CN104370229B - Novel offshore crane heave compensation system and compensation method - Google Patents
Novel offshore crane heave compensation system and compensation method Download PDFInfo
- Publication number
- CN104370229B CN104370229B CN201410660704.1A CN201410660704A CN104370229B CN 104370229 B CN104370229 B CN 104370229B CN 201410660704 A CN201410660704 A CN 201410660704A CN 104370229 B CN104370229 B CN 104370229B
- Authority
- CN
- China
- Prior art keywords
- heave
- heave compensation
- deck
- screw
- compensation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of novel offshore crane heave compensation system and compensation method, device, controller and boats and ships heave simulation system is performed including a hoisting apparatus, heave compensation, described heave compensation performs device and is lifted on hoisting apparatus, boats and ships heave movement simulation system is arranged on heave compensation and performs the lower section of device, control hoisting apparatus by controller, heave compensation performs device, boats and ships heave movement simulation system, it is achieved heave compensation performs cooperating of device and boats and ships heave movement simulation system.The Novel active heave compensator that the present invention is arranged between suspension hook and goods, easy disassembly, applied widely, portable strong.
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 by installing hydraulic system on common crane additional and assembly pulley realizes control
The up and down motion displacement of wire rope load end processed, 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 load is produced by wave.
Heave compensator is divided into active and passive type two kinds by controlling power executive mode.By formula heave compensation system it is
Relying on boats and ships raising and lowering to compress the compressed air in release accumulator, accumulator can absorb impact as air spring
Power, thus decrease the tension force of steel wire rope.Active heave compensation system typically uses MRU
(motionreferenceunit) measure the attitude of boats and ships, then calculated by geometry, draw the suspension hook displacement in vertical direction,
Thus control executing agency's real-time folding and unfolding steel wire rope, cause the extra heave movement of suspension hook due to wave with " counteracting ".
Passive type heave compensation system is not enough: owing to parameter can not select and regulate, so sending out at lifting goods and operating mode
During changing, the compensation performance of system can be limited, and compensation precision is low.Additionally, passive type heave compensation system there is also stagnant
Rear bigger shortcoming, easily causes accident.
Active heave compensation system is not enough: Active Compensation system needs the power source of system self to be operated.
Traditional hydraulic system uses hydraulic pump as power, and power consumption is relatively big, is only applicable to middle low power occasion.Conventional hydraulic is mended
Repaying system, relatively passive compensation the at compensation precision and compensation element has improvement, but, also have the biggest room for promotion.Additionally, due to
It is big that hydraulic system there is also volume, and weight is big, the shortcoming changing hydraulic oil troublesome maintenance.The design solves above deficiency.
Summary of the invention
In order to solve technological deficiency present in prior art, the invention discloses a kind of novel offshore crane heave and mend
Repay system and compensation method.
The technical solution used in the present invention is as follows:
Novel offshore crane heave compensation system, including a hoisting apparatus, heave compensation perform device, controller and
Boats and ships heave simulation system, described heave compensation performs device and is lifted on hoisting apparatus, boats and ships heave movement simulation system
It is arranged on heave compensation and performs the lower section of device, and in the lower section of heave compensation execution device, measurement goods and between decks are installed
Distance, the sensor of data information is provided for heave compensation, controls hoisting apparatus, heave compensation by controller and perform dress
Put, boats and ships heave movement simulation system, it is achieved heave compensation performs mutually compensating for of device and boats and ships heave movement simulation system.
Described heave compensation performs device and includes an external frame being connected to crane rope end, described
External frame top fix a motor I, the output of described motor I by shaft coupling drive a ball-screw I,
Ball-screw I is provided with one and is matched therewith slide block, and described slide block is installed two screw threads paralleled with ball-screw I
Bar, the end of two described threaded rods is connected with same rectangular tube, is provided with a sound in the bottom of described rectangular tube
Wave sensor and electromagnet.Sonic sensor is used for measuring goods and tweendeck distance, provides reliable for realizing heave compensation
Data information.Electromagnet simulates the suspension hook in true loop wheel machine, for lifting and discharge goods.Heave compensator is worked
Journey, motor I drives ball-screw I to rotate, makes slide block lift, 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 apparatus includes a base, installs a winch and perpendicular standing on described base
Post, described column is provided with a vertical shaft bearing I, vertical shaft bearing I is provided with an arm；At described arm
End and the end of vertical shaft bearing fixed pulley is installed, described arm can swing up and down along vertical shaft bearing.
Described winch includes that stepper motor II, described stepper motor II connect a volume by a positive coupling
Cylinder, described two ends are flange shape, and this reel is arranged on reel bearing upwardly through bearing in bearing side.During use,
Being wound with steel wire rope on reel, the other end of steel wire rope is walked around the fixed pulley of the end of column and arm and is performed dress with heave compensation
The external frame put is connected.
Described stepper motor is installed on electric machine support.
Described boats and ships heave movement simulation system, including base plate, installs a base, described on described base plate
Base on a stepper motor III and a perpendicular straight line slide unit, the output of described stepper motor III are installed
End drives a ball-screw II paralleled with straight line slide unit, is provided with a slide block, described slide block on ball-screw II
One deck vertical with straight line slide unit of upper connection, is connected between deck with base plate and has the straight-line displacement sensing measuring deck displacement
Device；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:
Sonic sensor and deck distance are initialized by step 1；
Step 2 starts winch, by freight lifting to the height set；
Step 3 goods hovers 4 seconds, starts heave movement analogue means；
Step 4 starts winch, is transferred by goods to range estimation home；
Step 5 stops winch, starts heave compensation and performs device；
Step 6 makes deck reduce 1mm with goods distance every 1.5s；
Step 7, when goods contacts with deck, controls ball-screw I and declines 1.5cm；
Step 8 is again started up heave compensation and performs device, makes goods keep contacting with deck；
Discharge goods after step 91s；
Step 10 starts winch, is promoted by heave compensator, and ball-screw I resets；
Step 11 heave movement analogue means resets.
What the present invention produced has the beneficial effect that:
1) present invention is easy to the system in laboratory operation operating, it is possible to the more accurate marine lifting cargo of realization intuitively
Whole Process Simulation to discharge goods.
2) the Novel active heave compensator being arranged between suspension hook and goods, easy disassembly, applied widely, can
Transplantability is strong.
3) heave compensation, and the compensation system with single-chip microcomputer as control core are carried out by leading screw, compared to conventional hydraulic
Formula compensates, be quick on the draw, compensation precision high.
4) boats and ships heave movement analogue means, can simulate the heave movement of boat deck under different wave condition easily.
5) for rule ripple and irregular wave, all it is capable of when boat deck moves near extreme higher position, automatically will
Goods smoothly unloads and is put in boat deck.6) loop wheel machine analogue means, is suitable for simulation loop wheel machine lifting operation in laboratory environments.
Accompanying drawing explanation
Fig. 1 offshore crane heave compensation system；
Fig. 2 performs overall system architecture figure；
Fig. 3 and motion adjustment mechanism structure chart；
Fig. 4 crane structure figure；
Fig. 5 winch structure figure；
Fig. 6 boats and ships heave movement simulation system front view；
Fig. 7 boats and ships heave movement simulation system side view；
Fig. 8 irregular wave system experimentation flow chart；
Fig. 9 control principle drawing；
Figure 10 boats and ships heave movement figure；
Figure 11 goods and deck relative distance change over figure；
Figure 12 goods discharge stage and deck distance change over figure；
101 hoisting apparatus；102 winches；103 heave compensations perform device；104 controllers；105 boats and ships liters
Heavy simulation system；201 stepper motor I；202 external frame；203 rectangle aluminum pipes；204 bolts；205 electromagnet；
206 sonic sensors；207 shaft couplings；208 ball-screw I；209 motion conversion tablets；210 vertical shaft bearings
I；211 threaded rods；212 taper roll bearings；213 slipper bearings；214 feed rods；301 fixed pulleys；302 stand
Post；303 bases；304 vertical shaft bearing II；305 arms；401 stepper motor II；402 positive couplings；
403 reels；404 flanges；405 bearing blocks；406 reel bearings；407 feed rods；408 electric machine supports；501 is straight
Line slide unit；502 ball-screw II；503 decks；504 linear displacement transducers；505 bases；506 base plates；
507 slide blocks；508 stepper motor III.
Detailed description of the invention
The present invention is described in detail below in conjunction with the accompanying drawings:
As it is shown in figure 1, the invention discloses a kind of novel offshore crane heave compensation system, including a hoisting apparatus
101, winch 102, heave compensation perform device 103, controller 104 and boats and ships heave simulation system 105, and heave compensation performs dress
Putting 103 to be lifted on hoisting apparatus, boats and ships heave movement simulation system is arranged on heave compensation and performs the lower section of device, by control
Device processed controls hoisting apparatus 101, heave compensation performs device 103, boats and ships heave simulation system 105, it is achieved heave compensation performs
Cooperating of device and boats and ships heave simulation system 105.
It is as follows that heave compensation system performs apparatus structure: includes an external frame being connected to crane rope end
202, a stepper motor I201 is fixed at described external frame top, the output of described stepper motor I201 is by connection
Axial organ 207 drives a ball-screw I208, is provided with one and is matched therewith slide block on ball-screw 208, and slide block is installed
Two threaded rods 211 paralleled with ball-screw I208, the end of two described threaded rods 211 and same rectangle aluminum pipe
203 are connected, and are provided with a sonic sensor 206 and electromagnet 205 in the bottom of described rectangle aluminum pipe 203.
Sonic sensor 206 uses 5V power supply to power, and output signal is data signal, and output signal line SDA, SCL are respectively
Connect with P3.6, P3.7 pin of controller single-chip microcomputer, carry out I2C communication.
The element receiving single-chip microcomputer output signal has two stepper motor drivers and electromagnet.
Rectangular steel tube (20*20*1, lower same) and angle steel (30*30*2.0, lower same) are as external frame 202, connected mode
Bolt 204 (M3) is all used to connect；The a diameter of 16mm of ball-screw I208 used, helical pitch is 10mm；Ball-screw I208 two ends
It is fixed with taper roll bearing 212 (30201 type), aluminium sheet (90*30*3)；Employing feed rod (The most together), slipper bearing
Motion conversion tablet 209 is carried out circumferentially fixed by 213 (SMA10), vertical shaft bearing 210 (vertical SK10)；Use threaded rod 211
(M6) rectangle aluminum pipe (50*25*2, lower same) is connected with motion conversion tablet 209；Use plum coupling 207 (L50D12,
Internal diameter 10-12) connect two-phase hybrid stepping motor I201 and ball-screw 208；For the ease of demonstrating the discharge of goods, use
Electromagnet 205 connects goods, opens an a diameter of 4mm aperture in rectangle aluminum pipe lower end, is hanged by electromagnet 205 with 4cm long cord
Hang over below this aperture；In rectangle aluminum pipe one end bolt (M2), sonic sensor 206 is fixed.
Offshore crane structure is specific as follows: include a base 303, installs a winch on described base 303
102 and perpendicular column 302, described column 302 is provided with vertical shaft bearing II304, described vertical shaft is propped up
On seat II304, an arm 305 is installed；At the end of described arm 305 and the end of column 302, fixed pulley is installed
301, described arm 305 can swing up and down along vertical shaft bearing II304.
Winch 102 includes that stepper motor II401, described stepper motor II401 are connected by a positive coupling 402
One reel 403, described two ends are flange 404 shape, and this reel 403 is arranged on by bearing block 405 in the axial direction
On reel 403 bearing.Reel 403 is arranged on reel bearing 406, during use, is wound with steel wire rope, steel wire on reel 403
The other end of rope walks around the fixed pulley of the end of vertical shaft bearing and arm 305 and the external frame phase of heave compensation execution device
Even.
Stepper motor is installed on electric machine support 408, and polished rod 407 two ends pass electric machine support 408.
Using Solidworks that crane is carried out three-dimensional modeling, model is as shown in Figure 2.Lifting function carries out goods and slings
With transfer, the luffing of arm 305 controls the revolution with column and controls not in this research range.Crane main body uses rectangular aluminum
Pipe (50*25*2) makes, and is fixed with angle steel, feed rod, vertical shaft bearing (vertical SK10), bolt (M6, M4).Crane
The pulley model used is HO:XBD, hoist base and column 302, arm 305 and column 302 use steel wire rope (Under
With) carry out tractive, use wire rope clip to fix steel wire rope.
Winch use 2 to 30*30*2.0 type angle steel as reel bearing, bearing and loop wheel machine base use feed rod ()
It is attached.Reel and reel flange use respectively feed rod, irony circular baffle plate () make.Feed rod 407 is by crossing bearing
Seat (horizontal KFL000 internal diameter 10) carries out radially fixed, is fixed on reel bearing by bearing block with bolt (M4).Stepper motor
(57BYGH250-112) electric machine support (stepper motor support) is used to be fixed on loop wheel machine base.Use positive coupling
Motor shaft is connected by (D25L35, internal diameter 8-10) with reel.
Boats and ships heave movement simulation system, including base plate 506, installs a base 505 on described base plate 506,
One stepper motor III508 and a perpendicular straight line slide unit 501, described stepping are installed on described base 505
The output of motor III508 drives a ball-screw II502 paralleled with straight line slide unit 501, at ball-screw II502
It is provided with a slide block 507, described slide block 507 connects a deck 503 vertical with straight line slide unit, deck 503 and the end
Connect between plate 506 and have the linear displacement transducer 504 measuring deck displacement；Described slide block 507 is ball-screw II502's
Can move up and down along straight line slide unit under Qu Donging.
Trapezoidal screw overall length is 270mm, screw mandrel pitch 8mm, and effective travel is 210mm, and stepper motor III508 is 42 types
Stepper motor (42BYGH4812)；For increasing slide unit stability, use rectangle aluminum pipe (50*25*2) and rectangular steel tube (19*19*
1.0) and solid wood (380*300*16) makes pier and straight line slide unit is carried out surrounding fixes, connected mode uses bolt
(M3, M5) connects；The flat board of simulation boat deck 503 uses veneer (300*300*3) to make, and with rectangular steel tube to veneer
Reinforcing, veneer is fixing with bolt (M3) with the slide block 507 of straight line slide unit, then by the pull bar of linear displacement transducer 504 and wood
Plate connects, and sensor is connected with pier bolt (M5), and the effect adding linear displacement transducer 504 is record plank
Initial position, makes plank finally reset in presentation process by programme-control.
The compensation method of said system is as follows:
Sonic sensor and deck distance are initialized by step 1；
Step 2 starts winch, by freight lifting to the height set；
Step 3 goods hovers 4 seconds, starts heave movement analogue means；
Step 4 starts winch, is transferred by goods to range estimation home；
Step 5 stops winch, starts heave compensation system；
Step 6 makes deck reduce 1mm with goods distance every 1.5s；
Step 7, when goods contacts with deck, controls leading screw and declines 1.5cm；
Step 8 is again started up heave compensation, makes goods keep contacting with deck；
Discharge goods after step 91s；
Step 10 starts winch, is promoted by heave compensator, and leading screw resets；
Step 11 heave movement analogue means resets.
As shown in Figure 10, represent in the case of irregular wave, the vertical deviation of boat deck situation over time.
After Figure 11 is for stopping winch, starting heave compensation system, the goods recorded by timing acquiring sensor and deck
Relative distance value, utilizes the figure that MATLAB draws.Represent by programme-control goods on starting stage and deck before straight line A
Fast approaching；Represent between straight line A and straight line C and compensate the stabilization sub stage, while heave compensation, make the distance of goods and deck
It is gradually reduced；Deck and the spacing situation of change of goods when will put down for goods shown in picture frame D.
When sonic sensor detects that goods contacts with deck, temporarily cease heave compensation, make biography by controlling leading screw
Sensor and deck relative distance quickly reduce about 15mm (stage between straight line C and straight line E), are then again started up heave and mend
Repay so that goods steadily unload be put on deck without occur the most unsettled.Consecutive number strong point between straight line C and straight line E it
Between time interval do not reflect the real time.
By the line chart between straight line C and straight line E it can be seen that in the case of sensor mean accuracy is 3mm, unload goods putting
During thing, goods is less than 5mm with the relative distance on deck, have effectively achieved heave compensation.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (5)
- The most novel offshore crane heave compensation system, it is characterised in that: include that hoisting apparatus, a heave compensation perform dress Put, controller and boats and ships heave simulation system, described heave compensation performs device and is lifted on hoisting apparatus, boats and ships heave Sport simulated system is arranged on heave compensation and performs the lower section of device, and is provided with measurement in the lower section of heave compensation execution device Goods and tweendeck distance, provide the sensor of data information for heave compensation, controls hoisting apparatus, heave by controller Compensate and perform device, boats and ships heave movement simulation system, it is achieved heave compensation performs device and boats and ships heave movement simulation system Mutually compensate for；Described heave compensation performs device and includes an external frame being connected to crane rope end, outside described Portion's frame roof fixes a motor I, and the output of described motor I drives a ball-screw I by shaft coupling, at ball Leading screw I is provided with one and is matched therewith slide block, and described slide block is installed two threaded rods paralleled with ball-screw I, The end of two described threaded rods is connected with same rectangular tube, is provided with a sound wave in the bottom of described rectangular tube and passes Sensor and electromagnet；Described boats and ships heave movement simulation system, including base plate, installs a base, at the described end on described base plate Being provided with a stepper motor III and a perpendicular straight line slide unit on seat, the output of described stepper motor III drives A dynamic ball-screw II paralleled with straight line slide unit, is provided with a slide block on ball-screw II, described slide block connects Connect a deck vertical with straight line slide unit, be connected between deck with base plate and have the linear displacement transducer measuring deck displacement； Described slide block can move up and down along straight line slide unit under the driving of ball-screw II；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.
- Novel offshore crane heave compensation system the most as claimed in claim 1, it is characterised in that: described hoisting apparatus bag Include a base, described base is installed a winch and perpendicular column, described column is provided with one Vertical shaft bearing I, vertical shaft bearing I is provided with an arm；End and the end of vertical shaft bearing at described arm Being provided with fixed pulley, described arm can swing up and down along vertical shaft bearing.
- Novel offshore crane heave compensation system the most as claimed in claim 2, it is characterised in that: described winch includes step Entering motor II, described stepper motor II and connect a reel by a positive coupling, described reel two ends are flange Shape, and this reel is arranged on reel bearing upwardly through bearing in bearing side；During use, reel is wound with steel wire rope, The other end of steel wire rope is walked around column and is connected with the external frame of heave compensation execution device with the fixed pulley of the end of arm.
- Novel offshore crane heave compensation system the most as claimed in claim 1, it is characterised in that: described boats and ships heave fortune Dynamic simulation system, including base plate, installs a base on described base plate, is provided with a stepping electricity on described base Machine III and a perpendicular straight line slide unit, the output driving one of described stepper motor III is equal with straight line slide unit The ball-screw II of row, is provided with a slide block on ball-screw II, and on described slide block, connection one is vertical with straight line slide unit Deck, be connected between deck with base plate have measure deck displacement linear displacement transducer；Described slide block is at ball-screw Can move up and down along straight line slide unit under the driving of II.
- 5. the compensation method of the novel offshore crane heave compensation system as described in claim 1-4 is arbitrary, it is characterised in that As follows:Sonic sensor and deck distance are initialized by step 1；Step 2 starts winch, by the freight lifting that is connected on electromagnet to the height set；Step 3 goods hovers 4 seconds, starts heave movement analogue means；Step 4 starts winch, is transferred by goods to range estimation home；Step 5 stops winch, starts heave compensation system；Step 6 makes deck reduce 1mm with goods distance every 1.5s；Step 7, when goods contacts with deck, controls leading screw and declines 1.5cm；Step 8 is again started up heave compensation, makes goods keep contacting with deck；Discharge goods after step 9 1s；Step 10 starts winch, is promoted by heave compensator, and leading screw resets；Step 11 heave movement analogue means resets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410660704.1A CN104370229B (en) | 2014-11-18 | 2014-11-18 | Novel offshore crane heave compensation system and compensation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410660704.1A CN104370229B (en) | 2014-11-18 | 2014-11-18 | Novel offshore crane heave compensation system and compensation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104370229A CN104370229A (en) | 2015-02-25 |
| CN104370229B true CN104370229B (en) | 2016-08-24 |
Family
ID=52549477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410660704.1A Expired - Fee Related CN104370229B (en) | 2014-11-18 | 2014-11-18 | Novel offshore crane heave compensation system and compensation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104370229B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110337416A (en) * | 2017-02-28 | 2019-10-15 | J.雷.麦克德莫特股份有限公司 | The offshore vessel assisted using target following to ship is promoted |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106495027B (en) * | 2016-12-27 | 2020-03-10 | 江苏金风科技有限公司 | Method and system for hoisting and unloading goods with automatic wave compensation and crane platform |
| 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 |
| CN107607341B (en) * | 2017-09-11 | 2019-07-16 | 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 |
| AU2020218500C1 (en) | 2019-02-05 | 2023-05-25 | J. Ray Mcdermott, S.A. | System for determining position of objects |
| NL2025683B1 (en) * | 2020-05-26 | 2021-12-14 | Eagle Access B V | Offshore transfer system with internal relative movement compensation |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101713982A (en) * | 2009-11-06 | 2010-05-26 | 中国人民解放军国防科学技术大学 | Active heave compensation control system |
| CN102140917A (en) * | 2011-05-17 | 2011-08-03 | 中南大学 | Heave compensation simulation test device for deep-sea mining |
| CN103979419B (en) * | 2014-05-30 | 2016-01-20 | 大连海事大学 | Based on active heave compensation control system and the method for wave Trend judgement |
| CN204342340U (en) * | 2014-11-18 | 2015-05-20 | 中国石油大学(华东) | Novel offshore crane heave compensation system |
-
2014
- 2014-11-18 CN CN201410660704.1A patent/CN104370229B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110337416A (en) * | 2017-02-28 | 2019-10-15 | J.雷.麦克德莫特股份有限公司 | The offshore vessel assisted using target following to ship is promoted |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104370229A (en) | 2015-02-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104370229B (en) | Novel offshore crane heave compensation system and compensation method | |
| CN204342340U (en) | Novel offshore crane heave compensation system | |
| CN107265314B (en) | Multiple degrees of freedom active heave compensation simulator based on parallel institution | |
| CN102791608B (en) | A method for controlling the orientation of a load suspended from a bearing wire about said bearing wire and a winch arrangement | |
| WO2017107936A1 (en) | Offshore crane heave compensation control system and method using video rangefinding | |
| CN203602301U (en) | Movable cantilever lifting device | |
| CN110271950A (en) | Suspension centre adjustable type hanger | |
| CN203798596U (en) | Testing device used for drill column heaving compensation system | |
| CN206339296U (en) | A kind of dead weight and superimposion formula power standard set-up | |
| CN209600748U (en) | A kind of offshore wind turbine cushion cap Active Compensation steps on quadrupler | |
| CN107161882A (en) | A kind of new Active Compensation loop wheel machine system | |
| CN102602859A (en) | Wire-traction wall lifting and carrying combining mechanism | |
| CN209758878U (en) | Hoisting accessory for mechanical equipment | |
| CN204383722U (en) | A kind of boats and ships heave movement analog system | |
| CN109052193B (en) | Special lifting joint for wave compensation A-type portal frame | |
| CN203451046U (en) | Lifting device | |
| CN214527783U (en) | Position-adjustable assembled building hoisting device | |
| CN105970981A (en) | High slope construction lifting platform and construction method thereof | |
| CN105502180B (en) | Boom hoisting and hook and ladder | |
| CN204342305U (en) | A kind of novel heave compensation executive device | |
| CN206088830U (en) | Floating crane's counter weight device | |
| CN205419572U (en) | Ranks spool way hoist device | |
| CN105621288A (en) | Fuel pipe crane | |
| CN108408599A (en) | A kind of five connecting rod assembly device of balanced type flexible compensation | |
| CN204237468U (en) | A kind of arm tower crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20161118 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |