Marine crane and its hoisting control system and hoisting control method

Abstract

The present invention discloses a marine crane and a hoisting control system and a hoisting control method thereof. The marine crane comprises a gantry hanger, a hanging line, a hook and an automatic docking device arranged between the hanging line and the hook. The gantry hanger comprises a horizontally arranged hanging beam, a pulley adjusting device is arranged on the hanging beam, the pulley adjusting device comprises a screw, a screw driving motor driving the screw to rotate, a slider threadedly connected to the screw, and a pulley fixedly arranged on the slider, the rotating shaft extension direction of the pulley is parallel to the extension direction of the screw, the hanging line is connected to the hook through the automatic docking device via the pulley guide, the automatic docking device comprises a pump body, a plurality of water spray pipes connected to the pump body, and the water spray pipe is provided with a valve. By controlling the slider and the automatic docking device, the position of the hook is adjusted to realize the automatic docking of the hook with the lifting ring on the cargo to be hoisted, which simplifies the process of hoisting cargo, reduces the difficulty of hook docking, and ensures the safety during the hoisting process.

Description

Technical Field

[0001] The invention relates to ship hoisting, and in particular to a ship crane and a hoisting control system and a hoisting control method thereof. Background Art

[0002] Ship cranes are widely used in special-purpose research ships, oil platform supply ships, oceanographic and deep-sea research ships. They are mainly used for anchor handling, special-purpose research and rescue equipment, and ROV launch and recovery. When working in harsh marine environments, in strong winds and waves, the objects to be hoisted, such as ROVs carrying precision equipment, move randomly on the water surface with the waves. Conventional cranes require experienced drivers to operate the crane so that the hook is close to the lifting ring on the hoisted equipment. Sometimes, additional personnel are required to connect the auxiliary hook to the object to be hoisted. The connection process is very complicated, time-consuming and dangerous. Summary of the invention

[0003] Purpose of the invention: In view of the above shortcomings, the present invention provides a marine crane with a hook that automatically aligns with a lifting ring for a cargo to be lifted.

[0004] The invention also provides a hoisting control system and a hoisting control method for a ship crane.

[0005] Technical solution: To solve the above problems, the present invention adopts a marine crane, including a gantry hanger, a hanging line, a hook and an automatic docking device arranged between the hanging line and the hook, the gantry hanger includes a horizontally arranged hanging beam, a pulley adjustment device is arranged on the hanging beam, the pulley adjustment device includes a screw rod, a screw rod driving motor for driving the screw rod to rotate, a slider threadedly connected to the screw rod, and a pulley fixedly arranged on the slider, the extension direction of the rotating shaft of the pulley is parallel to the extension direction of the screw rod, the hanging line is connected to the hook through the automatic docking device through the pulley guide, the automatic docking device includes a pump body and a plurality of water spray pipes connected to the pump body, the water spray pipe is provided with a valve; the water spray pipe sprays water to provide thrust for the automatic docking device to adjust the hook position.

[0006] Furthermore, the gantry hanger also includes a fixed base and two oil cylinders with parallel extension directions fixedly arranged on the fixed base; support rods are arranged at both ends of the hanging beam, one end of the support rod is fixedly connected to the hanging beam, and the other end of the support rod is hinged to the fixed base, and the output ends of the two oil cylinders are respectively hinged to the rod bodies of the two support rods through connecting rods, and the extension direction of the oil cylinders is perpendicular to the extension direction of the hanging beam.

[0007] Furthermore, the automatic docking device includes a binocular camera, which is used to obtain a position image of a lifting ring of the cargo to be lifted.

[0008] The present invention also adopts a hoisting control system for a marine crane, including a data acquisition module, a calculation module, and an execution module.

[0009] The data acquisition module is used to obtain the position coordinates of the lifting ring of the cargo to be lifted relative to the hook in real time;

[0010] The calculation module is used to calculate the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the goods to be lifted;

[0011] The execution module is used to control the position of the slider to be adjusted in real time according to the calculation results obtained by the calculation module, and to control the valve switch state of the water spray pipe, while controlling the pump body to pressurize the water spray pipe to open the valve and spray water, and adjust the position of the automatic docking device.

[0012] Furthermore, the execution module is also used to control the oil cylinder to push the connecting rod so that the support rod rotates relative to the oil cylinder, thereby controlling the position of the lifting beam. The data acquisition module obtains the position image of the lifting ring of the goods to be lifted through the binocular camera, calculates the pixel position of the lifting ring in the binocular camera field of view based on the acquired position image, and then calculates the position coordinates of the lifting ring relative to the hook based on the position relationship between the binocular camera and the hook.

[0013] The present invention also adopts a hoisting control method of a marine crane hoisting control system, comprising the following steps:

[0014] Step 1: Obtain the position coordinates of the lifting ring of the cargo to be lifted relative to the hook;

[0015] Step 2: Calculate the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the cargo to be lifted;

[0016] Step 3: According to the calculated displacement of the slider, the driving screw drive motor is controlled to adjust the position of the slider; at the same time, according to the calculated displacement of the automatic docking device, the valve switch state of the water spray pipe is controlled, and the pump body is controlled to pump water to adjust the position of the automatic docking device; and the position coordinates of the lifting ring of the cargo to be lifted relative to the hook are obtained in real time; if the hook is not docked with the lifting ring of the cargo to be lifted, return to step 2.

[0017] Furthermore, the method always takes the position of the hook as the coordinate origin O, and the real-time position coordinates of the cargo lifting ring relative to the hook are (e x (t), e y (t)), and the slider drives the hook to move along the X-axis direction, and the automatic docking device drives the hook to move along the Y-axis direction.

[0018] Furthermore, the displacement U of the slider in step 2 is x The calculation formula of (t) is:

[0019]

[0020] in, Parameters determined experimentally.

[0021] Furthermore, the displacement U of the automatic docking device in step 2 is y The calculation formula of (t) is:

[0022]

[0023] in, Parameters determined experimentally.

[0024] Beneficial effect: Compared with the prior art, the significant advantage of the present invention is that the position of the hook can be adjusted by controlling the slider and the automatic docking device, so that the hook can automatically align with the lifting ring on the cargo to be hoisted, which simplifies the process of lifting the cargo, reduces the difficulty of hook docking, and ensures safety during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure shows the connection relationship between the hanger bracket of the marine crane and the hanging wire and the hook in the present invention;

[0026] Figure 2 Shown is a schematic structural diagram of the power box in the present invention;

[0027] Figure 3 Shown is a schematic structural diagram of the pulley adjustment device of the present invention;

[0028] Figure 4 Shown is a schematic structural diagram of the automatic docking device in the present invention. DETAILED DESCRIPTION

[0029] Example 1

[0030] like Figures 1 to 4 As shown, a marine crane in this embodiment includes a portal hanger 4, a hanging line 7, a hook 601, an automatic docking device 6 arranged between the hanging line 7 and the hook 601, and a power box 1. The portal hanger 4 includes a fixed base, a horizontally arranged hanging beam 41, and a support rod 42 arranged at the end of the hanging beam 41. Two power boxes 1 are fixedly arranged on the fixed base. The end of the power box 1 is fixedly connected to the triangular support 2. Support rods 42 are arranged at both ends of the hanging beam. One end of the support rod 42 is fixedly connected to the hanging beam, and the other end of the support rod 42 is hinged to the triangular support 2. The support rod 41 swings relative to the fixed base.

[0031] like Figure 2As shown, the power box 1 includes a box body 101, a center rod 102, a spring 103, a slider 104, and a cylinder 105. The center rod 102, the spring 103, the slider 104, and the cylinder 105 are all arranged in the box body 101. The center rod 102 is fixed at the center position of the cross section of the power box 101. The spring 103 is sleeved on the center rod 102, and the slider 104 is sleeved on the center rod. The cylinder 105 is fixed on the upper rear part of the power box 101, and the front part of the output end of the cylinder 105 is connected to the slider 104. The extension direction of the center rod is parallel to the extension direction of the cylinder 105, and the extension direction of the cylinder 105 is perpendicular to the extension direction of the suspension beam 41. The two sliders 104 are respectively hinged to the rod bodies of the two support rods through the connecting rod. The cylinder 105 drives the slider 104 to slide on the center rod 102 when it works, and drives the support rod to swing through the connecting rod.

[0032] like Figure 3 As shown, a pulley adjusting device 5 is arranged on the suspension beam 41, and the pulley adjusting device 5 comprises a screw 501, a screw driving motor 502 for driving the screw to rotate, a slider 503 threadedly connected to the screw, and a pulley 504 fixedly arranged on the slider 503. The screw 501 is fixed on a bearing seat 505 through a bearing, and the bearing seat 505 is fixed under the suspension beam 41. The extension direction of the rotating shaft of the pulley 504 is parallel to the extension direction of the screw. The suspension line 7 is connected to the hook 601 through the automatic docking device 6 after being guided by the pulley 504. The screw driving motor 502 drives the screw to rotate, thereby driving the slider 503 to move along the extension direction of the screw, and the slider 503 drives the hook 601 to move.

[0033] like Figure 4 As shown, the automatic docking device 6 includes a pump body 603, a plurality of water spray pipes 604 connected to the pump body, a water suction hose 605, and a binocular camera 602. The water spray pipe is provided with a valve. The pump body 603 absorbs water through the water suction hose 605, and then sprays water through the water spray pipe. The water spray pipe extends along the direction of the fixed end, and whether to spray water is controlled by a valve. The water spray pipe sprays water to provide thrust for the automatic docking device, thereby adjusting the hook position.

[0034] The binocular camera 602 is arranged outside the pump body, and the binocular camera 602 is used to obtain the position image of the lifting ring of the goods to be lifted.

[0035] Example 2

[0036] In this embodiment, a ship crane hoisting control system is provided. The structure of the ship crane is consistent with that in the first embodiment, and will not be described in detail here. The hoisting control system further includes a data acquisition module, a calculation module, and an execution module.

[0037] The data acquisition module obtains the position image of the lifting ring of the goods to be lifted through the binocular camera 602, calculates the pixel position of the lifting ring in the field of view of the binocular camera 602 according to the obtained position image, and then calculates the position coordinates of the lifting ring relative to the hook according to the position relationship between the binocular camera and the hook;

[0038] The calculation module calculates the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the goods to be lifted;

[0039] The execution module controls the screw drive motor to adjust the position of the slider in real time according to the calculation result obtained by the calculation module, controls the valve switch state of the water spray pipe, and controls the pump body to pressurize the water spray pipe with the valve opened to spray water and adjust the position of the automatic docking device. It can also control the oil cylinder 105 to push the connecting rod so that the support rod rotates relative to the oil cylinder 105, thereby controlling the position of the hanging beam.

[0040] Example 3

[0041] In this embodiment, a hoisting control method of a marine crane hoisting control system is provided, wherein the marine crane structure is consistent with that in Embodiment 1, and the hoisting control system is consistent with that in Embodiment 2, which will not be described in detail herein. The hoisting control method comprises the following steps:

[0042] Step 1: Obtain the position image of the lifting ring of the cargo to be lifted through the binocular camera 602, calculate the pixel position of the lifting ring in the field of view of the binocular camera 602 according to the acquired position image, and then calculate the position coordinates of the lifting ring relative to the hook according to the position relationship between the binocular camera and the hook; always take the position of the hook as the coordinate origin O, and the real-time position coordinates of the lifting ring of the cargo to be lifted relative to the hook are (e x (t), e y (t)), and the slider drives the hook to move along the X-axis direction, and the automatic docking device drives the hook to move along the Y-axis direction.

[0043] Step 2: Calculate the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the cargo to be lifted; the displacement of the slider U x The calculation formula of (t) is:

[0044]

[0045] in, The parameters determined experimentally can be obtained through experimental adjustment.

[0046] Displacement U of automatic docking device y The calculation formula of (t) is:

[0047]

[0048] in, The parameters determined experimentally can be obtained through experimental adjustment.

[0049] Step 3: According to the calculated displacement of the slider, the driving screw drive motor is controlled to adjust the position of the slider; at the same time, according to the calculated displacement of the automatic docking device, the valve switch state of the water spray pipe is controlled, and the pump body is controlled to pump water. The pump body sprays water from the water spray pipe with the valve switch opened. The power of the pump body is controlled according to the displacement of the automatic docking device, and the water spray pipe is used to spray water to provide thrust to adjust the position of the automatic docking device; thereby adjusting the position of the hook, and obtaining the position coordinates of the lifting ring of the cargo to be lifted relative to the hook in real time during the adjustment of the hook; if the hook is not docked with the lifting ring of the cargo to be lifted, return to step 2 to continue adjusting the hook position until the hook automatically docks with the lifting ring of the cargo to be lifted, thereby simplifying the process of lifting the cargo, reducing the difficulty of hook docking, and ensuring safety during the lifting process.

Claims

1. A ship crane, characterized in that: The invention comprises a door-type hanger (4), a hanging wire (7), a hook (601) and an automatic docking device (6) arranged between the hanging wire (7) and the hook (601). The door-type hanger (4) comprises a horizontally arranged hanging beam (41), a pulley adjusting device (5) is arranged on the hanging beam (41), the pulley adjusting device (5) comprises a screw rod (501), a screw rod driving motor (502) for driving the screw rod to rotate, a slider (503) threadedly connected to the screw rod, and a pulley (504) fixedly arranged on the slider (503), the rotation axis of the pulley (504) extending in a direction parallel to the extension direction of the screw rod, the hanging wire (7) is guided by the pulley (504) through the automatic docking device (6) to be connected to the hook (601), and the automatic docking device (6) comprises a pump body (603) and a plurality of water spray pipes (604) connected to the pump body, the water spray pipes being provided with valves; the water spray pipes spray water to provide thrust for the automatic docking device to adjust the position of the hook.

2. The ship crane according to claim 1, characterized in that: The gantry hanger also includes a fixed base and two oil cylinders (105) with parallel extension directions fixedly arranged on the fixed base; support rods (42) are arranged at both ends of the suspension beam, one end of the support rod (42) is fixedly connected to the suspension beam, and the other end of the support rod (42) is hinged to the fixed base, the output ends of the two oil cylinders are respectively hinged to the rod bodies of the two support rods through connecting rods, and the extension direction of the oil cylinders is perpendicular to the extension direction of the suspension beam.

3. The ship crane according to claim 1, characterized in that: The automatic docking device (6) comprises a binocular camera (602), and the binocular camera (602) is used to obtain a position image of a lifting ring of the cargo to be lifted.

4. A hoisting control system applied to the ship crane according to claim 2, characterized in that: Including data acquisition module, calculation module, execution module, The data acquisition module is used to obtain the position coordinates of the lifting ring of the cargo to be lifted relative to the hook in real time; The calculation module is used to calculate the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the goods to be lifted; The execution module is used to control the position of the slider to be adjusted in real time according to the calculation results obtained by the calculation module, and to control the valve switch state of the water spray pipe, while controlling the pump body to pressurize the water spray pipe to open the valve and spray water, and adjust the position of the automatic docking device.

5. The hoisting control system according to claim 4, characterized in that: The execution module is also used to control the oil cylinder (105) to push the connecting rod, so that the support rod rotates relative to the oil cylinder (105), thereby controlling the position of the suspension beam.

6. The hoisting control system according to claim 4, characterized in that: The data acquisition module obtains a position image of the lifting ring of the cargo to be lifted through a binocular camera (602), calculates the pixel position of the lifting ring in the field of view of the binocular camera (602) based on the obtained position image, and then calculates the position coordinates of the lifting ring relative to the hook based on the position relationship between the binocular camera and the hook.

7. A method for controlling a hoisting control system according to claim 4, 5 or 6, characterized in that: The following steps are involved: Step 1: Obtain the position coordinates of the lifting ring of the cargo to be lifted relative to the hook; Step 2: Calculate the displacement of the slider and the displacement of the automatic docking device in real time according to the position difference between the lifting ring and the hook of the cargo to be lifted; Step 3: According to the calculated displacement of the slider, the driving screw drive motor is controlled to adjust the position of the slider; at the same time, according to the calculated displacement of the automatic docking device, the valve switch state of the water spray pipe is controlled, and the pump body is controlled to pump water to adjust the position of the automatic docking device; and the position coordinates of the lifting ring of the cargo to be lifted relative to the hook are obtained in real time; if the hook is not docked with the lifting ring of the cargo to be lifted, return to step 2.

8. The hoisting control method according to claim 7, characterized in that: The position of the hook is always taken as the coordinate origin O, and the real-time position coordinate of the cargo lifting ring relative to the hook is (e x (t), e y (t)), and the slider drives the hook to move along the X-axis direction, and the automatic docking device drives the hook to move along the Y-axis direction.

9. The hoisting control method according to claim 8, characterized in that: The displacement U of the slider in step 2 x The calculation formula of (t) is: in, Parameters determined experimentally.

10. The hoisting control method according to claim 8, characterized in that: The displacement U of the automatic docking device in step 2 y The calculation formula of (t) is: in, Parameters determined experimentally.

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