CN112340605A - Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform - Google Patents
Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform Download PDFInfo
- Publication number
- CN112340605A CN112340605A CN202011401100.7A CN202011401100A CN112340605A CN 112340605 A CN112340605 A CN 112340605A CN 202011401100 A CN202011401100 A CN 202011401100A CN 112340605 A CN112340605 A CN 112340605A
- Authority
- CN
- China
- Prior art keywords
- crane
- hoisting
- load
- cranes
- rotation
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C23/525—Double slewing cranes on ships
-
- 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
- B66C23/60—Derricks
-
- 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
- B66C23/84—Slewing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a double-crane combined hoisting and rotating method for a semi-submersible hoisting and disassembling platform, which comprises the following steps: establishing coordinate systems of two cranes: taking the rotation center of the crane as the origin of the calculation coordinate, taking the main deck surface as a vertical height datum point, and taking the gravity center of the rotation shaft of the suspension arm to the left, upwards and bow as the positive direction; the rotation of the suspension arm takes the anticlockwise direction as the positive direction, and the suspension arm is opposite to the port at 0 degree; the pitching angle of the suspension arm is upward positive, and the pitching angle of the suspension arm in a horizontal state is 0 degree; secondly, calculating the turning radius of the auxiliary hook of the crane; (III) determining initial position and end position parameters; and (IV) hoisting and placing. The invention reduces the danger of collision, widens the application range of the double-machine combined crane and has simple operation process.
Description
Technical Field
The invention relates to the technical field of ocean engineering equipment, in particular to a double-crane combined hoisting rotation method of a semi-submersible hoisting and disassembling platform.
Background
The number of decommissioning projects of offshore oil and gas facilities is greatly increasing, and the market of marine platforms is coming up with a new scrapping peak. Each large petroleum company has also slowed the pace of developing new oil fields, which in turn has accelerated the speed of disassembling old and unused platforms. The semi-submersible type hoisting and disassembling platform provides effective equipment support for disassembling the waste oil and gas platform. Under some specific operating environments, a semi-submersible type hoisting and disassembling platform hoisting system needs double-machine combined hoisting operation to improve hoisting capacity and hoisting reliability. According to the conventional understanding, after the two cranes are combined to lift the load, the turning process towards the inboard is the process that the two cranes synchronously turn at the same angle and the load moves towards the inboard in parallel. However, this method has the following disadvantages: when the suspension arms of the two cranes are aligned with each other, the potential risk of collision exists, and the collision between the suspension arms can be avoided only when the elevation angle of the suspension arms exceeds a certain angle; secondly, the included angle between the steel wire rope and the plumb line is easy to exceed a safety threshold value after the crane is lifted; thirdly, the length of the hoisted goods cannot exceed the distance between the two cranes, so the application range is limited; fourthly, the operation process is complicated, and a crane driver is required to adjust the elevation angle of the crane while the crane rotates towards the inside of the ship.
As shown in fig. 4A-4E, in the revolving path trajectory of the conventional twin-crane combined crane, after the two cranes jointly lift the load, the process of revolving inboard is the process of synchronously revolving the two cranes by the same angle, and moving the load inboard in parallel. As shown in fig. 4A, the initial rotation angles of the two cranes and the boom pitch parameters are determined, and then the initial positions of the two cranes are determined, so that the load is parallel to the side of the ship, and the load is lifted to a specified height. As shown in fig. 4B, the two cranes rotate at the same speed and in opposite directions, rotate synchronously at the same angle, and move the load in parallel inboard. As shown in fig. 4C, the two crane booms are facing each other when both are parallel to the side of the vessel. As shown in fig. 4D, the two cranes continue to rotate synchronously at the same angle and at equal and opposite speeds, moving the load inboard in parallel. As shown in fig. 4E, the load is dropped onto the deck as it translates to the end position.
In this process, there are the following disadvantages: firstly, as shown in fig. 4C, the suspension arms of the two cranes are directly opposite to each other, so that a potential risk of collision exists, and collision between the suspension arms can be avoided only when the elevation angle of the suspension arm exceeds a certain angle; secondly, in the situation of fig. 4A, the included angle between the wire rope and the plumb line is as shown in fig. 5A, the suspension point of the wire rope at the hook head of the crane and the suspension point on the lifted goods are on the same plumb line, the included angle between the wire rope and the plumb line is zero, and when the load is translated inwards, if the pitching angle of the suspension arm of the crane is not changed, the position shown in fig. 4B is reached, the wire ropeAs shown in fig. 5B, the angle between the wire rope and the vertical line is theta, and when the position shown in fig. 4C is reached,θreaches a maximum value and then the value of theta begins to decrease, when the position shown in figure 4E is reached,θchanging the angle to zero again, wherein the included angle between the steel wire rope and the plumb line easily exceeds a safety threshold value in the process; thirdly, because the load moves inwards in parallel, the length of the lifted goods cannot exceed the distance between two cranes, so that the application range of the double-crane combined crane is limited; fourthly, in order to ensure that the included angle between the steel wire rope and the plumb line is always within a safety threshold value, a crane driver needs to adjust the elevation angle of the crane while the crane rotates towards the inside of the ship, so that the rotation operation is relatively complicated.
Disclosure of Invention
In order to solve the technical problems, the invention provides a semi-submersible type lifting and disassembling platform double-crane combined lifting and rotating method, which comprises the following steps:
establishing coordinate systems of two cranes
The rotation center of the crane is used as the origin of the calculation coordinate, the main deck surface is used as the datum point of the vertical height, and the gravity center of the rotation shaft of the suspension arm is in the left direction, the upward direction and the heading direction as the positive direction. The rotation of the suspension arm takes the anticlockwise direction as the positive direction, and the suspension arm is opposite to the port at 0 degree. The pitching angle of the suspension arm is upward positive, and the pitching angle of the suspension arm in a horizontal state is 0 degree;
(II) calculating the turning radius of the auxiliary hook of the crane
The gyration radius calculation formula is as follows:
in the formula, r is the turning radius of the auxiliary hook of the crane,
the distance between the rotation axis 11 of the crane and the pitching center of the crane is set, L is the distance between the gravity center of the component and the pitching center on the axis of the suspension arm, e is the distance between the gravity center of the component and the axis of the suspension arm, r0 is the distance between the suspension point of the auxiliary hook and the center of the pulley, the suspension point of the auxiliary hook is always tangent to the edge of the pulley, r0 needs to be added when the rotation radius of the auxiliary hook is calculated, and gamma is the pitching angle. Changing the pitch as known from the calculation formulaThe turning radius of the crane can be changed by the elevation angle gamma.
(III) determining initial position and end position parameters
After the initial rotation angle of the crane and the elevation angle parameter of the suspension arm are determined, the hoisting radius r, the initial hoisting point position, the load hoisting point distance D and the final position (the final position and the initial position take the connecting line of the central points of the two cranes as a symmetry axis) can be determined. Determining the initial rotation angle of the crane and the elevation angle parameter of the suspension arm to obtain the spatial position of the suspension point of the auxiliary hook, obtaining the lifting radius r through a gyration radius calculation formula, enabling the initial suspension point position and the suspension point of the auxiliary hook to be on the same plumb line, obtaining the initial suspension point position according to the suspension point position of the auxiliary hook, and obtaining the distance between load suspension points by combining the respective initial rotation angles theta 1 and theta 2 and the initial distance D0 of the two cranes, wherein D = D0+ rsin theta 1+ rsin theta 2.
And (IV) hoisting and placing.
The hoisting and placing of the double-machine combined crane are divided into two blocks, the process is firstly that the crane is hoisted from the outboard, then the crane is rotated to the inboard, and the load falls on the deck; and secondly, turning the load crane from the inboard deck to the outboard, and unloading the load to a semi-submersible ship or other carriers. The first process and the second process are mutually a reverse process, and the patent of the invention takes the first process as an example for explanation.
(a) Determining initial positions of the two cranes according to the initial rotation angle of the crane and the pitching parameters of the suspension arms, enabling the load to be parallel to the ship board, hoisting the load to a specified height, rotating the bow crane anticlockwise, rotating the stern crane anticlockwise until the suspension arms of the stern crane are parallel to the load, and at the moment, moving the bow crane to the limit position I. In the process, the distance between the steel wire rope suspension points of the main hooks of the two cranes is kept constant. Due to the particularity of the rotation mode, the fore-and-aft cranes synchronously move to the designated positions in the rotation mode, the distance between the hoisting points of the fore-and-aft cranes is kept constant in the movement process, namely L1, and the steel wire rope hanging points and the hoisting points of the cranes are always on the same plumb line in the rotation process, so the distance between the steel wire rope hanging points of the main hooks of the two cranes is kept constant.
(b) And rotating the stern crane anticlockwise, rotating the bow crane clockwise until the boom 15 of the bow crane is parallel to the load, moving the boom of the stern crane to the extreme position II, and keeping the distance between the main hook steel wire rope suspension points of the two cranes constant in the process.
(c) And rotating the bow crane clockwise and the stern crane clockwise until the load is parallel to the ship board and reaches the terminal position, wherein the distance between the main hook steel wire rope suspension points of the two cranes is kept constant in the process.
(d) The load is dropped onto the deck.
The invention has the following beneficial effects:
firstly, in the rotation process, the two cranes do not pass through the position parallel to the ship board at the same time, namely, the moment when the two cranes are opposite to each other does not exist, so the risk of collision is reduced.
And in the rotation process, the suspension point of the steel wire rope of the hook head of the auxiliary hook of the crane and the suspension point on the lifted goods are always on the same plumb line, so that the included angle between the steel wire rope and the plumb line after the crane lifts is not easy to exceed a safety threshold value, and the safety is high. And thirdly, the maximum length of the lifted goods can theoretically reach the distance between two cranes and the turning radius of the two cranes, and the application range of the double-crane combined crane is widened.
And fourthly, in the whole rotation process, the operation radius of the crane is always maintained as the initial radius, and in the actual operation process, a crane driver only needs to control the rotation angle of the crane without paying attention to the pitching angle of the crane, so that the operation process is simplified.
Drawings
Fig. 1 is a schematic diagram of the arrangement of the double-machine combined crane of the patent of the invention.
Fig. 2 is a schematic structural diagram of the patent crane of the invention.
Fig. 3 is a schematic view of the turning radius of the crane according to the present invention.
Fig. 4A-4E are schematic diagrams of a conventional dual-crane combined crane slewing path trajectory.
Fig. 5A-5B are schematic diagrams illustrating an included angle between a wire rope and a plumb line in a conventional double-machine combined crane rotation process.
Fig. 6 is a schematic diagram of a dual-crane combined crane coordinate system according to the present invention.
Fig. 7a-7b are schematic diagrams of a rotation method of a double-crane combined crane.
Fig. 8a-8g are schematic diagrams illustrating a rotation process of the double-crane combined crane according to the present invention.
Fig. 9a-9i are schematic diagrams of the rotation process of the twin-crane combined crane when the load length is D + r1+ r 2.
In the figure, 1, a slewing mechanism, 2, a crane mast, 3, a boom pitching center, 4, a crane slewing platform, 5, a crane chassis, 6, a boom, 7, a main hook return rope, 8, a main hook, 9, an auxiliary hook, 10, a small hook, 11, a crane slewing axis, 12, a boom axis, 13, a crane pitching center, 14, a stern crane boom, 15, a bow crane boom, 16, limit positions I and 17, limit positions II and 18, a port, 19, a starboard, 20, a stern crane, 21, a bow crane and 22, a platform.
Detailed Description
In order to avoid collision between the suspension arms, improve the rotation safety, widen the application range of the double-crane combined suspension, and simplify the operation process of the suspension crane in lifting rotation, the invention provides a double-crane combined suspension rotation method of a semi-submersible type lifting and disassembling platform, which ensures that the suspension point of a steel wire rope of a hook head of the suspension crane and the suspension point of a lifted cargo are always on the same vertical line in the process of the suspension crane rotating towards the inside of a ship, namely, the distance between the suspension points of the steel wire ropes of the main hooks of the two suspension cranes is kept constant.
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
The specific method comprises the following steps:
as shown in fig. 1, the layout of the twin-crane combined crane is schematically illustrated, the heading of a platform 22 of a semi-submersible type lifting and dismantling platform is taken as the positive direction, the heading left side of a compliant platform 22 is taken as a port, the heading right side of the compliant platform 22 is taken as a starboard, a stern crane and a bow crane are distributed on the starboard side, the bow crane is positioned in front of the stern crane, and the distance between the cranes is D.
As shown in fig. 2, which is a schematic structural diagram of a crane in the patent of the present invention, the crane mainly comprises a mast top swing mechanism 1, a crane mast 2, a boom pitch center 3, a crane swing platform 4, a crane chassis 5, a boom 6, a main hook return rope 7, a main hook 8, an auxiliary hook 9 and a small hook 10. The main hook rope 7 is a variable amplitude steel wire rope. A crane rotary platform 4 is arranged on the crane chassis 5, and a crane mast 2 is arranged on the crane rotary platform 4. The top of a crane mast 2 is provided with a swing mechanism 1, the bottom of the crane mast 2 is provided with a boom pitching center 3, the boom pitching center 3 is provided with a boom 6, and the end part of the boom 6 is sequentially provided with a main hook 8, an auxiliary hook 9 and a small hook 10 from inside to outside. The slewing mechanism 1 is connected with the end part of the suspension arm 6 through a main hook return rope 7. The lifting arm pitching center 3 realizes the pitching of the lifting arm 6 by retracting the main hook return rope 7, and the rotation of the crane is realized by the mast top rotation mechanism 1 and the crane rotation platform 4.
Fig. 3 is a schematic view of the turning radius of the crane, and the calculation formula of the turning radius obtained from the figure is as follows:
in the formula, r is the rotation radius of the crane, L0 is the distance between the rotation axis 11 of the crane and the pitch center 13 of the crane, L is the distance between the gravity center of the member and the pitch center on the axis 12 of the suspension arm, e is the distance between the gravity center of the member and the axis 12 of the suspension arm, r0 is the distance between the suspension point of the auxiliary hook and the center of the pulley, the suspension point of the auxiliary hook is always tangent to the edge of the pulley, r0 needs to be added when the rotation radius of the auxiliary hook is calculated, and gamma is the pitch angle. According to a calculation formula, the rotation radius of the crane can be changed by changing the pitch angle gamma.
As shown in fig. 6, a dual-crane-linked crane rectangular coordinate system is established, with the rotation centers of the bow crane and the stern crane as the origin of coordinates, the main deck surface as the reference point of vertical height, the parallel ship board heading is the forward direction of the X axis, the boom directly facing the port is the forward direction of the Y axis, the rotation of the boom takes the counterclockwise direction as the forward direction, and the boom directly facing the port is 0 degree.
As shown in fig. 7a, the whole process of the double-machine combined crane is abstracted to be a double-rocker mechanism, and as shown in fig. 7b, when the rocker and the connecting rod are collinear, namely the stern suspension arm is parallel to the load or the bow suspension arm is parallel to the load. The rocker is located at the extreme position, specifically, when the boom 14 of the stern crane is parallel to the load, the bow crane reaches the extreme position I16, and when the boom 15 of the bow crane is parallel to the load, the stern crane reaches the extreme position II 17.
The double-machine combined hoisting operation can be divided into two blocks, firstly, the two blocks are hoisted from the outboard, then the two blocks are rotated to the inboard, and the load falls on the deck; secondly, the load crane is rotated to the outboard from the inboard deck, and then the load is unloaded to the semi-submersible ship or other carriers. The first process and the second process are mutually a reverse process. The following is a description of the procedure (i).
The first embodiment is as follows: the invention discloses a double-machine combined crane rotation process which comprises the following steps:
as shown in fig. 8a, the load is at the initial position of rotation, at this time, the initial positions of the two cranes are determined according to the initial rotation angle of the crane and the pitching parameter of the boom, the initial positions of the two cranes are determined by the load, the cranes rotate to the upper side of the load, and the pitching angle of the boom is adjusted, so that the suspension point of the wire rope of the hook head of the auxiliary hook of the crane and the suspension point of the hoisted goods are always on the same plumb line, and the initial positions of the cranes can be determined. And then the crane lifts the load, so that the load is parallel to the ship board, and the load is lifted to a specified height.
As shown in fig. 8b, the bow crane is rotated counterclockwise and the stern crane is rotated counterclockwise. And rotating the bow crane and the stern crane anticlockwise to the designated positions, wherein the suspension point of the stern crane, the bow crane and the rotation center of the stern crane are collinear, and the condition that the suspension arm of the stern crane is parallel to the load can be understood.
As shown in fig. 8c, at this point the stern crane boom 14 is parallel to the load and the bow crane is moved to extreme position I16;
as shown in fig. 8d, the stern crane is rotated counterclockwise and the bow crane is rotated clockwise.
As shown in fig. 8e, at this time, the bow crane boom 15 is parallel to the load, and the stern crane boom 14 moves to the extreme position ii 17;
as shown in fig. 8f, the bow crane is rotated clockwise, and the stern crane is rotated clockwise.
As shown in fig. 8g, the load is now parallel to the side of the ship, reaches the end position, and drops onto the deck.
In the double-crane linkage hoisting rotation process, the rotation angles of the bow crane and the stern crane are always kept in the following relation, wherein r1Is the turning radius of the stern crane, r2Is the radius of rotation of bow crane, theta1Angle of rotation of stern crane from initial position, theta2For bow crane from initial positionThe rotation angle is set, D is the distance between the bow crane and the stern crane rotation center, L1The distance between the hanging points.
Has the advantages that: according to the first embodiment, during the rotation process, the bow crane and the stern crane are rotated to the designated positions, when the bow crane passes through the position parallel to the ship board, the stern crane is positioned on one side of the connecting line of the rotation centers of the two cranes, and when the stern crane passes through the position parallel to the ship board, the bow crane is positioned on one side of the connecting line of the rotation centers of the two cranes, so that the two cranes do not pass through the position parallel to the ship board at the same time. The two cranes do not pass through the position parallel to the ship board at the same time, namely, the moment that the suspension arms of the two cranes are opposite to each other does not exist, so the risk of collision is reduced.
And secondly, in the rotation process, the distance between the main hook steel wire rope suspension points of the two cranes is kept constant, so that the pitch angle of the two cranes is kept constant, namely, the situation shown in figure 5B can not occur, and therefore, the auxiliary hook head steel wire rope suspension point of the crane and the suspension point on the lifted goods are always on the same vertical line. The suspension point of the steel wire rope at the hook head of the crane and the suspension point of the hoisted goods are always on the same plumb line, so that the included angle between the steel wire rope and the plumb line after the crane is hoisted is not easy to exceed a safety threshold value, and the safety is high; thirdly, as shown in fig. 9, in the patent of the invention, the maximum length of the lifted goods theoretically can reach the distance between two cranes and the turning radius of the two cranes, thereby widening the application range of the double-crane combined crane; and fourthly, in the whole rotation process, the operation radius of the crane is always maintained as the initial radius, and in the actual operation process, a crane driver only needs to control the rotation angle of the crane, can realize the movement of the load under the condition of collision of the crane without considering the pitch angle of the crane, avoids the risk of collision of the crane and simplifies the operation process.
Example two: as shown in fig. 9a-9i, when the load length reaches the distance between two cranes plus the turning radius of the two cranes, the turning process of the twin-crane combined crane is as follows:
as shown in fig. 9a, the load is at a rotation initial position, and at this time, according to the initial rotation angle of the crane and the boom pitch parameter, the initial positions of the two cranes are determined, so that the load is parallel to the side of the ship, and the load is lifted to a specified height;
as shown in fig. 9b, the two cranes continue to rotate counterclockwise at equal speeds, and rotate synchronously by the same angle;
as shown in fig. 9c, at this time, the boom 14 of the stern crane is parallel to the load, and the bow crane reaches the limit position i 16;
as shown in fig. 9d, 9e, and 9f, the stern crane is rotated counterclockwise and the bow crane is rotated clockwise;
as shown in fig. 9g, at this time, the bow crane boom 15 is parallel to the load, and the stern crane reaches the limit position ii 17;
as shown in fig. 9h, the two cranes continue to rotate clockwise at equal speeds, and rotate synchronously by the same angle;
as shown in fig. 9i, the crane boom now reaches the end position, dropping the load on the deck.
Claims (9)
1. The double-crane combined hoisting and rotating method of the semi-submersible hoisting and disassembling platform is characterized by comprising the following steps of:
establishing coordinate systems of two cranes
Taking the rotation center of the crane as the origin of the calculation coordinate, taking the main deck surface as a vertical height datum point, and taking the gravity center of the rotation shaft of the suspension arm to the left, upwards and bow as the positive direction; the rotation of the suspension arm takes the anticlockwise direction as the positive direction, and the suspension arm is opposite to the port at 0 degree; the pitching angle of the suspension arm is upward positive, and the pitching angle of the suspension arm in a horizontal state is 0 degree;
secondly, calculating the turning radius of the auxiliary hook of the crane;
(III) determining initial position and end position parameters;
and (IV) hoisting and placing.
2. Semi-submersible according to claim 1The double-machine combined hoisting and rotating method of the hoisting and dismantling platform is characterized in that in the step (II), the rotating radius calculation formula is as follows:
in the formula, r is the turning radius of the auxiliary hook of the crane,
the distance between the rotation axis (11) of the crane and the pitching center (13) of the crane is set, L is the distance between the gravity center of the component and the pitching center on the axis (12) of the suspension arm, e is the distance between the gravity center of the component and the axis (12) of the suspension arm, r0 is the distance between the suspension point of the auxiliary hook and the center of the pulley, and gamma is the pitching angle.
3. The twin-crane combined-crane slewing method for the semisubmersible hoisting and dismantling platform of claim 1, wherein initial rotation angles θ 1 and θ 2 of the crane and a boom elevation parameter γ are determined, and a hoisting radius r, an initial hoisting point position, a load hoisting point distance D and a terminal point position are determined.
4. The double-crane combined hoisting and slewing method for the semi-submersible hoisting and dismantling platform as claimed in claim 1, wherein the hoisting and placing are divided into two processes, namely: hoisting from the outboard, then turning to the inboard, and dropping the load on the deck; the process is two: turning the load crane from the inboard deck to the outboard side, and unloading the load onto a semi-submersible vessel or other carrier; the processes of the first step and the second step are opposite to each other.
5. The twin-crane linkage slewing method for the semisubmersible lifting and dismantling platform of claim 4, wherein the process (I) determines the initial positions of the two cranes according to the initial rotation angle of the cranes and the boom pitch parameters, so that the load is parallel to the ship board, lifts the load to a specified height, rotates the fore crane counterclockwise, rotates the stern crane counterclockwise until the boom (14) of the stern crane is parallel to the load, and at this time, the fore crane moves to the limit position I (16); in the process, the distance between the steel wire rope suspension points of the main hooks of the two cranes is kept constant.
6. The twin-crane linkage slewing method for the semisubmersible lifting and dismantling platform of claim 5, wherein the stern crane is rotated counterclockwise, the bow crane is rotated clockwise until the boom (15) of the bow crane is parallel to the load, at this time, the boom (14) of the stern crane moves to the extreme position II (17), and the distance between the main hook wire rope suspension points of the two cranes is kept constant during the process.
7. The twin-crane jib slewing method for a semisubmersible crane dismantling platform of claim 6, wherein (c) the bow crane is rotated clockwise, and the stern crane is rotated clockwise until the load is parallel to the ship board, and then the final position is reached, and during the process, the distance between the main hook wire rope suspension points of the two cranes is kept constant.
8. The twin-crane slewing method for a semi-submersible lifting and dismantling platform of claim 7 and further characterized by placing the load on the deck.
9. The twin-crane linkage rotary method for the semi-submersible lifting and dismantling platform of claim 6 wherein the rotation angles of the bow crane and the stern crane are always kept
The relationship of (1);
wherein r1 is the turning radius of the stern crane, r2 is the turning radius of the bow crane, theta 1 is the angle of the stern crane rotating from the initial position, theta 2 is the angle of the bow crane rotating from the initial position, D is the distance between the bow crane and the turning center of the stern crane, and L1 is the distance between the hoisting points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401100.7A CN112340605B (en) | 2020-12-04 | 2020-12-04 | Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011401100.7A CN112340605B (en) | 2020-12-04 | 2020-12-04 | Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112340605A true CN112340605A (en) | 2021-02-09 |
| CN112340605B CN112340605B (en) | 2021-08-20 |
Family
ID=74427696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011401100.7A Active CN112340605B (en) | 2020-12-04 | 2020-12-04 | Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112340605B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202201145U (en) * | 2011-07-14 | 2012-04-25 | 烟台中集来福士海洋工程有限公司 | Semi-submersible type hoisting accommodation platform |
| CN103130105A (en) * | 2011-11-24 | 2013-06-05 | 五冶集团上海有限公司 | Method for efficiently dismantling large-scale integrated framework hydraulic machine in low workshop |
| CN103264964A (en) * | 2013-05-31 | 2013-08-28 | 天津港第二港埠有限公司 | Method for lifting fan blades of 35-50 meters in wind power equipment |
| CN106115489A (en) * | 2016-06-16 | 2016-11-16 | 西南交通大学 | The double car of the railway breakdown that a kind of view-based access control model is measured hangs multiple assist in synchronization control method for coordinating |
| CN106629423A (en) * | 2016-10-27 | 2017-05-10 | 泰州三福船舶工程有限公司 | Crane joint-hanging testing device and method |
| CN109019372A (en) * | 2018-08-31 | 2018-12-18 | 中国地质大学（武汉） | A kind of double-crane collaboration Lift-on/Lift-off System load distribution calculation method |
| CN109132898A (en) * | 2018-10-19 | 2019-01-04 | 南京东南建筑机电抗震研究院有限公司 | A kind of construction group tower crane anticollision method for early warning |
| CN210559007U (en) * | 2019-09-05 | 2020-05-19 | 中国葛洲坝集团机械船舶有限公司 | Floating crane ship |
-
2020
- 2020-12-04 CN CN202011401100.7A patent/CN112340605B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202201145U (en) * | 2011-07-14 | 2012-04-25 | 烟台中集来福士海洋工程有限公司 | Semi-submersible type hoisting accommodation platform |
| CN103130105A (en) * | 2011-11-24 | 2013-06-05 | 五冶集团上海有限公司 | Method for efficiently dismantling large-scale integrated framework hydraulic machine in low workshop |
| CN103264964A (en) * | 2013-05-31 | 2013-08-28 | 天津港第二港埠有限公司 | Method for lifting fan blades of 35-50 meters in wind power equipment |
| CN106115489A (en) * | 2016-06-16 | 2016-11-16 | 西南交通大学 | The double car of the railway breakdown that a kind of view-based access control model is measured hangs multiple assist in synchronization control method for coordinating |
| CN106629423A (en) * | 2016-10-27 | 2017-05-10 | 泰州三福船舶工程有限公司 | Crane joint-hanging testing device and method |
| CN109019372A (en) * | 2018-08-31 | 2018-12-18 | 中国地质大学（武汉） | A kind of double-crane collaboration Lift-on/Lift-off System load distribution calculation method |
| CN109132898A (en) * | 2018-10-19 | 2019-01-04 | 南京东南建筑机电抗震研究院有限公司 | A kind of construction group tower crane anticollision method for early warning |
| CN210559007U (en) * | 2019-09-05 | 2020-05-19 | 中国葛洲坝集团机械船舶有限公司 | Floating crane ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112340605B (en) | 2021-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10894701B2 (en) | Crane, vessel comprising such a crane, and a method for up-ending a longitudinal structure | |
| JP3938597B2 (en) | Crane with improved leaving arrangement | |
| NL2024562B1 (en) | A feeder vessel | |
| CN107792303B (en) | Semi-submersible type ocean hoisting platform and operation method thereof | |
| US10906785B2 (en) | Crane for wind turbine blade assembly, a vessel, a hoisting method, and an assembly method | |
| CN109553005B (en) | Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform | |
| CN111620247A (en) | Hoisting method for rudder horn main section of bulk cargo ship | |
| US3945503A (en) | Crane with a variable center rope suspension system | |
| CN110697573B (en) | Crane anti-swing device, control method thereof and crane | |
| CN112340605B (en) | Double-crane combined-crane rotation method for semi-submersible type hoisting and disassembling platform | |
| US20040007552A1 (en) | Mobile handling equipment for piece goods | |
| CN112850516B (en) | Marine hoisting device with movable anti-shaking frame | |
| CN202169997U (en) | Heavy lift vessel with door-shaped trusses | |
| US4171053A (en) | Antipendulation crane | |
| KR20110073273A (en) | Damping joint apparatus for mobile harbor lifting system | |
| GB1595987A (en) | Crane with luffing system suitable for handling both general cargo and cargo containers | |
| CN112456352B (en) | Multi-degree-of-freedom active wave compensation device | |
| WO2022050840A1 (en) | Crane vessel with a crane for hoisting wind turbine components | |
| CN115650082A (en) | Pull block type lifting anti-shaking stabilizing device | |
| CN109665445B (en) | Loading, transporting and conveying process for torch tower crane | |
| CN113120779B (en) | Multifunctional double-layer anti-swing six-degree-of-freedom wave compensation device | |
| US3739922A (en) | Sway-arrest system improvement | |
| CN108750969A (en) | A kind of small-sized ship-carried crane | |
| CN116835466A (en) | Sea and land dual-purpose multifunctional hoisting equipment with modularized end effector | |
| JPH042951Y2 (en) |
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 |