CN115676650A - Active heave compensation device based on force and position combined control - Google Patents
Active heave compensation device based on force and position combined control Download PDFInfo
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- CN115676650A CN115676650A CN202211406596.6A CN202211406596A CN115676650A CN 115676650 A CN115676650 A CN 115676650A CN 202211406596 A CN202211406596 A CN 202211406596A CN 115676650 A CN115676650 A CN 115676650A
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Abstract
The invention provides an active heave compensation device based on force and position combined control, which relates to the technical field of ocean engineering and comprises the following components: wave compensation device, hydraulic pressure station and measurement and control unit, the measurement and control unit is used for monitoring hoist data and controls the action of hydraulic pressure station according to hoist data, the hydraulic pressure station is used for controlling the flexible of pneumatic cylinder among the wave compensation device, wave compensation device includes the movable pulley mechanism and the fixed pulley mechanism that link to each other through the pneumatic cylinder, reciprocal winding has main hoist cable between movable pulley mechanism and fixed pulley mechanism, thereby the pneumatic cylinder is flexible changes the distance between movable pulley mechanism and the fixed pulley mechanism, and then makes lifting hook ground clearance keeps unchangeable. According to the active heave compensation device, the distance from the lifting hook to the ground is kept unchanged by designing the active heave compensation device which is arranged on the crane and is based on force and position combined control, so that the active heave compensation of a hoisted object is realized, and the operation efficiency and the safety of the crane are improved.
Description
Technical Field
The invention relates to the technical field of ocean engineering, in particular to an active heave compensation device based on force and position combined control.
Background
The marine crane is one of core equipment in the field of ocean engineering, and due to the influences of factors such as nonlinear movable base excitation of a ship, sea wind wave flow and the like and the underactuated characteristic of the crane, the problem of vertical swing of a suspended object is very prominent. Once the suspended load swings up and down, it collides with other equipment or structures of the ship, and the result is catastrophic. Therefore, the heave compensation device is needed to offset the vertical shaking of the hoisted object, and further the collision between the hoisted object and other equipment or structures is avoided.
The first existing solution is passive heave compensation, the passive heave compensation depends on the lifting force of sea waves and the gravity of a ship to jointly control a hydraulic cylinder to move, the ship continuously compresses and releases a compressed gas cylinder during heave movement to push a piston of the hydraulic cylinder, and the compensation mode is low in precision. Another way is active heave compensation, which arranges the marine crane on a motion compensation platform that can compensate six-degree-of-freedom motions of the ship, and this compensation method has high precision and is suitable for all types of cranes, but the weight of the crane and the load is borne by the motion compensation platform, which results in excessive power consumption.
Disclosure of Invention
According to the technical problems of low compensation precision or excessive power consumption of the two compensation modes, the active heave compensation device based on force and position combined control is provided. The invention monitors the crane signal through the measurement and control unit, and controls the extension and retraction of the hydraulic cylinder so as to control the length of the main sling between the movable pulley mechanism and the fixed pulley mechanism, thereby completing the deep-sinking compensation function of the hoisting weight.
The technical means adopted by the invention are as follows:
an active heave compensation device based on force level joint control comprises: wave compensation device, hydraulic pressure station and measurement and control unit, the measurement and control unit is used for monitoring hoist data and controls the action of hydraulic pressure station according to hoist data, the hydraulic pressure station is used for controlling the flexible of the pneumatic cylinder among the wave compensation device, wave compensation device includes the movable pulley mechanism and the fixed pulley mechanism that link to each other through the pneumatic cylinder, reciprocal winding has main hoist cable between movable pulley mechanism and fixed pulley mechanism, the one end of main hoist cable links to each other with the lifting hook, thereby the pneumatic cylinder is flexible to change the distance between movable pulley mechanism and the fixed pulley mechanism, and then makes lifting hook ground clearance keeps unchangeable.
Furthermore, the wave compensation device also comprises a fixed box frame, the fixed box frame comprises a flat plate end and a sliding rail end, a fixed pulley mechanism is fixed on the upper surface of the flat plate end, and the sliding rail at the sliding rail end is connected with a movable pulley mechanism in a sliding manner.
Further, the movable pulley mechanism comprises a first pulley block, a movable pulley mechanism main body and a roller, the first pulley block and the roller are sequentially arranged inside the movable pulley mechanism main body from top to bottom, the roller is arranged on the sliding rail, and the main sling is wound on the first pulley block in a reciprocating mode.
Further, the hydraulic cylinder comprises a hydraulic cylinder main body, one end of the hydraulic cylinder main body is provided with a first hydraulic cylinder hinge point, the first hydraulic cylinder hinge point is connected with the movable pulley mechanism, the other end of the hydraulic cylinder main body is provided with a second hydraulic cylinder hinge point, the second hydraulic cylinder hinge point is connected with the fixed pulley mechanism, the lower end of the hydraulic cylinder is connected with a high-pressure oil way, and the high-pressure oil way is connected with the hydraulic station through a pipeline.
Furthermore, the fixed pulley mechanism comprises a fixed pulley mechanism main body, a second pulley block and a fixing bolt, the second pulley block is arranged in the fixed pulley mechanism main body, the lower part of the fixed pulley main body is connected with the flat end of the fixed box frame through the fixing bolt, and the main sling is wound on the second pulley block in a reciprocating manner.
Furthermore, a bolt hole is formed in the fixed box frame, and the wave compensation device is fixed to the main arm of the crane through the bolt hole.
Furthermore, a displacement sensor used for acquiring a displacement signal of the hydraulic cylinder is arranged on the hydraulic cylinder.
Further, the crane data comprises the lifting speed of the crane, the amplitude variation angle of the crane, the speed of the crane, the length change of the main sling and the received ship heave motion signal.
Compared with the prior art, the invention has the following advantages:
compared with a motion compensation platform, the compensation device is arranged on the main arm of the crane, so that the whole crane is not required to be compensated while the compensation precision is ensured, only the hoisted goods are compensated, and the power consumption required by compensation is reduced;
compared with passive heave compensation, the active compensation device is provided with the measurement and control unit and the hydraulic station, and the measurement and control unit controls the hydraulic station and the hydraulic cylinder so as to change the length of a main sling between the movable pulley mechanism and the fixed pulley mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of the heave compensation apparatus of the present invention.
Fig. 3 is a schematic structural diagram of the movable pulley mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the hydraulic cylinder of the present invention.
Fig. 5 is a schematic structural diagram of the fixed pulley mechanism of the present invention.
FIG. 6 is a schematic view of the structure of the fixed box frame of the present invention.
In the figure: 1. a heave compensation device; 2. a hydraulic station; 3. a measurement and control unit; 4. a hydraulic cylinder; 41. a hydraulic cylinder main body; 42. a first hydraulic cylinder hinge point; 43. the hinge point of the second hydraulic cylinder; 44. a high-pressure oil path; 5. a movable pulley mechanism; 51. a first pulley block; 52. a movable pulley mechanism main body; 53. a roller; 6. a fixed pulley mechanism; 61. a stationary pulley mechanism main body; 62. a second pulley block; 63. fixing the bolt; 7. a main sling; 8. fixing the box frame; 81. a flat end; 82. a slide rail end; 83. bolt holes; 9. a crane jib.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "above … …", "above … …", "above … … upper surface", "above", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1 to 6, the present invention provides an active heave compensation apparatus based on force level joint control, which is characterized in that the apparatus comprises: the device comprises a wave compensation device 1, a hydraulic station 2 and a measurement and control unit 3, wherein the measurement and control unit 3 is used for monitoring crane data and controlling the hydraulic station 2 to act according to the crane data, and the crane data comprises the lifting speed, the amplitude angle and the speed of the crane, the length change of a main sling and the wave motion of a ship. The hydraulic station 2 is used for controlling the expansion and contraction of a hydraulic cylinder 4 in the wave compensation device 1, the wave compensation device 1 comprises a movable pulley mechanism 5 and a fixed pulley mechanism 6 which are connected through the hydraulic cylinder 4, a main sling 7 is wound between the movable pulley mechanism 5 and the fixed pulley mechanism 6 in a reciprocating mode, one end of the main sling 7 is connected with a lifting hook, and the hydraulic cylinder 4 expands and contracts to change the distance between the movable pulley mechanism 5 and the fixed pulley mechanism 6, so that the length of the main sling 7 is changed. The wave compensation device 1 further comprises a fixed box frame 8, the fixed box frame 8 comprises a flat plate end 81 and a sliding rail end 82, a fixed pulley mechanism 6 is fixed on the upper surface of the flat plate end 81, and the sliding rail 82 of the sliding rail end is connected with a movable pulley mechanism 5 in a sliding mode. The fixed box frame 8 is provided with a bolt hole 83, and the active heave compensation device 1 is fixed on the crane main arm 9 through the bolt hole 83. The fixed box frame 8 can be packaged for convenient installation.
The movable pulley mechanism 5 comprises a first pulley block 51, a movable pulley mechanism main body 52 and a roller 53, the first pulley block 51 and the roller 53 are sequentially arranged inside the movable pulley mechanism main body 52 from top to bottom, the roller 53 is arranged on a sliding rail, and the main sling 7 is wound on the first pulley block 51 in a reciprocating manner.
The hydraulic cylinder 4 comprises a hydraulic cylinder main body 41, a first hydraulic cylinder hinge point 42 is arranged at one end of the hydraulic cylinder main body 41, the first hydraulic cylinder hinge point 42 is connected with the movable pulley mechanism 5, a second hydraulic cylinder hinge point 43 is arranged at the other end of the hydraulic cylinder main body 41, the second hydraulic cylinder hinge point 43 is connected with the fixed pulley mechanism 6, a high-pressure oil way 44 is connected to the lower end of the hydraulic cylinder 4, and the high-pressure oil way 44 is connected with the hydraulic station 2 through a pipeline. And a displacement sensor for acquiring a hydraulic cylinder displacement signal is arranged on the hydraulic cylinder 4.
The fixed pulley mechanism 6 comprises a fixed pulley mechanism main body 61, a second pulley block 62 and a fixing bolt 63, the second pulley block 62 is arranged inside the fixed pulley mechanism main body 61, the lower part of the fixed pulley mechanism main body 61 is connected with a flat plate end 81 of the fixed box frame 8 through the fixing bolt 63, and the main sling 7 is wound on the second pulley block 62 in a reciprocating manner.
When the crane works normally, the measurement and control unit 3 can monitor the lifting speed, the amplitude angle, the speed and the length change of a main sling, the hydraulic cylinder 4 can stretch out and draw back by controlling the hydraulic station 6 to act, the relative position between the movable pulley mechanism 5 and the fixed pulley mechanism 6 is changed, the length of the main sling 7 between the movable pulley mechanism 5 and the fixed pulley mechanism 6 is further adjusted, the real-time adjustment of the length of the main sling 7 is completed, the ground clearance of the lifting hook is kept unchanged, and the active compensation function of the lifting weight is realized.
The crane no-action (when the suspended object is suspended) measurement and control unit 3 realizes the active wave compensation function of the suspended weight according to the wave motion signal of the ship. The active heave compensation device based on force position combined control can keep a safe distance between a suspended object and a receiving platform (or a ship) and prevent the collision between a suspended weight and the receiving platform (or the ship). This device simple structure changes the distance between movable pulley mechanism 5 and the quiet pulley mechanism 6 through hydraulic pressure station 6 drive pneumatic cylinder 4, realizes the real-time adjustment of 7 length of main hoist cable, and then realizes the initiative wave compensation of hanging the thing, and active wave heave compensation device based on power position joint control can install on hoist davit 9, also can arrange according to the actual conditions at scene, can effectively improve hoist operating efficiency and security.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. An active heave compensation device based on force-level joint control, comprising: wave compensation device (1), hydraulic pressure station (2) and measurement and control unit (3), measurement and control unit (3) are used for monitoring hoist data and according to hoist data control hydraulic pressure station (2) action, hydraulic pressure station (2) are used for controlling the flexible of pneumatic cylinder (4) in wave compensation device (1), wave compensation device (1) includes movable pulley mechanism (5) and fixed pulley mechanism (6) that link to each other through pneumatic cylinder (4), reciprocal winding has main hoist cable (7) between movable pulley mechanism (5) and fixed pulley mechanism (6), the one end of main hoist cable (7) links to each other with the lifting hook, thereby pneumatic cylinder (4) stretch out and draw back and change the distance between movable pulley mechanism (5) and fixed pulley mechanism (6), and then make lifting hook ground clearance keeps unchangeable.
2. The active heave compensation device based on force-level joint control according to claim 1, wherein the heave compensation device (1) further comprises a fixed box frame (8), the fixed box frame (8) comprises a flat plate end (81) and a sliding rail end (82), a fixed pulley mechanism (6) is fixed on the upper surface of the flat plate end (81), and the sliding rail (82) at the sliding rail end is slidably connected with a movable pulley mechanism (5).
3. The active heave compensation device according to claim 2, wherein the movable pulley mechanism (5) comprises a first pulley block (51), a movable pulley mechanism main body (52) and a roller (53), the first pulley block (51) and the roller (53) are sequentially arranged inside the movable pulley mechanism main body (52) from top to bottom, the roller (53) is arranged on a sliding rail, and the main sling (7) is wound on the first pulley block (51) in a reciprocating manner.
4. The active heave compensation device based on force-level combined control according to claim 2, wherein the hydraulic cylinder (4) comprises a hydraulic cylinder main body (41), one end of the hydraulic cylinder main body (41) is provided with a first hydraulic cylinder hinge point (42), the first hydraulic cylinder hinge point (42) is connected with the movable pulley mechanism (5), the other end of the hydraulic cylinder main body (41) is provided with a second hydraulic cylinder hinge point (43), the second hydraulic cylinder hinge point (43) is connected with the fixed pulley mechanism (6), the lower end of the hydraulic cylinder (4) is connected with a high-pressure oil path (44), and the high-pressure oil path (44) is connected with the hydraulic station (2) through a pipeline.
5. The active heave compensation device based on force and position combined control according to claim 1, wherein the static pulley mechanism (6) comprises a static pulley mechanism body (61), a second pulley block (62) and a fixing bolt (63), the second pulley block (62) is arranged inside the static pulley mechanism body (61), the lower part of the static pulley mechanism body (61) is connected with a flat end (81) of the fixed box frame (8) through the fixing bolt (63), and the main sling (7) is wound on the second pulley block (62) in a reciprocating manner.
6. The active heave compensation device based on force-level joint control according to claim 2, characterized in that a bolt hole (83) is arranged on the fixed box frame (8), and the active heave compensation device (1) is fixed on the crane main arm (9) through the bolt hole (83).
7. The active heave compensation device based on force-level joint control according to claim 1, characterized in that a displacement sensor is arranged on the hydraulic cylinder (4) to collect a hydraulic cylinder displacement signal.
8. The active heave compensation apparatus based on force-level joint control according to claim 1, wherein the crane data comprises a lifting speed of a crane, a luffing angle of the crane, a speed of the crane, a change in ground clearance length of a main sling, and a received vessel heave motion signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211406596.6A CN115676650A (en) | 2022-11-10 | 2022-11-10 | Active heave compensation device based on force and position combined control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211406596.6A CN115676650A (en) | 2022-11-10 | 2022-11-10 | Active heave compensation device based on force and position combined control |
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| Publication Number | Publication Date |
|---|---|
| CN115676650A true CN115676650A (en) | 2023-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211406596.6A Pending CN115676650A (en) | 2022-11-10 | 2022-11-10 | Active heave compensation device based on force and position combined control |
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| CN (1) | CN115676650A (en) |
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- 2022-11-10 CN CN202211406596.6A patent/CN115676650A/en active Pending
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