CN109422204B - Laying and recycling system for offshore operation - Google Patents

Laying and recycling system for offshore operation Download PDF

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Publication number
CN109422204B
CN109422204B CN201710779884.9A CN201710779884A CN109422204B CN 109422204 B CN109422204 B CN 109422204B CN 201710779884 A CN201710779884 A CN 201710779884A CN 109422204 B CN109422204 B CN 109422204B
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China
Prior art keywords
winch
rotating shaft
hydraulic motor
compensation
limiting
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CN201710779884.9A
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Chinese (zh)
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CN109422204A (en
Inventor
尚敬
胡家喜
罗凌波
朱迎谷
晏红文
胡斌炜
朱建波
宋俊辉
涂绍平
罗前星
李俊
马亦鸣
胥孜
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Shanghai CRRC Essendi Marine Equipment Co Ltd
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Shanghai CRRC Essendi Marine Equipment Co Ltd
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Priority to CN201710779884.9A priority Critical patent/CN109422204B/en
Publication of CN109422204A publication Critical patent/CN109422204A/en
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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
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • 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
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • 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)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention provides a laying and recovering system for offshore operation, which comprises a traction assembly and a heave compensation device, wherein the traction assembly comprises a winch, a winch rotating shaft arranged in the winch and a winch driving part in driving connection with the winch rotating shaft, the winch rotating shaft is rotatably arranged on the winch, the heave compensation device comprises a controller, a detection assembly for detecting the relative rotating angle of the winch and the winch rotating shaft, a transmission gear for transmitting the driving torque of the winch rotating shaft to the winch and a compensation gear for adjusting the relative rotating angle of the winch and the winch rotating shaft, and the controller generates a control command to the compensation gear according to a detection signal of the detection assembly so as to adjust the output torque of the compensation gear; the transmission gear and the compensation gear are arranged in the winch and are in meshing transmission with the winch. The invention has the advantages of convenient operation, good wave compensation effect, small occupied space, high system safety and reliability and the like.

Description

Laying and recycling system for offshore operation
Technical Field
The invention relates to the field of offshore operation, in particular to a laying and recovering system for offshore operation.
Background
Ocean area occupies 70% of the total area of the earth, which contains abundant fishery, oil and gas and mineral resources. In order to effectively develop submarine resources, the working range of human beings gradually extends to different sea areas, and underwater robots and underwater platforms with various working functions and performances are developed successively.
The laying and recovering system for offshore operation can realize laying and recovering of underwater operation equipment, and is widely applied to the field of offshore operation. The laying and recovering system is installed on a working mother ship, under the normal condition, a winch driving piece directly drives a winch and a shaft to rotate together or directly drives the winch to rotate, laying and recovering of underwater operation equipment are achieved by changing the rotating direction of the winch, and a rigid connecting structure is adopted between the winch driving piece and the winch. However, due to the particularity of the marine operation environment, the offshore operation platform is influenced by the wind waves and the ocean currents to generate irregular swinging and heaving motions, if the sea waves are too strong, the underwater equipment is driven to move up and down, and at the moment, a guy cable connected with the underwater equipment generates a large dynamic load, so that operation failure is easily caused, and expensive underwater operation equipment is damaged or lost.
Because a rigid connection structure is adopted between the winch driving piece and the winch, the conventional mode is to design a corresponding heave compensation control algorithm on the winch driving piece to realize heave compensation of the laying and recovery system. However, due to the large rotational inertia of the winch, the required capacity of the winch driving part is large, so that the corresponding compensation control system has large time delay, the control system is complex (a large number of sensors need to be added, the attitude of the ship body is resolved and predicted, and the like), and the wave compensation effect is poor; meanwhile, if the wave compensation control algorithm is unreasonable in design, the wave compensation effect cannot be achieved, and even the damage of the waves to the distribution and recovery system is aggravated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the offshore operation laying and recovering system which is convenient to operate, good in wave compensation effect, small in occupied space and high in system safety and reliability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a laying and recovering system for offshore operation comprises a traction assembly and a wave compensation device, wherein the traction assembly comprises a winch, a winch rotating shaft arranged in the winch and a winch driving piece in driving connection with the winch rotating shaft, the winch rotating shaft is rotatably arranged on the winch, the wave compensation device comprises a controller, a detection assembly used for detecting the relative rotating angle of the winch and the winch rotating shaft, a transmission gear used for transmitting the driving torque of the winch rotating shaft to the winch and a compensation gear used for adjusting the relative rotating angle of the winch and the winch rotating shaft, and the controller generates a control command to the compensation gear according to a detection signal of the detection assembly so as to adjust the output torque of the compensation gear; the transmission gear and the compensation gear are arranged in the winch and are in meshing transmission with the winch.
As a further improvement of the above technical solution:
the wave compensation device further comprises a hydraulic motor and a limiting assembly, a rotating shaft of the hydraulic motor is connected with the transmission gear, the limiting assembly comprises a first limiting part and a movable matching block, the first limiting part is used for ensuring that the output torque of a winch rotating shaft is equal to the rotating torque of a winch, the movable matching block is used for being matched with the first limiting part in a limiting mode when the system is in a stable state, the movable matching block is in threaded connection with the hydraulic motor rotating shaft, and the hydraulic motor, the first limiting part and the winch rotating shaft are fixedly connected.
The limiting assembly further comprises a second limiting part used for limiting the maximum angle difference between the winch and the winch rotating shaft, the second limiting part is in limiting fit with the movable matching block when the winch reaches a preset maximum rotating stroke, and the second limiting part is fixedly connected with the winch rotating shaft.
The hydraulic motor is connected with a controllable pressure source for controlling the output torque of the motor and a pressure maintaining valve set for ensuring the constant pressure at two ends of the hydraulic motor, the pressure maintaining valve set is arranged at two ends of the hydraulic motor, and the controllable pressure source is connected to one end of the hydraulic motor through the pressure maintaining valve set.
The pressure maintaining valve group comprises two hydraulic reversing valves, and the two hydraulic reversing valves are three-position four-way reversing valves.
The detection assembly comprises a position sensor, and the position sensor is arranged on the outer side of the rotating shaft of the hydraulic motor and is in induction fit with the movable matching block; the compensation gear is connected with a control motor, and the controller generates a control command to the control motor according to a detection signal of the position sensor so as to adjust the output torque of the compensation gear.
The hydraulic motor and the control motor are installed on the winch rotating shaft through installation components, each installation component comprises an installation support and a support bearing, the two ends of the hydraulic motor and the control motor are installed on the installation supports through the support bearings, and the installation supports are sleeved on the winch rotating shaft.
The laying and recovery system for offshore operation further comprises a working ship body, a suspension arm and a guy cable, wherein one end of the suspension arm is hinged to the working ship body, the other end of the suspension arm is provided with a traction fixed pulley, one end of the guy cable is wound on a winch, and the other end of the guy cable is wound on the traction fixed pulley and is connected with underwater operation equipment.
The laying and recovering system for offshore operation further comprises a driving rod for pulling the suspension arm to rotate along a hinged point to change the amplitude, and two ends of the driving rod are respectively hinged with the working ship body and the suspension arm.
Compared with the prior art, the invention has the advantages that:
the winch rotating shaft is rotatably arranged on the winch, the driving torque of the winch rotating shaft is transmitted to the winch through the transmission gear between the winch and the central shaft, the controller sends a control command to the compensation gear according to a detection signal of a relative rotating angle between the winch and the winch rotating shaft so as to adjust the output torque of the compensation gear, and further the relative angular speed and the angular speed displacement between the winch and the winch rotating shaft are adjusted to play a role in flexible transmission, so that a wave compensation function is realized. Meanwhile, the transmission gear and the compensation gear are arranged in the winch, so that the additional transmission structure does not need to occupy extra installation space, the occupied space is small, the structure is simple and compact, the transmission structure does not need to be in contact with the external working environment, and the safety and the reliability of the system are high.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic view of the internal structure of the winch of the present invention.
Fig. 3 is a schematic view of the installation of the hydraulic motor of the present invention.
Fig. 4 is a schematic structural view of the hydraulic transmission mechanism of the present invention.
FIG. 5 is a schematic view of the hydraulic transmission mechanism of the present invention under stress
Fig. 6 is a schematic diagram of the operation of the hydraulic system of the present invention.
Fig. 7 is a schematic diagram of the operation of the hydraulic motor of the present invention without external torque.
Fig. 8 is a schematic diagram of the operation of the hydraulic motor of the present invention when external torque is applied.
FIG. 9 is a schematic diagram showing the relationship between the position of the moving engagement block and the control motor according to the present invention.
The reference numerals in the figures denote:
1. a traction assembly; 11. a winch; 12. a capstan shaft; 13. a winch drive; 14. a suspension arm; 15. a cable; 16. a traction fixed pulley; 17. a drive rod; 2. a heave compensation device; 21. a transmission gear; 22. a compensating gear; 23. a hydraulic motor; 24. a limiting component; 241. a first limit piece; 242. moving the matching block; 243. a second limiting member; 244. matching threads; 25. a controllable pressure source; 26. a hydraulic directional control valve; 3. a position sensor; 4. mounting the component; 41. mounting a bracket; 42. a bracket bearing; 5. a working hull; 6. provided is an underwater operation device.
Detailed Description
The invention will be described in further detail with reference to the drawings and specific examples of the description, which should not be construed as limiting the scope of the invention.
As shown in fig. 1 and 2, the deployment and retrieval system for offshore operation of the present embodiment includes a traction assembly 1 and a heave compensation device 2. The traction assembly 1 is used for driving the underwater operation equipment 6 to ascend and descend so as to perform laying and recycling operation; the wave compensation device 2 is arranged on a deck of the working ship body 5 and is used for carrying out wave compensation on underwater operation equipment 6 so as to weaken damage of waves to the underwater equipment; the underwater operation equipment 6 includes underwater operation robots such as underwater cable robots, underwater non-cable robots, and the like. In this embodiment, the traction assembly 1 includes a winch 11, a winch shaft 12 and a winch driving member 13, wherein the winch driving member 13 is drivingly connected to the winch shaft 12, and the winch shaft 12 is rotatably mounted on the winch 11 through a bearing. The heave compensation device 2 comprises a controller, a detection component, a transmission gear 21 and a compensation gear 22. The detection component is arranged in the winch 11 and detects the relative rotation angle between the winch 11 and the winch rotating shaft 12; the transmission gear 21 and the compensation gear 22 are arranged in the winch, the transmission gear 21 and the compensation gear 22 are in meshing transmission with the winch 11, the transmission gear 21 is used for transmitting the driving torque of the winch rotating shaft 12 to the winch 11 so as to provide the torque required by the normal work of the winch 11, and the compensation gear 22 is used for adjusting the relative rotating angle of the winch 11 and the winch rotating shaft 12 so as to compensate the dynamic torque of the winch 11; the controller generates a control command to the compensating gear 22 according to a detection signal of the detecting component to adjust the output torque of the compensating gear 22.
The winch rotating shaft 12 of the invention is rotatably arranged on the winch 11, the driving moment of the winch rotating shaft 12 is transmitted to the winch 11 through the transmission gear 21 between the winch 11 and the winch rotating shaft 12, and the controller sends a control command to the compensation gear 22 according to a detection signal of the relative rotating angle of the winch 11 and the winch rotating shaft 12 so as to adjust the output moment of the compensation gear 22, further adjust the relative angular velocity and the angular velocity displacement between the winch 11 and the winch rotating shaft 12 to play a role in flexible transmission, thereby realizing a wave compensation function, being convenient to operate, avoiding the problem of poor wave compensation effect when the winch driving part 13 is rigidly connected with the winch 11 by adopting a wave compensation control algorithm, and having high compensation control system efficiency and good wave compensation effect. Meanwhile, the transmission gear 21 and the compensation gear 22 are arranged in the winch 11, so that an additional transmission structure does not need to occupy extra installation space, the structure is simple and compact, the transmission structure does not need to be in contact with an external working environment, and the system is high in safety and reliability.
In this embodiment, the number of the control motors of the hydraulic motor 23 and the compensation gear 22 can be adjusted according to the field situation, and the factors to be considered specifically include the output torque of the hydraulic motor 23 and the control motors, the maximum torque required by the normal operation of the winch 11, the size of the winch, and the like. The transmission gear 21 is responsible for transmitting the torque of the winch rotating shaft 12 to the winch 11, and as long as the torque provided by the winch rotating shaft 12 is smaller than the maximum torque provided by the hydraulic motor 23, no relative rotation is generated between the transmission gear 21 and the winch 11, and the torque of the winch rotating shaft 12 is directly transmitted to the winch 11 through the hydraulic motor 23 and the transmission gear 21. If the torque provided by the winch rotating shaft 12 is larger than the maximum torque provided by the hydraulic motor 23, the hydraulic motor 23 is controlled by the hydraulic valve group, constant torque is always output to the winch 11, relative rotation can be generated between the winch 11 and the transmission gear 21 at the moment, and the wave compensation of the laying and recovery system is realized through the torque output of the control motor of the compensation gear 22.
As shown in fig. 3 and 4, in the present embodiment, the heave compensation device 2 further comprises a hydraulic motor 23 and a limit component 24, wherein a rotating shaft of the hydraulic motor 23 is connected with the transmission gear 21; the limiting assembly 24 includes a first limiting member 241 and a movable matching block 242, and the hydraulic motor 23 and the first limiting member 241 are fixedly connected to the winch shaft 12, so as to ensure that the torque of the hydraulic motor 23 and the first limiting member 241 can be transmitted to the winch shaft 12. In this embodiment, the rotating shaft of the hydraulic motor 23 is provided with a matching thread 244, the movable matching block 242 is screwed on the matching thread 244, and when the system is in a stable state, the movable matching block 242 moves along the axial direction of the rotating shaft of the hydraulic motor 23 and is in limit matching with the first limiting member 241, which effectively ensures that the output torque of the winch rotating shaft 12 is equal to the rotation torque of the winch when the system is in a stable state.
In this embodiment, the limiting assembly 24 further includes a second limiting member 243, and the second limiting member 243 is fixedly connected to the winch shaft 12, so as to ensure that the torque of the second limiting member 243 can be transmitted to the winch shaft 12. The second limiting member 243 is in limiting fit with the movable fitting block 242 when the winch 11 reaches a preset maximum rotation stroke, so that the hydraulic motor 23 can only work within a certain angle range, and is used for limiting the maximum angle difference between the winch 11 and the winch rotating shaft 12 and preventing the phenomenon that the normal work of the laying and recycling system is hindered due to over sensitive wave compensation. In this embodiment, the first limiting member 241 and the second limiting member 243 are limiting bolts.
Specifically, as shown in FIG. 5, T1For the hydraulic motor 23 to output a torque, T, to the rotating shaft of the hydraulic motor 231' moment, T, given to the hydraulic motor 23 in reaction to the rotating shaft of the hydraulic motor 231'＝T1，T1And T1' is the relationship of the acting force and the reacting force. T is2For the limit bolt giving the torque, T, of the rotating shaft of the hydraulic motor 232' the rotation axis of the hydraulic motor 23 reacts the moment, T, to the limit bolt2'＝T2，T2And T2' is the relationship of the acting force and the reacting force. T is3For the moment, T, of the drive gear 21 acting on the shaft of the hydraulic motor 233' is the torque output by the hydraulic motor 23 to the winch 11 through the transmission gear 21, T3'＝T3，T3And T3' is the relationship of the acting force and the reacting force. T isLoad(s)Representing the moment of the cable 15 acting on the winch 11, in steady state: t isLoad(s)＝T3', i.e. the sum moment acting on the winch 11 is zero. T isRotating shaftRepresenting the output torque of the winch shaft 12.
In this embodiment, when the deployment and recovery system is stable: t is1＝T2+T3，T1'＝T2'+TRotating shaftThus having TRotating shaft＝T3I.e. the torque output by the transmission gear 21 is equal to the torque input by the winch shaft 12. When T isLoad(s)Less than T1When, T3'＜T1Then T is3＜T1At this time, the hydraulic motor 23 drives the rotating shaft of the hydraulic motor 23 to rotate, and the movable engaging block 242 is pushed to move leftward until the movable engaging block moves to the first limiting member 241 for limiting engagement, and at this time, the first limiting member 241 will provide an acting force T on the rotating shaft of the hydraulic motor 232And an equilibrium state is reached: t is1＝T2+T3And the moment acting on the winch shaft 12 at this time is T respectivelyRotating shaft、T1' and T2'. If T isRotating shaftLess than TLoad(s)The winch 11 will follow TRotating shaftThe direction is opposite to the direction, and the winch 11 is in a cable releasing state at the same time; if T isRotating shaftGreater than TLoad(s)The winch 11 will follow TRotating shaftThe direction is the same, and the winch 11 is in the recovery state at the same time. However, in any state, the movable engaging block 242 will always engage with the first limiting member 241 in a limiting manner, and the influence of the transmission inertia of the gear, the winch shaft 12, and other mechanisms is ignored, and equation T1＝T2+T3And T1'＝T2'+TRotating shaftApproximately, so TRotating shaft＝T3Approximately, the angular acceleration of the capstan 11 is determined by TLoad(s)And TRotating shaftAnd (5) determining the size.
In this embodiment, if the load moment T isLoad(s)Greater than the torque T provided by the hydraulic motor 231When, T3' and T3Will also be greater than T1Before the movable engaging block 242 moves to the second limiting member 243, the rotating shaft of the hydraulic motor 23 is only subjected to T3And T1Moment of force at which the axis of rotation of the hydraulic motor 23 will be along T3The rotation is performed until the movable engaging block 242 reaches the position of the second limiting member 243, and a new equilibrium state is reached, so as to limit the maximum angle difference between the winch 11 and the winch rotation shaft 12.
In this embodiment, the hydraulic motor 23 is connected to a controllable pressure source 25 and a pressure maintaining valve set. The pressure retaining valve groups are arranged at two ends of the hydraulic motor 23 and used for ensuring constant pressure at two ends of the hydraulic motor 23; the controllable pressure source 25 is connected to one end of the hydraulic motor 23 through a pressure maintaining valve set, and is used for controlling the output torque of the hydraulic motor 23. In this embodiment, the pressure maintaining valve group needs to adjust controllable pressure according to the size of the winch, the length of the stay cable and the weight of the underwater operation equipment, so as to ensure that the output torque of the hydraulic motor 23 is not less than the normal working requirement of the laying and recovery system, and is less than the maximum torque requirement of the stay cable 15 under the condition of meeting the safety factor.
As shown in fig. 6, in this embodiment, the pressure maintaining valve group includes two hydraulic directional control valves 26, the two hydraulic directional control valves 26 are disposed on oil paths at two ends of the hydraulic motor 23, and the two hydraulic directional control valves 26 are three-position four-way directional control valves. Specifically, when the hydraulic motor 23 has no external moment, as shown in fig. 7(a), assuming that the controllable pressure is zero and the load moment borne by the hydraulic motor 23 is zero, under the action of the spring pre-pressure 1 and the spring pre-pressure 2, the oil flows into the two ends of the hydraulic motor 23 from the port a and builds up pressure at the two ends; when the pressure across the hydraulic motor 23 reaches the pre-pressure value, the hydraulic directional control valves 26 across the hydraulic motor 23 move to the right to an equilibrium state. The pressure generated at both ends of the hydraulic motor 23 is the same at this time, and is in a stationary state. As shown in fig. 7(b), assuming that the controllable pressure is zero, the hydraulic motor 23 is subjected to a moment that causes the hydraulic motor 23 to rotate clockwise, and the pressure at the right end of the hydraulic motor 23 tends to increase while the pressure at the left end tends to decrease, so that the hydraulic directional valve 26 at the right end of the hydraulic motor 23 moves to the right and the hydraulic directional valve 26 at the left end moves to the left, and the oil pressure at the left and right ends is kept at a pre-pressure value without affecting the clockwise rotation of the hydraulic motor 23. As shown in fig. 7(c), if the controllable pressure is zero, and the hydraulic motor 23 is subjected to a moment that rotates the hydraulic motor 23 counterclockwise, the pressure at the right end of the hydraulic motor 23 tends to decrease, so that the hydraulic directional valve 26 at the right end slides leftward, the oil pressure at the left end of the hydraulic motor 23 tends to increase, so that the hydraulic directional valve 26 at the left end moves rightward, and finally, the oil pressure at the left and right ends of the hydraulic motor 23 is kept at the pre-pressure value while the hydraulic motor 23 rotates counterclockwise.
In this embodiment, when the hydraulic motor 23 has an external torque, as shown in fig. 8(a), assuming that the load torque borne by the hydraulic motor 23 is zero, the controllable pressure increases from zero, the hydraulic directional control valve 26 at the right end of the hydraulic motor 23 moves leftward, and the oil flows into the right end of the hydraulic motor 23 from the end a, so as to keep the hydraulic pressure at the right end of the hydraulic motor 23 always equal to the sum of the pre-pressure 2 and the controllable pressure; as the pressure at the right end of the hydraulic motor 23 rises, a counterclockwise torque T1 is generated, the hydraulic motor 23 starts to rotate counterclockwise, so that the oil pressure at the left end of the hydraulic motor 23 is promoted to rise, the hydraulic directional valve 26 at the left end of the hydraulic motor 23 is pushed to move rightwards, and the pressure at the left end of the hydraulic motor 23 is always kept at the pre-pressure value. As shown in fig. 8(b), the controllable pressure is kept fixed and a clockwise rotation moment T2 is applied to the hydraulic motor 23, and T2 is smaller than T1. According to the characteristics of the hydraulic direction changing valve 26, the oil pressure acting on both ends of the hydraulic motor 23 is kept constant, that is, the output torque T1 of the hydraulic motor 23 is kept constant, while the hydraulic motor 23 is still kept rotating counterclockwise. As shown in fig. 8(c), the controllable pressure is kept fixed, increasing the clockwise moment T2 acting on the hydraulic motor 23, so that T2 is greater than T1. The hydraulic motor 23 rotates clockwise, and the pressure at the right end of the hydraulic motor 23 tends to rise, so that the hydraulic directional valve 26 at the right end of the hydraulic motor 23 is pushed to move rightwards, and the pressure at the left end of the hydraulic motor 23 tends to fall, so that the hydraulic directional valve 26 at the left end of the hydraulic motor 23 is pushed to move leftwards, and the pressure at both ends of the hydraulic motor 23 is kept constant, so that the output torque of the hydraulic motor 23 is kept constant. From the above force and motion analysis, it can be seen that, under the action of the two hydraulic directional valves 26, the pressure at the right end of the hydraulic motor 23 is always equal to the pre-pressure plus the controllable pressure, and the pressure at the left end is always equal to the pre-pressure value, so that the hydraulic motor 23 generates a constant torque output, and the constant output torque of the hydraulic motor 23 is irrelevant to the external force torque and the rotation direction of the hydraulic motor 23.
In this embodiment, the detection assembly includes a position sensor 3, the position sensor 3 is disposed outside the rotating shaft of the hydraulic motor 23 and is in induction fit with the movable fitting block 242, and the position sensor 3 is used for recording the rotating position of the hydraulic motor 23; the compensation gear 22 is connected with a control motor, and the controller generates a control command to the control motor according to a detection signal of the position sensor 3 so as to adjust the output torque of the compensation gear 22, and further adjust the relative angular velocity and the angular velocity displacement between the winch 11 and the winch rotating shaft 12 to play a role of flexible transmission. As shown in fig. 9, the control motor adjusts the output torque according to the moving position of the moving engagement block 242, that is, the output torque of the control motor increases when the moving engagement block 242 moves toward the second limiting member 243.
In this embodiment, the hydraulic motor 23 and the control motor are both installed on the winch rotating shaft 12 through the installation component 4, the installation component 4 includes an installation support 41 and a support bearing 42, the two ends of the hydraulic motor 23 and the control motor are installed on the installation support 41 through the support bearing 42, the installation support 41 is sleeved on the winch rotating shaft 12, and the installation structure is simple.
In this embodiment, the deployment and retrieval system for offshore operations further includes a working hull 5, a boom 14, and a guy cable 15. Wherein, one end of the suspension arm 14 is hinged on the working ship body 5, and the other end of the suspension arm 14 is provided with a traction fixed pulley 16; one end of the cable 15 is wound on the winch 11, the other end of the cable 15 is wound on the traction fixed pulley 16 to be connected with the underwater operation equipment 6, and the cable 15 is driven to lift through the forward and reverse rotation of the winch 11, so that the laying and the recovery of the underwater operation equipment 6 can be realized. When the working water area generates waves, the working ship body 5 usually shakes, the three degrees of freedom of rotation including pitching, yawing and rolling are included, the mounted distribution and recovery system is easily influenced by the rolling of the working ship body 5, and the rolling drives the suspension arm 14 to shake, so that the towed underwater operation equipment 6 is driven to vibrate up and down. Usually, the maximum tensile force that the guy cable 15 can bear is related to the weight of the designed load, and when the working hull 5 rolls, the tension of the guy cable 15 can be periodically and dynamically changed by the acting force generated by the up-and-down vibration of the underwater operation equipment 6, which is generally called dynamic load. The effect of dynamic loads on the cable 15 is often taken into account at the beginning of the system design, so the cable 15 and the entire deployment recovery are usually able to withstand a certain wave level. However, when the shaking is serious, the dynamic load is increased, and if the wave compensation is not carried out, the deployment and recovery system can be damaged, so that the underwater operation equipment 6 is lost.
In a preferred embodiment, the deployment and recovery system for offshore operation further comprises a driving rod 17, wherein two ends of the driving rod 17 are respectively hinged with the working hull 5 and the boom 14, and the boom 14 is pulled to rotate along the hinged point to change the amplitude. In this embodiment, the winch driving member 13 is a hydraulic motor 23, and in other embodiments, it may be an electric motor.
In this embodiment, when the torque applied to the winch 11 by the cable 15 is smaller than the maximum torque limited by the hydraulic valve bank inside the winch 11, the deployment and recovery system does not generate a wave compensation effect, the winch shaft 12 and the winch 11 do not rotate relatively, the rotation of the winch 11 is completely controlled by the winch driving member 13, that is, the winch driving member 13 drives the winch 11 to rotate clockwise or counterclockwise, so that deployment and recovery of the underwater operation equipment 6 can be realized. When the ship body is shaken by waves, the instantaneous load acting on the inhaul cable 15 dynamically changes, the load moment generated on the winch 11 correspondingly changes, if the load moment acting on the winch 11 at a certain moment exceeds the maximum moment limited by the hydraulic valve group, namely the moment acting on the winch 11 exceeds the maximum moment allowed by a wave compensation system, the moment provided by the winch driving piece 13 is not enough to drive the winch 11 and the winch rotating shaft 12 to synchronously rotate, at the moment, the rigid transmission relationship between the winch driving piece 13 and the winch 11 is not existed, the winch 11 and the winch rotating shaft 12 generate relative angular velocity and angular velocity displacement, the relative angular velocity and angular velocity displacement between the winch 11 and the winch rotating shaft 12 are measured by the position sensor 3, and the detection signal is transmitted to the control motor of the compensation gear 22 controlled by the controller, so as to adjust the relative angular velocity and angular velocity displacement between the winch 11 and the winch rotating shaft 12, the flexible transmission effect of the winch 11 and the winch driving piece 13 is realized, and the load change degree acting on the inhaul cable 15 is effectively reduced, so that the vibration degree of the underwater operation equipment 6 is relieved, and the influence of waves on the distribution and recovery system is reduced.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (8)

1. A laying and recovering system for offshore operation comprises a traction assembly and a wave compensation device, wherein the traction assembly comprises a winch, a winch rotating shaft arranged in the winch and a winch driving piece in driving connection with the winch rotating shaft,
the device is characterized in that the winch rotating shaft is rotatably arranged on the winch, the heave compensation device comprises a controller, a detection component for detecting the relative rotating angle of the winch and the winch rotating shaft, a transmission gear for transmitting the driving torque of the winch rotating shaft to the winch, and a compensation gear for adjusting the relative rotating angle of the winch and the winch rotating shaft, and the controller generates a control command to the compensation gear according to a detection signal of the detection component so as to adjust the output torque of the compensation gear; the transmission gear and the compensation gear are arranged in the winch and are in meshing transmission with the winch,
the wave compensation device further comprises a hydraulic motor and a limiting assembly, a rotating shaft of the hydraulic motor is connected with the transmission gear, the limiting assembly comprises a first limiting part and a movable matching block, the first limiting part is used for ensuring that the output torque of a winch rotating shaft is equal to the rotating torque of a winch, the movable matching block is used for being matched with the first limiting part in a limiting mode when the system is in a stable state, the movable matching block is in threaded connection with the hydraulic motor rotating shaft, and the hydraulic motor, the first limiting part and the winch rotating shaft are fixedly connected.
2. The deployment and retrieval system for offshore operations according to claim 1, wherein the limiting assembly further comprises a second limiting member for limiting a maximum angular difference between the winch and the winch shaft, the second limiting member being in limiting engagement with the movable engaging block when the winch reaches a predetermined maximum rotation range, the second limiting member being fixedly connected to the winch shaft.
3. The deployment and retrieval system for offshore operation according to claim 1, wherein the hydraulic motor is connected with a controllable pressure source for controlling the output torque of the motor and a pressure maintaining valve set for ensuring constant pressure at two ends of the hydraulic motor, the pressure maintaining valve set is arranged at two ends of the hydraulic motor, and the controllable pressure source is connected with one end of the hydraulic motor through the pressure maintaining valve set.
4. The deployment and retrieval system for offshore operations of claim 3, wherein the pressure maintaining valve set comprises two hydraulic directional control valves, and the two hydraulic directional control valves are three-position four-way directional control valves.
5. The deployment and retrieval system for offshore operations according to any one of claims 1 to 4, wherein the detection assembly comprises a position sensor, the position sensor is arranged outside the rotating shaft of the hydraulic motor and is in induction fit with a movable fitting block; the compensation gear is connected with a control motor, and the controller generates a control command to the control motor according to a detection signal of the position sensor so as to adjust the output torque of the compensation gear.
6. The deployment and retrieval system for offshore operation according to claim 5, wherein the hydraulic motor and the control motor are both mounted on the winch shaft by a mounting assembly, the mounting assembly comprises a mounting bracket and a bracket bearing, both ends of the hydraulic motor and the control motor are mounted on the mounting bracket by the bracket bearing, and the mounting bracket is sleeved on the winch shaft.
7. The laying and recovering system for offshore operation according to any one of claims 1 to 4, further comprising a working hull, a boom and a guy cable, wherein one end of the boom is hinged on the working hull, the other end of the boom is provided with a traction fixed pulley, one end of the guy cable is wound on a winch, and the other end of the guy cable is connected with the underwater operation equipment by winding on the traction fixed pulley.
8. The deployment and retrieval system for offshore operations as claimed in claim 7, further comprising a driving rod for pulling the boom to rotate along the hinge point, wherein the two ends of the driving rod are respectively hinged to the working hull and the boom.
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CN110823490B (en) * 2019-11-20 2021-05-11 哈尔滨工程大学 Comprehensive guarantee platform for underwater explosion test of submersible vehicle model
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