CN104370229A - Novel heave compensation system and method for offshore crane - Google Patents
Novel heave compensation system and method for offshore crane Download PDFInfo
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- CN104370229A CN104370229A CN201410660704.1A CN201410660704A CN104370229A CN 104370229 A CN104370229 A CN 104370229A CN 201410660704 A CN201410660704 A CN 201410660704A CN 104370229 A CN104370229 A CN 104370229A
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- heave
- heave compensation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0183—Details, e.g. winch drums, cooling, bearings, mounting, base structures, cable guiding or attachment of the cable to the drum
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a novel heave compensation system and method for an offshore crane. The novel heave compensation system comprises a lifting device, a heave compensation execution device, a controller and a ship heave motion simulation system, wherein the heave compensation execution device is hung on the lifting device, the ship heave motion simulation system is installed below the heave compensation execution device, and the lifting device, the heave compensation execution device and the ship heave motion simulation system are controlled by the controller to achieve matching between the heave compensation execution device and the ship heave motion simulation system. The novel active heave compensation device installed between a lifting hook and cargoes is convenient to disassemble or assemble, wide in application range and high in transferability.
Description
Technical field
The invention discloses a kind of novel offshore crane heave compensation system and compensation method.
Background technology
Existing heave compensator is generally the up-and-down movement displacement realizing controlling wire rope load end by installing hydraulic efficiency pressure system and assembly pulley on common hoisting crane additional, when Hull sinkage, piston rod drives running block to stretch out, when hull rises, piston driving running block is retracted, to eliminate the heave impact that wave produces load.
Heave compensator is divided into active with passive type two kinds by control effort executive mode.Be rely on boats and ships to rise and the pressurized air compressed in release energy storage that declines by formula heave compensation system, energy storage can be used as air bellow and absorbs impulsive force, thus decreases the tension force of steel rope.Active heave compensation system typically uses the attitude that MRU (motionreferenceunit) measures boats and ships, calculated by geometry again, draw suspension hook displacement in the vertical direction, thus control the real-time folding and unfolding steel rope of actuating unit, cause the extra heave movement of suspension hook due to wave with " counteracting ".
Passive type heave compensation system is not enough: because parameter can not be selected and regulate, so when lifting goods and operating mode changes, the compensation performance of system can be limited, and compensation precision is low.In addition, also there is delayed larger shortcoming in passive type heave compensation system, easily causes the accident.
Active heave compensation system is not enough: Active Compensation system needs the power source of system self to carry out work.Traditional hydraulic efficiency pressure system uses Hydraulic Pump as power, and consumed power is comparatively large, is only applicable to middle low power occasion.Conventional hydraulic charging system, is improved in the more passive compensation of compensation precision and compensation element, but, also have very large room for promotion.In addition, because hydraulic efficiency pressure system also exists volume greatly, weight is large, changes the shortcoming of hydraulic oil troublesome maintenance.The design solves above deficiency.
Summary of the invention
In order to solve the technological deficiency existed in prior art, the invention discloses a kind of novel offshore crane heave compensation system and compensation method.
The technical solution used in the present invention is as follows:
Novel offshore crane heave compensation system, comprise a hoisting device, heave compensation executive device, controller and boats and ships heave analog system, described heave compensation executive device is lifted on hoisting device, boats and ships heave movement analog system is arranged on the below of heave compensation executive device, and measurement goods and tweendeck distance are installed in the below of heave compensation executive device, for heave compensation provides the sensor of data information, hoisting device is controlled by controller, heave compensation executive device, boats and ships heave movement analog system, realize the mutual compensation of heave compensation executive device and boats and ships heave movement analog system.
Described heave compensation executive device comprises the external frame that is connected to crane rope end, a motor I is fixed at described external frame top, the mouth of described motor I drives a ball-screw I by coupler, ball-screw I is provided with the slide block that to match with it, described slide block installs two thread rods paralleled with ball-screw I, the end of the thread rod described in two is connected with same rectangular tube, is provided with a sonic sensor and electromagnet in the bottom of described rectangular tube.Sonic sensor, for measuring goods and tweendeck distance, provides failure-free data information for realizing heave compensation.Suspension hook in electromagnet Reality simulation loop wheel machine, for lifting and unloading goods putting thing.Heave compensator working process, motor I drives ball-screw I to rotate, and slide block is elevated, and slide block drives cargo movement, thus carries out heave compensation.
Open an aperture in rectangular tube lower end, electromagnet is suspended on below aperture.
In rectangle aluminum pipe one end, sonic sensor is fixed by bolt.
Described hoisting device comprises a base, described base installs a winch and perpendicular column, described column is provided with a vertical shaft bearing I, vertical shaft bearing I is provided with an arm; Be provided with fixed pulley at the end of described arm and the end of vertical shaft bearing, described arm can swing up and down along vertical shaft bearing.
Described winch comprises stepping motor II, and described stepping motor II connects a reel by a fast coupling, and described two ends are flange shape, and this reel is arranged on reel bearing by bearing on bearing direction.During use, reel is wound with steel rope, the other end of steel rope is walked around column and is connected with the external frame of heave compensation executive device with the fixed pulley of the end of arm.
On described stepping motor mounted motor support.
Described boats and ships heave movement analog system, comprise base plate, described base plate installs a base, described base is provided with an a stepping motor III and perpendicular straight line slide unit, the mouth of described stepping motor III drives a ball-screw II paralleled with straight line slide unit, ball-screw II is provided with a slide block, the deck that on described slide block, connection one is vertical with straight line slide unit, is connected with the linear displacement transducer measuring deck displacement between deck and base plate; Described slide block can move up and down along straight line slide unit under the driving of ball-screw II.
The compensation method of said system is as follows:
Step 1 pair sonic sensor and deck distance initialization;
Step 2 starts winch, by the height of freight lifting to setting;
Step 3 goods hovers 4 seconds, starts heave movement analog machine;
Step 4 starts winch, is transferred by goods to range estimation perch;
Step 5 stops winch, starts heave compensation executive device;
Step 6 makes deck and goods distance reduce 1mm every 1.5s;
Step 7, when goods contacts with deck, controls ball-screw I decline 1.5cm;
Step 8 starts heave compensation executive device again, is kept in touch in goods and deck;
Goods putting thing is unloaded after step 91s;
Step 10 starts winch, and promoted by heave compensator, ball-screw I resets;
Step 11 heave movement analog machine resets.
The beneficial effect that the present invention produces is as follows:
1) the present invention is convenient to, in the system of laboratory operation running, more accurately can realize marine lifting cargo intuitively to the Whole Process Simulation unloading goods putting thing.
2) the Novel active heave compensator between suspension hook and goods is arranged on, easy disassembly, applied widely, portable strong.
3) carry out heave compensation by leading screw, and be the charging system of control core with micro controller system, compensate compared to conventional hydraulic formula, be quick on the draw, compensation precision is high.
4) boats and ships heave movement analog machine, can simulate the heave movement of boat deck under different wave condition easily.
5) for regular wave and random sea, all can realize when boat deck moves near extreme higher position, automatically goods be unloaded reposefully and be put in boat deck.6) loop wheel machine analog machine, is adapted at laboratory environment Imitating loop wheel machine lifting operation.
Accompanying drawing explanation
Fig. 1 offshore crane heave compensation system;
Fig. 2 actuating system integral structure figure;
Fig. 3 and motion adjustment mechanism constructional drawing;
Fig. 4 crane structure figure;
Fig. 5 winch structure figure;
Fig. 6 boats and ships heave movement analog system front view;
Fig. 7 boats and ships heave movement analog system lateral plan;
Fig. 8 random sea system experimentation diagram of circuit;
Fig. 9 control principle drawing;
Figure 10 boats and ships heave movement figure;
Figure 11 goods and deck relative distance variation diagram in time;
Figure 12 goods unloads the stage of putting and deck distance variation diagram in time;
101-hoisting device; 102-winch; 103-heave compensation executive device; 104-controller; 105-boats and ships heave analog system; 201-stepping motor I; 202-external frame; 203-rectangle aluminum pipe; 204-bolt; 205-electromagnet; 206-sonic sensor; 207-coupler; 208-ball-screw I; 209-motion conversion tablet; 210-vertical shaft bearing I; 211-thread rod; 212-tapered roller bearing; 213-slipper bearing; 214-feed rod; 301-fixed pulley; 302-column; 303-base; 304-vertical shaft bearing II; 305-arm; 401-stepping motor II; 402-fast coupling; 403-reel; 404-flange; 405-bearing seat; 406-reel bearing; 407-feed rod; 408-electric machine support; 501-straight line slide unit; 502-ball-screw II; 503-deck; 504-linear displacement transducer; 505-base; 506-base plate; 507-slide block; 508-stepping motor III.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail:
As shown in Figure 1, the invention discloses a kind of novel offshore crane heave compensation system, comprise a hoisting device 101, winch 102, heave compensation executive device 103, controller 104 and boats and ships heave analog system 105, heave compensation executive device 103 is lifted on hoisting device, boats and ships heave movement analog system is arranged on the below of heave compensation executive device, control hoisting device 101, heave compensation executive device 103, boats and ships heave analog system 105 by controller, realize cooperatively interacting of heave compensation executive device and boats and ships heave analog system 105.
Heave compensation system executive device structure is as follows: comprise the external frame 202 that is connected to crane rope end, a stepping motor I201 is fixed at described external frame top, the mouth of described stepping motor I201 drives a ball-screw I208 by coupler 207, ball-screw 208 is provided with the slide block that to match with it, slide block installs two thread rods 211 paralleled with ball-screw I208, the end of the thread rod 211 described in two is connected with same rectangle aluminum pipe 203, a sonic sensor 206 and electromagnet 205 are installed in the bottom of described rectangle aluminum pipe 203.
Sonic sensor 206 adopts 5V Power supply, and output signal is digital signal, and output signal line SDA, SCL connect with P3.6, P3.7 pin of controller micro controller system respectively, carry out I2C communication.
The element receiving micro controller system output signal has two stepper motor drivers and electromagnet.
, as external frame 202, connection mode all adopts bolt 204 (M3) to connect for rectangular steel tube (20*20*1, lower same) and angle steel (30*30*2.0, lower same); Ball-screw I208 diameter used is 16mm, and helical pitch is 10mm; Ball-screw I208 two ends tapered roller bearing 212 (30201 type), aluminium sheet (90*30*3) are fixed; Employing feed rod (
lower with), that slipper bearing 213 (SMA10), vertical shaft bearing 210 (vertical SK10) carry out circumference to motion conversion tablet 209 is fixing; Adopt thread rod 211 (M6) that rectangle aluminum pipe (50*25*2, lower same) is changed tablet 209 with motion to be connected; Plum coupling 207 (L50D12, internal diameter 10-12) is adopted to connect two-phase hybrid stepping motor I201 and ball-screw 208; Put for the ease of unloading of goods of demonstration, adopt electromagnet 205 to connect goods, opening a diameter in rectangle aluminum pipe lower end is 4mm aperture, is suspended on below this aperture with the long cord of 4cm by electromagnet 205; In rectangle aluminum pipe one end bolt (M2), sonic sensor 206 is fixed.
Offshore crane structure is specific as follows: comprise a base 303, described base 303 installs a winch 102 and perpendicular column 302, described column 302 is provided with vertical shaft bearing II304, described vertical shaft bearing II304 is provided with an arm 305; Be provided with fixed pulley 301 at the end of described arm 305 and the end of column 302, described arm 305 can swing up and down along vertical shaft bearing II304.
Winch 102 comprises stepping motor II401, described stepping motor II401 connects a reel 403 by a fast coupling 402, described two ends are flange 404 shape, and this reel 403 is arranged on reel 403 bearing by bearing seat 405 in the axial direction.Reel 403 is arranged on reel bearing 406, during use, reel 403 is wound with steel rope, and the other end of steel rope is walked around vertical shaft bearing and is connected with the external frame of heave compensation executive device with the fixed pulley of the end of arm 305.
On stepping motor mounted motor support 408, polished rod 407 two ends are through electric machine support 408.
Use Solidworks to carry out three-dimensional modeling to hoisting crane, model as shown in Figure 2.Lifting function is carried out goods and is sling and transfer, and the luffing of arm 305 controls to control not in this areal of research with the revolution of column.Crane main body uses rectangle aluminum pipe (50*25*2) to make, and is fixed with angle steel, feed rod, vertical shaft bearing (vertical SK10), bolt (M6, M4).The pulley model that hoisting crane uses is HO:XBD, hoist base and column 302, arm 305 and column 302 use steel rope (
lower same) carry out tractive, use wire rope clip to fix steel rope.
Winch adopts 2 pairs of 30*30*2.0 type angle steel as reel bearing, bearing and loop wheel machine base use feed rod (
) connect.Reel and reel flange use respectively feed rod, irony circular baffle plate (
) make.Feed rod 407 passed through bearing seat (horizontal KFL000 internal diameter 10) carry out radial direction fix, with bolt (M4), bearing seat is fixed on reel bearing.Stepping motor (57BYGH250-112) uses electric machine support (stepping motor support) to be fixed on loop wheel machine base.Fast coupling (D25L35, internal diameter 8-10) is used to be connected with reel by motor shaft.
Boats and ships heave movement analog system, comprise base plate 506, described base plate 506 installs a base 505, described base 505 is provided with an a stepping motor III508 and perpendicular straight line slide unit 501, the mouth of described stepping motor III508 drives a ball-screw II502 paralleled with straight line slide unit 501, ball-screw II502 is provided with a slide block 507, the deck 503 that on described slide block 507, connection one is vertical with straight line slide unit, the linear displacement transducer 504 measuring deck displacement is connected with between deck 503 and base plate 506, described slide block 507 can move up and down along straight line slide unit under the driving of ball-screw II502.
Trapezoidal screw overall length is 270mm, screw mandrel pitch 8mm, and effective travel is 210mm, and stepping motor III508 is 42 type stepping motors (42BYGH4812); For increasing slide unit stability, adopt rectangle aluminum pipe (50*25*2) and rectangular steel tube (19*19*1.0) and plank (380*300*16) to make pier to carry out surrounding to straight line slide unit and fix, connection mode adopts bolt (M3, M5) to connect; The flat board of simulation boat deck 503 adopts veneer (300*300*3) to make, and with rectangular steel tube, veneer is reinforced, the slide block 507 of veneer and straight line slide unit is fixed with bolt (M3), again the pull bar of linear displacement transducer 504 is connected with plank, sensor is connected with pier bolt (M5), the effect adding linear displacement transducer 504 is the initial position of record plank, by programming control, plank is finally resetted in presentation process.
The compensation method of said system is as follows:
Step 1 pair sonic sensor and deck distance initialization;
Step 2 starts winch, by the height of freight lifting to setting;
Step 3 goods hovers 4 seconds, starts heave movement analog machine;
Step 4 starts winch, is transferred by goods to range estimation perch;
Step 5 stops winch, starts heave compensation system;
Step 6 makes deck and goods distance reduce 1mm every 1.5s;
Step 7, when goods contacts with deck, controls leading screw decline 1.5cm;
Step 8 starts heave compensation again, is kept in touch in goods and deck;
Goods putting thing is unloaded after step 91s;
Step 10 starts winch, is promoted by heave compensator, and leading screw resets;
Step 11 heave movement analog machine resets.
As shown in Figure 10, represent in random sea situation, the vertical deviation situation over time of boat deck.
Figure 11 is that after stopping winch, startup heave compensation system, the goods recorded by timing acquiring sensor and deck relative distance value, utilize the figure that MATLAB draws.Represent before straight line A by programming control goods in starting stage and deck fast approaching; Represent between straight line A and straight line C and compensate the steady stage, while heave compensation, the distance on goods and deck is reduced gradually; It is the spacing situation of change of deck and goods when goods is about to put down shown in picture frame D.
When sonic sensor detects that goods contacts with deck, temporary transient stopping heave compensation, sensor and deck relative distance is made to reduce about 15mm (stage between straight line C and straight line E) fast by controlling leading screw, and then startup heave compensation, steadily unload to make goods be put in deck there will not be again unsettled.Time gap between consecutive number strong point between straight line C and straight line E does not reflect the actual.
As can be seen from the line chart between straight line C and straight line E, when sensor accuracy in the mean is 3mm, when unloading goods putting thing, the relative distance on goods and deck is no more than 5mm, have effectively achieved heave compensation.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (7)
1. novel offshore crane heave compensation system, it is characterized in that: comprise a hoisting device, heave compensation executive device, controller and boats and ships heave analog system, described heave compensation executive device is lifted on hoisting device, boats and ships heave movement analog system is arranged on the below of heave compensation executive device, and measurement goods and tweendeck distance are installed in the below of heave compensation executive device, for heave compensation provides the sensor of data information, hoisting device is controlled by controller, heave compensation executive device, boats and ships heave movement analog system, realize the mutual compensation of heave compensation executive device and boats and ships heave movement analog system,
Described heave compensation executive device comprises the external frame that is connected to crane rope end, a motor I is fixed at described external frame top, the mouth of described motor I drives a ball-screw I by coupler, ball-screw I is provided with the slide block that to match with it, described slide block installs two thread rods paralleled with ball-screw I, the end of the thread rod described in two is connected with same rectangular tube, is provided with a sonic sensor and electromagnet in the bottom of described rectangular tube;
Described boats and ships heave movement analog system, comprise base plate, described base plate installs a base, described base is provided with an a stepping motor III and perpendicular straight line slide unit, the mouth of described stepping motor III drives a ball-screw II paralleled with straight line slide unit, ball-screw II is provided with a slide block, the deck that on described slide block, connection one is vertical with straight line slide unit, is connected with the linear displacement transducer measuring deck displacement between deck and base plate; Described slide block can move up and down along straight line slide unit under the driving of ball-screw II.
2. novel offshore crane heave compensation system as claimed in claim 1, is characterized in that: open an aperture in rectangular tube lower end, be suspended on below aperture by electromagnet.
3. novel offshore crane heave compensation system as claimed in claim 1, is characterized in that: in rectangle aluminum pipe one end, sonic sensor is fixed by bolt.
4. novel offshore crane heave compensation system as claimed in claim 1, it is characterized in that: described hoisting device comprises a base, described base installs a winch and perpendicular column, described column is provided with a vertical shaft bearing I, vertical shaft bearing I is provided with an arm; Be provided with fixed pulley at the end of described arm and the end of vertical shaft bearing, described arm can swing up and down along vertical shaft bearing.
5. novel offshore crane heave compensation system as claimed in claim 4, it is characterized in that: described winch comprises stepping motor II, described stepping motor II connects a reel by a fast coupling, described two ends are flange shape, and this reel is arranged on reel bearing by bearing on bearing direction; During use, reel is wound with steel rope, the other end of steel rope is walked around column and is connected with the external frame of heave compensation executive device with the fixed pulley of the end of arm.
6. novel offshore crane heave compensation system as claimed in claim 1, it is characterized in that: described boats and ships heave movement analog system, comprise base plate, described base plate installs a base, described base is provided with an a stepping motor III and perpendicular straight line slide unit, the mouth of described stepping motor III drives a ball-screw II paralleled with straight line slide unit, ball-screw II is provided with a slide block, the deck that on described slide block, connection one is vertical with straight line slide unit, the linear displacement transducer measuring deck displacement is connected with between deck and base plate, described slide block can move up and down along straight line slide unit under the driving of ball-screw II.
7. the compensation method of the novel offshore crane heave compensation system as described in as arbitrary in claim 1-6, is characterized in that, as follows:
Step 1 pair sonic sensor and deck distance initialization;
Step 2 starts winch, by the freight lifting that is connected on the electromagnet height to setting;
Step 3 goods hovers 4 seconds, starts heave movement analog machine;
Step 4 starts winch, is transferred by goods to range estimation perch;
Step 5 stops winch, starts heave compensation system;
Step 6 makes deck and goods distance reduce 1mm every 1.5s;
Step 7, when goods contacts with deck, controls leading screw decline 1.5cm;
Step 8 starts heave compensation again, is kept in touch in goods and deck;
Goods putting thing is unloaded after step 91s;
Step 10 starts winch, is promoted by heave compensator, and leading screw resets;
Step 11 heave movement analog machine resets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410660704.1A CN104370229B (en) | 2014-11-18 | 2014-11-18 | Novel offshore crane heave compensation system and compensation method |
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| CN201410660704.1A CN104370229B (en) | 2014-11-18 | 2014-11-18 | Novel offshore crane heave compensation system and compensation method |
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| CN106407615A (en) * | 2016-11-14 | 2017-02-15 | 哈尔滨工程大学 | Simulation method of passive heave compensation system of deep sea crane |
| CN106495027A (en) * | 2016-12-27 | 2017-03-15 | 江苏金风科技有限公司 | Lifting, unloading goods method, system and loop wheel machine platform are compensated automatically with wave |
| CN107607341A (en) * | 2017-09-11 | 2018-01-19 | 宝鸡石油机械有限责任公司 | A kind of test method of heave compensation winch |
| CN107989596A (en) * | 2017-04-11 | 2018-05-04 | 中国石油天然气股份有限公司 | A kind of simulation wellbore hole device and oil-gas-water three-phase flow experimental system for simulating |
| CN108383023A (en) * | 2018-02-02 | 2018-08-10 | 国家海洋局第海洋研究所 | A kind of tide register folding structure |
| US11247877B2 (en) | 2017-02-28 | 2022-02-15 | J. Ray Mcdermott, S.A. | Offshore ship-to-ship lifting with target tracking assistance |
| CN114852902A (en) * | 2022-05-24 | 2022-08-05 | 上海中车艾森迪海洋装备有限公司 | Automatic cable tensioning device and method |
| CN116133941A (en) * | 2020-05-26 | 2023-05-16 | 鹰通达私人有限公司 | Marine transport system with internal relative movement compensation |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106407615B (en) * | 2016-11-14 | 2019-10-08 | 哈尔滨工程大学 | A kind of emulation mode of deep-sea crane passive type heave compensation system |
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| CN106495027A (en) * | 2016-12-27 | 2017-03-15 | 江苏金风科技有限公司 | Lifting, unloading goods method, system and loop wheel machine platform are compensated automatically with wave |
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| US11247877B2 (en) | 2017-02-28 | 2022-02-15 | J. Ray Mcdermott, S.A. | Offshore ship-to-ship lifting with target tracking assistance |
| CN107989596B (en) * | 2017-04-11 | 2021-04-30 | 中国石油天然气股份有限公司 | Simulation shaft device and oil-gas-water three-phase flow simulation experiment system |
| CN107989596A (en) * | 2017-04-11 | 2018-05-04 | 中国石油天然气股份有限公司 | A kind of simulation wellbore hole device and oil-gas-water three-phase flow experimental system for simulating |
| CN107607341A (en) * | 2017-09-11 | 2018-01-19 | 宝鸡石油机械有限责任公司 | A kind of test method of heave compensation winch |
| CN108383023A (en) * | 2018-02-02 | 2018-08-10 | 国家海洋局第海洋研究所 | A kind of tide register folding structure |
| CN116133941A (en) * | 2020-05-26 | 2023-05-16 | 鹰通达私人有限公司 | Marine transport system with internal relative movement compensation |
| CN116133941B (en) * | 2020-05-26 | 2024-03-22 | 鹰通达私人有限公司 | Marine transport system with internal relative movement compensation |
| CN114852902A (en) * | 2022-05-24 | 2022-08-05 | 上海中车艾森迪海洋装备有限公司 | Automatic cable tensioning device and method |
| CN114852902B (en) * | 2022-05-24 | 2023-11-17 | 上海中车艾森迪海洋装备有限公司 | Automatic cable tensioning device and method |
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| CN104370229B (en) | 2016-08-24 |
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