CN107697828A - A kind of ROV heave compensation systems - Google Patents
A kind of ROV heave compensation systems Download PDFInfo
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- CN107697828A CN107697828A CN201710985754.0A CN201710985754A CN107697828A CN 107697828 A CN107697828 A CN 107697828A CN 201710985754 A CN201710985754 A CN 201710985754A CN 107697828 A CN107697828 A CN 107697828A
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- 210000003954 umbilical cord Anatomy 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 239000003921 oil Substances 0.000 claims description 89
- 239000007788 liquid Substances 0.000 claims description 12
- 230000000740 bleeding effect Effects 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 19
- 238000009434 installation Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 abstract description 3
- 239000007789 gas Substances 0.000 description 20
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 10
- 238000012360 testing method Methods 0.000 description 7
- 238000004458 analytical method Methods 0.000 description 6
- 229910052757 nitrogen Inorganic materials 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000006837 decompression Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention relates to a kind of ROV heave compensation systems, including hanging door frame, storage winch, pulling winch and tension compensating system, hang door frame and be provided with umbilical cord winch, umbilical cord winch is provided with umbilical cables, tension compensating system includes heave compensator and pressure regulation supercharging device, heave compensator includes running block, fixed pulley group, accumulator, air accumulator and display box, running block both sides are respectively equipped with the first oil cylinder and the second oil cylinder, display box, which is provided with oil pressure gauge, air gauge and tension force detection display, pressure regulation supercharging device, includes booster pump and gas cylinder；The present invention prevents lash ship from producing heave movement under the wave action and being delivered to the underwater installations such as the ROV hung by main umbilical, reduction heave coupled motions conduction, absorb acceleration power, reduce the peaceful slip tension peak value of umbilical cord relaxation, to improve ROV motion controls condition, prevent umbilical cables from destroying, raising system job security, special and propagable general technology achievement is formed.
Description
Technical field
The present invention relates to a kind of ROV heave compensation systems, belong to underwater robot field.
Background technology
Marine exploration and resources development and utilization, the deep-sea observation and development of project are, it is necessary to substantial amounts of deep sea equipment line
Cable lays, detects and upkeep operation, and this is greatly relied on, and bottom time is long, the nothing that work capacity is strong, load capacity is big
People's remote-controlled vehicle, i.e. ROV underwater robots, wherein, the main equipment achievement of " 4000 meter level deep ocean work system " is 4000
M unmanned remotely controlled submersible vehicle, is the big depth ROV systems of first set of China's independent research, maximum operating water depth 4000m, mainly
Operation function is to carry out habitata, sampling and other underwater operations.ROV under water operation when, lash ship wave of the sea make
Heave movement is inevitably present under, and this greatly reduces the efficiency and security of system, meanwhile, heave movement adds
Speed causes cable tension to increase, and may exceed the service load allowable of umbilical cables or cause fatigue rupture, it would be highly desirable to improve.
The content of the invention
The purpose of the present invention is the defects of being directed to prior art, there is provided a kind of ROV heave compensation systems, prevents lash ship from existing
Heave movement is produced under wave action the underwater installations such as the ROV hung are delivered to by main umbilical, reduced heave coupled motions and pass
Lead, absorb acceleration power, reduce the peaceful slip tension peak value of umbilical cord relaxation, to improve ROV motion controls condition, prevent navel
Band cable destroys, improves system job security, forms special and propagable general technology achievement.
The present invention is achieved by the following technical solutions：
A kind of ROV heave compensation systems, including door frame is hung, storage winch, pulling winch and tension compensating system, wherein,
The door frame that hangs is provided with umbilical cord winch, and the umbilical cord winch is provided with umbilical cables, and the tension compensating system includes heave
Compensator and pressure regulation supercharging device, the heave compensator include running block, fixed pulley group, accumulator, air accumulator and display
Box, the umbilical cables head end are around in storage winch, pulling winch, running block and fixed pulley group successively；
The running block both sides are respectively equipped with the first oil cylinder and the second oil cylinder, are equipped with first oil cylinder and the second oil cylinder
Piston rod, the piston rod bottom is provided with piston, and top is fixedly linked with running block, first oil cylinder and the second oil cylinder
Between be provided with oil pipe, the oil pipe is connected with oil pressure pipe, and the number of the accumulator is two, two accumulator one end respectively with
The first pipeline is provided between first oil cylinder and the second oil cylinder, second pipe, first pipe are provided between the other end and air accumulator
Road is provided with liquid valve, and the second pipe is provided with the first air valve, and is connected with pneumatic tube, and the air accumulator is connected with the 3rd pipe
Road, the 3rd pipeline are provided with the first charge valve；
The display box is provided with oil pressure gauge, air gauge and tension force detection display, and the oil pressure gauge and air gauge connect respectively
There is the gentle interface of oily interface, the oily gentle interface of interface is connected with oil pressure pipe and pneumatic tube respectively, the pressure regulation supercharging
Device includes booster pump and gas cylinder, and the booster pump is provided with the 4th pipeline, and the 5th pipeline is provided between gas cylinder, and described
Four pipe ends are used cooperatively with the 3rd pipe end.
A kind of above-mentioned ROV heave compensation systems, wherein, the umbilical cables, which are connected with, only swings device.
A kind of above-mentioned ROV heave compensation systems, wherein, the number of the air accumulator is two, and two air accumulators are mutual
Connection, the second pipe are provided with first pressure table.
A kind of above-mentioned ROV heave compensation systems, wherein, the oil pressure pipe includes the first branch pipe and connects flexible pipe soon, described
First branch pipe is provided with liquid table valve, and described connect soon is equipped with connector between flexible pipe and the first branch pipe, and the oil pipe is provided with the
Two charge valves, the oil pipe end are provided with hydraulic oil fast charge joint.
A kind of above-mentioned ROV heave compensation systems, wherein, the pneumatic tube is provided with gas meter valve, the gas interface connection
There is bleeder pipe, the bleeder pipe is provided with vent valve.
A kind of above-mentioned ROV heave compensation systems, wherein, the display box is connected with terminal, the computer
Terminal is connected with alarm.
A kind of above-mentioned ROV heave compensation systems, wherein, the booster pump includes booster pump body, the 6th pipeline and the
Seven pipelines, the booster pump body are provided with intake valve, upper air bleeding valve and lower air bleeding valve, the booster pump body and the 7th pipeline
Between the second branch pipe and the 3rd branch pipe, three branch pipe is connected with the 5th pipeline, and the 5th pipeline is connected with the 4th branch pipe, institute
State the 6th pipeline and the 7th pipeline one end is interconnected and is connected with the 4th pipeline, the 6th pipeline other end and booster pump sheet
Body connects, and is equipped with valve on the 6th pipeline, the 7th pipeline, the 3rd branch pipe and the 4th branch pipe, on the 7th pipeline
Valve number is two, and is located at the second branch pipe both sides respectively.
A kind of above-mentioned ROV heave compensation systems, wherein, the number of the gas cylinder is several, and some gas cylinders mutually interconnect
Logical, the 5th pipeline is provided with the second air valve and second pressure gauge.
Beneficial effects of the present invention are：
The present invention is compact-sized, reasonable in design, dismounting is flexible and convenient to use, and umbilical cables terminal is connected with underwater installations such as ROV,
Head end is finally connected on lash ship, when lash ship produces heave movement under the wave action influences umbilical cables tension force, passes through tension force
Compensation system passive type makes the first oil cylinder and the second oil cylinder move up and down, and release or recovery umbilical cables, pressure regulation supercharging device ensure
Oil cylinder is substantially at middle position up and down motion, reduces umbilical cables peak tension, and monitor in real time by display box and terminal
Umbilical cables tension force is shown, carries out early warning, so as to 1. reduce heave movement conduction, improves ROV motion control conditions；Add 2. absorbing
Speed power, raising system hang security；3. make up big depth gravity cable safety coefficient low defect, smooth dynamic tension peak value；
4. reducing umbilical cord relaxation, prevent torque failure, improve system job security, formed special and propagable general technology into
Fruit.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is heave compensator structure principle chart of the present invention.
Fig. 3 is pressure regulation supercharging device structure principle chart of the present invention.
Fig. 4 is the force analysis schematic diagram of heave compensator of the present invention.
Tension compensating system connection figure when Fig. 5 tests for the present invention.
Umbilical cables and running block and the canoe schematic diagram of fixed pulley group when Fig. 6 is present invention experiment.
Pressure and tension curve figure when Fig. 7 tests for the present invention.
（In figure, lash ship 1, underwater installation 2, door frame 3, storage winch 4, pulling winch 5 and tension compensating system 6, navel are hung
Band winch 7, umbilical cables 8, device 9, heave compensator 10 and pressure regulation supercharging device 11 are only swung, running block 12, fixed pulley group 13, is stored
Energy device 14, air accumulator 15 and display box 16, the first oil cylinder 17 and the second oil cylinder 18, piston rod 19, piston 20, oil pipe 21, oil pressure
Pipe 22, the first branch pipe 23 and connects flexible pipe 24 soon, liquid table valve 25, connector 26, the second charge valve 27, hydraulic oil fast charge joint 28,
First pipeline 29, second pipe 30, liquid valve 31, the first air valve 32, first pressure table 33, pneumatic tube 34, gas meter valve 35, bleeder pipe
36, vent valve 37, the 3rd pipeline 38, the first charge valve 39, oil pressure gauge 40, air gauge 41 and tension force detection display 42, oil connects
43 gentle interfaces 44 of mouth, terminal 45, alarm 46, booster pump 47, gas cylinder 48, booster pump body 49, the 6th pipeline 50,
7th pipeline 51, intake valve 52, upper air bleeding valve 53 and lower air bleeding valve 54, the second branch pipe 55 and the 3rd branch pipe 56, the 4th branch pipe 57,
Valve 58, the 4th pipeline 59, the 5th pipeline 60, the second air valve 61, second pressure gauge 62, movable pulley 63, fixed pulley 64）.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
A kind of ROV heave compensation systems, including door frame is hung, storage winch, pulling winch and tension compensating system, its
In, the door frame that hangs is provided with umbilical cord winch, and the umbilical cord winch is provided with umbilical cables, and the umbilical cables, which are connected with, only swings
Device, the tension compensating system include heave compensator and pressure regulation supercharging device, and the heave compensator includes running block, determined
Assembly pulley, accumulator, air accumulator and display box, the umbilical cables head end are around in storage winch, pulling winch, running block successively
And fixed pulley group；
The running block both sides are respectively equipped with the first oil cylinder and the second oil cylinder, are equipped with first oil cylinder and the second oil cylinder
Piston rod, the piston rod bottom is provided with piston, and top is fixedly linked with running block, first oil cylinder and the second oil cylinder
Between be provided with oil pipe, the oil pipe is connected with oil pressure pipe；
The oil pressure pipe includes the first branch pipe and connects flexible pipe soon, and first branch pipe is provided with liquid table valve, it is described connect soon flexible pipe and
Connector is equipped between first branch pipe, the oil pipe is provided with the second charge valve, and the oil pipe end is provided with hydraulic oil fast charge
Joint；
The number of the accumulator is two, and two accumulator one end are provided with first between the first oil cylinder and the second oil cylinder respectively
Pipeline, second pipe is provided between the other end and air accumulator, first pipeline is provided with liquid valve, and the second pipe is provided with
First air valve and first pressure table, and pneumatic tube is connected with, the pneumatic tube is provided with gas meter valve, and the air accumulator is connected with
Three pipelines, the 3rd pipeline are provided with the first charge valve, and the number of the air accumulator is two, and two air accumulators mutually interconnect
It is logical；
The display box is provided with oil pressure gauge, air gauge and tension force detection display, and the oil pressure gauge and air gauge connect respectively
There is the gentle interface of oily interface, the oily gentle interface of interface is connected with oil pressure pipe and pneumatic tube respectively, and the gas interface connects
Bleeder pipe is connected to, the bleeder pipe is provided with vent valve, and the display box is connected with terminal, the display box and calculating
Machine terminal is connected with alarm by electrically connecting or being wirelessly transferred connection, the terminal；
The pressure regulation supercharging device includes booster pump and gas cylinder, and the booster pump includes booster pump body, the 6th pipeline and the 7th
Pipeline, the booster pump body are provided with intake valve, upper air bleeding valve and lower air bleeding valve, the booster pump body and the 7th pipeline it
Between the second branch pipe and the 3rd branch pipe, three branch pipe is connected with the 5th pipeline, and the 5th pipeline is connected with the 4th branch pipe, described
6th pipeline and the 7th pipeline one end are interconnected and are connected with the 4th pipeline, the 6th pipeline other end and booster pump body
Connection, is equipped with valve on the 6th pipeline, the 7th pipeline, the 3rd branch pipe and the 4th branch pipe, the valve on the 7th pipeline
Door number is two, and is located at the second branch pipe both sides respectively；
The booster pump is provided with the 4th pipeline, and the 5th pipeline, the 4th pipe end and the 3rd are provided between gas cylinder
Pipe end is used cooperatively, and the number of the gas cylinder is several, and some gas cylinders are interconnected, and the 5th pipeline is provided with the
Two air valves and second pressure gauge；
The oil pipe, second pipe are hard tube DN25, and first pipeline is hard tube DN40, and the liquid valve is the isometrical balls of DN40
Valve, the oil pressure pipe and pneumatic tube are flexible pipe, and hose diameter 6mm, the 3rd pipeline is hard tube DN6.
The present invention working method and principle be：
Umbilical cables terminal is connected on and connected including underwater installations such as 4000 meters of ROV, only swinging device prevents from producing vibration, navel during lifting
Band cable head end is finally connected on lash ship, using this double oil cylinder supports of the first oil cylinder and the second oil cylinder, drives running block, the
The cylinder body and fixed pulley of one oil cylinder and the second oil cylinder are fixed on lash ship deck, and the 4th pipe end is matched somebody with somebody with the 3rd pipe end
Connection is closed, the theoretical analysis, the system is nonlinear elasticity sexual system, has initial tension and the adjustable spy of system variant elasticity
Property.
Under static state, injected, made in the first oil cylinder and the second oil cylinder full of a certain amount of by hydraulic oil fast charge joint
The nitrogen of certain pressure is stored in hydraulic oil, accumulator and air accumulator, booster pump is adjusted by switch valve, using the increasing of uniqueness
Press pump structure, booster pump body and the 6th pipeline and the switching regulation of the 7th pipeline, can be achieved nitrogen pressure between gas cylinder and accumulator
Power is adjusted, and when the pressure balance of the two, the supercharging of gas cylinder and accumulator can be realized respectively by booster pump, to meet accumulation of energy
The demand of device；
Pressure regulation supercharging device loads according to the length for releasing umbilical cables, adjusts the nitrogen pressure of accumulator, makes heave compensator
Piston be in oil cylinder stroke midpoint, cylinder thrust and underwater installation weight or tension balanced, in ensureing that oil cylinder is substantially at
Position moves up and down；
Display box detects display by oil pressure gauge, air gauge and tension force and shows oil pressure, air pressure and umbilical cables tension force respectively, and will
Data transfer monitor log real time data, by alarm early warning, is easy to manipulate console company with lash ship to terminal
With.
In the operating condition, when lash ship ascending motion causes umbilical cables pulling force to increase, the first oil cylinder and the second oil are controlled
Cylinder synchronously moves downward compressed nitrogen, discharges umbilical cables；When lash ship descending motion causes umbilical cables pulling force to reduce, control first
Oil cylinder and the synchronous motion upwards of the second oil cylinder expand nitrogen, reclaim umbilical cables, absorb acceleration power, reduce umbilical cord relaxation peace
Slip tension peak value, reduce heave coupled motions conduction, reach the purpose for improving ROV motion controls condition, protecting umbilical cables.
The force analysis of the present invention is as follows：
Whole system is established into model, the first oil cylinder, the second oil cylinder and fixed pulley are fixed on lash ship deck, piston, piston rod
It is its motion parts with fixed pulley, the gross mass of heave compensator is McAbout 300kg, displacement ZcRepresent, initial position is still fixed
For the middle position of oil cylinder, with lxUnanimously, but ZcDirection is with upwards for just, then the stressing conditions of heave compensator are：First oil cylinder,
Hydraulic oil thrust T in two oil cylindersc=PcS, piston, piston rod and movable pulley deadweight McG, by umbilical cables tension force formed to piston
Pressure size is 2T, as shown in Figure 4；
According to Known designs parameter：
Maximum effective compensation load：About 12 tons；
Maximum heave compensation amplitude：More than 4 meters；
Maximum tension fluctuates：Less than 30%；
System weight：About 7-8 tons；
Principal dimensions：About 1.8 x 1.5 x 4.5 (3.5) m；
Design 8 seconds heave movement cycles；
The overall Force Calculation of system presses formula：
P0V0/（V0+Ls/2）≤Px≤0V0/（V0-Ls/2）
V is taken according to gas cylinder type selection calculation0For 62 liters, piston extreme position l is obtainedx=L/2 and lxGas pressure during=- L/2：
PL/2=120x62000/ (62000-25120/2)=150.5 kgf/cm2；
P-L/2=120x62000/ (62000+25120/2)=99.8 kgf/ cm2；
Obtain piston extreme position lx=L/2 and lxPiston thrust during=- L/2：
TL/2=PL/2x s=150.5 x 200.96=30245 kgf=30t；
T-L/2=P-L/2x s=99.8 x 200.96=20056 kgf=20t；
Obtain piston extreme position lx=L/2 and lxUmbilical cord tension force during=- L/2：
WL/2=PL/2x s/2=150.5 x 200.96/2=15122 kgf=15t；
W-L/2=P-L/2x s/2=99.8 x 200.96/2=10028 kgf=10t；
Obtain lxUmbilical cord maximum tension increment rate is during=L/2：
（WL/2- WL0）/WL0=25%.
In order to further determine that the relation between heave compensation system pressure and the tension force of umbilical cables, and maximum of checking
The security of system in the case of power, pressure is carried out to the present invention and tension test experiment is as follows：
As shown in figure 5, the 4th pipe end is connected with bleeder pipe, and umbilical cables cross winding will be existed successively as shown in Figure 7
On the running block and fixed pulley group for including two movable pulleys and two fixed pulleys respectively, termination connection tension force detection display,
Closed loop steel wire rope total length is 19.5 meters during oil cylinder middle position.
To reduce gas consumption, close the 6th pipeline and the 7th pipeline and be located at the valve of the second branch pipe side, charge valve, second
Liquid valve on first pipeline of oil cylinder connection, gas meter valve, liquid table valve；To ensure safety, oil charge valve closes all the time, micro to open the
Liquid valve on first pipeline of one oil cylinder connection.
By boosting, being depressured the acquisition following Tables 1 and 2 of experimental data respectively：
The test of tension force and pressure sensor current relationship when table 1 boosts
| Sequence number | Start air pressure bar | Oil pressure bar | Pressure sensor electric current mA | Tension force kg |
| 1 | 10 | 4 | 4.5 | 155 |
| 2 | 15 | 12 | 4.82 | 685 |
| 3 | 20 | 16 | 5.15 | 1110 |
| 4 | 25 | 22 | 5.47 | 1494 |
| 5 | 30 | 26 | 5.79 | 1940 |
| 6 | 35 | 32 | 6.11 | 2395 |
| 7 | 40 | 36 | 6.44 | 2850 |
| 8 | 45 | 42 | 6.76 | 3330 |
| 9 | 50 | 47 | 7.08 | 3795 |
| 10 | 55 | 53 | 7.4 | 4305 |
| 11 | 60 | 57 | 7.72 | 4750 |
| 12 | 63 | 60 | 7.92 | 5055 |
The review of tension force and pressure sensor current relationship when table 2 is depressured
| Sequence number | Start air pressure bar | Oil pressure bar | Pressure sensor electric current mA | Tension force kg |
| 1 | 63 | 60 | 7.92 | 5055 |
| 2 | 60 | 57 | 7.72 | 5000 |
| 3 | 55 | 53 | 7.4 | 4935 |
| 4 | 50 | 48 | 7.08 | 4840 |
| 5 | 45 | 44 | 6.76 | 4530 |
| 6 | 40 | 38 | 6.44 | 3960 |
| 7 | 35 | 33 | 6.12 | 3395 |
| 8 | 30 | 27 | 5.8 | 2835 |
| 9 | 25 | 23 | 5.48 | 2285 |
| 10 | 20 | 18 | 5.16 | 1715 |
| 11 | 15 | 12 | 4.84 | 1150 |
| 12 | 10 | 6 | 4.52 | 560 |
Draw pressure and tension curve as shown in Figure 7, curve x represents experiment test point（Represented with empty circles o）Draw
Boosting curve, curve y represent experiment test point（With plus sige+represent）The drawdown curve of drafting.
The curve map analysis of pressure and tension force according to Fig. 7, it can be seen that：When step up side runin is begun, when in umbilical cables
Tension force when being zero, piston is upwarded pressure in system and the deadweight of system movable pulley has reached with downward stiction
Balance, during continuing boosting afterwards, the tension force in umbilical cables is linearly increasing with the increase of pressure；
When system air pressure rises to 63bar, proceed by decompression test, due to start decompression when, the direction of stiction
Will from downwards slowly to zero again to upward, so curve when being depressured in Fig. 7 starts that one section of nonlinear change procedure occurs,
After being upwarded pressure to piston in system and reaching balance again with the deadweight of upward stiction and system movable pulley, cable
On tension force with the reduction of pressure linear reduction；Because between pressure and pressure sensor electric current it is also linear relationship, institute
Linear change part with the tension force on cable when pressure sensor electric current and buck is also linear relationship.
Heave compensation system is that whole ROV hangs technology segment more crucial in system, and heave compensation system is ground
Study carefully and be not only related to the underwater normal works of ROV, core apparatus of the tension compensating system as the present invention, pressure is carried out to it
It is that design calculates the essential important step of heave compensation system with tensile property analysis, by establishing model, theory analysis
And the mode of measuring, the linear relationship between tension force in the pressure and umbilical cables on oil cylinder piston is obtained, this is right
Worked in ensureing heave compensation system trouble free service, further grasp heave compensation system operation principle, understanding wave for ROV
Affecting laws have extremely important meaning.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all cover within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection domain of claims
It is defined.
Claims (8)
1. a kind of ROV heave compensation systems, including door frame is hung, storage winch, pulling winch and tension compensating system, it is special
Levy and be, the door frame that hangs is provided with umbilical cord winch, and the umbilical cord winch is provided with umbilical cables, and the tension compensating system includes
Heave compensator and pressure regulation supercharging device, the heave compensator include running block, fixed pulley group, accumulator, air accumulator and
Display box, the umbilical cables head end are around in storage winch, pulling winch, running block and fixed pulley group successively；
The running block both sides are respectively equipped with the first oil cylinder and the second oil cylinder, are equipped with first oil cylinder and the second oil cylinder
Piston rod, the piston rod bottom is provided with piston, and top is fixedly linked with running block, first oil cylinder and the second oil cylinder
Between be provided with oil pipe, the oil pipe is connected with oil pressure pipe, and the number of the accumulator is two, two accumulator one end respectively with
The first pipeline is provided between first oil cylinder and the second oil cylinder, second pipe, first pipe are provided between the other end and air accumulator
Road is provided with liquid valve, and the second pipe is provided with the first air valve, and is connected with pneumatic tube, and the air accumulator is connected with the 3rd pipe
Road, the 3rd pipeline are provided with the first charge valve；
The display box is provided with oil pressure gauge, air gauge and tension force detection display, and the oil pressure gauge and air gauge connect respectively
There is the gentle interface of oily interface, the oily gentle interface of interface is connected with oil pressure pipe and pneumatic tube respectively, the pressure regulation supercharging
Device includes booster pump and gas cylinder, and the booster pump is provided with the 4th pipeline, and the 5th pipeline is provided between gas cylinder, and described
Four pipe ends are used cooperatively with the 3rd pipe end.
2. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the umbilical cables, which are connected with, only swings device.
3. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the number of the air accumulator is two,
Two air accumulators are interconnected, and the second pipe is provided with first pressure table.
4. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the oil pressure pipe includes the first branch pipe
Flexible pipe is connect soon, and first branch pipe is provided with liquid table valve, and described connect soon is equipped with connector between flexible pipe and the first branch pipe, institute
State oil pipe and be provided with the second charge valve, the oil pipe end is provided with hydraulic oil fast charge joint.
5. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the pneumatic tube is provided with gas meter valve,
The gas interface is connected with bleeder pipe, and the bleeder pipe is provided with vent valve.
6. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the display box is connected with computer
Terminal, the terminal are connected with alarm.
7. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the booster pump includes booster pump sheet
Body, the 6th pipeline and the 7th pipeline, the booster pump body are provided with intake valve, upper air bleeding valve and lower air bleeding valve, the supercharging
Second branch pipe and the 3rd branch pipe between pump body and the 7th pipeline, three branch pipe are connected with the 5th pipeline, the 5th pipeline
The 4th branch pipe is connected with, the 6th pipeline and the 7th pipeline one end are interconnected and be connected with the 4th pipeline, the 6th pipe
The road other end is connected with booster pump body, and valve is equipped with the 6th pipeline, the 7th pipeline, the 3rd branch pipe and the 4th branch pipe
, the valve number on the 7th pipeline is two, and is located at the second branch pipe both sides respectively.
8. a kind of ROV heave compensation systems as claimed in claim 1, it is characterized in that, the number of the gas cylinder is several,
Some gas cylinders are interconnected, and the 5th pipeline is provided with the second air valve and second pressure gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710985754.0A CN107697828A (en) | 2017-10-20 | 2017-10-20 | A kind of ROV heave compensation systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710985754.0A CN107697828A (en) | 2017-10-20 | 2017-10-20 | A kind of ROV heave compensation systems |
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| Publication Number | Publication Date |
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| CN107697828A true CN107697828A (en) | 2018-02-16 |
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| CN201710985754.0A Pending CN107697828A (en) | 2017-10-20 | 2017-10-20 | A kind of ROV heave compensation systems |
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| CN109573861A (en) * | 2018-11-20 | 2019-04-05 | 衢州学院 | A kind of marine crane barge system based on permanent magnet synchronous motor compensation of undulation |
| CN110294071A (en) * | 2019-07-24 | 2019-10-01 | 上海大学 | A kind of variation rigidity being mounted on hull lays recyclable device |
| CN111362164A (en) * | 2020-03-31 | 2020-07-03 | 国家海洋技术中心 | Device for laying and recovering deep-sea towed sonar system |
| CN111573545B (en) * | 2020-05-21 | 2021-02-09 | 山东大学 | Distributed energy-saving active and passive composite heave compensation system and working method thereof |
| CN112555234A (en) * | 2019-09-10 | 2021-03-26 | 上海中车艾森迪海洋装备有限公司 | Automatic pressure regulating system for regulating oil leakage pressure of underwater operation equipment |
| CN113371158A (en) * | 2021-07-15 | 2021-09-10 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN115184059A (en) * | 2022-09-13 | 2022-10-14 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN116122796A (en) * | 2023-02-06 | 2023-05-16 | 愿景(天津)能源技术有限公司 | Distributed logging optical fiber pumping speed control method and control device |
| 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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| CN109573861A (en) * | 2018-11-20 | 2019-04-05 | 衢州学院 | A kind of marine crane barge system based on permanent magnet synchronous motor compensation of undulation |
| CN110294071A (en) * | 2019-07-24 | 2019-10-01 | 上海大学 | A kind of variation rigidity being mounted on hull lays recyclable device |
| CN110294071B (en) * | 2019-07-24 | 2020-09-01 | 上海大学 | Variable-rigidity distribution and recovery device carried on ship body |
| CN112555234B (en) * | 2019-09-10 | 2023-06-30 | 上海中车艾森迪海洋装备有限公司 | Automatic pressure regulating system for regulating oil leakage pressure of underwater operation equipment |
| CN112555234A (en) * | 2019-09-10 | 2021-03-26 | 上海中车艾森迪海洋装备有限公司 | Automatic pressure regulating system for regulating oil leakage pressure of underwater operation equipment |
| CN111362164A (en) * | 2020-03-31 | 2020-07-03 | 国家海洋技术中心 | Device for laying and recovering deep-sea towed sonar system |
| CN111573545B (en) * | 2020-05-21 | 2021-02-09 | 山东大学 | Distributed energy-saving active and passive composite heave compensation system and working method thereof |
| CN113371158A (en) * | 2021-07-15 | 2021-09-10 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN113371158B (en) * | 2021-07-15 | 2024-05-24 | 烟台宏远载人压力舱工程技术研究院有限公司 | Multi-degree-of-freedom umbilical cable heave compensation device |
| CN115184059B (en) * | 2022-09-13 | 2023-01-31 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN115184059A (en) * | 2022-09-13 | 2022-10-14 | 山东大学 | Winch type heave compensation experiment table based on four-quadrant motor and working method thereof |
| CN116122796A (en) * | 2023-02-06 | 2023-05-16 | 愿景(天津)能源技术有限公司 | Distributed logging optical fiber pumping speed control method and control device |
| CN116902146A (en) * | 2023-09-13 | 2023-10-20 | 山东大学 | Active-passive combined marine redundant tension control device and working method thereof |
| CN116902146B (en) * | 2023-09-13 | 2023-12-08 | 山东大学 | Active-passive combined marine redundant tension control device and working method thereof |
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