CN113526375B - Wave compensation function verification device - Google Patents
Wave compensation function verification device Download PDFInfo
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- CN113526375B CN113526375B CN202110710186.XA CN202110710186A CN113526375B CN 113526375 B CN113526375 B CN 113526375B CN 202110710186 A CN202110710186 A CN 202110710186A CN 113526375 B CN113526375 B CN 113526375B
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- crane
- wave compensation
- compensation function
- test
- laser sensor
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- 238000012795 verification Methods 0.000 title claims abstract description 28
- 238000012360 testing method Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the field of marine ship crane debugging, in particular to a crane wave compensation function verification device, which is tested by laser, grating and a laser sensor, wherein the grating and the laser sensor are arranged in the same device, the device is provided with bayonet and fastening bolts with movable two ends, the front surface of the device is a rectangular grating which is arranged in parallel and at intervals, the laser sensor is arranged on the surface opposite to the grating, and the laser sensor is fixed on a weight hung by a crane through the movable bayonet and the movable fastening bolts. The test is carried out twice, the wave compensation function is turned off in the first test, the laser light source is turned on, and at the moment, the laser sensor acquires an image; the wave compensation function is started in the second test, the laser light source is started, and at the moment, the laser sensor acquires an image; the number of peaks in the two images is analyzed to realize verification of the crane wave compensation function, and the testing method is simple and efficient and can improve the testing efficiency.
Description
Technical Field
The invention relates to the field of marine ship crane debugging, and particularly provides a crane wave compensation function verification method based on a laser device.
Background
Since the offshore resources are abundant, the offshore economy develops rapidly, six degrees of freedom of movement can be generated under the action of sea waves when the ship operates on the sea, the safety of the ship offshore operation is seriously affected, the operation content with high stability requirements on the ship is affected, lifting equipment such as a crane on the ship is not very stable, objects can be placed at preset positions, and therefore the crane is provided with a wave compensation system, and the functional effectiveness of the system needs to be tested.
The Chinese patent publication No. CN107651566A discloses a crane wave compensation function verification method, but only the wave compensation function in the heave direction can be verified, and the rope mark and the underwater robot are used for testing on the seabed, so that the great instability of the rope caused by the submarine water flow is not considered, and the underwater robot is low in manufacturing cost.
When the ship crane is used for loading and unloading cargoes, the motions in the directions of heave, bow, roll, pitching, swaying and pitching are generated, so that after the wave compensation function is started, verification is required to be carried out on the directions, test equipment is required to be stable and reliable as much as possible, and meanwhile, the device can be used for verification on weights with different sizes.
Disclosure of Invention
The invention aims to provide a marine crane wave compensation function verification device, which aims to solve the problem of verification of wave compensation functions in different directions when a crane works at sea.
In order to solve the problems, the technical scheme of the invention is as follows:
a marine crane wave compensation function verification device comprises the following steps:
1) The function verification of the crane wave compensation system is carried out on the ship body, and the crane wave compensation system is tested on the basis of the load of the crane;
2) A laser light source is arranged at a proper position on the ship body and is fixed on the ship body to keep vertical to the ground;
3) Manufacturing a grating device, wherein the device is provided with a bayonet and a fastening bolt, the two ends of the bayonet and the fastening bolt are movable, the front surface of the device is provided with rectangular gratings which are arranged in parallel at intervals, a laser sensor is arranged on the surface opposite to the gratings, and the laser sensor is fixed on a weight hung on a crane through the movable bayonet and the movable fastening bolt;
4) Before the test, placing a heavy object at a proper height through a crane, enabling a laser light source to be positioned at the center of the heavy object as much as possible, vertically installing a grating device with a movable bayonet on one side of the heavy object facing the light source through a fastening bolt, performing the test twice, wherein the test time of the two times is the same, closing a wave compensation function in the first test, and starting the laser light source, and at the moment, acquiring an image by a laser sensor; the wave compensation function is started in the second test, the laser light source is started, and at the moment, the laser sensor acquires an image; the verification of the crane wave compensation function is realized by analyzing the number of peaks in the two images.
The grating device is provided with bayonets with two movable ends, so that the grating device can adapt to weights with different sizes for testing, and the fastening bolts penetrate through the bayonets to achieve the fixing effect.
Preferably, the grating is a rectangular grating arranged transversely at parallel intervals and opposite to the front surface on which the laser sensor is mounted.
Compared with the prior art, the invention has the beneficial effects that:
according to the crane wave compensation function verification device, before a test, a heavy object is placed at a proper height through a crane, a laser light source is positioned at the center of the heavy object as much as possible, a grating device with a movable bayonet is vertically arranged on one side of the heavy object facing the light source through a fastening bolt, the test is carried out twice, the test time is the same for the two times, the wave compensation function is closed in the first test, the laser light source is started, and an image is acquired by a laser sensor; the wave compensation function is started in the second test, the laser light source is started, and at the moment, the laser sensor acquires an image; the verification of the crane wave compensation function is realized by analyzing the number of peaks in the two images. The test device not only can adapt to the tests of weights with different sizes, but also can verify the compensating function effects of the directions of rolling, pitching and the like besides verifying the heave direction by transversely mounting the grating device on different surfaces of the weights.
Drawings
The invention is further described with reference to the accompanying drawings and specific embodiments:
FIG. 1 is a schematic diagram of a verification device of a crane wave compensation system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the grating device at A in FIG. 1;
FIG. 3 is a schematic diagram of a method for verifying a crane wave compensation function according to an embodiment of the present invention;
fig. 4 is a graph of peaks generated in experiments by a laser sensor in a grating device.
Detailed Description
The invention provides a wave compensation function verification device for a ship crane, which is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become more apparent from the following description and from the claims. It is noted that the drawings are in a very simplified form and utilize non-precise ratios, and are intended to facilitate a convenient, clear, description of the embodiments of the invention.
The invention has the core ideas that the crane wave compensation function verification device based on the laser device is stable and reliable in structure, not only can adapt to the tests of weights with different sizes, but also can verify the compensation function effects of rolling, pitching and the like by transversely mounting the grating device on different surfaces of the weights, and can verify the heave direction.
As shown in fig. 1, the embodiment provides a crane wave compensation function verification device based on a laser device, and the verification process includes the following steps:
1) The function verification of the crane wave compensation system is carried out on the ship body 8, and the test is carried out on the basis of the load of the crane 1;
2) A laser source 7 is arranged at a proper position on the ship body and is fixed on the ship body to keep vertical to the ground;
3) Manufacturing a grating device A, wherein the device is provided with two movable bayonets 3 at two ends, the two bayonets 3 are parallel and can move up and down freely in a certain range, concentric round holes on the two bayonets 3 are used for enabling a fastening bolt 4 to pass through, the front surface of the grating device A is provided with rectangular gratings 6 which are arranged in parallel and at intervals, a laser sensor 5 is arranged on the surface opposite to the gratings 6, the shadow part of the gratings 6 enables laser to not pass through, so that the laser sensor 5 can receive an image with a peak value, and the grating device A is fixed on a weight 2 hung on a crane through the movable bayonets 3 and the fastening bolt 4;
4) Before the test, a heavy object is placed at a proper height through a crane 1, a laser light source 7 is positioned at the center of the heavy object 2 as much as possible, a grating device with a movable bayonet 3 is vertically arranged on one side of the heavy object 2 facing the laser light source 7 through a fastening bolt 4, the test is carried out twice, the test time is the same for the two times, the wave compensation function is closed in the first test, the laser light source 7 is started, and at the moment, an image is acquired by a laser sensor 5; in the second test, the wave compensation function is started, the laser light source 7 is started, and at the moment, the laser sensor 5 acquires an image; the verification of the crane wave compensation function is realized by analyzing the number of peaks in the two images.
The grating device is provided with bayonets with two movable ends, so that the grating device can adapt to weights with different sizes for testing, and the fastening bolts penetrate through the bayonets to achieve the fixing effect.
Preferably, the grating is a rectangular grating arranged transversely at parallel intervals and opposite to the front surface on which the laser sensor is mounted.
According to the crane wave compensation function verification device, before a test, a heavy object is placed at a proper height through a crane, a laser light source is positioned at the center of the heavy object as much as possible, a grating device with a movable bayonet is vertically arranged on one side of the heavy object facing the light source through a fastening bolt, the test is carried out twice, the test time is the same for the two times, the wave compensation function is closed in the first test, the laser light source is started, and an image is acquired by a laser sensor; the wave compensation function is started in the second test, the laser light source is started, and at the moment, the laser sensor acquires an image; the verification of the crane wave compensation function is realized by analyzing the number of peaks in the two images. The test device not only can adapt to the tests of weights with different sizes, but also can verify the compensating function effects of the directions of rolling, pitching and the like besides verifying the heave direction by transversely mounting the grating device on different surfaces of the weights.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (3)
1. A method for verifying a wave compensation function of a ship crane comprises the following steps:
1) The function verification of the crane wave compensation system is carried out on the ship body, and the crane wave compensation system is tested on the basis of the load of the crane;
2) A laser light source is arranged at a proper position on the ship body and is fixed on the ship body to keep vertical to the ground;
3) Manufacturing a grating device, wherein the device is provided with a bayonet and a fastening bolt, the two ends of the bayonet and the fastening bolt are movable, the front surface of the device is provided with rectangular gratings which are arranged in parallel at intervals, a laser sensor is arranged on the surface opposite to the gratings, and the laser sensor is fixed on a weight hung on a crane through the movable bayonet and the movable fastening bolt;
4) Before the test, placing a heavy object at a proper height through a crane, enabling a laser light source to be positioned at the center of the heavy object as much as possible, vertically installing a grating device with a movable bayonet on one side of the heavy object facing the light source through a fastening bolt, performing the test twice, wherein the test time of the two times is the same, closing a wave compensation function in the first test, and starting the laser light source, and at the moment, acquiring an image by a laser sensor; the wave compensation function is started in the second test, the laser light source is started, and at the moment, the laser sensor acquires an image; the verification of the crane wave compensation function is realized by analyzing the number of peaks in the two images;
5) The method is used for compensating function verification of the heave direction; when the grating device is transversely mounted on different sides of the weight, a verification of the compensation function of the roll and pitch directions is achieved.
2. The method for verifying the crane wave compensation function according to claim 1, wherein the grating device is provided with bayonets with movable ends, so that the method can adapt to tests of weights with different sizes, and the fastening bolts penetrate through the bayonets to achieve the effect of fixing.
3. The method for verifying the crane wave compensation function according to claim 1, wherein the grating is a rectangular grating which is arranged in parallel at a lateral direction and is opposite to the front surface on which the laser sensor is mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110710186.XA CN113526375B (en) | 2021-06-25 | 2021-06-25 | Wave compensation function verification device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110710186.XA CN113526375B (en) | 2021-06-25 | 2021-06-25 | Wave compensation function verification device |
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| CN113526375A CN113526375A (en) | 2021-10-22 |
| CN113526375B true CN113526375B (en) | 2023-11-24 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5190107A (en) * | 1991-04-23 | 1993-03-02 | Shell Oil Company | Heave compensated support system for positioning subsea work packages |
| EP2123588A1 (en) * | 2008-05-21 | 2009-11-25 | Liebherr-Werk Nenzing GmbH | Crane control with active swell sequence |
| CN106875815A (en) * | 2017-03-23 | 2017-06-20 | 上海海事大学 | A kind of active heave compensation experimental system for simulating platform |
| CN107651566A (en) * | 2017-10-19 | 2018-02-02 | 中船黄埔文冲船舶有限公司 | A kind of crane compensation of undulation function verification method |
| CN108946517A (en) * | 2018-08-03 | 2018-12-07 | 武汉船用机械有限责任公司 | A kind of test method of active compensation crane |
| CN110668328A (en) * | 2019-10-10 | 2020-01-10 | 中船黄埔文冲船舶有限公司 | Ship compensation crane precision testing method |
-
2021
- 2021-06-25 CN CN202110710186.XA patent/CN113526375B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5190107A (en) * | 1991-04-23 | 1993-03-02 | Shell Oil Company | Heave compensated support system for positioning subsea work packages |
| EP2123588A1 (en) * | 2008-05-21 | 2009-11-25 | Liebherr-Werk Nenzing GmbH | Crane control with active swell sequence |
| CN106875815A (en) * | 2017-03-23 | 2017-06-20 | 上海海事大学 | A kind of active heave compensation experimental system for simulating platform |
| CN107651566A (en) * | 2017-10-19 | 2018-02-02 | 中船黄埔文冲船舶有限公司 | A kind of crane compensation of undulation function verification method |
| CN108946517A (en) * | 2018-08-03 | 2018-12-07 | 武汉船用机械有限责任公司 | A kind of test method of active compensation crane |
| CN110668328A (en) * | 2019-10-10 | 2020-01-10 | 中船黄埔文冲船舶有限公司 | Ship compensation crane precision testing method |
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| CN113526375A (en) | 2021-10-22 |
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