A synchronous control system and synchronous control method for a winch-type vertical ship lift

Abstract

The present application discloses a synchronous control system for a winch-type vertical ship lift, and relates to the technical field of ship equipment, and in particular to a synchronous control system and a synchronous control method for a winch-type vertical ship lift, which comprises: a ship supporting platform, and an electrical room and a control room respectively arranged on both sides of the ship supporting platform; a plurality of first lifting point devices and a second lifting point devices are respectively arranged on both sides of the ship supporting platform; the first lifting point devices and the second lifting point devices respectively comprise corresponding winches and locking mechanisms; the control room comprises a plurality of first control cabinets, an operating table and a first frequency conversion cabinet; the electrical room comprises a second control cabinet and a second frequency conversion cabinet; wherein the motor of the winch is also connected to a reducer, and is provided with an absolute value encoder, which can obtain the lifting heights corresponding to each first lifting point device and the second lifting point device, judge whether there is a deviation between each lifting height and correct the deviation.

Description

Technical Field

[0001] The present application relates to the technical field of ship equipment, and in particular to a synchronous control system and a synchronous control method for a winch-type vertical ship lift. Background Art

[0002] Ship launching is an important link in the shipbuilding process. There are three common ways to launch ships, namely gravity launching, floating launching and mechanical launching. Gravity launching relies on the ship's own weight to make it slide into the water along the slide. It has the advantages of fast launching speed and low maintenance cost. However, it is limited by the width of the channel and the oil coated on the slide will pollute the environment. Floating launching uses the method of filling the dock with water to make the built ship float and launch. It has the advantages of not being limited by the width of the channel and being safe and stable, but its construction and maintenance costs are high. Mechanical launching has the advantages of being stable and reliable, but the disadvantage is that the weight of the ship launched is limited by the carrying capacity of the equipment. There are mainly two types of mechanical launching. One is the comb-type inclined ship frame launching, which is mainly towed by a transverse vehicle to the launching trolley, i.e. the inclined ship frame, and then slowly launched into the water by pulling the inclined ship frame. The other is the vertical ship lift, which is a platform for carrying ships set close to the launching wall. The ship can be lifted vertically by hydraulic drive or winch for launching and pier use.

[0003] However, due to the uneven distribution of the weight of the ship itself, some individual lifting points may be overloaded, and height deviations may occur during the ascent or descent process, seriously affecting the safety of the ship's embarkation and launching. Summary of the invention

[0004] The purpose of the present invention is to avoid the shortcomings of the prior art and provide a motor synchronous control technology that can adapt to the load of each hanging point to achieve smooth lifting.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] According to one aspect of the present invention, a winch-type vertical ship lift synchronous control system is provided, comprising: a ship supporting platform, and an electrical room and a control room respectively arranged on both sides of the ship supporting platform; a plurality of first lifting point devices and a second lifting point devices are respectively arranged on one side or both sides of the ship supporting platform; the first lifting point devices and the second lifting point devices respectively comprise corresponding winches and locking mechanisms; the control room comprises a plurality of first control cabinets, an operating table and a first frequency conversion cabinet; the electrical room comprises a second control cabinet and a second frequency conversion cabinet; the operating table is connected to the first control cabinet, the first control cabinet is respectively connected to the second control cabinet and the first frequency conversion cabinet, and the second control cabinet is connected to the second frequency conversion cabinet; the first control cabinet and the first frequency conversion cabinet are respectively connected to each first lifting point device; the second control cabinet The control cabinet and the second frequency conversion cabinet are respectively connected to each second lifting point device; the operating table is used to generate and send operation signals, the first control cabinet and the second control cabinet are used to generate corresponding control signals according to the operation signals, and the first frequency conversion cabinet and the second frequency conversion cabinet control the working status of the winch and the locking mechanism according to the corresponding control signals; wherein the winch also includes a motor, and the motor is also connected to a reducer; an absolute value encoder is also provided on the output shaft of the reducer; the first control cabinet and the second control cabinet are respectively connected to the corresponding absolute value encoders to obtain the corresponding lifting heights of each first lifting point device and the second lifting point device and determine whether there is a deviation; if there is a deviation, a corresponding correction signal is generated and sent to the corresponding first frequency conversion cabinet or second frequency conversion cabinet.

[0007] Specifically, the motor is also provided with a corresponding incremental encoder, and the incremental encoder is connected to the corresponding first frequency converter or the second frequency converter.

[0008] More specifically, the first lifting point device and the second lifting point device also include a connecting seat, a fixed pulley block and a movable pulley block respectively; the winch is connected to the movable pulley block and the fixed pulley block in sequence through a steel wire rope; the fixed pulley block is fixedly installed above the connecting seat; the movable pulley block is used to install the lifting point beam of the ship-supporting platform; the connecting seat is equipped with a locking mechanism, and the locking mechanism is used to lock the lifting point beam.

[0009] More specifically, the locking mechanism includes a connecting rod, a push-pull mechanism, a latch, and a plurality of pin plates; the push-pull mechanism and the pin plates are fixedly arranged in a connecting seat; the bottom of the connecting rod is fixedly connected to the suspension beam and is arranged below the connecting seat; the pin plate is provided with a first pin hole; the connecting rod is provided with a second pin hole; the latch is arranged on the movable end of the push-pull mechanism; the push-pull mechanism is used to control the latch to pass through the first pin hole and the second pin hole when the position of the second pin hole corresponds to that of the first pin hole.

[0010] More specifically, a rope end fixing seat is also provided on the connecting seat; the rope end fixing seat is connected to the wire rope through a load sensor; the load sensor is respectively connected to the first control cabinet or the second control cabinet for measuring the load of the corresponding wire rope.

[0011] More specifically, the first hanging point device and the second hanging point device are also respectively provided with corresponding limit devices; the limit devices include a proximity switch and a sensing plate; the proximity switch is fixed on the connecting seat; a corresponding impact rod is also provided on the hanging point beam; the impact rod is used to push the sensing plate to trigger the proximity switch.

[0012] More specifically, the limiting device also includes a guide seat and a pin shaft; the guide seat is fixedly mounted on the connecting seat; the sensing sheet is fixedly connected to the pin shaft; the pin shaft is sleeved in the guide seat for contacting the striker rod.

[0013] In the above, the ship-carrying platform includes a land-end platform, a water-end platform and a transition platform; the transition platform is movably arranged at a position between the land-end platform and the water-end platform; a plurality of first lifting point devices and second lifting point devices are respectively arranged on both sides of the land-end platform and the water-end platform; the first lifting point devices and the second lifting point devices are symmetrically arranged.

[0014] Furthermore, the land-side platform includes 6 sets of lifting beams; the water-side platform includes 5 sets of lifting beams.

[0015] According to one aspect of the present invention, a synchronous control method is provided, which is applied to the above-mentioned synchronous control system of a winch-type vertical ship lift, and is characterized in that it comprises the following steps:

[0016] S1: Get the operation signal generated by the up button or the down button;

[0017] S2: build up torque for each motor, and after the brake is released, each motor rotates forward;

[0018] S3: monitoring the load conditions of each load sensor, and generating a corresponding early warning protection signal if there is a first hanging point device or a second hanging point device with a load greater than or equal to 90% of the full load;

[0019] S4: determining whether the deviation value of the lifting height corresponding to each first lifting point device and the second lifting point device is greater than a set deviation threshold, and if so, adjusting the corresponding motor speed so that the deviation value of the lifting height is less than or equal to the deviation threshold;

[0020] S5: The ship-carrying platform rises until the proximity switch is triggered, each motor stops, and the brake is closed; if the operation signal is generated by the rising button, the process proceeds to steps S61 to S63; if the operation signal is generated by the falling button, the process proceeds to steps S71 to S3;

[0021] S61: The push-pull mechanism pushes the latch pin into the first pin hole and the second pin hole;

[0022] S62: establishing torque for each motor, and after the brake is released, each motor is reversed according to a preset timing so as to transfer the load to the pin for bearing;

[0023] S63: After the timing time ends, each motor stops and the brake is closed;

[0024] S71: The push-pull mechanism pushes the latch pin to be retracted from the first pin hole and the second pin hole;

[0025] S72: build up torque for each motor, and after the brake is released, each motor reverses;

[0026] S73: Determine whether there is a deviation between the lifting heights corresponding to the first lifting point devices and the second lifting point devices. If there is a deviation, adjust the corresponding motor reverse speed.

[0027] The beneficial effects achieved by the present invention are as follows: a synchronous control system for a winch-type vertical ship lift, comprising: a ship supporting platform, and an electrical room and a control room respectively arranged on both sides of the ship supporting platform; a plurality of first lifting point devices and a second lifting point devices are respectively arranged on both sides of the ship supporting platform; the first lifting point device and the second lifting point device respectively include corresponding winches and locking mechanisms; the control room includes a plurality of first control cabinets, an operating table and a first frequency conversion cabinet; the electrical room includes a second control cabinet and a second frequency conversion cabinet; the operating table is used to generate and send operation signals, the first control cabinet and the second control cabinet are used to generate corresponding control signals according to the operation signals, and the first frequency conversion cabinet and the second frequency conversion cabinet control the working states of the winches and the locking mechanism according to the corresponding control signals; wherein the motor of the winch is also connected to a reducer and is provided with an absolute encoder, which can obtain the lifting heights corresponding to each first lifting point device and the second lifting point device, judge whether there is a deviation between each lifting height and correct it. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 It is a schematic block diagram of the electrical principle of a winch-type vertical ship lift synchronization control system according to an embodiment of the present application;

[0030] Figure 2 It is a schematic diagram of the layout of a synchronous control system of a winch-type vertical ship lift according to an embodiment of the present application;

[0031] Figure 3 This is a schematic diagram of the cable connection of the suspension points on the control room side of a winch-type vertical ship lift synchronization control system according to an embodiment of the present application;

[0032] Figure 4It is a schematic diagram of the cable connection of the lifting points on the electrical room side of a winch-type vertical ship lift synchronous control system in an embodiment of the present application;

[0033] Figure 5 It is a schematic diagram of a top view of a ship lift of a winch-type vertical ship lift synchronous control system according to an embodiment of the present application;

[0034] Figure 6 It is a schematic diagram of the top view of the structure of a lifting point device of a winch-type vertical ship lift synchronous control system according to an embodiment of the present application;

[0035] Figure 7 It is a side structural schematic diagram of a hoisting point device of a synchronous control system of a winch-type vertical ship lift according to an embodiment of the present application;

[0036] Figure 8 It is a partial side structural schematic diagram of a lifting point device of a winch-type vertical ship lift synchronous control system according to an embodiment of the present application;

[0037] Fig. 9 It is a partial side view structural schematic diagram of a hanging point beam of a synchronous control system of a winch-type vertical ship lift according to an embodiment of the present application;

[0038] Fig.10 It is a side structural schematic diagram of a connection seat of a hoisting point device of a synchronous control system of a winch-type vertical ship lift according to an embodiment of the present application;

[0039] Fig.11 It is a front structural schematic diagram of a hoisting point device of a synchronous control system of a winch-type vertical ship lift according to an embodiment of the present application;

[0040] Fig.12 It is a cross-sectional side structural schematic diagram of a connection seat of a lifting point device of a winch-type vertical ship lift synchronous control system according to an embodiment of the present application;

[0041] Fig.13 It is a cross-sectional side structural schematic diagram of a transition platform of a ship lift of a winch-type vertical ship lift synchronous control system according to an embodiment of the present application;

[0042] Fig.14 is a schematic flow chart of a synchronization control method according to an embodiment of the present application;

[0043] in, Figures 5 to 13 Including:

[0044] 1. Lifting point device; 11. Winch; 111. Drum; 112. Motor;

[0045] 12. Connecting seat; 121. Pin plate; 122. First pin hole; 123. Proximity switch; 124. Guide seat; 125. Induction sheet; 126. Pin shaft;

[0046] 13. Fixed pulley block; 14. Movable pulley block; 15. Connecting rod; 151. Second pin hole;

[0047] 16. striker; 17. rope head fixing seat; 171. load sensor; 172. connector;

[0048] 18. Push-pull mechanism; 181. Latch;

[0049] 2. Ship-carrying platform; 21. Land-side platform; 211. First support part; 22. Water-side platform; 221. Second support part;

[0050] 23. Transition platform; 231. Buffer;

[0051] 31. Hanging point beam; 32. Track beam; 33. Secondary beam; 311. Mounting part; 312. Mounting shaft hole. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0053] Example 1

[0054] One of the implementation methods of the synchronous control system of the winch-type vertical ship lift equipment adapted to multiple working conditions of the present application is as follows: Figures 1 to 13 As shown, it includes: a ship lift and an electrical room and a control room arranged on both sides of the ship lift; the ship lift includes a ship supporting platform 2, and a plurality of lifting point devices 1 connected to the ship supporting platform 2, wherein the lifting point device 1 includes a first lifting point device and a second lifting point device, which are respectively arranged on both sides of the ship supporting platform 2.

[0055] The hanging point device 1 comprises: a winch 11 , a connecting seat 12 , a fixed pulley block 13 and a movable pulley block 14 .

[0056] The winch 11 is connected to the movable pulley block 14 and the fixed pulley block 13 in sequence through a steel wire rope. The fixed pulley block 13 is fixedly installed above the connecting seat 12; the movable pulley block 14 is used to install the suspension beam 31 of the ship-bearing platform 2.

[0057] Specifically, the winch 11 includes a drum 111 and a motor 112. One end of the wire rope is fixedly connected to the drum 111, and the other end is lowered from the drum 111 and connected to the movable pulley block 14 of the corresponding suspension beam 31, and then wound around the fixed pulley block 13. Finally, the rope head of the wire rope is fixed on the connecting seat 12. The connecting seat 12 is equipped with a locking mechanism, which is used to lock the suspension beam. The motor 112 is also connected to a reducer; an absolute encoder is also provided on the output shaft of the reducer, which is used to detect the lifting height of the ship-carrying platform 2, so that the controller and the frequency converter can implement position closed-loop control more quickly and accurately.

[0058] The control room includes several first control cabinets, a first power cabinet, an operation table and a first frequency conversion cabinet; the electrical room includes a second control cabinet, a second power cabinet and a second frequency conversion cabinet; the first frequency conversion cabinet includes several first frequency converters; the second frequency conversion cabinet includes several second frequency converters.

[0059] The operating table is connected to the first control cabinet, the first control cabinet is respectively connected to the second control cabinet and the first frequency conversion cabinet, and the second control cabinet is connected to the second frequency conversion cabinet; the first power supply cabinet is connected to the first control cabinet, and the second power supply cabinet is connected to the second control cabinet; the first control cabinet is respectively connected to each first hanging point device; the second control cabinet is respectively connected to each second hanging point device; each first frequency converter is respectively connected to each first hanging point device; each second frequency converter is respectively connected to each second hanging point device.

[0060] The operating console is used to generate and send operating signals, the first control cabinet and the second control cabinet are used to generate corresponding control signals according to the operating signals, and the first frequency conversion cabinet and the second frequency conversion cabinet control the working status of the winch 11 and the locking mechanism according to the corresponding control signals; each lifting point device 1 can be centrally controlled through the operating console in the control room, and each winch 11 is equipped with a frequency converter for control, so as to realize accurate monitoring of each motor 112.

[0061] Specifically, the operating table is equipped with an industrial computer (including construction management system software, etc.), operating handles, buttons, switches, indicator lights, etc. The operating table is connected to the first control cabinet, and operations are performed on the operating table. The Profinet communication protocol is used to control each inverter through PLC to drive each motor 112 to operate separately.

[0062] Specifically, the motor 112 is also connected to a brake, and the first frequency converter and the second frequency converter are respectively connected to corresponding brakes.

[0063] The first control cabinet or the second control cabinet is connected to the corresponding absolute value encoders, respectively, to obtain the lifting heights corresponding to the first and second lifting point devices and to determine whether there is a deviation; if there is a deviation, a corresponding correction signal is generated and sent to the corresponding first frequency conversion cabinet or the second frequency conversion cabinet. In this embodiment, by selecting a lifting point device 1 as the reference for lifting, the other lifting point devices 1 are controlled to run synchronously, thereby achieving the purpose of multi-machine synchronization. During synchronous control operation, each inverter receives the control signal of rising or falling at the same time, and the brake issues an opening command after the drive motor 112 establishes the opening torque. After all the lifting point devices 1 are opened, the inverter drive motor 112 accelerates to a given speed with the same acceleration and then runs synchronously; when parking, each inverter receives a stop command at the same time, and the inverter drive motor 112 decelerates to zero speed with the same acceleration, and then issues a brake command. After all mechanisms are braked, the inverter stops running.

[0064] When it is detected that the height of the suspension point device 1 deviates, the first control cabinet or the second control cabinet adjusts the running speed of the corresponding motor 112 to perform leveling and deviation correction.

[0065] The motor 112 is also provided with a corresponding incremental encoder, which is connected to the corresponding first frequency converter or second frequency converter. It can directly reflect the dynamic performance of the speed and position of the variable frequency motor, provide accurate feedback signals for the motor 112, thereby realizing closed-loop control (speed closed-loop, position closed-loop), so that the motor 112 can work more stably and reliably. The first control cabinet or the second control cabinet monitors the operating current of each motor 112 in real time. When the eccentric load exceeds the standard (current is too large) due to the uneven hanging point, it automatically fine-tunes the motor running speed to perform leveling and deviation correction; when the ship-carrying platform 2 stops after touching the upper limit switch each time it rises, the first control cabinet or the second control cabinet resets all parameters to zero, eliminates the deviation of the system measurement by initialization, and performs automatic leveling and deviation correction.

[0066] Through the above synchronous control and automatic deviation correction measures, the overall deviation accuracy of the ship-carrying platform 2 is ≤10mm, and the deviation accuracy of adjacent lifting points is ≤2mm. In addition, the speed control when entering and exiting the water can be further realized. During the launching process of the ship, when the ship-carrying platform 2 descends to 0.5m from the water surface, the descending speed of the ship-carrying platform 2 is automatically and uniformly reduced through the preset program setting. When the ship-carrying platform 2 is submerged 0.5m underwater, the descending speed of the ship-carrying platform 2 is automatically and uniformly increased. After reaching the rated speed, it is uniformly lowered to the specified height. During the discharging process of the ship, when the ship-carrying platform 2 is lifted to 0.5m underwater, the lifting speed of the ship-carrying platform 2 is automatically and uniformly reduced through the preset program setting. When the ship-carrying platform 2 leaves the water surface 0.5m, the lifting speed of the ship-carrying platform 2 is automatically and uniformly increased. After reaching the rated speed, it is uniformly lifted to the specified height.

[0067] By optimizing the program, the speed change of the ship-carrying platform 2 during the process of entering and exiting the water is controlled, thereby ensuring that the ship-carrying platform 2 protects the paint on the bottom of the ship.

[0068] In this embodiment, the locking mechanism includes a connecting rod 15, a push-pull mechanism 18, a latch 181, and a plurality of pin plates 121; the push-pull mechanism 18 and the pin plates 121 are fixedly arranged in the connecting seat 12; the bottom of the connecting rod 15 is fixedly connected to the suspension beam 31 and is arranged below the connecting seat 12. The pin plate 121 is provided with a first pin hole 122; the connecting rod 15 is provided with a second pin hole 151; the latch 181 is arranged on the movable end of the push-pull mechanism 18; the push-pull mechanism 18 is used to control the latch 181 to pass through the first pin hole 122 and the second pin hole 151 when the positions of the second pin hole 151 and the first pin hole 122 correspond.

[0069] Specifically, the push-pull mechanism 18 is an electro-hydraulic push-pull mechanism.

[0070] More specifically, a rope end fixing seat 17 is also provided on the connecting seat 12; the rope end fixing seat 17 is connected to one end of the connecting member 172 through a load sensor 171, and the other end of the connecting member 172 is used to connect to the wire rope. The load sensor 171 is used to measure the load of the wire rope. Since a load sensor 171 is installed on each lifting point device 1, the load sensor 171 is respectively connected to the corresponding first control cabinet or the second control cabinet to measure the load of the corresponding wire rope, and can monitor the load of each lifting point in real time. By configuring the load sensor 171, optimizing the control program and other measures, the safety and reliability of the operation of the winch-type vertical ship lifting equipment can be improved.

[0071] In this embodiment, the load sensor 171 uses a high-precision pin sensor with a measurement accuracy of ±1%. When the ship moves to the ship-bearing platform 2, its weight can be accurately weighed by the set load sensor 171, and then the center of gravity of the ship is automatically calculated by the program according to the weight difference of each lifting point and the spacing of the arrangement. It can be used as a reference for the theoretical calculation position of the center of gravity of the ship and the empty ship tilt test data. When the load of any lifting point device 1 is greater than or equal to 90%, the operating console will alarm and display the corresponding lifting point to achieve early warning protection; when the load of any lifting point device 1 is greater than or equal to 105%, the ship lift stops rising and can only descend, and the corresponding lifting point is alarmed and displayed to achieve overload protection. Through the operating console, the weighing load data of each lifting point can be displayed and displayed in graphics, and the load data can be stored and output in electronic forms, providing a reliable basis for subsequent analysis of equipment operation and equipment failure.

[0072] More specifically, the lifting point device 1 is further provided with: a limit device; the limit device includes a proximity switch 123 and a sensor sheet 125; the proximity switch 123 is fixed on the connection seat 12; a corresponding striker 16 is further provided on the lifting point beam 31; the striker 16 is used to push the sensor sheet 125 to trigger the proximity switch 123. The lifting point device 1 can determine whether the position of the ship-carrying platform 2 reaches the locking position through the signal of the proximity switch 123, so as to facilitate the locking action of the latch 181.

[0073] The proximity switch 123 serves as the rising limit of the ship-carrying platform 2 and also serves as the initial position calibration of each hoisting point of the winch 11 .

[0074] Furthermore, the limiting device further comprises a guide seat 124 and a pin 126; the guide seat 124 is fixedly mounted on the connecting seat 12; the sensing sheet 125 is fixedly connected to the pin 126; the pin 126 is sleeved in the guide seat 124 for contacting the striker 16. When the ship-carrying platform 2 rises to a certain extent, the striker 16 is connected to the pin 126, pushing the pin 126 to move upward, and at the same time driving the sensing sheet 125 to move upward, triggering the proximity switch 123.

[0075] In this embodiment, the ship support platform 2 includes a plurality of suspension beams 31 and a plurality of track beams 32, wherein the suspension beams 31 and the track beams 32 are perpendicular to each other; suspension devices 1 are respectively provided at both ends of the suspension beams 31. The suspension beams 31 are in the form of double-web box beams. After entering the water, the suspension beams 31 themselves can generate a certain buoyancy, which is helpful to the bearing stiffness of the entire ship support platform 2.

[0076] Specifically, the ship-carrying platform 2 includes: a land-end platform 21, a water-end platform 22 and a transition platform 23; a plurality of first lifting point devices and second lifting point devices are respectively provided on both sides of the land-end platform 21 and the water-end platform 22; the first lifting point devices and the second lifting point devices are symmetrically arranged. The land-end platform 21 and the water-end platform 22 are both composed of corresponding lifting point beams 31 and track beams 32. The transition platform 23 is movably arranged at a position between the land-end platform 21 and the water-end platform 22.

[0077] In this embodiment, the land-side platform includes 6 sets of suspension beams, corresponding to suspension points 1# to 12# in the figure, and the water-side platform includes 5 sets of suspension beams, corresponding to suspension points 13# to 22# in the figure. The winches 11 corresponding to each suspension point are connected to the corresponding frequency converters respectively. Figure 3 and Figure 4 As shown, a plurality of first frequency conversion cabinets and second frequency conversion cabinets are provided.

[0078] More specifically, the land-side platform 21 and the water-side platform 22 are respectively provided with a first support portion 211 and a second support portion 221; the first support portion 211 and the second support portion 221 are arranged below the transition platform 23; a plurality of buffer portions 231 are arranged at the bottom of the transition platform 23, and the buffer portions 231 are placed on the corresponding first support portion 211 or the second support portion 221. According to the requirements of launching or landing ships of different tonnages, the water-side platform 22 or the land-side platform 21 can be used alone, or the water-side platform 22 and the land-side platform 21 can be combined and used together to meet the requirements of launching / landing ships of different tonnages. For example, when the ship is small, after the ship passes through the land-side platform 21 and the transition platform 23 and enters the water-side platform 22, the transition platform 23 is unloaded, and the water-side platform 22 can be raised and lowered alone, and the ship can be launched by lowering the water-side platform 22. The ship-carrying platform 2 adopts different block operation modes according to different ship types, making the use of the ship lift more flexible, achieving the purpose of high efficiency and energy saving, and at the same time realizing non-stop rotation maintenance without affecting the launching of ships.

[0079] In this embodiment, the land-side platform 21 and the water-side platform 22 each include four track beams 32, and a secondary beam 33 is provided between adjacent track beams 32. The spacing between the suspension beams 31 of the land-side platform 21 is 7.3m; the spacing between the suspension beams 31 of the water-side platform 22 is 11.6m; so that the line load of the ship-carrying platform 2 can reach about 39t / m on the land side and about 20t / m on the water side. A ship is a non-homogeneous object, and its deadweight at different positions is different. It is common that the weight of the upper construction area and the cabin area is greater than that of other areas. In order to meet the different use requirements of the load of the supporting platform due to the inconsistent deadweight at different positions of the ship, different spacings between suspension points are set to achieve scientific step-by-step distribution of different weights.

[0080] In this embodiment, each first lifting point device and the second lifting point device are also provided with a corresponding local control cabinet, so that the winch can be individually controlled on site at each lifting point, which is convenient for maintenance. Specifically, the local control cabinet includes a plurality of operation button switches and is connected to the first control cabinet or the second control cabinet. When operating at the lifting point site, the command is transmitted to the first control cabinet or the second control cabinet through a cable, and then output through the first control cabinet or the second control cabinet to control the corresponding inverter drive motor to realize the operation function of the local control cabinet.

[0081] According to one aspect of the present invention, a synchronous control method is provided, which is applied to the above-mentioned synchronous control system of a winch-type vertical ship lift, and is characterized in that it comprises the following steps:

[0082] S1: Get the operation signal generated by the up button or the down button;

[0083] In this embodiment, the start button is set as a two-speed switching selection switch, which can switch between the two modes of "up / down". It is located on the operating table in the control room, and the two-speed switching selection switch is manually turned to the "up" gear mode;

[0084] S2: build up torque for each motor, and after the brake is released, each motor rotates forward;

[0085] S3: monitoring the load conditions of each load sensor, and generating a corresponding early warning protection signal if there is a first hanging point device or a second hanging point device with a load greater than or equal to 90% of the full load;

[0086] S4: Determine whether the deviation value of the lifting height corresponding to each first lifting point device and the second lifting point device is greater than a set deviation threshold, and if so, adjust the corresponding motor speed so that the deviation value of the lifting height is less than or equal to the deviation threshold;

[0087] S5: The ship-carrying platform rises to trigger the proximity switch, each motor stops, and the brake is closed; the operation signal generated by the rising button obtained in step S1 goes to steps S61 to S63; the operation signal generated by the descending button obtained in step S1 goes to steps S71 to S73;

[0088] In this embodiment, a multi-speed control operating handle "zero position / first gear / second gear / third gear / fourth gear" (corresponding to 0Hz / 10Hz / 30Hz / 50Hz / 70Hz, respectively) is provided on the operating table in the control room. When ascending, the ascending speed of the ship-carrying platform can be adjusted in multiple gears. The operating handle is connected to the first control cabinet and the second control cabinet. After the operating handle is actuated, the action command is synchronously issued through the PLC, and the output frequency of the corresponding frequency converter is synchronously controlled through the profinet communication protocol, thereby synchronously controlling the ascending speed of the ship-carrying platform;

[0089] S61: The push-pull mechanism pushes the latch pin into the first pin hole and the second pin hole;

[0090] S62: establishing torque for each motor, and after the brake is released, each motor is reversed according to a preset timing so as to transfer the load to the pin for bearing;

[0091] S63: After the timing period ends, each motor stops and the brake closes.

[0092] Among them, when the operation signal is generated by the rising button, step S4 also includes step S41: calculating the relative height between the ship supporting platform 2 and the water surface, and when the ship supporting platform 2 is lifted to 0.5m submerged in water, the lifting speed of the ship supporting platform 2 is automatically and uniformly reduced, and when the ship supporting platform 2 leaves the water surface by 0.5m, the lifting speed of the ship supporting platform 2 is automatically and uniformly increased, and after reaching the rated speed, it is uniformly lifted to the specified height.

[0093] S71: The push-pull mechanism pushes the latch pin to be retracted from the first pin hole and the second pin hole;

[0094] S72: build up torque for each motor, and after the brake is released, each motor reverses;

[0095] S73: Determine whether there is a deviation between the lifting heights corresponding to the first lifting point devices and the second lifting point devices. If there is a deviation, adjust the corresponding motor reverse speed.

[0096] Among them, step S73 also includes: calculating the relative height between the ship supporting platform 2 and the water surface, and when the ship supporting platform 2 descends to 0.5m from the water surface, automatically and uniformly reducing the descending speed of the ship supporting platform 2, and when the ship supporting platform 2 is submerged 0.5m underwater, automatically and uniformly increasing the descending speed of the ship supporting platform 2, and evenly descending to the specified height after reaching the rated speed.

[0097] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A synchronous control system for a winch-type vertical ship lift, characterized in that: include: The ship-carrying platform, and the electrical room and control room respectively located on one side or both sides of the ship-carrying platform; A plurality of first lifting point devices and a second lifting point device are respectively provided on both sides of the ship-carrying platform; the first lifting point device and the second lifting point device respectively include a corresponding winch and a locking mechanism; The ship-carrying platform includes a land-end platform, a water-end platform and a transition platform; the transition platform is movably arranged at a position between the land-end platform and the water-end platform; The control room includes a plurality of first control cabinets, an operating table and a first frequency conversion cabinet; the electrical room includes a second control cabinet and a second frequency conversion cabinet; The operating table is connected to the first control cabinet, the first control cabinet is respectively connected to the second control cabinet and the first frequency conversion cabinet, and the second control cabinet is connected to the second frequency conversion cabinet; the first control cabinet and the first frequency conversion cabinet are respectively connected to each first hanging point device; the second control cabinet and the second frequency conversion cabinet are respectively connected to each second hanging point device; The operating console is used to generate and send an operating signal, the first control cabinet and the second control cabinet are used to generate a corresponding control signal according to the operating signal, and the first frequency conversion cabinet and the second frequency conversion cabinet control the working state of the winch and the locking mechanism according to the corresponding control signal; Wherein, the hoist also includes a motor, and the motor is also connected to a reducer; an absolute encoder is also provided on the output shaft of the reducer; The first control cabinet and the second control cabinet are respectively connected to the corresponding absolute value encoders to obtain the lifting heights corresponding to the first hanging point devices and the second hanging point devices and determine whether there is a deviation; if there is a deviation, a corresponding correction signal is generated and sent to the corresponding first frequency conversion cabinet or the second frequency conversion cabinet; The first lifting point device and the second lifting point device further include a connecting seat, a fixed pulley block and a movable pulley block respectively; the winch is connected to the movable pulley block and the fixed pulley block in sequence through a steel wire rope; the fixed pulley block is fixedly installed above the connecting seat; the movable pulley block is used to install the lifting point beam of the ship-carrying platform; the locking mechanism is provided in the connecting seat, and the locking mechanism is used to lock the lifting point beam; A rope end fixing seat is also provided on the connecting seat; the rope end fixing seat is connected to the steel wire rope through a load sensor; the load sensor is respectively connected to the first control cabinet or the second control cabinet, and is used to measure the load of the corresponding steel wire rope, and according to the weight difference of each lifting point and the arrangement spacing, the center of gravity position of the ship on the ship supporting platform is automatically calculated through a program, and different spacing settings of the lifting point beams are adopted.

2. A synchronous control system for a winch-type vertical ship lift according to claim 1, characterized in that: The motor is also provided with a corresponding incremental encoder, and the incremental encoder is connected to the corresponding first frequency converter or second frequency converter.

3. A synchronous control system for a winch-type vertical ship lift according to claim 1, characterized in that: The locking mechanism includes a connecting rod, a push-pull mechanism, a latch, and a plurality of pin plates; The push-pull mechanism and the pin plate are fixedly arranged in the connecting seat; The bottom of the connecting rod is fixedly connected to the suspension point beam and is arranged below the connecting seat; The pin plate is provided with a first pin hole; the connecting rod is provided with a second pin hole; The latch is arranged on the movable end of the push-pull mechanism; The push-pull mechanism is used to control the latch pin to pass through the first pin hole and the second pin hole when the second pin hole corresponds to the first pin hole.

4. A synchronous control system for a winch-type vertical ship lift according to claim 1, characterized in that: The first hanging point device and the second hanging point device are also respectively provided with corresponding limiting devices; The limit device includes a proximity switch and a sensor sheet; The proximity switch is fixed on the connecting seat; The suspension point beam is also provided with a corresponding impact rod; The striker is used to push the sensing sheet to trigger the proximity switch.

5. A synchronous control system for a winch-type vertical ship lift according to claim 4, characterized in that: The limiting device also includes a guide seat and a pin shaft; The guide seat is fixedly mounted on the connecting seat; the induction sheet is fixedly connected to the pin shaft; The pin shaft is sleeved in the guide seat and is used for contacting the striker rod.

6. A winch type vertical ship lift synchronous control system according to any one of claims 3 to 5, characterized in that: A plurality of the first suspension point devices and the second suspension point devices are respectively provided on both sides of the land end platform and the water end platform; The first suspension point device and the second suspension point device are symmetrically arranged.

7. A synchronous control system for a winch-type vertical ship lift according to claim 6, characterized in that: The land-end platform comprises 6 groups of suspension beams; The water end platform includes 5 groups of suspension beams.

8. A synchronous control method, applied to a synchronous control system of a winch-type vertical ship lift according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: Get the operation signal generated by the up button or the down button; S2: Establish torque for each of the motors, and after the brake is released, each motor rotates forward; S3: monitoring the load conditions of each load sensor, and generating a corresponding early warning protection signal if there is a first hanging point device or a second hanging point device with a load greater than or equal to 90% of the full load; S4: determining whether the deviation value of the lifting height corresponding to each first lifting point device and the second lifting point device is greater than a set deviation threshold, and if so, adjusting the corresponding motor speed so that the deviation value of the lifting height is less than or equal to the deviation threshold; S5: The ship-carrying platform rises to trigger the proximity switch, each of the motors stops, and the brake is closed; if it is an operation signal generated by the rising button, proceed to steps S61 to S63; if it is an operation signal generated by the descending button, proceed to steps S71 to S73; S61: The push-pull mechanism pushes the latch pin into the first pin hole and the second pin hole; S62: establishing a torque for each of the motors, and after the brake is released, each of the motors is reversed according to a preset timing, so that the load is transferred to the latch for bearing; S63: After the timing time ends, each motor stops and the brake is closed; S71: The push-pull mechanism pushes the latch pin to be retracted from the first pin hole and the second pin hole; S72: establishing torque for each of the motors, and after the brake is released, each of the motors reverses; S73: Determine whether there is a deviation between the lifting heights corresponding to the first lifting point devices and the second lifting point devices. If there is a deviation, adjust the corresponding motor reverse speed.

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