3.12) support the auxiliary water tank (3.11) and are fixed on the upper surface of the main water tank (3.1), two ends of each sliding rail (3.12) are provided with a limit block II (3.13), a limit switch (3.17) is fixedly arranged on each limit block II (3.13), a ball screw (3.15) is fixedly arranged in the middle of the bottom of the auxiliary water tank (3.11), the end part of each ball screw (3.15) is provided with a stepping motor (3.14), a grating ruler (3.16) is arranged beside each ball screw (3.15), and each grating ruler (3.16) and each sliding rail (3.12) are fixed on the upper surface of the main water tank (3.1) in parallel; four groups of lifting force fans (4) are respectively arranged on the decks (1.1) around the ship body (1), the lifting fan (4) is provided with two groups of transverse transmission shafts (4.1), two ends of each transverse transmission shaft (4.1) are provided with automatic transmissions (4.2), a conical gear transmission set I (4.3) is arranged in the middle of the transverse transmission shaft (4.1), the conical gear transmission set I (4.3) is connected with two ends of the longitudinal transmission shaft (4.4), a conical gear transmission group II (4.5) is arranged in the middle of the longitudinal transmission shaft (4.4), the conical gear transmission group II (4.5) is connected with the upper end of the vertical transmission shaft (4.6), the lower end of the vertical transmission shaft (4.6) is connected to a bevel gear transmission group III (4.7), the bevel gear transmission group III (4.7) is input and driven by a main transmission shaft (4.8), and the main transmission shaft (4.8) is connected to a ship power system; a hoisting track (1.5) is arranged on the deck (1.1), and the self-balancing crane (5) is arranged on the hoisting track (1.5); the hydraulic telescopic arm (2.2), the extension hydraulic cylinder (2.3), the turnover hydraulic cylinder (2.4), the servo hydraulic cylinder (3.7), the switching water valve (3.4), the water supplementing valve (3.5), the balance water tank liquid level sensor (3.6), the adjustable hydraulic damper (3.8), the stepping motor (3.14) and the automatic transmission (4.2) are all connected to the PLC control system (6),
the crane rails (1.5) are fixed on two sides of a deck (1.1), the crane rails (1.5) are I-shaped, the tops of the crane rails form an arc structure, three groups of crane rail pressure sensors (1.6) are arranged at the bottoms of the crane rails (1.5), two groups of crane displacement sensors (1.7) are arranged at two ends of the crane rails (1.5), six groups of inclination angle sensors (1.4) are arranged at the periphery and front and back positions of the deck (1.1), the rail pressure sensors (1.6), the crane displacement sensors (1.7) and the inclination angle sensors (1.4) are all connected to a PLC (programmable logic controller) control system (6),
the self-balancing crane (5) comprises a crane frame (5.1), a suspension arm (5.2) and a balance arm (5.3), wherein four groups of moving devices (5.12) are arranged at the bottom of the crane frame (5.1), a rotary workbench (5.6) is arranged at the top of the crane frame (5.1), an operation cabin (5.4) is fixedly arranged on the rotary workbench (5.6), a crane rotation angle sensor (5.11) is arranged on the rotary workbench (5.6), the suspension arm (5.2) is fixed on the rotary workbench (5.6), a lifting trolley (5.5) is arranged on the suspension arm (5.2), the lifting trolley (5.5) is in sliding connection with the suspension arm (5.2), a lifting weight sensor (5.10) is arranged on the lifting trolley (5.5), and a lifting trolley displacement sensor (5.9) is arranged at the tail of the suspension arm (5.2); the balance arm (5.3) is fixed on the rotary workbench (5.6), the balance arm (5.3) and the suspension arm (5.2) correspondingly form a straight line and are in butt joint, the balance arm (5.3) is provided with a fixed counterweight block (5.7) and a variable counterweight water tank device (5.8), the variable counterweight water tank device (5.8) is arranged on the right side of the fixed counterweight block (5.7), the variable counterweight water tank device (5.8) comprises a plurality of groups of water tanks (5.81), counterweight water tank adjusting pumps (5.86) and counterweight water tank water replenishing pumps (5.88), at least two groups of water tanks (5.81) are arranged, the tops of the groups of water tanks (5.81) are provided with counterweight water tank inlet valves (5.82), the bottoms of the groups of water tanks (5.81) are provided with counterweight water outlet valves (5.83), the tops of the groups of water tanks (5.81) are provided with counterweight liquid level sensors (5.89), and the counterweight water tank outlet valves (5.83) are connected to the return pipe (5.84), a counterweight water tank regulating pump (5.86) is arranged on the return pipe (5.84), the return pipe (5.84) is connected to a counterweight water tank inlet valve (5.82), the return pipe (5.84) is connected to a counterweight water tank drain valve (5.85), a counterweight water tank water supplementing pipe (5.810) is arranged on the counterweight water tank water supplementing pump (5.88), one end of the counterweight water tank water supplementing pipe (5.810) is connected to the counterweight water tank water supplementing valve (5.87) and the other end of the counterweight water tank water supplementing valve is connected to a water area, and the outlet of the counterweight water tank water supplementing valve (5.87) is connected with the return pipe (5.84); the crane trolley displacement sensor (5.9), the crane weight sensor (5.10), the crane rotation angle sensor (5.11), the counterweight water tank water inlet valve (5.82), the counterweight water tank water outlet valve (5.83), the counterweight water tank water outlet valve (5.85), the counterweight water tank liquid level sensor (5.89), the counterweight water tank water supplementing valve (5.87), the counterweight water tank regulating pump (5.86) and the counterweight water tank water supplementing pump (5.88) are all connected to the PLC control system (6).
2. A lifting vessel counterbalance system according to claim 1, wherein: mobile device (5.12) are equipped with breach square structure for the bottom, mobile device (5.12) breach position corresponds with hoisting track (1.5) middle part position of "worker" type to be equipped with and roll rod I (5.14), roll rod I (5.14) simultaneously with mobile device (5.12) and hoisting track (1.5) roll connection, be equipped with roller (5.13) of indent in mobile device (5.12), roller (5.13) and hoisting track (1.5) top roll connection, roller (5.13) are connected with hoist moving motor (5.15), hoist moving motor (5.15) are connected to PLC control system (6).
3. A method of operating a crane vessel trim system according to any one of claims 1 to 2, wherein: the method comprises the following steps:
1) before the goods are lifted, the PLC control system (6) starts a self-checking program, detects that signals of a data acquisition end and a working end are normal, and enters a working preparation state;
2) when light goods are lifted, the hydraulic telescopic arms (2.2) on the two sides of the ship body (1) are ejected out to drive the tank bodies (2.1) to descend to the water surface, and meanwhile, the hydraulic telescopic arms (2.2) are supported by the extending hydraulic cylinders (2.3) to expand towards the two sides, and at the moment, the tank bodies (2.1) on the two sides provide upward buoyancy, so that the ship body (1) is kept stable on the water surface and cannot incline; a self-balancing crane (5) rotates a suspension arm (5.2) to be above a cargo to be lifted, a lifting trolley (5.5) loads the cargo, a lifting weight sensor (5.10) detects the weight of the cargo, a lifting trolley displacement sensor (5.9) detects a force arm, a crane rotation angle sensor (5.11) detects the rotation angle position and feeds back the rotation angle position to a PLC control system (6) to calculate a moment balance parameter, the PLC control system (6) controls a variable counterweight water tank device (5.8) on a balance arm (5.3) to work, a counterweight water tank adjusting pump (5.86) is started to adjust the water quantity in a plurality of groups of water tanks (5.81) and select a box body to be filled with water, a counterweight water tank liquid level sensor (5.89) feeds back a signal to the PLC control system (6) to stop adjustment after the water quantity reaches a requirement, and the balance state is adjusted by using the distance change from the center of gravity to a balance fulcrum and the gravity change quantity, meanwhile, the moving device (5.12) at the bottom of the crane rack (5.1) is in rolling connection with the I-shaped hoisting track (1.5) in a buckling manner, so that the self-balancing crane (5) is prevented from derailing and turning;
3) when heavy goods are lifted, after the system executes the working process in the step 2), the work of the self-balancing crane (5) reaches a preliminary balance state, but the ship is inclined under the action of lifting external moment due to the loading of heavy goods, a lifting track pressure sensor (1.6) on a deck (1.1) detects the applied external force, a crane displacement sensor (1.7) detects the distance of the applied external force, an inclination angle sensor (1.4) detects the inclination angle of the ship and feeds back the inclination angle to a PLC control system (6), after the PLC control system (6) calculates the reverse compensation restoring moment, an inclined reverse side turning hydraulic cylinder (2.4) acts to drive a tank body (2.1) to turn downwards so as to enable the tank body (2.1) to be filled with water, after the tank body (2.1) is filled with water, the turning hydraulic cylinder (2.4) drives the tank body (2.1) to turn back, an extension hydraulic cylinder (2.3) is ejected out, so as to enable the tank body (2.1) to leave the water surface, at the moment, the tank body (2.1) is filled with water to provide downward counter-inclined gravity to pull the ship to return to the normal state; meanwhile, the adjustable hydraulic dampers (3.8) at two ends of a main water tank (3.1) on the tuning balance water tank (3) are enlarged to enable the main water tank (3.1) to be incapable of moving left and right, a servo hydraulic cylinder (3.7) at the end in the opposite direction is inclined to move against a piston plate (3.2) in the inclined direction, a switching water valve (3.4) on a switching water channel (3.3) is opened, water at the inclined side in the main water tank (3.1) flows to the side in the opposite direction through the switching water channel (3.3) and then is closed, the servo hydraulic cylinder (3.7) at the inclined side is compressed against the piston plate in the inclined direction, a balance water tank liquid level sensor (3.6) on the side of the main water tank (3.1) stops compressing after detecting a high liquid level signal, at the moment, water in the main water tank (3.1) in the opposite direction is stored to the side in the inclined direction, and is provided with reverse-; meanwhile, a lift fan (4) arranged on the inclined direction side of a deck (1.1) of a ship body (1) is driven by multiple stages of transmission of a main transmission shaft (4.8), power output from a ship power system is transmitted into an automatic transmission (4.2), a PLC control system (6) controls the lift fan (4) connected with the automatic transmission (4.2) on the inclined direction side to rotate at a high speed, and lift force for enabling the ship to return upwards is provided;
4) when a ship is transported and navigated, the adjustable hydraulic dampers (3.8) at two ends of a main water tank (3.1) on a tuned balance water tank (3) are reduced, the water levels at two sides of the main water tank (3.1) are consistent, when the ship is navigated and sways left and right, the main water tank (3.1) sways left and right along with a rolling rod (3.10) on a transverse water tank support (3.9) on the ship, the swaying in the main water tank (3.1) has the feedback effect on the dynamic pressure generated by the side wall, the left and right swaying can be restrained, an inclination angle sensor (1.4) on a deck (1.1) detects the swaying frequency of the ship during swaying, a PLC control system (6) calculates the tuned frequency, controls the adjustable hydraulic dampers (3.8) and a servo hydraulic cylinder (3.7) to adjust the swaying frequency and the swaying frequency of the main water tank (3.1), and simultaneously, a stepping motor (3.14) controls the forward and reverse rotation of an auxiliary water tank (3.11) to move back and forth along a sliding track (3.12), the grating ruler (3.16) feeds back the moving position of the auxiliary water tank (3.11) in real time, and the purpose of inhibiting the front-back and left-right shaking during the ship transportation and navigation is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388371.6A CN109466718B (en) | 2018-11-21 | 2018-11-21 | Lifting ship balance system and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388371.6A CN109466718B (en) | 2018-11-21 | 2018-11-21 | Lifting ship balance system and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109466718A CN109466718A (en) | 2019-03-15 |
| CN109466718B true CN109466718B (en) | 2021-07-30 |
Family
ID=65673876
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811388371.6A Active CN109466718B (en) | 2018-11-21 | 2018-11-21 | Lifting ship balance system and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109466718B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110064885B (en) * | 2019-04-02 | 2021-05-04 | 中船第九设计研究院工程有限公司 | High roughness boats and ships sheet metal welded climbing mechanism |
| CN110194249A (en) * | 2019-06-06 | 2019-09-03 | 厦门大学嘉庚学院 | Carrying speedboat hull autobalance systems stabilisation |
| CN111039191A (en) * | 2019-12-30 | 2020-04-21 | 扬州中远海运重工有限公司 | High-precision control building method and device for large ship |
| CN112722183B (en) * | 2020-07-15 | 2021-12-14 | 上海海事大学 | Installation method of marine hull balancing device |
| CN112960073B (en) * | 2021-02-02 | 2022-08-30 | 湖北脉辉金茂机械有限公司 | Ocean ship body carrying and lifting device |
| CN112744337B (en) * | 2021-03-02 | 2021-12-14 | 广东海洋大学 | Ship driving balancing device and balancing method |
| CN112918629B (en) * | 2021-03-31 | 2021-10-15 | 广东海洋大学 | Side-turning prevention safety device for fishing boat |
| CN113911275B (en) * | 2021-10-30 | 2023-02-28 | 赫星(厦门)电子有限公司 | Hull stabilizing device |
| CN114771761A (en) * | 2022-04-20 | 2022-07-22 | 广东智能无人***研究院 | Loading and unloading ship |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11342893A (en) * | 1998-04-27 | 1999-12-14 | Kaiyo Kaihatsu Gijutsu Kenkyusho:Kk | Overturn preventive device of ship by air bag system |
| JP2001010587A (en) * | 1999-06-25 | 2001-01-16 | Fukuken Sangyo:Kk | Lateral stability auxiliary device of pusher |
| JP3616778B2 (en) * | 2003-02-12 | 2005-02-02 | 紀孝 松村 | Control method of ship sway reduction device |
| CN102530194B (en) * | 2010-12-25 | 2014-12-10 | 叶伦志 | Hoisting ship |
| CN104118541B (en) * | 2014-07-31 | 2016-09-07 | 北京中天油石油天然气科技有限公司 | Float-type following sea piston type hull self balancing device |
| CN105015728A (en) * | 2015-08-03 | 2015-11-04 | 大连海事大学 | Gasbag type anti-overturning device for ship |
| CN107187561B (en) * | 2017-06-17 | 2019-02-01 | 上海源威建设工程有限公司 | A kind of storm-proof ship |
| CN108341030B (en) * | 2018-01-22 | 2019-09-13 | 陕西铁路工程职业技术学院 | A kind of floating platform unbalanced load compensation device |
-
2018
- 2018-11-21 CN CN201811388371.6A patent/CN109466718B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109466718A (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109466718B (en) | Lifting ship balance system and working method thereof | |
| CN109466716A (en) | A kind of efficient lifting ship balance system and its working method | |
| CN109466717A (en) | A kind of Multifunctional hoisting ship balance system and its working method | |
| CN100369787C (en) | Full hydraulic driven boarding ladder | |
| KR100623202B1 (en) | Large structure transport device and it method | |
| CN108105187B (en) | A kind of position compensation extension type is gone on board trestle hydraulic system | |
| CN108438150B (en) | Working method of position compensation telescopic boarding trestle | |
| CN107963439A (en) | A kind of container transports lifting device | |
| CN109466715A (en) | A kind of novel lifting ship balance system and its working method | |
| EP0381455A1 (en) | Cargo transfer means for loading and unloading of ships | |
| CN109707681B (en) | Small-size step bridge owner follow-up hydraulic system | |
| CN201980783U (en) | Movable and height-adjustable operation platform | |
| WO2008051991A2 (en) | Boat lifting and stacking vehicle | |
| CN108425315A (en) | A kind of position compensation extension type is gone on board trestle | |
| CN113581413A (en) | Nacelle propeller mounting platform | |
| RU169644U1 (en) | MODULAR TRANSPORT DEVICE FOR MOVING SHIP STRUCTURES | |
| CN105217413B (en) | Become the oblique operation container self-level(l)ing device of the gradient and method | |
| CN108412822B (en) | Position compensation telescopic boarding trestle rotation hydraulic system and working method | |
| US3339707A (en) | Material handling apparatus | |
| CN207496886U (en) | Walking mechanism and the multi-functional automatic mounting machine of trackless using the walking mechanism | |
| CN115196517B (en) | Lifting device for transferring goods by ship | |
| CN216994793U (en) | Engineering truck for mounting marine propeller and rudder blade | |
| CN207089499U (en) | One kind lifts reciprocal Transmission system | |
| CN207209470U (en) | Semi-automatic easing gear and delivering device | |
| CN205906995U (en) | Automatic limit for height lift carrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhong Anqi Inventor after: Guo Huanan Inventor after: Fan Yuqing Inventor before: Zhong Anqi |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240222 Address after: No. 201, Door 2, Building 04, Qijiefang, Tianjin Road, Jianxi District, Luoyang City, Henan Province, 471003 Patentee after: Guo Huanan Country or region after: China Patentee after: Fan Yuqing Address before: No. 39 Dongge Road, Qingxiu District, Nanning City, Guangxi Zhuang Autonomous Region, 530000 Patentee before: GUANGXI NANNING SHENGQI'AN TECHNOLOGY DEVELOPMENT Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |