A heave compensation closed system and compensation method for a bucket elevator continuous ship unloader

Abstract

The application discloses a heave compensation closed system and a compensation method of a chain bucket type continuous ship unloader, and belongs to the field of ship unloading equipment. The heave compensation closed system comprises a ship posture signal generator, a signal receiver and a controller. The ship posture signal generator is arranged on a bulk cargo ship and is used for detecting the posture of the bulk cargo ship in real time. The signal receiver is used for receiving a detection signal of the ship posture signal generator. The controller is used for receiving a transmission signal of the signal receiver and calculating and obtaining a compensation speed demand value. The luffing compensation hydraulic system is used for adjusting the height of a material taking chute on the bulk cargo ship according to the compensation speed demand value of the controller. The application solves the problem that the safety and operation window period of equipment are influenced by the heave motion of the bulk cargo ship caused by irregular sea wave.

Description

Technical Field

[0001] This invention relates to dock material handling technology, and more specifically, to a closed-loop system and method for heave compensation of a chain bucket continuous unloader with variable hydraulic cylinder amplitude. Background Technology

[0002] In the early days, grab bucket unloaders at bulk cargo terminals caused environmental pollution due to wind or grab bucket leakage during operation. As people's environmental awareness has gradually increased, enclosed material handling equipment, such as chain bucket continuous unloaders, has been increasingly promoted in the bulk cargo material handling industry. However, at the operating dock, where cargo ships are prone to pitching and rolling due to wind, waves, and swells, the chain bucket unloader's chute is mounted on the boom of the unloader body via a connecting rod. When the unloader is placed on the dock, the chute is basically at a fixed height relative to the dock during material handling. However, due to the significant impact of severe wind, waves, and swells on bulk cargo ships, the material-loaded ships are prone to hard contact between the chain bucket unloader's chute and the ship's bottom or materials when the ships are moving up and down, resulting in damage to the ships and bulk cargo handling equipment. Summary of the Invention

[0003] In view of the above-mentioned defects in the existing technology, the purpose of this invention is to provide a closed-loop system and method for heave compensation of chain bucket continuous unloader, so as to solve the problem that bulk carriers are affected by irregular sea waves at the dock, which will cause heave motion and thus affect the safety of the equipment and the operating window.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The first aspect of this invention provides a closed-loop heave compensation system for a chain bucket continuous unloader, comprising:

[0006] A ship attitude signal generator is installed on the bulk carrier to detect the attitude of the bulk carrier in real time.

[0007] A signal receiver, used to receive the detection signal from the ship attitude signal generator;

[0008] The controller is used to receive the transmitted signal from the signal receiver and calculate the compensation speed requirement value.

[0009] The variable amplitude compensation hydraulic system adjusts the height of the material handling chute on the bulk carrier according to the compensation speed requirement value of the controller.

[0010] Preferably, the luffing compensation hydraulic system includes a main drive oil pump motor and a luffing compensation cylinder;

[0011] The variable amplitude compensation cylinder is equipped with a replenishing oil circulation pump;

[0012] The rodless chamber of the amplitude compensation cylinder is equipped with a closed-loop pump for cylinder area difference compensation.

[0013] The rod chamber of the amplitude compensation cylinder is equipped with a closed-loop amplitude main drive pump.

[0014] Preferably, the ratio of the displacement of the cylinder area difference compensation closed pump to the displacement of the luffing main drive closed pump is equal to the ratio of the rod area of ​​the luffing compensation cylinder to the rod cavity area of ​​the luffing compensation cylinder.

[0015] Preferably, the variable amplitude compensation cylinder is also equipped with a cylinder displacement sensor or a variable amplitude angle sensor.

[0016] Preferably, the controller includes an adder and an arithmetic controller connected thereto.

[0017] Preferably, the output of the cylinder displacement sensor or the amplitude angle sensor is connected to the subtraction port of the adder.

[0018] The second aspect of the present invention provides a compensation method for a chain bucket continuous unloader, which uses the heave compensation closed system of the chain bucket continuous unloader provided in the first aspect of the present invention to realize the adjustment of the material chute as it moves up and down with the bulk carrier.

[0019] Preferably, the adjustment of the material chute is as follows:

[0020] The ship attitude signal generator detects the attitude of the bulk carrier in real time and simultaneously outputs the speed of the bulk carrier's ascent or descent to the signal receiver. The signal receiver transmits the speed of the bulk carrier's ascent or descent to the controller via wireless signal. The controller calculates and obtains the compensation speed requirement value, and adjusts the displacement of the hydraulic cylinder area difference compensation closed pump and the displacement of the variable amplitude main drive closed pump in real time according to the compensation speed requirement value, so as to realize that the material chute moves up and down with the bulk carrier.

[0021] The present invention provides a closed-loop heave compensation system and compensation method for a chain bucket continuous ship unloader. It adopts an automatic control system for the operation of the variable amplitude compensation hydraulic system based on the movement of the ocean waves. This ensures that the chain bucket continuous ship unloader will not be damaged by the rise / fall of the ship due to the irregular movement of the ocean waves during operation. This ensures the safety of the chain bucket continuous ship unloader during operation, expands the working window of the equipment, and improves production efficiency. At the same time, it innovatively uses a closed-loop hydraulic pump for speed control of a double-acting single-rod cylinder. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the arrangement of the heave compensation closed system of the present invention;

[0023] Figure 2 This is a schematic diagram of the system principle of the variable amplitude compensation hydraulic system in the heave compensation closed system of the present invention;

[0024] Figure 3 This is a schematic diagram of the control logic of the compensation method of the present invention. Detailed Implementation

[0025] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] Combination Figure 1 As shown, the heave compensation closed system for a chain bucket continuous unloader provided by the present invention includes:

[0027] Ship attitude signal generator 2 (MRU) is installed on bulk carrier 1 to detect the attitude of bulk carrier 1 in real time;

[0028] A signal receiver is used to receive the detection signals from the ship attitude signal generator 2;

[0029] The controller is used to receive the transmitted signal from the signal receiver and calculate the required compensation speed value.

[0030] The variable amplitude compensation hydraulic system 4 adjusts the height of the material handling chute 3 on the bulk carrier 1 according to the compensation speed requirement value of the controller.

[0031] Combination Figure 2 As shown, the luffing compensation hydraulic system 4 includes a main drive oil pump motor 401 and a luffing compensation cylinder 402.

[0032] The variable amplitude compensation cylinder 402 is equipped with a replenishing oil circulation pump 403.

[0033] The rodless chamber of the variable amplitude compensation cylinder 402 is equipped with a closed-loop pump 404 for cylinder area difference compensation.

[0034] The rod chamber of the luffing compensation cylinder 402 is equipped with a closed-loop luffing main drive pump 405.

[0035] The ratio of the displacement of the closed-loop pump 404 for cylinder area difference compensation to the displacement of the closed-loop pump 405 for luffing main drive is approximately equal to the ratio of the rod area to the rod chamber area of ​​the luffing compensation cylinder 402. Because the double-acting single-rod cylinder has different areas in its rodless and rod chambers, two closed-loop electro-proportional pumps with specific displacement ratios are used to match the area ratio of the two chambers. Using these closed-loop electro-proportional pumps for speed control of the double-acting single-rod cylinder significantly shortens the commissioning time and reduces the supply cycle of core components compared to conventional proportional valve orifice cylinder systems.

[0036] The variable amplitude compensation cylinder 402 is also equipped with a cylinder displacement sensor or a variable amplitude angle sensor.

[0037] The controller includes an adder and an arithmetic controller connected to it.

[0038] The output of the cylinder displacement sensor or amplitude angle sensor is connected to the subtraction port of the adder as a feedback signal.

[0039] Combination Figures 1 to 3 As shown, the present invention also provides a compensation method for a chain bucket continuous unloader, which uses the heave compensation closed system of the chain bucket continuous unloader of the present invention to realize the up-and-down movement adjustment of the material chute 3 with the bulk carrier 1.

[0040] The specific steps for adjusting the height of the material chute 3 are as follows:

[0041] When the chain bucket continuous unloader at the bulk cargo terminal is operating to collect materials, the bulk carrier 1 is tossed up and down by the wind and waves. In order to maintain a basically fixed gap between the material collection chute 3 and the bottom of the bulk carrier 1, the material collection chute 3 needs to move up and down with the ship accordingly, so as to avoid the material collection bucket of the material collection chute 3 being hit by the bottom of the ship and to ensure normal and effective material collection. In this situation, after the heave compensation closed system is activated, the ship attitude signal generator 2 monitors the attitude of the bulk carrier 1 in real time and simultaneously outputs the speed of the bulk carrier's rise or fall to the signal receiver. The signal receiver transmits the speed of the bulk carrier's rise or fall to the controller via wireless signal. The controller calculates and determines the compensation speed requirement value corresponding to the luffing compensation cylinder 402 based on the angle of the bucket chain excavator boom and the length of the hydraulic cylinder. The controller adjusts the displacement of the cylinder area difference compensation closed pump 404 and the displacement of the luffing main drive closed pump 405 in real time according to the compensation speed requirement value. As a result, the main drive pump motor 401 outputs hydraulic power flow that meets the speed requirement of the luffing compensation cylinder 402, ensuring that the speed of the luffing compensation cylinder 402 meets the requirements for compensating for the up-and-down pitching of the bulk carrier 1. Meanwhile, the luffing compensation cylinder 402 is also equipped with a cylinder displacement sensor or a luffing angle sensor to detect the stroke or angle of the luffing compensation cylinder 402 in real time, which is used to detect the actual speed of the luffing compensation cylinder 402. A small closed loop is formed between the cylinder area difference compensation closed pump 404, the luffing main drive closed pump 405 and the luffing compensation cylinder 402.

[0042] This invention adopts the concept of ocean wave compensation technology. Based on the actual conditions of bulk cargo terminals, a new heave compensation closed system is built to control the distance between the bulk carrier and the material hopper of the material chute to be basically fixed. This allows the material chute to follow the heave trajectory of the bulk carrier, thereby protecting the chain bucket continuous unloader from damage and completing the material conveying. This effectively expands the working window of the chain bucket continuous unloader and improves the terminal's operating efficiency.

[0043] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A closed-loop heave compensation system for a chain bucket continuous ship unloader, characterized in that, include: A ship attitude signal generator is installed on the bulk carrier to detect the attitude of the bulk carrier in real time. A signal receiver, used to receive the detection signal from the ship attitude signal generator; The controller is used to receive the transmitted signal from the signal receiver and calculate the compensation speed requirement value. The variable amplitude compensation hydraulic system adjusts the height of the material handling chute on the bulk carrier according to the compensation speed requirement value of the controller. The variable amplitude compensation hydraulic system includes a main drive oil pump motor and a variable amplitude compensation oil cylinder; The variable amplitude compensation cylinder is equipped with a replenishing circulating oil pump; The rodless chamber of the amplitude compensation cylinder is equipped with a closed-loop pump for cylinder area difference compensation. The rod chamber of the luffing compensation cylinder is equipped with a closed-loop luffing main drive pump. The ratio of the displacement of the closed-loop pump with the cylinder area difference compensation to the displacement of the closed-loop pump with the luffing main drive is equal to the ratio of the rod area of ​​the luffing compensation cylinder to the rod cavity area of ​​the luffing compensation cylinder.

2. The closed-loop heave compensation system for the chain bucket continuous unloader according to claim 1, characterized in that: The variable amplitude compensation cylinder is also equipped with a cylinder displacement sensor or a variable amplitude angle sensor.

3. The closed-loop heave compensation system for the chain bucket continuous unloader according to claim 2, characterized in that: The controller includes an adder and an operation controller connected thereto.

4. The heave compensation closed system of the chain bucket continuous unloader according to claim 3, characterized in that: The output of the cylinder displacement sensor or the amplitude angle sensor is connected to the subtraction port of the adder.

5. A compensation method for a chain bucket continuous ship unloader, characterized in that: The heave compensation closed system of the chain bucket continuous unloader as described in any one of claims 1-4 is used to achieve the vertical adjustment of the material collection chute with the bulk carrier. The specific adjustment of the material chute is as follows: The ship attitude signal generator detects the attitude of the bulk carrier in real time and simultaneously outputs the speed of the bulk carrier's ascent or descent to the signal receiver. The signal receiver transmits the speed of the bulk carrier's ascent or descent to the controller via wireless signal. The controller calculates and obtains the compensation speed requirement value, and adjusts the displacement of the hydraulic cylinder area difference compensation closed pump and the displacement of the variable amplitude main drive closed pump in real time according to the compensation speed requirement value, so as to realize that the material chute moves up and down with the bulk carrier.

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