CN205654312U - Hydraulic drive system of ocean well drilling compensation winch - Google Patents
Hydraulic drive system of ocean well drilling compensation winch Download PDFInfo
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- CN205654312U CN205654312U CN201620524502.9U CN201620524502U CN205654312U CN 205654312 U CN205654312 U CN 205654312U CN 201620524502 U CN201620524502 U CN 201620524502U CN 205654312 U CN205654312 U CN 205654312U
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- hydraulic
- dual piston
- high pressure
- piston accumulator
- hydraulic cylinder
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Abstract
The utility model discloses a hydraulic drive system of ocean well drilling compensation winch utilizes hydraulic pressure secondary regulation component and passive pneumatic cylinder combined drive winch to accomplish the heave compensation function, utilizes and send brill hydraulic motor drive winch to accomplish the automatic bit feeding function. In the compensation process, utilize passive pneumatic cylinder and liquid gas energy storage equipment to undertake whole dead loads of rig to it retrieves and releases to carry out periodicity to load gravitional force, all the other load in the compensation process are overcome in the constant voltage network to the work of hydraulic pressure secondary regulation component to utilize liquid gas energy storage equipment to carry out periodicity recovery and release to winch rotary system's inertia kinetic energy. In sending the brill motion process, utilize and send brill hydraulic motor and liquid gas energy storage equipment to retrieve rig load gravitional force, then release when the promotion rig moves about the system. The utility model discloses overall structure is compact, the work efficiency height of hydraulic pressure energy recuperation system, long service life, and engine power and energy consumption are low.
Description
Technical field:
This utility model relates to a kind of marine drilling and compensates the fluid power system of winch, is a kind of with hydraulic energy recovery
And the driving means that electrohydraulic control technology is characterized.
Background technology:
The floating drilling rig that offshore oil drilling is used will produce periodically under the effect of the natural causes such as stormy waves
Heave movement, thus drive drilling equipment and drill string to carry out heave movement, have impact on drilling efficiency, add drilling well
This, even cause security incident.Therefore must be equipped with a set of heave compensation system on floating drilling platform or drill ship,
Being used for stablizing Bottom Hole Bit Weight In A, alleviate rig dynamic loading, the quality of its combination property directly affects the exploitation of offshore oil
Cost.Heave compensation system be integrate mechanical, electrical, air-liquid, automatically control, the complex equipment of Intelligent Measurement,
There is the features such as high-tech, high investment, excessive risk.
Heave compensation system can be divided into according to its installation site: the liter between crown-block heave compensator, tourist bus and hook
Heavy compensation device and winch heave compensator；Wherein winch heave compensation technology is as a new technique, has it
Unique performance advantage, high including drilling efficiency, transmission simple, equipment center of gravity is low, platform load with occupy little space
Etc. performance advantage, paid close attention to the most in the industry.
In recent years, the research that marine drilling abroad compensates winch has been achieved with bigger progress, and existing electronic benefit
Repaying winch product to emerge, obtained effective application on newly-built deepwater drilling platform, its cardinal principle is in tradition drilling well
Increasing power of motor on the basis of winch, use alternating-current variable frequency motor active compensation techniques, multiple electric motors combines driving,
By sensor, controller is sent in drill string position and platform Heaving Signal, controls the rotating speed of winch motor in real time and turn to,
Realize heave compensation function；Electric compensating winch has many performance advantages, but there is also installed power and energy consumption
Too high, the motor feels hot technical problems such as big, the frequency conversion motor poor in anti-explosion property of amount.
Utility model content:
The purpose of this utility model is to provide for a kind of marine drilling and compensates the fluid power system of winch, meets ocean stone
The performance requirement of oil drilling well, reduces installed power and energy consumption, the raising marine drilling work efficiency of system simultaneously.
For achieving the above object, general plotting of the present utility model is: utilize Hydrostatic secondary control element and by hydrodynamic pressure
The external toothing driving differential planetary decelerator combined by cylinder, completes heave compensation motion；Utilization send brill fluid motor-driven poor
The sun gear of dynamic planetary reduction gear, completes automatic bit feed motion；So that planet carrier drives winch to complete compound motion.
In heave compensation motor process, utilize passive hydraulic cylinder and liquid gas energy storage equipment thereof to undertake whole dead loads of rig,
Utilize Hydrostatic secondary control element to overcome remaining load, and utilize liquid gas energy storage equipment to the gravitional force of drill load with
The inertia kinetic energy of winch rotary system carries out periodically reclaiming and discharging；In automatic bit feed motor process, utilize and send brill
Hydraulic motor and liquid gas energy storage equipment thereof reclaim and store the gravitional force of drill load, then move about at lifting rig
Discharge during system.
This utility model be employed technical scheme comprise that by electromotor, electromotor, Active Compensation motor, passively compensate
Hydraulic motor, the winch heave sending brill motor, differential planetary decelerator, cylinder, hydraulic disc brake, PLC to be constituted are mended
The hydraulic-driven scheme developed on the basis of repaying device, replaces Active Compensation motor with Hydrostatic secondary control element,
Replace with passive hydraulic cylinder and passively compensate hydraulic motor, send brill motor with sending brill hydraulic motor to replace, store with dual Piston
Air-liquid converter and top petrol tank can be replaced by device, also add constant pressure variable displacement pump, overflow valve, air relief valve, electro-hydraulic servo
Valve, variable delivery hydraulic cylinder, obliquity sensor, relief valve, motor, screw rod, nut, flange.Hydraulic pressure secondary is adjusted
Joint element is mechanically connected with the external toothing power input shaft of differential planetary decelerator；The piston rod of passive hydraulic cylinder and shaft coupling
One end of device is mechanically connected, and the other end of shaft coupling is connected with screw rod mechanism, and screw rod forms rolling screw pair with nut,
Nut is mechanically connected with one end of flange, and the other end of flange is mechanically connected with external toothing power input shaft；Send brill hydraulic pressure
Motor is connected with the sun gear power input shaft of differential planetary decelerator；The swash plate of Hydrostatic secondary control element and variable liquid
The piston rod of cylinder pressure is mechanically connected；The swash plate boring hydraulic motor is sent to be mechanically connected with motor；Electromotor becomes with constant voltage
Amount pump is mechanically connected；Piston in dual Piston accumulator high pressure chest and low pressure chamber is mechanically connected with same piston rod,
Piston movement in two cavitys synchronizes.Obliquity sensor is connected with the piston rod of variable delivery hydraulic cylinder, rotary encoder with
External toothing power input shaft connects, and measuring device of underwell drill pressure is arranged in the drill collar of drilling tool bottom, motion reference units
Connect firmly with drilling platforms.The oil-in of constant pressure variable displacement pump is connected with fuel tank, and an oil-out of constant pressure variable displacement pump is by subtracting
Pressure valve is connected with the P mouth of electrohydraulic servo valve；The A mouth of electrohydraulic servo valve and B mouth respectively with a mouth of variable delivery hydraulic cylinder and
B mouth connects, and the T mouth of electrohydraulic servo valve is connected with fuel tank；Another oil-out of constant pressure variable displacement pump and the first double-piston
The high pressure chest of formula accumulator connects；Overflow valve is parallel to constant pressure variable displacement pump two ends；The hydraulic oil of Hydrostatic secondary control element
Mouth and low pressure hydraulic fluid port are connected with high pressure chest, the low pressure chamber of the first dual Piston accumulator respectively；Send the height boring hydraulic motor
Force feed mouth and low pressure hydraulic fluid port are connected with high pressure chest, the low pressure chamber of the first dual Piston accumulator respectively；Passive hydraulic cylinder
Rodless cavity, rod chamber are connected with high pressure chest, the low pressure chamber of the second dual Piston accumulator respectively；First gas cylinder divides
It is not connected with air cavity, first relief valve of the first dual Piston accumulator；Second gas cylinder respectively with the second double-piston
The air cavity of formula accumulator, the second relief valve connect；One end of Fill valve is connected with the oil-out of constant pressure variable displacement pump, another
End is connected with the high pressure chest of the second dual Piston accumulator.Obliquity sensor, rotary encoder, motion reference units and
The signal of telecommunication of measuring device of underwell drill pressure access PLC, PLC output control signal and electrohydraulic servo valve, motor,
Fill valve connects.
This utility model compared with prior art, has a following beneficial effect:
1. use hydraulic driving mode, electromotor directly drive constant pressure variable displacement pump, decrease energy conversion links；Liquid
Pressure system uses volumetric void fraction mode, without spill losses, improves the transmission efficiency of system；Additionally, hydraulic system merit
Rate density is big, and compact conformation decreases platform load and takes up room.
2. use Hydrostatic secondary control element to combine driving winch with passive hydraulic cylinder and realize heave compensation function, utilize quilt
Hydrodynamic cylinder pressure undertakes whole dead loads of rig, reduces electromotor and the output of Hydrostatic secondary control element and energy
Consumption, also has that leakage rate is little, energy recovery efficiency is high, the advantage of long working life；Utilize Hydrostatic secondary control element
Overcome remaining load, and the inertia kinetic energy of winch rotary system is carried out recycle and reuse, reduce further and start
The power of machine and energy consumption.
3. send brill hydraulic motor to work in hydraulic pump operating mode, store accumulation of energy dress by sending the load gravitional force during brill
In putting, then discharge when promoting rig traveling system, reduce further power and the energy consumption of electromotor.
4. use dual Piston accumulator as energy storage equipment, improve the suction when pump condition of the Hydrostatic secondary control element
Oil ability, reduces the pressure oscillation of high-voltage oil cavity and low pressure oil pocket simultaneously, improves the energy storage capacity of accumulator.
Accompanying drawing illustrates:
Fig. 1 is the schematic diagram that the marine drilling that this utility model is proposed compensates winch fluid power system.
In figure: 1 constant pressure variable displacement pump；2 electromotors；3 overflow valves；4 fuel tanks；5 air relief valve；6.1 the
A pair of piston accumulator；6.2 second dual Piston accumulators；7.1 first gas cylinders；7.2 second high pressure
Gas cylinder；8.1 first relief valves；8.2 second relief valves；9 Fill valves；10 passive hydraulic cylinders；11 shaft couplings
Device；12 screw rods；13 nuts；14 flanges；15 motors；16 send brill hydraulic motor；17 inclination angles
Sensor；18 variable delivery hydraulic cylinders；19 electrohydraulic servo valves；20 Hydrostatic secondary control elements；21—PLC；22—
Rotary encoder；23 measuring device of underwell drill pressures；24 motion reference units；25 differential planetary decelerators；26—
External toothing power input shaft；27 sun gear power input shafts；28 planet carrier power output shafts；G air cavity；H—
High pressure chest；L low pressure chamber.
Detailed description of the invention:
This utility model is further described below in conjunction with the accompanying drawings with embodiment.
As it is shown in figure 1, fluid power system mainly includes Hydrostatic secondary control element 20, passive hydraulic cylinder 10, send brill
Hydraulic motor the 16, first dual Piston accumulator the 6.1, second dual Piston accumulator the 6.2, first gas cylinder 7.1,
Second gas cylinder 7.2, constant pressure variable displacement pump 1, variable delivery hydraulic cylinder 18, electrohydraulic servo valve 19, motor 10.Peace
During dress, Hydrostatic secondary control element 20 is mechanically connected with the external toothing power input shaft 26 of differential planetary decelerator 25,
The swash plate of Hydrostatic secondary control element 20 is mechanically connected with the piston rod of variable delivery hydraulic cylinder 18；The work of passive hydraulic cylinder 10
Stopper rod is mechanically connected with one end of shaft coupling 11, and the other end of shaft coupling 11 is mechanically connected with screw rod 12, screw rod 12
Forming rolling screw pair with nut 13, nut 13 is mechanically connected with one end of flange 14, the other end of flange 14 with
External toothing power input shaft 26 is mechanically connected；Send the sun gear power boring hydraulic motor 16 with differential planetary decelerator 25
Power shaft 27 is mechanically connected, and send the swash plate boring hydraulic motor 16 to be mechanically connected with motor 10；Electromotor 2 is with permanent
Pressure variable amount pump 1 is mechanically connected.Obliquity sensor 17 is connected with the piston rod of variable delivery hydraulic cylinder 18, rotary encoder 22
Being connected with external toothing power input shaft 26, measuring device of underwell drill pressure 23 is arranged in the drill collar of drilling tool bottom, motion
Reference unit 24 connects firmly with drilling platforms.
The oil-in of constant pressure variable displacement pump 1 is connected with fuel tank 4, and the oil-out of constant pressure variable displacement pump 1 is by air relief valve 5 and electricity
The P mouth of hydraulic servo 19 connects, and overflow valve 3 is parallel to the two ends of constant pressure variable displacement pump 1, the A of electrohydraulic servo valve 19
Mouth, B mouth are connected with a mouth, the b mouth of variable delivery hydraulic cylinder 18 respectively, and the T mouth of electrohydraulic servo valve 19 is with fuel tank 4 even
Connect；Another oil-out of constant pressure variable displacement pump 1 and the high pressure chest H of the first dual Piston accumulator 6.1 connect, hydraulic pressure
The high pressure hydraulic fluid port of Secondary Control element 20, low pressure hydraulic fluid port respectively with the high pressure chest H of the first dual Piston accumulator 6.1,
Low pressure chamber L connects；Send brill the high pressure hydraulic fluid port of hydraulic motor 16, low pressure hydraulic fluid port respectively with the first dual Piston accumulator
High pressure chest H, low pressure chamber L of 6.1 connect；The passive rodless cavity of hydraulic cylinder 10, rod chamber respectively with the second double-piston
The high pressure chest H of formula accumulator 6.2, low pressure chamber L connect；First gas cylinder 7.1 respectively with the first dual Piston accumulation of energy
The air cavity G of device 6.1, the first relief valve 8.1 connect；Second gas cylinder 7.2 respectively with the second dual Piston accumulator
Air cavity G, second relief valve 8.2 of 6.2 connect；One end of Fill valve 9 is connected with the oil-out of constant pressure variable displacement pump 1,
The high pressure chest H of the other end and the second dual Piston accumulator 6.2 connects.Rotary encoder 22, downhole weight on bit measure dress
Put 23, the signal of telecommunication of motion reference units 24, obliquity sensor 17 accesses the output of PLC21, PLC21 and controls electricity
Signal is connected with electrohydraulic servo valve 19, motor 15, Fill valve 9.Second dual Piston accumulator 6.2 and second
Gas cylinder 7.2 undertakes the rig dead load compensated in motor process by passive hydraulic cylinder 10；First dual Piston stores
Energy device the 6.1, first gas cylinder 7.1 and constant pressure variable displacement pump 1 form constant pressure network, drive Hydrostatic secondary control element 20
Overcome remaining load compensated in motor process, and drive to send and bore hydraulic motor 16 and overcome the rig load sent during brill.
Operation principle of the present utility model is as follows:
When floating marine drilling platforms rises with wave, sinks, the compensation that PLC21 detects according to rotary encoder 22
The platform heave movement signal of moving angular displacement signal, motion reference units 24 detection, swashplate angle sensor 17 are examined
The Hydrostatic secondary control element swash plate angle signal surveyed, and send to electrohydraulic servo valve 19 according to the control strategy made
Control signal, controls the swash plate of Hydrostatic secondary control element 20 by the position of regulated variable hydraulic cylinder 18 piston rod
Inclination angle, thus drive the forward and reverse rotation of external toothing power input shaft 26 to realize heave compensation function.It is moved through in compensation
Cheng Zhong, passive hydraulic cylinder 10 drives external toothing jointly with Hydrostatic secondary control element 20；Passive hydraulic cylinder 10 passes through spiral shell
The linear motion of piston rod is converted to the rotary motion of external toothing power input shaft 26 by rotation transmission, is exported by piston rod
Power is converted to moment of torsion and acts on external toothing power input shaft 26, assume responsibility for whole dead loads of rig, and utilizes second
Dual Piston accumulator 6.2 and the second gas cylinder 7.2 carry out recycle and reuse to drill load gravitional force；Hydraulic pressure
Secondary Control element 20 overcomes remaining load compensated in motor process, and utilize the first dual Piston accumulator 6.1 with
First gas cylinder 7.1 carries out recycle and reuse to the inertia kinetic energy of winch rotary system: when winch needs fortune of slowing down
Time dynamic, Hydrostatic secondary control element 20 works in hydraulic pump operating mode, so that the inertia kinetic energy of winch and assembly pulley stores
In the first dual Piston accumulator 6.1 and the first gas cylinder 7.1, when winch accelerated motion, Hydrostatic secondary control
Element 20 works in hydraulic motor operating mode, the energy that release has stored.
Rig send brill during, the Bottom Hole Bit Weight In A signal that PLC21 detects according to measuring device of underwell drill pressure 23, and
Control signal is sent to motor 15, by regulating the angular displacement of motor 15 according to the control strategy made
Control to send the swashplate angle boring hydraulic motor 16 so that it is drive sun gear power input shaft 27 to rotate continuously, it is achieved
Permanent the pressure of the drill automatic bit feed, will send the drill load gravitional force during brill to store the first dual Piston accumulator simultaneously
6.1 and first in gas cylinder 7.1.
Hydraulic energy-saving actuation techniques is applied to marine drilling and compensates winch by this utility model, by Hydrostatic secondary control unit
The system of the device compositions such as part, hydraulic cylinder, constant pressure variable displacement pump, accumulator, bolt and nut drives winch, is realizing
While heave compensation and automatic bit feed function, drill load gravitional force and winch rotary system inertia kinetic energy are carried out
Periodic recycle and reuse, improves efficiency and the service life of hydraulic energy recovery system, reduces compensation
The installed power of winch and energy consumption；Additionally, this utility model uses hydraulic volume control mode, have transmission efficiency high,
The advantages such as compact conformation, explosion-proof performance are good.
Claims (4)
- null1. the fluid power system of a marine drilling compensation winch，Including constant pressure variable displacement pump (1)、Electromotor (2)、Overflow valve (3)、Fuel tank (4)、Air relief valve (5)、First dual Piston accumulator (6.1)、Second dual Piston accumulator (6.2)、First gas cylinder (7.1)、Second gas cylinder (7.2)、First relief valve (8.1)、Second relief valve (8.2)、Fill valve (9)、Passive hydraulic cylinder (10)、Shaft coupling (11)、Screw rod (12)、Nut (13)、Flange (14)、Motor (15)、Send brill hydraulic motor (16)、Obliquity sensor (17)、Variable delivery hydraulic cylinder (18)、Electrohydraulic servo valve (19)、Hydrostatic secondary control element (20)、PLC(21)、Rotary encoder (22)、Measuring device of underwell drill pressure (23)、Motion reference units (24)、Differential planetary decelerator (25)，It is characterized in that，Hydrostatic secondary control element (20) is mechanically connected with the external toothing power input shaft (26) of differential planetary decelerator (25)，The swash plate of Hydrostatic secondary control element (20) is mechanically connected with the piston rod of variable delivery hydraulic cylinder (18)；The piston rod of passive hydraulic cylinder (10) is mechanically connected with one end of shaft coupling (11), the other end of shaft coupling (11) is mechanically connected with screw rod (12), screw rod (12) forms rolling screw pair with nut (13), nut (13) is mechanically connected with one end of flange (14), and the other end of flange (14) is mechanically connected with external toothing power input shaft (26)；Send sun gear power input shaft (27) mechanical connection boring hydraulic motor (16) with differential planetary decelerator (25), send the swash plate boring hydraulic motor (16) to be mechanically connected with motor (10)；Electromotor (2) is mechanically connected with constant pressure variable displacement pump (1)；Obliquity sensor (17) is connected with the piston rod of variable delivery hydraulic cylinder (18), rotary encoder (22) is connected with external toothing power input shaft (26), measuring device of underwell drill pressure (23) is arranged in the drill collar of drilling tool bottom, and motion reference units (24) connects firmly with drilling platforms；The oil-in of described constant pressure variable displacement pump (1) is connected with fuel tank (4), the oil-out of constant pressure variable displacement pump (1) is connected with the P mouth of electrohydraulic servo valve (19) by air relief valve (5), overflow valve (3) is parallel to the two ends of constant pressure variable displacement pump (1), the A mouth of electrohydraulic servo valve (19) and B mouth are connected with a mouth and the b mouth of variable delivery hydraulic cylinder (18) respectively, and the T mouth of electrohydraulic servo valve (19) is connected with fuel tank (4)；Another oil-out of constant pressure variable displacement pump (1) and the high pressure chest H of the first dual Piston accumulator (6.1) connect, and the high pressure hydraulic fluid port of Hydrostatic secondary control element (20), low pressure hydraulic fluid port are connected with high pressure chest H, low pressure chamber L of the first dual Piston accumulator (6.1) respectively；Send and bore the high pressure hydraulic fluid port of hydraulic motor (16), low pressure hydraulic fluid port is connected with high pressure chest H, low pressure chamber L of the first dual Piston accumulator (6.1) respectively；The passive rodless cavity of hydraulic cylinder (10), rod chamber are connected with high pressure chest H, low pressure chamber L of the second dual Piston accumulator (6.2) respectively；First gas cylinder (7.1) respectively with the first dual Piston accumulator (6.1), air cavity G, the first relief valve (8.1) is connected；Second gas cylinder (7.2) respectively with the second dual Piston accumulator (6.2), air cavity G, the first relief valve (8.2) is connected；One end of Fill valve (9) is connected with the oil-out of constant pressure variable displacement pump (1), and the high pressure chest H of the other end and the second dual Piston accumulator (6.2) connects；The signal of telecommunication of obliquity sensor (17), rotary encoder (22), measuring device of underwell drill pressure (23) and motion reference units (24) all accesses PLC (21), PLC (21) the output control signal of telecommunication and is connected with electrohydraulic servo valve (19), motor (15), Fill valve (9).
- Fluid power system the most according to claim 1, it is characterized in that, the high pressure chest H of described first dual Piston accumulator (6.1) and the piston of low pressure chamber L are mechanically connected with same piston rod, piston movement in two cavitys synchronizes, when the fluid of Hydrostatic secondary control element (20) high pressure chest flows into the high pressure chest H of the first dual Piston accumulator (6.1), the fluid of low pressure chamber L is pressed into the low pressure chamber of Hydrostatic secondary control element (20) by the first dual Piston accumulator (6.1) simultaneously.
- Fluid power system the most according to claim 1, it is characterized in that, the piston rod of described passive hydraulic cylinder (10) is connected with external toothing power input shaft (26) by shaft coupling (11), screw rod (12), nut (13), flange (14), undertakes whole dead loads of rig.
- Fluid power system the most according to claim 1, it is characterized in that, nut (13) uses rolling spiral drive mode with screw rod (12), and the linear reciprocating motion of passive hydraulic cylinder (10) piston rod is converted to the crankmotion of external toothing power input shaft (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620524502.9U CN205654312U (en) | 2016-06-01 | 2016-06-01 | Hydraulic drive system of ocean well drilling compensation winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620524502.9U CN205654312U (en) | 2016-06-01 | 2016-06-01 | Hydraulic drive system of ocean well drilling compensation winch |
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| Publication Number | Publication Date |
|---|---|
| CN205654312U true CN205654312U (en) | 2016-10-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620524502.9U Withdrawn - After Issue CN205654312U (en) | 2016-06-01 | 2016-06-01 | Hydraulic drive system of ocean well drilling compensation winch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205654312U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804675A (en) * | 2016-06-01 | 2016-07-27 | 中国石油大学(华东) | Hydraulic driving system for offshore drilling compensation winch |
| CN106855067A (en) * | 2016-12-12 | 2017-06-16 | 武汉船用机械有限责任公司 | Leakage detection device, method and wave compensation system for wave compensation system |
| CN108798558A (en) * | 2018-06-27 | 2018-11-13 | 山东大学 | A kind of passive heave compensator of winch type master and its working method |
-
2016
- 2016-06-01 CN CN201620524502.9U patent/CN205654312U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105804675A (en) * | 2016-06-01 | 2016-07-27 | 中国石油大学(华东) | Hydraulic driving system for offshore drilling compensation winch |
| CN105804675B (en) * | 2016-06-01 | 2017-10-20 | 中国石油大学(华东) | Marine drilling compensates the fluid power system of winch |
| CN106855067A (en) * | 2016-12-12 | 2017-06-16 | 武汉船用机械有限责任公司 | Leakage detection device, method and wave compensation system for wave compensation system |
| CN108798558A (en) * | 2018-06-27 | 2018-11-13 | 山东大学 | A kind of passive heave compensator of winch type master and its working method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161019 Effective date of abandoning: 20171020 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20161019 Effective date of abandoning: 20171020 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |