A floating pier track mobile dynamic balance bulk cargo loading system and control method

Abstract

The application discloses a kind of floating pier track mobile dynamic balance bulk cargo loading system and control method, comprising: pontoon;Cargo ship, moored to pontoon, for receiving transport goods;Transfer tower, which is located at the end of the pontoon;Back material belt conveyor, which is hinged to a fixed pier on the land side, and is hinged to the top layer of the transfer tower on the water side;Longitudinal pontoon belt conveyor, which is installed at the longitudinal axis position of the pontoon and elevated to a certain height, and the tail is installed at the other end of the pontoon.This application has higher balance and stability, higher loading efficiency and loading coverage, and can adapt to larger ship types for floating pier operation.

Description

Technical Field

[0001] This invention belongs to the field of ship loading technology, and specifically relates to a linear track mobile bulk cargo loading system and control method suitable for large floating docks, which can be dynamically balanced in real time. Background Technology

[0002] Floating quays are characterized by pontoons as the primary structure for berthing ships, with the pontoon deck serving as a platform for loading and unloading equipment. Because pontoons are floating structures, their stability is far less than that of fixed structures like high-pile platforms or piers. Therefore, the stability requirements for loading and unloading machinery installed on their decks are high. Currently, the machinery used for bulk cargo loading at floating quays includes curved-track oscillating loaders, fixed rotary loaders, and fixed telescopic loaders. These machines share common characteristics: low height, slow speed, no movement, and small oscillation or telescopic amplitude. In short, they are relatively lightweight and their position relative to the pontoon is fixed, thus reducing the overall overturning moment and maintaining the pontoon's stability. The disadvantages are lower overall efficiency, insufficient height, limited coverage, and difficulty in adapting to larger ship types. Due to these limitations, the berth capacity of bulk cargo loading floating quays typically does not exceed 5,000 tons. Summary of the Invention

[0003] The purpose of this invention is to provide a dynamic balancing bulk cargo loading system for floating docks, suitable for large floating docks, enabling barges to maintain excellent stability in real time, and allowing the loader to adjust and maintain balance in real time during the transition from empty to loaded. This loading system features higher balance and stability, higher loading efficiency and loading coverage, and can accommodate larger vessel types for floating dock operations.

[0004] The technical solution adopted by this invention to solve this technical problem is: a dynamic balancing bulk cargo loading system with track-based movement on a floating dock, comprising:

[0005] pontoon;

[0006] Cargo ships, moored on barges, are used to receive and transport goods;

[0007] The transfer tower is located at the end of the pontoon;

[0008] The rear material conveyor belt is hinged on the land side to a fixed pier and on the water side to the top of the transfer tower.

[0009] The longitudinal barge belt conveyor is installed along the longitudinal axis of the barge and elevated to a certain height. Its tail is installed on the transfer tower and located below the incoming material belt conveyor behind it.

[0010] Located at the other end of the pontoon;

[0011] A track-mounted mobile trolley straddles a longitudinal barge conveyor belt. The outriggers of the track-mounted mobile trolley are equipped with a traveling mechanism. The barge is equipped with a longitudinal track, and the traveling mechanism can move along the longitudinal track by itself.

[0012] A transverse loading conveyor belt is installed on a track-mounted mobile trolley and arranged perpendicular to the direction of the barge. The head of the transverse loading conveyor belt is above the cargo ship's hold, and the transverse loading conveyor belt can perform transverse extension and retraction movements along the direction perpendicular to the barge.

[0013] The unloading device is installed on the longitudinal barge belt conveyor and is connected to the rail-mounted mobile trolley and moves longitudinally with it. The unloading device transfers the material on the longitudinal barge belt conveyor from any point in the middle to the transverse loading belt conveyor.

[0014] A lateral movement balancing device is installed at the tail of the lateral loading conveyor belt and can move laterally.

[0015] A longitudinal movement balancing device, which is installed on the longitudinal track and can move longitudinally;

[0016] A fixed balancing device is installed inside the pontoon's hold, on the opposite end from the transfer tower.

[0017] As a further aspect of the present invention, the longitudinal balancing device includes a hoisting system and a longitudinally moving counterweight.

[0018] Both the track-mounted trolley and the longitudinally moving counterweight are equipped with position detection devices, which are connected to the control unit.

[0019] As a further aspect of the present invention, the transverse loading conveyor belt includes a fixed frame, a movable frame, and a conveyor belt; the fixed frame is fixed on a track-mounted mobile trolley, and the movable frame is nested inside the fixed frame, which can be extended and retracted laterally to adjust the landing point position of the head to cover the entire ship's hold.

[0020] As a further aspect of the present invention, the lateral moving balancing device includes a winch system and a lateral moving balancing counterweight. The lateral moving balancing counterweight is installed on the lateral rail on the top of the track-moving trolley, and the winch is installed on the top of the fixed frame.

[0021] Both the movable frame and the lateral moving counterweight are equipped with position detection devices, which are connected to the control unit.

[0022] The present invention also provides a control method for the aforementioned floating dock track-based dynamic balancing bulk cargo loading system, comprising the following steps:

[0023] S1 establishes a coordinate system with the center of gravity of the barge as the origin, with the longitudinal direction of the barge as the x-axis, the vertical direction as the y-axis, and the lateral direction of the barge as the z-axis.

[0024] S2. Determine the counterweight G of the fixed balancing device. g ;

[0025] G g =(G1L1+G2L2) / L g ,

[0026] In the formula G g —The self-weight of the fixed balancing device; L g —G g The force arm vector about the z-axis;

[0027] G2—Self-weight of the longitudinal barge conveyor and its support; L2—Vector of the force arm of G2 about the z-axis;

[0028] G1—The gravity acting on the barge by the rear material conveyor belt and transfer tower; L1—The force arm vector of G1 about the z-axis;

[0029] S3. Determine the longitudinal movement balance weight G when not in operation. z Then determine the position L that the longitudinal counterweight should move. z ;

[0030] S4. Determine the position L that the lateral counterweight should move. h ;

[0031] As a further aspect of the present invention, in the non-working state of S3, the longitudinal movement of the counterweight G is... z This is the weight of the entire mobile ship loader.

[0032] As a further aspect of the present invention, the longitudinally moving counterweight in S3 should be moved to the position L. z The confirmation method is as follows:

[0033] S31, L i Treating L as the x-axis coordinate z If we consider it as a function of f(x), then we have:

[0034]

[0035] In the formula: G z —Longitudinal movement of the counterweight; L z —G z The lever arm vector about the z-axis; G3—weight of the track-moving trolley, G4—weight of the transverse loading conveyor belt, G h —Lateral movement of the counterweight; L i —G3, G4, G hL5—G5—G5—G5—G5—G6 ...

[0036] S32. The position detection device transmits the x-axis position data of the mobile trolley and the longitudinally moving counterweight to the control unit, calculates the value of f(x), which is the position that the counterweight should move to, and determines its direction and distance of movement based on the current position. It then promptly starts the hoisting system to rotate forward or in reverse, pulling the longitudinally moving counterweight to move synchronously. Through continuous feedback correction, the system can be guaranteed to maintain real-time balance throughout the entire longitudinal operation of the ship loader.

[0037] As a further aspect of the present invention, the position L of the laterally moving counterweight in S4 is: h The method for determining it is as follows:

[0038] S41, L w If we consider L as the z-axis coordinate, then h Let L be a quadratic function of z. w =z, then we have:

[0039]

[0040] In the formula: G h — Lateral movement of the counterweight, L h —G h L7—G7—Self-weight of the fixed frame of the transverse loading conveyor; L8—G7—G8—Self-weight of the material on the transverse loading conveyor; L9—G9—G9—G8 ... w — Vector distance L from the origin of the coordinate system to the material drop point at the head of the loading conveyor belt. p —Length of the movable frame of the transverse belt conveyor; Q2—Rated conveying efficiency of the transverse ship loading belt conveyor, t / h; v2—Operating speed of the transverse ship loading belt conveyor, m / s;

[0041] S42. The detection device for the movable frame and the lateral moving counterweight monitors the position of the movable frame and the lateral moving counterweight in real time. When the movable frame starts to move, the detection device transmits its z-axis position data to the control unit, calculates the f(z) value, which is the position that the counterweight should move to, and determines its direction and distance of movement based on its current position. The hoisting system is then activated to rotate forward or reverse in a timely manner to pull the counterweight to move synchronously. Through continuous feedback and correction, the system can maintain real-time balance during the lateral movement of the movable frame of the ship loading conveyor.

[0042] The present invention has at least the following beneficial effects:

[0043] 1) This system is suitable for large floating docks. It uses a self-balancing device to ensure the pontoon maintains excellent stability in real time during the loader's longitudinal movement or partial lateral extension and retraction. Another significant advantage is that the loader can also adjust and maintain balance in real time during the transition from unloaded to loaded. Therefore, this loading system can accommodate larger vessels for floating dock operations and, compared to existing technologies, offers higher balance and stability, higher loading efficiency, and a wider loading coverage.

[0044] 2) The dynamic balance control method of the loading system of the present invention adjusts the corresponding counterweight position in real time according to the overall displacement and local extension and contraction of the loading machine and the load change of the loading system, so as to achieve overall dynamic self-balancing.

[0045] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the floating dock track-based dynamic balancing bulk cargo loading system of the present invention;

[0047] Figure 2 This is a longitudinal elevation view of the system;

[0048] Figure 3 This is a schematic diagram of a coordinate system established with the barge's own center of gravity as the origin;

[0049] Figure 4 The longitudinal movement of the counterweight should move to the position L. z Determine the schematic diagram;

[0050] Figure 5 This is a cross-sectional view of the system.

[0051] Figure 6 The position L that the counterweight should move when moving laterally is... h Determine the schematic diagram;

[0052] Figure 7 This is a schematic diagram showing the movable frame of the transverse loading conveyor retracting to its limit position inwards from the ship when not in operation. Labels: 1. Barge; 2. Rear incoming material conveyor; 3. Transfer tower; 4. Longitudinal barge conveyor; 5. Unloading device (tail car); 6. Transverse loading conveyor; 7. Cargo ship; 8. Rail-mounted mobile trolley; 9. Transverse moving balancing device; 10. Longitudinal moving balancing device; 11. Fixed balancing device; 12. Longitudinal moving balancing counterweight; 13. Position detection device; 14. Winch system; 15. Longitudinal barge conveyor support; 16. Movable frame; 17. Transverse moving balancing counterweight; 18. Fixed frame. Detailed Implementation

[0053] The present invention will now be described in detail and completely with reference to the accompanying drawings. Those skilled in the art will be able to implement the present invention based on these descriptions. Before describing the present invention with reference to the accompanying drawings, it should be particularly noted that the technical solutions and features provided in various parts of the present invention, including the following description, can be combined with each other without conflict.

[0054] Furthermore, the embodiments of the present invention described below are generally only some, not all, of the embodiments of the present invention. Therefore, all other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0055] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The specific implementation process is as follows:

[0056] like Figure 1 As shown, the present invention provides a floating dock track-based dynamic balancing bulk cargo loading system, comprising:

[0057] 1. A floating body used for installing process equipment and for berthing cargo ship 7;

[0058] Cargo ship 7 is moored at barge 1 and is used to receive and transport cargo;

[0059] The transfer tower 3 is located at the end of the pontoon 1. The top layer of the transfer tower 3 is equipped with the head of the rear material conveyor belt 2. The bottom layer of the transfer tower 3 is equipped with the tail of the longitudinal conveyor belt of the pontoon 1. After the material is transported by the rear material conveyor belt 2, it is transferred to the longitudinal conveyor belt of the pontoon 1 by the transfer tower 3.

[0060] The rear material conveyor belt 2 is used to transport materials from the land to the dock. Its land side is hinged to a fixed pier, and its water side is hinged to the top of the transfer tower 3.

[0061] The longitudinal barge belt conveyor 4 is installed along the longitudinal axis of the barge 1 and raised to a certain height. Its stern is installed on the transfer tower 3 and located below the rear incoming material belt conveyor 2. Its head...

[0062] Located at the other end of barge 1;

[0063] The track-moving trolley 8 straddles the longitudinal barge conveyor belt 4. The support legs of the track-moving trolley 8 are equipped with a traveling mechanism. The barge 1 is equipped with longitudinal tracks. The traveling mechanism can move along two straight longitudinal tracks on the deck of the barge 1, thereby driving the transverse loading conveyor belt 6 and the unloading device 5 to move longitudinally along the central axis of the barge 1. With the transverse movement of the transverse loading conveyor belt 6, the loading points can be distributed in a rectangular shape, covering all the cabins.

[0064] The transverse loading conveyor belt 6 is installed on the track-moving trolley 8 and arranged in the direction perpendicular to the barge 1 (in a transverse setting). The head of the transverse loading conveyor belt 6 is above the cargo ship 7 hold. The transverse loading conveyor belt 6 can move laterally in the direction perpendicular to the barge 1. Its function is to transfer the material falling from the unloading device 5 towards the cargo ship 7 hold. The material is finally loaded into the hold through the head of the transverse loading conveyor belt 6 to complete the loading.

[0065] The unloading device 5 is installed on the longitudinal barge belt conveyor 4 and is connected to the track-moving trolley 8 and moves longitudinally with it. The unloading device 5 transfers the material on the longitudinal barge belt conveyor 4 from any point in the middle to the transverse loading belt conveyor 6.

[0066] The lateral movement balancing device 9 is installed at the tail of the lateral loading conveyor belt 6 and can move laterally to balance the lateral overturning moment generated during the operation of the system.

[0067] The longitudinal moving balancing device 10 is installed on the longitudinal track and can move longitudinally to balance the longitudinal overturning moment generated during the operation of the loading system.

[0068] A fixed balancing device 11 is installed inside the hull of the barge 1, on the other end opposite to the transfer tower 3, and is used to balance the overturning moment caused by the off-center load when the loading system is not in operation.

[0069] The ship loader includes a rail-mounted trolley 8, a transverse ship loading belt conveyor 6, an unloading device 5, and a transversely moving counterweight.

[0070] In the above technical solutions, such as Figure 2The diagram shows the system's longitudinal elevation. The pontoon 1, longitudinal pontoon conveyor belt 4 and its support 15, rear material conveyor belt 2, and transfer tower 3 are fixed loads. Their centers of gravity (including the longitudinal pontoon conveyor belt 4, its support 15, the rear material conveyor belt 2, and the transfer tower 3) are located along the longitudinal axis of pontoon 1, primarily causing longitudinal tilting. Therefore, a fixed balancing device 11 is installed in the end hull of pontoon 1 to counteract the longitudinal tilting caused by the fixed load. The unloading device 5 and the track-moving trolley 8 can move along the longitudinal track, generating a moving load. During operation, a load accumulates between the transfer tower 3 and the transverse loading machine on the longitudinal pontoon conveyor belt 4. In non-operational states, there is no material accumulation load. Therefore, a longitudinal balancing device is installed to balance the longitudinal tilting of pontoon 1 caused by the moving longitudinal load and the material accumulation load on the longitudinal conveyor belt.

[0071] Figure 5 This is a horizontal elevation view of the system. A longitudinal barge conveyor belt 4 is installed below the ship loading machine trolley, and a longitudinal moving balancing device 10 is installed below the support of the longitudinal barge conveyor belt 4. The material is obliquely moved upward through the unloading device 5 to the top and falls to the transverse ship loading conveyor belt 6, and then moves laterally through the transverse ship loading conveyor belt 6 to the head chute and falls into the cargo ship 7 hold.

[0072] This technical solution may also include the following technical details to better achieve the technical effect: The longitudinal balancing device includes a winch system 14 and a longitudinal moving balance counterweight 12, which is driven by the winch system 14 to move longitudinally on the longitudinal track.

[0073] Both the track-moving trolley 8 and the longitudinal moving counterweight 12 are equipped with position detection devices 13. The position detection devices 13 are connected to the control unit, which uses the position detection devices 13 to determine the positions of the track-moving trolley 8 and the longitudinal moving counterweight 12 on the barge 1 in real time.

[0074] The longitudinal moving balance device 10 consists of a winch system 14 and a longitudinal moving balance counterweight 12. The control unit determines the position of the ship loader on the barge 1 in real time through the position detection device 13, calculates the magnitude of the longitudinal overturning moment, and controls the winch system 14 to adjust the position of the moving balance counterweight so that the barge 1 can achieve longitudinal balance.

[0075] This technical solution may also include the following technical details to better achieve the technical effect: The transverse loading conveyor belt 6 includes a fixed frame 18, a movable frame 16 and a conveyor belt; the fixed frame 18 is fixed on the track-moving trolley 8, and the movable frame 16 is nested inside the fixed frame 18, which can be extended and retracted laterally to adjust the landing point position of the head to cover the entire ship's hold.

[0076] This technical solution may also include the following technical details to better achieve the technical effect: To ensure the lateral stability of the vessel during operation, a lateral balancing device is installed. The lateral moving balancing device 9 includes a winch system 14 and a lateral moving balancing counterweight 17. The lateral moving balancing counterweight 17 is installed on the lateral rail on the top of the rail-moving trolley 8. The winch is installed on the top of the fixed frame 18. The winch pulls the lateral moving balancing counterweight 17 left and right along the lateral rail by forward and reverse rotation to maintain the lateral balance of the system.

[0077] Both the movable frame 16 and the lateral movement counterweight 17 are equipped with position detection devices 13, which are connected to the control unit.

[0078] In another embodiment, a control method utilizing a dynamic balancing bulk cargo loading system, such as a floating dock track-based system, includes the following steps:

[0079] S1, such as Figure 3 As shown, a coordinate system is established with the center of gravity of the barge 1 as the origin, the longitudinal direction of the barge 1 is the x-axis, the vertical direction is the y-axis, and the lateral direction of the barge 1 is the z-axis.

[0080] S2. Determine the counterweight G of the fixed balancing device 11. g The weight of the fixed balancing device 11 can be determined based on the moment balance of the fixed load about the z-axis.

[0081] G g =(G1L1+G2L2) / L g ,

[0082] In the formula G g —The fixed balancing device 11 weighs itself; L g —G g The lever arm vector about the z-axis;

[0083] G2—Self-weight of longitudinal barge conveyor 4 and longitudinal barge conveyor support 15; L2—Force arm vector of G2 about the z-axis;

[0084] G1—The gravity acting on the barge 1 by the rear material conveyor belt 2 and the transfer tower 3; L1—The force arm vector of G1 about the z-axis;

[0085] S3. When the longitudinal barge conveyor 4 and the rear feed conveyor 2 are not in operation, determine the longitudinal moving balance counterweight to be 12G. z Then determine the position L that the longitudinal moving counterweight 12 should move. z ;

[0086] S4, such as Figure 5 As shown, determine the position L that the lateral counterweight 17 should move. h ;

[0087] This technical solution may also include the following technical details to better achieve the technical effect: In the non-working state of S3, the longitudinal movement balance weight is 12G. z The total weight of the mobile ship loader.

[0088] like Figure 4 As shown, based on the torque balance of the longitudinal moving counterweight 12 around the z-axis, we can obtain:

[0089] G z ×L z = (G3+G4+G h )×L i +G5×L5+G6×L6

[0090] When not in operation, there is no material on the longitudinal barge conveyor belt 4 and the rear material conveyor belt 2, so G6 = 0; G z G is the total weight of the mobile ship loader, which includes the weight of the rail-mounted trolley 8, the transverse ship loading conveyor 6, the unloading device 5, and the transverse counterweight. z =G3+G4+G5+G h In the formula, G z —Longitudinal moving counterweight 12; G3—Rail-mounted moving trolley 8 self-weight; G4—Transverse loading conveyor 6 self-weight; G h — Lateral movement counterweight 17; G5 — Weight of unloading device 5; G6 — Weight of material on longitudinal barge conveyor 4; L i —G3, G4, G h L5—G5 Lever arm vector around the z-axis; L6—G6 Lever arm vector around the z-axis.

[0091] This technical solution may also include the following technical details to better achieve the technical effect: the position L that the longitudinal moving counterweight 12 should move in S3. z The confirmation method is as follows:

[0092] S31, L i Treating L as the x-axis coordinate z If we consider it as a function of f(x), then we have:

[0093]

[0094] In the formula: G z —Longitudinal movement balance weight 12; L z —G z The lever arm vector around the z-axis; G3—weight of the track-moving trolley (8), G4—weight of the transverse ship loading conveyor (6), G h — Lateral movement counterweight 17L; i —G3, G4, Gh L5—G5—G5—G5—G5—G6 ...

[0095] The specific derivation process is as follows:

[0096] When in operation, there is material on the longitudinal barge belt conveyor 4, and the weight of the material is... Unit: kN;

[0097] In the formula,

[0098] Figure 4 It can be seen that L = L0 + L i ,

[0099] Where: L0—the distance vector from the tail of the belt conveyor to the y-axis, L i Same as above;

[0100] The unloading device 5 is hinged to the track-moving trolley 8 and moves together with it, with a relative distance of L. wz If we keep it fixed, then L5 = L i -L wz L i Same as above;

[0101] In summary, we have:

[0102]

[0103] L i Let L be the x-axis coordinate. i =x, then we have:

[0104]

[0105]

[0106] In engineering applications, if all other parameters are determined, then L z The value is a quadratic function of x. The position of the longitudinally moving counterweight is adjusted in real time according to the position change of the track-moving trolley 8, which can maintain the longitudinal balance of the system.

[0107] S32. When the ship loader starts to move, the position detection device 13 transmits the x-axis position data of the mobile trolley and the longitudinal moving counterweight 12 to the control unit, calculates the value of f(x), that is, the position that the counterweight should move to, and determines its direction of movement and distance of movement in combination with the current position. The hoisting system 14 is then started to rotate forward or in reverse in a timely manner to pull the longitudinal moving counterweight 12 to move synchronously. Through continuous feedback correction, the system can be guaranteed to maintain real-time balance throughout the entire longitudinal operation of the ship loader.

[0108] This technical solution may also include the following technical details to better achieve the technical effect: the position L of the laterally moving counterweight 17 in S4. h The method for determining it is as follows:

[0109] S41, L w If we consider L as the z-axis coordinate, then h Let L be a quadratic function of z. w =z, then we have:

[0110]

[0111] Where: G h — Lateral movement balance weight 17, L h —G h Lever arm vector around the x-axis; G7—Self-weight of fixed frame 18 of transverse loading conveyor 6; L7—Lever arm vector of G7 around the x-axis; G8—Self-weight of material on transverse loading conveyor 6; L8—Lever arm vector of G8 around the x-axis; G9—Self-weight of movable frame 16 of transverse loading conveyor 6; L9—Lever arm vector of G9 around the x-axis; L w — Vector distance L from the origin of the coordinate system to the material drop point at the head of the loading conveyor belt. p —Length of the movable frame 16 of the transverse belt conveyor; Q2—Rated conveying efficiency of the transverse ship loading belt conveyor 6, t / h; v2—Operating speed of the transverse ship loading belt conveyor 6, m / s.

[0112] The specific derivation process is as follows:

[0113] like Figure 6 As shown, based on the moment balance of the lateral moving load about the X-axis, we can obtain:

[0114] G h ×L h =G7×L7+G8×L8+G9×L9

[0115] Figure 6 It can be seen that, L w — Vector distance L from the origin of the coordinate system to the material drop point at the head of the loading conveyor belt. p —Horizontal belt conveyor movable frame 16mm in length;

[0116] In operation, there is material on the transverse loading conveyor belt 6, and the weight of the material is... Unit: KN; Where Q—rated conveying efficiency of the transverse ship loading belt conveyor 6, t / h; v—running speed of the transverse ship loading belt conveyor 6, m / s; L w Same as above;

[0117] When not in operation, G8 = 0;

[0118] In summary, we have:

[0119]

[0120]

[0121] L w If we consider L as the z-axis coordinate, then h Let L be a quadratic function of z. w =z, then we have:

[0122]

[0123] Normally, such as Figure 6 Under the operating conditions shown, one of the most unfavorable conditions is when the movable frame 16 of the transverse loading conveyor 6 extends to its maximum outward from the ship. In this case, the system tends to tilt forward as a whole, and the transversely moving counterweight moves backward to its extreme position. Figure 7 In the non-working state shown, the second most unfavorable working condition is when the movable frame 16 of the transverse loading conveyor 6 retracts to the extreme position inside the ship. The system has an overall tendency to tilt backward. At this time, the transverse movable counterweight moves forward to the extreme position.

[0124] In engineering applications, once all other parameters are determined, the position of the lateral moving counterweight is adjusted according to the above function based on the extension distance of the movable frame 16 of the loading conveyor belt, thus maintaining the longitudinal balance of the system.

[0125] The detection devices for the movable frame 16 and the lateral moving counterweight 17 in S42 and the lateral moving counterweight 17 detect their positions in real time. When the movable frame 16 starts to move, the detection device transmits its z-axis position data to the control unit, calculates the f(z) value, which is the position that the counterweight should move to, and determines its direction and distance of movement based on its current position. The hoisting system 14 is then activated to rotate forward or reverse in a timely manner to pull the counterweight to move synchronously. Through continuous feedback and correction, the system can maintain real-time balance during the lateral movement of the movable frame 16 of the ship loading conveyor belt.

[0126] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A control method for a dynamic balancing bulk cargo loading system using a floating dock track-based moving mechanism, characterized in that, The floating dock rail-mounted dynamic balancing bulk cargo loading system includes: pontoon; Cargo ships, moored on barges, are used to receive and transport goods; The transfer tower is located at the end of the pontoon; The rear material conveyor belt is hinged on the land side to a fixed pier and on the water side to the top of the transfer tower. The longitudinal barge belt conveyor is installed on the longitudinal axis of the barge and raised to a certain height. Its tail is installed on the transfer tower and located below the incoming material belt conveyor behind it, while its head is located at the other end of the barge. A track-mounted mobile trolley straddles a longitudinal barge conveyor belt. The outriggers of the track-mounted mobile trolley are equipped with a traveling mechanism. The barge is equipped with a longitudinal track, and the traveling mechanism can move along the longitudinal track by itself. A transverse loading conveyor belt is installed on a track-mounted mobile trolley and arranged perpendicular to the direction of the barge. The head of the transverse loading conveyor belt is above the cargo ship's hold, and the transverse loading conveyor belt can perform transverse extension and retraction movements along the direction perpendicular to the barge. The unloading device is installed on the longitudinal barge belt conveyor and is connected to the rail-mounted mobile trolley and moves longitudinally with it. The unloading device transfers the material on the longitudinal barge belt conveyor from any point in the middle to the transverse loading belt conveyor. A lateral movement balancing device is installed at the tail of the lateral loading conveyor belt and can move laterally. A longitudinal movement balancing device, which is installed on the longitudinal track and can move longitudinally; A fixed balancing device is installed inside the pontoon's hold, on the opposite end from the transfer tower; The longitudinal balancing device includes a hoisting system and a longitudinally moving counterweight; Both the track-mounted mobile trolley and the longitudinally moving counterweight are equipped with position detection devices, which are connected to the control unit. The control method includes the following steps: S1 establishes a coordinate system with the center of gravity of the barge as the origin, with the longitudinal direction of the barge as the x-axis, the vertical direction as the y-axis, and the lateral direction of the barge as the z-axis. S2. Determine the counterweight of the fixed balancing device. ; ， In the formula —The weight of the fixed balancing device; The force arm vector about the Z-axis; —The self-weight of the longitudinal barge belt conveyor and its support frame; The force arm vector about the Z-axis; —The weight of the incoming material conveyor belt and transfer tower acting on the barge; The force arm vector about the Z-axis; S3. Determine the longitudinal movement balance weight when not in working condition. Then determine the position where the longitudinally moving counterweight should be moved. ; S4. Determine the position where the lateral counterweight should be moved. The position L of the lateral movement counterweight in S4 h The method for determining it is as follows: S41, L w If we consider L as the Z-axis coordinate, then h Let L be a quadratic function of z. w =z, then we have: In the formula: G h — Lateral movement to balance the counterweight Force arm vector about the x-axis; G7—Self-weight of the fixed frame of the transverse loading conveyor belt. Force arm vector around the x-axis; G9—Self-weight of the movable frame of the transverse loading conveyor; L w — Vector distance L from the origin of the coordinate system to the material drop point at the head of the loading conveyor belt. p —Length of the movable frame of the transverse belt conveyor; Q2—Rated conveying efficiency of the transverse ship loading belt conveyor ; —Speed ​​of the transverse loading conveyor belt ; S42. The detection device for the movable frame and the lateral moving counterweight monitors the position of the movable frame and the lateral moving counterweight in real time. When the movable frame starts to move, the detection device transmits its Z-axis position data to the control unit, calculates the value of f(z), which is the position that the counterweight should move to, and determines its direction and distance of movement based on its current position. The hoisting system is then activated to rotate forward or reverse in a timely manner to pull the counterweight to move synchronously. Through continuous feedback and correction, the system can maintain real-time balance during the lateral movement of the movable frame of the ship loading conveyor.

2. The control method as described in claim 1, characterized in that, In the non-working state described in S3, the longitudinal movement balance weight... This is the weight of the entire mobile ship loader.

3. The control method as described in claim 2, characterized in that, The longitudinally moving counterweight in S3 should be moved to the following position. The confirmation method is as follows: S31, will Treat it as an x-axis coordinate, If we consider it as a function of f(x), then we have: In the formula: —Longitudinal movement to balance the counterweight; — The lever arm vector around the Z-axis; G3—weight of the track-moving trolley, G4—weight of the transverse loading conveyor belt, G h —Lateral movement to balance the counterweight; —G3, G4, G h Force arm vector around the Z-axis; G5—weight of the unloading device; Q1—rated conveying efficiency of the longitudinal barge belt conveyor. ; —Longitudinal barge belt conveyor operating speed, L0—The distance vector from the tail of the longitudinal barge conveyor belt to the y-axis; This refers to the relative distance between the unloading device and the track-mounted mobile trolley. S32. The position detection device transmits the position data of the mobile trolley and the longitudinal moving counterweight shaft to the control unit, calculates the value of f(x), that is, the position that the counterweight should move to, and determines its direction of movement and distance of movement based on the current position. It then promptly starts the hoisting system to rotate forward or reverse, pulling the longitudinal moving counterweight to move synchronously. Through continuous feedback correction, the system can be guaranteed to maintain real-time balance throughout the entire longitudinal operation of the ship loader.

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