Novel wave-compensating telescopic crane

Abstract

The utility model discloses a novel wave compensation telescopic crane, it includes base, slewing mechanism, control chamber, telescopic crane jib, amplitude cylinder, winch and hook system, in the guide fixed pulley set of crane jib, at least the pin axle of one group of pulley in the middle adopts sensor pin axle, is used for real -time monitoring cable tension. Sensor signal transmission to the processing unit in the control chamber, and then control winch action, form closed -loop control, realize initiative wave compensation. Add tension buffer and filter mechanism on the one side of guide fixed pulley set, filter high -frequency vibration through the spring and damper in parallel, make the force signal on transmission to sensor pin axle more smooth, stable, can more truly reflect the macroscopic tension change caused by wave, and not interference noise. The utility model discloses simple structure, low in cost, response is quick, effectively solved the problem that the cable tension fluctuation of traditional crane is big when operating in wave, significantly improved the operation safety and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of ship lifting equipment technology, specifically to a ship telescopic crane with wave compensation function, which is particularly suitable for cargo lifting operations in wave environments. Background Technology

[0002] In the fields of marine engineering and shipping, marine cranes are core equipment for cargo loading and unloading, equipment hoisting, and other operations. However, when ships are operating at sea, they are constantly in a dynamic state of rolling (a combination of heaving, pitching, and rolling motions) due to the periodic rise and fall of the waves. When a crane boom suspends a heavy object, the heave of the ship causes relative displacement between the object and the hook: if the ship suddenly sinks, the hook will continue to descend due to inertia, causing the cable to slacken instantly; while when the ship rises rapidly, the hook will lag upward due to inertia, causing the cable to bear tension far exceeding its rated value. In severe cases, this can lead to safety accidents such as cable breakage, damage to the lifting equipment, or even cargo falling into the sea.

[0003] To address this issue, existing technologies are mainly divided into two categories: one is the active wave compensation system, which uses MRU (motion reference unit), encoders and complex algorithms to predict the hull motion and control the winch's reaction. Although it has high accuracy, the system is complex, costly and difficult to maintain; the other is the passive wave compensation system, which usually uses a combination of hydraulic cylinders and accumulators to buffer tension changes like a spring. Although it has high reliability, the compensation accuracy is low, the response is slow and the size is large. Utility Model Content

[0004] The purpose of this utility model is to overcome the defects existing in the prior art and provide a new type of wave-compensated telescopic crane.

[0005] To achieve the above objectives, the technical solution of this utility model is to design a novel wave-compensating telescopic crane, including a crane base, a slewing mechanism mounted on the base, a control room set on the slewing mechanism, a telescopic boom hinged to the slewing mechanism, a luffing cylinder with both ends hinged to the slewing mechanism and the telescopic boom respectively, a winch mounted on the telescopic boom, and a rope wound on the winch. The rope passes through a guide pulley group on the telescopic boom and a lifting pulley at the top of the telescopic boom before connecting to a hook. The guide pulley group includes at least three sets of guide pulleys, wherein the pin of at least one set of guide pulleys in the middle is a sensor pin for monitoring the tension of the rope. The sensor pin is electrically connected to a signal processing unit in the control room, and the signal processing unit is electrically connected to the drive controller of the winch for controlling the winch operation according to the monitoring signal of the sensor pin to achieve wave compensation.

[0006] Furthermore, a tension buffering and filtering mechanism is included, which is located on one side of the guide pulley assembly to filter high-frequency vibrations of the cable and buffer impact loads. Tension fluctuations on the cable are first transmitted to the tension buffering and filtering mechanism. High-frequency, small-amplitude vibrations, such as the cable's own shaking or slight vibrations caused by the engine, are effectively absorbed by the hydraulic damper; tension changes caused by low-to-medium frequency waves are buffered by the extension and contraction of the spring assembly. After passing through the tension buffering and filtering mechanism, the force signal transmitted to the sensor pin is smoother and more stable, more accurately reflecting macroscopic tension changes caused by waves, rather than interference noise. It is preferably located on the guide pulley assembly near the lifting pulley.

[0007] Specifically, the tension buffer and filtering mechanism includes a mounting bracket, a buffer pulley, a preload spring assembly, and a hydraulic damper. The mounting bracket is fixedly mounted on the telescopic boom, the buffer pulley is mounted on a sliding seat via a pulley shaft, and the preload spring assembly and the hydraulic damper are arranged in parallel between the sliding seat and the mounting bracket.

[0008] Furthermore, the guide pulley assembly includes four sets of guide pulleys, with the two middle sets of guide pulleys having sensor pins as their pins. By setting the pins of the two middle sets of guide pulleys as sensor pins, the tension change of the rope can be calculated more accurately by comparing the data measured by the two sets of sensor pins. In addition, if one sensor pin fails, the other set can still be used normally.

[0009] Preferably, the distance between any two adjacent guide pulleys in the guide pulley group is equal. With equal spacing between adjacent guide pulleys and all guide pulleys being of the same size, the force point of the guide pulley with the sensor pin is directly below or above the axle, improving the measurement accuracy of the sensor pin. Uniform arrangement facilitates a balanced distribution of rope tension among the pulleys, resulting in a more concentrated and clear force on the pulley with the sensor pin, thus improving measurement accuracy.

[0010] Preferably, when the telescopic boom is a multi-section telescopic boom, the guide pulley assembly is installed at the end of the telescopic boom near the slewing mechanism. Installing the guide pulley assembly at the end of the telescopic boom near the slewing mechanism provides better stability than the extended telescopic boom. This location also improves measurement accuracy and reduces measurement errors. Installing it at the end of the telescopic boom prevents the guide pulley assembly from affecting its retraction, and ensures that the overall length of the telescopic boom does not increase due to the guide pulley assembly after all sections have retracted. If one end of the luffing cylinder is hinged to the end of the first telescopic boom section, there is no space to install the guide pulley assembly on the first section. In this case, the guide pulley assembly can be installed at the end of the second telescopic boom section.

[0011] Preferably, the sensor pin is a pressure sensing pin or a shear force sensing pin.

[0012] The advantages and beneficial effects of this utility model are as follows: 1. The system directly detects changes in cable tension and reacts immediately, eliminating the complex process of calculating the ship's trajectory. It has a short response link, low latency, and timely and effective compensation actions.

[0013] 2. This solution can be implemented simply by modifying the pulley blocks and adding sensors and control systems to the existing standard crane structure. It eliminates the need for MRUs, high-precision encoders, and complex hydraulic servo systems, significantly reducing manufacturing and maintenance costs. This approach requires minimal modification to the crane's main structure and is particularly suitable for modernizing traditional cranes on existing ships.

[0014] 3. The tension buffer and filtering mechanism can effectively filter out high-frequency vibration interference, providing a clean and stable tension signal for the control system, making the compensation action smoother and more accurate, and protecting the sensor from impact.

[0015] 4. The tension buffer and filtering mechanism can effectively absorb the high-frequency vibration and instantaneous impact force of the cable, and then smoothly transmit the force to the sensor pin, so that the sensor pin avoids being subjected to harmful stress cycles and overload impacts, greatly improving the working environment, thereby greatly extending its service life and measurement stability, and reducing maintenance costs. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of the crane of this utility model; Figure 2 This is a schematic diagram of the structure of the crane of this utility model, which has four sets of guide pulleys; Figure 3 This is a schematic diagram of the crane tension buffer and filtering mechanism of this utility model.

[0017] In the diagram: 1. Base; 2. Slewing mechanism; 3. Control room; 4. Telescopic boom; 5. Luffing cylinder; 6. Winch; 7. Rope; 81. Guide pulley; 82. Sensor pin; 83. Lifting pulley; 91. Mounting bracket; 92. Buffer pulley; 93. Preload spring assembly; 94. Hydraulic damper; 95. Sliding seat; 10. Hook. Detailed Implementation

[0018] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0019] according to Figures 1-3 As shown, this utility model is a novel wave-compensated telescopic crane, including a crane base 1, on which a slewing mechanism 2 is installed, which can realize 360° slewing of the whole machine. A control room 3 is set on the slewing mechanism 2. The telescopic boom 4 is hinged to the slewing mechanism 2 through a hinge shaft. The two ends of the luffing cylinder 5 are respectively hinged to the slewing mechanism 2 and the telescopic boom 4, driving the telescopic boom 4 to perform pitching motion. A winch 6 is installed on the telescopic boom 4. The cable 7 is wound on the winch 6, and its extended end successively passes around the guide fixed pulley group on the telescopic boom 4 and the lifting fixed pulley 83 at the top of the boom, and finally connects to the hook 10.

[0020] Wave compensation working principle: Figure 2 As shown, the pulley system consists of at least three guide pulleys 81. The pin of one (or more) guide pulleys 81 in the middle is replaced with a dedicated sensor pin 82. This sensor pin 82 integrates a strain gauge, enabling it to accurately sense the pressure or shear force it bears, i.e., the tension of the cable 7. The sensor pin 82 is electrically connected to a signal processing unit installed in the control room 3 via a cable. The signal processing unit amplifies, filters, and performs analog-to-digital conversion on the sensor signal before sending it to the drive controller of the winch 6. The drive controller determines the tension state based on the received signal: when the tension is higher than the set upper limit, it controls the winch 6 to release the rope to relieve pressure; when the tension is lower than the set lower limit, it controls the winch 6 to retract the rope to tighten the cable 7, thereby effectively counteracting the tension fluctuations caused by the heave of the ship.

[0021] Working principle of tension buffer and filtering mechanism: Figure 3As shown, a mechanical tension buffer and filter mechanism is added to one side of the guide pulley block. This mechanism includes a buffer pulley 92 fixed to the telescopic boom 4 via a mounting bracket 91, and a buffer pulley 92 mounted on a sliding seat 95 via a pulley shaft. The sliding seat 95 is slidably connected to the mounting bracket 91 via a guide rail. Between the sliding seat 95 and the mounting bracket 91, a preload spring assembly 93 and a hydraulic damper 94 are installed in parallel. Before entering the sensor pulley, the cable 7 passes around this buffer pulley 92. The preload spring assembly 93 is used to buffer low-to-medium frequency tension fluctuations, while the hydraulic damper 94 is specifically used to quickly absorb high-frequency vibration energy. The two work together to mechanically preprocess the tension signal, greatly improving the system's anti-interference capability and control stability.

[0022] In one embodiment, the guide pulley assembly may include four sets of pulleys, with the middle two sets employing sensor pins 82 to improve measurement reliability. The guide pulleys 81 may be arranged at equal intervals. When the telescopic boom 4 has a multi-section structure, the guide pulley assembly should preferably be installed at the end of the basic boom closest to the slewing mechanism 2 to ensure structural stability.

[0023] The bolts, nuts, screws, welding, etc. used to connect two or more parts in the above-mentioned fixing and installation are all known to those skilled in the art and will not be described in detail here. Similarly, the components that require bearings, such as pulleys, are also known to those skilled in the art and will not be described in detail here either.

[0024] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A novel wave-compensated telescopic crane, characterized in that, The system includes a crane base (1), a slewing mechanism (2) mounted on the base (1), a control room (3) mounted on the slewing mechanism (2), a telescopic boom (4) hinged to the slewing mechanism (2), a luffing cylinder (5) with its two ends hinged to the slewing mechanism (2) and the telescopic boom (4) respectively, a winch (6) mounted on the telescopic boom (4), and a rope (7) wound on the winch (6). The rope (7) passes through a guide pulley block on the telescopic boom (4) and a lifting pulley at the top of the telescopic boom (4). (83) is then connected to the hook (10). The guide pulley group includes at least three sets of guide pulleys (81), of which the pin of at least one set of guide pulleys (81) in the middle is a sensor pin (82) for monitoring the tension of the rope (7). The sensor pin (82) is electrically connected to the signal processing unit of the control room (3). The signal processing unit is electrically connected to the drive controller of the winch (6) for controlling the winch (6) to move according to the monitoring signal of the sensor pin (82) to achieve wave compensation.

2. The novel wave-compensated telescopic crane according to claim 1, characterized in that, It also includes a tension buffer and filter mechanism, which is located on one side of the guide pulley block and is used to filter the high-frequency vibration of the rope (7) and buffer the impact load.

3. A novel wave-compensated telescopic crane according to claim 2, characterized in that, The tension buffer and filtering mechanism includes a mounting bracket (91), a buffer pulley (92), a preload spring assembly (93), and a hydraulic damper (94). The mounting bracket (91) is fixedly mounted on the telescopic boom (4). The buffer pulley (92) is mounted on a sliding seat (95) via a pulley shaft. The preload spring assembly (93) and the hydraulic damper (94) are arranged in parallel between the sliding seat (95) and the mounting bracket (91).

4. A novel wave-compensated telescopic crane according to claim 1, characterized in that, The guide pulley assembly includes four sets of guide pulleys (81), wherein the pins of the two middle sets of guide pulleys (81) are sensor pins (82).

5. A novel wave-compensated telescopic crane according to claim 1, characterized in that, The distance between two adjacent guide pulleys (81) in the guide pulley group is equal.

6. A novel wave-compensated telescopic crane according to claim 1, characterized in that, When the telescopic boom (4) is a multi-section telescopic boom, the guide pulley group is installed at the end of the telescopic boom near the slewing mechanism (2).

7. A novel wave-compensated telescopic crane according to claim 1, characterized in that, The sensor pin (82) is a pressure sensing pin or a shear force sensing pin.

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