CN208470082U - A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder - Google Patents
A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder Download PDFInfo
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- CN208470082U CN208470082U CN201821049762.0U CN201821049762U CN208470082U CN 208470082 U CN208470082 U CN 208470082U CN 201821049762 U CN201821049762 U CN 201821049762U CN 208470082 U CN208470082 U CN 208470082U
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Abstract
The utility model discloses a kind of half Active Heave Compensation Systems based on combined type two-stage hydraulic cylinder.Half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, the load including being installed on offshore operations platform hang system, Active Compensation system and passive compensation system；The Storage Unit that the passive compensation system includes passive cylinder, is connected with the rodless cavity hydraulic fluid port of passive cylinder；Hydraulic circuit system, detection unit, the controller that the Active Compensation system includes active cylinder, is connected with the rod chamber hydraulic fluid port and rodless cavity hydraulic fluid port of active cylinder.Half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, Active Compensation and the flexible switching or parallel processing passively compensated can be achieved, enhance the anti-interference ability of deep compensation system, the stroke of system balance is longer, it has broad application prospects in the heave compensation in following high sea situation deep ocean work field, more excellent selection is provided to the deep-sea underwater operation of underwater robot.
Description
Technical field:
The utility model belongs to the marine technology field of deep-sea detecting and operation technique, more particularly to one kind is applied to have cable
Half Active Heave Compensation System based on combined type two-stage hydraulic cylinder when underwater robot deep ocean work.
Background technique:
The world today is the world of ocean, with ocean explore increasingly frequently, China is in the oceans operation such as deep-sea detecting
Also more and more, but operation on the sea is influenced by adverse circumstances such as wind, wave, stream, tides, and pitching, cross can occur for offshore operations platform
Distant, yawing, surging, swaying, heaving and its coupled motions, wherein the movement of heave direction is the most aobvious to maritime safety j ob impact
It writes.
There is cable underwater robot to be connected to repeater, repeater by hawser when carrying out deep ocean work on platform at sea
Sea operating platform is connected to by very long hawser.Under different sea situations, offshore platform can constantly be heaved with wave,
The heave movement is transferred to undersea repeaters by hawser, leads to have cable underwater robot in recycling, release or the course of work
The impact drawn by hawser even collides with repeater, and strong influence underwater robot operation precision is serious
Safety problem can be caused, this is just needed using suitable heave compensation system.
The heave compensation system for having cable underwater robot to use at present is mainly passive heave compensation system and active heave
Compensation system.Wherein passive heave compensation system is using hydraulic cylinder and accumulator buffering offshore platform heave movement to underwater relaying
The disturbance of device.When at sea deep movement occurs for operating platform, come by the self weight for rising lifting force and underwater marine settings of wave
Working media in compression and release accumulator, to realize the heave compensation to underwater kit.Passive heave compensation system
Be advantageous in that and do not need to be additionally provided power, system is simple, and application is relatively broad, but its required equipment is huge, compensation precision compared with
Low, than more prominent, compensation ability is extremely limited lag issues.When sea situation becomes more severe, passive heave compensation system is just
It is insufficient for the smooth working requirement of underwater robot.So the use of Active Heave Compensation System is come into being, feature
It mainly needs to add active force, is driven with electric energy or hydraulic energy, now with winch type, hydraulic cylinder type, be used to compensate sea
The deep movement of foreign platform makes underwater robot keep stable operating point or steady state of motion, and advantage is compensation precision height,
Anti- external disturbance ability is stronger, and compensation ability is stronger, the disadvantage is that system complex, is compensating the heavier biggish underwater machine of working depth
Energy consumption is bigger when device people's work system, and the compensation time is unsuitable too long.
The deep compensation system of existing active-passive integrated formula passes through simply series connection for passive compensation system and master mostly
Dynamic heave compensation system concatenation, advantage is increased than individual compensation system compensation ability, the disadvantage is that by simple string
It connecing, the huger redundancy of compensation system is not accurate enough in the selection of heave compensation, it will cause more energy consumptions, or
It is compensation failure.Therefore, the novel compensation system of one kind is needed to solve the above problems.
Utility model content:
The utility model provide a kind of compensation precision is high, system control is simple, compensation efficiency is high, energy consumption consumption is low, at
This low half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, solves problems of the prior art.
Used technical solution is the utility model to solve above-mentioned technical problem:
A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, including be installed on offshore operations platform
Load hang system, with load hang the Active Compensation system and passive compensation system that system is connected；
The passive compensation system includes the horizontal passive cylinder for being set to offshore operations table top, the rodless cavity with passive cylinder
The connected Storage Unit of hydraulic fluid port；The Active Compensation system includes the rod chamber hydraulic fluid port and rodless cavity oil of active cylinder and active cylinder
The connected hydraulic circuit system of mouth, the detection unit for detecting offshore operations platform motion state, analysis detection unit send signal
And the controller of instruction is sent to hydraulic circuit system；The rodless cavity cylinder body of the active cylinder horizontally extends into the cylinder body of passive cylinder
As the piston rod of passive cylinder, it is equipped with a piston at the cylinder body rear portion of active cylinder, the cylinder body of passive cylinder is divided by the piston
Rod chamber and rodless cavity；
The load hangs system and includes the first movable pulley being set on active cylinder piston bar and the second movable pulley, is set to sea
The first fixed pulley and the second fixed pulley at the top of upper operating platform, one end of hawser are fixed on the first fixed pulley, the other end according to
It is secondary bypass the second movable pulley, the first fixed pulley, the first movable pulley, the second fixed pulley after be connected with undersea repeaters, underwater
People passes through in another cable suspended under water repeater.
The Storage Unit includes gas-liquid accumulator and gas cylinder group, the rodless cavity of the hydraulic fluid port of gas-liquid accumulator and passive cylinder
Hydraulic fluid port is connected, and the port of gas-liquid accumulator is connected with gas cylinder group.
The detection unit includes the IMU motion sensor being set on offshore operations platform, is set to active cylinder and passive cylinder
Displacement sensor on piston rod is set between undersea repeaters and the second fixed pulley and undersea repeaters and underwater robot
Between tension sensor on hawser.
The hydraulic circuit system includes the active cylinder rodless cavity petroleum pipeline being connected with the rodless cavity hydraulic fluid port of active cylinder, actively
Cylinder rodless cavity petroleum pipeline is pierced by from the rodless cavity casing wall of passive cylinder to be connected with the first hydraulic fluid port of three-position four-way valve afterwards, and active cylinder has
Rod cavity hydraulic fluid port is connected with the second hydraulic fluid port of three-position four-way valve, and the third hydraulic fluid port of three-position four-way valve is connected through variable pump with fuel tank, and three
4th hydraulic fluid port of position four-way valve is also connected with fuel tank.
Connection three-position four-way valve the first hydraulic fluid port and active cylinder rod chamber hydraulic fluid port oil circuit with connect three-position four-way valve
There are two counterbalance valves, two counterbalance valves to constitute differential time for reverse parallel connection between second hydraulic fluid port and the oil circuit of active cylinder rod chamber hydraulic fluid port
Road is respectively provided with a unloading valve being connected with fuel tank on each counterbalance valve oil circuit.
On pipeline on pipeline between variable pump and fuel tank, between the 4th hydraulic fluid port and fuel tank of three-position four-way valve respectively
Equipped with a return filter, a safety valve is parallel between the oil outlet and oil inlet of variable pump.
There are petroleum pipeline sealing pipeline, the petroleum pipeline sealing pipeline and quilt in active cylinder rodless cavity petroleum pipeline outer cover
Dynamic cylinder cylinder body external screw thread connection, connect with outer oil circuit internal screw thread.
The utility model using the above structure, has the advantage that
Half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, the sea for deep-sea detecting and operation technique
Foreign technical field, based on big depth, big load, long-time, high-precision, low energy consumption, the low cost, height in abyssopelagic operation
Underwater cable tension fluctuation, repeater is effectively reduced to compensate to the heave movement of offshore operations platform in the requirement of efficiency
The amplitude of deep movement, to guarantee there is cable underwater robot to be able to steady, safely release, recycling and work.
Half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, main includes that load hangs system, active
Compensation system, passive compensation system, controller and hydraulic circuit system, Active Heave Compensation System become more to dislike for sea situation
Bad passive compensation system is not enough to provide the case where compensation precision or needs sensitiveer compensation of heave movement emergency case, whole
A system balance precision is high, system control is simple, compensation efficiency is high, energy consumption consumption is low, at low cost, system compresses integration, volume
It is small, it can be achieved that Active Compensation with passively compensate it is flexible switch or parallel processing, enhance the anti-interference energy of deep compensation system
The stroke of power, system balance is longer, in the heave compensation in following high sea situation deep ocean work field with wide before
Scape provides more excellent selection to the deep-sea underwater operation of underwater robot.
Detailed description of the invention:
Fig. 1 is the structural schematic diagram of the utility model embodiment 1；
Fig. 2 is the structural schematic diagram of the utility model embodiment 2.
In figure, 1, offshore operations platform, 2, passive cylinder, 3, active cylinder, 4, controller, 5, piston, the 6, first movable pulley, 7,
Second movable pulley, the 8, first fixed pulley, the 9, second fixed pulley, 10, undersea repeaters, 11, underwater robot, 12, gas-liquid accumulation of energy
Device, 13, gas cylinder group, 14, IMU motion sensor, 15, displacement sensor, 16, tension sensor, 17, active cylinder rodless cavity it is defeated
Oil pipe, 18, three-position four-way valve, 19, variable pump, 20, fuel tank, 21, petroleum pipeline sealing pipeline, 22, counterbalance valve, 23, unloading valve,
24, return filter, 25, safety valve.
Specific embodiment:
In order to clarify the technical characteristics of the invention, below by specific embodiment, and its attached drawing is combined, to this reality
It is described in detail with novel.
As shown in fig. 1, half Active Heave Compensation System of the present embodiment based on combined type two-stage hydraulic cylinder, including installation
System is hung in the load on offshore operations platform 1, hangs the Active Compensation system and passive compensation system that system is connected with load
System；
The passive compensation system includes the horizontal passive cylinder 2 for being set to 1 top of offshore operations platform, the nothing with passive cylinder 2
The connected Storage Unit of rod cavity hydraulic fluid port；The Active Compensation system includes active cylinder 3, rod chamber hydraulic fluid port and nothing with active cylinder 3
The connected hydraulic circuit system of rod cavity hydraulic fluid port, the detection unit for detecting 1 motion state of offshore operations platform, analysis detection unit hair
Carry out signal and sends the controller 4 of instruction to hydraulic circuit system；The rodless cavity cylinder body of the active cylinder 3 horizontally extends into passive cylinder
Piston rod in 2 cylinder body as passive cylinder, at the cylinder body rear portion of active cylinder 3 equipped with a piston 5, the piston 5 is by passive cylinder 2
Cylinder body be divided into rod chamber and rodless cavity；
The load hangs system and includes the first movable pulley 6 being set on 3 piston rod of active cylinder and the second movable pulley 7, sets
The first fixed pulley 8 and the second fixed pulley 9 in 1 top of offshore operations platform, one end of hawser are fixed on the first fixed pulley 8,
The other end successively bypass after the second movable pulley 7, the first fixed pulley 8, the first movable pulley 6, the second fixed pulley 9 with undersea repeaters 10
It is connected, underwater robot 11 passes through in another cable suspended under water repeater 10.The movable pulley and fixed pulley cooperate,
It converts underwater units moving displacement to a quarter of heave compensation moving displacement, greatly improves the sensitivity of compensation,
And the length of compensation device is effectively shortened, bit shift compensation stroke is improved, more complicated sea situation is adapted to.
The Storage Unit includes gas-liquid accumulator 12 and gas cylinder group 13, the hydraulic fluid port of gas-liquid accumulator 12 and passive cylinder 2
Rodless cavity hydraulic fluid port be connected, the port of gas-liquid accumulator 12 is connected with gas cylinder group 13.
The detection unit include IMU motion sensor 14 on the offshore operations platform 1, be set to active cylinder 3 and by
Displacement sensor 15 on dynamic 2 piston rod of cylinder is set between undersea repeaters 10 and the second fixed pulley 9 and undersea repeaters 10
Tension sensor 16 between underwater robot 11 on hawser, by collecting each square signal combined processing, so that heave compensation
System is more accurate.The displacement of Heaving Signal, hydraulic cylinder piston rod motor message and repeater from offshore operations platform 1 is believed
Number, then pass through information processing, instruction order outflow to control hydraulic circuit is passed through into control rod chamber and rodless cavity
Oil circuit on-off, thus starting and closing active compensation, and oil liquid flow and pressure are controlled by displacement signal on sensor
Power, to improve degree of regulation.
The hydraulic circuit system includes the active cylinder rodless cavity petroleum pipeline 17 being connected with the rodless cavity hydraulic fluid port of active cylinder 3,
Active cylinder rodless cavity petroleum pipeline 17 is pierced by from the rodless cavity casing wall of passive cylinder 2 to be connected with the first hydraulic fluid port of three-position four-way valve 18 afterwards,
The rod chamber hydraulic fluid port of active cylinder 3 is connected with the second hydraulic fluid port of three-position four-way valve 18, and the third hydraulic fluid port of three-position four-way valve 18 is through variable
Pump 19 is connected with fuel tank 20, and the 4th hydraulic fluid port of three-position four-way valve 18 is also connected with fuel tank 20.
There are petroleum pipeline sealing pipeline 21, the petroleum pipeline sealing pipeline in 17 outer cover of active cylinder rodless cavity petroleum pipeline
21 connect with passive cylinder cylinder body external screw thread, connect with outer oil circuit internal screw thread
Embodiment 2:
As shown in Figure 2, the present embodiment difference from example 1 is that: connection three-position four-way valve 18 first
The oil circuit of 3 rod chamber hydraulic fluid port of hydraulic fluid port and active cylinder and the 3 rod chamber hydraulic fluid port of the second hydraulic fluid port and active cylinder for connecting three-position four-way valve 18
Oil circuit between reverse parallel connection there are two counterbalance valve 22, two counterbalance valves 22 constitute differential circuits, and it is stable and subtract to be able to maintain oil circuit
Few hydraulic shock, is respectively provided with a unloading valve 23 being connected with fuel tank 20 on each 22 oil circuit of counterbalance valve.
Pipe on pipeline between variable pump 19 and fuel tank 20, between the 4th hydraulic fluid port and fuel tank 20 of three-position four-way valve 18
Road is respectively equipped with a return filter 24, and a safety valve 25 is parallel between the oil outlet and oil inlet of variable pump 19.
The input terminal of the controller 4 is connected with IMU motion sensor 14, displacement sensor 15, tension sensor 16, control
The control terminal of device 4 processed is connected with the control terminal of three-position four-way valve 18, counterbalance valve 22, unloading valve 23.
When being in preferable sea situation, when deep compensation demand is smaller, passive heave compensation system takes the lead in starting, passive cylinder 2 into
Row automatically to the left or moves right, the displacement sensor 15 being located on passive 2 piston rod of cylinder (i.e. active cylinder cylinder body front)
Motor message is transmitted to controller 4.
When sea situation becomes more severe, passive compensation system is not enough to provide compensation precision or heave movement emergency case
When needing sensitiveer compensation, actively deep compensation system collects the signal of processing according to controller 4, starts active compensation
System, signal are transferred into hydraulic circuit system, and the oil sources for exporting constant pressure enters the rodless cavity of passive cylinder 2 or has bar
Chamber, to complete actively deep compensation process.
It improves to sea situation, the passive cylinder 2 of passive heave compensation system starts to move toward middle position, passes to be displaced in active cylinder 3
After sensor 15 is returned the completion processing of signal transfer control 4, the active cylinder 3 of Active Heave Compensation System starts in recurrence again
Position movement, completes heave compensation overall process.
The passive heave compensation system of master of the utility model based on combined type two-stage hydraulic cylinder, effectively reduces compensation device
The big problem of space hold, and after main passive heave compensation system complete system combination, main passive heave compensation can adjusted
Collaboration uses in the process, considerably reduces power consumption, has saved cost, and improve compensation precision, and control is flexible.
Above-mentioned specific embodiment cannot function as the limitation to scope of protection of the utility model, for the skill of the art
For art personnel, any alternate modification or transformation made to the utility model embodiment all fall within the guarantor of the utility model
It protects in range.
Place is not described in detail for the utility model, is the well-known technique of those skilled in the art of the present technique.
Claims (7)
1. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder, it is characterised in that: including being installed on sea
Load on operating platform hangs system, hangs the Active Compensation system and passive compensation system that system is connected with load；
The passive compensation system includes the horizontal passive cylinder for being set to offshore operations table top, the rodless cavity hydraulic fluid port with passive cylinder
Connected Storage Unit；The Active Compensation system includes active cylinder, rod chamber hydraulic fluid port and rodless cavity hydraulic fluid port phase with active cylinder
Hydraulic circuit system even, detect the detection unit of offshore operations platform motion state, analysis detection unit sends signal and to
Hydraulic circuit system sends the controller of instruction；The rodless cavity cylinder body of the active cylinder horizontally extends into conduct in the cylinder body of passive cylinder
The piston rod of passive cylinder is equipped with a piston at the cylinder body rear portion of active cylinder, and the cylinder body of passive cylinder is divided by the piston bar
Chamber and rodless cavity；
The load hangs system and includes the first movable pulley being set on active cylinder piston bar and the second movable pulley, is set to marine behaviour
Make the first fixed pulley and the second fixed pulley of table top, one end of hawser is fixed on the first fixed pulley, the other end successively around
It is connected after crossing the second movable pulley, the first fixed pulley, the first movable pulley, the second fixed pulley with undersea repeaters, underwater robot is logical
Another cable suspended is crossed under water on repeater.
2. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 1, feature
Be: the Storage Unit includes gas-liquid accumulator and gas cylinder group, the rodless cavity oil of the hydraulic fluid port of gas-liquid accumulator and passive cylinder
Mouth is connected, and the port of gas-liquid accumulator is connected with gas cylinder group.
3. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 1, feature
Be: the detection unit includes the IMU motion sensor being set on offshore operations platform, is set to active cylinder and passive the cylinder piston
Displacement sensor on bar is set between undersea repeaters and the second fixed pulley and between undersea repeaters and underwater robot
Tension sensor on hawser.
4. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 1, feature
Be: the hydraulic circuit system includes the active cylinder rodless cavity petroleum pipeline being connected with the rodless cavity hydraulic fluid port of active cylinder, active cylinder
Rodless cavity petroleum pipeline is pierced by from the rodless cavity casing wall of passive cylinder to be connected with the first hydraulic fluid port of three-position four-way valve afterwards, and active cylinder has bar
Chamber hydraulic fluid port is connected with the second hydraulic fluid port of three-position four-way valve, and the third hydraulic fluid port of three-position four-way valve is connected through variable pump with fuel tank, and three
4th hydraulic fluid port of four-way valve is also connected with fuel tank.
5. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 4, feature
Be: connection three-position four-way valve the first hydraulic fluid port and active cylinder rod chamber hydraulic fluid port oil circuit with connect the second of three-position four-way valve
There are two counterbalance valves, two counterbalance valves to constitute differential circuit for reverse parallel connection between hydraulic fluid port and the oil circuit of active cylinder rod chamber hydraulic fluid port,
A unloading valve being connected with fuel tank is respectively provided on each counterbalance valve oil circuit.
6. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 4, feature
It is: is set respectively on the pipeline on the pipeline between variable pump and fuel tank, between the 4th hydraulic fluid port and fuel tank of three-position four-way valve
Oil strainer once is parallel with a safety valve between the oil outlet and oil inlet of variable pump.
7. a kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder according to claim 1, feature
It is: has a petroleum pipeline sealing pipeline in active cylinder rodless cavity petroleum pipeline outer cover, the petroleum pipeline sealing pipeline and passive
The connection of cylinder cylinder body external screw thread, connect with outer oil circuit internal screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821049762.0U CN208470082U (en) | 2018-06-29 | 2018-06-29 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821049762.0U CN208470082U (en) | 2018-06-29 | 2018-06-29 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
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| Publication Number | Publication Date |
|---|---|
| CN208470082U true CN208470082U (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821049762.0U Expired - Fee Related CN208470082U (en) | 2018-06-29 | 2018-06-29 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820154A (en) * | 2018-06-29 | 2018-11-16 | 山东大学 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
| CN109899441A (en) * | 2019-03-26 | 2019-06-18 | 上海海事大学 | The distribution method of main passive hydraulic cylinder capacity in a kind of half active wave compensation system |
-
2018
- 2018-06-29 CN CN201821049762.0U patent/CN208470082U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820154A (en) * | 2018-06-29 | 2018-11-16 | 山东大学 | A kind of half Active Heave Compensation System based on combined type two-stage hydraulic cylinder |
| CN109899441A (en) * | 2019-03-26 | 2019-06-18 | 上海海事大学 | The distribution method of main passive hydraulic cylinder capacity in a kind of half active wave compensation system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190205 Termination date: 20200629 |