Multifunctional floating type hoisting system and device and safety load monitoring method

Abstract

The invention relates to the technical field of floating type hoisting, in particular to a multifunctional floating type hoisting system and device and a safety load monitoring method. The working radius is obtained through the length of the suspender and the working angle of the suspender relative to the horizontal plane, the upper limit value of the safe working load is obtained through the working radius and the constructed B spline curve model, the weight of the material is compared with the upper limit value of the safe working load, and whether the material is within the safe working load range or not is judged; safety accidents caused by the fact that the lifting load exceeds the safety load range can be effectively avoided, and then property loss and casualties are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of floating hoisting, and in particular to a multifunctional floating hoisting system, device and safety load monitoring method. Background Art

[0002] Floating cranes are capable of loading and unloading between shore and ship, and between ships. Their light weight, minimal footprint, high efficiency, operational stability, and flexible operation make them ideal loading and unloading equipment for inland rivers and lakes. However, existing floating cranes lack safety load monitoring capabilities. Lifting loads exceeding the safe load range can easily lead to accidents, resulting in not only property damage but also casualties.

[0003] In view of this, we propose a multifunctional floating lifting system, device and safe load monitoring method to solve the existing problems. Summary of the Invention

[0004] The object of the present invention is to provide a multifunctional floating lifting system, device and safe load monitoring method to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a multifunctional floating lifting system, comprising a boom control module and a safety load monitoring module, wherein the boom control module includes a slewing control unit, a lifting control unit, and a boom length adjustment control unit; the safety load monitoring module includes a working radius calculation unit, a safe working load calculation unit, a pressure detection unit, and a safety alarm unit; wherein the working radius calculation unit calculates the working radius through the boom length and the working angle of the boom relative to the horizontal plane, and the safe working load calculation unit calculates the upper limit of the safe working load through the working radius and a constructed B-spline curve model.

[0006] A multifunctional floating lifting device is based on a multifunctional floating lifting system, which includes a slewing mechanism, a boom assembly, a lifting mechanism, a luffing mechanism, a crane control room, a crane base, and a boom placement frame.

[0007] A multifunctional floating lifting safety load monitoring method is provided, which is based on a multifunctional floating lifting system or a multifunctional floating lifting device and comprises a curve construction method and a safety load prediction method.

[0008] Furthermore, the curve construction method includes: assuming that the working radius is R, the upper limit of the safe working load is SWL, and the lower limit of the working radius is R min , the upper limit of the working radius is R max , set the range of working radius to set R total , R total =[R min , Rmax ], R total Divided into level sets R horiz and the descending set R decli , let R horiz With R decli The nodes between them are R node , R horiz =[R min , R node ], R decli =[R node , R max ]; Among them, in R horiz In the case of R increasing, the SWL corresponding to R remains unchanged; decli In the , SWL decreases with the increase of R; according to R decli The R and the corresponding SWL are used to construct the B-spline curve model.

[0009] Furthermore, the safe load prediction method includes: comparing the weight M of the material with the SWL corresponding to R to determine whether the material is within the safe load range.

[0010] Furthermore, we can obtain R node The steps include: S1: By R min Increase R in a specific step size, and measure SWL every time R is increased until R ≥ R max until; S2: Let R1 be the maximum R at which SWL remains unchanged in S1, and R2 be the minimum R at which SWL decreases. Start from R1 and increase it in steps of 1. Measure SWL every time R increases until R ≥ R2. S3: Set the maximum R in S2 where SWL remains unchanged to R node .

[0011] Furthermore, the specific steps are: R≤R node If M≤SWL, the material is judged to be within the safe load range; if M>SWL, the material is judged to be not within the safe load range; R>R node When , SWL is obtained by R and the constructed B-spline curve model. If M≤SWL, the material is judged to be within the safe load range; if M>SWL, the material is judged to be not within the safe load range.

[0012] Furthermore, M is measured by a pressure detection unit.

[0013] Furthermore, if the material is not within the safe load range, the safety alarm unit will sound an alarm.

[0014] Furthermore, the indicator light and buzzer are controlled by the safety alarm unit. If the safety alarm unit sounds an alarm, the indicator light flashes and the buzzer sounds continuously.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention realizes boom control through rotation, lifting and boom amplitude change, and obtains the working radius through the boom length and the working angle of the boom relative to the horizontal plane, and obtains the upper limit of the safe working load through the working radius and the constructed B-spline curve model. The weight of the material is compared with the upper limit of the safe working load to determine whether the material is within the safe load range. It can effectively avoid safety accidents caused by the lifting load exceeding the safe load range, thereby avoiding property losses and casualties. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic structural diagram of a multifunctional floating lifting device of the present invention.

[0017] In the figure: 1. Slewing mechanism; 2. Boom assembly; 3. Hoisting mechanism; 4. Luffing mechanism; 5. Crane control room; 6. Crane base; 7. Boom placement frame. DETAILED DESCRIPTION

[0018] The technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments. Example 1

[0019] like Figure 1 As shown, a multifunctional floating lifting device includes a slewing mechanism 1, a boom assembly 2, a lifting mechanism 3, a luffing mechanism 4, a crane control room 5, a crane base 6, and a boom placement frame 7. Among them, there are four boom assemblies 2, all of which are controlled by the slewing mechanism 1, the lifting mechanism 3, and the luffing mechanism 4, and are operated by the staff in the crane control room 5. The crane base 6 and the boom placement frame 7 are arranged on the upper surface of the deck.

[0020] The crane base 6 has a cross-sectional diameter of 4.45m and a height of 0.5m. The slewing mechanism 1 is at least 2.8m above the deck surface. The pulley connecting the hoisting mechanism 3 and the luffing mechanism 4 is at 38m above the deck surface. The fulcrum of the boom frame 7 is at 22.6m above the deck surface. The crane control cabin 5 is at 25.6m above the deck surface, and the boom frame 7 is 13m high. The crane has a minimum operating radius of 15m and a maximum operating radius of 39m. For a working radius of 36m or less, the maximum lifting height of materials above the deck is 45m. For a working radius of 37m or greater, the maximum lifting height of materials above the deck is 35m. The crane weighs 450t. The maximum force at the bottom of the crane base is 6,700kN, the maximum torque is 58,000kNm, and the maximum torsion is 8,500kNm. The maximum lifting speed is 120 m / min for materials weighing up to 40 tons; 100 m / min for materials weighing up to 50 tons; and 80 m / min for materials weighing up to 63 tons. The luffing time is 40 seconds. When the grab bucket is full and the working radius is 39 meters, the maximum slewing speed is 1.2 r / min; when the working radius is 30 meters, the maximum slewing speed is 1.6 r / min. When the grab bucket is empty and the working radius is 39 meters, the maximum slewing speed is 1.4 r / min; when the working radius is 35 meters, the maximum slewing speed is 1.6 r / min. The slewing range is 360°. The ship on which the crane is located has a list of 5° and a trim of 2°. The crane operates on three-phase AC power with a rated voltage of 69V and a frequency of 50Hz. The normal operating power requirement is 1900 kVA, with a peak power requirement of 3550 kVA, which can last up to 5 seconds.

[0021] A multifunctional floating lifting system includes a boom control module and a safety load monitoring module. The boom control module includes a slewing control unit, a lifting control unit, and a boom length control unit. The safety load monitoring module includes a working radius calculation unit, a safe working load calculation unit, a pressure detection unit, and a safety alarm unit. The working radius calculation unit calculates the working radius through the boom length and the working angle of the boom relative to the horizontal plane, and the safe working load calculation unit calculates the upper limit of the safe working load through the working radius and a constructed B-spline curve model.

[0022] A multifunctional floating crane safety load monitoring method includes a curve construction method and a safety load prediction method.

[0023] The curve construction method includes: setting the working radius as R, the upper limit of the safe working load as SWL, and the lower limit of the working radius as R min , the upper limit of the working radius is R max, set the range of working radius to set R total , R total =[R min , R max ], R total Divided into level sets R horiz and the descending set R decli , let R horiz With R decli The nodes between them are R node , R horiz =[R min , R node ], R decli =[R node , R max ]; Among them, in R horiz In the case of R increasing, the SWL corresponding to R remains unchanged; decli In the , SWL decreases with the increase of R; according to R decli The R and the corresponding SWL are used to construct the B-spline curve model.

[0024] Find R node The steps include: S1: By R min Increase R in a specific step size, and measure SWL every time R is increased until R ≥ R max until; S2: Let R1 be the maximum R at which SWL remains unchanged in S1, and R2 be the minimum R at which SWL decreases. Start from R1 and increase it in steps of 1. Measure SWL every time R increases until R ≥ R2. S3: Set the maximum R in S2 where SWL remains unchanged to R node .

[0025] The safe load prediction method includes: comparing the weight M of the material with the SWL corresponding to R to determine whether the material is within the safe load range. The specific steps are: R≤R node If M≤SWL, the material is judged to be within the safe load range; if M>SWL, the material is judged to be not within the safe load range; R>R node When M is measured by the pressure detection unit, SWL is calculated using R and the constructed B-spline curve model. If M ≤ SWL, the material is considered within the safe load range; if M > SWL, the material is considered not within the safe load range.

[0026] If the material is not within the safe load range, the safety alarm unit will sound an alarm. The indicator light and buzzer are controlled by the safety alarm unit. If the safety alarm unit sounds an alarm, the indicator light flashes and the buzzer sounds continuously.

[0027] The working principle of a multifunctional floating lifting system, device and safe load monitoring method based on the first embodiment is as follows: The algorithm formula for the n-order m-segment B-spline curve is:

[0028] Where: is the value of the i-th segment after n-times B-spline curve transformation, where i=1,2,3,...,m; t is the value before B-spline curve transformation, and for each point of the curve segment, 0≤t≤1 is satisfied, where t=0 represents the beginning node of the i-th segment, and t=1 represents the end node of the i-th segment; is the control point of the i-th segment of the B-spline curve; is a piecewise mixing function of the n-th degree B-spline curve, where 0≤t≤1 and k=0,1,2,...,n.

[0029] According to R decli The B-spline curve model is constructed by R and the corresponding SWL. The specific steps are: decli The R set is set to R S , R S The corresponding SWL set is set to SWL S , construct the B-spline curve model as F(R S )·P=SWL S , where P is the set of control points of the B-spline curve, F(R S ) is R S A set of piecewise mixing functions of , from which P is obtained.

[0030] R>R node When , SWL is obtained by R and the constructed B-spline curve model. The specific steps are: if R=R W , and thus obtain SWL W =F(R W )·P, where F(R W ) is R W The piecewise mixing function set, SWL W R W The corresponding SWL.

[0031] In this embodiment, when the hanger is connected to a grab bucket at a height of 1.5m, if R ≤ 34m, SWL = 63t; if R > 34m, SWL decreases as R increases, until R = 39m, SWL drops to 55t. When the hanger is connected to a grab bucket at a height of 2.5m, if R ≤ 34m, SWL = 50t; if R > 34m, SWL decreases as R increases, until R = 39m, SWL drops to 45t. When the hanger is connected to a hook lower than 0.6m, if R ≤ 24m, SWL = 100t; if R > 24m, SWL decreases as R increases, until R = 39m, SWL drops to 55t.

[0032] It can be seen that in this embodiment, when the grab bucket with a height of 1.5m or 2.5m is used for work, R horiz The range of R is small, so in the process of constructing the n-order m-segment B-spline curve, the m value is low; when working with a hook lower than 0.6m in height, R horiz The range of R is larger, so the value of m is higher in the process of constructing an n-order m-segment B-spline curve.

[0033] The above specific embodiments are only several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A multifunctional floating crane system, comprising a boom control module and a safety load monitoring module, characterized in that: The boom control module includes a slewing control unit, a lifting control unit, and a boom length adjustment control unit; the safe load monitoring module includes a working radius calculation unit, a safe working load calculation unit, a pressure detection unit, and a safety alarm unit; wherein, the working radius calculation unit calculates the working radius through the boom length and the working angle of the boom relative to the horizontal plane, and the safe working load calculation unit calculates the upper limit of the safe working load through the working radius and the constructed B-spline curve model.

2. A multifunctional floating lifting device, a multifunctional floating lifting system according to claim 1, characterized in that: The crane comprises a slewing mechanism (1), a boom assembly (2), a lifting mechanism (3), a luffing mechanism (4), a crane control room (5), a crane base (6), and a boom placement frame (7).

3. A multifunctional floating crane safety load monitoring method, according to the multifunctional floating crane system of claim 1 or the multifunctional floating crane device of claim 2, characterized in that: Including curve construction method and safe load prediction method; The curve construction method includes: setting the working radius as R, the upper limit of the safe working load as SWL, and the lower limit of the working radius as R min , the upper limit of the working radius is R max , set the range of working radius to set R total , R total =[R min , R max ], R total Divided into level sets R horiz and the descending set R decli , let R horiz With R decli The nodes between them are R node , R horiz =[R min , R node ], R decli =[R node , R max ]; Among them, in R horiz In the case of R increasing, the SWL corresponding to R remains unchanged; decli In the , SWL decreases with the increase of R; according to R decli The R and the corresponding SWL are used to construct the B-spline curve model; Among them, the safe load prediction method is to compare the weight M of the material with the SWL corresponding to R to determine whether the material is within the safe load range.

4. A multifunctional floating crane safety load monitoring method according to claim 3, characterized in that: Find R node The steps include: S1: By R min Increase R in a specific step size, and measure SWL every time R is increased until R ≥ R max until; S2: Let R1 be the maximum R at which SWL remains unchanged in S1, and R2 be the minimum R at which SWL decreases. Start from R1 and increase it in steps of 1. Measure SWL every time R increases until R ≥ R2. S3: Set the maximum R in S2 where SWL remains unchanged to R node .

5. A multifunctional floating crane safety load monitoring method according to claim 3, characterized in that: The specific steps of the safe load prediction method are: R≤R node If M≤SWL, the material is judged to be within the safe load range; if M>SWL, the material is judged to be not within the safe load range; R>R node When , SWL is obtained by R and the constructed B-spline curve model. If M≤SWL, the material is judged to be within the safe load range; if M>SWL, the material is judged to be not within the safe load range.

6. A multifunctional floating crane safety load monitoring method according to claim 5, characterized in that: M is measured by the pressure detection unit.

7. A multifunctional floating crane safety load monitoring method according to claim 5, characterized in that: If the material is not within the safe load range, the safety alarm unit will sound an alarm.

8. A multifunctional floating crane safety load monitoring method according to claim 7, characterized in that: The indicator light and buzzer are controlled by the safety alarm unit. If the safety alarm unit sounds an alarm, the indicator light flashes and the buzzer sounds continuously.

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