A method for obtaining the motion curve of a ship at sea based on an altitude sensor

Abstract

The present invention provides a method for obtaining a motion curve of a ship at sea based on a height sensor, and the specific steps include: S1, a hoisting winch drives a hoisting cable to lift a heavy object; S2, when a supply ship sinks due to sea wave factors; (1) the height sensor detects that the supply ship has descended; (2) the height sensor sends a signal to a compensation cylinder, and the compensation cylinder drives the piston rod to retract and drives the compensation trolley to move; (3) the compensation trolley drives the hoisting cable to move downward to ensure that the heavy object maintains a safe distance from the supply ship; S3, when the supply ship floats due to sea wave factors; (1) the height sensor detects that the supply ship has risen; (2) the height sensor sends a signal to the compensation cylinder, and the compensation cylinder drives the piston rod to extend and drives the compensation trolley to move; (4) the compensation trolley drives the hoisting cable to move upward to ensure that the heavy object maintains a safe distance from the supply ship.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a method for obtaining a motion curve of a ship at sea based on a height sensor. Background Art

[0002] A ship's stability is a crucial indicator of a country's ability to demonstrate its capabilities in maritime research and development, conduct offshore exploration, and transport hazardous materials. Because ships operate at sea in stark contrast to land-based equipment, they are subject to the erratic ups and downs of waves caused by weather, causing the entire hull to shake violently, up and down, left and right. This poses significant risks to vessels transporting hazardous materials. This violent shaking can damage, leak, or explode precision instruments and the hazardous materials being transported. This is particularly true in extremely poor sea conditions, causing significant harm to both those on board and the natural environment.

[0003] When cargo needs to be transferred from one ship to another supply ship via a crane, the two ships will each float up and down differently due to the wind and waves at sea. In this way, it is easy for the cargo to directly collide with the supply ship, causing damage to the cargo and possibly even personal injury. Summary of the Invention

[0004] The present invention provides a method for obtaining the motion curve of a ship at sea based on an altitude sensor. Through the method of the present invention, the distance between a heavy object and a supply ship can be detected, and then the rise and fall of the heavy object can be controlled to ensure a safe distance between the heavy object and the supply ship.

[0005] To achieve the above object, the technical solution of the present invention is: a method for obtaining a motion curve of a ship at sea based on an altitude sensor, the specific steps comprising:

[0006] The S1 hoisting winch drives the hoisting cable to lift the load.

[0007] S2 When the supply ship sinks due to sea waves.

[0008] (1) The altitude sensor detected that the supply ship was descending.

[0009] (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to retract and move the compensation trolley.

[0010] (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship.

[0011] S3 When the supply ship floats due to sea waves.

[0012] (1) The altitude sensor detects that the supply ship is rising.

[0013] (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to extend and move the compensation trolley.

[0014] (4) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship.

[0015] The above method is implemented by a compensation mechanism, which includes a hoisting winch and a compensation device arranged on the crane boom. The compensation device includes a compensation cylinder, a compensation trolley and a height sensor. A trolley track is provided in the middle of the boom, and a compensation cylinder is provided at one end of the trolley track. The compensation trolley is provided on the trolley track and slides along the length of the trolley track. The piston rod of the compensation cylinder is connected to the compensation trolley. A transfer pulley block is provided on the boom at the end of the compensation cylinder away from the trolley track.

[0016] The compensation trolley includes a trolley frame and a lifting pulley block, wherein the lifting pulley block is located at one end of the trolley frame; the lifting winch is connected to the lifting pulley block; the trolley frame is hinged to the piston rod of the compensation oil cylinder;

[0017] The hoisting winch is arranged at the front end of the boom, and a hoisting cable and a hoisting hook are provided on the hoisting winch. One end of the hoisting cable is connected to the hoisting winch, and the other end of the hoisting cable passes through the transfer pulley group and the hoisting pulley group in sequence and extends to the rear end of the boom and is connected to the hoisting hook. The hoisting hook is connected to a heavy object, and a height sensor is provided on the heavy object. The height sensor is electrically connected to the compensation cylinder.

[0018] The above structure sets a height sensor on the heavy object. When the ship transfers materials with the supply ship at sea, the lifting winch lifts the heavy object. After the lifting crane lifts the heavy object, due to the wind and waves at sea, the ship and the supply ship will shake respectively. When the supply ship shakes and floats up and down, the height sensor detects that the distance between the supply ship and the heavy object has changed, thereby driving the piston rod of the compensation cylinder to move and drive the compensation trolley to move, and then drive the lifting cable to rise or fall. The height sensor is used to detect and obtain the movement curve of the supply ship at sea, thereby controlling the lifting cable to rise and fall, thereby ensuring that the heavy object and the supply ship always maintain a certain safe distance, thereby preventing the heavy object from contacting and colliding with the ship.

[0019] Furthermore, the transfer pulley group includes a transfer frame, a first transfer pulley bracket and a first transfer pulley. The transfer frame is arranged on the boom, and a transfer connecting shaft is provided on the transfer frame. The first transfer pulley bracket is fixed on the transfer connecting shaft, and the first transfer pulley is rotatably arranged on the first transfer pulley bracket through a first transfer bearing; the other end of the lifting cable is wound around the first transfer pulley.

[0020] With this arrangement, through the action of the transfer pulley group, the connection between the lifting cable and the compensating trolley is neater and there will be no problem of tangled ropes.

[0021] Furthermore, the lifting pulley group includes a lifting pulley, which is arranged at one end of the trolley frame and rotated by a lifting pulley shaft; the other end of the lifting cable passes around the lifting pulley and extends to the end of the boom and is connected to the lifting hook.

[0022] With the above arrangement, when the compensation trolley moves, it can drive the lifting cable up or down, thereby controlling the height between the heavy object and the supply ship.

[0023] Furthermore, a lifting auxiliary pulley is provided at the end of the boom, and the lifting auxiliary pulley is arranged at the end of the boom through the rotation of the first auxiliary pulley shaft. The other end of the lifting cable is connected to the lifting hook after passing through the transfer pulley group, the lifting pulley group and the lifting auxiliary pulley in sequence.

[0024] The above arrangement can better guide the lifting cable through the lifting auxiliary pulley, thereby facilitating the lifting of heavy objects.

[0025] Furthermore, the trolley track includes an upper track and a lower track, the upper track is arranged on the boom, the lower track is connected to the upper track through a track connecting bracket, and the compensation trolley is arranged between the upper track and the lower track; movable rollers are provided at the top and bottom ends of the trolley frame of the compensation trolley, the movable roller located at the top end of the trolley frame is rollingly connected to the first upper contact surface of the upper track, and the movable roller located at the bottom end of the trolley frame is rollingly connected to the first lower contact surface of the lower track.

[0026] The above arrangement can facilitate the movement of the compensation trolley by moving the roller, and the structure is simple and effective.

[0027] Furthermore, auxiliary rollers are provided at the top and bottom ends of the trolley frame. The auxiliary roller at the top end of the trolley frame is rollingly connected to the second upper contact surface of the upper track, and the auxiliary roller at the bottom end of the trolley frame is rollingly connected to the second lower contact surface of the lower track.

[0028] The above settings, through the setting of auxiliary rollers, can increase the stability of the movement of the compensation trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the compensation mechanism of the present invention.

[0030] Figure 2 It is a structural schematic diagram of the compensation device of the present invention.

[0031] Figure 3 It is the front view of the compensation trolley of the present invention.

[0032] Figure 4 It is a structural schematic diagram of the transfer pulley group of the present invention.

[0033] Figure 5 It is a simplified schematic diagram of the winding method of the lifting cable of the present invention.

[0034] Figure 6 for Figure 2 Enlarged view of point A in the middle.

[0035] Figure 7 It is a simple schematic diagram of the trolley track of the present invention.

[0036] Figure 8 It is a working flow chart of the compensation mechanism of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figures 1 to 7 As shown, a compensation mechanism includes a lifting winch 11 and a compensation device 2 arranged on a crane boom 1, the compensation device 2 includes a compensation cylinder 21, a compensation trolley 22 and a height sensor (not shown in the figure), a trolley track 13 is provided in the middle of the boom 1, a compensation cylinder 21 is provided at one end of the trolley track 13, the compensation trolley 22 is provided on the trolley track 13 and is slidably arranged along the length direction of the trolley track 13, and the piston rod of the compensation cylinder 21 is connected to the compensation trolley 22; a transfer pulley group 3 is provided on the boom 1 at the end of the compensation cylinder 21 away from the trolley track 13.

[0039] The compensation trolley 22 includes a trolley frame 221 and a lifting pulley block 4, wherein the lifting pulley block 4 is located at one end of the trolley frame 221; the lifting winch 11 is connected to the lifting pulley block 4; and the trolley frame 221 is hinged to the piston rod of the compensation cylinder 21.

[0040] The hoisting winch 11 is disposed at the front end of the boom 1. A hoisting cable 111 and a hoisting hook 112 are provided on the hoisting winch 11. One end of the hoisting cable 111 is connected to the hoisting winch 11. The other end of the hoisting cable 111 passes through the transfer pulley block 3 and the hoisting pulley block 4 in sequence, then extends to the rear end of the boom 1 and connects to the hoisting hook 112. The hoisting hook 112 is connected to a weight 100. A height sensor is provided on the weight, and the height sensor is electrically connected to the compensation cylinder. The hoisting winch drives the hoisting cable to retract and release.

[0041] The above structure sets a height sensor on the heavy object. When the ship transfers materials with the supply ship at sea, the lifting winch lifts the heavy object. After the lifting crane lifts the heavy object, due to the wind and waves at sea, the ship and the supply ship will shake respectively. When the supply ship shakes and floats up and down, the height sensor detects that the distance between the supply ship and the heavy object has changed, thereby driving the piston rod of the compensation cylinder to move and drive the compensation trolley to move, and then drive the lifting cable to rise or fall. The height sensor is used to detect the motion curve of the up and down floating of the supply ship, thereby controlling the lifting cable to rise and fall, thereby ensuring that the heavy object and the supply ship always maintain a certain safe distance, thereby preventing the heavy object from contacting and colliding with the ship.

[0042] During material transfer operations, the height sensor detects the distance between the supply ship and the load in real time. When the height sensor detects that the distance to the supply ship is increasing, it means that the supply ship is sinking. The height sensor sends a control signal to the compensation cylinder, which drives the piston rod to retract and drives the compensation trolley to move, thereby driving the lifting cable downward, thereby adjusting the distance between the load and the supply ship to maintain a certain safe height.

[0043] When the height sensor detects that the distance to the supply ship is decreasing, the position of the supply ship is rising, and the height sensor sends a control signal to the compensation cylinder, which drives the piston rod to extend and drives the compensation trolley to move, and then drives the lifting cable to move downward, thereby adjusting the weight to maintain a certain safe height between the supply ship. Figure 4 As shown, the transfer pulley group 3 includes a transfer frame (not shown in the figure), a first transfer pulley bracket 32 ​​and a first transfer pulley 33. The transfer frame is set on the boom, and a transfer connecting shaft 30 is provided on the transfer frame. The first transfer pulley bracket 32 ​​is fixed on the transfer connecting shaft 30, and the first transfer pulley 33 is rotatably set on the first transfer pulley bracket 32 ​​through a first transfer bearing 331; the other end of the lifting cable 111 is wound around the first transfer pulley 33.

[0044] With this arrangement, through the action of the transfer pulley group, the connection between the lifting cable and the compensating trolley is neater and there will be no problem of tangled ropes.

[0045] like Figure 2 、 Figure 3 and Figure 5 As shown, the lifting pulley group 4 includes a lifting pulley 41, and the lifting pulley 41 is rotatably arranged at one end of the trolley frame 221 through a lifting pulley shaft 411; the other end of the lifting cable 111 passes around the lifting pulley 41 and extends to the end of the boom 1 and is connected to the lifting hook 112.

[0046] With the above arrangement, when the compensation trolley moves, it can drive the lifting cable up or down, thereby controlling the height between the heavy object and the supply ship.

[0047] like Figure 1 and Figure 5 As shown, a lifting auxiliary pulley 115 is provided at the end of the boom 1. The lifting auxiliary pulley 115 is rotatably arranged at the end of the boom 1 through a first auxiliary pulley shaft (not shown in the figure). The other end of the lifting cable 111 passes through the transfer pulley group 3, the lifting pulley group 4 and the lifting auxiliary pulley 115 in sequence and is then connected to the lifting hook 112.

[0048] The above arrangement can better guide the lifting cable through the lifting auxiliary pulley, thereby

[0049] like Figure 6 and Figure 7 As shown, the trolley track 13 includes an upper track 131 and a lower track 132, the upper track 131 is arranged on the boom 1, the lower track 132 is connected to the upper track 131 through a track connecting bracket 133, and the compensation trolley 22 is arranged between the upper track 131 and the lower track 132; movable rollers 222 are provided at the top and bottom ends of the trolley frame 221 of the compensation trolley 22, the movable roller 222 located at the top of the trolley frame 221 is rollingly connected to the first upper contact surface 1311 of the upper track 131, and the movable roller 222 located at the bottom end of the trolley frame 221 is rollingly connected to the first lower contact surface 1321 of the lower track 132.

[0050] The above arrangement can facilitate the movement of the compensation trolley by moving the roller, and the structure is simple and effective.

[0051] Furthermore, auxiliary rollers 223 are provided at the top and bottom ends of the trolley frame 221. The auxiliary roller 223 located at the top of the trolley frame 221 is rollingly connected to the second upper contact surface 1312 of the upper rail 131, and the auxiliary roller 223 located at the bottom end of the trolley frame 221 is rollingly connected to the second lower contact surface 1322 of the lower rail 132.

[0052] The above settings, through the setting of auxiliary rollers, can increase the stability of the movement of the compensation trolley.

[0053] like Figure 8 As shown, the above-mentioned wave compensation method specifically includes the following steps:

[0054] The S1 hoisting winch drives the hoisting cable to lift the load.

[0055] S2 When the supply ship sinks due to sea waves.

[0056] (1) The altitude sensor detected that the supply ship was descending.

[0057] (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to retract and move the compensation trolley.

[0058] (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship.

[0059] S3 When the supply ship floats due to sea waves.

[0060] (1) The altitude sensor detects that the supply ship is rising.

[0061] (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to extend and move the compensation trolley.

[0062] (4) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship.

Claims

1. A method for obtaining a motion curve of a ship at sea based on an altitude sensor, characterized by: The specific steps include: S1 hoisting winch drives the hoisting cable to lift the load; S2 When the supply ship sinks due to sea waves; (1) The altitude sensor detects that the supply ship is descending; (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to retract and drives the compensation trolley to move; (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship; S3 When the supply ship floats due to sea waves; (1) The altitude sensor detects that the supply ship is rising; (2) The height sensor sends a signal to the compensation cylinder, which drives the piston rod to extend and move the compensation trolley; (4) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship; The above method is implemented by a compensation mechanism, which includes a hoisting winch and a compensation device arranged on the crane boom. The compensation device includes a compensation cylinder, a compensation trolley and a height sensor. A trolley track is provided in the middle of the boom, and a compensation cylinder is provided at one end of the trolley track. The compensation trolley is provided on the trolley track and slides along the length of the trolley track. The piston rod of the compensation cylinder is connected to the compensation trolley. A transfer pulley block is provided on the boom at the end of the compensation cylinder away from the trolley track. The compensation trolley includes a trolley frame and a lifting pulley block, wherein the lifting pulley block is located at one end of the trolley frame; the lifting winch is connected to the lifting pulley block; the trolley frame is hinged to the piston rod of the compensation oil cylinder; The hoisting winch is arranged at the front end of the boom, and a hoisting cable and a hoisting hook are provided on the hoisting winch. One end of the hoisting cable is connected to the hoisting winch, and the other end of the hoisting cable passes through the transfer pulley block and the hoisting pulley block in sequence and then extends to the rear end of the boom and is connected to the hoisting hook. The hoisting hook is connected to a weight, and a height sensor is provided on the weight, and the height sensor is electrically connected to the compensation cylinder; The transfer pulley assembly includes a transfer frame, a first transfer pulley bracket and a first transfer pulley, wherein the transfer frame is arranged on the boom, a transfer connecting shaft is provided on the transfer frame, the first transfer pulley bracket is fixed on the transfer connecting shaft, and the first transfer pulley is rotatably arranged on the first transfer pulley bracket through a first transfer bearing; the other end of the lifting cable is wound around the first transfer pulley; The lifting pulley assembly includes a lifting pulley, which is arranged at one end of the trolley frame and rotated by a lifting pulley shaft; the other end of the lifting cable passes around the lifting pulley and extends to the end of the boom and is connected to the lifting hook; A lifting auxiliary pulley is provided at the end of the boom, and the lifting auxiliary pulley is arranged at the end of the boom and rotated by the first auxiliary pulley shaft. The other end of the lifting cable passes through the transfer pulley block, the lifting pulley block and the lifting auxiliary pulley in sequence and is connected to the lifting hook; The trolley track includes an upper track and a lower track, the upper track is arranged on the boom, the lower track is connected to the upper track through a track connecting bracket, and the compensation trolley is arranged between the upper track and the lower track; movable rollers are provided at the top and bottom ends of the trolley frame of the compensation trolley, the movable roller at the top end of the trolley frame is in rolling connection with the first upper contact surface of the upper track, and the movable roller at the bottom end of the trolley frame is in rolling connection with the first lower contact surface of the lower track.

2. The method for obtaining a motion curve of a ship at sea based on an altitude sensor according to claim 1, characterized in that: Auxiliary rollers are also provided at the top and bottom ends of the trolley frame. The auxiliary roller at the top end of the trolley frame is rollingly connected to the second upper contact surface of the upper track, and the auxiliary roller at the bottom end of the trolley frame is rollingly connected to the second lower contact surface of the lower track.

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