CN107473118A - A kind of hydraulic cylinder type half active compensation device of crane - Google Patents
A kind of hydraulic cylinder type half active compensation device of crane Download PDFInfo
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- CN107473118A CN107473118A CN201710942281.6A CN201710942281A CN107473118A CN 107473118 A CN107473118 A CN 107473118A CN 201710942281 A CN201710942281 A CN 201710942281A CN 107473118 A CN107473118 A CN 107473118A
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- 239000002828 fuel tank Substances 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 230000007423 decrease Effects 0.000 claims description 9
- 238000004880 explosion Methods 0.000 claims description 8
- 239000000446 fuel Substances 0.000 claims description 7
- 229920000573 polyethylene Polymers 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 10
- 238000005265 energy consumption Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 7
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- 238000007906 compression Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
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- 229910001208 Crucible steel Inorganic materials 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229920000785 ultra high molecular weight polyethylene Polymers 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002929 anti-fatigue Effects 0.000 description 1
- 239000003963 antioxidant agent Substances 0.000 description 1
- 230000003078 antioxidant effect Effects 0.000 description 1
- 235000006708 antioxidants Nutrition 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
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- 230000009466 transformation Effects 0.000 description 1
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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of active compensation device of hydraulic cylinder type half of crane, for deep water crane：Including passive compensation system, Active Compensation system, hydraulic cylinder pulley system.The present invention installs two assembly pulleys arranged side by side in one end of piston rod extension, increases compensation ability four times greater, and compensation speed is reduced to original a quarter, and reducing too high caused hit of speed influences.The passive compensation way used, the passive rod chamber for compensating cylinder are connected with compensating the rodless cavity of cylinder by oil pipe, and the passive rodless cavity for compensating cylinder is connected with gas cylinder and air pressurization system, to compensate most of heave displacement；Using Active Compensation mode, place a pulling force sensor in the position passed through on hawser, the analog signal that cable tension changes is passed on controller, by controlling the valve element of electro-hydraulic proportion reversing valve to control the piston rod movement of Active Compensation cylinder, realizes final accurate compensation.Therefore, the advantages of energy consumption of the present invention is low, and precision is high, and compensation magnitude is big.
Description
Technical field
The present invention relates to the heave compensator that a kind of hydraulic cylinder and assembly pulley coordinate, and in particular to a kind of liquid of crane
The active compensation device of cylinder pressure formula half, for deep-sea resources exploration and development field, it is used primarily on crane, hangs large-scale
Underwater installation.
Background technology
With the utilization of Marine oil and gas resource, particularly deep-sea oil gas, the research of deep-sea high tech equipment is particularly heavy
Will.The installation of underwater installation needs special deep water installation system, mainly including lowering equipment, hawser and hangs weight.But
In deep ocean work, due to installing the heave movement of lash ship, make the heave movement aggravation for hanging weight, cause the urgency of cable tension
Drastic change, cable breaks are caused when serious, produce economic loss and the safety to staff threatens.And work as and hang weight
When thing transfers to underwater platform, it may be collided with underwater platform or hanging phenomenon occur, influence the installation of underwater installation
Accuracy.In order to ensure that underwater installation normally hangs installation, lowering equipment must possess heave compensation function.
The content of the invention
The technical problems to be solved by the invention are to be directed to the deficiencies in the prior art, and provide a kind of hydraulic cylinder with
The heave compensator that assembly pulley coordinates, it is low passive compensation compensation precision in present hydraulic cylinder compensation device to be mostly present, main
The shortcomings that dynamic complicated power consumption of compensation is big, and hydraulic cylinder compensation magnitude is small, the advantages of present invention combines various compensation ways, and to hydraulic pressure
The design of cylinder improves, and improves compensation magnitude.Go for the occasion of big depth high capacity on turned crane.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of hydraulic cylinder type half active compensation device of crane, including the hydraulic cylinder pulley system of mutual cooperation,
Passive compensation system, Active Compensation system, compensation installation lash ship is because heave movement exists on influence, its feature caused by hanging object
In：
Described hydraulic cylinder pulley system, including fixed pulley, movable pulley, hawser and compensation cylinder：Movable pulley is positioned at compensation cylinder
Piston rod stretch out one end；Hawser is released by winch and is connected to by fixed pulley on movable pulley；
Described passive compensation system, including work gas cylinder, bailout bottle, passively air pressurization system, compensation cylinder, control
Main valve, bi-bit bi-pass reversal valve：The rodless cavity of passive compensation cylinder passes sequentially through control main valve, work gas cylinder, bi-bit bi-pass commutation
Valve, bailout bottle are connected with air pressurization system；
Described Active Compensation system, including fuel tank, electromagnetic relief valve, Active Compensation cylinder, pulling force sensor, controller,
Electro-hydraulic proportion reversing valve, check valve, return filter, load-reacting pump, filter：The rod chamber of Active Compensation cylinder with
The B mouths of electro-hydraulic proportion reversing valve are connected, rodless cavity is connected with the A mouths of electro-hydraulic proportion reversing valve；The T of electro-hydraulic proportion reversing valve
Mouth is connected by return filter with fuel tank；The P mouths of electro-hydraulic proportion reversing valve pass sequentially through check valve, load-reacting
Pump, filter are connected with fuel tank；Check valve is also directly connected by electromagnetic relief valve with fuel tank；Load-reacting pump is matched somebody with somebody
Provided with motor；Active Compensation cylinder passes sequentially through electro-hydraulic proportion reversing valve, controller is connected with pulling force sensor, pulling force sensor
It is installed on the position of hawser process；
The rodless cavity for compensating cylinder is connected by oil pipe with the rod chamber of passive compensation cylinder, the passive piston for compensating cylinder and master
The piston rod of dynamic compensation cylinder is connected.
Preferably, in hydraulic cylinder pulley system, movable pulley number is two：Movable pulley I, movable pulley II, the two parallel connection is even
One end that compensation cylinder piston rod stretches out is connected on, and is stretched out to both sides；Compensation cylinder piston rod adds to the position that both sides are stretched out to be strengthened
Muscle, improve piston rod intensity.
Preferably, in hydraulic cylinder pulley system, fixed pulley number is five：Fixed pulley A, fixed pulley B, fixed pulley C, fixed cunning
D, fixed pulley E are taken turns, wherein：Fixed pulley A, fixed pulley B are located at the left side of movable pulley, and fixed pulley E is located at the right side of movable pulley, fixed sliding
C, fixed pulley D are taken turns positioned at the both sides in compensation cylinder bottom portion.
Preferably, hawser is released by winch, is sequentially connected fixed pulley A, fixed pulley B, movable pulley I, fixed pulley C, fixed cunning
It is connected after wheel D, movable pulley II, fixed pulley E with goods.
Preferably, when fixed pulley B, fixed pulley E are located at the both sides of movable pulley, position will make between fixed pulley and movable pulley
Hawser is in the state vertical with deck, and the position of fixed pulley is less than the position on the hydraulic cylinder top of compensation cylinder.
Preferably, pulling force sensor, is installed on the position that hawser passes through between fixed pulley C, fixed pulley D, and detection hawser is drawn
Power changes.
Preferably, on the oil pipe of the rod chamber of the rodless cavity of connection compensation cylinder and passive compensation cylinder, anti-explosion safety is installed
Valve；Type is load maintenance explosion relief valve in situ, prevents oil pipe bursts suddenly from causing to compensate cylinder piston rod decline, causes to hang
Put the unexpected decline of thing.
Preferably, gas cylinder is worked to be multiple, and is connected in parallel, and control main valve is connected with multiple work gas cylinders in parallel respectively
Connect, control valve is mounted on each branch road；Bailout bottle is connected in parallel also to be multiple, bi-bit bi-pass proportioning valve respectively with
Multiple bailout bottles in parallel are connected, and control valve is mounted on each branch road.
Preferably, described hawser is high-molecular polythene hawser.
The application method of the active compensation device of hydraulic cylinder type half of crane in the present invention, comprises the following steps：
(1) before the active compensation device of hydraulic cylinder type half work of crane starts, control main valve, control are opened
Valve, by controlling solenoid-operated proportional change-over valve core to move to left, the passive cylinder that compensates has been in holosystolic state, makes the piston of compensation cylinder
Bar all stretches out；
(2) after hanging up hanging object, control solenoid-operated proportional change-over valve core moves to right, and Active Compensation cylinder piston is increased, and compensates cylinder
Piston begin to decline, until compensation cylinder piston be in compensation cylinder stroke 1/2 at make fuel cut-off；
(3) and then by air pressurization system pressurizeed into work gas cylinder and bailout bottle until reaching 25MPa；Set up
Cheng Hou, starts winch, and winch discharges hawser with 0.5m/s speed.
In the present invention, fixed pulley is responsible for the guiding of hawser, and compensation cylinder promotes movable pulley lifting to compensate the heave of lash ship fortune
Dynamic, compensation cylinder is connected with passive compensation cylinder by oil pipe, and one explosion relief valve of centre installation, the passive cylinder rodless cavity that compensates connects
A series of gas cylinders and air pressurization system are connect, place pulling force sensor in the position that hawser passes through, cable tension variable signal is right
By the piston rod movement for controlling Active Compensation cylinder after A/D, D/A conversion of controller by electro-hydraulic proportion reversing valve.
In the present invention, hawser is high-molecular polythene (Di Nima Dyneema) hawser, and the hawser of this material has weight
Gently, anti-oxidant, antifatigue, pulling force is strong, it is wear-resistant the advantages that, its tension intensity is 8 times of equal steel wire, present Dyneema
Hawser product elongation is very low, almost nil, and 40 millimeters of 12 strands of hawsers can bear 122 tons of pulling force.
In the present invention, hawser is connected on running block in parallel by fixed pulley, when needing heave compensation, passes through piston
Bar is risen or fallen to loosen and be tensioned hawser, due to the presence of linkage pulley combination, when piston rod rises or falls one section
During stroke, the distance that can be compensated is 4 times of stroke, considerably increases the amplitude of compensation, when the compensation speed of needs is a,
The speed of compensation cylinder piston rod is only required to be 1/4a, so reduces hydraulic cylinder and produces the influence hit, the design to hydraulic cylinder will
Ask also corresponding reduction.
In the present invention, hydraulic oil passes through return filter oil return box, load-reacting from the T mouths of electro-hydraulic proportion reversing valve
One check valve is installed between pump and electro-hydraulic proportion reversing valve, electromagnetic relief valve is installed between load-reacting pump and fuel tank
And filter, pulling force sensor is installed by position in hawser, the signal that cable tension changes is passed into controller, controller leads to
Cross A/D, D/A conversion and signal is passed into electro-hydraulic proportion reversing valve, actively mended by controlling the switch of electro-hydraulic proportion reversing valve to control
Cylinder disengaging hydraulic oil is repaid, drives the piston rod of active cylinder to move up and down, the piston rod movement of active cylinder drives passive hydraulic cylinder again
The motion of piston, the motion of passive cylinder piston make the pressure of compensation cylinder change, and finally heave is compensated.
In the present invention, in lash ship uphill process, compensation cylinder rises with lash ship, and hawser pull increase, compensation cylinder is without bar
The rodless cavity of chamber and passive compensation cylinder is compressed, and the passive cylinder rodless cavity that compensates is connected with work gas cylinder, and the passive cylinder that compensates is without bar
Cavity pressure increases, and the gas compression compensation part to work in gas cylinder rises displacement, and the gas compression to work in gas cylinder can also be deposited
Lower part energy is stored up, when the compensation ability of gas compression in gas cylinder does not reach necessary requirement, pulling force sensor at this moment is by cable
The tensile force of rope tensile force and known hawser, which changes, passes to controller, in lash ship uphill process, the tensile force increase of hawser, and control
Device processed sends signal after calculating to load-reacting pump and electro-hydraulic proportion reversing valve, and solenoid-operated proportional change-over valve core is right
Move, load-reacting pump gives active cylinder rodless cavity fuel feeding, and oil pressure increase promotes active cylinder piston to move upwards, makes compensation cylinder
Volume increases, and pressure reduces, and compensation cylinder piston moves downward, the displacement that compensation lash ship moves upwards.
In the present invention, during lash ship decline, compensation cylinder declines with lash ship, and hawser pull reduces, and compensation cylinder is without bar
The rodless cavity volume increase of chamber and passive compensation cylinder, pressure reduce, the energy stored in work gas cylinder release said process, compensation
A part of lash ship declines displacement, while the signal that hawser tensile force changes is transmitted to electro-hydraulic proportion reversing valve and born by pulling force sensor
Sensitive variable pump is carried, solenoid-operated proportional change-over valve core moves to left, and load-reacting pump promotes master to the rod chamber fuel feeding of active cylinder
Dynamic compensation cylinder piston moves downward, and reduces the volume of compensation cylinder, pressure increase, compensates cylinder piston upwards, compensates lash ship
The displacement moved downward.
In the present invention, load-reacting pump can experience load pressure and traffic requirement, using the teaching of the invention it is possible to provide required for load
Flow and pressure, and can adapt to automatically.Explosion relief valve is the explosion-proof valve for loading maintenance in situ, when pipe explosion,
Plate valve is compressed tightly against on the valve seat of annular, therefore load can be rested in the travel position of pipe breakage moment, prevent from dashing forward
So rupture hydraulic cylinder piston rod declines suddenly in the presence of hawser tensile force and deadweight, causes to hang the unexpected decline of thing,
Equipment and personnel are damaged.
The advantages of the advantages of technical solution of the present invention is to combine Active Compensation and passive compensation, hydraulic system is also done
Simplification, pulling force sensor has only been used in Active Compensation, using detection piston position and detect the displacement of lash ship position and pass
Sensor, reduce cost and design difficulty.Therefore, the present invention has efficiency high, energy consumption is low, hysteresis quality is small, low cost and other advantages.
Brief description of the drawings
Fig. 1：The overall structure diagram of the active compensation device of hydraulic cylinder type half of crane of the present invention.
Wherein：1 it is fuel tank, 2 be electromagnetic relief valve, 3 be Active Compensation cylinder, 4 be work gas cylinder, 5 be control valve, 6 is standby
It is air pressurization system with gas cylinder, 7,8 be passive compensation cylinder, 9 be control main valve, 10 be bi-bit bi-pass reversal valve, 11 is to determine cunning
Wheel, 12 be winch, 13 be movable pulley, 14 be hawser, 15 be compensate cylinder, 16 be pulling force sensor, 17 be controller, 18 be electro-hydraulic
Proportional reversing valve, 19 be check valve, 10 be return filter, 21 be load-reacting pump, 22 be filter, 23 be motor,
24 be explosion relief valve；I is that movable pulley I, II are movable pulley II；A is that fixed pulley A, B are that fixed pulley B, C are that fixed pulley C, D are fixed
Pulley D, E are fixed pulley E.
Embodiment
The embodiment of technical solution of the present invention is described in detail below, but the present invention is not limited to following description
Content：
Present invention firstly provides a kind of active compensation device of hydraulic cylinder type half of crane, include the liquid of mutual cooperation
Cylinder pressure pulley system, passive compensation system, Active Compensation system, compensation installation lash ship is because of heave movement to shadow caused by hanging object
Ring, as shown in Figure 1：
Described hydraulic cylinder pulley system, including fixed pulley 11, movable pulley 13, hawser 14 and compensation cylinder 15：Movable pulley position
In one end that the piston rod of compensation cylinder stretches out；Hawser is released by winch 12 and is connected to by fixed pulley on movable pulley.It is dynamic to slide
It is two to take turns number：Movable pulley I, movable pulley II, the two is connected in one end that compensation cylinder piston rod stretches out in parallel, and is stretched to both sides
Go out；Compensation cylinder piston rod adds reinforcement to the position that both sides are stretched out.Fixed pulley number is 5：Fixed pulley A, fixed pulley B, determine
Pulley C, fixed pulley D, fixed pulley E, wherein：Fixed pulley A, fixed pulley B are located at the left side of movable pulley, and fixed pulley E is located at movable pulley
Right side, fixed pulley C, fixed pulley D are positioned at the both sides in compensation cylinder bottom portion.When fixed pulley B, fixed pulley E are located at the both sides of movable pulley,
Position will make the state that the hawser between fixed pulley and movable pulley is in and deck is vertical, and the position of fixed pulley is less than compensation
The position on the hydraulic cylinder top of cylinder.Hawser is released by winch 12, is sequentially connected fixed pulley A, fixed pulley B, movable pulley I, fixed cunning
It is connected after wheel C, fixed pulley D, movable pulley II, fixed pulley E with goods.Hawser is high-molecular polythene hawser.
Described passive compensation system, including work gas cylinder 4, bailout bottle 6, air pressurization system 7, passive compensation cylinder 8,
Control main valve 9, bi-bit bi-pass reversal valve 10：The rodless cavity of passive compensation cylinder pass sequentially through control main valve, work gas cylinder, two two
Logical reversal valve, bailout bottle are connected with air pressurization system.Gas cylinder work to be multiple, and is connected in parallel, control main valve difference
It is connected with multiple work gas cylinders in parallel, control valve 5 is mounted on each branch road；Bailout bottle is also to be multiple, and parallel connection
Connection, bi-bit bi-pass proportioning valve 10 are connected with multiple bailout bottles in parallel respectively, and control valve is mounted on each branch road
5。
Described Active Compensation system, including fuel tank 1, electromagnetic relief valve 2, Active Compensation cylinder 3, pulling force sensor 16, control
Device 17 processed, electro-hydraulic proportion reversing valve 18, check valve 19, return filter 20, load-reacting pump 21, filter 22：Actively
The rod chamber of compensation cylinder is connected with the B mouths of electro-hydraulic proportion reversing valve, rodless cavity is connected with the A mouths of electro-hydraulic proportion reversing valve；
The T mouths of electro-hydraulic proportion reversing valve are connected by return filter with fuel tank；The P mouths of electro-hydraulic proportion reversing valve pass sequentially through unidirectionally
Valve, load-reacting pump, filter are connected with fuel tank；Check valve is also directly connected by electromagnetic relief valve with fuel tank；
Load-reacting pump is equipped with motor 23；Active Compensation cylinder passes sequentially through electro-hydraulic proportion reversing valve, controller and pull sensing
Device is connected, and pulling force sensor is installed on the position that hawser 14 passes through between fixed pulley C, fixed pulley D.
The rodless cavity for compensating cylinder 15 is connected by oil pipe with the rod chamber of passive compensation cylinder 8, the passive piston for compensating cylinder
It is connected with the piston rod of Active Compensation cylinder 3；The oil pipe of the rod chamber of the rodless cavity of connection compensation cylinder 15 and passive compensation cylinder 8
On, explosion relief valve 24 is installed.
The present invention also provides a kind of application method of the active compensation device of hydraulic cylinder type half of above-mentioned crane, tool
Body step is as follows：
(1) before the active compensation device of hydraulic cylinder type half work of crane starts, control main valve 9, control are opened
Valve 5, by controlling the valve element of solenoid-operated proportional reversal valve 18 to move to left, the passive cylinder 8 that compensates has been in holosystolic state, makes compensation cylinder 15
Piston rod all stretch out；
(2) after hanging up hanging object, the valve element of control solenoid-operated proportional reversal valve 18 moves to right, and the piston of Active Compensation cylinder 3 is increased, compensation
The piston of cylinder 15 is begun to decline, and makes fuel cut-off until compensation cylinder piston is at the 1/2 of compensation cylinder stroke；
(3) and then by air pressurization system 7 pressurizeed into work gas cylinder 4 and bailout bottle 6 until reaching 25MPa；If
After the completion of putting, start winch, winch discharges hawser with 0.5m/s speed.
Apparatus of the present invention and method are illustrated with reference to specific embodiment：
Embodiment 1：50 tons of weight is at sea hung, is put on underwater 1500 meters of platform, with the speed of 0.5 metre per second (m/s)
At the uniform velocity to transfer, compensate cylinder rodless cavity pressure 25MPa, internal diameter 320mm, wall thickness 50mm, hydraulic cylinder material is No. 45 Fine Steel Casting irons,
Diameter of piston rod 220mm, piston rod stroke 160mm, from model ZG310-570 material of the cast steel as pulley, select
Material of the model ZG270-500 cast steel as pulley yoke.
The active compensation device of hydraulic cylinder type half of crane in the present invention, in lash ship uphill process, compensate cylinder
As lash ship rises, hawser pull increase, being compressed for compensation cylinder rodless cavity and the passively rodless cavity of compensation cylinder, cylinder is passively compensated
Rodless cavity is connected with work gas cylinder, passive to compensate the increase of cylinder rodless cavity pressure, the gas compression compensation part to work in gas cylinder
Rise displacement, the gas compression to work in gas cylinder can also store lower part energy, when the compensation ability of gas compression in gas cylinder reaches
During less than necessary requirement, the change of the tensile force of hawser tensile force and known hawser is passed to control by pulling force sensor at this moment
Device, in lash ship uphill process, the tensile force increase of hawser, controller is by calculating backward load-reacting pump and electric-hydraulic proportion
Reversal valve sends signal, and solenoid-operated proportional change-over valve core moves to right, and load-reacting pump gives active cylinder rodless cavity fuel feeding, and oil pressure increases
It is big to promote active cylinder piston to move upwards, increase the volume of compensation cylinder, pressure reduces, and compensation cylinder piston moves downward, and compensates
The displacement that lash ship moves upwards.
The active compensation device of hydraulic cylinder type half of crane in the present invention, during lash ship decline, compensate cylinder
As lash ship declines, hawser pull reduces, and the rodless cavity volume increase of compensation cylinder rodless cavity and passive compensation cylinder, pressure reduces,
The energy that stores in work gas cylinder release said process, compensate a part of lash ship and decline displacement, while pulling force sensor is by hawser
The signal of tensile force change is transmitted to electro-hydraulic proportion reversing valve and load-reacting pump, and solenoid-operated proportional change-over valve core moves to left, and bears
Rod chamber fuel feeding of the sensitive variable pump to active cylinder is carried, promotes Active Compensation cylinder piston to move downward, subtracts the volume of compensation cylinder
It is small, pressure increase, compensate cylinder piston upwards, the displacement that compensation lash ship moves downward.
The present invention had both had the advantages of passive compensation energy consumption is low, had the advantages of Active Compensation precision is high, and hysteresis quality is small again.
Examples detailed above is technical concept and technical characterstic to illustrate the invention, can not limit the present invention's with this
Protection domain.The equivalent transformation or modification that all essence according to the present invention is done, should all cover in protection scope of the present invention
Within.
Claims (10)
1. a kind of active compensation device of hydraulic cylinder type half of crane, including the hydraulic cylinder pulley system of mutual cooperation, quilt
Dynamic compensation system, Active Compensation system, compensation installation lash ship is because of heave movement on influence caused by hanging object, it is characterised in that：
Described hydraulic cylinder pulley system, including fixed pulley (11), movable pulley (13), hawser (14) and compensation cylinder (15)：It is dynamic to slide
Wheel is positioned at one end that the piston rod of compensation cylinder stretches out；Hawser is released by winch (12) and is connected to movable pulley by fixed pulley
On；
Described passive compensation system, including work gas cylinder (4), bailout bottle (6), air pressurization system (7), passively compensate cylinder
(8) main valve (9), bi-bit bi-pass reversal valve (10), are controlled：The rodless cavity of passive compensation cylinder is successively with controlling main valve (9), work gas
Bottle (4), bi-bit bi-pass reversal valve (10), bailout bottle (6) are connected with air pressurization system (7)；
Described Active Compensation system, including fuel tank (1), electromagnetic relief valve (2), Active Compensation cylinder (3), pulling force sensor
(16), controller (17), electro-hydraulic proportion reversing valve (18), check valve (19), return filter (20), load-reacting pump
(21), filter (22)：The rod chamber of Active Compensation cylinder is connected with the B mouths of electro-hydraulic proportion reversing valve, rodless cavity and electro-hydraulic ratio
The A mouths of example reversal valve are connected；The T mouths of electro-hydraulic proportion reversing valve are connected by return filter with fuel tank；Electric-hydraulic proportion is changed
Check valve, load-reacting pump, filter are passed sequentially through to the P mouths of valve with fuel tank to be connected；Check valve (19) also passes through electricity
Magnetic overflow valve (2) is directly connected with fuel tank (1)；Load-reacting pump is equipped with motor (23)；Active Compensation cylinder leads to successively
Cross electro-hydraulic proportion reversing valve (18), controller (17) is connected with pulling force sensor (16), pulling force sensor be installed on hawser warp
The position crossed；
The rodless cavity of compensation cylinder (15) is connected by oil pipe with the rod chamber of passive compensation cylinder (8), the passive piston for compensating cylinder
It is connected with the piston rod of Active Compensation cylinder (3).
2. the active compensation device of hydraulic cylinder type half of crane according to claim 1, it is characterised in that：Hydraulic cylinder
In pulley system, movable pulley (13) number is two：Movable pulley I, movable pulley II, the two is connected in compensation cylinder (15) piston in parallel
One end that bar stretches out, and stretched out to both sides；Compensation cylinder piston rod adds reinforcement to the position that both sides are stretched out.
3. the active compensation device of hydraulic cylinder type half of crane according to claim 1, it is characterised in that：Hydraulic cylinder
In pulley system, fixed pulley (11) number is 5：Fixed pulley A, fixed pulley B, fixed pulley C, fixed pulley D, fixed pulley E, wherein：
Fixed pulley A, fixed pulley B are located at the left side of movable pulley, and fixed pulley E is located at the right side of movable pulley, and fixed pulley C, fixed pulley D are positioned at benefit
Repay the both sides of cylinder (15) bottom.
4. the active compensation device of hydraulic cylinder type half of the crane according to Claims 2 or 3, it is characterised in that：Cable
(14) are restricted by winch (12) releasing, are sequentially connected fixed pulley A, fixed pulley B, movable pulley I, fixed pulley C, fixed pulley D, movable pulley
It is connected after II, fixed pulley E with goods.
5. the active compensation device of hydraulic cylinder type half of crane according to claim 3, it is characterised in that：Fixed pulley
B, when fixed pulley E is located at the both sides of movable pulley (13), position will be such that the hawser (14) between fixed pulley and movable pulley is in and ship
The vertical state in face, and the position of fixed pulley is less than the position on the hydraulic cylinder top of compensation cylinder (15).
6. the active compensation device of hydraulic cylinder type half of crane according to claim 4, it is characterised in that：Pulling force passes
Sensor (16), it is installed on the position that hawser (14) passes through between fixed pulley C, fixed pulley D.
7. the active compensation device of hydraulic cylinder type half of crane according to claim 1, it is characterised in that：Connection is mended
On the oil pipe for repaying the rodless cavity of cylinder (15) and the rod chamber of passive compensation cylinder (8), explosion relief valve (24) is installed.
8. the active compensation device of hydraulic cylinder type half of crane according to claim 1, it is characterised in that：Work gas
Bottle (4) is multiple, and is connected in parallel, and control main valve is connected with multiple work gas cylinders in parallel respectively, pacifies on each branch road
Equipped with control valve (5)；Bailout bottle (6) is connected in parallel also to be multiple, bi-bit bi-pass proportioning valve (10) respectively with it is multiple in parallel
Bailout bottle be connected, control valve (5) is mounted on each branch road.
9. the active compensation device of hydraulic cylinder type half of crane according to claim 1, it is characterised in that：Described
Hawser (14) is high-molecular polythene hawser.
A kind of 10. user of the active compensation device of hydraulic cylinder type half of the crane described in any one of claim 1-9
Method, it is characterised in that comprise the following steps that：
(1) before the active compensation device of hydraulic cylinder type half work of crane starts, control main valve (9), control valve are opened
(5), by controlling solenoid-operated proportional reversal valve (18) valve element to move to left, passively compensate cylinder (8) and be in holosystolic state, make compensation
The piston rod of cylinder (15) all stretches out；
(2) after hanging up hanging object, control solenoid-operated proportional reversal valve (18) valve element moves to right, and Active Compensation cylinder (3) piston is increased, compensation
The piston of cylinder (15) is begun to decline, and makes fuel cut-off until compensation cylinder piston is at the 1/2 of compensation cylinder stroke；
(3) and then by air pressurization system (7) pressurizeed into work gas cylinder (4) and bailout bottle (6) until reaching 25MPa；
After being provided with, start winch, winch discharges hawser with 0.5m/s speed.
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| CN201710942281.6A CN107473118A (en) | 2017-10-11 | 2017-10-11 | A kind of hydraulic cylinder type half active compensation device of crane |
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| CN201710942281.6A CN107473118A (en) | 2017-10-11 | 2017-10-11 | A kind of hydraulic cylinder type half active compensation device of crane |
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| CN110239692A (en) * | 2019-07-10 | 2019-09-17 | 大连海事大学 | Synchronous lifting device and its operating method for salvage |
| CN110790167A (en) * | 2019-12-06 | 2020-02-14 | 大连海事大学 | Scientific investigation ship passive compensation winch system and use method thereof |
| CN112558649A (en) * | 2020-12-02 | 2021-03-26 | 中国船舶重工集团公司七五0试验场 | Active and passive combined pressure balancing system and method for transducer |
| CN115818490A (en) * | 2022-11-22 | 2023-03-21 | 哈尔滨工程大学 | Semi-active heave compensation device for ROV release and recovery |
| CN116902146A (en) * | 2023-09-13 | 2023-10-20 | 山东大学 | Active-passive combined marine redundant tension control device and working method thereof |
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Application publication date: 20171215 |