CN115837963B - A stable compensation platform for ocean engineering - Google Patents
A stable compensation platform for ocean engineering Download PDFInfo
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- CN115837963B CN115837963B CN202211597588.4A CN202211597588A CN115837963B CN 115837963 B CN115837963 B CN 115837963B CN 202211597588 A CN202211597588 A CN 202211597588A CN 115837963 B CN115837963 B CN 115837963B
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- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000013016 damping Methods 0.000 claims abstract description 30
- 239000012530 fluid Substances 0.000 claims description 32
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 238000005096 rolling process Methods 0.000 abstract description 5
- 230000005284 excitation Effects 0.000 description 5
- 239000003921 oil Substances 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 239000013589 supplement Substances 0.000 description 1
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Abstract
The invention discloses a stable compensation platform for ocean engineering, which comprises a passive inertial damping mechanism, an active hydraulic compensation platform arranged above the passive inertial damping mechanism, a rotary table arranged at the middle position above the active hydraulic compensation platform, and a rotary driving mechanism connected with the rotary table, wherein a posture sensor is arranged above the active hydraulic compensation platform and below the rotary table, and the posture sensor, the passive inertial damping mechanism and the active hydraulic compensation platform are arranged above the active hydraulic compensation platform; the invention has the advantages that the six-degree-of-freedom passive inertial damping mechanism is adopted, the high-frequency low-amplitude vibration in all directions can be reduced, the passive inertial damping mechanism is combined with the active hydraulic compensation platform, the swing in the three directions of rolling, yawing and pitching caused by sea waves can be compensated, the support column is increased to support most of weight, the energy consumption is reduced, and the power required by the hydraulic lifting mechanism is further reduced.
Description
Technical Field
The invention relates to the technical field of stabilized platforms, in particular to a stabilized compensation platform for ocean engineering.
Background
In ocean engineering operation, the ocean engineering ship generates heave, roll, surge, head roll, roll and pitch with lower frequency and larger amplitude under the excitation of ocean waves, as shown in figure 1; meanwhile, the ship body also generates vibration with higher frequency and smaller amplitude under the influence of sea wind and other equipment such as an engine and the like; the stable compensation platform is an anti-shake vibration reduction device commonly used for important equipment on a ship, such as a crane arranged on a crane ship, and is required to be additionally arranged in order to reduce the swing influence of wave excitation on the crane weight; the radar installed on the warship needs a stable working environment and also needs to be protected by a stable compensation platform;
the traditional scheme adopts a pure active six-degree-of-freedom compensation platform or a simple buffer damping device, as shown in fig. 2, the pure active six-degree-of-freedom compensation platform is commonly used for maritime work and ships, and is similar to a Stewart platform structure, 6 oil cylinder piston rods support an upper platform (a movable platform) in a mode of long sides and short sides, so that the swinging of all 6 degrees of freedom can be compensated, and the stable compensation platform scheme has the advantages that the load is completely supported by the 6 oil cylinder piston rods, the weight such as a crane is huge, the compensation needs high energy consumption, and secondly, higher-power hydraulic driving equipment is needed, so that the cost is increased; in the working process, the ship body is inevitably vibrated in the face of the excitation of sea waves, sea winds and other moving parts, and the scheme cannot cope with vibration compensation; and for the scheme adopting a simple buffering damping device, the vibration cannot be well isolated and the wave excitation cannot be compensated;
In view of this, we have devised improvements to existing compensation platforms to meet the needs of marine engineering work applications.
Disclosure of Invention
The invention aims to design a stable compensation platform to solve the problems that in ocean engineering operation, the traditional scheme is high in energy consumption and high in cost and can not isolate vibration of a ship body, and particularly relates to a stable compensation platform for ocean engineering.
The technical scheme includes that the stable compensation platform for ocean engineering comprises a passive inertial damping mechanism, an active hydraulic compensation platform arranged above the passive inertial damping mechanism, a rotary table arranged at the middle position above the active hydraulic compensation platform, and a rotary driving mechanism connected with the rotary table, wherein an attitude sensor is arranged above the active hydraulic compensation platform and below the rotary table, and the attitude sensor, the passive inertial damping mechanism, the active hydraulic compensation platform and the rotary driving mechanism are connected with an active chip; ocean engineering equipment is arranged on the turntable.
According to the technical scheme, the passive inertial damping mechanism comprises a base, a plurality of fluid inertial containers arranged above the base and positioned on the outer circumference of the base, springs arranged on the fluid inertial containers and connected with the fluid inertial containers, a limit buffer mechanism arranged at the center of the base, and a middle platform arranged above the fluid inertial containers and the limit buffer mechanism, wherein the lower ends of the fluid inertial containers are connected with the base through universal joints, the upper ends of the fluid inertial containers are connected with the middle platform through ball joints, and the lower ends of the limit buffer mechanism are connected with the base through universal joints, and the upper ends of the limit buffer mechanism are connected with the middle platform through ball joints.
According to the technical scheme, 6 fluid inertial containers are arranged, and the 6 fluid inertial containers are symmetrically arranged on the left side and the right side of the base.
According to the technical scheme, the limiting buffer mechanism comprises a limiting inertial holding cylinder and a limiting inertial holding rod connected with the limiting inertial holding cylinder, wherein the lower end of the limiting inertial holding cylinder is connected with the base through a universal joint, and the upper end of the limiting inertial holding rod is connected with the middle platform through a ball hinge.
To the further supplement of this technical scheme, initiative hydraulic compensation platform includes a plurality of hydraulic lifting mechanisms of evenly distributed on well platform, sets up in the support column of well platform top central point put, sets up in the upper platform of hydraulic lifting mechanism, support column top, the carousel sets up in the upper platform top, hydraulic lifting mechanism's upper end is connected with the upper platform through the universal joint and its lower extreme is connected with well platform through the universal joint, the lower extreme and the well platform fixed connection of support column and its upper end are connected through the universal joint with the upper platform, attitude sensor sets up on the upper platform.
According to the technical scheme, the four hydraulic lifting mechanisms are arranged on the middle platform and evenly distributed on the middle platform.
The technical scheme is further supplemented, the hydraulic lifting mechanism (21) comprises a hydraulic oil cylinder (211), an oil cylinder piston rod (212) connected with the hydraulic oil cylinder (211) and an inertial container (213) arranged below the hydraulic oil cylinder (211); the cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inertial container (213) is connected with the upper surface of the middle platform through the universal joint.
Further supplementing the technical proposal, the rotary driving mechanism is arranged in the turntable.
The passive inertial damping mechanism with six degrees of freedom is adopted, high-frequency low-amplitude vibration in all directions can be reduced, the passive inertial damping mechanism is combined with an active hydraulic compensation platform, the swing in the three directions of rolling, yawing and pitching caused by sea waves can be compensated, the support column is increased, most of weight can be supported, energy consumption is reduced, and power required by the hydraulic lifting mechanism is further reduced.
Drawings
FIG. 1 is a diagram of a marine vessel in service;
FIG. 2 is a schematic diagram of a prior art structure;
FIG. 3 is a first angular configuration of the present invention;
FIG. 4 is a second angular configuration of the present invention;
Fig. 5 is a hydraulic schematic of the active compensation portion of the present invention.
In the figure, 1, a passive inertial damping mechanism; 11. a base; 12. a fluid inertial container; 13. a spring; 14. a limit buffer mechanism; 141. limiting inertial volume cylinder; 142. a limiting inertial rod; 15. a middle platform; 2. an active hydraulic compensation platform; 21. a hydraulic lifting mechanism; 211. a hydraulic cylinder; 212. a cylinder piston rod; 213. a inertial container; 22. a support column; 23. a top platform; 3. a turntable.
Detailed Description
Firstly, the design of the invention is initially described, because the existing compensation platform can compensate the swing of 6 degrees of freedom when being applied to ocean engineering, but because the load is completely supported by 6 cylinder piston rods, the weight such as a crane is huge, the compensation needs to consume great energy, and secondly, the cost is increased by a hydraulic driving device with larger power, and the use effect is poor.
The invention is different from the prior art (figure 2), a passive inertia capacity vibration reduction mechanism is added on the basis of the prior art (figure 2), and design improvement innovation is made on the structure of the active hydraulic compensation platform 2; because the swing in four directions of rolling, pitching and swaying is the biggest in the swing of the ship, in addition, the influence of swaying is easy to compensate through the traditional mode and does not need the repeated compensation of a platform, the swaying in other two directions is smaller, the influence can be reduced through the passive inertial damping mechanism and the main supporting force can be provided without the middle supporting column 22, the hydraulic lifting mechanism 21 only needs to adjust the driving force of the gesture and does not need to lift the whole load, the supporting column 22 can support most of the weight, the energy consumption is reduced, the using power of the hydraulic lifting mechanism 21 can be further reduced, and the integrated function of damping and compensation can be realized through the combination of the passive inertial damping mechanism 1 and the active hydraulic compensation platform 2.
In order to make the technical solution more clear for the person skilled in the art, the specific structure and principle of each mechanism described above will be described below with reference to fig. 3-5:
As shown in fig. 3-5, a stable compensation platform for ocean engineering comprises a passive inertial damping mechanism 1, an active hydraulic compensation platform 2 arranged above the passive inertial damping mechanism 1, a turntable 3 arranged in the middle position above the active hydraulic compensation platform 2, and a rotary driving mechanism (not shown) connected with the turntable 3, wherein the rotary driving mechanism is arranged in the turntable 3 for further saving space and conveniently controlling the turntable 3 to work, and in detail, the rotary driving mechanism is driven by a motor; a posture sensor (not shown) is arranged above the active hydraulic compensation platform 2 and below the turntable 3, and can detect the posture of the upper platform 23, and the posture sensor, the passive inertial damping mechanism 1, the active hydraulic compensation platform 2 and the rotary driving mechanism are connected with an active chip; the active chip can monitor the working states of the attitude sensor, the passive inertial damping mechanism 1, the active hydraulic compensation platform 2 and the rotary driving mechanism and control the working of the attitude sensor and the passive inertial damping mechanism; the marine engineering equipment (such as a crane and the like) is arranged on the turntable 3, and when the marine engineering equipment works, the passive inertial damping mechanism 1 can reduce vibration in all six directions, and the active hydraulic compensation platform 2 can compensate the swing of the ship body in the three directions of rolling, yawing and pitching, so that the integrated function of damping and compensation is realized.
The structure of the passive inertial damping mechanism 1 will be described in detail below, and includes a base 11, a plurality of fluid inertial containers 12 disposed above the base 11 and located at the outer circumference thereof, a spring 13 disposed on the fluid inertial containers 12 and connected thereto, a limit buffer mechanism 14 disposed at the center of the base 11, a middle platform 15 disposed above the fluid inertial containers 12 and the limit buffer mechanism 14, wherein the lower end of the fluid inertial container 12 is connected with the base 11 through a universal joint and the upper end thereof is connected with the middle platform 15 through a ball hinge, the lower end of the limit buffer mechanism 14 is connected with the base 11 through a universal joint and the upper end thereof is connected with the middle platform 15 through a ball hinge;
As shown in fig. 1, in which the fluid inertial container 12 is inclined outward in the top-to-bottom direction, in detail, the hinge points of the fluid inertial container 12 and the base 11 are located at the circumferential edge position of the base and are arranged at intervals in the circumferential direction of the base 11, the hinge points of the fluid inertial container and the middle platform 15 are located at the circumferential edge position of the middle platform 15 and are arranged at intervals in the circumferential direction of the middle platform 15, and the position distribution of the hinge points of the fluid inertial container and the middle platform 15 is different from the position distribution of the hinge points of the fluid inertial container 15 and the base 11; so that the fluid inertial containers are inclined in the vertical direction and the horizontal direction and the inclination directions of the fluid inertial containers are different.
As a preferred embodiment, the number of the fluid inertial containers 12 is 6, the 6 fluid inertial containers 12 are symmetrically arranged at the left side and the right side of the base 11, and the 6 fluid inertial containers 12 are combined with the springs 13 to replace the existing 6 driving rods, so that the use effect is better.
The limiting and buffering mechanism 14 comprises a limiting inertial container cylinder 141 and a limiting inertial container rod 142 connected with the limiting inertial container cylinder 141, the lower end of the limiting inertial container cylinder 141 is connected with the base 11 through a universal joint, and the upper end of the limiting inertial container rod 142 is connected with the middle platform 15 through a ball hinge, so that the limiting, buffering and pressure reducing functions can be further realized.
The structure of the active hydraulic compensation platform 2 will be described in detail below, which comprises a plurality of hydraulic lifting mechanisms 21 evenly distributed on the middle platform 15, a support column 22 arranged at the central position above the middle platform 15, an upper platform 23 arranged above the hydraulic lifting mechanisms 21 and the support column 22, a turntable 3 arranged above the upper platform 23, the upper end of the hydraulic lifting mechanism 21 is connected with the upper platform 23 through a universal joint and the lower end thereof is connected with the middle platform 15 through a universal joint, the lower end of the support column 22 is fixedly connected with the middle platform 15 and the upper end thereof is connected with the upper platform 23 through a universal joint, an attitude sensor is arranged on the upper platform 23, and the hydraulic lifting mechanism 21 comprises a hydraulic cylinder 211, a cylinder piston rod 212 connected with the hydraulic cylinder 211 and an inertial container 213 arranged below the hydraulic cylinder; the cylinder piston rod 212 is connected with the upper platform 23 through a universal joint, and the lower end of the inertial container 213 is connected with the upper surface of the middle platform 15 through a universal joint.
As a preferred embodiment, the four hydraulic lifting mechanisms 21 are evenly distributed on the middle platform 15, and 4 hydraulic lifting mechanisms 21 are adopted to replace 6 hydraulic lifting mechanisms 21 in the prior art, so that the composite stability compensation effect of the passive inertial damping mechanism 1 is good.
Preferably, the shape size of the base 11 is larger than that of the middle platform 15, and the shape size of the upper platform 23 is larger than that of the middle platform 15, so that the center of the compensation platform is reduced, and the stability and the bearing capacity of the compensation platform are improved; further, the shape of the base is a hexagonal plate which is symmetrically arranged left and right, the shape of the middle platform 15 is the same as that of the base, the size of the middle platform is smaller than that of the base 11, the base 11 and the middle platform 15 are not arranged according to the offset position, the upper side and the lower side of the base are reversely arranged, and the limiting buffer mechanism 14 and the support column 22 are arranged at the gravity center positions of the base 11 and the middle platform 15; the structural design of upper platform 23 is square, and the upper end of support column 22 sets up in the focus position of upper platform to the size design of upper platform 23 and the size design of well platform 15 makes hydraulic lifting mechanism 21 be vertical and be connected with upper platform 23, well platform 15 respectively.
As shown in fig. 5, the active hydraulic compensation platform works according to the following principle: firstly, an attitude sensor arranged on an upper platform detects the attitude change of the upper platform, detected data are transmitted to a main control chip, a control system calculates displacement amounts required to be compensated by four hydraulic cylinders (a cylinder A1, a cylinder A2, a cylinder A3 and a cylinder A4), oil supply of four electric hydraulic pumps (an electric hydraulic pump M1, an electric hydraulic pump M2, an electric hydraulic pump M3 and an electric hydraulic pump M4) is controlled, and forward and reverse power supply time of electromagnets (an electromagnet K10 and an electromagnet K11, an electromagnet K20 and an electromagnet K21, an electromagnet K30 and an electromagnet K31 and an electromagnet K40 and an electromagnet K41) of four three-position four-way electromagnetic valves (an electromagnetic valve V1, an electromagnetic valve V2, an electromagnetic valve V3 and an electromagnetic valve V4) is controlled, so that cylinder piston rods of the four hydraulic cylinders A1, the cylinder A2, the cylinder A3 and the cylinder A4 are driven to move; the four cylinders (cylinder A1, cylinder A2, cylinder A3 and cylinder A4) drive the platform to change attitude, thereby achieving time-varying nonlinear motion of the platform in roll and pitch directions and compensation of superimposed motion in that direction.
The overall working principle of the invention will be described below: the passive inertial-volume vibration reduction mechanism 1 of the active-passive composite stable compensation platform does not need active operation, when vibration excitation is carried out, the middle platform 15 and the base 11 generate unknown relative motion trends in directions, all the six relative motion trends can enable 6 fluid inertial containers 12 and springs 13 to generate telescopic trends, the motion trends can be reduced, vibration in all directions between the middle platform 15 and the base 11 can be restrained, an attitude sensor arranged on the upper platform 23 monitors the attitude of the platform at any time and transmits the attitude to a main control chip, and data returned by the main control chip drive 4 hydraulic lifting mechanisms 21 to lift and drive the turntable 3 to rotate, so that rolling, pitching and pitching of a ship body are compensated, and the upper platform 23 is kept stable.
The above technical solution only represents the preferred technical solution of the present invention, and some changes that may be made by those skilled in the art to some parts of the technical solution represent the principles of the present invention, and the technical solution falls within the scope of the present invention.
Claims (6)
1. The stable compensation platform for the ocean engineering is characterized by comprising a passive inertial damping mechanism (1), an active hydraulic compensation platform (2) arranged above the passive inertial damping mechanism (1), a rotary table (3) arranged in the middle position above the active hydraulic compensation platform (2) and a rotary driving mechanism connected with the rotary table (3), wherein an attitude sensor is arranged above the active hydraulic compensation platform (2) and below the rotary table (3), and the attitude sensor, the passive inertial damping mechanism (1), the active hydraulic compensation platform (2) and the rotary driving mechanism are connected with an active chip; ocean engineering equipment is arranged on the turntable (3);
The passive inertial damping mechanism (1) comprises a base (11), a plurality of fluid inertial containers (12) arranged above the base (11) and positioned on the outer circumference of the base, springs (13) arranged on the fluid inertial containers (12) and connected with the fluid inertial containers, a limit buffer mechanism (14) arranged at the central position of the base (11), and a middle platform (15) arranged above the fluid inertial containers (12) and the limit buffer mechanism (14), wherein the lower end of the fluid inertial containers (12) is connected with the base (11) through a universal joint, the upper end of the fluid inertial containers is connected with the middle platform (15) through a spherical hinge, and the lower end of the limit buffer mechanism (14) is connected with the base (11) through the universal joint, and the upper end of the limit buffer mechanism is connected with the middle platform (15) through the spherical hinge;
The active hydraulic compensation platform (2) comprises a plurality of hydraulic lifting mechanisms (21) which are evenly distributed on the middle platform (15), support columns (22) which are arranged at the central position above the middle platform (15), and an upper platform (23) which is arranged above the hydraulic lifting mechanisms (21) and the support columns (22), wherein the rotary table (3) is arranged above the upper platform (23), the upper end of the hydraulic lifting mechanism (21) is connected with the upper platform (23) through a universal joint, the lower end of the hydraulic lifting mechanism is connected with the middle platform (15) through the universal joint, the lower end of the support columns (22) is fixedly connected with the middle platform (15), the upper end of the support columns is connected with the upper platform (23) through the universal joint, and the gesture sensor is arranged on the upper platform (23).
2. The stabilized compensation platform for ocean engineering according to claim 1, wherein the number of the fluid inertial containers (12) is 6, and the 6 fluid inertial containers (12) are symmetrically arranged at the left side and the right side of the base (11).
3. The stable compensation platform for ocean engineering according to claim 1, wherein the limiting buffer mechanism (14) comprises a limiting inertial volume cylinder (141) and a limiting inertial volume rod (142) connected with the limiting inertial volume cylinder (141), the lower end of the limiting inertial volume cylinder (141) is connected with the base (11) through a universal joint, and the upper end of the limiting inertial volume rod (142) is connected with the middle platform (15) through a ball hinge.
4. A stability compensation platform for marine engineering according to claim 1, characterized in that the hydraulic lifting mechanism (21) is provided with four and evenly distributed on the middle platform (15).
5. The stabilized compensation platform for ocean engineering according to claim 1, wherein the hydraulic lifting mechanism (21) comprises a hydraulic cylinder (211), a cylinder piston rod (212) connected with the hydraulic cylinder (211), and an inertial container (213) arranged below the hydraulic cylinder (211); the cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inertial container (213) is connected with the upper surface of the middle platform (15) through the universal joint.
6. A stability compensation platform for marine engineering according to claim 4, characterized in that the rotary drive mechanism is built into the turntable (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211597588.4A CN115837963B (en) | 2022-12-12 | 2022-12-12 | A stable compensation platform for ocean engineering |
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| CN202211597588.4A CN115837963B (en) | 2022-12-12 | 2022-12-12 | A stable compensation platform for ocean engineering |
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| CN115837963A CN115837963A (en) | 2023-03-24 |
| CN115837963B true CN115837963B (en) | 2024-05-03 |
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| CN117948044B (en) * | 2024-01-29 | 2024-09-27 | 江苏科技大学 | Six-degree-of-freedom wave compensation offshore drilling platform and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7331750B2 (en) * | 2005-03-21 | 2008-02-19 | Michael Merz | Parallel robot |
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| CN1523546A (en) * | 2003-09-03 | 2004-08-25 | 浙江大学 | Hydraulic and gravitational balancing type space motion simulator equilibrium |
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