CN204490370U - Active heave compensation experimental device - Google Patents

Abstract

The utility model provides an active wave compensation experimental device, which comprises a wave simulation platform, a rope hoisting part, a platform pose detection part and a wave compensation control part, wherein the wave simulation platform comprises a base, a servo electric cylinder, a joint bearing, a platform and the like; the rope hoisting part comprises a servo motor, a speed reducer, a winding drum part and a hoisting part, a wave simulation platform can simulate the motion of waves in a wave compensation experiment, a platform pose detection part is used for detecting the motion state of the platform and feeding detected information back to a control part to carry out pose resolving and platform motion state prediction, then the servo motor is controlled and the rope hoisting part is used for transmission, so that the hoisting and sinking compensation motion of a hoisted heavy object is realized, and the stability of the heavy object in motion is ensured. The utility model discloses simple structure, just with control, can be used to verify advantages such as different compensation prediction algorithm.

Description

Active heave compensation experimental device

technical field

The utility model relates to a wave compensation experiment device, in particular to an active wave compensation experiment device capable of realizing a prediction function.

Background technique

With the development and utilization of marine resources, marine cranes are very important engineering equipment in marine development and utilization. Different from the lifting environment on land, due to the influence of waves, the hull will be bumped, the hoisted weight will fluctuate with the movement of the hull, and the tension of the hoisting rope will also change accordingly. For deep-sea mining devices, deep-water exploration devices, underwater robots, etc., a heave compensation system is required to ensure that the operation of underwater devices is not affected by the movement of the hull due to waves as much as possible. A marine crane with wave compensation function can ensure the stability and safety of the hoisting process.

Active Heave Compensation needs to detect the motion state of the deck platform where the marine crane is located in real time, predict the motion trend of the platform in the future time beat, and make corresponding compensation measures according to the current motion state of the platform and the prediction results of future motion trends. The active heave compensation experimental device can provide an experimental environment for the research and debugging of the heave compensation prediction algorithm.

The wave compensation experimental device uses a platform composed of a 3-RPS three-degree-of-freedom space parallel mechanism to simulate the lifting, rolling and pitching movements of the deck platform caused by waves, and uses sensors to measure the motion state of the platform and perform real-time compensation. At present, the devices used for wave compensation mostly use accumulators and compensation hydraulic cylinders or proportional overflow valves. For example, the compensation device designed in the article "Research on Hydraulic Cylinder Type Active Wave Height Compensation Devices for Marine Cranes" in 2010 uses energy storage device and compensating hydraulic cylinder.

In addition, most of the patents related to wave compensation devices are engineering application devices using hydraulic systems, while the wave compensation experimental device of the utility model patent compensates by adjusting the rotation speed of the servo motor, focusing on the movement of the deck platform caused by waves. Real-time detection and pose calculation, and active wave compensation based on the platform motion trend of the current and future time beats. Patent No. 201210219968 Chinese patent "active heave wave compensation control system and control method" uses a ship attitude motion sensor and a tension sensor, and the lifting reel is installed on an offshore crane. It is an engineering application equipment that is similar to this The structure of utility model patents is different. The Chinese patent No. 200910226788 "A Research on Hydraulic Drive for Active Heave Compensation Crane" consists of a fuel tank, a hydraulic motor, a lifting oil circuit for hoisting heavy objects and a compensation oil circuit for wave compensation. It is the same as this The principles and structures of utility model patents are different.

Contents of the invention

The purpose of this utility model is to provide an active wave compensation experiment device based on a 3-RPS space parallel mechanism that can perform active wave compensation experiments and has three degrees of freedom of heave, roll and pitch.

The purpose of this utility model is achieved in the following way: it includes a base, an upper platform, a first electric cylinder, a second electric cylinder and a third electric cylinder for connecting the base and the upper platform; As for the supporting member, one end of the three electric cylinders is respectively connected to the pin shaft in rotation, the other ends of the three electric cylinders are respectively connected to one end of the three joint bearings, and the other ends of the three joint bearings are respectively fixedly connected to the upper platform. A motor is fixedly installed on the platform, the output shaft of the motor is connected with the input end of the reducer, the output end of the reducer is connected with the reel shaft, the reel is set on the reel shaft, one end of the wire rope is wound on the reel, and the other end of the wire rope One end straddles the pulley and connects with the heavy object. The pulley is installed on the hanger, and the hanger is fixedly installed on the upper platform. The upper platform is also provided with an attitude heading sensor, the attitude heading sensor, the first electric cylinder, and the second electric cylinder. and the third electric cylinder are respectively connected with the external control circuit.

The utility model also includes such structural features:

1. The three supports with pin shafts are arranged on the base in an isosceles triangle.

2. One end of the joint bearing is a threaded hole and the other end is a threaded rod. One end of the threaded hole is connected with the screw rods provided on the three electric cylinders. One end of the threaded rod is fixedly connected with the upper platform through two nuts.

Compared with the prior art, the utility model has the beneficial effects as follows: 1. The 3-RPS spatial parallel mechanism is used as the wave simulation platform, which can realize three degrees of freedom of lifting, rolling and pitching, and provide real environment of. 2. The active wave compensation predicts the movement trend of the platform in the future time beat, and makes corresponding compensation measures according to the current movement state of the platform and the prediction results of the future movement trend. The active wave compensation experimental device can be used for the research and debugging of the wave compensation prediction algorithm Provide an experimental environment. 3. The experimental device uses a servo motor as the driving force, which is simple in structure, convenient and controllable, and can be used for experimental verification of different wave compensation prediction algorithms.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is a top view schematic diagram of the utility model;

Fig. 3 is a schematic structural view of the revolving pair part of the utility model;

Fig. 4 is a schematic structural view of the spherical hinge part of the present invention;

Fig. 5 is a schematic structural view of the reel part of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

1 to 5, the utility model includes a base 1, an upper platform 5, a first electric cylinder 3-1 for connecting the base 1 and the upper platform 5, a second electric cylinder 3-2 and a third electric cylinder 3- 3, and the base 1, the upper platform 5 and three electric cylinders form a 3-RPS space parallel mechanism, the base 1 is provided with three supports 2 with pin shafts 19, and one end of the three electric cylinders is respectively connected to the pin The shaft 19 is rotationally connected, and the other ends of the three electric cylinders are respectively connected with one end of the three joint bearings 18, and the other ends of the three joint bearings 18 are respectively fixedly connected with the upper platform 5, and the upper platform 5 is fixedly equipped with a motor 7, and the motor The output shaft of 7 is connected with the input end of reducer 9, and the output end of reducer 9 is connected with reel shaft 20, and reel 8 is set on reel shaft 20, and one end of wire rope 16 is wound on reel 8, and the end of wire rope 16 The other end straddles the pulley 13 and is connected with the weight 17, and the pulley 13 is installed on the hanger 14, and the hanger 14 is fixedly installed on the upper platform 5, and the upper platform 5 is also provided with an attitude heading sensor 6, an attitude heading sensor 6 , the first electric cylinder 3-1, the second electric cylinder 3-2 and the third electric cylinder 3-3 are respectively connected to an external control circuit. The three supports 2 with pin shafts 19 are arranged on the base 1 in an isosceles triangle. One end of the joint bearing 18 is a threaded hole and the other end is a threaded rod. One end of the threaded hole is connected with the screw rods provided on the three electric cylinders. One end of the threaded rod is fixedly connected with the upper platform 5 by two nuts 4 .

Specifically, the utility model mainly includes four parts: a wave simulation platform, a rope hoisting part, a platform pose detection part and a wave compensation control part.

The wave simulation platform mainly includes a base 1, an upper platform 5, three electric cylinders 3-1, 3-2 and 3-3, pin shafts 19, support members 2, nuts 4 and joint bearings 18. The base 1 is constructed in a rectangular shape by using aluminum profiles, and the bottom surface of the support 2 has two through holes, and is fixed on the base 1 . The structure of the rotary pair of the utility model is shown in Figure 3. The bottom end of the support member 2 and the electric cylinder cooperate through the clearance of the pin shaft 19 to form a hinged rotary pair, and the installation on the base 1 is distributed in an isosceles triangle. The structure of the spherical hinge of the present utility model is shown in Figure 4, the joint bearing 18 can be used as a spherical hinge, one end of which is a threaded hole that can be fixedly connected with the threaded rod at the end of the electric cylinder, and the other end is a threaded rod, through two nuts 4 is firmly connected with the upper platform 5 and plays a supporting role.

The rope hoisting part comprises four parts of motor 7, speed reducer 9, reel part and hoisting part. The motor 7 is an AC servo motor, the reducer 9 is a worm gear reducer, and the reel part includes a reel 8, a reel shaft 20, an end cover 10, a support block 12, a bearing 11 and a bearing seat 27, etc., and the reel part and hoisting Parts are all fixed on the upper platform 5 by bolts, forming the mechanical transmission part of the wave compensation function. The hoisting part includes a hanger 14, a strong corner piece 15, a pulley 13, a steel wire rope 16 and a weight 17, etc. The servo motor 7 is connected with the worm gear reducer 9, and the reducer 9 is fixed on the upper platform 5, and the servo motor 7 is connected. supporting role. The structure of the reel part is shown in Figure 5. Four threaded holes are evenly distributed on both ends of the reel 8, which are fixed on the end cover 10 by screws 26, and the end cover 10 and the reel shaft 20 are connected by common flat keys 22 . The two ends of the reel shaft 20 are supported by bearings 11, and the support block 12 supports the entire reel part, so that one end of the reel shaft 20 can be connected with the output hole of the reducer 9, and the bolt 21 passes through the bearing seat 27 and the support block 12 The reel part is fixed on the upper platform 5, the hanger 14 is fixed on the strong angle piece 15 by the bolt 24, the strong angle piece 15 is fixed on the edge of the upper platform 5 by the bolt 23, and the pulley 13 is installed on the hanger 14 by the bolt 25. another side. One end of steel wire rope 16 is fixed on the end cover 10, and is wound on the surface of reel 8, after passing through pulley 13, the other end is connected with the weight 17 of hoisting.

The platform position and attitude detection system is mainly an attitude and heading sensor 6, which is installed on the upper platform 5 and detects the motion state of the platform 5 in real time.

The working process and principle of the utility model are: when researching the active wave compensation experiment, the servo electric cylinder of the wave simulation platform is driven by the wave compensation control part to simulate wave motion, and the attitude and course sensor 6 on the upper platform 5 detects the motion state of the platform , and transmit the detected information to the wave compensation control part, the wave compensation control part calculates the position and attitude of the platform and predicts its future motion state, and then controls the compensation servo motor 7, through the transmission of the rope hoisting part, the hoisting weight 17 performs compensating motions to keep the position of the heavy object 17 unchanged during the motion. Specifically, the worm gear reducer 9 decelerates, and the shaft 20 drives the reel part to rotate, so that the steel wire rope 16 wound on the surface of the reel 8 is released. Or pack up, after passing through the pulley 13 on the hanger 14, the position of the weight 17 that keeps hoisting is basically constant in the heave direction.

The wave simulation platform of the utility model adopts a 3-RPS space parallel mechanism and has three branches. The main body is a servo electric cylinder, and the upper and lower are respectively a base and an upper platform. The bottom end of the electric cylinder and the base are hinged to form a rotating pair, and The three revolving pairs are distributed in an isosceles triangle. The joint shaft, 18, can be used as a spherical hinge, one end of which is a threaded hole, which can be fixedly connected with the threaded rod at the end of the electric cylinder, and the other end is a threaded rod, which can be tightly connected to the platform through two nuts 4 and play a supporting role; The cooperation of three electric cylinders can make the whole platform realize three degrees of freedom motion of heave, roll and pitch.

Claims (3)

1. An active type wave compensation experimental device is characterized in that: it comprises a base, an upper platform, a first electric cylinder, a second electric cylinder and a third electric cylinder for connecting the base and the upper platform, and three electric cylinders are arranged on the said base. a support member with a pin shaft, one end of the three electric cylinders is respectively connected to the pin shaft in rotation, the other ends of the three electric cylinders are respectively connected to one end of the three joint bearings, and the other ends of the three joint bearings are respectively connected to the upper The platform is fixedly connected, and a motor is fixedly installed on the upper platform. The output shaft of the motor is connected to the input end of the reducer, and the output end of the reducer is connected to the drum shaft. The drum shaft is fitted with a drum, and one end of the wire rope is wound on the drum. The other end of the wire rope is connected to the heavy object across the pulley. The pulley is installed on the hanger, and the hanger is fixedly installed on the upper platform. The upper platform is also provided with an attitude and heading sensor. , the second electric cylinder and the third electric cylinder are respectively connected with the external control circuit. 2. An active wave compensation experimental device according to claim 1, characterized in that: the three supports with pin shafts are arranged on the base in an isosceles triangle. 3. A kind of active wave compensation experimental device according to claim 1 or 2, characterized in that: one end of the joint bearing is a threaded hole, the other end is a threaded rod, and one end of the threaded hole is connected to the three electric cylinders. The provided screw rods are matched and connected, and one end of the threaded rod is fixedly connected with the upper platform through two nuts.