CN106639919B - The four electronic heave compensation system of rope of one kind - Google Patents
The four electronic heave compensation system of rope of one kind Download PDFInfo
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- CN106639919B CN106639919B CN201610887718.6A CN201610887718A CN106639919B CN 106639919 B CN106639919 B CN 106639919B CN 201610887718 A CN201610887718 A CN 201610887718A CN 106639919 B CN106639919 B CN 106639919B
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- 230000009467 reduction Effects 0.000 claims description 40
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002441 reversible effect Effects 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 4
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000003313 weakening effect Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
- E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
- E21B19/09—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods specially adapted for drilling underwater formations from a floating support using heave compensators supporting the drill string
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses the four electronic heave compensation systems of rope of one kind, for weakening marine transportation and underwater operation platform by wind, influence wave, flowed, gushed etc., have the characteristics that operation control is simple, compensation precision is high, energy-saving effect is good, work efficiency is high, at low cost, response is fast.Its technical solution are as follows: the four electronic heave compensation systems of rope of the invention are arranged on turntable by four sets of single electronic heave compensation systems of restricting and synchronize use, are distributed to four sets of systems by the work for completing former single rope compensation system and are completed jointly.Four sets of single rope working principles are identical, can be used in any combination, can effectively reduce the size of wirerope in this way, and then reduce the size and rotary inertia of auxiliary equipment, improve response speed, have the characteristics that act fast, high sensitivity.
Description
Technical field
The present invention relates to offshore equipment fields, more particularly to the power driven system of the heave compensation for underwater operation platform.
Background technique
Heave compensation system is to reduce maritime environment badly to the marine transportations such as ship and underwater operation platform in sea
On the influence that will receive wind, wave, flow, gush etc., improve safety, stability and the efficiency of its work.Under the influence ofs wave etc.,
Usual ship has 6 freedom degrees on tri- axis of X, Y, Z.The invention patent mainly considers the influence for wherein heaving freedom degree.Under water
Marine operation of the job platform in a certain depth, effect due to wave etc. to ship influence cannot stablizing for underwater operation platform
In marine a certain position, this significantly affects operating efficiency, precision and stability.
Therefore installation heave compensation system is usually required in the equipment of marine operation.Passive compensation is come in fact by mechanical structure
The compensation now heaved has compensation precision low, the unstable feature of performance.And traditional heave compensation uses hydraulic control, tool
Effective percentage is low, energy recovery efficiency is low.Due to synchronize difficulty can only use steel cable when give system bring rotary inertia
Greatly, system cost is high, use cost is high.It is badly in need of a kind of system of heave compensation, thus to improve existing in the prior art lack
It falls into.
Summary of the invention
A brief summary of one or more aspects is given below to provide to the basic comprehension in terms of these.This general introduction is not
The extensive overview of all aspects contemplated, and be both not intended to identify critical or decisive element in all aspects also non-
Attempt to define the range in terms of any or all.Its unique purpose is to provide the one of one or more aspects in simplified form
A little concepts are with the sequence for more detailed description given later.
It is an object of the invention to solve above-mentioned technical problem, the present invention provides the four electronic heave compensation systems of rope of one kind
System has that operation control is simple, mends for weakening marine transportation and underwater operation platform by wind, influence wave, flowed, gushed etc.
Repay the feature that precision is high, energy-saving effect is good, work efficiency is high, at low cost, response is fast.
The technical solution of the present invention is as follows: present invention discloses the four electronic heave compensation system of rope of one kind, used by synchronizing
Four sets of single electronic heave compensation system compositions of restricting, this four sets single electronic heave compensation systems of restricting, which are distributed in be supported on lash ship, to be turned
On disk, wherein the electronic heave compensation system of every suit list rope includes wirerope, broken line reel, friction reel-cage, driving gear, tooth
Item, movable pulley, fixed pulley, compensation operating condition motor, folding and unfolding operating condition motor, compensation operating condition planetary reduction gear, folding and unfolding operating condition planet subtract
Fast device, steel wire penetrating turntable are terminated with underwater operation platform under wirerope, wirerope bypass respectively fixed pulley, movable pulley,
The end of friction reel-cage, broken line reel, movable pulley is fixedly connected with rack gear, compensates the output shaft and compensation operating condition row of operating condition motor
The input shaft of star retarder is connected, and the output shaft of folding and unfolding operating condition motor is connected with the input shaft of folding and unfolding operating condition planetary reduction gear, drives
Moving gear is mounted on the output shaft of compensation operating condition planetary reduction gear, and rack gear is engaged with driving gear, and friction reel-cage is in folding and unfolding work
The folding and unfolding of underwater operation platform, broken line reel and friction reel-cage are realized under the driving of condition motor and folding and unfolding operating condition planetary reduction gear
Coordinate movement；
The four electronic heave compensation systems of rope further include acceleration transducer, pressure sensor, the rotation of Active Compensation motor shaft
Encoder, PLC control unit and Active Compensation motor frequency conversion drive system, wherein the acceleration transducer being mounted on lash ship is used
Displacement signal is heaved in detection hull, the pressure sensor being installed on wirerope is for detecting steel wire rope tension signal, simultaneously
Rotational angle displacement signal is passed to PLC control unit by Active Compensation motor shaft rotary encoder, and PLC control unit is receiving ship
After body heaves displacement signal and the rotational angle displacement signal of Active Compensation motor shaft rotation, system is driven to Active Compensation motor frequency conversion
System issues signal, the forward and reverse rotation of input shaft of control compensation operating condition planetary reduction gear, so that rack gear and movable pulley are mobile, in turn
Wirerope is driven to heave opposite direction movement, to maintain the absolute position of underwater operation platform constant, realization according to lash ship
Heave compensation function.
One embodiment of the electronic heave compensation system of four rope according to the present invention, this four sets single electronic heave compensation systems of restricting
It is evenly distributed on turntable, is used in any combination, and the rotation of the circular orbit by being arranged under turntable discharges underwater operation and puts down
Platform turns round in water and causes the mutual winding between wirerope.
One embodiment of the electronic heave compensation system of four rope according to the present invention, heave compensation operating condition are separated with folding and unfolding operating condition
Work, the drive path of heave compensation operating condition are compensation operating condition motor-compensation operating condition planetary reduction gear-driving gear-tooth
Item-movable pulley, the drive path of folding and unfolding operating condition are folding and unfolding operating condition motor-folding and unfolding operating condition planetary reduction gear-friction reel-cage.
One embodiment of the electronic heave compensation system of four rope according to the present invention, compensation operating condition pass through driving gear, rack gear
Final operation is executed with movable pulley, folding and unfolding operating condition executes final operation by friction reel-cage.
One embodiment of the electronic heave compensation system of four rope according to the present invention, only rack gear moves left and right when compensating operating condition
And friction reel-cage is locked, only friction reel-cage works when folding and unfolding operating condition.
One embodiment of the electronic heave compensation system of four rope according to the present invention, compensates operating condition planetary reduction gear and folding and unfolding work
Condition planetary reduction gear is three-stage planet gear reducer.
One embodiment of the electronic heave compensation system of four rope according to the present invention, the torsion of compensation operating condition planetary reduction gear output
Square is up to 10780Nm, transmission ratio 102.75.
One embodiment of the electronic heave compensation system of four rope according to the present invention, the electronic heave compensation system of every suit list rope
It further include supercapacitor.
The present invention, which compares the prior art, to be had following the utility model has the advantages that the four electronic heave compensation systems of rope of the invention are by four sets
Single electronic heave compensation system of restricting is arranged on turntable and synchronizes use, passes through the work point for completing former single rope compensation system
Four sets of systems of dispensing are completed jointly.Four sets of single rope working principles are identical, can be used in any combination.It can effectively reduce in this way
The size of wirerope, and then reduce the size and rotary inertia of auxiliary equipment, response speed is improved, has and acts fast, sensitivity
High feature.
Heave compensation system of the invention is compared with traditional hydraulic device, and due to having used, gear is engaged and rack-and-pinion is nibbled
The kind of drive is closed, so that system has the characteristics that structure is simple, work efficiency is high, components easily realize production domesticization, at low cost.
Running part uses the planetary reduction gear of big reduction ratio, reduces the components of intermediate transmission, makes transmission parts knot
Structure is simple, and structure is more compact.
By PID control system, mechanical structure, which is realized, to be synchronized, thus by conventional hydraulic drive in single rope change into four steel
Cord, auxiliary equipment rotary inertia is small, and the rigidity of rope is small, and movement is fast, high sensitivity, takes up an area also small.
Moreover, the principle of the mechanism of Active Compensation of the invention is to detect the movement of lash ship, lash ship signal is passed into PLC
Control unit, PLC control unit driving motor, motor drives corresponding executing agency by planetary reduction gear, to change steel
The length of cord in water realizes the compensation of lash ship displacement, and adaptable good, compensation precision is high, the stable spy of compensation performance
Point.
Detailed description of the invention
Fig. 1 shows the schematic diagram of the preferred embodiment of the four electronic heave compensation systems of rope of the invention.
Fig. 2 shows the schematic top plan views of the four electronic heave compensation systems of rope of the invention.
Fig. 3 shows list of the invention and restricts the schematic diagram of electronic heave compensation system.
Specific embodiment
After the detailed description for reading embodiment of the disclosure in conjunction with the following drawings, it better understood when of the invention
Features described above and advantage.In the accompanying drawings, each component is not necessarily drawn to scale, and has similar correlation properties or feature
Component may have same or similar appended drawing reference.
Fig. 1 shows the principle of the preferred embodiment of the four electronic heave compensation systems of rope of the invention, and Fig. 2 is that its vertical view is shown
It is intended to, and the principle for a set of single electronic heave compensation system of restricting that Fig. 3 is shown in which.Incorporated by reference to Fig. 1 to Fig. 3, here is pair
The detailed description of the principle of the four electronic heave compensation systems of rope of this implementation.
The four electronic heave compensation systems of rope of the invention are suitable for the heave compensation of underwater operation platform 11, by four sets of single ropes
Electronic heave compensation system concurrent working forms, and distributes to this four sets of systems by the work for completing former single rope compensation system
It is common to complete.This four sets single rope working principles are identical, can be used in any combination.
Four sets of single rope heave compensation systems are placed in concurrent working on the turntable 14 of lash ship 9, it is preferred that are evenly distributed on
It on turntable 14, can be used in any combination, and underwater operation can be released effectively by the rotation of the lower circular orbit being arranged of turntable 14
The revolution of platform 11 in water causes the mutual winding between wirerope.
The electronic heave compensation system of every suit list rope include wirerope 10, broken line reel 1, friction reel-cage 3, driving gear 6,
Rack gear 13, movable pulley 7, fixed pulley 8, compensation operating condition motor, folding and unfolding operating condition motor, compensation operating condition planetary reduction gear 5, folding and unfolding operating condition
Planetary reduction gear 4.
High strength wire rope 10 passes through turntable 14, under be terminated with underwater operation platform 11, respectively around fixed pulley 8, dynamic slide
Take turns 7, friction reel-cage 3, broken line reel 1.
The end of movable pulley 7 and rack gear 13 are affixed, compensate the output shaft of operating condition motor and compensate operating condition planetary reduction gear 5
Input shaft is connected, and the output shaft of folding and unfolding operating condition motor is connected with the input shaft of folding and unfolding operating condition planetary reduction gear 4.Gear 6 is driven to pacify
On the output shaft of supplement operating condition planetary reduction gear 4.Rack gear 13 is engaged with driving gear 6.Friction reel-cage 3 is in folding and unfolding operating condition electricity
The folding and unfolding of underwater operation platform 11 is realized under the driving of machine and folding and unfolding operating condition planetary reduction gear 4.Broken line reel 1 and friction reel-cage
3 coordinate movement.
Preferably, compensation operating condition planetary reduction gear 5 and folding and unfolding operating condition planetary reduction gear 4 are three-stage planet gear reducer,
The torque that compensation operating condition planetary reduction gear 5 exports is up to 10780Nm, and transmission ratio 102.75 has the characteristics that transmission ratio is big,
The use that intermediate gearbox can be reduced in this way, reduces the quality of system.
In addition, the electronic heave compensation system of every suit list rope further includes supercapacitor, the storage energy of supercapacitor
High-efficient (watt-hour efficiency is up to 95%), energy-saving effect is obvious compared with the accumulator of traditional hydraulic system, and energy storage efficiency is big
Width improves.
Four sets of single rope heave compensation systems further include acceleration transducer, pressure sensor, the rotation of Active Compensation motor shaft
Encoder, PLC control unit and Active Compensation motor frequency conversion drive system.
The acceleration transducer detection lash ship Heaving Signal being mounted on lash ship 9, detects wirerope by pressure sensor
Tension signal, while the rotational angle displacement signal of Active Compensation motor shaft rotary encoder is also passed to PLC control unit.PLC
After control unit receives hull heave displacement and Active Compensation motor shaft rotational angle displacement electric signal, according to the control plan made
Signal slightly is issued to Active Compensation motor frequency conversion drive system, control compensates forward and reverse turn of input shaft of operating condition planetary reduction gear 5
It is dynamic, so that rack gear 13 and movable pulley 7 are mobile, and then drive wirerope 10 to heave opposite direction movement according to lash ship, with dimension
11 absolute position of job platform is constant under water holding, realizes heave compensation operating condition.For the folding and unfolding operating condition of underwater operation platform 11, receive
It puts operating condition motor and drives friction reel-cage 3 through the folding and unfolding operating condition planetary reduction gear 4 of big retarding ratio, and then realize underwater operation platform 11
Folding and unfolding operating condition, broken line reel 1 is consistent with the movement of friction reel-cage 3.
Four rope heave compensation systems are simultaneously and concurrently worked by four sets of single rope heave compensation systems, four sets of single rope heave compensation systems
System is placed on turntable 14, synchronously completes the folding and unfolding and heave compensation function of underwater operation platform 11.For underwater operation platform
11 folding and unfolding operating condition keeps executing agency, that is, gear and rack teeth mechanism of compensation operating condition (including driving gear 6, rack gear 13 and dynamic to slide
Wheel 7 is motionless in constant position, and folding and unfolding operating condition motor drives friction by the folding and unfolding operating condition planetary reduction gear 4 of high reduction ratio
Reel 3 drives wirerope 10 to move, and then realizes the folding and unfolding of underwater operation platform 11.It heaves operating condition and separates work with folding and unfolding operating condition
Make, wherein the drive path of heave compensation operating condition is that supplement operating condition motor-compensation operating condition planetary reduction gear 5-drives gear 6-
13-movable pulley of rack gear 7, and the drive path of folding and unfolding operating condition is folding and unfolding operating condition motor-folding and unfolding operating condition planetary reduction gear 4-friction
Reel 3.Compensation operating condition executes final operation by driving gear 6, rack gear 13 and movable pulley 7, and only rack gear 13 moves left and right, this
When friction reel-cage 3 it is locked.Folding and unfolding operating condition executes final operation by friction reel-cage 3, and only friction reel-cage 3 works at this time.
For the folding and unfolding operating condition of job platform, whole system only has cable storage winch and its drive part, wirerope 10, friction
Reel 3 and its drive part, movable pulley 7, fixed pulley 8, wirerope 10, underwater operation working platform.Wherein, movable pulley 7 and fixed
Only around the rotation of itself axis, movable pulley 7 itself does not move pulley 8.After reaching designated depth, whole system stops and makes water
Lower job platform 11 stops in the position.
For the main operating condition of the system, influence of the heave compensation lash ship by wave.Lash ship 9 with wave rise, under
When heavy, underwater operation platform 11 rises with it, declines.Electric gear rack gear heave compensation system is by being mounted on lash ship 9
Acceleration transducer detects lash ship Heaving Signal, detects steel wire rope tension signal, while Active Compensation electricity by pressure sensor
The rotational angle displacement signal of arbor rotary encoder is also passed to PLC control unit.PLC control unit receives hull heave displacement
After Active Compensation motor shaft rotational angle displacement electric signal, driven according to the control strategy made to Active Compensation motor frequency conversion
System issue signal, control compensation the forward and reverse rotation of 5 input shaft of operating condition planetary reduction box so that wirerope 10 according to hull liter
Opposite direction movement is sunk, to maintain 11 absolute position of underwater operation platform constant.
The characteristics of heave compensation is: heave compensation part works and is used for underwater operation platform extension and retraction system not work at this time
Make, i.e., friction reel-cage 3 and cable storage winch do not work, the drive part work of the rack gear 13 and rack gear that connect with movable pulley 7.Entirely
System is finally to be connect by turntable 14 with lash ship 9, lash ship 9 transmitted under the buoyancy of water self weight and underwater operation platform from
Weight.It, will certainly be by wirerope 10 by the disturbance propagation to underwater operation platform, thus when lash ship 9 is by external disturbance
Underwater operation platform there has been displacement, speed, acceleration, this is clearly that we are reluctant to see.When lash ship 9 has a rising
When movement, there is a lag due to 3000 meters of wirerope effects, underwater operation platform also has the upward fortune of a lag at this time
Dynamic trend.Movable pulley 7 has a line position to the right along pulley guide rails under the driving of heave compensation motor, with rack gear 13
It moves, and then is equivalent to and has put a part of wirerope, the wirerope of this part is just used to balance lash ship 9 and moves upwards bring shadow
It rings.Conversely, underwater operation platform also has the tendency that moving downward for a lag when lash ship 9 has a downward displacement.It is dynamic
Pulley 7 has a displacement of the lines to the right along pulley guide rails under the driving of heave compensation motor, with rack gear 13, and then is equivalent to
A part of wirerope is received, the wirerope of this part is just used to balance lash ship 9 and moves downward bring influence.
Offer is to make any person skilled in the art all and can make or use this public affairs to the previous description of the disclosure
It opens.The various modifications of the disclosure all will be apparent for a person skilled in the art, and as defined herein general
Suitable principle can be applied to other variants without departing from the spirit or scope of the disclosure.The disclosure is not intended to be limited as a result,
Due to example described herein and design, but should be awarded and principle disclosed herein and novel features phase one
The widest scope of cause.
Claims (4)
1. the four electronic heave compensation system of rope of one kind, which is characterized in that by synchronizing use four sets of single electronic heave compensation systems that restrict
System composition, this four sets single electronic heave compensation systems of restricting are evenly distributed on the turntable being supported on lash ship, are used in any combination,
And the rotation release underwater operation platform of the circular orbit by being arranged under turntable turns round cause between wirerope in water
Mutually winding, wherein the electronic heave compensation system of every suit list rope includes wirerope, broken line reel, friction reel-cage, sliding tooth
Wheel, rack gear, movable pulley, fixed pulley, compensation operating condition motor, folding and unfolding operating condition motor, compensation operating condition planetary reduction gear, folding and unfolding operating condition row
Star retarder, steel wire penetrating turntable are terminated with underwater operation platform under wirerope, and wirerope bypasses fixed pulley, dynamic respectively
The end of pulley, friction reel-cage, broken line reel, movable pulley is fixedly connected with rack gear, compensates output shaft and the compensation of operating condition motor
The input shaft of operating condition planetary reduction gear is connected, the input shaft phase of the output shaft and folding and unfolding operating condition planetary reduction gear of folding and unfolding operating condition motor
Even, driving gear is mounted on the output shaft of compensation operating condition planetary reduction gear, and rack gear is engaged with driving gear, and friction reel-cage is being received
Put the folding and unfolding that underwater operation platform is realized under the driving of operating condition motor and folding and unfolding operating condition planetary reduction gear, broken line reel and friction
The coordinate movement of reel；
The four electronic heave compensation systems of rope further include acceleration transducer, pressure sensor, Active Compensation motor shaft rotary coding
Device, PLC control unit and Active Compensation motor frequency conversion drive system, wherein the acceleration transducer being mounted on lash ship is for examining
It surveys hull and heaves displacement signal, the pressure sensor being installed on wirerope is for detecting steel wire rope tension signal, while active
Rotational angle displacement signal is passed to PLC control unit by small electromotor axis rotary encoder, and PLC control unit is receiving hull liter
After heavy displacement signal and the rotational angle displacement signal of Active Compensation motor shaft rotation, sent out to Active Compensation motor frequency conversion drive system
Signal out, the forward and reverse rotation of input shaft of control compensation operating condition planetary reduction gear, so that rack gear and movable pulley are mobile, and then drives
Wirerope heaves opposite direction movement, to maintain the absolute position of underwater operation platform constant, realization heave according to lash ship
Compensation function；
Heave compensation operating condition separately works with folding and unfolding operating condition, and the drive path of heave compensation operating condition is compensation operating condition motor-compensation
Operating condition planetary reduction gear-driving gear-rack gear-movable pulley, the drive path of folding and unfolding operating condition are folding and unfolding operating condition motor-folding and unfolding
Operating condition planetary reduction gear-friction reel-cage, compensation operating condition execute final operation, folding and unfolding by driving gear, rack gear and movable pulley
Operating condition executes final operation by friction reel-cage, and only rack gear moves left and right when compensating operating condition and friction reel-cage is locked, folding and unfolding
Only friction reel-cage works when operating condition.
2. the electronic heave compensation system of four rope according to claim 1, which is characterized in that compensation operating condition planetary reduction gear and
Folding and unfolding operating condition planetary reduction gear is three-stage planet gear reducer.
3. the electronic heave compensation system of four rope according to claim 1, which is characterized in that compensation operating condition planetary reduction gear is defeated
Torque out is up to 10780Nm, transmission ratio 102.75.
4. the electronic heave compensation system of four rope according to claim 1, which is characterized in that the electronic heave of every suit list rope is mended
The system of repaying further includes supercapacitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610887718.6A CN106639919B (en) | 2016-10-11 | 2016-10-11 | The four electronic heave compensation system of rope of one kind |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610887718.6A CN106639919B (en) | 2016-10-11 | 2016-10-11 | The four electronic heave compensation system of rope of one kind |
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| Publication Number | Publication Date |
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| CN106639919A CN106639919A (en) | 2017-05-10 |
| CN106639919B true CN106639919B (en) | 2019-01-04 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1458944A (en) * | 1965-01-15 | 1966-04-29 | Inst Francais Du Petrole | Device for carrying out observations and underwater work |
| CN204040006U (en) * | 2014-09-19 | 2014-12-24 | 中国石油大学(华东) | Wire rope-winch heave compensator |
| CN204402396U (en) * | 2014-12-30 | 2015-06-17 | 西南石油大学 | A kind of Novel crown block heave compensator driving mechanism |
| US9963326B2 (en) * | 2014-12-30 | 2018-05-08 | Cameron International Corporation | Multi-path hoisting systems |
| CN104555769B (en) * | 2015-01-20 | 2017-07-28 | 湖南科技大学 | A kind of electric drive active compensation ocean winch |
| CN105221085A (en) * | 2015-10-23 | 2016-01-06 | 宝鸡石油机械有限责任公司 | Two half active crown-block heave compensator that floats |
| CN206071486U (en) * | 2016-10-11 | 2017-04-05 | 上海振华重工(集团)股份有限公司 | The electronic heave compensation system of four rope of one kind |
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