CN207347037U - A kind of new Active Compensation loop wheel machine system - Google Patents
A kind of new Active Compensation loop wheel machine system Download PDFInfo
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- CN207347037U CN207347037U CN201720748610.9U CN201720748610U CN207347037U CN 207347037 U CN207347037 U CN 207347037U CN 201720748610 U CN201720748610 U CN 201720748610U CN 207347037 U CN207347037 U CN 207347037U
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- wheel machine
- loop wheel
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Abstract
A kind of new Active Compensation loop wheel machine system is the utility model is related to, which is installed on ship；It is characterized in that：Including loop wheel machine base, suspension arm mechanism, winch, swing mechanism and micro- inertial navigation sensor；When the present apparatus at sea lifts cargo, the kinematic parameter for waving and heaving of loop wheel machine is measured by micro- inertial navigation sensor and is converted into digital signal, control system is transferred to be handled, control system calculates the compensation rate waved and heaved, servo valve is realized on being waved and being heaved the loop wheel machine real-Time Compensation influenced according to the movement of the Digital Signals hydraulic motor after processing；The utility model can be compensated accurately and rapidly be subject to waving the loop wheel machine that is influenced with heave movement, while takes into account cargo hoisting function, allow loop wheel machine safely and efficiently to perform lifting task under complicated sea situation；The present apparatus has the characteristics that compensation range is wide, reliability is high, accurate quick.
Description
Technical field
It the utility model is related to loop wheel machine field, more particularly to a kind of new Active Compensation loop wheel machine system.
Background technology
Seaborne supply is the important leverage of the safe and efficient operation to marine material supply and ship loop wheel machine platform.Due to face
Face the influence of international economy crisis, global economic development slows down, oneself becomes the important leverage of development of all countries economy to resource, and ocean provides
Source is enriched, oneself becomes the important tool of exploiting ocean resource to marine engineering equipment with high performance, therefore need to increase to ocean
Area research gos deep into, and ship seaborne supply has seemed ever more important, and seaborne supply has diversity, and seaborne supply is equipped with horizontal stroke
Equipped to supply equipment, longitudinal replenishment and by supply equipment and inflow equipment etc..
Compensation of undulation is divided into active heave compensation and passive type compensation of undulation.Active heave compensation refers to pass through sensing
Device detects the parameters such as each rolling as caused by wave of moment ship, pitching and heave, then controls hydraulic pressure according to compensation rate
The work of cylinder and hydraulic motor compensates waving for hull；Passive type compensation of undulation is mended by increasing in existing equipment
Repay device and carry out compensation of undulation.In the equipment of Active Compensation, stabilized platform is preferable to the compensation effect of roll and pitch, to rising
Heavy compensation effect is poor, and the compensation response of stabilized platform is poor.Such as large range of liter is compensated using stabilized platform
It is heavy to change the hydraulic cylinder, it is necessary to very long, undoubtedly add cost, reduce the stability of system；General loop wheel machine can only be to ship
Oceangoing ship carries out heave compensation, and the roll and pitch of ship can not be implemented to compensate.
A kind of loop wheel machine with multiple degrees of freedom active compensation of undulation as described in Chinese patent 201610113747.7
Device, it is characterized in that：Bottom is integrally fixed at the circular silent flatform on the deck of ship, is circular directly over circular silent flatform
Moving platform, circular moving platform are fixedly connected with loop wheel machine, connect six servoBcylinders between circular silent flatform and circular moving platform, each watch
Take cylinder upper end and one the second candan universal joint connection circle is passed through by the circular moving platform of the first candan universal joint connection, lower end
Shape silent flatform, circular silent flatform middle position are equipped with attitude transducer；A linear movement pick-up is housed on each servoBcylinder,
Attitude transducer output terminal connects motion controller by signal wire, and respectively connection one is right for each servoBcylinder in six servoBcylinders
The electrohydraulic servo valve answered, electrohydraulic servo valve connects motion controller after being sequentially connected in series power amplifier, D/A modules, described in six
Each linear movement pick-up in linear movement pick-up respectively connects motion controller after an A/D module.
Although above-mentioned patent solves the problems, such as the Active Compensation of loop wheel machine to a certain extent, which employs largely
ServoBcylinder cause complex redundancy, of high cost and stability is poor.
A kind of new Active Compensation loop wheel machine is needed to be carried out in the rolling to ship, pitching and heave according to above-mentioned condition big
Lifting task is performed while scope compensates, stability is good, simple in structure.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of new Active Compensation loop wheel machine system, can realize pair
Rolling, pitching and heave carry out performing lifting task while real-Time Compensation, make more steady hoisting process, safety and structure letter
List, stability are good.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of new Active Compensation loop wheel machine system,
The Active Compensation loop wheel machine system is installed on ship；Its innovative point is：Including loop wheel machine base, suspension arm mechanism, winch, turn-around machine
Structure and micro- inertial navigation sensor；
The suspension arm mechanism is installed on loop wheel machine base, and suspension arm mechanism includes a vertical arms being vertically arranged and the company of inclination
It is connected on the oblique arm of vertical arms upper end；A reinforcing rib is provided between the oblique arm and vertical arms；The top of the oblique arm
It is provided with first pulley；The top of the vertical arms is provided with second pulley；
The winch is arranged in vertical arms, winch include winch support, reel, drawworks brake, the first hydraulic motor and
Winch encoder；The winch support is connected with vertical arms, and reel is arranged on can by the first fluid motor-driven in winch support
Rotated around winch support, the drawworks brake is located at the outside of winch support；The winch encoder is arranged on winch support
Outside；
The swing mechanism is arranged in the vertical arms of suspension arm mechanism and passes through second positioned at the lower section of winch, swing mechanism
Fluid motor-driven；The swing mechanism includes rotary encoder, worm gear and worm screw；The rotary encoder is connected to worm screw
One end, worm gear coordinate with worm-drive, and worm gear rotates under the driving of the second hydraulic motor；
Micro- inertial navigation sensor is arranged on loop wheel machine base.
Further, the winch is by motion controller conveying signal driving.
Further, micro- inertial navigation sensor measurement is caused the rolling, pitching and heave attitude data of loop wheel machine by stormy waves,
By the attitude data real-time Transmission measured to motion controller, the rolling, pitching and heave of ship are calculated by motion controller
By the data variation of coupling operation generation in vertical direction, and these data with being carrying out lifting task in controller
Data carry out computing, and operation result is converted into signal instruction and real-time Transmission to winch, by the positive and negative rotation of winch and
Weight position and speed that can be on loop wheel machine when velocity variations are in real time to be influenced loop wheel machine by rolling, pitching and heave be mended
Repay.
Further, first hydraulic motor and the second hydraulic motor provide hydraulic power by hydraulic pump and form hydraulic pressure
Circuit.
Further, the hydraulic circuit includes fuel tank, filter, hydraulic pump, overflow valve, the first non-return valve, first
Servo valve, the first hydraulic motor, the second non-return valve, the second servo valve and the second hydraulic motor；The fuel tank, filter and liquid
Press pump is sequentially connected in series to form working connection, and the output terminal of the overflow valve and hydraulic pump is connected to form overflow branch；Described first is single
It is sequentially connected in series to form the first hydraulic circuit to ball valve, the first servo valve and the first hydraulic motor；Second non-return valve, second
Servo valve and the second hydraulic motor are sequentially connected in series to form the second hydraulic circuit；First hydraulic oil and the second hydraulic circuit difference
It is connected to the output terminal of hydraulic pump.
Further, set respectively on the position that first hydraulic circuit is connected with the second hydraulic circuit with hydraulic pump output
It is equipped with the first control valve and the second control valve；First hydraulic circuit is turned on the second hydraulic circuit.
Further, micro- inertial navigation sensor, winch encoder, rotary encoder and the first hydraulic motor and second
Hydraulic motor provides hydraulic power formation hydraulic circuit by hydraulic pump and is controlled by MOOG control systems.
Further, it is connected between the first pulley, second pulley and reel by steel wire rope；The one of the steel wire rope
End is connected with weight, and the other end of steel wire rope is connected on reel.
The utility model has the advantage of：
1）For the loop wheel machine system when being influenced on hull be subject to seawater, sea wind, the loop wheel machine on ship carries out standard to waving and heaving
Really, the comprehensive organ of lifting task is performed while quick compensation.
2）When the present apparatus at sea lifts cargo, the movement waved and heaved that loop wheel machine is measured by micro- inertial navigation sensor is joined
Count and be converted into digital signal, be transferred to control system and handled, control system calculates the compensation waved and heaved
Amount, servo valve are realized on being hung be subject to waving and heave influence according to the movement of the Digital Signals hydraulic motor after processing
Machine real-Time Compensation.
3）The utility model can be compensated accurately and rapidly be subject to the loop wheel machine that is influenced with heave movement is waved, and taken into account at the same time
Cargo hoisting function, allows loop wheel machine safely and efficiently to perform lifting task under complicated sea situation；The present apparatus has compensation model
Enclose the features such as wide, reliability is high, accurate quick.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of front view of new Active Compensation loop wheel machine system of the utility model.
Fig. 2 is the top view of the swing mechanism of the utility model.
Fig. 3 is the winch schematic diagram of the utility model.
Fig. 4 is the hydraulic system principle figure of the utility model.
Fig. 5 is the control principle drawing of the utility model.
Embodiment
The following examples can make professional and technical personnel that the utility model be more fully understood, but therefore will not
The utility model is limited among the embodiment described scope.
A kind of new Active Compensation loop wheel machine system as shown in Figures 1 to 5, the Active Compensation loop wheel machine system are installed on ship
On oceangoing ship；Including loop wheel machine base 1, suspension arm mechanism 2, winch 3, swing mechanism 4 and micro- inertial navigation sensor 5.
Suspension arm mechanism 2 is installed on loop wheel machine base 1, and suspension arm mechanism 2 includes a vertical arms 21 and one being vertically arranged and tilts
It is connected to the oblique arm 22 of 21 upper end of vertical arms；A reinforcing rib 23 is provided between the oblique arm 22 and vertical arms 21；It is described
The top of oblique arm 22 is provided with first pulley 24；The top of the vertical arms 21 is provided with second pulley 25.
Winch 3 is arranged in vertical arms 21, and winch 3 includes winch support 31, reel 32, drawworks brake 33, the first hydraulic pressure
Motor 34 and winch encoder 35；The winch support 31 is connected with vertical arms 21, reel 32 be arranged in winch support 31 by
The driving of first hydraulic motor 34 can be rotated around winch support 31, and the drawworks brake 33 is located at the outside of winch support 31；Institute
State the outside that winch encoder 35 is arranged on winch support 31.
Swing mechanism 4 is arranged in the vertical arms of suspension arm mechanism and passes through the second liquid positioned at the lower section of winch, swing mechanism 4
Horse 41 is pressed up to driving；The swing mechanism 4 includes rotary encoder 42, worm gear 43 and worm screw 44；The rotary encoder 42 connects
One end of worm screw 44 is connected on, worm gear 43 coordinates with the transmission of worm screw 44, and worm gear 43 rotates under the driving of the second hydraulic motor 41.
Micro- inertial navigation sensor 5 is arranged on loop wheel machine base 2.
Winch 3 is by motion controller conveying signal driving.
Micro- inertial navigation sensor 5 measures the rolling, pitching and heave attitude data for causing loop wheel machine by stormy waves, the posture that will be measured
Real-time data transmission to motion controller, by coupling operation produced by the rolling, pitching and heave that ship is calculated by motion controller
Raw data variation in vertical direction, and these data are transported with being carrying out the data of lifting task in controller
Calculate, and operation result be converted into signal instruction and real-time Transmission to winch, by the positive and negative rotation and velocity variations of winch come
Weight position and speed that can be on loop wheel machine when being influenced in real time on loop wheel machine by rolling, pitching and heave compensate.
First hydraulic motor 34 and the second hydraulic motor 41 provide hydraulic power by hydraulic pump and form hydraulic circuit 6.
Hydraulic circuit 6 is watched including fuel tank 61, filter 62, hydraulic pump 63, overflow valve 64, the first non-return valve 65, first
Take valve 66, the first hydraulic motor 34, the second non-return valve 67, the second servo valve 68 and the second hydraulic motor 41；The fuel tank 61,
Filter 62 and hydraulic pump 63 are sequentially connected in series to form working connection, and the output terminal of the overflow valve 64 and hydraulic pump 63 is connected to form excessive
Flow branch；First non-return valve 65, the first servo valve 66 and the first hydraulic motor 34 are sequentially connected in series to form the first hydraulic oil
Road；Second non-return valve 67, the second servo valve 68 and the second hydraulic motor 41 are sequentially connected in series to form the second hydraulic circuit；Institute
State the first hydraulic oil and the second hydraulic circuit is connected to the output terminal of hydraulic pump 63.
First hydraulic circuit exports with hydraulic pump 63 with the second hydraulic circuit and is respectively arranged with the first control on the position being connected
Valve processed and the second control valve；First hydraulic circuit is turned on the second hydraulic circuit.
Micro- inertial navigation sensor 5, winch encoder 35,42 and first hydraulic motor 34 of rotary encoder and the second hydraulic pressure horse
Hydraulic power formation hydraulic circuit is provided up to 41 by hydraulic pump 63 to control by MOOG control systems.
It is connected between first pulley 24, second pulley 25 and reel 32 by steel wire rope；One end connection of the steel wire rope
There is weight, the other end of steel wire rope is connected on reel 32.
The operation principle of the system is：The suspension hook of loop wheel machine is when lifting weight on ship, if suspension hook does not rise or fall
During movement, then it is mainly changing for locus that suspension hook is influenced by Ship Swaying, in order to ensure the weight on suspension hook and lifting
The distance between plane is measured the loop wheel machine on ship using micro- inertial navigation sensor and is waved from the influence of Ship Swaying
Athletic posture data, and by the attitude data real-time Transmission measured to industrial personal computer, according to anti-resolving Algorithm and micro- inertial navigation sensor
Second pulley center vertical range changing value i.e. first pulley are obtained with the position relationship at loop wheel machine top second pulley center
Hook needs offset, and position data structure compared with the data after anti-solution is preferably controlled in MOOG control systems
Into control deviation, industrial personal computer realizes controller closed loop control according to control deviation, and the signal of controller output carries out D/A switch
The rotation of first servo valve control the first fluid motor-driven winch is transferred to by servo amplifier afterwards to realize that suspension hook is vertical
It is constant with the distance between lifting plane on direction；
If for suspension hook in normal lifting, suspension hook is influenced the velocity variations of predominantly vertical direction by Ship Swaying,
MOOG control systems send preferably lifting speed signal progress D/A switch and are transferred to the first servo by servo amplifier
Valve, drives the rotation of winch to realize that loop wheel machine performs lifting task, due to ship by first the first hydraulic motor of servo valve control
Wave, it is necessary to measure the athletic posture data that the loop wheel machine on ship waves using micro- inertial navigation sensor, and will survey
The attitude data real-time Transmission obtained is to industrial personal computer；Industrial personal computer is slided according to anti-resolving Algorithm and micro- inertial navigation sensor with loop wheel machine top second
The position relationship at wheel center, which obtains second pulley center vertical speed changing value i.e. first pulley hook, to be needed to compensate
Value, is transferred to MOOG control systems compared with ideal lifting velocity amplitude by the offset obtained, forms control deviation, industry control
Machine realizes controller closed loop control according to control deviation, improves compensation of undulation precision；Examined in real time by the displacement sensor on suspension hook
Suspension hook is surveyed with lifting the distance change value of plane；Send MOOG control systems to after analog/digital conversion by displacement sensor, instead
The displacement of the lines signal of feedback forms control deviation with the offset that anti-resolving Algorithm is obtained, and industrial personal computer is according to control deviation to the first hydraulic pressure
Closed-loop control is realized in the movement of motor, improves compensation of undulation precision；Second the second hydraulic motor of servo valve control is hung for adjusting
Machine rotation angle, can allow loop wheel machine in comprehensive interior completion compensation of undulation lifting task.It is micro- when compensation of undulation is not required in hull
The athletic posture parameter of inertial navigation sensor output hull only needs to control the normal lifting of loop wheel machine to appoint for 0, MOOG control systems
Business, the first servo valve, the second servo valve also work, but controller does not form closed-loop system and only performs lifting task.
It should be understood by those skilled in the art that the present utility model is not limited to the above embodiments, above-described embodiment and
The principle for simply illustrating the utility model described in specification, on the premise of not departing from the spirit and scope of the utility model,
The utility model also has various changes and modifications, these changes and improvements both fall within claimed the scope of the utility model
It is interior.The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (8)
1. a kind of new Active Compensation loop wheel machine system, which is installed on ship；It is characterized in that：Bag
Include loop wheel machine base, suspension arm mechanism, winch, swing mechanism and micro- inertial navigation sensor；
The suspension arm mechanism is installed on loop wheel machine base, and suspension arm mechanism includes a vertical arms being vertically arranged and an inclination is connected to
The oblique arm of vertical arms upper end；A reinforcing rib is provided between the oblique arm and vertical arms；The top of the oblique arm is set
There is first pulley；The top of the vertical arms is provided with second pulley；
The winch is arranged in vertical arms, and winch includes winch support, reel, drawworks brake, the first hydraulic motor and winch
Encoder；The winch support is connected with vertical arms, and reel is arranged in winch support can be around by the first fluid motor-driven
Winch support rotates, and the drawworks brake is located at the outside of winch support；The winch encoder is arranged on the outer of winch support
Side；
The swing mechanism is arranged in the vertical arms of suspension arm mechanism and passes through the second hydraulic pressure positioned at the lower section of winch, swing mechanism
Motor drives；The swing mechanism includes rotary encoder, worm gear and worm screw；The rotary encoder is connected to the one of worm screw
End, worm gear coordinate with worm-drive, and worm gear rotates under the driving of the second hydraulic motor；
Micro- inertial navigation sensor is arranged on loop wheel machine base.
A kind of 2. new Active Compensation loop wheel machine system according to claim 1, it is characterised in that：The winch is by moving
Controller conveying signal driving.
A kind of 3. new Active Compensation loop wheel machine system according to claim 1, it is characterised in that：Micro- inertial navigation sensing
Device measurement is caused the rolling, pitching and heave attitude data of loop wheel machine by stormy waves, by the attitude data real-time Transmission measured to movement
Controller, the number of the rolling, pitching and heave of ship by coupling operation generation in vertical direction is calculated by motion controller
Computing is carried out according to change, and the data that lifting task is carrying out in these data and controller, and operation result is converted
It is signal instruction and real-time Transmission to winch, by the positive and negative rotation and velocity variations of winch come in real time to loop wheel machine by rolling, vertical
Shake and heave can be on loop wheel machine when influencing weight position and speed compensate.
A kind of 4. new Active Compensation loop wheel machine system according to claim 1, it is characterised in that：The first hydraulic pressure horse
Hydraulic circuit is formed up to hydraulic power is provided by hydraulic pump with the second hydraulic motor.
A kind of 5. new Active Compensation loop wheel machine system according to claim 4, it is characterised in that：The hydraulic circuit bag
Include fuel tank, filter, hydraulic pump, overflow valve, the first non-return valve, the first servo valve, the first hydraulic motor, the second single-direction balls
Valve, the second servo valve and the second hydraulic motor；The fuel tank, filter and hydraulic pump are sequentially connected in series to form working connection, described to overflow
The output terminal of stream valve and hydraulic pump is connected to form overflow branch；First non-return valve, the first servo valve and the first hydraulic pressure horse
The first hydraulic circuit is formed up to being sequentially connected in series；Second non-return valve, the second servo valve and the second hydraulic motor are sequentially connected in series
Form the second hydraulic circuit；First hydraulic oil and the second hydraulic circuit are connected to the output terminal of hydraulic pump.
A kind of 6. new Active Compensation loop wheel machine system according to claim 5, it is characterised in that：First hydraulic oil
The first control valve and the second control valve are respectively arranged with the position that road is connected with the second hydraulic circuit with hydraulic pump output；It is described
First hydraulic circuit is turned on the second hydraulic circuit.
A kind of 7. new Active Compensation loop wheel machine system according to claim 1, it is characterised in that：Micro- inertial navigation sensing
Device, winch encoder, rotary encoder and the first hydraulic motor and the second hydraulic motor provide hydraulic power by hydraulic pump
Hydraulic circuit is formed to control by MOOG control systems.
A kind of 8. new Active Compensation loop wheel machine system according to claim 1, it is characterised in that：The first pulley,
It is connected between second pulley and reel by steel wire rope；One end of the steel wire rope is connected with weight, and the other end of steel wire rope connects
It is connected on reel.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017203109363 | 2017-03-28 | ||
| CN201720310936 | 2017-03-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207347037U true CN207347037U (en) | 2018-05-11 |
Family
ID=62359606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720748610.9U Expired - Fee Related CN207347037U (en) | 2017-03-28 | 2017-06-26 | A kind of new Active Compensation loop wheel machine system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207347037U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112723194A (en) * | 2021-01-08 | 2021-04-30 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
-
2017
- 2017-06-26 CN CN201720748610.9U patent/CN207347037U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112723194A (en) * | 2021-01-08 | 2021-04-30 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
| CN112723194B (en) * | 2021-01-08 | 2021-10-26 | 燕山大学 | Stabilizing mechanical arm for offshore operation |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180511 Termination date: 20190626 |