CN104943825A - Mechanical anti-sway method for marine weight lifting - Google Patents
Mechanical anti-sway method for marine weight lifting Download PDFInfo
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- CN104943825A CN104943825A CN201410127138.8A CN201410127138A CN104943825A CN 104943825 A CN104943825 A CN 104943825A CN 201410127138 A CN201410127138 A CN 201410127138A CN 104943825 A CN104943825 A CN 104943825A
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Abstract
The invention discloses a mechanical anti-sway method for marine weight lifting. In the lifting process from a stacking site of weights to a placement site by a lifting device, a mechanical anti-sway mode is used; specifically, two mechanical systems are used: a forklift anti-sway system and a mechanical arm anti-sway system; the forklift anti-sway system comprises a forklift, a weight, a shelf and a slide, the forklift lifts the weight from the shelf by coordination of slewing and luffing, and the weight then moves to a preset position along the slide; the mechanical arm anti-sway system comprises a mechanical arm, a weight and a shelf, the acts such as clamping, moving and hoisting are achieved for the weight by controlling the action of the mechanical arm; a cantilever arm of the forklift and a fixture of the mechanical arm are rigidly connected with the weight, so that the problem that the weight sways in the conventional process can be avoided, and operation is safer and more efficient.
Description
Technical field
The invention discloses the anti-swinging method of a kind of boats and ships weight lifting machine formula, belong to Ship's Cargo hoisting technology field.
Background technology
When naval vessel rides the sea, often need to carry out lifting operation, such as the transport transfer of goods between marine material supply, naval vessel, offshore engineering equipment handling, the input of under-water operation equipment and recovery etc.Carry out above-mentioned marine operation, the normal deck crane that uses has come.
But, similar land various drive lacking crane equipment, because the steel rope hanging weight belongs to flexible piece, when deck crane carries out the action such as luffing, revolution, weight can produce and wave; In addition, due to the impact of the Marine Environment Factors such as wind, wave, stream, boats and ships can produce rolling, pitching, yawing, swaying, surging, hang down and swing six-freedom motion, and this just more exacerbates waving of weight, almost cannot carry out operation when sea situation is severe.
Thing flapping issue is hung for hoisting crane, adopts at present usually Maryland rigging mechanism, comprehensive compensating device solves, but its mechanism and control all more complicated.
Summary of the invention
In order to overcome the weak point in background technology, the present invention proposes a kind of boats and ships weight lifting machine formula and prevents shaking method, specifically comprises two kinds of forms: one is fork-lift type anti-sway system and method, and two is mechanical arm type anti-sway system and method.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of fork-lift type anti-sway system, comprise fork truck, weight, shelf, slide rail, it is characterized in that: described slide rail is arranged above deck, described weight is placed on shelf, described shelf are distributed on the deck of slide rail both sides, the drive wheel of described fork truck is arranged in slide rail, and fork truck can move to shelf side along slide rail and be carried away by weight, then moves to desired location along slide rail.
Described fork truck comprises drive wheel, chassis, car body, cantilever, amplitude oil cylinder, telescopic oil cylinder, it is characterized in that: drive wheel is positioned at bottom, chassis, it chassis is car body, car body can make 360 degree of gyroscopic movements on chassis, cantilever comprises the large end of cantilever, cantilever small end, the large end of cantilever is by being hingedly connected to car body and amplitude oil cylinder, amplitude oil cylinder is by being hingedly connected in the middle part of car body and the large end of cantilever, telescopic oil cylinder, by being hingedly connected to the large end of cantilever and cantilever small end, can realize the expanding-contracting action of cantilever small end relative to the large end of cantilever.
Described shelf are used for weight on a ship 's fixing, and shelf leave opening so that fork truck cantilever can reach lifting heavy below weight.
Described slide rail is arranged on a ship 's, and arrange according to boats and ships and cargo actual conditions, fork truck moves along slide rail by drive wheel.
The version of described fork truck, shelf and the layout of slide rail are determined according to boats and ships and weight actual conditions.
A kind of fork-lift type is anti-shakes method, and its specific implementation approach is: (1) fork truck moves to weight bearing along slide rail; (2) fork truck body revolution makes cantilever be right against shelf opening; (3) fork truck telescopic oil cylinder stretches out and cantilever is reached weight bottom; (4) fork truck amplitude oil cylinder is stretched out, cantilever luffing, and weight lifts by cantilever; (5) fork truck telescopic oil cylinder is retracted and is made weight leave shelf certain distance; (6) fork truck body revolution makes cantilever forward the direction parallel with slide rail to; (7) fork truck moves to desired location along slide rail.
A kind of mechanical arm type anti-sway system, comprises mechanical arm, weight, shelf, it is characterized in that: described weight is placed on shelf, and described shelf are arranged above deck, and above deck, mechanical arm can realize snatch, the movement to weight and lay described mechanical arm arrangements.
Described mechanical arm comprises swing type mechanism, No. 1 connecting rod, No. 1 oil cylinder, No. 2 oil cylinders, No. 2 connecting rods, No. 3 oil cylinders, No. 3 connecting rods, No. 4 oil cylinders, No. 4 connecting rods, No. 5 oil cylinders, fixture, it is characterized in that: swing type mechanism is positioned on boat deck, topside can be driven to do gyroscopic movement, be connected through the hinge between 1-4 connecting rod, No. 1 oil cylinder two ends are hinged to revolving structure and No. 1 connecting rod, No. 2 oil cylinder two ends are hinged to No. 1 connecting rod and No. 2 connecting rods, No. 3 oil cylinder two ends are hinged to No. 2 connecting rods and No. 3 connecting rods, No. 4 oil cylinder two ends are hinged to No. 3 connecting rods and No. 4 connecting rods, fixture is hinged to No. 4 connecting rods, No. 5 oil cylinder two ends are hinged to No. 4 connecting rods and fixture.
The version of described mechanical arm clamp structure form, shelf is determined according to boats and ships and weight actual conditions.
A kind of mechanical arm type is anti-shakes method, and its specific implementation approach is: (1) controls No. 5 oil cylinders contractions makes fixture open, and the flexible fixture that makes controlling No. 4 oil cylinders is in horizontality all the time; (2) jointly control 1-3 oil cylinder and swing type mechanism action, make fixture by below shelf harness motion to weight; (3) control No. 5 oil cylinders stretch out and fixture are closed up, and are clamped by weight; (4) jointly control 1-3 oil cylinder and swing type mechanism action, weight is moved to desired location.
The present invention is compared with background technology, and having useful effect is:
(1) due in two kinds of mechanical type anti-sway systems all containing the such flexible piece of steel rope, when can avoid motion of ship, weight produces simple harmonic motion;
(2) two kinds of mechanical type anti-sway systems are all the weights that hoist from bottom, due to the problem of rotating around hitch point that weight center of gravity and hitch point do not produce on a plumb bob vertical when there is not single hanging point;
(3) fork-lift type anti-sway system carries out weight lay by fork truck, slide rail, according to weight deployment scenarios above deck, plan fork truck action step and motion path, can automation mechanized operation have been realized, greatly improve operating efficiency, reduce operating personal working strength;
(4) mechanical arm type anti-sway system can complete weight laying and recovery on the water surface, carries out only fixture to be reached in water and clamping weight when weight reclaims, and this is simpler than usual manner, save time.
Accompanying drawing explanation
Fig. 1 fork-lift type anti-sway system sketch
Fig. 2 fork lift truck structure figure
Fig. 3 mechanical arm type anti-sway system sketch
Fig. 4 mechanical arm constructional drawing
In figure: 1, boats and ships, 2, shelf, 3, weight, 4, slide rail, 5, fork truck, 5.1, car body, 5.2, chassis, 5.3, drive wheel, 5.4, amplitude oil cylinder, 5.5, telescopic oil cylinder, 5.6, the large end of cantilever, 5.7, cantilever small end, 6, mechanical arm, 6.1, swing type mechanism, 6.2, No. 1 connecting rods, 6.3, No. 1 oil cylinders, 6.4, No. 2 connecting rods, 6.5, No. 2 connecting rods, 6.6, No. 3 oil cylinders, 6.7, No. 3 connecting rods, 6.8, No. 4 oil cylinders, 6.9, No. 4 connecting rods, 6.10, No. 5 oil cylinders, 6.11, fixture.
detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, a kind of fork-lift type anti-sway system, comprise fork truck 5, weight 3, shelf 2, slide rail 4, it is characterized in that: described slide rail 4 is arranged above deck, described weight 3 is placed on shelf 2, and described shelf 2 are distributed on the deck of slide rail 4 both sides, and the drive wheel of described fork truck 5 is arranged in slide rail 4, fork truck 5 can move to shelf 2 side along slide rail 4 and within 3 years, be walked by weight, then moves to desired location along slide rail 4.
As shown in Figure 2, described fork truck comprises drive wheel 5.3, chassis 5.2, car body 5.1, cantilever (comprising the large end 5.6 of cantilever and cantilever small end 5.7), amplitude oil cylinder 5.4, telescopic oil cylinder 5.5.Drive wheel 5.3 is positioned at bottom, chassis 5.2, chassis 5.2 is car body 5.1, and car body 5.1 can make 360 degree of gyroscopic movements on chassis 5.2; Cantilever comprises the large end 5.6 of cantilever, cantilever small end 5.7, and the large end 5.6 of cantilever is by being hingedly connected to car body 5.1 and amplitude oil cylinder 5.4; Amplitude oil cylinder 5.4 is by being hingedly connected in the middle part of car body 5.1 and the large end 5.6 of cantilever; Telescopic oil cylinder 5.5, by being hingedly connected to the large end 5.6 of cantilever and cantilever small end 5.7, can realize the expanding-contracting action of cantilever small end 5.7 relative to the large end 5.6 of cantilever.
As shown in Figure 1, described shelf 2 are for weight 3 on a ship 's fixing, and shelf 2 leave opening so that fork truck 5 cantilever can reach lifting heavy 3 below weight 3.
As shown in Figure 1, described slide rail 4 is arranged on a ship 's, and arrange according to boats and ships and cargo actual conditions, fork truck 5 moves along slide rail 4 by drive wheel 5.3.
The version of described fork truck 5, shelf 2 and the layout of slide rail 4 are determined according to boats and ships 1 and weight 3 actual conditions.
A kind of fork-lift type weight distribution method, its specific implementation approach is: (1) fork truck 5 moves to weight 3 bearing along slide rail 4; (2) fork truck body 5.1 revolution makes cantilever small end 5.7 be right against shelf 2 opening; (3) fork truck telescopic oil cylinder 5.5 stretches out and cantilever small end 5.7 is reached weight 3 bottom; (4) fork truck amplitude oil cylinder 5.4 is stretched out, cantilever luffing, and weight 3 lifts by cantilever; (5) fork truck telescopic oil cylinder 5.5 is retracted and is made weight 3 leave shelf 2 certain distance; (6) fork truck body 5.1 revolution makes cantilever forward the direction parallel with slide rail 4 to; (7) fork truck 5 moves to desired location along slide rail 4.
As shown in Figure 3, a kind of mechanical arm type weight arranging system, comprise mechanical arm 6, weight 3, shelf 2, it is characterized in that: described weight 3 is placed on shelf 2, described shelf 2 are arranged above deck, described mechanical arm 6 is arranged above deck, and mechanical arm 6 can realize snatch, the movement to weight 3 and lay.
As shown in Figure 4, described mechanical arm comprises swing type mechanism 6.1, No. 1 connecting rod 6.2, No. 1 oil cylinder 6.3, No. 2 oil cylinders 6.4, No. 2 connecting rods 6.5, No. 3 oil cylinders 6.6, No. 3 connecting rods 6.7, No. 4 oil cylinders 6.8, No. 4 connecting rods 6.9, No. 5 oil cylinders 6.10, fixtures 6.11.Swing type mechanism 6.1 is positioned on boat deck, and topside can be driven to do gyroscopic movement; 1-4 connecting rod is connected through the hinge between (6.2,6.5,6.7,6.9); No. 1 oil cylinder 6.3 two ends are hinged to revolving structure 6.1 and No. 1 connecting rod 6.2, No. 2 oil cylinder 6.4 two ends are hinged to No. 1 connecting rod 6.2 and No. 2 connecting rods 6.5, No. 3 oil cylinder 6.6 two ends are hinged to No. 2 connecting rods 6.5 and No. 3 connecting rods 6.7, No. 4 oil cylinder 6.8 two ends are hinged to No. 3 connecting rods 6.7 and No. 4 connecting rods 6.9; Fixture 6.11 is hinged to No. 4 connecting rods 6.9; No. 5 oil cylinder 6.10 two ends are hinged to No. 4 connecting rods 6.9 and fixture 6.11.
The version of described mechanical arm 6 and fixture 6.11 thereof, the version of shelf 2 are determined according to boats and ships 1 and weight 3 actual conditions.
A kind of mechanical arm type weight distribution method, its specific implementation approach is: (1) controls No. 5 oil cylinders 6.10 contractions makes fixture 6.11 open, and the flexible fixture that makes controlling No. 4 oil cylinders 6.8 is in horizontality all the time; (2) jointly control 1-3 oil cylinder (6.3,6.4,6.6) and swing type mechanism 6.1 action, make fixture 6.11 by below shelf 2 harness motion to weight 3; (3) control No. 5 oil cylinders 6.10 stretch out and fixture 6.11 are closed up, and are clamped by weight 3; (4) jointly control 1-3 oil cylinder (6.3,6.4,6.6) and swing type mechanism 6.1 action, weight 3 is moved desired location.
Claims (9)
1. a fork-lift type anti-sway system, comprise fork truck, weight, shelf, slide rail, it is characterized in that: described slide rail is arranged above deck, described weight is placed on shelf, described shelf are distributed on the deck of slide rail both sides, the drive wheel of described fork truck is arranged in slide rail, and fork truck can move to shelf side along slide rail and be carried away by weight, then moves to desired location along slide rail.
2. a kind of fork-lift type anti-sway system according to claim 1, it is characterized in that: described fork truck comprises drive wheel, chassis, car body, cantilever, amplitude oil cylinder, telescopic oil cylinder, drive wheel is positioned at bottom, chassis, it chassis is car body, car body can make 360 degree of gyroscopic movements on chassis, cantilever comprises the large end of cantilever, cantilever small end, the large end of cantilever is by being hingedly connected to car body and amplitude oil cylinder, amplitude oil cylinder is by being hingedly connected in the middle part of car body and the large end of cantilever, telescopic oil cylinder is by being hingedly connected to the large end of cantilever and cantilever small end, the expanding-contracting action of cantilever small end relative to the large end of cantilever can be realized.
3. a kind of fork-lift type anti-sway system according to claim 1, is characterized in that: described shelf are used for weight on a ship 's fixing, and shelf leave opening so that fork truck cantilever can reach lifting heavy below weight.
4. a kind of fork-lift type anti-sway system according to claim 1, it is characterized in that: described slide rail is arranged on a ship 's, arrange according to boats and ships and cargo actual conditions, fork truck moves along slide rail by drive wheel, and the version of described fork truck, shelf and the layout of slide rail are determined according to boats and ships and weight actual conditions.
5. fork-lift type is anti-shakes a method, and its specific implementation approach is: (1) fork truck moves to weight bearing along slide rail; (2) fork truck body revolution makes cantilever be right against shelf opening; (3) fork truck telescopic oil cylinder stretches out and cantilever is reached weight bottom; (4) fork truck amplitude oil cylinder is stretched out, cantilever luffing, and weight lifts by cantilever; (5) fork truck telescopic oil cylinder is retracted and is made weight leave shelf certain distance; (6) fork truck body revolution makes cantilever forward the direction parallel with slide rail to; (7) fork truck moves to desired location along slide rail.
6. a mechanical arm type anti-sway system, comprise mechanical arm, weight, shelf, it is characterized in that: described weight is placed on shelf, described shelf are arranged above deck, above deck, mechanical arm can realize snatch, the movement to weight and lay described mechanical arm arrangements.
7. a kind of mechanical arm type anti-sway system according to claim 6, it is characterized in that: described mechanical arm comprises swing type mechanism, No. 1 connecting rod, No. 1 oil cylinder, No. 2 oil cylinders, No. 2 connecting rods, No. 3 oil cylinders, No. 3 connecting rods, No. 4 oil cylinders, No. 4 connecting rods, No. 5 oil cylinders, fixture, swing type mechanism is positioned on boat deck, topside can be driven to do gyroscopic movement, be connected through the hinge between 1-4 connecting rod, No. 1 oil cylinder two ends are hinged to revolving structure and No. 1 connecting rod, No. 2 oil cylinder two ends are hinged to No. 1 connecting rod and No. 2 connecting rods, No. 3 oil cylinder two ends are hinged to No. 2 connecting rods and No. 3 connecting rods, No. 4 oil cylinder two ends are hinged to No. 3 connecting rods and No. 4 connecting rods, fixture is hinged to No. 4 connecting rods, No. 5 oil cylinder two ends are hinged to No. 4 connecting rods and fixture.
8. a kind of mechanical arm type anti-sway system according to claim 6, is characterized in that: the version of described mechanical arm clamp structure form, shelf is determined according to boats and ships and weight actual conditions.
9. mechanical arm type is anti-shakes a method, and its specific implementation approach is: (1) controls No. 5 oil cylinders contractions makes fixture open, and the flexible fixture that makes controlling No. 4 oil cylinders is in horizontality all the time; (2) jointly control 1-3 oil cylinder and swing type mechanism action, make fixture by below shelf harness motion to weight; (3) control No. 5 oil cylinders stretch out and fixture are closed up, and are clamped by weight; (4) jointly control 1-3 oil cylinder and swing type mechanism action, weight is moved to desired location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410127138.8A CN104943825A (en) | 2014-03-25 | 2014-03-25 | Mechanical anti-sway method for marine weight lifting |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410127138.8A CN104943825A (en) | 2014-03-25 | 2014-03-25 | Mechanical anti-sway method for marine weight lifting |
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| CN104943825A true CN104943825A (en) | 2015-09-30 |
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| CN201410127138.8A Pending CN104943825A (en) | 2014-03-25 | 2014-03-25 | Mechanical anti-sway method for marine weight lifting |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105621219A (en) * | 2016-03-08 | 2016-06-01 | 中交机电工程局有限公司 | Fold-arm electromagnetic sucker device for fishing out remaining chemical weapons |
| CN106564813A (en) * | 2016-11-04 | 2017-04-19 | 中船华南船舶机械有限公司 | Pin shaft swing frame |
| CN107697242A (en) * | 2017-09-18 | 2018-02-16 | 中国船舶工业集团公司第七0八研究所 | One kind automation buoy recovery arranging device |
| CN109866883A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of ship towed sonar lays recyclable device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105621219A (en) * | 2016-03-08 | 2016-06-01 | 中交机电工程局有限公司 | Fold-arm electromagnetic sucker device for fishing out remaining chemical weapons |
| CN106564813A (en) * | 2016-11-04 | 2017-04-19 | 中船华南船舶机械有限公司 | Pin shaft swing frame |
| CN107697242A (en) * | 2017-09-18 | 2018-02-16 | 中国船舶工业集团公司第七0八研究所 | One kind automation buoy recovery arranging device |
| CN107697242B (en) * | 2017-09-18 | 2020-04-24 | 中国船舶工业集团公司第七0八研究所 | Automatic buoy recycling and laying device |
| CN109866883A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of ship towed sonar lays recyclable device |
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Application publication date: 20150930 |