CN202829415U - Underwater robot driving heaving compensation system - Google Patents
Underwater robot driving heaving compensation system Download PDFInfo
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- CN202829415U CN202829415U CN 201220429742 CN201220429742U CN202829415U CN 202829415 U CN202829415 U CN 202829415U CN 201220429742 CN201220429742 CN 201220429742 CN 201220429742 U CN201220429742 U CN 201220429742U CN 202829415 U CN202829415 U CN 202829415U
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Abstract
The utility model relates to an underwater robot driving heaving compensation system. A hydraulic winch is fixedly connected with a deck of a mother ship, a winding drum of the hydraulic winch is wound with armoured cables which are connected with repeater and a combination body of an underwater robot through a fixed pulley, and a sensor module is fixedly arranged on the fixed pulley and is connected with a signal processing module, a control unit, a hydraulic driving system and a hydraulic winch in sequence. According to the underwater robot driving heaving compensation system, an existing hydraulic contraction and release winch is utilized, an additional power device does not need installing, and work space of the deck of the mother ship does not need increasing. In addition, a rotation range of the hydraulic winch is large, a compensation range is wide, and the underwater robot is prevented from colliding the repeater seriously during release or contraction. Compared with a driven compensation method of a gas-and-liquid energy-accumulator type, the underwater robot driving heaving compensation system can effectively improve heaving compensation efficiency, is simple to operate, brings convenience to engineering achievement, and can be suitable for high-accuracy heaving compensation in high sea conditions.
Description
Technical field
The utility model relates to the maritime technology field of deep-sea detecting and operation technique, specifically a kind of charging system for the under-water robot heave.
Background technology
Connecting repeater by heaving pile when the cable underwater robot deep ocean work is arranged, repeater is connecting the water surface by very long armour cable and is supporting lash ship.Under severe sea condition, support that lash ship can be along with constantly up and down heave of wave, this heave movement is passed to repeater under water by the armour cable then, causes having cable underwater robot to bump with repeater in recovery or dispose procedure, and this just needs to adopt suitable heave compensation system.The heave compensation system that has at present cable underwater robot to use mainly is passive heave compensation system, utilizes hydraulic actuating cylinder and gas-liquid energy storage buffering lash ship heave movement to the disturbance of repeater under water.When the lash ship heave, the working medium in the energy storage is compressed and discharges in the hoisting force of dependence wave and the deadweight of underwater kit, thereby realizes heave compensation.Such heave compensation system does not need the power that provides extra, uses more extensively, but its equipment needed thereby is huge, and compensation precision is low, and it is larger to lag behind, and compensation ability is limited.When sea situation was more abominable, passive heave compensation system can not satisfy the steady folding and unfolding requirement of cable underwater robot.
The utility model content
The purpose of this utility model is that a kind of cable underwater robot deep ocean work is arranged time compensation lash ship heave movement of design is to reduce the Active Heave Compensation System of repeater heave movement amplitude under water, to improve compensation efficiency and compensation ability, made cable underwater robot be able to steady folding and unfolding.
The technical solution adopted in the utility model is: a kind of active heave compensation system for underwater vehicle, hydraulic wireline winch is fixedly connected on the deck of lash ship, the reel of hydraulic wireline winch twines the armour cable, the armour cable connects the zoarium of repeater and under-water robot by fixed pulley, it is characterized in that: be useful on the sensor assembly of measuring lash ship heave movement signal in the fixed pulley fixed installation, and be linked in sequence with signal processing module, control unit, fluid power system, hydraulic wireline winch.
Described sensor assembly comprises accelerometer and dip compass.
Described signal processing module is the industrial grade embedded computer with two serial ports.
Described control unit is the industrial computer with A/D and D/A function switching signal.
The control fluid power system comprises electro-hydraulic proportional valve and hydraulic efficiency gear;
The control interface of electro-hydraulic proportional valve is connected with the mouth of control unit; Pipe interface A mouth, the B mouth of electro-hydraulic proportional valve are connected with the import and export of HM Hydraulic Motor by hydraulic tubing; The pipe interface P mouth of electro-hydraulic proportional valve, T mouth are connected with hydraulic efficiency gear.
Described hydraulic efficiency gear comprises fuel tank, filter, Hydraulic Pump, motor, check valve and safety valve; The import of described filter links to each other with fuel tank, and its outlet links to each other with the import of Hydraulic Pump; The Hydraulic Pump outlet that is connected with motor coaxle links to each other with the pipeline entrance P mouth of electro-hydraulic proportional valve through check valve, and the pipeline outlet T mouth of electro-hydraulic proportional valve links to each other with fuel tank by safety valve.
Described hydraulic wireline winch comprises pedestal, reel and HM Hydraulic Motor; HM Hydraulic Motor is connected with reel is coaxial.
Described fixed pulley is captiveed joint with an end of support; The other end of support is fixed on the lash ship.
The utlity model has following beneficial effect and advantage:
1, can utilize existing hydraulic pressure releasing winch, not need to increase extra power plant, also not need to increase the working space on lash ship deck.And because the slewing area of hydraulic wireline winch is large, compensation range is wider.
2, the control unit lash ship Heaving Signal that can provide according to lash ship heave movement measurement module and signal processing module, send control command to electro-hydraulic proportional valve, driving hydraulic wireline winch reel is done the counter motion with the lash ship heave movement, reduce the lash ship heave to the vertical disturbance of repeater and under-water robot zoarium, avoid under-water robot and repeater generation sharp impacts when discharging or reclaim.
3, with respect to the passive compensation way of gas-liquid energy storage type, the utility model can Effective Raise heave compensation efficient, and operation is simpler, is convenient to Project Realization, applicable to the high precision heave compensation under the higher sea situation.
Description of drawings
Fig. 1 is a kind of cable underwater robot Active Heave Compensation System principle of work scheme drawing that has;
Wherein: 1 is that lash ship, 2 is hydraulic efficiency gear for control fluid power system, 19 for safety valve, 18 for check valve, 17 for electrical motor, 16 for Hydraulic Pump, 15 for filter, 14 for fuel tank, 13 for fixed pulley, 11 zoariums for repeater and under-water robot, 12 for support, 10 for armour cable, 9 for hydraulic wireline winch, 8 for HM Hydraulic Motor, 7 for electro-hydraulic proportional valve, 6 for control unit, 5 for signal processing module, 4 for heave movement measurement module, 3.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
There is the basis of cable underwater robot draw off gear to increase heave movement measurement module, signal processing module and control unit in existing routine.Hydraulic wireline winch is fixed on the deck of lash ship, and the armour cable is wound on the reel of hydraulic wireline winch, walks around the zoarium that is connecting repeater and under-water robot behind the fixed pulley of support.The import of Hydraulic Pump links to each other with the outlet of filter, the import of filter links to each other with fuel tank, the hydraulic pressure delivery side of pump links to each other with the P mouth of electro-hydraulic proportional valve through check valve, the T mouth of electro-hydraulic proportional valve links to each other with fuel tank through safety valve, and the A mouth of electro-hydraulic proportional valve is connected with the B mouth with the import of HM Hydraulic Motor and is connected with being connected by hydraulic tubing.Mechanical connection two-way quantitative HM Hydraulic Motor on the hydraulic wireline winch axis of winding drum pedestal drives the forward and reverse rotation of hydraulic wireline winch.The heave movement measurement module comprises accelerometer and dip compass, be installed on the fixed pulley place of lash ship support (present embodiment adopts A type frame), link to each other with the signal input interface of signal processing module, signal processing module is the industrial grade embedded computer with two serial ports.The signal output interface of signal processing module links to each other with control unit, and control unit is that control unit links to each other by control interface with electro-hydraulic proportional valve with the industrial computer of modulus A/D and digital-to-analogue D/A function switching signal.
As shown in Figure 1, the import of Hydraulic Pump 14 links to each other with the outlet of filter 13, the import of filter 13 links to each other with fuel tank 12, the outlet of Hydraulic Pump 14 links to each other with the P mouth of electro-hydraulic proportional valve 5 through check valve 16, the T mouth of electro-hydraulic proportional valve 5 links to each other with fuel tank 12 through safety valve 17, the A mouth of electro-hydraulic proportional valve 5 is connected with the B mouth with the import of HM Hydraulic Motor 6 and is connected with being connected by hydraulic tubing, and HM Hydraulic Motor 6 and hydraulic wireline winch 7 are connected by physical construction.Hydraulic wireline winch is fixed on the deck of lash ship 1, and armour cable 8 is wound on the reel of hydraulic wireline winch 7, walks around the fixed pulley 10 rear zoariums 11 that connecting repeater and under-water robot of support 9.Heave movement measurement module 2 comprises accelerometer and dip compass, be used for measuring heave acceleration/accel, casterangle and the roll angle of lash ship, be installed on fixed pulley 10 places of lash ship support, link to each other with the signal input interface of signal processing module 3, signal processing module 3 is the industrial grade embedded computers with two serial ports, lash ship heave movement signal for the treatment of measuring comprises by acceleration signal obtaining speed and displacement signal.The signal output interface of signal processing module 3 links to each other with control unit 4, and control unit 4 is the industrial computers with modulus A/D and digital-to-analogue D/A function switching signal.Control unit 4 and electro-hydraulic proportional valve 5 link to each other by control interface.The lash ship Heaving Signal that control unit 4 provides according to lash ship heave movement measurement module 2 and signal processing module 3, send control command to electro-hydraulic proportional valve 5, control hydraulic wireline winch 7 traceback lash ship heave movements reduce the lash ship heave movement to the impact of repeater and under-water robot zoarium 11 by folding and unfolding armour cable 8.
Be connected with heaving pile between repeater in repeater and the under-water robot zoarium 11 and the under-water robot, in discharging the under-water robot process, repeater discharges heaving pile to be made under-water robot separate with repeater and arrives assigned address and carry out work; In reclaiming the under-water robot process, repeater is packed up heaving pile gets back in the repeater under-water robot; Therefore, no matter repeater and under-water robot zoarium 11 are to be in to discharge or recovery under-water robot process, or the state that under-water robot separates or unites two into one with repeater, charging system of the present invention can both avoid under-water robot and the repeater in fit 11 to bump.
Principle of work of the present utility model is:
When lash ship 1 rises along with the effect of wave, will drive repeater with zoarium 11 risings of under-water robot by armour cable 8.The heave movement measurement module 2 that is installed in lash ship support fixed pulley 10 places detects the acceleration of motion of lash ship, and this signal is passed to signal processing module 3.Signal processing module is processed acceleration signal according to self-defining integration and adaptive filter algorithm in the in house software, and the signal after will processing passes to control unit 4.Control unit sends control command according to the control policy of the lash ship velocity feed forward of formulating to electro-hydraulic proportional valve 5 again, make it drive HM Hydraulic Motor 6, make hydraulic wireline winch 7 discharge armour cable 8, thereby the motion that compensating repeater and under-water robot fit 11 rises makes it basically be in motionless state with respect to the seabed.
Otherwise, when lash ship 1 descends along with the effect of wave, armour cable 8 will be toward descending under Action of Gravity Field with the zoarium 11 of repeater and under-water robot under water, the heave movement measurement module 2 that is installed in lash ship support fixed pulley 10 places detects the acceleration of motion of lash ship, and this signal is passed to signal processing module 3.Signal processing module is processed acceleration signal according to self-defining integration and adaptive filter algorithm in the in house software, and the signal after will processing passes to control unit 4.Control unit sends control command according to the control policy of the lash ship velocity feed forward of formulating to electro-hydraulic proportional valve 5 again, make it drive HM Hydraulic Motor 6, make hydraulic wireline winch 7 reclaim armour cable 8, thereby the motion that compensating repeater and under-water robot fit 11 descends makes it basically be in motionless state with respect to the seabed.
In sum, the utility model has provided a kind of cable underwater robot Active Heave Compensation System that has, compensation lash ship heave movement is to reduce repeater heave movement amplitude under water in the time of can carrying out deep ocean work under severe sea condition, solved the low and narrow problem of compensation range of the existing compensation efficiency of traditional passive heave compensation system, compensation efficiency and compensation range have been improved, made cable underwater robot be able to steady recovery, avoided under severe sea condition under-water robot in the process that reclaims or discharge with the collision problem of repeater.
Claims (8)
1. active heave compensation system for underwater vehicle, hydraulic wireline winch (7) is fixedly connected on the deck of lash ship (1), the reel of hydraulic wireline winch (7) twines armour cable (8), armour cable (8) connects the zoarium (11) of repeater and under-water robot by fixed pulley (10), it is characterized in that: be useful on the heave movement measurement module (2) of measuring lash ship heave movement signal in fixed pulley (10) fixed installation, and be linked in sequence with signal processing module (3), control unit (4), fluid power system (18), hydraulic wireline winch (7).
2. a kind of active heave compensation system for underwater vehicle according to claim 1, it is characterized in that: described heave movement measurement module (2) comprises accelerometer and dip compass.
3. a kind of active heave compensation system for underwater vehicle according to claim 1, it is characterized in that: described signal processing module (3) is the industrial grade embedded computer with two serial ports.
4. a kind of active heave compensation system for underwater vehicle according to claim 1 is characterized in that: described control unit (4) is the industrial computer with A/D and D/A function switching signal.
5. a kind of active heave compensation system for underwater vehicle according to claim 1 is characterized in that: control fluid power system (18) and comprise electro-hydraulic proportional valve (5) and hydraulic efficiency gear (19);
The control interface of electro-hydraulic proportional valve (5) is connected with the mouth of control unit (4); The pipe interface A mouth of electro-hydraulic proportional valve (5), B mouth are connected by the import and export of hydraulic tubing with HM Hydraulic Motor (6); The pipe interface P mouth of electro-hydraulic proportional valve (5), T mouth are connected with hydraulic efficiency gear (19).
6. a kind of active heave compensation system for underwater vehicle according to claim 5, it is characterized in that: described hydraulic efficiency gear (19) comprises fuel tank (12), filter (13), Hydraulic Pump (14), electrical motor (15), check valve (16) and safety valve (17);
The import of described filter (13) links to each other with fuel tank (12), and its outlet links to each other with the import of Hydraulic Pump (14); Link to each other with the pipeline entrance P mouth of electro-hydraulic proportional valve (5) through check valve (16) with the coaxial Hydraulic Pump that is connected of electrical motor (15) (14) outlet, the pipeline outlet T mouth of electro-hydraulic proportional valve (5) links to each other with fuel tank (12) by safety valve (17).
7. a kind of active heave compensation system for underwater vehicle according to claim 1, it is characterized in that: described hydraulic wireline winch (7) comprises pedestal, reel and HM Hydraulic Motor (6); HM Hydraulic Motor (6) is connected with reel is coaxial.
8. a kind of active heave compensation system for underwater vehicle according to claim 1, it is characterized in that: described fixed pulley (10) is captiveed joint with an end of support (9); The other end of support (9) is fixed on the lash ship (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220429742 CN202829415U (en) | 2012-08-28 | 2012-08-28 | Underwater robot driving heaving compensation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220429742 CN202829415U (en) | 2012-08-28 | 2012-08-28 | Underwater robot driving heaving compensation system |
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| Publication Number | Publication Date |
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| CN202829415U true CN202829415U (en) | 2013-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220429742 Expired - Fee Related CN202829415U (en) | 2012-08-28 | 2012-08-28 | Underwater robot driving heaving compensation system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103626068A (en) * | 2012-08-28 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Active heave compensation system of underwater robot |
| EP2896589A1 (en) | 2014-01-17 | 2015-07-22 | SAL Offshore B.V. | Method and apparatus |
| CN105417296A (en) * | 2015-12-03 | 2016-03-23 | 青岛华凯海洋科技有限公司 | Safety cable winding and unwinding device and cable releasing and recycling method |
| CN106744069A (en) * | 2016-11-16 | 2017-05-31 | 广东国利先进复合材料研发有限公司 | A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots |
| CN107986179A (en) * | 2017-11-28 | 2018-05-04 | 中国海洋石油集团有限公司 | The heave compensator of operation on the sea crane |
| CN108821118A (en) * | 2018-07-23 | 2018-11-16 | 重庆交通大学 | For the Active Heave Compensation System during deep water lifting operation |
| CN112829880A (en) * | 2020-12-29 | 2021-05-25 | 武汉船舶设计研究院有限公司 | Mining vehicle distribution and recovery system suitable for deep sea mining |
-
2012
- 2012-08-28 CN CN 201220429742 patent/CN202829415U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103626068A (en) * | 2012-08-28 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Active heave compensation system of underwater robot |
| EP2896589A1 (en) | 2014-01-17 | 2015-07-22 | SAL Offshore B.V. | Method and apparatus |
| CN105417296A (en) * | 2015-12-03 | 2016-03-23 | 青岛华凯海洋科技有限公司 | Safety cable winding and unwinding device and cable releasing and recycling method |
| CN105417296B (en) * | 2015-12-03 | 2017-08-29 | 青岛华凯海洋科技有限公司 | A kind of safe draw off gear of hawser and hawser lay recovery method |
| CN106744069A (en) * | 2016-11-16 | 2017-05-31 | 广东国利先进复合材料研发有限公司 | A kind of manipulation extension and retraction system of cable draw off gear and Shui Zhong robots |
| CN107986179A (en) * | 2017-11-28 | 2018-05-04 | 中国海洋石油集团有限公司 | The heave compensator of operation on the sea crane |
| CN108821118A (en) * | 2018-07-23 | 2018-11-16 | 重庆交通大学 | For the Active Heave Compensation System during deep water lifting operation |
| CN112829880A (en) * | 2020-12-29 | 2021-05-25 | 武汉船舶设计研究院有限公司 | Mining vehicle distribution and recovery system suitable for deep sea mining |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20210828 |