A simulated sea state testing apparatus and method for a shipboard automated storage and retrieval system

Abstract

The application relates to the technical field of marine warehouse logistics, and particularly discloses a simulation sea state test device for a shipborne automatic warehouse system, which comprises a mounting platform assembly, an inclined support mechanism and a fixing plate, wherein the mounting platform assembly comprises an inclined platform and a structural frame arranged on the inclined platform, the structural frame is used for fixing a to-be-tested device, the inclined support mechanism is arranged at the bottom of one side of the inclined platform, the fixing plate is arranged on the side of the inclined platform opposite to the inclined support mechanism, the fixing plate is hinged to the side of the inclined platform, and the fixing plate is used for fixed connection with the ground. The device has the characteristics of simple design, small manufacturing cost, simple operation, good test effect, safety and reliability and the like. The application further discloses a simulation sea state test method for the shipborne automatic warehouse system. The method can verify the safe operation of the shipborne warehouse system under complex sea states.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine warehousing logistics, in particular to a simulation sea state test device and method for a shipborne automatic warehousing system. BACKGROUND

[0002] With the increasing emphasis on the development of marine scientific research vessels and material support vessels by various countries, along with the rapid development of the logistics industry and the increase in labor costs, the application of automatic warehousing systems on ships will become more and more common. However, due to the existence of conditions such as pitching, rolling, bow inclination, and stern inclination on ships, it is required that the shipborne automatic warehousing system has the ability to adapt to extreme working conditions. During the ship's travel, not only the stability and normal operation of the equipment in the warehouse need to be ensured, but also the ability to prevent the goods from being impacted or falling. Therefore, the design and testing of the shipborne automatic warehousing system face great challenges, especially the safety verification of the system testing. At present, there are very few cases of automatic warehousing systems being applied on ships. Moreover, due to the large size and weight of the core equipment of the system, such as the stacker and the shelf, and the limited carrying capacity of the six-degree-of-freedom platform commonly used for the simulation sea state test of the first ship-mounted equipment, the system cannot be applied on the platform, and needs to be developed separately. Therefore, the system only does routine mooring and sailing tests after being installed on the ship during the testing stage, and the system's running stability, structural strength, and overall stability under extreme sea conditions are only analyzed by software, without the condition for entity testing for verification. That is, the shipborne warehousing system at the present stage has not passed the entity test for simulation sea state test under extreme sea conditions. SUMMARY

[0003] The technical problem to be solved by the present application is how to verify the safe operation of the shipborne warehousing system under complex sea conditions.

[0004] To solve the above technical problems, the present application provides a simulation sea state test device for a shipborne automatic warehousing system, comprising:

[0005] a mounting platform assembly, the mounting platform assembly comprising an inclined platform and a structural frame provided on the inclined platform, the structural frame being used for fixing the equipment to be tested;

[0006] an inclined support mechanism provided at the bottom of one side of the inclined platform; and

[0007] a fixed plate provided on the side of the inclined platform opposite to the inclined support mechanism, the fixed plate being hinged to the side of the inclined platform, and the fixed plate being used for fixed connection with the ground.

[0008] Further preferably, the mounting platform assembly has a first direction, a second direction and a third direction, two sides of the inclined platform parallel to the first direction are respectively provided with a lifting eye plate and a connecting eye plate, and two sides of the inclined platform parallel to the second direction are respectively provided with a lifting eye plate and a connecting eye plate, the lifting eye plate is used for a lifting point of a crane, and the connecting eye plate is hinged with the fixed plate.

[0009] Further preferably, the fixed plate is provided with an expansion bolt hole and a hinge seat, the expansion bolt hole is used for mounting an expansion bolt to realize fixed connection of the fixed plate with the ground, and the hinge seat is hinged with the connecting eye plate through a pin shaft.

[0010] Further preferably, the inclined support mechanism comprises symmetrically arranged support frames, and polyurethane pads are connected between the symmetric support frames.

[0011] Further preferably, the support frame is arranged in a triangular structure.

[0012] Further preferably, the structural frame comprises oppositely arranged first and second frames, and a connecting rod is connected between the top portions of the first and second frames.

[0013] Further preferably, the top portion of the first frame is provided with an upper rail base extending along the first direction, and the inclined platform is provided with a lower rail base extending along the first direction, and the lower rail base and the upper rail base are used for mounting of a storage and retrieval machine.

[0014] Further preferably, the structural frame comprises oppositely arranged first and second frames, and a connecting rod is connected between the top portions of the first and second frames.

[0015] a lower rail mounted on the lower rail base along the first direction and used for connection with a bottom portion of the storage and retrieval machine;

[0016] an upper rail mounted on the upper rail base along the first direction and used for connection with a top portion of the storage and retrieval machine; and

[0017] a collision prevention blocking mechanism symmetrically arranged on two sides of the first frame along the first direction and used for preventing derailment of the storage and retrieval machine.

[0018] Further preferably, the top portion of the second frame is provided with an equipment fixing frame extending along the first direction, and the inclined platform is provided with a shelf base extending along the second direction, and the shelf base and the equipment fixing frame are used for mounting of a storage and retrieval shelf unit.

[0019] Further preferably, the structural frame comprises oppositely arranged first and second frames, and a connecting rod is connected between the top portions of the first and second frames.

[0020] a shelf unit base arranged on the shelf base and used for connection with a bottom portion of the storage and retrieval shelf unit; and

[0021] A top support is arranged at the bottom of the equipment fixing frame and used to connect with the top of the vertical warehouse shelf unit.

[0022] To solve the above technical problems, the application further provides a simulation sea state test method for a shipborne automatic warehouse system, which is realized based on the simulation sea state test device for the shipborne automatic warehouse system and includes the following steps:

[0023] S1: Assembling the vertical warehouse shelf unit and the vertical warehouse stacker on the simulation sea state test device and connecting cables so that the vertical warehouse shelf unit and the vertical warehouse stacker run in a simulated actual loading condition;

[0024] S2: Simulating the ship body inclination state by lifting one side of the inclined platform with a crane, testing the strain of the vertical warehouse shelf unit with a dynamic strain gauge, and obtaining stress-strain test data;

[0025] S3: Generating a stress-strain fold line graph of each point according to the stress-strain test data and comparing it with the yield strength of the shelf material itself to obtain a test conclusion.

[0026] Further preferably, in the step S2, the step of simulating the ship body inclination state by lifting one side of the inclined platform with a crane, testing the strain of the vertical warehouse shelf unit with a dynamic strain gauge, and obtaining stress-strain test data includes:

[0027] S21: Hinging the fixed plate with the connecting eye plate on one side of the inclined platform and fixedly connecting the fixed plate with the ground through expansion bolts;

[0028] S22: Simulating the equipment operation test in the state of 7° ship body roll and pitch and the structure stability and equipment anchoring test in the state of 25° ship body roll and pitch by lifting the lifting eye plate on the side opposite to the fixed plate with the crane without unhooking the crane during the whole process;

[0029] S23: Simulating the actual loading condition by using equivalent counterweight blocks, and testing the strain of the shelf structure in the horizontal static state, the 7° inclination state, and the 25° inclination state through the strain gauge.

[0030] Further preferably, in the step S22, the step of simulating the equipment operation test in the state of 7° ship body roll and pitch includes:

[0031] S221: Simulating the ship body roll or pitch by lifting one side of the inclined platform with the crane, assisting with the jack, jacking the inclined platform to a 7° inclined angle with the horizontal plane, supporting and fixing the inclined platform with the inclined support mechanism, keeping the inclined platform stable in the 7° inclined angle, and monitoring the shelf structure deformation and whether there is an abnormal sound;

[0032] S222: Control the cargo platform of the vertical warehouse stacker to align the cargo platform and the guide rail of one storage space of the shelf;

[0033] S223: Control the shuttle to run on the cargo platform of the vertical warehouse stacker and the shelf, observe whether there is a skid phenomenon, and whether the operation of each device is normal; the whole process does not release the hook of the crane.

[0034] Further preferably, in step S22, the step of simulating the structural stability and equipment anchoring test under the condition of 25° roll and pitch of the ship body further comprises:

[0035] S224: Use the crane to lift one side of the inclined platform to simulate the roll or pitch of the ship body to 25°, support and fix the inclined platform to keep the posture of the inclined platform stable at 25°, and observe whether the shelf structure is stable and reliable and whether there is an abnormal sound;

[0036] S225: Perform anchoring operation on the shuttle and the stacker, observe the stability, and observe the limiting, braking, and positioning conditions; the whole process does not release the hook of the crane.

[0037] Further preferably, in step S3, the step of generating a stress-strain fold line graph of each point according to the stress-strain test data and comparing the yield strength of the shelf material itself to obtain a test conclusion comprises:

[0038] If the maximum value in all generated data is less than the yield strength of the material itself, it indicates that the structure will not be damaged in extreme sea conditions, and its reliability and safety are guaranteed; otherwise, it does not have reliability and safety.

[0039] The simulation sea condition test device and method for the shipborne automatic warehouse system provided by the application have the following beneficial effects compared with the prior art:

[0040] 1. A simulation sea condition test device for a shipborne automatic warehouse system, comprising a mounting platform assembly, an inclined support mechanism, and a fixed plate, wherein the fixed plate is fixed to the ground, and the fixed plate is hinged to the inclined platform, so that the inclined platform can be rotated and inclined under the action of a crane, and a structural frame is used to fix the equipment to be tested, so as to meet the simulation of complex sea conditions; and the inclined support mechanism plays a supporting and fixing role on the inclined platform after the inclined platform is inclined, so that the posture of the inclined platform is kept stable, which is beneficial to improve the verification accuracy of different sea conditions, and the device has the characteristics of simple design, small manufacturing cost, simple operation, good test effect, safety, and reliability.

[0041] 2. A method for simulating sea state test of a shipborne automatic warehouse system, which assembles a vertical warehouse rack unit and a vertical warehouse stacker on the simulating sea state test device, connects cables to make the vertical warehouse rack unit and the vertical warehouse stacker run in a simulated actual loading condition, simulates a ship body inclination state by lifting one side of the inclined platform with a crane, tests the strain of the vertical warehouse rack unit with a dynamic strain meter and obtains stress-strain test data, generates a stress-strain fold line graph of each point according to the stress-strain test data, compares the stress-strain fold line graph with the yield strength of the rack material itself to obtain a test conclusion, and verifies the safe operation of the shipborne warehouse system under complex sea states. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 Fig. 1 is a structural schematic diagram of a simulating sea state test device for a shipborne automatic warehouse system according to the present application.

[0043] Figure 2 Fig. 2 is a structural schematic diagram of a mounting platform assembly according to the present application.

[0044] Figure 3 Fig. 3 is a side view of the present application. Figure 2

[0045] Figure 4 Fig. 4 is a top view of the present application. Figure 2

[0046] Figure 5 Fig. 5 is a structural schematic diagram of an inclined support mechanism according to the present application.

[0047] Figure 6 Fig. 6 is a structural schematic diagram of a fixed plate according to the present application.

[0048] Figure 7 Fig. 7 is a schematic diagram of a vertical warehouse rack unit according to the present application.

[0049] Figure 8 Fig. 8 is a schematic diagram of a vertical warehouse stacker according to the present application.

[0050] Figure 9 Fig. 9 is a structural schematic diagram of a simulating sea state test device for a shipborne automatic warehouse system according to the present application, which carries a test object.

[0051] Figure 10 Fig. 10 is a structural schematic diagram of the simulating sea state test device for a shipborne automatic warehouse system according to the present application, which is inclined by 7°.

[0052] Figure 11 Fig. 11 is a structural schematic diagram of the simulating sea state test device for a shipborne automatic warehouse system according to the present application, which is inclined by 25°.

[0053] Figure 12 ​​Fig. 7 is a structural schematic diagram of a simulation sea state test device for a shipborne automatic warehouse system according to the present application when the inclination is 7°.

[0054] Figure 13 Fig. 8 is a structural schematic diagram of a simulation sea state test device for a shipborne automatic warehouse system according to the present application when the inclination is 25°.

[0055] Figure 14 Fig. 9 is a layout diagram of a strain gauge according to the present application.

[0056] Fig. 10 is a layout diagram of a strain gauge according to the present application.

[0057] 1, tilting platform; 11, hoisting eye plate; 12, connecting eye plate;

[0058] 2, structural frame; 21, first frame; 22, second frame; 23, connecting rod;

[0059] 3, lower rail base;

[0060] 4, upper rail base;

[0061] 5, shelf base;

[0062] 6, equipment fixing frame;

[0063] 7, tilting support mechanism; 71, support frame; 72, polyurethane pad;

[0064] 8, fixing plate; 81, expansion bolt hole; 82, hinged seat;

[0065] 100, vertical warehouse shelf unit; 101, shelf unit base; 102, top support; 103, shelf column; 104, shuttle machine; 105, load tray;

[0066] 200, vertical warehouse stacker; 201, lower rail; 202, upper rail; 203, anti-collision blocking mechanism;

[0067] A, test point position; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0068] The specific embodiments of the present application are described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0069] In the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "between", "inner", "outer", "opposite", "parallel", "vertical", "close", "far away", "one end / side", "the other end / side" and the like used in the present application indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0070] The terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance; in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0071] Embodiment 1

[0072] As shown in Figures 1-6 , the present embodiment provides a simulation sea state test device for shipborne automatic warehouse system, which comprises a mounting platform assembly, a tilting support mechanism 7 and a fixed plate 8, and has the advantages of simple design, low manufacturing cost and easy operation.

[0073] In the specific embodiment, the mounting platform assembly comprises a tilting platform 1 and a structural frame 2 arranged on the tilting platform 1, and the structural frame 2 is used for fixing the equipment to be tested; the tilting support mechanism 7 is arranged at the bottom of one side of the tilting platform 1; the fixed plate 8 is arranged on the side of the tilting platform 1 opposite to the tilting support mechanism 7, and the fixed plate 8 is hinged to the side of the tilting platform 1, and the fixed plate 8 is used for fixed connection with the ground.

[0074] In the above example, it comprises a mounting platform assembly, a tilting support mechanism 7 and a fixed plate 8, wherein the fixed plate 8 is fixed to the ground, and the fixed plate 8 is hinged to the tilting platform 1, so that the tilting platform 1 can be rotated and tilted under the action of the crane; the structural frame 2 is used for fixing the equipment to be tested, so as to meet the simulation of complex sea state; and the tilting support mechanism 7 plays a supporting and fixing role on the tilting platform 1 after the tilting platform 1 is tilted, so that the posture of the tilting platform 1 remains stable, which is conducive to improving the verification accuracy of different sea states. The device has the characteristics of good test effect, safety and reliability.

[0075] In other examples, the material of the tilting platform 1 is a 12mm thick steel plate.

[0076] In other examples, the structural frame 2 is made of welded 20-groove steel.

[0077] In other examples, the fixed plate 8 is a 16mm thick steel plate.

[0078] In the specific embodiment, the installation platform assembly has a first direction X, a second direction Y and a third direction Z, and the two sides of the tilting platform 1 parallel to the first direction X are respectively provided with a lifting eye plate 11 and a connecting eye plate 12, and the two sides of the tilting platform 1 parallel to the second direction Y are respectively provided with a lifting eye plate 11 and a connecting eye plate 12, the lifting eye plate 11 is used for the lifting point of the crane, and the connecting eye plate 12 is hinged with the fixed plate 8; as preferred, the tilting platform 1 is arranged in a rectangular structure, at this time, the two adjacent sides of the tilting platform 1 are both provided with the lifting eye plate 11, and the other two adjacent sides are both provided with the connecting eye plate 12, so that the opposite two sides of the tilting platform 1 respectively have the lifting eye plate 11 and the connecting eye plate 12, in order to facilitate the subsequent tilting test.

[0079] In other examples, the lifting eye plate 11 and the connecting eye plate 12 are both composed of a 12mm thick steel plate.

[0080] In the above examples, as shown in Figure 1 the first direction refers to the X-axis direction, the second direction refers to the Y-axis direction, and the third direction refers to the Z-axis direction, wherein the first direction, the second direction and the third direction are perpendicular to each other in space.

[0081] In some embodiments, as shown in Figure 5 the tilting support mechanism 7 includes symmetrically arranged support frames 71, and the symmetric support frames 71 are connected by polyurethane pads 72, which have the advantages of good compression resistance and not easy to deform, and can provide stable support for the tilting platform 1.

[0082] In the above examples, the tilting support mechanism 7 is at least two sets and each set has different heights, which facilitates effective support of the tilting platform 1 when the tilting platform 1 is tilted at different angles, such as forming a 7° or 25° inclination angle relative to the horizontal plane. Specifically, the tilting support mechanism 7 is divided into high and low tilting support mechanisms, and the support frames 71 of different heights are designed according to the longitudinal and transverse inclination angles, respectively, and there is one set of high and low support frames 71.

[0083] In some preferred examples, the support frame 71 is arranged in a triangular structure to enhance the structural strength and support strength of the tilting support mechanism 7, so as to avoid damage to the equipment to be tested and affect the test results during the process of supporting the tilting platform 1.

[0084] In other examples, the support frame 71 is made of 20-groove steel.

[0085] In some implementations, such as Figure 6 As shown, the fixed plate 8 is provided with expansion bolt holes 81 and hinge seats 82. The expansion bolt holes 81 are used to install expansion bolts to achieve a fixed connection between the fixed plate 8 and the ground. When connecting, the expansion bolts are aligned with the expansion bolt holes 81 to ensure that the fixed plate 8 is always in contact with the ground when the inclined platform 1 is hoisted to an inclined state, so as to avoid damage to the test equipment and to avoid affecting the test results. In addition, to achieve the above purpose, the hinge seat 82 is hinged to the connecting eye plate 12 by a pin, so that the inclined platform 1 can rotate around the pin.

[0086] In other examples, the hinge seat 82 is a 12mm thick steel plate, and the pin is a round steel bar with a diameter of φ=100mm.

[0087] In some embodiments, the test object of the simulated sea state test device for the shipborne automated storage system is the core equipment of a high-density automated storage system suitable for marine storage systems, mainly consisting of a selected vertical racking unit 100, such as... Figure 7 As shown, and one 200-ton stacker crane, such as Figure 8 As shown,

[0088] It should be noted that the automated storage and retrieval system (AS / RS) rack unit 100 includes a rack constructed from rack uprights 103, a load pallet 105, samples, a shuttle 104, and guide rails, etc. The shuttle 104 is mounted on the guide rails and can move back and forth between the AS / RS rack unit 100 and the AS / RS stacker crane 200 to transport samples. In addition, the AS / RS stacker crane 200 is equipped with a loading platform, and the loading platform and the guide rail of one shelf position can be aligned, so that the shuttle 104 can transport and transfer samples from the loading platform to the rack.

[0089] In some embodiments, the structural frame 2 includes a first frame 21 and a second frame 22 arranged opposite to each other, with a connecting rod 23 connecting the tops of the first frame 21 and the second frame 22 to facilitate the installation and fixing of the automated storage and retrieval system (AS / RS) rack unit 100 and the AS / RS stacker crane 200.

[0090] In the above example, the upper rail base 4 extending along the first direction X is arranged on the top of the first frame 21, and the lower rail base 3 extending along the first direction X is arranged on the inclined platform 1, which is used for the installation of the rack stacker 200. Specifically, the simulation sea state test device for the ship-mounted automatic warehouse system further comprises a lower rail 201, an upper rail 202, and a collision blocking mechanism 203, wherein the lower rail 201 is installed on the lower rail base 3 along the first direction X and is used for connecting with the bottom of the rack stacker 200; the upper rail 202 is installed on the upper rail base 4 along the first direction X and is used for connecting with the top of the rack stacker 200, so as to realize the installation and fixation of the rack stacker 200; the collision blocking mechanism 203 is symmetrically arranged on both sides of the first frame 21 along the first direction X, which is used for preventing the rack stacker 200 from derailing and protecting the rack stacker 200.

[0091] In the above example, the equipment fixing frame 6 extending along the first direction X is arranged on the top of the second frame 22, and the shelf base 5 extending along the second direction Y is arranged on the inclined platform 1, which is used for the installation of the rack shelf unit 100. Specifically, the simulation sea state test device for the ship-mounted automatic warehouse system further comprises a shelf unit base 101 and a top support 102, wherein the shelf unit base 101 is arranged on the shelf base 5 and is used for connecting with the bottom of the rack shelf unit 100; the top support 102 is arranged on the bottom of the equipment fixing frame 6 and is used for connecting with the top of the rack shelf unit 100, so as to realize the fixation of the rack shelf unit 100.

[0092] In other examples, the lower rail base 3 and the shelf base 5 are both 10mm thick steel plates.

[0093] In other examples, the upper rail base 4 is an H-shaped steel with a size of 200x200x12mm.

[0094] Working principle: as Figures 1-9As shown, the inclined platform 1 serves as a platform for carrying and fixing various devices of the automatic loading system, the bases of the various devices of the system are welded and fixed to the inclined platform 1, the top and side surfaces of the various devices are welded and fixed to the structural frame 2, eye plates are arranged around the inclined platform 1 as hoisting points of the crane and hinge points of the fixed plate 8; one end of the fixed plate 8 is connected to the inclined platform 1 through a hinge seat 82, and the other end is fixed to the ground through expansion bolts, the fixed plate 8 is equivalent to a hinge, and the adjustment of different angle postures of the inclined platform 1 can be realized under the premise of safety through the crane; the high and low inclined support mechanism 7 is used to support the inclined platform during the test, so that the inclined platform can maintain different angles, and the effect of simulating extreme sea conditions is realized. During the test, the inclined platform 1 is first connected to the fixed plate 8 through a pin shaft; then the selected vertical warehouse shelf unit 100 is welded and fixed to the second frame 22, the shelf unit base 101 is welded and fixed to the shelf base 5, and the top support 102 is welded and fixed to the device fixing frame 6; the lower rail 201 is welded and fixed to the lower rail base 3, the upper rail 202 is welded and fixed to the upper rail base 4, and then the vertical warehouse stacker 200 is installed between the lower rail 201 and the upper rail 202; finally, the anti-collision blocking mechanism 203 is installed on the first frame 21 at the positions of the two ends of the lower rail 201 and the upper rail 202, which is used to prevent the stacker from derailing.

[0095] In summary, the simulation sea condition test device for the shipborne automatic warehouse system provided in embodiment 1 includes a mounting platform assembly, an inclined support mechanism 7, and a fixed plate 8, wherein the fixed plate 8 is fixed to the ground, and the fixed plate 8 is hinged to the inclined platform 1, so that the inclined platform 1 can be rotated and inclined under the action of the crane; the structural frame 2 is used to fix the devices to be tested, so as to meet the simulation of complex sea conditions; and the inclined support mechanism 7 plays a supporting and fixing role on the inclined platform 1 after the inclined platform 1 is inclined, so that the posture of the inclined platform 1 remains stable, which is conducive to improving the verification accuracy of different sea conditions. The device has the characteristics of simple design, low manufacturing cost, easy operation, good test effect, safety, and reliability.

[0096] Embodiment 2

[0097] As shown in Figures 10-14 Embodiment 2 provides a simulation sea condition test method for a shipborne automatic warehouse system, which is realized based on the simulation sea condition test device for the shipborne automatic warehouse system of embodiment 1, and is characterized by comprising the following steps:

[0098] S1: Assembling the vertical warehouse shelf unit 100 and the vertical warehouse stacker 200 on the simulation sea condition test device, and connecting cables to make the vertical warehouse shelf unit 100 and the vertical warehouse stacker 200 run in a simulated actual loading condition;

[0099] S2: simulate the state of ship body inclination by lifting one side of the inclined platform 1 with a crane, and test the strain of the warehouse shelf unit 100 with a dynamic strain meter to obtain stress-strain test data;

[0100] S3: generate a stress-strain fold line graph for each point according to the stress-strain test data, and compare it with the yield strength of the shelf material itself to obtain test conclusions.

[0101] In some embodiments, in the above step S2, the step of simulating the state of ship body inclination by lifting one side of the inclined platform 1 with a crane, and testing the strain of the warehouse shelf unit 100 with a dynamic strain meter to obtain stress-strain test data includes:

[0102] S21: hinge the fixed plate 8 to the connection eye plate 12 on one side of the inclined platform 1, and fix the fixed plate 8 to the ground through expansion bolts;

[0103] S22: use a lifting eye plate 11 on the side opposite to the fixed plate 8 to simulate the equipment operation test under the state of ship body heeling and pitching 7°, and simulate the structural stability and equipment anchoring test under the state of ship body heeling and pitching 25°, and the crane does not unhook during the whole process;

[0104] S23: use equivalent counterweight blocks to simulate the actual loading condition, and use a dynamic strain meter to test the strain of the shelf structure under the conditions of horizontal static state, inclination 7°, and inclination 25°.

[0105] In the above example, it should be noted that heeling refers to inclination in the first direction X, and pitching refers to inclination in the second direction Y.

[0106] In some embodiments, in step S22, the step of simulating the equipment operation test under the state of ship body heeling and pitching 7° includes:

[0107] S221: use a crane to lift one side of the inclined platform 1 to simulate ship body heeling or pitching, use a jack for assistance, jacking the inclined platform 1 to a 7° inclined angle with the horizontal plane, and use the inclined support mechanism 7 to support and fix the inclined platform 1, so that the inclined platform 1 remains stable at a 7° inclined angle, and monitors the deformation of the shelf structure and whether there is any abnormal noise;

[0108] S222: control the load table of the vertical warehouse stacker 200 to align the load table with the guide rail of one storage position of the shelf;

[0109] S223: control the shuttle 104 to run on the load table of the vertical warehouse stacker 200 and the shelf, observe whether there is a skid phenomenon, and whether each device operates normally; the crane does not unhook during the whole process.

[0110] In some embodiments, in step S22, the step of simulating the structural stability and equipment anchoring test under the condition of 25° ship body roll and pitch further comprises:

[0111] S224: lifting one side of the inclined platform 1 to simulate the ship body roll or pitch to 25° angle using the crane, supporting and fixing the inclined platform 1 to keep the inclined platform 1 stable at the 25° angle, and observing whether the shelf structure is stable and reliable and whether there is any abnormal noise;

[0112] S225: performing anchoring operation on the shuttle 104 and the stacker, observing the stability, and observing the limiting, braking, and positioning conditions; the crane is not unhooked during the whole process.

[0113] In some embodiments, in step S3, the step of generating point stress-strain fold line graphs according to the stress-strain test data and comparing with the yield strength of the shelf material itself to obtain test conclusions comprises:

[0114] If the maximum value in all generated data is less than the yield strength of the material itself, it indicates that the structure will not be damaged in extreme sea conditions, and its reliability and safety are guaranteed; otherwise, it does not have reliability and safety.

[0115] The principle of the simulation sea condition test method for the automatic warehouse system on the ship is as follows: through the cooperation of the crane, the angle of the inclined platform 1 is adjusted to simulate the ship in the working sea condition (the target ship in this test is inclined by 7° in the transverse and longitudinal directions) to test the running stability of the shuttle 104 and the vertical warehouse stacker 200, and the cooperation function with the vertical warehouse shelf unit 100; and in the survival sea condition of the ship (the target ship in this test is inclined by 25° in the transverse and longitudinal directions) to test the structural stability of the vertical warehouse shelf unit 100, the anchoring stability of the shuttle 104 and the vertical warehouse stacker 200. The strain of the test equipment is measured by the dynamic strain meter, and then the stress is calculated, and the strain data analysis is used to verify whether the device meets the design requirements and whether the structure is optimized. The test content is as follows:

[0116] I. Preparation before test:

[0117] (1) After the inclined platform 1 is made, it is placed flat on the test site, and the test area is surrounded by warning lines;

[0118] (2) Assemble the vertical warehouse shelf unit 100 and the vertical warehouse stacker 200 on the inclined platform 1 and weld them;

[0119] (3) Connect the cables to enable manual control of the vertical warehouse stacker 200 and the shuttle 104 to run;

[0120] (4) Load tray 105 is full of goods as test load, the goods and load tray 105 are reliably fixed, the goods and load tray 105 can be prevented from slipping, and the load tray 105 and the goods are stored into the rack by the shuttle 104.

[0121] (5) The crane is in place, and the test tools are ready, mainly including dynamic strain gauges and related accessories, etc., the accessories mainly include strain gauges, network cables, soldering irons, soldering wires, sandpaper, computers, etc.

[0122] II. Test steps:

[0123] (1) The device operation test of 7° roll is shown in FIG. 1. Figure 10

[0124] a. The in-plant hoisting crane is used to hoist one side of the inclined platform 1 to simulate the roll of the ship body, the jack is used for auxiliary lifting, the platform is lifted to 7° inclination, and the inclined support mechanism 7 is used for supporting and fixing the inclined platform 1, so that the inclined platform 1 is kept stable at the 7° inclination, and the deformation of the rack structure and whether there is an abnormal sound are observed.

[0125] b. The vertical warehouse stacker 200 and the loading table are controlled to align the loading table and the track of one rack position.

[0126] c. The shuttle 104 is controlled to run between the loading table of the stacker and the rack, and whether there is a skid phenomenon and whether the operation of each device is normal are observed. The crane is not unhooked during the whole process.

[0127] (2) The structure stability and device anchoring test of 25° roll is shown in FIG. 2. Figure 11

[0128] a. The in-plant hoisting crane is used to hoist the inclined platform 1 to 25° inclination, and the inclined support mechanism 7 is used for supporting and fixing the inclined platform 1, so that the inclined platform 1 is kept stable at the 25° inclination, and whether the rack structure is stable and reliable and whether there is an abnormal sound are observed.

[0129] b. The anchoring operation of the shuttle 104 and the vertical warehouse stacker 200 is observed, and the stability, the limiting, the brake and the positioning are observed. The crane is not unhooked during the whole process.

[0130] (3) The longitudinal inclination test is operated in the same way as the roll test, the other side of the inclined platform 1 is hoisted, the inclined platform 1 is lifted to 7° and 25° inclination, the longitudinal inclination of the ship is simulated, and whether each device is stable is observed. The crane is not unhooked during the whole process. As shown in FIG. 3 and FIG. 4. Figure 12 Figure 13

[0131] (4) The stress and strain test is shown in FIG. 5. Figure 14

[0132] ​​​​​a. On-site, using counterweights of equivalent weight, strain tests were conducted on the rack structure under simulated actual loading conditions, in horizontal static state, tilted at 7° and tilted at 25°, using a strain gauge. The crane did not release its hook throughout the entire process.

[0133] b. Based on the finite element analysis of the rack, the anchor points at the junction of the rack and the deck are determined to be the areas of greatest stress concentration. Therefore, strain gauges will be primarily placed at the anchor points, which are the main load-bearing components. Test point A will be arranged as follows: Figure 14 As shown. When attaching strain gauges, a soldering iron is used to simulate the triaxial direction at the base of the shelf. The three axes are the first direction X, the second direction Y, and the third direction Z.

[0134] c. During the functional verification test of the inclined platform 1 at a 7° inclination, a single load pallet 105 was used to place the heavy object on the bottom shelf. The shuttle 104 simulated the storage operation steps on the stacker crane track for mobile measurement; since 25° lateral and longitudinal rolling is an extreme sea condition, the regular operation was stopped, and a static load-bearing strain test was performed on the shelf.

[0135] d. Data Acquisition and Processing: During the test, the load changes with the tilt angle, causing varying degrees of strain changes at stress concentration points such as the foundation. The strain gauge automatically records the data and generates strain line graphs for each point, such as... Figure 14 As shown in the figure. The strain data were converted into stress data and a data table was formed using the stress formula σ = εE (σ is stress, E is elastic modulus, and ε is strain).

[0136] e. Test conclusions: The test conclusions are obtained by comparing the stress and strain test results of the ship's anchor with the yield strength of the rack material itself. For example, if the maximum value of all the generated data is less than the yield strength of the material itself, it indicates that the structure will not suffer strength failure under the survival sea conditions, and its reliability and safety are guaranteed; otherwise, the opposite is true.

[0137] In other implementations, the structural form can be optimized according to the stress conditions. For example, if the stress in the beam direction of certain parts meets the requirements but is relatively large, or even close to the yield strength, optimization schemes such as appropriately increasing the structural strength in that direction or adding support to the hull structure in the beam direction can be considered.

[0138] In summary, the embodiment 2 provides a simulation sea state test method for the shipborne automatic warehouse system, which assembles the vertical warehouse rack unit 100 and the vertical warehouse stacker 200 on the simulation sea state test device, connects the cable to make the vertical warehouse rack unit 100 and the vertical warehouse stacker 200 run in the simulation of the actual loading condition; the crane is used to hoist one side of the inclined platform 1 to simulate the ship body inclination state, the dynamic strain meter is used to test the strain of the vertical warehouse rack unit 100 and obtain the stress-strain test data; the stress-strain test data are used to generate the stress-strain fold line graph of each point, which is compared with the yield strength of the rack material itself to obtain the test conclusion, and the safety operation problem of the shipborne warehouse system under the complex sea state can be verified.

[0139] In the description of the present specification, the description referring to the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0140] The above only describes the preferred embodiments of the present application. It should be noted that for those skilled in the art, without departing from the technical principles of the present application, several improvements and replacements can be made, which should also be considered as the protection scope of the present application. The above shows and describes the basic principles, main features and advantages of the present application. It is obvious for those skilled in the art that the present application is not limited to the details of the above preferred embodiments, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, therefore all changes falling within the meaning and scope of the equivalent elements of the claims should be included in the present application.

[0141] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in the embodiments can also be properly combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. A simulated sea state testing device for a shipborne automated storage system, characterized in that, include: The installation platform assembly has a first direction, a second direction, and a third direction. The installation platform assembly includes an inclined platform and a structural frame disposed on the inclined platform. The inclined platform has a lifting eye plate and a connecting eye plate on two sides parallel to the first direction, and a lifting eye plate and a connecting eye plate on two sides parallel to the second direction. The lifting eye plate is used as the lifting point of the crane, and the structural frame is used to fix the equipment to be tested. An inclined support mechanism is located at the bottom of one side of the inclined platform; and A fixing plate is provided on the side of the inclined platform opposite to the inclined support mechanism. The fixing plate is hinged to the connecting eye plate and is used for fixed connection with the ground. The structural frame includes a first frame and a second frame that are arranged opposite to each other; The top of the first frame is provided with an upper rail base extending in a first direction, and the inclined platform is provided with a lower rail base extending in the first direction. The lower rail base and the upper rail base are used for the installation of the vertical warehouse stacker crane. The second frame is provided with an equipment mounting bracket extending in a first direction at its top, and a shelf base extending in a second direction is provided on the inclined platform. The shelf base and the equipment mounting bracket are used for the installation of the automated warehouse racking unit. A crane is used to lift one side of the tilting platform to simulate the tilting state of a ship's hull. A dynamic strain gauge is used to perform strain tests on the automated warehouse racking unit and obtain stress-strain test data.

2. The simulated sea state test device for a shipborne automated storage system according to claim 1, characterized in that, The fixing plate is provided with expansion bolt holes and hinge seats. The expansion bolt holes are used to install expansion bolts to achieve a fixed connection between the fixing plate and the ground. The hinge seats are hinged to the connecting eye plate by a pin.

3. The simulated sea state test device for a shipborne automated storage system according to claim 1, characterized in that, The inclined support mechanism includes symmetrically arranged support frames, with polyurethane pads connecting the symmetrical support frames.

4. The simulated sea state test device for a shipborne automated storage system according to claim 3, characterized in that, The support frame is arranged in a triangular structure.

5. The simulated sea state testing device for a shipborne automated storage system according to claim 1, characterized in that, A connecting rod is connected between the top of the first frame and the second frame.

6. The simulated sea state test device for a shipborne automated storage system according to claim 1, characterized in that, Also includes: The lower rail is installed on the lower rail base along the first direction for connection with the bottom of the vertical warehouse stacker crane; An upper rail, mounted on an upper rail base along a first direction, is used to connect to the top of the vertical warehouse stacker crane; and The anti-collision blocking mechanism is symmetrically arranged on both sides of the first frame along the first direction to prevent the stacker crane from derailing.

7. The simulated sea state test device for a shipborne automated storage system according to claim 6, characterized in that, Also includes: A rack unit base is provided on the rack base and is used to connect to the bottom of the automated warehouse rack unit; as well as A top support is located at the bottom of the equipment mounting frame and is used to connect to the top of the automated warehouse rack unit.

8. A method for simulating sea state testing of a shipborne automated storage system, implemented based on a simulated sea state testing apparatus for a shipborne automated storage system as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Assemble the vertical warehouse racking unit and the vertical warehouse stacker crane on the simulated sea state test device, and connect the cables to enable the vertical warehouse racking unit and the vertical warehouse stacker crane to operate under simulated actual loading conditions; S2: Use a crane to lift one side of the inclined platform to simulate the tilting state of the ship, and use a dynamic strain gauge to perform strain tests on the vertical warehouse rack unit and obtain stress-strain test data. S3: Generate stress-strain line graphs at each point based on the stress-strain test data, and draw test conclusions by comparing them with the yield strength of the shelf material itself.

9. The simulated sea state test method for a shipborne automated storage system according to claim 8, characterized in that, In step S2 above, the step of using a crane to lift one side of the tilting platform to simulate the tilting state of a ship, and using a dynamic strain gauge to perform strain testing on the automated warehouse racking unit and obtain stress-strain test data includes: S21: Hinge the fixing plate to the connecting eye plate on one side of the inclined platform, and fix the fixing plate to the ground with expansion bolts; S22: Use a crane to lift the lifting eye plate on the side opposite to the fixed plate, simulate the equipment operation test under the state of 7° of ship roll and 7° of ship pitch, and simulate the structural stability and equipment anchoring test under the state of 25° of ship roll and 25° of ship pitch, and the crane does not loosen the hook throughout the process; S23: On-site, using counterweights of equivalent weight, under simulated actual loading conditions, the strain of the rack structure was tested using a dynamic strain gauge in horizontal static state, tilted at 7° and tilted at 25°.

10. A simulated sea state test method for a shipborne automated storage system according to claim 9, characterized in that, In step S22, the equipment operation test under the simulated ship's hull roll and pitch conditions of 7° includes the following steps: S221: Use a crane to lift one side of the tilting platform to simulate the tilt or longitudinal tilt of a ship. Use jacks to assist in lifting the tilting platform to a 7° angle with the horizontal plane. Use a tilting support mechanism to support and fix the tilting platform to keep the tilting platform stable at a 7° angle. Monitor the deformation of the rack structure and whether there are any abnormal noises. S222: Controls the loading platform of the automated storage and retrieval system (AS / RS) stacker crane to align the loading platform with the guide rail of one storage location on the rack. S223: Control the shuttle to run with load on and off the stacker crane platform and rack in the automated warehouse, observe whether there is slippage and whether the equipment is operating normally; the crane should not release the hook throughout the entire process.

11. The simulated sea state test method for a shipborne automated storage system according to claim 9, characterized in that, In step S22, the structural stability and equipment anchoring tests under simulated hull heel and trim conditions of 25° further include: S224: Use a crane to lift one side of the tilting platform to simulate the tilt of a ship to a 25° angle. Support and fix the tilting platform to keep it stable at the 25° angle. Observe whether the rack structure is stable and reliable and whether there are any abnormal noises. S225: Perform anchoring operations on the shuttle and stacker crane, observe their stability, and observe the limit switches, brakes, and positioning; the crane should not loosen its hook throughout the entire process.

12. The simulated sea state test method for a shipborne automated storage system according to claim 8, characterized in that, In step S3, the step of generating stress-strain line graphs at each point based on the stress-strain test data and comparing them with the yield strength of the shelf material itself to draw test conclusions includes: If the maximum value among all the generated data is less than the material's yield strength, it indicates that the structure will not suffer strength failure under extreme sea conditions, and its reliability and safety are guaranteed; otherwise, it lacks reliability and safety.

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