CN205419559U - Direct pump control formula electricity liquid heave compensator - Google Patents
Direct pump control formula electricity liquid heave compensator Download PDFInfo
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- CN205419559U CN205419559U CN201521076227.0U CN201521076227U CN205419559U CN 205419559 U CN205419559 U CN 205419559U CN 201521076227 U CN201521076227 U CN 201521076227U CN 205419559 U CN205419559 U CN 205419559U
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- hydraulic pump
- servo cylinder
- bidirectional hydraulic
- asymmetric servo
- pump
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Abstract
The utility model discloses a direct pump control formula electricity liquid heave compensator. The two -way hydraulic pump of servo motor drives rotates, and its two output is connected with single ejection hydraulic cylinders's have pole chamber and nos pole chamber respectively, at still connect in parallel the overflow valve of two reverse installations of two outputs, the energy storage ware has pole chamber side with single ejection hydraulic cylinders, quick connector is connected and a pressure sensor connects, and two outputs of two -way hydraulic pump have met second pressure, the 3rd pressure sensor respectively, the last speed sensor that has connect of servo motor, and all sensors and servo motor driver are connected with control computer respectively, the movable pulley is connected on single ejection hydraulic cylinders's piston rod, and quiet pulley is connected in single ejection hydraulic cylinders's bottom, and built -in displacement sensor installs in single ejection hydraulic cylinders. The utility model discloses a direct pump control cylinder with differential effect closed loop constitutes the autonomy device, integrated servo motor and hydraulic component, and the sensor carries out closed -loop control, no throttling loss by control computer.
Description
Technical field
This utility model relates to crane heave compensation control system, especially relates to a kind of directly pump control type electrohydraulic heave compensator.
Background technology
Since 2l century, the demand of the energy is increased by the whole world day by day, and ocean becomes the emphasis of various countries' new century energy strategy, and countries in the world increase the dynamics to ocean development one after another.Along with a large amount of exploitations of offshore oil, Large marine engineering is the most flourish, and in these engineerings, offshore crane is then one of key equipment.
The hull heave movement caused due to ocean wave motion and swing, significantly limit the performance capacity of offshore crane, not only can reduce the precision in place of lifting, increase the danger of operation, also can structurally produce additional dynamic load, the damage of equipment and the injures and deaths of personnel time serious, can be caused.Eliminate ocean wave motion and the impact of crane job is become the technology difference that offshore crane is maximum with Terrain Cranes.
It is currently used for the monotechnics that the development of elimination ocean wave motion impact is more ripe, such as identical tension technology and heave compensation technology, it is primarily directed to what ship-borne equipment carried out researching and developing, and its to control target be to compensate holding by continuous print to be supported on position in water constant, and the control target of ocean platform crane should be under conditions of ocean wave motion, do not affected by hull heave movement, smoothly load lifted off and can steadily transfer to tender deck, after once freight lifting leaves deck or places above deck, it is no need for compensating again.
Active heave compensation technology is to detect ship motion and realize based on being installed on the sensor of hull, and for ocean platform crane, crane job ship is unlikely to be same ship, and crane distance ship vertical dimension nearly hundred meters, detection for hull positional information realizes being unpractical by installing sensor on tender, should use non-contact measurement apparatus.
The world and the ocean platform crane of domestic manufacturers at present, the measure solving ocean wave motion is still configuration identical tension function, heave compensation technology is due to ship motion detection inconvenience under the conditions of ocean platform crane, there is no large-scale use, but in fact for ocean platform crane, either identical tension technology or existing heave compensation technology, the lifting process that can only make ocean platform crane is not affected by hull heave, and dropping process is still affected by ship motion, the complete operation of crane comprises lifting and transfers two processes, therefore prior art can only solve the half of problem.
In sum, the most existing monotechnics is directly moved on ocean platform crane be inappropriate.Require for the operation that ocean platform crane is special and control requirement, research and development are suitable for the kinetic control system of ocean platform crane, ensure under conditions of ocean wave motion, do not affected by hull heave movement, smoothly load lifted off and can steadily transfer to tender deck, not only there is practicality, and the most also belong to forward position, China ocean platform crane deficiency on key technology can be substantially improved, promote competitiveness in the international market.
Based on above reason, author proposes the ocean platform crane heave compensation kinetic control system and method utilizing video to find range, and directly pump control type electrohydraulic heave compensator is as the ocean platform crane heave compensation kinetic control system utilizing video to find range and the actuator of method, play a key effect.
Existing heave compensator is divided into passive type heave compensation and active heave compensation two class, and wherein passive type heave compensation is made by the elasticity of gas, and passive compensates ship heave movement；Active heave compensator, by detection vessel motions, is controlled by controller, and the heave movement of ship is carried out compensation actively.Active heave compensation is divided into again the linear compensation using hydraulic cylinder as executive component, compensates two classes using hydraulic motor as the revolution of executive component.Described direct pump control type electrohydraulic heave compensator belongs to the one of Linear Mending Technology in active heave compensation.
Existing active Linear Mending Technology, its hydraulic system all uses valve control open circuit, needs outfit hydraulic oil source, hydraulic valve bank to work, and the most bulky, pipeline connects complexity, and element is many, and due to restriction loss, whole system efficiency is the lowest.
Utility model content
The advantage of comprehensive existing all types of heave compensation technology, overcome its shortcoming, the purpose of this utility model is to provide a kind of directly pump control type electrohydraulic heave compensator, actuator as the ocean platform crane heave compensation kinetic control system utilizing video to find range, it is possible to the intelligent heaving movement compensation that carries out crane lifting with transfer overall process, enable crane load to be lifted off smoothly and can steadily transfer to tender deck.
In order to reach foregoing invention purpose, the technical solution adopted in the utility model is:
This utility model includes motor servo driver, servomotor, bidirectional hydraulic pump, accumulator, quick connector, two overflow valves, asymmetric servo cylinder, movable pulley, quiet pulley, three pressure transducers, speed probe and built-in displacement sensor；The servomotor driven by motor servo driver drives bidirectional hydraulic pump to rotate, and two outfans of bidirectional hydraulic pump are connected with rod chamber and the rodless cavity of asymmetric servo cylinder respectively, the overflow valve of two reverse installations in parallel between two outfans of bidirectional hydraulic pump；Accumulator divides three tunnels, the first via is connected with asymmetric servo cylinder rod chamber side, second tunnel is connected with quick connector, 3rd tunnel is connected with the first pressure transducer, two outfans of bidirectional hydraulic pump are connected to the second pressure transducer and the 3rd pressure transducer respectively, be connected to speed probe on servomotor, three pressure transducers, speed probe, built-in displacement sensor and motor servo driver respectively with control computer and be connected；Movable pulley is connected on the piston rod of asymmetric servo cylinder, and quiet pulley is connected to the bottom of asymmetric servo cylinder, and built-in displacement sensor is arranged in asymmetric servo cylinder.
Described servomotor, bidirectional hydraulic pump, asymmetric servo cylinder, accumulator, two overflow valves, quick connector, three pressure transducers, speed probe and built-in displacement sensor the most integrated composition autonomy device.
Described movable pulley, the piston rod of asymmetric servo cylinder and quiet pulley are positioned on same axis.
After the described accumulator first via is connected with one end of the hydraulic control one-way valve of two reverse installations, the other end of the hydraulic control one-way valve of two reverse installations is connected in parallel between two outfans of bidirectional hydraulic pump.
This utility model has the beneficial effect that
This utility model constitutes autonomous device by described direct pump control cylinder with differential effect closed circuit, integrated servomotor and Hydraulic Elements, sensor, carried out closed loop control by controlling computer, it is achieved mechanical-electrical-hydraulic integration designs, greatly reduce number of elements and device volume, without restriction loss, and energy regenerating can be carried out, significantly improve efficiency, its compact conformation, system is simple, uses, easy to maintenance, has wide applicability with advanced.
Accompanying drawing explanation
Fig. 1 is the structural representation of embodiment 1 of the present utility model.
Fig. 2 is the structural representation of embodiment 2 of the present utility model.
In figure: 1, control computer, 2, motor servo driver, 3, servomotor, 4, bidirectional hydraulic pump, 5, accumulator, 6, quick connector, 7, overflow valve, 8, asymmetric servo cylinder, 9, movable pulley, 10, quiet pulley, 11, pressure transducer, 12, speed probe, 13, built-in displacement sensor, 14, fluid pressure line, 15, electrical connection, 16, hydraulic control one-way valve.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
As it is shown in figure 1, this utility model includes controlling computer 1, motor servo driver 2, servomotor 3, bidirectional hydraulic pump 4, accumulator 5,6, two overflow valves 7 of quick connector, asymmetric servo cylinder 8, movable pulley 9,10, three pressure transducers 11 of quiet pulley, speed probe 12 and built-in displacement sensor 13.
The servomotor 3 driven by motor servo driver 2 drives bidirectional hydraulic pump 4 to rotate, two outfans of bidirectional hydraulic pump 4 are connected with rod chamber and the rodless cavity of asymmetric servo cylinder 8 through fluid pressure line 14 respectively, the overflow valve 7 of two reverse installations in parallel between two outfans of bidirectional hydraulic pump 4；5 point of three tunnel of accumulator, the first via is connected with asymmetric servo cylinder 8 rod chamber side, second tunnel is connected with quick connector 6,3rd tunnel is connected with the first pressure transducer 11, two outfans of bidirectional hydraulic pump 4 are connected to the second pressure transducer 11 and the 3rd pressure transducer 11 respectively, being connected to speed probe 12 on servomotor 3, three pressure transducers 11, speed probe 12, built-in displacement sensor 13 and motor servo driver 2 are connected with control computer 1 through electrical connection 15 respectively；Movable pulley 9 is connected on the piston rod of asymmetric servo cylinder 8, and quiet pulley 10 is connected to the bottom of asymmetric servo cylinder 8, and built-in displacement sensor 13 is arranged in asymmetric servo cylinder 8.
Described servomotor 3, bidirectional hydraulic pump 4, asymmetric servo cylinder 8, accumulator 5, overflow valve 7,6, three pressure transducers 11 of quick connector, speed probe 12, built-in displacement sensor 13 and two hydraulic control one-way valve 16 the most integrated composition autonomy devices.Without hydraulic oil source, greatly reduce number of elements and device volume, after being electrically connected, control computer provide command signal and get final product work.
Described movable pulley 9, the piston rod of asymmetric servo cylinder 8 and quiet pulley 10 are positioned on same axis.
As shown in Figure 1 and Figure 2, after described accumulator 5 first via is connected with one end of the hydraulic control one-way valve 12 of two reverse installations, the other end of the hydraulic control one-way valve 12 of two reverse installations is connected in parallel between two outfans of bidirectional hydraulic pump 4.
Bidirectional hydraulic pump 4 is driven by servomotor 3, by controlling computer 1, motor servo driver 2, speed probe 12, servomotor is carried out closed loop control.Asymmetric servo cylinder 8 is directly driven by bidirectional hydraulic pump 4 by direct pump control cylinder with differential effect closed circuit.By the rotating speed of regulation servomotor 3 with turn to, control the uninterrupted of bidirectional hydraulic pump 4 and direction respectively, and then drive asymmetric servo cylinder 8 piston rod stretch out or retract.
Accumulator 5, for compensating the unequal flow difference caused of asymmetric servo cylinder 8 piston both sides area, can carry out the recovery of energy simultaneously.Quick connector 6, for accumulator being carried out oiling when maintenance, supplements fluid loss and changes waste oil.Two overflow valves 7 are used for preventing system overpressure.
12, three pressure transducers 11 of speed probe and built-in displacement sensor 13 are for gathering the operational factor of direct pump control type electrohydraulic heave compensator, and feed back to control computer 1, and the closed loop moving for direct pump control type electrohydraulic heave compensator controls.
Asymmetric servo cylinder 8 is fixed on the pedestal of ocean platform crane.Movable pulley 9 is connected on the piston rod of asymmetric servo cylinder 8.Quiet pulley 10 is connected to the bottom of asymmetric servo cylinder 8, and with movable pulley 9 on same axis.Movable pulley 9 and quiet pulley 10 are connected with crane lifting steel wire rope.
As shown in Figure 2, it is the direct pump control type electrohydraulic heave compensator of this utility model embodiment 2, including controlling computer 1, motor servo driver 2, servomotor 3, bidirectional hydraulic pump 4, accumulator 5,6, two overflow valves 7 of quick connector, asymmetric servo cylinder 8, movable pulley 9,10, three pressure transducers 11 of quiet pulley, speed probe 12, built-in displacement sensor 13, fluid pressure line 14, electrical connection 15 and two hydraulic control one-way valves 16.Its ultimate principle is identical with embodiment 1 as shown in Figure 1, makes direct pump control type electrohydraulic heave compensator can bear negative sense by two hydraulic control one-way valves 16 and loads.
Claims (4)
1. a direct pump control type electrohydraulic heave compensator, it is characterised in that: include motor servo driver (2), servomotor (3), bidirectional hydraulic pump (4), accumulator (5), quick connector (6), two overflow valves, asymmetric servo cylinder (8), movable pulley (9), quiet pulley (10), three pressure transducers, speed probe (12) and built-in displacement sensor (13)；
The servomotor (3) driven by motor servo driver (2) drives bidirectional hydraulic pump (4) to rotate, two outfans of bidirectional hydraulic pump (4) are connected with rod chamber and the rodless cavity of asymmetric servo cylinder (8) respectively, the overflow valve (7) of two reverse installations in parallel between two outfans of bidirectional hydraulic pump (4)；Accumulator (5) Fen Sanlu, the first via is connected with asymmetric servo cylinder (8) rod chamber side, second tunnel is connected with quick connector (6), 3rd tunnel is connected with the first pressure transducer, two outfans of bidirectional hydraulic pump (4) are connected to the second pressure transducer and the 3rd pressure transducer respectively, be connected to speed probe (12) on servomotor (3), three pressure transducers, speed probe (12), built-in displacement sensor (13) and motor servo driver (2) respectively with control computer (1) and be connected；Movable pulley (9) is connected on the piston rod of asymmetric servo cylinder (8), quiet pulley (10) is connected to the bottom of asymmetric servo cylinder (8), and built-in displacement sensor (13) is arranged in asymmetric servo cylinder (8).
One the most according to claim 1 direct pump control type electrohydraulic heave compensator, it is characterised in that: described servomotor (3), bidirectional hydraulic pump (4), asymmetric servo cylinder (8), accumulator (5), two overflow valves, quick connector (6), three pressure transducers, speed probe (12) and built-in displacement sensor (13) the most integrated composition autonomy device.
One the most according to claim 1 direct pump control type electrohydraulic heave compensator, it is characterised in that: described movable pulley (9), the piston rod of asymmetric servo cylinder (8) and quiet pulley (10) are positioned on same axis.
4. according to a kind of directly pump control type electrohydraulic heave compensator described in claim 1 or 2 or 3, it is characterized in that: after described accumulator (5) first via is connected with one end of the hydraulic control one-way valve (12) of two reverse installations, the other end of the hydraulic control one-way valve (12) of two reverse installations is connected in parallel between two outfans of bidirectional hydraulic pump (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521076227.0U CN205419559U (en) | 2015-12-22 | 2015-12-22 | Direct pump control formula electricity liquid heave compensator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521076227.0U CN205419559U (en) | 2015-12-22 | 2015-12-22 | Direct pump control formula electricity liquid heave compensator |
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| CN205419559U true CN205419559U (en) | 2016-08-03 |
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| CN201521076227.0U Expired - Fee Related CN205419559U (en) | 2015-12-22 | 2015-12-22 | Direct pump control formula electricity liquid heave compensator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN106382265A (en) * | 2016-11-10 | 2017-02-08 | 扬州市江都永坚有限公司 | Integrated pump control type hydraulic unit |
| CN107207221A (en) * | 2015-12-22 | 2017-09-26 | 浙江大学 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| CN108757610A (en) * | 2018-06-27 | 2018-11-06 | 山东大学 | A kind of half Active Heave Compensation System of pump control type and its working method |
| CN112727814A (en) * | 2020-12-28 | 2021-04-30 | 浙江大学 | Variable-speed and variable-displacement single-rod electro-hydraulic actuator |
-
2015
- 2015-12-22 CN CN201521076227.0U patent/CN205419559U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417381A (en) * | 2015-12-22 | 2016-03-23 | 浙江大学 | Direct pump control type electro-hydraulic heaving compensation device |
| CN107207221A (en) * | 2015-12-22 | 2017-09-26 | 浙江大学 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| CN107207221B (en) * | 2015-12-22 | 2018-07-13 | 浙江大学 | Utilize the ocean platform crane heave compensation control system and method for video ranging |
| US10843904B2 (en) | 2015-12-22 | 2020-11-24 | Zhejiang University | Offshore crane heave compensation control system and method using visual ranging |
| CN106382265A (en) * | 2016-11-10 | 2017-02-08 | 扬州市江都永坚有限公司 | Integrated pump control type hydraulic unit |
| CN108757610A (en) * | 2018-06-27 | 2018-11-06 | 山东大学 | A kind of half Active Heave Compensation System of pump control type and its working method |
| CN112727814A (en) * | 2020-12-28 | 2021-04-30 | 浙江大学 | Variable-speed and variable-displacement single-rod electro-hydraulic actuator |
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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: 20160803 Termination date: 20211222 |