895results about "Cargo handling apparatus" patented technology

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

The invention relates to the technical field of port machinery loading and unloading, and provides a ship-shore linkage loading and unloading method and system suitable for a mast crane. The method comprises the steps that position data, course data and attitude data of a ship are obtained in real time through ship navigation equipment, and tide height data and tide flow velocity data of the sea surface are obtained in real time through tide monitoring equipment; inputting the obtained ship position data, course data, attitude data, tidal height data and tidal flow velocity data into a control system of the mast crane; the control system generates a corresponding control instruction according to the calculated dynamic compensation parameter, and sends the control instruction to a variable amplitude control system of the mast crane; the hoisting path and the hoisting posture of the mast crane are adjusted in real time through the variable amplitude control system according to the control instruction, so that the hoisting point is kept vertical and the stress is balanced in the equipment lowering process; in the whole hoisting operation process, the operation process is monitored in real time through monitoring equipment arranged on the mast crane and the ship.

The invention relates to the technical field of engineering machinery control, and provides a mast crane wind load posture self-stabilizing method and system for high wind area operation. The method comprises the following steps: acquiring wind speed data of a current environment in real time through a wind speed sensor arranged at the top end of a main arm of the mast crane, and acquiring current arm angle data of the main arm of the mast crane in real time through an arm angle detector; a control instruction is sent to an execution mechanism of the mast crane, so that the mast crane executes an operation deceleration action, a lifting braking action or a posture fine adjustment action; in the process of executing the control instruction, historical wind load data and rigidity model parameters of the mast crane boom frame are obtained, and predictive analysis is conducted on the current wind load stress state of the mast crane; and according to a predictive analysis result, parameters of the control instruction are adjusted so as to dynamically correct the operation deceleration amplitude, the lifting braking force or the posture fine adjustment angle of the mast crane.

The invention relates to the technical field of operation control of hoisting equipment, and provides a ship loading-truck loading integrated operation method and system for mast hoisting equipment. The method comprises the following steps: adjusting an anchor cable of the mast crane to enable the mast crane to be in an initial operation state; a main arm variable-amplitude combined lifting system is started, and the mast crane is controlled to lift the heavy equipment from the cabin at the intelligently optimized lifting angle until the heavy equipment is completely separated from the cabin; the heavy equipment is controlled to hover to a shoreside transition area along with the amplitude variation action of the main arm; in the reverse amplitude variation process or after the reverse amplitude variation process is completed, according to the real-time position of the transport vehicle and the posture of the equipment, dynamic fine adjustment is conducted on the operation path, and the dynamic fine adjustment comprises adjustment of the amplitude variation angle of a main arm, the lifting height and the horizontal movement track of the equipment; and the equipment is controlled to fall to a transport vehicle plate, and the postures of the lifting points and the alignment deviation of the equipment and the vehicle plate are continuously monitored in the vehicle falling process till the equipment accurately falls in place, and vehicle loading is completed.

Provided is a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device and its method. The device includes a docking module, a vertical handling module, and a rotary handling module; the docking module includes a rotary platform with a guide frame, and a top surface of the rotary platform is provided with a first clamping device; the vertical handling module is mounted on a side of the docking module; the vertical handling module includes a liftable handling platform, and the handling platform is provided with a locking device and a second clamping device; the rotary handling module is mounted below the docking module; the rotary handling module includes a multi-branch rotating shaft and a horizontal plate mounted on each branch rotating shaft; and the horizontal plate is arranged with an AUV charging and information interaction device and a third clamping device.

A crane for use on an offshore vessel is provided with a boom restrainer, wherein the boom restrainer is a hydro-pneumatic boom restrainer, for reducing upward pivoting of the boom, when the boom is in the top zone, wherein the boom restrainer includes: multiple hydraulic cylinders, each having a hydraulic circuit and a cylinder rod with a cylinder head, wherein the cylinders are mounted on the crane structure with the cylinder heads directed towards the boom of the crane, preferably are mounted on a stay of the crane structure, a catcher for each hydraulic cylinder, wherein each catcher is mounted on the boom and is configured for receiving the cylinder head of the corresponding hydraulic cylinder, and to lock the cylinder head, preferably pivotable locks the cylinder head, relative to the boom, when the boom pivots upwards in the top zone; a gas buffer for each hydraulic cylinder, wherein each gas buffer is mounted to the corresponding hydraulic cylinder, and is connected to the hydraulic circuit of the corresponding hydraulic cylinder via a medium separator, wherein the gas buffer forces the hydraulic cylinder in an extended position, and wherein the volume ratio between the hydraulic cylinder and the gas buffer is such that the hydraulic cylinder acts as a progressive spring, e.g. the gas buffers each have a size in the range of 1000-1400 litre, for example 1200 litre and the hydraulic cylinders each have a size in the range of 800-1000 litre, for example 900 litre, and preferably the ratio between the volume of the gas buffer and the volume of the associated hydraulic cylinder is 4:3.

The invention relates to the technical field of loading and transporting equipment, in particular to a bulk material loading and unloading wharf boat for a port, which comprises a wharf boat, a shellfish grab machine and conveying equipment, the wharf boat is fixedly connected with a rotating base, the shellfish grab machine is rotatably connected with the rotating base, the other end of the wharf boat is connected with a rotating disc, and the rotating disc is connected with a driving structure arranged in the wharf boat; the conveying equipment is fixedly connected with the rotating disc, the conveying equipment comprises a rotating base fixedly connected with the rotating disc, a first-stage conveying frame is fixedly connected to the rotating base, a second-stage conveying frame connected with the rotating base is arranged at the end, away from the shellfish grab machine, of the first-stage conveying frame, and the end of the first-stage conveying frame and the end of the second-stage conveying frame are both rotationally connected with driving rollers; the first-stage conveying frame, the second-stage conveying frame and the driving rollers are jointly connected with a conveying belt, the conveying belt is in a concave shape, materials are prevented from slipping off in the conveying process, one driving roller is externally connected with a motor, and the upper end of the rotating base is fixedly connected with a feeding hopper. And the practicability is high.

The underwater robot for retrieving an underwater glider according to the present invention for retrieving an underwater glider for exploring the underwater to a ship comprises a main body module; a gripping module provided on the main body module, gripping the underwater glider to prevent damage to the underwater glider by restricting movement of the underwater glider while adjacent to the underwater glider; a connecting module connected to the main body module so that the underwater glider is lifted by the gripping module to the ship in a fixed state; and a control module for controlling the main body module and the gripping module by receiving location information from a receiver provided on the underwater glider and determining a distance from the underwater glider.

The invention relates to the technical field of mast crane equipment control, and provides a precise amplitude variation control method and system for a main arm of a mast crane. The method comprises the steps of obtaining structural parameters, and calibrating an arm angle sensor and a steel wire rope tension sensor; sensor data of an arm angle sensor and a steel wire rope tension sensor are collected and preprocessed in real time, and angle and tension feedback signals are generated; judging an adjustment strategy corresponding to the current working condition according to the angle and tension feedback signal, and generating a winch traction rate parameter corresponding to the adjustment strategy; a synchronous control instruction is sent to the two sets of variable frequency winches, the rotating angle and the hoisting state are adjusted, corresponding feedback data are obtained, closed-loop correction is conducted based on the feedback data, and control parameters are dynamically adjusted; wherein in the micro-amplitude adjustment stage, a segmented low-speed control and tension balance strategy is adopted, and high-precision positioning is ensured; and after the conditions of angle stability and stress balance are met, adjustment is ended. The method realizes control of high-precision adjustment of the angle of the main arm.

An autonomous tethered vehicle for recovering autonomous underwater vehicles (AUVs) is provided. The autonomous tethered vehicle includes an open-structure frame with vertical and horizontal frame members and a top surface attached to a top portion of the open-structure frame. The autonomous tethered vehicle further includes at least four horizontal thrusters operable to provide lateral maneuvering and at least two vertical thrusters operable to provide vertical thrust. Additionally, the autonomous tethered vehicle includes a plurality of onboard sensors operable to provide positional information of the autonomous tethered vehicle in reference to a nearby AUV, and an electronics housing unit having a control system operable to collect data from the plurality of the onboard sensors and make real-time operational decisions based on the collected data.

The offshore wind power climbing device and method based on the automatic rope ladder comprises the rope ladder, the rope ladder is wound by a winch for rope ladder storage, the winch for rope ladder storage is installed on a truss platform, a guide wheel support is arranged on the truss platform, and a rope ladder guide wheel assembly is installed on the guide wheel support; the truss platform is of a frame structure and used for providing a berthing space for ship berthing. The truss platform is provided with a platform for people to move; a channel or a window or a space for people to pass up and down is arranged below the rope ladder guide wheel assembly; the winch for rope ladder storage lifts or lowers the personnel through the rope ladder, and then the personnel can climb and lean against the winch. The flexible rope ladder is adopted to replace a rigid structure, and the risk that people are pinched due to rigid collision between a ship and the boarding and leaning device is avoided; the rope ladder is matched with a double-hook safety belt for hooking, and the hidden danger of falling into water is reduced by combining the layout that the working face is located on the deck.

Provided is a moving body used in a power transmission system that charges a storage battery mounted on the moving body with power generated by a power generation facility and feeds the power to a power receiving facility from the storage battery transported by the moving body. This moving body is provided with a battery control device that causes the storage battery to be charged with the supply of power based on a voltage value that does not reach a maximum voltage value of direct-current power between the power generation facility and the power receiving facility.

The systems and methods for assembling and installing multiple wind turbines from a single vessel tire provided. Generally, the different embodiments use wind turbine components on the vessel that include blades, a nacelle assembly having a rotating hub, and a tower. A Turbine Installation Gantry System (T.I.G.S.) embodiment uses a gantry system having a truss sub-structure and at least one bridge crane on the elevated vessel for assembling the wind turbine blades on board to the nacelle hub supported above the seabed. A Skidding Turbine Installation Crane (S.T.LC.) embodiment has a rotatable crane mounted on a skidding pedestal or cantilever structure to provide full access to the vessel deck and the blades outboard of the vessel for assembling each of the blades with the assembled nacelle assembly outboard. A Turbine Assembly and Positioning System (T.A.P.S.) embodiment includes a handling system and a crane both mounted onto a skidding cantilever structure for fastening blades to an assembled tower section and nacelle hub suspended cantilevered outboard of the vessel by the handling system. A combination embodiment uses selected components and systems from the T.I.G.S., S.T.LC, and T.A.P.S. embodiments to provide redundancy and simultaneous movements of components and systems.

The invention relates to the technical field of deep sea salvage, and particularly provides a grab bucket anti-torsion device and a salvage ship. The grab bucket anti-torsion device comprises a supporting platform which is arranged on one side, in the horizontal direction, of a rotary platform of the salvage ship and located above the grab bucket of the salvage ship correspondingly, and a first opening which penetrates in the vertical direction and is used for allowing a steel wire rope connected with the grab bucket to pass through is formed in the supporting platform; the upper rotary platform is located above the supporting platform and rotationally connected with the supporting platform, a second opening which penetrates through the upper rotary platform in the vertical direction and is used for allowing the steel wire rope to pass through is formed in the upper rotary platform, and at least one group of steel wire rope winches for winding and unwinding the steel wire rope is arranged on the upper rotary platform; the driving mechanism is arranged on the supporting platform and used for driving the upper rotary platform to rotate in the same direction in the direction that the steel wire rope is wound or the grab bucket is twisted. The grab bucket anti-twisting device can effectively prevent the steel wire rope or the grab bucket from twisting.

The utility model discloses a marine electric retractable device, which belongs to the technical field of ocean engineering and comprises a support. The driving part comprises a driver, a transmission lead screw, a lifting rod and measuring equipment, the driver is installed on the support, the transmission lead screw is driven by the driver, the lifting rod is connected with the transmission lead screw through a guide frame, and when the transmission lead screw rotates, the measuring equipment is driven by the lifting rod to rotate. The guide frame drives the lifting rod to move in the length direction of the transmission lead screw, and the measuring device is installed at the tail end of the lifting rod. The maintenance cabin is located below the support, the maintenance cabin comprises a cabin body and a maintenance door, and the lifting rod is located in the cabin body so that the measurement equipment can be conveniently maintained. The utility model has the advantages of high degree of automation, all-electric drive as clean energy, direct electric drive, avoidance of power conversion, high drive efficiency and reduction of energy consumption.

This invention discloses a capture device for unmanned underwater vehicles (UUVs), comprising a submersible fixed by a mounting frame. The mounting frame is symmetrically mounted with a grasping mechanism for capturing the UUV via a base. The grasping mechanism includes a drive arm driven by the base, with the other end of the drive arm rotatably connected to four corner support frames. The four corner support frames are driven by connecting arms to contact claws for gripping. A groove is provided on the side of the drive arm near the base, and a servo motor is mounted on the base. The servo motor is connected to a gear at one end of a limiting link, transmitting power through the other end of the limiting link to the groove on the drive arm to achieve the movement of the grasping mechanism. This invention also discloses a method for launching and recovering UUVs in conjunction with the above-mentioned launch and recovery device. This invention simplifies precise hook docking operations in high sea states, reduces the dependence of UUVs on computing power during launch and recovery, and improves the automation level of the launch and recovery process.

The invention discloses an unmanned ship for water quality collection. The unmanned ship comprises a ship body, a winch, a pull rope arranged on the winch and a sampling barrel arranged at the end of the pull rope. A guide hole for the pull rope to pass through is formed in the ship body, and the pull rope vertically penetrates through the center of the guide hole and then is fixedly connected with the sampling barrel; a plurality of sensing units which are uniformly arranged around the circumference of the guide hole are arranged on the ship body, and each sensing unit comprises a contact rod matched with the pull rope; propellers consistent with the corresponding sensing units in direction and position are arranged on the ship body; through linkage control of the sensing units arranged around the guide holes and the propellers in the corresponding directions, real-time sensing and autonomous correction of the inclined state of the pull rope are achieved, the ship body can be actively driven to offset the influence of water flow and drifting, the vertical state of the pull rope is fundamentally ensured, and therefore the sampling depth error is reduced to the minimum.

This invention relates to a self-leveling rotary transport device and method for docking and transferring multiple AUVs, belonging to the field of underwater robot equipment. It includes a docking module, a vertical transport module, and a rotary transport module. The docking module includes a rotary platform with a guide frame, and a first clamping device is provided on the top surface of the rotary platform. A vertical transport module is installed on one side of the docking module. The vertical transport module includes a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform. The rotary transport module is installed below the docking module. The rotary transport module includes multi-branch shafts and horizontal plates installed on each set of branch shafts. An AUV charging and information interaction device and a third clamping device are arranged on the horizontal plates. This device increases the number of AUVs that can be docked and transferred, and can maintain the horizontal position of the AUVs during transfer, preparing them for subsequent actions such as AUV unloading. This invention also uses a separate rotary drive for the docking part to reduce the rotational resistance of the mechanism in seawater.

The application discloses a self-balancing offshore operation platform safety ladder and a use method thereof, which comprises a sliding seat arranged in a horizontal sliding mode, a connecting frame hinged to one end of the sliding seat, a footboard horizontally and rotationally connected to the connecting frame, and a counterweight hung at the bottom of the footboard, wherein a hoisting frame is installed at the top of the sliding seat, the top end of the hoisting frame is connected with the movable end of the connecting frame through a lifting rope, and a horizontal shaking buffer assembly is arranged between the connecting frame and the footboard. The self-balancing mechanism and the buffer assembly significantly improve the stability of the safety ladder under complex sea conditions, the real-time response and anti-skid design ensure the safety of personnel getting on and off the platform, and the quick installation and modular design facilitate daily use and maintenance.

The application provides a kind of sub-body ROV accurate recovery method and device for sub-mother type AUV, it is related to underwater robot technical field, the method comprises: during the task execution of sub-body ROV in underwater, in response to sub-body recovery instruction, control parent body AUV stay in specified recovery position, and collect the optical image of sub-body ROV;Determine the orientation of sub-body ROV based on optical image;Determine the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the target heading angle of sub-body ROV based on orientation, the heading angle of parent body AUV and the initial heading angle of sub-body ROV;Determine the correction torque required when control cable-releasing mechanism pulls back sub-body ROV based on the heading angle of parent body AUV and the target heading angle of sub-body ROV;Determine the operating parameter of each propeller on sub-body ROV in combination with correction torque;Correspondingly control propeller operation based on operating parameter, to recover sub-body ROV.

A method of transferring a storage medium on the ocean between a power generation floating body that generates electricity on the ocean and stores energy obtained by the power generation in the storage medium and a transport vessel that transports the storage medium includes a first process of moving the power generation floating body to a predetermined sea area and dropping the first storage medium loaded on the power generation floating body onto the ocean, a second process of moving the transport vessel to a predetermined sea area and dropping the second storage medium loaded on the transport vessel onto the ocean, a third process of recovering the second storage medium dropped from the transport vessel to the ocean to the power generation floating body, and a fourth process of recovering the first storage medium dropped from the power generation floating body onto the transport vessel.

The invention relates to the technical field of hoisting machinery control, and provides a mast crane hoisting pulley block limiting control method and system. The method comprises the steps that limiting collision blocks are installed at the lifting final position and the lowest position of a mast crane lifting pulley block respectively, limiting sensing devices are installed at key nodes, corresponding to the limiting collision blocks, of the pulley block, and the limiting sensing devices are used for sensing position signals of the limiting collision blocks; the feedback control module continuously monitors a contact signal of the limiting induction device, if the limiting induction device continuously keeps the contact state for preset time in the slow stop process, the feedback control module sends an automatic stop instruction to the PLC control system, and the PLC control system controls the lifting pulley block to stop running; the induction signal of the limiting induction device is linked with the PLC control system, so that early warning, slow stop protection and automatic stop control of the lifting pulley block when the lifting pulley block is excessively lifted or descended are realized.

The invention relates to a system (1) for hoisting a load (C), in particular for hoisting a load (C) in the presence of a relative movement due to surges. The hoisting system (1) comprises at least one hoisting point (1a) having a frame (2) comprising:-controllable braking means (6) cooperating with the group of movable pulleys (52), and-manipulating means (8) cooperating with the group of movable pulleys (52) and configured to be able to restore the potential energy of the movable pulleys (52) in order to tend to increase said distance value (D).

The triangular crawler-type amphibious sand cleaning ship comprises a ship body and is characterized in that a sediment storage bin is arranged on the rear portion of the ship body, a two-section type rear door plate is arranged on the rear portion of the sediment storage bin, and the rear door plate is connected through a hinge to form an upper door plate and a lower door plate; the upper door plate can rotate backwards by a specific angle, serves as a silt storage bin rear door when closed, serves as a balancing weight to enhance operation stability during silt cleaning and excavating operation, and serves as a belt conveying mechanism supporting bottom plate when entering a dock to unload silt. A triangular crawler-type walking mechanism is arranged at the bottom of the ship body and comprises a crawler belt, a driving gear and three driven gears, and the angle of a main shaft connected with the driving gear is adjustable so as to adapt to different bank slope angles; the assorted dock adopts an amphibious structure, can be deployed on a dock close to the shore or a smooth shore in water, and is adapted to various scenes such as a reservoir hydro-fluctuation belt, a shoal, a bank slope and the like for operation.

To provide a ship and sail structure that reduce costs and allow for easy installation of sails. [Solution] In the vessel 1, the soft sail 40 is installed using existing column members 30 located on the upper deck 19. That is, the soft sail 40 can be installed using the existing column members 30 on the vessel 1 without having to add large sails such as rotor sails or dedicated sail-supporting members such as masts to the vessel 1. Therefore, the cost required to install the sail can be significantly reduced. In addition, by effectively utilizing the existing column members 30, the soft sail 40 can be easily installed. As a result, the position and orientation of the soft sail 40 can be easily changed by effectively utilizing the existing column members 30. Thus, costs can be suppressed and sails can be easily installed.

The invention is a hose crane for a wellboat, comprising a crane arm (130) rotatable at least in the vertical plane on a rotatable swivel base (100), at least one rail (130) along the crane arm (130) for pulleys (140) distributed along the guide rail (132). The pulleys (140) suspend hose brackets (160) distributed along a suction hose (150). The suction hose (150) is arranged to extend from a wellboat's (105) inlet (107) and out to a suction nozzle (152). The suction hose (150) comprises an elongated, flexible inner hose portion (150i) extending from a crane foundation (102) to an elongated, central hose section (150m) with evenly spaced hose brackets (160) which are held underthe pulleys (140) freely movable in the longitudinal direction of the crane arm (130), and an outer elongated flexible section (150y) with a suction nozzle (152) held in a lifting wire (172) near an outer end of the crane arm (130).

A method and system for fumigating a vessel includes delivering a fumigation agent to a cargo area of ​​the vessel. In particular, the vessel may be a roll-on / roll-off vessel. In such a system, a pneumatic system is provided for maintaining a selected minimum pressure differential between a selected area of ​​the vessel above the cargo area and the cargo area such that the pressure in the selected area is greater than the cargo area. A control system may maintain the pressure differential.

A floating quay 202 includes a deck 204 relocatable in a body of water 122 adjacent a stationary quay 200 to receive one or more floating units 102. The deck includes a gradual slope from an elevation

The present application belongs to the technical field of ship emergency cargo sweeping and throwing, and particularly relates to an emergency cargo sweeping and throwing device and process for a liquid carbon dioxide transport ship. The present application comprises a liquid cargo bulkhead thickness monitoring sensor, an in-cabin cargo sweeping pipe, a pressure balance pipe, a detachable throwing pipe and an overboard pipe, a liquid cargo vaporizer, and a pressure and temperature sensor. The pipeline pressure is established in advance through the pressure balance pipe, and the phase change of the liquid carbon dioxide occurs only when it flows through the end of the overboard pipe by using the detachable pressure control valve, so that the mixture of powder dry ice and gas is continuously thrown out of the overboard, effectively preventing pipeline blockage. The present application solves the technical problems of slow emergency cargo discharge speed, risk of carbon dioxide enrichment, and dry ice blocking the pipeline in the prior art, realizes the rapid, safe and continuous discharge of liquid carbon dioxide in an emergency, and significantly improves the emergency response capability and operation safety of the ship.