Buffer control method for berthing ball crane between ships

Abstract

According to the buffering control method for the berthing ball crane between the ships, a steel wire rope on a winch is output from the two sides of the winch, bypasses a buffering device and then is wound on a suspension arm on the other side of a base from one side of the base in the opposite direction, and through the cooperation of a first pulley block and a second pulley block, the steel wire rope is buffered. The steel wire rope is changed into the vertical direction from the horizontal direction and then is connected with the stopping ball in the vertical direction after bypassing the second pulley on the suspension arm, and meanwhile, the steel wire rope and the buffer device are always in a constant tension state under the action of the preset tension of the buffer device, so that the stopping ball is prevented from falling off when the stopping ball ascends or descends along with sea waves. The berthing ball can stably float on the sea surface to achieve sea wave compensation, so that the berthing stability between ships is improved, and meanwhile the situation that a steel wire rope for lifting the berthing ball is disengaged from a pulley block due to different tightness degrees caused by sea wave floating is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ships, in particular to a ship-to-ship docking ball hoist buffer control method. BACKGROUND

[0002] Ocean work ships can be supplied with materials during docking, including fuel, food, maintenance tools, etc., to ensure the basic living needs of the crew and the operation needs of the equipment. At the same time, when two ships are docked, it is convenient for the ships to cooperate with each other. Before the two ships are docked, a rubber air bag is used to provide an elastic isolation space between the two ships to prevent collision between the two ships.

[0003] For example, Chinese patent application No. CN201910206763.4, published on July 26, 2024, discloses a LNG filling ship air bag release and recovery device and method, which includes a release and recovery assembly, including a reverse arm support, a pulley and a rope, the rope being wound around the pulley; a collision avoidance assembly including an air bag connected to the rope; before filling, the air bag fixing part is unlocked and sealed, and the horizontal rod is unlocked; the winch is started in forward rotation, the rope is released, the reverse arm support is slowly rotated to the horizontal position; the rope clamp is loosened, the air bag is slowly released to the sea surface position, and the winch is stopped; the rope clamp is clamped, the winch is started in reverse rotation, the reverse arm support is recovered to the initial position, the winch is stopped, and the filling ship is filled; after filling, the winch is started in forward rotation, the reverse arm support is rotated to the horizontal position; the rope clamp is loosened, the winch is started in reverse rotation, and the air bag is recovered to the top of the reverse arm support; at this time, the movable pulley on the air bag is in contact with the reverse arm support; the winch is further reversed, the movable pulley and the reverse arm support are pulled back to the vertical position; the horizontal rod is locked, and the release and recovery process is completed.

[0004] The above patent document uses a winch and pulley assembly to realize automatic operation of the air bag, so as to realize automatic release and recovery of the air bag. However, it does not consider the actual situation that the air bag fluctuates up and down with the sea waves, which causes the steel wire rope to be slack, so that the steel wire rope cannot always be in tension, and thus the air bag cannot be stably maintained between the two ships, affecting the stability of the docking between the two ships. SUMMARY

[0005] The purpose of the present application is to provide a ship-to-ship docking ball hoist buffer control method, which can realize sea wave compensation of the docking ball, and thus stably stay between the two ships, to improve the stability of the docking between the two ships.

[0006] To achieve the above purpose, the present application provides the following technical solution: a ship-to-ship docking ball hoist buffer control method, which realizes sea wave compensation of the docking ball through a ball hoist device, the ball hoist device including a base, a hoist arm arranged on both sides of the base, a winch arranged in the middle of the base, and a buffer device arranged in a staggered manner on both sides of the winch; comprising the following steps: S1, the two steel wires are wound on the double drums of the winch, so that the steel wires are simultaneously out of the winch from the upper end and the lower end of the winch, and then extend along the left and right sides of the winch in a staggered manner and pass through the buffer device; S2, after the steel wires pass through the buffer device, they pass through the first pulley block arranged on the base in the opposite direction of the out direction, and then change from the horizontal direction to the vertical direction to pass through the second pulley block on the boom and connect with the docking ball; S3, the driving device arranged on the base drives the boom to rotate synchronously around the base away from the ship body, and then the winch drives the steel wires to be out of the winch synchronously, so that the docking ball is lowered to the sea surface by the steel wires; S4, the buffer device gives the steel wires a preset tension, so that the steel wires passing through the output end of the buffer device are in a tension state. When the docking ball rises with the sea waves, the output end of the buffer device moves towards the side close to the boom under the action of the tension. When the docking ball descends with the sea waves, the output end of the buffer device moves away from the boom under the action of the steel wires, so that the steel wires remain in a constant tension state during the rising or descending of the docking ball; S5, after the winch is reversely rotated, the steel wires bring the docking ball back to the boom, and then the driving device drives the boom to reversely rotate around the base to reset, so that the docking ball is parked on the support assembly of the base, realizing the recycling of the docking ball.

[0007] In the above method, the boom is arranged on both sides of the base, and the winch is arranged in the middle of the base. The steel wires out of the winch from both sides of the winch pass through the buffer device and then reversely pass from one side of the base to the other side of the boom. In this way, during the lifting of the docking ball, the whole base can bear force better, so that the overall stability is good. Meanwhile, the winding method cooperates with the buffer device between the winch and the boom. Only in this way can the steel wires pass through the buffer device and abut on the output end of the buffer device, and the steel wires and the buffer device are always in a constant tension state under the action of the preset tension of the buffer device, so as to ensure that the docking ball can float stably on the sea surface during the docking of the ship and the ship, so as to improve the stability of the docking of the ship and the ship, and avoid the steel wires for lifting the docking ball from being separated from the pulley block due to different degrees of tightness caused by the sea waves.

[0008] Further, one end of the boom is rotationally connected with the driving device, the other end of the driving device is rotationally connected with the base, one end of the boom is hingedly connected with the base, and the other end of the boom extends upward and outward to form a curved arm matched with the docking ball.

[0009] The above arrangement can drive the boom to rotate around the base by the driving device to drive the docking ball away from the ship body, thereby realizing the lowering of the docking ball to the sea surface, and after the docking ball is recovered, the curved arm formed by the boom can better accommodate the docking ball.

[0010] Further, the boom is provided with two or more second pulley blocks, the second pulley block comprising a second pulley seat and a second pulley, the second pulley seat being fixedly connected to the boom, and the second pulley being rotatably connected to the second pulley seat; the first pulley block is provided with two and located below the boom, the first pulley block comprising a first pulley seat and a first pulley, the first pulley seat being fixedly connected to the base, and the first pulley being rotatably connected to the first pulley seat and arranged in parallel with the base; the first pulley is arranged perpendicularly to the second pulley, and the rope exit direction of the first pulley is in the same horizontal line as the rope entry direction of the second pulley.

[0011] The above arrangement can make the steel wire rope pass through the buffer device first, change the rope exit direction of the steel wire rope through the first pulley, and make the rope entry direction of the first pulley form a 90° angle with the rope exit direction due to the parallel arrangement of the first pulley and the base, thereby making the steel wire rope directly enter the second pulley after passing through the first pulley, and making the rope exit direction of the second pulley be perpendicular to the base due to the perpendicular arrangement of the first pulley and the second pulley, so as to realize the change of the steel wire rope from the horizontal direction to the vertical direction to continue to pass through other second pulley blocks on the boom and connect with the docking ball.

[0012] Further, the base is provided with a support assembly between the winch and the boom, the support assembly comprising two first support rods and two second support rods, the two first support rods being fixedly connected through a first connecting rod, the two second support rods being fixedly connected through a second connecting rod, the first support rod being arranged in parallel with the base, and the second support rod being connected to one end of the first support rod and arranged obliquely relative to the first support rod.

[0013] The above arrangement can make the first support rod and the second support rod support the recovered docking ball, thereby improving the parking stability of the docking ball after recovery.

[0014] Further, the buffer device is located between the winch and the boom, the buffer device comprising a second fixed seat, a second driving oil cylinder, an energy accumulator, and a third pulley block, the second fixed seat being fixedly connected to the base, the second driving oil cylinder being fixed to the second fixed seat, the third pulley block comprising a third pulley seat and a third pulley, the third pulley seat being fixedly connected to the piston rod of the second driving oil cylinder, the third pulley being rotatably connected to the third pulley seat and arranged perpendicularly to the base, the rope exit direction of the third pulley being in the same horizontal line as the rope entry direction of the first pulley, and the output end of the energy accumulator being connected to the second driving oil cylinder.

[0015] The above setting can make the energy accumulator provide a preset pressure for the second driving oil cylinder, and the piston push rod is pushed to move relative to the second driving oil cylinder by the preset pressure, so that the third pulley abuts against the steel wire rope and gives the steel wire rope a preset tensioning force, so that the steel wire rope directly horizontally slides into the first pulley, avoiding the deviation of the steel wire rope in the out-of-rope direction or the in-of-rope direction between different pulley groups.

[0016] Further, in step S1, the steel wire rope is extended to the third pulley in a staggered manner after being out of the winch from both sides.

[0017] The above setting makes the steel wire rope abut against the third pulley.

[0018] Further, in step S2, after the steel wire rope passes through the third pulley, it passes through the first pulley in the opposite direction of the out-of-rope direction, and then passes through the second pulley on the boom, so that the steel wire rope changes from a horizontal direction to a vertical direction after passing through the first pulley and the second pulley in sequence, and then connects with the docking ball in the vertical direction after passing through the second pulley on the boom.

[0019] The above setting can change the direction of the steel wire rope by the cooperation of different pulleys, so as to lift the docking ball in the vertical direction.

[0020] Further, in step S4, steps S4.1-S4.3 are included. S4.1 After the docking ball is lowered to the sea surface, the output end of the energy accumulator outputs a preset pressure to the second driving oil cylinder, and then the piston push rod moves relative to the second driving oil cylinder, so that the third pulley abuts against the steel wire rope, and then the steel wire rope is in a tensioning state; S4.2 During the process that the docking ball rises with the sea waves, the steel wire rope changes from a tensioning state to a relaxed state, the piston push rod moves to the side close to the boom under the action of the preset pressure of the output end of the energy accumulator, and then drives the third pulley to move to the side close to the boom and abut against the steel wire rope again, so that the steel wire rope changes from a relaxed state to a tensioning state, so that the steel wire rope is in a constant tensioning state; S4.3 During the process that the docking ball descends with the sea waves, the steel wire rope abuts against the third pulley, and the preset pressure of the output end of the energy accumulator is gradually reduced, so that the force of the steel wire rope acting on the third pulley is greater than the preset pressure of the output end of the energy accumulator, and then the steel wire rope drives the piston push rod to move away from the boom, so that the steel wire rope is in a constant tensioning state.

[0021] The above setting can make the steel wire ropes connected to both ends of the docking ball rise or descend synchronously, and during the rising or descending process, the steel wire ropes can be in a constant tensioning state, so that the docking ball can stably float on the sea surface to realize sea wave compensation, thereby improving the stability of the docking between ships.

[0022] Furthermore, in step S5, after the drive device drives the boom to rotate in the opposite direction around the base to reset, the bottom of the docking ball is brought into contact with the first support rod and the second support rod, and then the retrieved docking ball is placed in the receiving frame formed by the first support rod, the second support rod and the curved arm.

[0023] The above settings ensure stable storage and recovery of the docking balls after use. Attached Figure Description

[0024] Figure 1 This is the front view of the present invention.

[0025] Figure 2 This is a front view of the ball-hanging device in the invention.

[0026] Figure 3 This is a side view of the present invention.

[0027] Figure 4 This is a top view of the ball-hanging device in the invention.

[0028] Figure 5 This is a schematic diagram of the wire rope being wound on the ball-mounted device in the invention.

[0029] Figure 6 This is a schematic diagram of lifting and stopping the ball in this invention. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1-6 As shown, a method for controlling the berthing ball between ships is described. The berthing ball device compensates for sea waves by providing wave compensation for the berthing ball 01. The berthing ball device includes a base 1, booms 2 on both sides of the base 1, a winch 3 in the middle of the base 1, and buffer devices offset on both sides of the winch 3. One end of the boom 2 is rotatably connected to a drive device 4 on the base 1, and the other end of the drive device 4 is rotatably connected to the base 1. One end of the boom 2 is hinged to the base 1, and the other end extends upward and outward to form a curved arm that matches the berthing ball 01. The drive device 4 drives the boom 2 to rotate around the base 1, thereby moving the berthing ball 01 away from the ship's hull and lowering it onto the sea surface. Simultaneously, after retrieving the berthing ball 01, the curved arm formed by the boom 2 can better accommodate and place the berthing ball 01. In this embodiment, two drive devices 4 are provided, each located on one side of the boom 2. The drive device 4 is a first drive cylinder, and the base 1 is fixedly installed on the ship's hull.

[0032] like Figures 2-4As shown, the boom 2 is provided with two or more second pulley sets, each boom 2 is provided with four second pulley sets, the second pulley set comprises a second pulley seat (not marked in the figure) and a second pulley 5, the second pulley 5 is fixedly connected to the boom 2, and the second pulley 5 is rotatably connected to the second pulley seat; The first pulley set is provided with two and is located below the boom 2, the first pulley set comprises a first pulley seat (not marked in the figure) and a first pulley 6, the first pulley seat is fixedly connected to the base 1, and the first pulley 6 arranged parallel to the base 1 is rotatably connected to the first pulley seat; The first pulley 6 is arranged perpendicular to the second pulley 5, and the rope direction of the first pulley 6 is on the same horizontal line as the rope direction of the second pulley 5, so that the steel wire rope 7 can pass through the buffer device first, then pass through the first pulley 6 to change the rope direction of the steel wire rope 7. Since the first pulley 6 is arranged parallel to the base 1, the rope direction of the first pulley 6 forms a 90° with the rope direction, and then the steel wire rope 7 directly enters the second pulley 5 after passing through the first pulley 6. Since the first pulley 6 is arranged perpendicular to the second pulley 5, the rope direction of the second pulley 5 is perpendicular to the base 1 after the steel wire rope 7 passes through the second pulley 5, so as to realize the change of the steel wire rope 7 from horizontal direction to vertical direction, so as to continue to pass through other second pulley sets on the boom 2 and connect with the parking ball 01.

[0033] As Figure 3 and 4 As shown, the base 1 is provided with a support assembly between the winch 3 and the boom 2, the support assembly is provided with two, the support assembly comprises two first support rods 8 and two second support rods 11, the two first support rods 8 are fixedly connected through a first connecting rod 9, the two second support rods 11 are fixedly connected through a second connecting rod, the first support rod 8 is arranged parallel to the base 1, the second support rod 11 is connected to one end of the first support rod 8 and is arranged inclined relative to the first support rod 8, and the first support rod 8 and the second support rod 11 abut the bottom of the parking ball 01, so as to support the first support rod 8 and the second support rod 11 after the parking ball 01 is recovered, and improve the parking stability of the parking ball 01 after being recovered.

[0034] As Figures 2-5As shown, the buffer device is located between the winch 3 and the boom 2, and the buffer device is provided with two buffer devices, and the buffer device comprises a second fixing seat 12, a second driving oil cylinder 13, an energy accumulator 14 and a third pulley block, the second fixing seat 12 is fixedly connected to the base 1, the second driving oil cylinder 13 is fixed to the second fixing seat 12, the third pulley block comprises a third pulley seat 15 and a third pulley 16, the third pulley seat 15 is fixedly connected to the piston push rod 17 of the second driving oil cylinder 13, the third pulley 16 which is vertically arranged with the base 1 is rotatably connected to the third pulley seat 15, the rope-out direction of the third pulley 16 is in the same horizontal straight line with the rope-in direction of the first pulley 6, and the output end of the energy accumulator 14 is connected with the second driving oil cylinder 13, so that the energy accumulator 14 can provide a preset pressure for the second driving oil cylinder 13, the piston push rod 17 is relatively moved with the second driving oil cylinder 13 by the preset pressure, and then the third pulley 16 is abutted with the steel wire rope 7 and a preset tension is given to the steel wire rope 7, so that the steel wire rope 7 which passes through the third pulley 16 is directly horizontally slid into the first pulley 6, and the deviation of the rope-out direction or the rope-in direction of the steel wire rope 7 between different pulley blocks is avoided.

[0035] A ship-to-ship docking ball hoisting buffer control method comprises the following specific steps: S1, two steel wire ropes 7 are wound on the double drums of the winch 3 respectively, so that the steel wire ropes 7 are simultaneously out of the upper end and the lower end of the winch 3 respectively, and then extend along the left and right sides of the winch 3 respectively and pass through the third pulley 16.

[0036] S2, after the steel wire ropes 7 pass through the third pulley 16, the steel wire ropes 7 pass through the first pulley 6 arranged on the base 1 in the opposite direction of the out-of-rope direction, and then pass through the third pulley 16 on the boom 2, so that the steel wire ropes 7 pass through the first pulley 6 and the second pulley 5 in turn, and then change from the horizontal direction to the vertical direction, and then the steel wire ropes 7 pass through the second pulley 5 on the boom 2 and are connected with the docking ball 01 in the vertical direction.

[0037] S3, the first driving oil cylinder arranged on the base 1 drives the boom 2 to rotate around the base 1 to the side away from the ship body, and then the winch 3 drives the steel wire ropes 7 to be out of the rope simultaneously, so as to drive the docking ball to descend to the sea surface through the steel wire ropes 7; in the embodiment, the rotation angle of the boom 2 around the base 1 to the side away from the ship body is 45°.

[0038] S4, the buffer device gives the steel wire rope 7 a preset tension, so that the steel wire rope 7 passing through the output end of the buffer device is in a tension state. When the docking ball 01 rises with the sea waves, the output end of the buffer device moves towards the side close to the boom 2 under the action of the tension. When the docking ball 01 descends with the sea waves, the output end of the buffer device moves away from the side of the boom 2 under the action of the steel wire rope 7, so that the steel wire rope 7 remains in a constant tension state during the ascent or descent of the docking ball 01. Specifically, steps S4.1-S4.3 are included. S4.1 After the docking ball descends to the sea surface, the output end of the energy accumulator 14 outputs a preset pressure to the second drive oil cylinder 13, then pushes the piston push rod 17 to move relative to the second drive oil cylinder 13, so that the third pulley 16 abuts against the steel wire rope 7, and then the steel wire rope 7 is in a tension state. S4.2 During the ascent of the docking ball 01 with the sea waves, the steel wire rope 7 changes from a tension state to a relaxed state. The piston push rod 17 moves towards the side close to the boom 2 under the action of the preset pressure of the output end of the energy accumulator 14, and then drives the third pulley 16 to move towards the side close to the boom 2 and abut against the steel wire rope 7 again, so that the steel wire rope 7 changes from a relaxed state to a tension state, thereby keeping the steel wire rope 7 in a constant tension state. S4.3 During the descent of the docking ball 01 with the sea waves, the steel wire rope 7 abuts against the third pulley 16, and the preset pressure of the output end of the energy accumulator 14 is gradually reduced, so that the force of the steel wire rope 7 acting on the third pulley 16 is greater than the preset pressure of the output end of the energy accumulator 14, and then the piston push rod 17 is pushed to move away from the side of the boom 2, so that the steel wire rope 7 is in a constant tension state.

[0039] S5 After the winch 3 is reversely rotated, the steel wire rope 7 brings the docking ball 01 back to the boom 2, and then the first drive oil cylinder drives the boom 2 to rotate reversely around the base 1 to reset, so that the bottom of the docking ball 01 abuts against the first support rod 8 and the second support rod 11, and then the docking ball 01 after being recycled is parked in the containing frame formed by the first support rod 8, the second support rod 11 and the curved arm, thereby realizing the recycling of the docking ball 01.

[0040] The working principle of the present application is as follows: the steel wire rope 7 on the winch 3 is drawn out from both sides of the winch 3, passes through the buffer device, and is then drawn out from one side of the base 1 to the other side of the boom 2 of the base 1 in the opposite direction, and through the cooperation of the first pulley set and the second pulley set, the steel wire rope 7 changes from the horizontal direction to the vertical direction, and then passes through the second pulley 5 on the boom 2 and is connected with the berthing ball 01 in the vertical direction, and through the action of the preset tension of the buffer device, the steel wire rope 7 and the buffer device are always in a constant tension state, so that in the process of the berthing ball 01 rising or falling with the sea waves, the berthing ball 01 can be stably floated on the sea surface to realize sea wave compensation, thereby improving the stability of the berthing between ships, and avoiding the steel wire rope 7 for lifting the berthing ball 01 from being separated from the pulley set due to different degrees of tightness caused by the sea wave floating.

Claims

1. A method for controlling the berthing of a pontoon between ships, wherein the pontoon device compensates for sea waves during berthing, the pontoon device comprising a base, booms disposed on both sides of the base, a winch disposed in the middle of the base, and buffer devices offset on both sides of the winch; characterized in that: Includes the following steps: S1 winds two wire ropes around the double drums of the winch, so that the wire ropes come out from the top and bottom of the winch at the same time. After coming out, the ropes extend in a staggered manner along the left and right sides of the winch and pass around the buffer device. After the S2 wire rope passes around the buffer device, it passes around the first pulley block on the base in the opposite direction to the direction of the rope exit, and then changes from the horizontal direction to the vertical direction, passing around the second pulley block on the boom and connecting with the stop ball. S3 drives the boom to rotate synchronously around the base away from the hull via a drive device on the base, and then drives the wire rope to be pulled out synchronously via a winch, so as to lower the dock to the sea surface via the wire rope. S4 applies a preset tension to the wire rope through a buffer device, keeping the wire rope taut around the output end of the buffer device. When the docking ball rises with the waves, the output end of the buffer device moves closer to the boom under the action of the tension; when the docking ball falls with the waves, the output end of the buffer device moves further away from the boom under the action of the wire rope, keeping the wire rope taut during the rise or fall of the docking ball. After the S5 winch rotates in the opposite direction, it drives the wire rope to retrieve the docking ball to the boom. Then, the drive device drives the boom to rotate in the opposite direction around the base to reset it, placing the docking ball on the support component of the base, thus realizing the retrieval of the docking ball.

2. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: One end of the boom is rotatably connected to the drive device, the other end of the drive device is rotatably connected to the base, one end of the boom is hinged to the base, and the other end of the boom extends upward and outward to form a curved arm that matches the stop ball.

3. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: The boom is equipped with two or more second pulley sets. Each second pulley set includes a second pulley seat and a second pulley. The second pulley seat is fixedly connected to the boom, and the second pulley is rotatably connected to the second pulley seat. There are two first pulley sets located below the boom. Each first pulley set includes a first pulley seat and a first pulley. The first pulley seat is fixedly connected to the base, and the first pulley, which is parallel to the base, is rotatably connected to the first pulley seat. The first pulley and the second pulley are perpendicular to each other, and the rope exit direction of the first pulley and the rope entry direction of the second pulley are on the same horizontal straight line.

4. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: A support assembly is installed on the base and located between the winch and the boom. The support assembly includes two first support rods and two second support rods. The two first support rods are fixedly connected to each other by a first connecting rod, and the two second support rods are fixedly connected to each other by a second connecting rod. The first support rods are arranged parallel to the base, and the second support rods are connected to one end of the first support rods and are inclined relative to the first support rods.

5. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: The buffer device is located between the winch and the boom. The buffer device includes a second fixed base, a second drive cylinder, an energy storage device, and a third pulley assembly. The second fixed base is fixedly connected to the base. The second drive cylinder is fixed to the second fixed base. The third pulley assembly includes a third pulley seat and a third pulley. The third pulley seat is fixedly connected to the piston rod of the second drive cylinder. The third pulley, which is perpendicular to the base, is rotatably connected to the third pulley seat. The rope output direction of the third pulley is on the same horizontal straight line as the rope input direction of the first pulley. The output end of the energy storage device is connected to the second drive cylinder.

6. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: In step S1, the wire ropes extend from both sides of the winch to the third pulley in a staggered manner.

7. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: In step S2, after the wire rope passes over the third pulley, it passes over the first pulley in the opposite direction to the direction of the rope exit, and then passes over the second pulley on the boom. After passing over the first pulley and the second pulley in sequence, the wire rope changes from a horizontal direction to a vertical direction, and then connects to the stop ball in a vertical direction after passing over the second pulley on the boom.

8. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: Step S4 includes steps S4.1 to S4.3; S4.1 After docking and descending to the sea surface, the output end of the energy storage device outputs a preset pressure to the second drive cylinder, which then pushes the piston rod to move relative to the second drive cylinder, causing the third pulley to come into contact with the wire rope, thereby putting the wire rope in a tensioned state. S4.2 As the docking ball rises with the waves, the wire rope changes from a taut state to a slack state. Under the preset pressure at the output end of the energy storage device, the piston rod moves towards the side closer to the boom, which in turn drives the third pulley to move towards the side closer to the boom and abut against the wire rope again, so that the wire rope changes from a slack state to a taut state, thus keeping the wire rope in a constant tension state. S4.3 During the descent of the docking ball with the waves, the wire rope abuts against the third pulley, and at the same time, the preset pressure at the output end of the energy storage device is gradually reduced, so that the force exerted by the wire rope on the third pulley is greater than the preset pressure at the output end of the energy storage device. This causes the wire rope to push the piston rod to move away from the boom, so that the wire rope is in a constant tension state.

9. The method for buffer control of berthing gantry cranes between ships according to claim 1, characterized in that: In step S5, after the drive device drives the boom to rotate in the opposite direction around the base and reset, the bottom of the docking ball is brought into contact with the first support rod and the second support rod, and then the retrieved docking ball is placed in the receiving frame formed by the first support rod, the second support rod and the curved arm.

Images