Barge gangplank retraction and deployment control device and method

Abstract

The present invention provides a control device and method for the folding and releasing of a barge gangway, wherein the device includes a hydraulic device and a winch device, which cooperate to complete the folding and releasing of the barge gangway; by controlling the hydraulic device to close the rope tension on the winch device to control the hydraulic cylinder to push out the gangway when the gangway is connected to the inner side, the speed of the two winch mechanisms is synchronized, and the turning angle of the gangway is obtained according to the calculated rope, the synchronous speed is adjusted, the speed is reduced at the beginning and end, and the speed is increased in the middle. This application is not limited by the operating level of the personnel, and is fully intelligently controlled.

Description

Technical Field

[0001] The invention belongs to the technical field of shipbuilding, and in particular relates to a device and method for controlling the retraction and deployment of a barge gangway. Background Art

[0002] At present, the docking operation of traditional barges is completed by unfolding the docking ramp inside the hull and lapped on the shore. However, due to the limited space at the stern or bow of the large-scale docking ship, the docking ramp cannot be stored inside the hull, so the docking ramp is installed on both sides of the ship. Due to the need to consider the influence of wind resistance, the ramps on both sides must be stored inside, and it is impossible to use conventional docking devices with the assistance of winches and slowly lower them naturally under gravity.

[0003] Defects of the existing technology:

[0004] Conventional docking ramps use a single winch to retract and release two cables through a cable series device. Under the action of gravity, the docking ramp is slowly placed on the dock. However, this method has problems for special large barges;

[0005] 1. It is not possible to lower the barge's gangplank naturally by gravity when it is closer to the inside of the ship than to the dock side.

[0006] 2. The docking device of conventional barges is manually operated, which is limited by the level of personnel, resulting in limited erection time. This will have an adverse effect on special barges with specific requirements for erection time.

[0007] 3. Conventionally, a single winch is used in conjunction with two cables at the rear end of the rope stringer to pull the two suspension points of the connecting springboard and slowly lower it. Or two winches are used to lower it synchronously on the same axis, but for springboards with special installation space requirements, mechanical synchronization is not possible.

[0008] Therefore, how to provide a barge gangway retraction and deployment control device and method has become a technical problem that urgently needs to be solved in the field. Summary of the invention

[0009] The object of the present invention is to provide a device and method for controlling the retraction and deployment of a barge gangway.

[0010] According to a first aspect of the present invention, a method for controlling the retraction and deployment of a barge gangway is provided, comprising:

[0011] The control device includes a hydraulic device and a winch device, which cooperate to complete the retraction and deployment of the barge gangway;

[0012] A gangplank and a cradle are installed on the ship, the winch mechanism is installed on the cradle, and a rope is installed on the winch mechanism.

[0013] The device also includes: a control console, a hydraulic controller, a winch controller, a first hydraulic actuator, a second hydraulic actuator, a latch, an in-position detection switch, a displacement sensor, a tension sensor, a brake system, a first encoder, a pressure sensor, and a second encoder.

[0014] The control console is an operating platform arranged in the cabin, and the hydraulic controller and the winch controller are respectively connected to the control console;

[0015] The first hydraulic actuator and the second hydraulic actuator are both arranged on board the ship;

[0016] The latch is inserted into the springboard and is used to fix the springboard;

[0017] The in-place detection switch is installed on the first hydraulic actuator and is used to detect whether the first hydraulic actuator is in place;

[0018] The displacement sensor is installed on the second hydraulic actuator and is used to detect the displacement of the second hydraulic actuator;

[0019] The tension sensor is installed on the winch mechanism to detect the tension of the rope;

[0020] The first encoder is installed on the winch mechanism and is used to detect the retracted and extended length of the rope;

[0021] The pressure sensor is installed on the second hydraulic actuator and is used to detect the pressure of the second hydraulic actuator;

[0022] The second encoder is installed on the winch motor and is used to measure the rotation speed of the winch motor.

[0023] Optionally, the winch mechanism is also provided with a brake system for braking and decelerating the winch mechanism.

[0024] Optionally, the device further comprises a buffer travel switch, which is mounted on the hull and corresponds to the gangway and is used to detect the travel of the gangway.

[0025] Optionally, the device further comprises an in-place travel switch, which is mounted on the hull and corresponds to the gangway, and is used to detect the in-place status of the gangway.

[0026] Optionally, the winch device includes a winch controller, a winch driver, a winch motor and a winch mechanism;

[0027] The winch control is connected in sequence to the winch driver, the winch motor and the winch mechanism control;

[0028] The winch controller transmits a control signal to the winch driver, the winch driver drives the winch motor to rotate, and the winch motor drives the winch mechanism to rotate to retract and release the rope.

[0029] According to a second aspect of the present invention, a method for controlling the retrieval and deployment of a barge gangway is provided. The method is used on the device for controlling the retrieval and deployment of a barge gangway according to the first aspect of the present invention.

[0030] The process of placing the springboard is as follows:

[0031] Press the control button for releasing the gangplank on the console to instruct the hydraulic controller and the winch controller, and the winch controller controls the winch mechanism to release the rope; the hydraulic controller controls the first hydraulic actuator to act, and the first hydraulic actuator drives the latch to withdraw the pin to release the fixing of the gangplank. When the in-position detection switch detects that the latch is withdrawn in place, the hydraulic controller controls the second hydraulic actuator to extend and push the gangplank out from the inside to the outside of the ship, and stops when the displacement sensor feedback value is greater than the first preset length;

[0032] The hydraulic controller will synchronously send an action feedback command to the winch controller. After receiving the command, the winch controller controls the winch mechanism to release the rope and performs a tension closed loop according to the rope tension sensor on the winch mechanism.

[0033] When the tension on the rope is too large, the winch controller sends a speed-up instruction to the winch mechanism to increase the speed of the winch mechanism and avoid the second hydraulic actuator being compressed;

[0034] When the tension on the rope is too small, the winch controller sends a speed reduction instruction to the winch mechanism to reduce the speed of the winch mechanism and avoid unloading the rope;

[0035] When the displacement sensor on the second hydraulic actuator feeds back that the second hydraulic actuator is pushed into place, the winch controller controls the brake system to brake, and at this time the winch driver switches to the speed control mode. After the switching is completed, the winch controller determines the springboard angle according to the total rope length released measured by the encoder on the current winch mechanism, and gives the winch mechanism speed according to the springboard angle to release the rope; wherein the winch mechanism speed is controlled by monitoring the winch motor speed through the second encoder;

[0036] When the gangway is lowered to the dock, due to the supporting force of the dock, the rope tension sensor will feedback that the rope tension will be reduced to zero; at this time, the winch controller stops the winch mechanism from operating and stops releasing the rope.

[0037] At this time, the winch controller feeds back and instructs the hydraulic controller to control the first hydraulic actuator to move, and the first hydraulic actuator drives the latch to move in, thereby completing the fixing of the springboard.

[0038] The process of collecting the springboard is as follows:

[0039] Press the control button for retracting the springboard on the console to instruct the hydraulic controller and the winch controller, and the winch controller controls the winch mechanism to retract the rope; the hydraulic controller controls the first hydraulic actuator to act, and the first hydraulic actuator drives the latch to withdraw the pin to release the fixing of the springboard. When the in-position detection switch detects that the latch is withdrawn in place, the hydraulic controller controls the second hydraulic actuator to extend and stop when the displacement sensor feedback value is greater than the second preset length;

[0040] When the angle of the gangway determined by the encoder on the current winch mechanism based on the total length of the released rope is within the predefined range, the winch controller performs inching control, starting for 1 second and stopping for 1 second to retract the rope. When the winch just passes the 90° angle point, the gangway will naturally lean inwards under the maximum force of gravity, and will be supported by the second hydraulic actuator.

[0041] At this moment, when the second hydraulic actuator supports the springboard, the pressure sensor on the second hydraulic actuator will detect the pressure increase, and the hydraulic controller will control the second hydraulic actuator to retract, and the springboard will follow the second hydraulic actuator to move closer to the inside of the ship;

[0042] At this moment, when the second hydraulic actuator supports the springboard, the hydraulic controller will also send a retraction command to the winch controller. The winch controller controls the winch mechanism to retract the rope, and controls the rope retraction speed through the tension sensor in a closed loop to keep the cable at a certain tension.

[0043] When the springboard reaches the buffer position, the buffer travel switch is triggered, and the winch controller will jog the winch mechanism to slowly retract the rope;

[0044] When the springboard is received in place, the in-place travel switch is triggered. At this time, the winch controller stops retracting the rope and feeds back a signal to the hydraulic controller to control the second hydraulic actuator to stop moving; the hydraulic controller controls the first hydraulic actuator to drive the pin to be inserted to complete the fixation of the springboard.

[0045] Optionally, the first preset length is the extreme position length of the gangway pushed out of the outer side of the ship.

[0046] Optionally, the second preset length is the length of the position required by the second hydraulic actuator when the center of gravity position is retracted when the springboard just passes the center of gravity position.

[0047] Optionally, the predefined range is 80°-90°.

[0048] It can be seen from the above scheme that the embodiment of the present invention provides a barge gangway retraction and deployment control device and method, which has the following beneficial effects:

[0049] The present application controls the hydraulic device to use the cable tension closed-loop control of the hydraulic cylinder to push out the springboard when the connecting springboard is close to the inner side, and then uses the two winch mechanisms to synchronize the speed, and obtains the springboard flipping angle according to the calculated rope factory, adjusts the synchronization speed, slows down at the beginning and end, and increases speed in the middle section, thereby solving the problems in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of a barge gangway retracting and releasing control device provided according to an embodiment;

[0051] Figure 2 A schematic diagram of a control system of a barge gangway retracting and lowering control device provided according to an embodiment;

[0052] Figure 3 The present invention is a schematic diagram of controlling a winch device of a barge gangway retracting and lowering control device provided according to an embodiment.

[0053] Description of reference numerals:

[0054] 100, boat; 200, gangway; 300, cradle;

[0055] 1. Control console; 2. Hydraulic controller; 3. Winch controller; 4. Rope; 5. First hydraulic actuator; 6. Second hydraulic actuator; 7. Latch; 8. In-position detection switch; 9. Displacement sensor; 10. Tension sensor; 11. Winch mechanism; 12. Braking system; 13. First encoder; 14. Pressure sensor; 15. Buffer travel switch; 16. In-position travel switch; 17. Second encoder. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] According to a first aspect of the present invention, a barge gangway retraction and deployment control device is provided. Figure 1As shown, the control device includes a hydraulic device and a winch device, which cooperate to complete the retraction and deployment of the barge gangway; a gangway 200 and a hanger 300 are installed on the ship 100, the winch mechanism 11 is installed on the hanger 300, and a rope 4 is installed on the winch mechanism 11. The device also includes: a control console 1, a hydraulic controller 2, a winch controller 3, a first hydraulic actuator 5, a second hydraulic actuator 6, a latch 7, an in-position detection switch 8, a displacement sensor 9, a tension sensor 10, a brake system 12, a first encoder 13 and a pressure sensor 14. The control console 1 is an operating platform arranged in the cabin, and the hydraulic controller 2 and the winch controller 3 are respectively connected to the control console 1; the A hydraulic actuator 5 and a second hydraulic actuator 6 are both arranged on the ship; the latch 7 is inserted on the springboard 200 to fix the springboard 200; the in-place detection switch 8 is installed on the first hydraulic actuator 5 to detect whether the first hydraulic actuator 5 is in place; the displacement sensor 9 is installed on the second hydraulic actuator 6 to detect the displacement of the second hydraulic actuator 6; the tension sensor 10 is installed on the winch mechanism 11 to detect the tension of the rope 4; the first encoder 13 is installed on the winch mechanism 11 to detect the length of the rope to be retracted and released; the pressure sensor 14 is installed on the second hydraulic actuator 6 to detect the pressure of the second hydraulic actuator 6. The winch mechanism 11 is also provided with a brake system 12 for braking and decelerating the winch mechanism 11; the second encoder is installed on the winch motor to measure the speed of the winch motor. The winch mechanism consists of two left and right winches; used to control the retraction and release of the rope. , use the two winch mechanisms to synchronize their speeds, and according to the calculated rope factory, obtain the flipping angle of the springboard, adjust the synchronous speed, slow down at the beginning and end, and increase speed in the middle.

[0058] The device also includes a buffer travel switch 15, which is installed on the hull and corresponds to the gangway, and is used to detect the travel of the gangway. The device also includes an in-place travel switch 16, which is installed on the hull and corresponds to the gangway, and is used to detect the in-place status of the gangway. The first encoder installed on the winch motor is used to measure the speed of the winch motor, and the second encoder installed on the winch mechanism is used to measure the length of the winch rope. A rope tension sensor is also installed on the winch mechanism.

[0059] like Figure 2As shown, the console is provided with a springboard release button and a springboard retraction button; the hydraulic controller 2, winch controller 3, in-position detection switch 8, displacement sensor 9, tension sensor 10, first encoder 13, pressure sensor 14, buffer stroke switch 15, in-position stroke switch 16 and second encoder 17 are all connected to the console; the console will transmit the "deploy" instruction to the hydraulic controller and winch controller through the network. The hydraulic controller 2 and winch controller 3 are both controlled by the console, and of course they can also communicate and interact with each other directly.

[0060] In some specific embodiments, the first hydraulic actuator and the second hydraulic actuator are both hydraulic cylinders;

[0061] like Figure 3 As shown, the winch device includes a winch controller 3, a winch driver, a winch motor and a winch mechanism;

[0062] The winch control 3 is connected to the winch driver, the winch motor and the winch mechanism control in sequence;

[0063] The winch controller 3 transmits a control signal to the winch driver, and the winch driver drives the winch motor to rotate, and the winch motor drives the winch mechanism to rotate to retract and release the rope.

[0064] According to a second aspect of the present invention, a method for controlling the retrieval and release of a barge gangway is provided. The method adopts the device for controlling the retrieval and release of a barge gangway according to the first aspect. The process of releasing the gangway is as follows:

[0065] Press the control button for releasing the gangplank on the control console 1 to instruct the hydraulic controller 2 and the winch controller 3, and the winch controller 3 controls the winch mechanism 11 to release the rope 4; the hydraulic controller 2 controls the first hydraulic actuator 5 to act, and the first hydraulic actuator 5 drives the latch 7 to withdraw, thereby releasing the fixing of the gangplank. When the in-position detection switch 8 detects that the latch 7 is withdrawn in place, the hydraulic controller 2 controls the second hydraulic actuator 6 to act and extend, pushing the gangplank from the inside to the outside of the ship, and stops when the feedback value of the displacement sensor 9 is greater than the first preset length;

[0066] The hydraulic controller 2 will synchronously send an action feedback instruction to the winch controller 3. After receiving the instruction, the winch controller 3 controls the winch mechanism 11 to release the rope 4, and performs a tension closed loop according to the tension sensor 10 of the rope 4 on the winch mechanism 11;

[0067] When the tension on the rope is too large, the winch controller 3 sends a speed-up instruction to the winch mechanism 11 to increase the speed of the winch mechanism 11 to avoid the second hydraulic actuator 6 being compressed;

[0068] When the tension on the rope is too small, the winch controller 3 sends a speed reduction instruction to the winch mechanism 11 to reduce the speed of the winch mechanism 11 to avoid unloading of the rope 4;

[0069] When the displacement sensor 9 on the second hydraulic actuator 6 feeds back that the second hydraulic actuator 6 is pushed into place, the winch controller 3 controls the brake system 12 to brake, and at this time the winch driver switches to the speed control mode. After the switching is completed, the winch controller 3 determines the springboard angle according to the springboard angle based on the total length of the released rope 4 measured by the encoder on the current winch mechanism 11, and gives the speed of the winch mechanism 11 to release the rope 4 according to the springboard angle; wherein the speed of the winch mechanism 11 is controlled by monitoring the speed of the winch motor through the second encoder 17;

[0070] When the gangway is lowered to the dock, due to the supporting force of the dock, the tension sensor 10 of the rope 4 will feedback that the tension of the rope 4 will be reduced to zero; at this time, the winch controller 3 stops the operation of the winch mechanism 11 and stops releasing the rope 4.

[0071] At this time, the winch controller 3 feeds back and instructs the hydraulic controller 2 to control the first hydraulic actuator 5 to move, and the first hydraulic actuator 5 drives the latch 7 to move in, thereby completing the fixing of the springboard.

[0072] The process of collecting the springboard is as follows:

[0073] Press the control button for retracting the springboard on the control console 1 to instruct the hydraulic controller 2 and the winch controller 3, and the winch controller 3 controls the winch mechanism 11 to retract the rope 4; the hydraulic controller 2 controls the first hydraulic actuator 5 to act, and the first hydraulic actuator 5 drives the latch 7 to withdraw, thereby releasing the fixing of the springboard. When the in-position detection switch 8 detects that the latch 7 is withdrawn in place, the hydraulic controller 2 controls the second hydraulic actuator 6 to extend, and stops when the displacement sensor 9 feedback value is greater than the second preset length;

[0074] When the angle of the springboard determined by the encoder on the current winch mechanism 11 according to the total length of the released rope 4 is within the predefined range, the winch controller 3 performs inching control, starting for 1 second and stopping for 1 second to retract the rope 4. When the winch just passes the 90° angle point, the springboard will naturally lean towards the inside of the ship under the maximum force of gravity, and at this time it will be supported by the second hydraulic actuator 6;

[0075] At this moment, when the second hydraulic actuator 6 supports the springboard, the pressure sensor 14 on the second hydraulic actuator 6 will detect the pressure increase, and the hydraulic controller 2 will control the second hydraulic actuator 6 to retract, and the springboard will follow the second hydraulic actuator 6 to move closer to the inside of the ship;

[0076] At this moment, when the second hydraulic actuator 6 supports the springboard, the hydraulic controller 2 will also send a retraction command to the winch controller 3, and the winch controller 3 controls the winch mechanism 11 to retract the rope 4, and controls the speed of retracting the rope 4 through the tension sensor 10 in a closed loop to keep the cable at a certain tension;

[0077] When the springboard reaches the buffer position, the buffer travel switch 15 is triggered, and the winch controller 3 will inchingly control the winch mechanism 11 to slowly retract the rope 4;

[0078] When the springboard is received in place, the in-place travel switch 16 is triggered. At this time, the winch controller 3 stops retracting the rope 4 and feeds back a signal to the hydraulic controller 2 to control the second hydraulic actuator 6 to stop the action; the hydraulic controller 2 controls the first hydraulic actuator 5 to act, driving the pin 7 to be inserted, thereby completing the fixation of the springboard.

[0079] Among them, the first preset length is the extreme position length of the springboard pushed out to the outside of the ship's side; the second preset length is the length of the center of gravity position and the position required by the second hydraulic actuator 6 when the springboard just passes the center of gravity position and is retracted inward; the predefined range is 80°-90°.

[0080] In some specific embodiments, the specific working principle is as follows:

[0081] Step S11: Press the "deploy" button on the console 1, and the console 1 will transmit the "deploy" command to the hydraulic controller 2 and the winch controller 3 through the network. At this time, the hydraulic controller 2 will control the first hydraulic actuator 5 to act, which will cause the latches 7 inserted on the gangway on the ship to be withdrawn at the same time. Preferably, there are 4 latches 7, 2 on the upper side and 2 on the lower side, to release the fixing of the gangway. When the in-position detection switch 8 on the first hydraulic actuator 5 detects that the latches are in place, step 2 is performed;

[0082] Step 12: The second hydraulic actuator 6 is actuated, and the first hydraulic actuator 5 is actuated to extend the two pushing cylinders respectively, pushing the gangway from the inside of the ship to the outside of the ship; during this process, the pushing cylinders will push outward at a uniform speed according to the set pushing speed, and stop when the length is greater than L according to the feedback value of the displacement sensor 9, where the value of L is determined according to the extreme position of the gangway pushed out of the outer side of the ship's side.

[0083] Step 13: While the second hydraulic actuator 6 is in action, the hydraulic controller 2 will synchronously send an action feedback instruction to the winch controller 3. After receiving the instruction, the winch controller 3 controls the winch mechanism 11 to release the rope; and performs a tension closed loop according to the rope tension sensor 10 on the winch mechanism 11. When the tension on the rope is too large, the winch controller 3 sends an instruction to increase the speed to the winch driver to increase the speed of the winch motor and avoid pressure on the push cylinder. When the tension on the rope is too small, the winch controller 3 sends an instruction to reduce the speed to the winch driver to reduce the speed of the winch motor and avoid the rope 4 from unloading. Because once the rope 4 unloads, the docking springboard will lose control and fall directly outward at the moment the center of gravity changes.

[0084] Step 14: When the displacement sensor 9 on the second hydraulic actuator 6 feeds back that the cylinder top is pushed into place, the brake system 12 brakes, and the winch driver switches to the speed control mode. After the switching is completed, the winch controller 3 determines the springboard angle according to the total rope length released measured by the first encoder 13 on the current winch mechanism 11, and gives the winch speed V according to the springboard angle R. The winch driver operates the winches on both sides at this speed to release the rope.

[0085] Step 15: After the gangway is lowered to the dock, the rope tension sensor 10 will feedback that the tension of the rope 4 on the winch mechanism 11 will be reduced to zero due to the supporting force of the dock. At this time, the winch controller 3 will stop the output of the winch driver.

[0086] Stop the winch mechanism 11 from running.

[0087] Here's how to place the springboard:

[0088] Step 21: Press the "retract" button on the console 1, and the console 1 will transmit the "retract" command to the hydraulic controller 2 and the winch controller 3 through the network. At this time, the hydraulic controller 2 will control the first hydraulic actuator 5 to act, and this action will cause the latch 7 to be retracted at the same time. When the in-position detection switch 8 on the first hydraulic actuator 5 detects that the retracted pin is in place, proceed to step 22;

[0089] Step 22: When the in-position detection switch 8 detects that the latch 7 is in position, the hydraulic controller 2 controls the second hydraulic actuator 6 to move and extend. The second hydraulic actuator 6 moves to extend the two push cylinders respectively. According to the feedback value of the displacement sensor 9, when the displacement sensor 9 is greater than L 1 Stop when the length is L. 1 The position required for the push cylinder to be pushed when the connecting springboard just passes the center of gravity and retracts inward.

[0090] Step 23: When the angle of the springboard determined by the winch controller 3 according to the total rope length released measured by the first encoder 13 on the current winch mechanism 11 is close to 90°, the winch controller 3 performs inching control, starts for 1 second, and stops for 1 second to retract the rope. When the winch just passes the corner point of 90°, it will naturally lean inward under the maximum force of gravity, and will be supported by the push cylinder at this time.

[0091] Step 24: At this moment, when the push cylinder supports the docking ramp, the pressure sensor 14 on the second hydraulic actuator 6 will detect the pressure increase. At this time, the hydraulic controller 2 will control the push cylinder to retract, and the docking ramp will follow the push cylinder to move closer to the inside of the ship.

[0092] Step 25: At this moment, when the push cylinder supports the docking springboard, the hydraulic controller 2 will also send a retraction command to the winch controller 3. The winch controller 3 controls the winch driver to retract the rope 4, and controls the speed of retracting the rope 4 in a closed loop through the tension sensor 10 to keep the rope 4 with a certain tension.

[0093] Step 26: When the gangway receives the buffer position, wherein the buffer position is a buffer block in contact with the gangway above the ship, and a buffer travel switch 15 is provided on the buffer block, at this time the buffer travel switch 15 is triggered, and at this time the winch controller 3 will perform a jog control on the winch driver to slowly retract the rope 4.

[0094] Step 27: When the springboard is received in place, the in-place travel switch 16 is triggered. At this time, the winch controller 3 will control to stop retracting the rope 4, and feedback the signal to the hydraulic controller 2 to control the push cylinder to stop moving.

[0095] Step 28: After the push cylinder stops moving, the hydraulic controller 2 controls the first hydraulic actuator 5 to move, inserts the latch 7 to complete the fixation of the docking springboard.

[0096] In summary, the present application controls the hydraulic device to use the cable tension closed-loop to control the hydraulic cylinder to push the springboard out when the connecting springboard is close to the inner side, and uses the two winch mechanisms to synchronize the speed, and obtains the springboard flipping angle according to the calculated rope factory, adjusts the synchronization speed, slows down at the beginning and end, and increases speed in the middle section, thereby solving the three problems in the prior art.

[0097] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A barge gangway retraction and deployment control device, characterized in that: The control device includes a hydraulic device and a winch device, which cooperate to complete the retraction and deployment of the barge gangway; A gangplank and a cradle are installed on the ship, the winch mechanism is installed on the cradle, and a rope is installed on the winch mechanism. The device also includes: a control console, a hydraulic controller, a winch controller, a first hydraulic actuator, a second hydraulic actuator, a latch, an in-position detection switch, a displacement sensor, a tension sensor, a brake system, a first encoder, a pressure sensor, and a second encoder. The control console is an operating platform arranged in the cabin, and the hydraulic controller and the winch controller are respectively connected to the control console; The first hydraulic actuator and the second hydraulic actuator are both arranged on board the ship; The latch is inserted into the springboard and is used to fix the springboard; The in-place detection switch is installed on the first hydraulic actuator and is used to detect whether the first hydraulic actuator is in place; The displacement sensor is installed on the second hydraulic actuator and is used to detect the displacement of the second hydraulic actuator; The tension sensor is installed on the winch mechanism to detect the tension of the rope; The first encoder is installed on the winch mechanism and is used to detect the retracted and extended length of the rope; The pressure sensor is installed on the second hydraulic actuator and is used to detect the pressure of the second hydraulic actuator; The second encoder is installed on the winch motor and is used to measure the rotation speed of the winch motor.

2. The barge ramp retracting and releasing control device according to claim 1, characterized in that: The winch mechanism is also provided with a brake system for braking and decelerating the winch mechanism.

3. The barge ramp retracting and releasing control device according to claim 2, characterized in that: The device also includes a buffer travel switch, which is installed on the hull and corresponds to the gangway and is used to detect the travel of the gangway.

4. The barge ramp retracting and releasing control device according to claim 3, characterized in that: The device also includes an in-place travel switch, which is installed on the hull and corresponds to the gangway, and is used to detect the in-place status of the gangway.

5. The barge ramp retracting and releasing control device according to claim 4, characterized in that: The winch device includes a winch controller, a winch driver, a winch motor and a winch mechanism; The winch control is connected in sequence to the winch driver, the winch motor and the winch mechanism control; The winch controller transmits a control signal to the winch driver, the winch driver drives the winch motor to rotate, and the winch motor drives the winch mechanism to rotate to retract and release the rope.

6. A method for controlling the retraction and release of a barge gangway, the method being applied to the device according to claim 5, characterized in that: The process of placing the springboard is as follows: Press the control button for releasing the gangplank on the console to instruct the hydraulic controller and the winch controller, and the winch controller controls the winch mechanism to release the rope; the hydraulic controller controls the first hydraulic actuator to act, and the first hydraulic actuator drives the latch to withdraw the pin to release the fixing of the gangplank. When the in-position detection switch detects that the latch is withdrawn in place, the hydraulic controller controls the second hydraulic actuator to extend and push the gangplank out from the inside to the outside of the ship, and stops when the displacement sensor feedback value is greater than the first preset length; The hydraulic controller will synchronously send an action feedback command to the winch controller. After receiving the command, the winch controller controls the winch mechanism to release the rope and performs a tension closed loop according to the rope tension sensor on the winch mechanism. When the tension on the rope is too large, the winch controller sends a speed-up instruction to the winch mechanism to increase the speed of the winch mechanism and avoid the second hydraulic actuator being compressed; When the tension on the rope is too small, the winch controller sends a speed reduction instruction to the winch mechanism to reduce the speed of the winch mechanism and avoid unloading the rope; When the displacement sensor on the second hydraulic actuator feeds back that the second hydraulic actuator is pushed into place, the winch controller controls the brake system to brake, and at this time the winch driver switches to the speed control mode. After the switching is completed, the winch controller determines the springboard angle according to the total rope length released measured by the encoder on the current winch mechanism, and gives the winch mechanism speed according to the springboard angle to release the rope; wherein the winch mechanism speed is controlled by monitoring the winch motor speed through the second encoder; When the gangway is lowered to the dock, due to the supporting force of the dock, the rope tension sensor will feedback that the rope tension will be reduced to zero; at this time, the winch controller stops the winch mechanism and stops releasing the rope; At this time, the winch controller feeds back and instructs the hydraulic controller to control the first hydraulic actuator to move, and the first hydraulic actuator drives the latch to move in, thereby completing the fixing of the springboard.

7. The method for controlling the retraction and deployment of a barge ramp according to claim 6, characterized in that: The process of collecting the springboard is as follows: Press the control button for retracting the springboard on the console to instruct the hydraulic controller and the winch controller, and the winch controller controls the winch mechanism to retract the rope; the hydraulic controller controls the first hydraulic actuator to act, and the first hydraulic actuator drives the latch to withdraw the pin to release the fixing of the springboard. When the in-position detection switch detects that the latch is withdrawn in place, the hydraulic controller controls the second hydraulic actuator to extend and stop when the displacement sensor feedback value is greater than the second preset length; When the angle of the gangway determined by the encoder on the current winch mechanism based on the total length of the released rope is within the predefined range, the winch controller performs inching control, starting for 1 second and stopping for 1 second to retract the rope. When the winch just passes the 90° angle point, the gangway will naturally lean inwards under the maximum force of gravity, and will be supported by the second hydraulic actuator. At this moment, when the second hydraulic actuator supports the springboard, the pressure sensor on the second hydraulic actuator will detect the pressure increase, and the hydraulic controller will control the second hydraulic actuator to retract, and the springboard will follow the second hydraulic actuator to move closer to the inside of the ship; At this moment, when the second hydraulic actuator supports the springboard, the hydraulic controller will also send a retraction command to the winch controller. The winch controller controls the winch mechanism to retract the rope, and controls the rope retraction speed through the tension sensor in a closed loop to keep the cable at a certain tension. When the springboard reaches the buffer position, the buffer travel switch is triggered, and the winch controller will inchingly control the winch mechanism to slowly retract the rope; When the springboard is received in place, the in-place travel switch is triggered. At this time, the winch controller stops retracting the rope and feeds back a signal to the hydraulic controller to control the second hydraulic actuator to stop moving; the hydraulic controller controls the first hydraulic actuator to drive the pin to be inserted to complete the fixation of the springboard.

8. The method for controlling the retraction and deployment of a barge ramp according to claim 7, characterized in that: The first preset length is the limit position length of the gangway pushed out of the ship's side.

9. The method for controlling the retraction and deployment of a barge ramp according to claim 8, characterized in that: The second preset length is the length of the position required by the second hydraulic actuator when the center of gravity position is retracted when the springboard just passes the center of gravity position.

10. The method for controlling the retraction and deployment of a barge ramp according to claim 9, characterized in that: The predefined range is 80°-90°.

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