CN113184725A - 一种折臂伸缩式半主动补偿起重机 - Google Patents

一种折臂伸缩式半主动补偿起重机 Download PDF

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CN113184725A
CN113184725A CN202110445746.3A CN202110445746A CN113184725A CN 113184725 A CN113184725 A CN 113184725A CN 202110445746 A CN202110445746 A CN 202110445746A CN 113184725 A CN113184725 A CN 113184725A
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arm
winch
cylinder group
telescopic
crane
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姚磊
王志军
许亮
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Cssc Luzhou Zhenjiang Marine Auxiliary Machinery Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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
    • B66C23/42—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 with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • 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
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
    • B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
    • 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

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Abstract

本发明公开了一种折臂伸缩式半主动补偿起重机，包括基座，基座上设有回转支承，回转支承与液压回转机构相连，回转支承上设有塔架，塔架与固定臂相连，塔架与固定臂之间设有变幅油缸组，固定臂与伸缩臂组之间设有折臂油缸组，伸缩臂组上还设有测量绞车、起升绞车与伸缩油缸组，测量绞车与起升绞车之间设有钢丝绳，钢丝绳穿过伸缩臂组顶部的滑轮与吊钩相连，所述的伸缩油缸组、测量绞车、起升绞车、折臂油缸组、变幅油缸组与液压回转机构均通过液压油路与泵站相连。本发明设计巧妙，存放空间较小，吊机在甲板上存放伸缩吊臂为折臂回收，重量轻，并能在吊机上进行方便布置，由于采用钢丝绳绞车，行程受钢丝绳长度控制，补偿行程较大。

Description

一种折臂伸缩式半主动补偿起重机
技术领域
本发明涉及一种折臂伸缩式半主动补偿起重机。
背景技术
目前市场上船用起重机波浪补偿方式常用的方法主要有以下两种，1、液压油缸的波浪补偿形式：在船用起重机吊臂上增加通过液压油缸的补偿形式来实现，主要波浪补偿的方法是通过补偿油缸来实现船体的垂直位移与液压缸的行程来控制，当波浪补偿开启时，通过PLC进行反馈波浪形态，当波浪为波谷位置抬高时，控制补偿液压缸从原点伸出，起吊的货物提升，其位移和速度参数和母船抬升的位置和速度相同，当母船从波峰下降时，其位移、速度与船体的参数相同。此方法主要适用直臂，并需要较大的安装空间主要适用在大吨位船用起重机上，补偿的行程受限。2、恒张力波浪补偿方式：主要通过恒张力液压绞车来实现被吊小艇的上升和下降补偿，对收放救生艇设备等有显著效果，当救助艇慢慢下放至水面时，恒张力***即可起动，这时救助艇与艇架之间的钢丝绳保持张紧，救助艇跟随波浪运动而始终处于一稳定的位置，直到救助艇与吊钩脱开。当救助艇收回时，恒张力***会使操作变的简单得多，当吊钩接上救助艇(这时的救助艇还在随波浪运动)，艇架操作人员只要选择恒张力工况并待钢丝绳张紧，这样救助艇会始终处于一稳定位置。上述两种补偿方式，可以简单满足大吨位的吊机，自身重量较重，但对空间和精度要求较高的折臂伸缩吊来说，并不太合适。
发明内容
本发明的目的是为了解决以上现有技术的不足，提供一种连接方便的一种折臂伸缩式半主动补偿起重机。
一种折臂伸缩式半主动补偿起重机，包括基座，基座上设有回转支承，回转支承与液压回转机构相连，回转支承上设有塔架，塔架与固定臂相连，塔架与固定臂之间设有变幅油缸组，固定臂与伸缩臂组之间设有折臂油缸组，伸缩臂组上还设有测量绞车、起升绞车与伸缩油缸组，测量绞车与起升绞车之间设有钢丝绳，钢丝绳穿过伸缩臂组顶部的滑轮与吊钩相连，所述的伸缩油缸组、测量绞车、起升绞车、折臂油缸组、变幅油缸组与液压回转机构均通过液压油路与泵站相连。
作为进一步改进，所述的泵站通过管路与吊机本体相连，液压泵站主要由电机、联轴器和液压泵等组成，是吊机的主动力源。在吊机得电时，通过液压泵站向***提供动力。
作为进一步改进，所述的测量绞车与起升绞车上设有卷筒，钢丝绳卷绕在卷筒之上。
作为进一步改进，所述的吊钩包括主钩和辅助吊钩，辅助吊钩与船甲板上的地令相连。
作为进一步改进，所述的基座与船甲板焊接相连。
作为进一步改进，所述的吊臂结构通过折臂伸缩的形式来实现半径的变化和存放。
有益效果：
本发明设计巧妙，存放空间较小，吊机在甲板上存放伸缩吊臂为折臂回收，重量轻，并能在吊机上进行方便布置，由于采用钢丝绳绞车，行程受钢丝绳长度控制，补偿行程较大。
附图说明
图1是一种折臂伸缩式半主动补偿起重机的总体结构示意图；
图2是一种折臂伸缩式半主动补偿起重机的俯视图；
图3是一种折臂伸缩式半主动补偿起重机的控制策略方框图；
图4是控制器的控制流程图；
1.基座2.回转支承3.塔架4.固定臂5.伸缩臂组6.钢丝绳7.吊钩8.泵站9.变幅油缸组10.折臂油缸组11.伸缩油缸组12.起升绞车13.测量绞车14.液压回转机构15.液压操作阀手柄16.遥控手柄。
具体实施方式
为了加深对本发明的理解，下面将结合实施例和附图对本发明作进一步详述，该实施例仅用于解释本发明，并不构成对本发明保护范围的限定。
如图1～4所示，一种折臂伸缩式半主动补偿起重机，包括基座1、回转支承2、塔架3、固定臂4、伸缩臂组5、钢丝绳6、吊钩7、泵站8、变幅油缸组9、折臂油缸组10、伸缩油缸组11、起升绞车12、测量绞车13、液压回转机构14、液压操作阀手柄15和遥控手柄16。
一种折臂伸缩式半主动补偿起重机，包括基座1，基座1上设有回转支承2，回转支承2与液压回转机构14相连，回转支承2上设有塔架3，塔架3与固定臂4相连，塔架3与固定臂4之间设有变幅油缸组9，固定臂4与伸缩臂组5之间设有折臂油缸组10，伸缩臂组5上还设有测量绞车13、起升绞车12与伸缩油缸组11，测量绞车13与起升绞车12之间设有钢丝绳6，钢丝绳6穿过伸缩臂组5顶部的滑轮与吊钩7相连，所述的伸缩油缸组11、测量绞车13、起升绞车12、折臂油缸组10、变幅油缸组9与液压回转机构14均通过液压油路与泵站8相连。
其中，所述的泵站8与吊机本机相连，吊机本机设有遥控手柄16与液压操作阀手柄15。
其中，所述的测量绞车13与起升绞车12上设有卷筒，钢丝绳卷绕在卷筒之上。
其中，所述的吊钩7包括主钩和辅助吊钩，辅助吊钩与船甲板上的地令相连。
其中，所述的基座1与船甲板焊接相连。
其中，所述的吊钩7吊钩装置分主钩和副钩，主钩吊货用，副钩为测量被补给船位移用。
工作方式如下：开启电源，人员控制液压操作阀手柄15或遥控手柄16，通过电动机驱动泵站8，泵站8再给折臂油缸组5、伸缩油缸组11输送动力，从而驱动固定臂4和伸缩臂组5的折臂伸缩和变幅，液压马达驱动起升绞车12卷筒和测量绞车13卷筒上的钢丝绳6起升和下放，主要起重机的波浪补偿功能通过吊机前部测量绞车13，挂钩到被补给船的地令上，检测波浪上下运动的位移数据，通过编码器反馈到起升绞车12，进行波浪补偿。补偿的方法是通过测量吊钩与船体连接好后，主绞车开启波补，起吊上货物后，测量钩脱钩，实现吊机起升回转、伸缩并下放等动作。
总体的主要的控制策略:将相对位置、速度信号引入控制***，作为参数因素实现半主动补偿控制的逻辑控制。当补给货物与补给对象的位置高于补偿行程设定值时，半主动波浪补偿功能关闭，该阶段可以分为手动和自动模式，手动模式时操作者手动实现货物下放，通过手柄控制位置及速度；自动模式时，采用速度控制模式，使用PID控制策略，实现***的稳定性控制；当补给货物与补给对象的位置低于补偿行程设定值时时，该阶段主动波浪补偿功能开启，引入波浪扰动量，采用(速度、加速度)前馈-模糊复合控制实现主动补偿控制的主控制略。
控制器控制流程：控制***采用PLC为控制器，实现吊机控制的各种逻辑和主动波浪补偿控制算法；采用测量绞车检测补给船和被补给船的相对运动位移和速度；采用的I/0点控制各种开关量液压阀，实现吊机的回转、变幅等动作力传感器检测货物的重量；采用PLC；采用遥控操作盒完成吊机工作时的各种操作执行；吊机的主运动采用采用液压绞车的驱动方式，带编码器反馈实现控制闭环控制。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

1.一种折臂伸缩式半主动补偿起重机，其特征在于，包括基座，基座上设有回转支承，回转支承与液压回转机构相连，回转支承上设有塔架，塔架与固定臂相连，塔架与固定臂之间设有变幅油缸组，固定臂与伸缩臂组之间设有折臂油缸组，伸缩臂组上还设有测量绞车、起升绞车与伸缩油缸组，测量绞车与起升绞车之间设有钢丝绳，钢丝绳穿过伸缩臂组顶部的滑轮与吊钩相连，所述的伸缩油缸组、测量绞车、起升绞车、折臂油缸组、变幅油缸组与液压回转机构均通过液压油路与泵站相连。
2.根据权利要求1所述的一种折臂伸缩式半主动补偿起重机，其特征在于，所述的泵站通过管路与吊机本体相连，液压泵站主要由电机、联轴器和液压泵等组成，是吊机的主动力源。在吊机得电时，通过液压泵站向***提供动力。
3.根据权利要求1所述的一种折臂伸缩式半主动补偿起重机，其特征在于，所述的测量绞车与起升绞车上设有卷筒，钢丝绳卷绕在卷筒之上。
4.根据权利要求1所述的一种折臂伸缩式半主动补偿起重机，其特征在于，所述的吊钩包括主钩和辅助吊钩，辅助吊钩与船甲板上的地令相连。
5.根据权利要求1所述的一种折臂伸缩式半主动补偿起重机，其特征在于，所述的基座与船甲板焊接相连。
6.根据权利要求1所述的一种折臂伸缩式半主动补偿起重机，其特征在于，所述的吊臂结构通过折臂伸缩的形式来实现半径的变化和存放。
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