A reservoir lateral double-vehicle-cranes cooperative rotation ship water entry method

Abstract

The application discloses a reservoir lateral double-vehicle crane cooperative rotation ship water entry method, which comprises the following steps: transporting a ship to the platform landing side and positioning the ship parallel to the reservoir bank; parking the double-vehicle crane on the water side, and setting the interval to be 0.8-1.2 times of the length of the ship; after hoisting to a safe height, rotating the front crane clockwise and rotating the rear crane counterclockwise, and adjusting the posture of the hoisted ship to be perpendicular to the reservoir bank; continuously rotating the double-vehicle crane to 180 DEG, so that the ship passes through the space between the two cranes to the river side water surface, and adjusting the posture of the ship to be perpendicular to the reservoir bank after being parallel to the reservoir bank. The application reduces the minimum operation width of the ship water entry by 40% compared with the traditional method, reduces the shoreline occupation to 1.1 times of the length of the ship, reduces the accident rate through load balancing and anti-overturning algorithm, does not need to build a fixed slide, and reduces the single operation cost by 60%.

Description

Technical Field

[0001] This invention relates to the field of ship launching technology, and in particular to a method for launching a ship into the water by coordinating the rotation of two truck cranes on the side of a reservoir. Background Technology

[0002] Traditional ship launching methods have the following limitations: 1. Slide / track-type water release requires the pre-construction of fixed slides, resulting in high infrastructure costs and inflexibility in adapting to temporary sites; 2. Floating dock operations rely on large bodies of water and are not suitable for shallow water areas and small docks; 3. Launching airbags into the water requires specialized traction equipment, which is technically demanding and has low launching efficiency; 4. Single-machine lifting is limited by the crane's rated load and cannot meet the needs of larger tonnage vessels; 5. Existing dual-crane lifting technology mostly adopts linear translation lifting, which lacks the ability to adjust complex spatial attitudes, and is prone to causing interference between the ship and the crane or the risk of capsizing. Summary of the Invention

[0003] The technical problem to be solved by this invention is that traditional ship launching methods have many limitations and poor safety.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for launching a vessel into the water by the coordinated rotation of two truck cranes on the side of a reservoir, comprising the following steps: S1. Position the vessel parallel to the reservoir bank on the platform near the bank. Arrange the front and rear truck cranes one in front of the other on the water-facing side of the reservoir bank along the direction of the reservoir bank, with the distance between the turning points of the two cranes being L. S2. The front and rear truck cranes are connected to both ends of the ship respectively, lifting the ship to a height H. The lifting points are symmetrically distributed on both sides of the ship's center of gravity. S3, After operation, the crane rotates counterclockwise at an angle. The front crane simultaneously rotates clockwise by an angle This allows the vessel to be moved between the two cranes and its attitude adjusted to be perpendicular to the reservoir bank. S4. The two cranes continue to rotate in the original direction until both cranes have rotated 180°, positioning the vessel above the reservoir. Adjust the vessel's attitude to be parallel to the reservoir bank, and then operate the two cranes to descend vertically in sync until they enter the water.

[0005] Preferably, in step S1, the distance L between the slewing points of the front and rear truck cranes satisfies the following formula: L = 0.8 to 1.2 times L 船舶 ; L≥1.5×(R) A +R B ); Wherein, L is the distance between the slewing point of the front truck crane and the slewing point of the rear truck crane; L 船舶 R is the length of the ship. A and R B These refer to the effective working radii of the rear and front truck cranes, respectively.

[0006] Preferably, in step S2, the height H ≥ H 驾驶室 +2m.

[0007] Preferably, in step S3, the formulas for calculating the slewing angles of the front and rear truck cranes are as follows: ; ; Where L is the distance between the front crane lug and the rear crane lug.

[0008] Preferably, the slewing angular velocity of the front crane lug and the rear crane is 0.4-0.6° / s.

[0009] Preferably, during the lifting of the vessel, the center offset of the vessel is calculated. , The calculation formula is: ; in, F is the center offset of the ship. A and F B The load borne by the rear and front truck cranes.

[0010] Preferably, based on the calculated ship center offset Real-time anti-tipping monitoring is performed, and when the offset exceeds the set threshold, the lifting forces of the front and rear truck cranes are automatically adjusted to correct the posture.

[0011] Preferably, during the lifting of the vessel, the lifting force is monitored in real time by a pressure sensor, and automatic braking is triggered when the single lifting load exceeds 85% of the rated value.

[0012] Preferably, in step S2, when the front and rear truck cranes lift synchronously, the load imbalance error is controlled to be ≤5%.

[0013] Preferably, in step S4, the descent speed of the vessel is v=0.2m / s, and the water entry angle error is ≤0.5°.

[0014] This invention provides a method for launching a vessel into the water by coordinating the lateral rotation of two truck cranes in a reservoir, which has the following beneficial effects.

[0015] 1. It pioneered a three-stage collaborative control logic of reverse rotation, lateral movement and attitude reset, breaking through the limitations of traditional linear hoisting operations. It achieved for the first time the precise entry of a vessel into the water in a narrow reservoir without a traction device, filling the technological gap in the collaborative operation of two cranes in lateral open water scenarios.

[0016] 2. The minimum operating width of this water entry method is reduced by 40% compared with the traditional method, the shoreline occupation is reduced to 1.1 times the length of the ship, and there is no need to build a fixed slipway, reducing the cost of a single operation by 60%. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 : Initial layout top view.

[0018] Figure 2 Top view of the ship adjusting its attitude to be perpendicular to the shore.

[0019] Figure 3 Top view of the ship in its watertight state.

[0020] In the picture: 1. Ship; 2. Reservoir shore; 3. Platform; A. Rear truck crane; B. Front truck crane. Detailed Implementation

[0021] like Figures 1 to 3 As shown, the present invention provides a method for launching a vessel into the water by coordinating the lateral rotation of two truck cranes in a reservoir, comprising the following steps: S1. Transport vessel 1 to the shore side of the lower river platform 3 by flatbed truck, so that the longitudinal axis of vessel 1 is parallel to the reservoir bank 2. The front truck crane B and the rear truck crane A are arranged one in front of the other on the water-facing side of the reservoir bank 2 along the reservoir bank direction, with the distance between the turning points of the two cranes being L. L satisfies the following formula: L = 0.8 to 1.2 times L 船舶 ; L≥1.5×(R) A +R B ); Wherein, L is the distance between the slewing point of the front truck crane B and the slewing point of the rear truck crane A; L 船舶 R is the length of the vessel 1. A and R B These are the effective working radii of the rear truck crane A and the front truck crane B, respectively. S2, the front truck crane B and the rear truck crane A are connected to both ends of vessel 1 respectively, lifting vessel 1 to a height H, where height H ≥ H 驾驶室 +2m, with lifting points symmetrically distributed on both sides of the ship's center of gravity, and the load imbalance error between the front truck crane B and the rear truck crane A is controlled within ≤5%; S3, After operation, crane A rotates counterclockwise by an angle. The front crane B simultaneously rotates clockwise by an angle , The formulas for calculating the slewing angles of the front truck crane B and the rear truck crane A are as follows: ; ; Where L is the distance between the lifting lugs of the front truck crane B and the rear truck crane A. Move vessel 1 between the two cranes and adjust its attitude to be perpendicular to the bank 2. The slewing angular velocity of the front truck crane B lug and the rear truck crane A is 0.4-0.6° / s. S4. The two cranes continue to rotate in the original direction until both cranes have rotated 180°, so that the vessel 1 is above the reservoir. Adjust the attitude of the vessel 1 to be parallel to the reservoir bank 2. Then operate the two cranes to descend vertically in sync until the vessel enters the water. The descent speed of the vessel 1 is v=0.2m / s, and the water entry angle error is ≤0.5°.

[0022] During the lifting of vessel 1, the center offset of vessel 1 is calculated. , The calculation formula is: ; in, F is the center offset of ship 1. A and F B The loads borne by the rear truck crane A and the front truck crane B are specified.

[0023] Based on the calculated ship center offset Real-time anti-tipping monitoring is performed, and when the offset exceeds the set threshold, the lifting forces of the front truck crane B and the rear truck crane A are automatically adjusted to correct the posture.

[0024] During the lifting of the vessel 1, the lifting force is monitored in real time by a pressure sensor, and automatic braking is triggered when the single lifting load exceeds 85% of the rated value.

[0025] The vessel 1 has a total weight of approximately 70 tons, a length of 20m, a width of 6.8m, and a total height of approximately 8.6m. Two ZTC2000V all-terrain cranes are selected, with a spacing of L=18m. The bow-stern distance of vessel 1 from the hoisting point bureau is 5.5m and the stern distance is 3.5m, respectively, and the center of gravity offset compensation coefficient K=0.8.

[0026] During the lifting phase, the two cranes were simultaneously raised to H=7m, with loads of 38 tons and 32 tons respectively, a deviation of 1.87%; During the reverse rotation, the rear truck crane A rotates 180° in reverse and the front truck crane B rotates 180° in the forward direction, taking 8 minutes to move ship 1 to the surface of the river. Finally, the ship descends at a speed of v=0.2m / s, thus entering the water.

Claims

1. A method for launching a vessel into the water using a combination of two truck cranes rotating laterally in a reservoir, characterized in that... Includes the following steps: S1. Position the vessel (1) parallel to the bank (2) on the side of the platform (3) near the bank. The front truck crane (B) and the rear truck crane (A) are arranged one in front of the other on the water-facing side of the bank (2) along the direction of the bank. The distance between the turning points of the two cranes is L. S2, the front truck crane (B) and the rear truck crane (A) are connected to the two ends of the vessel (1) respectively, and the vessel (1) is lifted to a height H. The lifting points are symmetrically distributed on both sides of the center of gravity of the vessel (1). S3. After operation, the crane (A) rotates counterclockwise by an angle. The front crane (B) simultaneously rotates clockwise by an angle. Move the vessel (1) between the two cranes and adjust the attitude of the vessel (1) to be perpendicular to the bank (2). S4. The two cranes continue to rotate in the original direction until both cranes have rotated 180°, so that the ship (1) is above the reservoir. Adjust the attitude of the ship (1) to be parallel to the reservoir bank (2), and then operate the two cranes to descend vertically in sync until they enter the water.

2. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 1, characterized in that: In step S1, the distance L between the slewing points of the front truck crane (B) and the rear truck crane (A) satisfies the following formula: L = 0.8 to 1.2 times L 船舶 ; L≥1.5×(R A +R B ); Wherein, L is the distance between the slewing point of the front truck crane (B) and the slewing point of the rear truck crane (A); L 船舶 R is the length of the vessel (1). A and R B The effective working radii are those of the rear truck crane (A) and the front truck crane (B), respectively.

3. The method for launching a vessel into the water by the coordinated rotation of two truck cranes on the side of a reservoir as described in claim 1, characterized in that: In step S2, the height H ≥ H 驾驶室 +2m.

4. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 1, characterized in that: In step S3, the formulas for calculating the slewing angles of the front truck crane (B) and the rear truck crane (A) are as follows: ； ； Wherein, L is the distance between the lifting lugs of the front truck crane (B) and the rear truck crane (A).

5. The method for launching a vessel into the water by the coordinated rotation of two truck cranes on the side of a reservoir as described in claim 1, characterized in that: The slewing angular velocity of the front truck crane (B) lug and the rear truck crane (A) is 0.4-0.6° / s.

6. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 1, characterized in that: During the hoisting of the vessel (1), the center offset of the vessel (1) is calculated. , The calculation formula is: ； in, F is the center offset of the ship (1). A and F B The loads borne by the rear truck crane (A) and the front truck crane (B).

7. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 6, characterized in that: Based on the calculated ship center offset Real-time anti-tipping monitoring is performed, and when the offset exceeds the set threshold, the lifting force of the front truck crane (B) and the rear truck crane (A) is automatically adjusted to correct the posture.

8. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 1, characterized in that: During the lifting of the vessel (1), the lifting force is monitored in real time by a pressure sensor, and automatic braking is triggered when the single lifting load exceeds 85% of the rated value.

9. The method for launching a vessel into the water by the coordinated rotation of two truck cranes on the side of a reservoir as described in claim 1, characterized in that: In step S2, when the front truck crane (B) and the rear truck crane (A) lift simultaneously, the load imbalance error is controlled to be ≤5%.

10. The method for launching a vessel into the water by lateral dual truck cranes coordinating rotation in a reservoir as described in claim 1, characterized in that: In step S4, the descent speed of the vessel (1) is v=0.2m / s, and the water entry angle error is ≤0.5°.

Images