CN208617269U - A kind of ROV heave compensation system - Google Patents
A kind of ROV heave compensation system Download PDFInfo
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- CN208617269U CN208617269U CN201721357482.1U CN201721357482U CN208617269U CN 208617269 U CN208617269 U CN 208617269U CN 201721357482 U CN201721357482 U CN 201721357482U CN 208617269 U CN208617269 U CN 208617269U
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Abstract
The utility model relates to a kind of ROV heave compensation systems, including hanging door frame, cable storage winch, pulling winch and tension compensating system, door frame is hung equipped with umbilical cord winch, umbilical cord winch is equipped with umbilical cables, tension compensating system includes heave compensator and pressure regulation supercharging device, heave compensator includes running block, fixed pulley group, accumulator, air accumulator and display box, running block two sides are respectively equipped with the first oil cylinder and the second oil cylinder, display box is equipped with oil pressure gauge, air gauge and tension and detects display, and pressure regulation supercharging device includes booster pump and gas cylinder；The utility model prevents lash ship from generating heave movement under the wave action and is transmitted to the underwater equipments such as the ROV hung by main umbilical, reduce heave coupled motions conduction, absorbs acceleration power, reduces the peaceful slip tension peak value of umbilical cord relaxation, to improve ROV motion control condition, prevent umbilical cables from destroying, raising system job safety, dedicated and propagable general technology achievement is formed.
Description
Technical field
The utility model relates to a kind of ROV heave compensation systems, belong to underwater robot field.
Background technique
The development of marine exploration and resources development and utilization, deep-sea observation and project, needs a large amount of deep sea equipment line
Cable lays, detects and upkeep operation, this greatly relies on the nothing that bottom time is long, work capacity is strong, load capacity is big
People's remote-controlled vehicle, i.e. ROV underwater robot, wherein the main equipment achievement of " 4000 meter level deep ocean work system " is 4000m
Unmanned remotely controlled submersible vehicle is the big depth ROV system of first set of China's independent research, maximum operating water depth 4000m, key operation
Function is to carry out habitata, sampling and other underwater operations.ROV under water operation when, lash ship wave of the sea effect under
It is inevitably present heave movement, and this greatly reduces the efficiency and safety of system, meanwhile, the acceleration of heave movement
Cause cable tension to increase, the service load allowable of umbilical cables may be exceeded or lead to fatigue rupture, it would be highly desirable to improve.
Utility model content
The purpose of this utility model is in view of the drawbacks of the prior art, to provide a kind of ROV heave compensation system, prevent mother
Ship generates heave movement under the wave action and is transmitted to the underwater equipments such as the ROV hung by main umbilical, reduces heave coupling fortune
Dynamic conduction absorbs acceleration power, reduces the peaceful slip tension peak value of umbilical cord relaxation, to improve ROV motion control condition, prevent
Umbilical cables are destroyed, improve system job safety, and dedicated and propagable general technology achievement is formed.
The utility model is achieved by the following technical solutions:
A kind of ROV heave compensation system, including door frame is hung, cable storage winch, pulling winch and tension compensating system,
In, for the door frame that hangs equipped with umbilical cord winch, the umbilical cord winch is equipped with umbilical cables, and the tension compensating system includes rising
Heavy compensator and pressure regulation supercharging device, the heave compensator include running block, fixed pulley group, accumulator, air accumulator and show
Show that box, the umbilical cables head end are successively around in cable storage winch, pulling winch, running block and fixed pulley group；
The running block two sides are respectively equipped with the first oil cylinder and the second oil cylinder, on first oil cylinder and the second oil cylinder
Equipped with piston rod, the piston rod bottom is equipped with piston, and top is fixedly linked with running block, first oil cylinder and second
Oil pipe is equipped between oil cylinder, the oil pipe is connected with oil pressure pipe, and the number of the accumulator is two, two accumulator one end point
It is equipped with first pipe not between the first oil cylinder and the second oil cylinder, is equipped with second pipe between the other end and air accumulator, described the
One pipeline is equipped with liquid valve, and the second pipe is equipped with the first air valve, and is connected with pneumatic tube, and the air accumulator is connected with the
Three pipelines, the third pipeline are equipped with the first charge valve；
The display box is equipped with oil pressure gauge, air gauge and tension and detects display, the oil pressure gauge and air gauge difference
It is connected with the gentle interface of oily interface, the gentle interface of the oil interface is cooperatively connected with oil pressure pipe and pneumatic tube respectively, the pressure regulation
Supercharging device includes booster pump and gas cylinder, and the booster pump is equipped with the 4th pipeline, and the 5th pipeline, institute are equipped between gas cylinder
The 4th pipe end is stated to be used cooperatively with third pipe end.
Above-mentioned a kind of ROV heave compensation system, wherein the umbilical cables, which are connected with, only swings device.
Above-mentioned a kind of ROV heave compensation system, wherein the number of the air accumulator is two, and two air accumulators are mutual
Connection, the second pipe are equipped with first pressure gauge.
Above-mentioned a kind of ROV heave compensation system, wherein the oil pressure pipe includes the first branch pipe and connects hose fastly, described
First branch pipe is equipped with liquid table valve, and described connect fastly be equipped with connector between hose and the first branch pipe, and the oil pipe is equipped with the
Two charge valves, the oil pipe end are equipped with hydraulic oil fast charge connector.
Above-mentioned a kind of ROV heave compensation system, wherein the pneumatic tube is equipped with gas meter valve, the gas interface connection
There is bleeder pipe, the bleeder pipe is equipped with vent valve.
Above-mentioned a kind of ROV heave compensation system, wherein the display box is connected with terminal, the computer
Terminal is connected with alarm.
Above-mentioned a kind of ROV heave compensation system, wherein the booster pump includes booster pump ontology, the 6th pipeline and
Seven pipelines, the booster pump ontology are equipped with intake valve, upper exhaust valve and lower exhaust valve, the booster pump ontology and the 7th pipeline
Between the second branch pipe and third branch pipe, three branch pipe is connected with the 5th pipeline, and the 5th pipeline is connected with the 4th branch pipe, institute
It states the 6th pipeline and the 7th pipeline one end is interconnected and is connected with the 4th pipeline, the 6th pipeline other end and booster pump sheet
Body connection, is equipped with valve on the 6th pipeline, the 7th pipeline, third branch pipe and the 4th branch pipe, on the 7th pipeline
Valve number is two, and is located at the second branch pipe two sides.
Above-mentioned a kind of ROV heave compensation system, wherein the number of the gas cylinder is several, and several gas cylinders mutually interconnect
Logical, the 5th pipeline is equipped with the second air valve and second pressure gauge.
The utility model has the following beneficial effects:
The utility model is compact-sized, design is reasonable, dismounting is flexible and convenient to use, and umbilical cables terminal and ROV etc. is underwater
Equipment connection, head end are finally connected on lash ship, when lash ship generates heave movement under the wave action influences umbilical cables tension,
The first oil cylinder and the second oil cylinder is set to move up and down by tension compensating system passive type, release or recycling umbilical cables, pressure regulation pressurization
Device guarantees that oil cylinder is substantially at middle position and moves up and down, and reduces umbilical cables peak tension, and pass through display box and terminal
Real-time monitoring shows umbilical cables tension, carries out early warning, to 1. reduce heave movement conduction, improves ROV motion control condition；②
Acceleration power is absorbed, raising system hangs safety；3. making up big depth gravity cable safety coefficient low defect, smooth dynamic tension
Peak value；4. reducing umbilical cord relaxation, torque failure is prevented, improves system job safety, forms dedicated and propagable general skill
Art achievement.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model.
Fig. 2 is the utility model heave compensator structure principle chart.
Fig. 3 is the utility model pressure regulation supercharging device structure principle chart.
Fig. 4 is the stress analysis schematic diagram of the utility model heave compensator.
Fig. 5 is tension compensating system connection figure when the utility model is tested.
Fig. 6 is the canoe schematic diagram of umbilical cables and running block and fixed pulley group when the utility model is tested.
Fig. 7 is pressure and tension curve figure when the utility model is tested.
(in figure, lash ship 1, underwater equipment 2 hangs door frame 3, cable storage winch 4, pulling winch 5 and tension compensating system 6, navel
Band winch 7, umbilical cables 8 only swing device 9, heave compensator 10 and pressure regulation supercharging device 11, and running block 12, stores fixed pulley group 13
Energy device 14, air accumulator 15 and display box 16, the first oil cylinder 17 and the second oil cylinder 18, piston rod 19, piston 20, oil pipe 21, oil pressure
Pipe 22, the first branch pipe 23 and connects hose 24 fastly, liquid table valve 25, connector 26, the second charge valve 27, hydraulic oil fast charge connector 28,
First pipe 29, second pipe 30, liquid valve 31, the first air valve 32, first pressure gauge 33, pneumatic tube 34, gas meter valve 35, bleeder pipe
36, vent valve 37, third pipeline 38, the first charge valve 39, oil pressure gauge 40, air gauge 41 and tension detection display 42, oil connects
43 gentle interfaces 44 of mouth, terminal 45, alarm 46, booster pump 47, gas cylinder 48, booster pump ontology 49, the 6th pipeline 50,
7th pipeline 51, intake valve 52, upper exhaust valve 53 and lower exhaust valve 54, the second branch pipe 55 and third branch pipe 56, the 4th branch pipe 57,
Valve 58, the 4th pipeline 59, the 5th pipeline 60, the second air valve 61, second pressure gauge 62, movable pulley 63, fixed pulley 64).
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.
A kind of ROV heave compensation system, including door frame is hung, cable storage winch, pulling winch and tension compensating system,
In, the door frame that hangs is equipped with umbilical cord winch, and the umbilical cord winch is equipped with umbilical cables, and the umbilical cables, which are connected with, only swings
Device, the tension compensating system include heave compensator and pressure regulation supercharging device, and the heave compensator includes running block, determines
Pulley blocks, accumulator, air accumulator and display box, the umbilical cables head end are successively around in cable storage winch, pulling winch, running block
With fixed pulley group；
The running block two sides are respectively equipped with the first oil cylinder and the second oil cylinder, on first oil cylinder and the second oil cylinder
Equipped with piston rod, the piston rod bottom is equipped with piston, and top is fixedly linked with running block, first oil cylinder and second
Oil pipe is equipped between oil cylinder, the oil pipe is connected with oil pressure pipe；
The oil pressure pipe includes the first branch pipe and connects hose fastly, first branch pipe equipped with liquid table valve, it is described connect fastly it is soft
Connector is equipped between pipe and the first branch pipe, the oil pipe is equipped with the second charge valve, and the oil pipe end is equipped with hydraulic oil
Fast charge connector；
The number of the accumulator is two, and two accumulator one end are equipped between the first oil cylinder and the second oil cylinder respectively
First pipe is equipped with second pipe between the other end and air accumulator, the first pipe is equipped with liquid valve, on the second pipe
Equipped with the first air valve and first pressure gauge, and it is connected with pneumatic tube, the pneumatic tube is equipped with gas meter valve, the air accumulator connection
There is third pipeline, the third pipeline is equipped with the first charge valve, and the number of the air accumulator is two, and two air accumulators are mutual
Connection；
The display box is equipped with oil pressure gauge, air gauge and tension and detects display, the oil pressure gauge and air gauge difference
It is connected with the gentle interface of oily interface, the gentle interface of the oil interface is cooperatively connected with oil pressure pipe and pneumatic tube respectively, and the gas connects
Mouth is connected with bleeder pipe, and the bleeder pipe is equipped with vent valve, and the display box is connected with terminal, the display box and
Terminal is connected with alarm by electrical connection or wireless transmission connection, the terminal；
The pressure regulation supercharging device includes booster pump and gas cylinder, the booster pump include booster pump ontology, the 6th pipeline and
7th pipeline, the booster pump ontology are equipped with intake valve, upper exhaust valve and lower exhaust valve, the booster pump ontology and the 7th pipe
Second branch pipe and third branch pipe between road, three branch pipe are connected with the 5th pipeline, and the 5th pipeline is connected with the 4th branch pipe,
6th pipeline and the 7th pipeline one end are interconnected and are connected with the 4th pipeline, the 6th pipeline other end and booster pump
Ontology connection, is equipped with valve on the 6th pipeline, the 7th pipeline, third branch pipe and the 4th branch pipe, on the 7th pipeline
Valve number be two, and be located at the second branch pipe two sides；
The booster pump be equipped with the 4th pipeline, and between gas cylinder be equipped with the 5th pipeline, the 4th pipe end with
Third pipe end is used cooperatively, and the number of the gas cylinder is several, and several gas cylinders are interconnected, and is set on the 5th pipeline
There are the second air valve and second pressure gauge；
The oil pipe, second pipe are hard tube DN25, and the first pipe is hard tube DN40, and the liquid valve is that DN40 is isometrical
Ball valve, the oil pressure pipe and pneumatic tube are hose, and hose diameter 6mm, the third pipeline is hard tube DN6.
The working method and principle of the utility model are as follows:
Umbilical cables terminal is connected on and is connected including underwater equipments such as 4000 meters of ROV, only swinging device prevents from generating vibration when lifting
It swings, umbilical cables head end is finally connected on lash ship, using this double oil cylinder supports of the first oil cylinder and the second oil cylinder, driving movable pulley
Group, the cylinder body and fixed pulley of the first oil cylinder and the second oil cylinder are fixed on lash ship deck, by the 4th pipe end and third pipeline
End is cooperatively connected, the theoretical analysis, which is nonlinear elasticity system, has initial tension and system variant elasticity adjustable
Characteristic.
Under static state, it is injected, is made in the first oil cylinder and the second oil cylinder full of a certain amount of by hydraulic oil fast charge connector
The nitrogen that certain pressure is stored in hydraulic oil, accumulator and air accumulator adjusts booster pump by switch valve, using unique increasing
Press pump structure, booster pump ontology and the 6th pipeline and the switching of the 7th pipeline are adjusted, it can be achieved that nitrogen pressure between gas cylinder and accumulator
Power is adjusted, and when the pressure balance of the two, can realize the pressurization of gas cylinder and accumulator, respectively by booster pump to meet accumulation of energy
The demand of device；
Pressure regulation supercharging device is loaded according to the length for releasing umbilical cables, is adjusted the nitrogen pressure of accumulator, is mended heave
The piston for repaying device is in oil cylinder stroke midpoint, cylinder thrust and underwater equipment weight or tension balanced, to guarantee that oil cylinder is located substantially
Yu Zhongwei moves up and down；
Display box detects display by oil pressure gauge, air gauge and tension and shows oil pressure, air pressure and umbilical cables tension respectively,
And terminal is sent data to, monitor log real time data is convenient for and lash ship manipulation and control platform by alarm early warning
It is used in conjunction.
In the operating condition, when lash ship ascending motion causes umbilical cables pulling force to increase, the first oil cylinder and the second oil are controlled
Cylinder, which synchronizes, moves downward compressed nitrogen, discharges umbilical cables；When lash ship descending motion causes umbilical cables pulling force to reduce, control first
Oil cylinder and the second oil cylinder, which synchronize, moves upwards expansion nitrogen, recycles umbilical cables, absorbs acceleration power, reduces umbilical cord relaxation peace
Slip tension peak value reduces heave coupled motions conduction, achievees the purpose that improve ROV motion control condition, protection umbilical cables.
The force analysis of the utility model is as follows:
Whole system is established into model, the first oil cylinder, the second oil cylinder and fixed pulley are fixed on lash ship deck, piston, work
Stopper rod and fixed pulley are its motion parts, and the gross mass of heave compensator is McZ is used in about 300kg, displacementcIt indicates, initial position is still
It is set to the middle position of oil cylinder, with lxUnanimously, but ZcDirection to be positive upwards, then the stress condition of heave compensator are as follows: the first oil cylinder,
Hydraulic oil thrust T in second oil cylinderc=PcS, piston, piston rod and movable pulley self weight McG, by umbilical cables tension formed to work
The pressure size of plug is 2T, as shown in Fig. 4；
According to Known designs parameter:
Maximum effective compensation load: about 12 tons；
Maximum heave compensation amplitude: greater than 4 meter；
Maximum tension fluctuation: less than 30%；
System weight: about 7-8 tons；
Principal dimensions: 4.5 (3.5) m of about 1.8x 1.5x；
The design heave movement period 8 seconds；
The Force Calculation of system totality presses formula:
P0V0/(V0+Ls/2)≤Px≤0V0/(V0-Ls/2)
V is taken according to gas cylinder type selection calculation0It is 62 liters, obtains piston extreme position lx=L/2 and lxGas pressure when=- L/2:
PL/2=120x62000/ (62000-25120/2)=150.5kgf/cm2；
P-L/2=120x62000/ (62000+25120/2)=99.8kgf/cm2；
Obtain piston extreme position lx=L/2 and lxPiston thrust when=- L/2:
TL/2=PL/2x s=150.5x 200.96=30245kgf=30t；
T-L/2=P-L/2x s=99.8x 200.96=20056kgf=20t；
Obtain piston extreme position lx=L/2 and lxUmbilical cord tension when=- L/2:
WL/2=PL/2x s/2=150.5x 200.96/2=15122kgf=15t；
W-L/2=P-L/2x s/2=99.8x 200.96/2=10028kgf=10t；
Obtain lxUmbilical cord maximum tension increment rate when=L/2 are as follows:
(WL/2- WL0)/WL0=25%.
In order to further determine the relationship between heave compensation system pressure and the tension of umbilical cables, and verifying maximum
The safety of system in the case of power carries out pressure to the utility model and tension test experiment is as follows:
As shown in figure 5, the 4th pipe end is connect with bleeder pipe, and umbilical cables will successively be intersected as shown in Figure 7 and twined
It is wound on the running block and fixed pulley group for respectively including two movable pulleys and two fixed pulleys, end connects tension detection display
Device, closed loop wirerope total length is 19.5 meters when position in oil cylinder.
To reduce gas consumption, closes the 6th pipeline and the 7th pipeline is located at valve, the charge valve, second of the second branch pipe side
Liquid valve in the first pipe of oil cylinder connection, gas meter valve, liquid table valve；To guarantee safety, oil charge valve closes always, micro to open the
Liquid valve in the first pipe of one oil cylinder connection.
Obtain that the experimental data are shown in the following table respectively 1 and table 2 by boosting, being depressured:
The test of tension and pressure sensor current relationship when table 1 boosts
| Sequence | Start air pressure bar | Oil pressure bar | Pressure sensor electric current mA | Tension kg |
| 1 | 10 | 4 | 45 | 155 |
| Numbers 2 | 15 | 12 | 482 | 685 |
| 3 | 20 | 16 | 515 | 1110 |
| 4 | 25 | 22 | 547 | 1494 |
| 5 | 30 | 26 | 579 | 1940 |
| 6 | 35 | 32 | 611 | 2395 |
| 7 | 40 | 36 | 644 | 2850 |
| 8 | 45 | 42 | 676 | 3330 |
| 9 | 50 | 47 | 708 | 3795 |
| 10 | 55 | 53 | 74 | 4305 |
| 11 | 60 | 57 | 772 | 4750 |
| 12 | 63 | 60 | 792 | 5055 |
The review of tension and pressure sensor current relationship when table 2 is depressured
| Serial number | Start air pressure bar | Oil pressure | Pressure sensor electric current mA | Tension kg |
| 1 | 63 | bar60 | 7.92 | 5055 |
| 2 | 60 | 57 | 7.72 | 5000 |
| 3 | 55 | 53 | 7.4 | 4935 |
| 4 | 50 | 48 | 7.08 | 4840 |
| 5 | 45 | 44 | 6.76 | 4530 |
| 6 | 40 | 38 | 6.44 | 3960 |
| 7 | 35 | 33 | 6.12 | 3395 |
| 8 | 30 | 27 | 5.8 | 2835 |
| 9 | 25 | 23 | 5.48 | 2285 |
| 10 | 20 | 18 | 5.16 | 1715 |
| 11 | 15 | 12 | 4.84 | 1150 |
| 12 | 10 | 6 | 4.52 | 560 |
Draw pressure and tension curve it is as shown in Fig. 7, curve x indicate experiment test point (being indicated with empty circles o)
The boosting curve of drafting, curve y indicate the drawdown curve that experiment test point (with plus sige+indicate) is drawn.
The curve map analysis of pressure and tension according to Fig.7, it may be seen that when step up side runin is begun, when in umbilical cables
Tension when being zero, upward pressure in system to piston and the self weight of system movable pulley have reached with downward stiction
Balance, during continuing boosting afterwards, the tension in umbilical cables is with the increase of pressure and linearly increasing；
When system air pressure rises to 63bar, start to carry out decompression test, due to start decompression when, stiction
It direction will be from downwards slowly to zero again to upward, so curve when being depressured in Fig. 7 starts to will appear one section of nonlinear variation
Process, etc. upwarded pressure in systems to piston and reach balance again with the self weight of upward stiction and system movable pulley
Afterwards, the tension on cable with the reduction of pressure linear reduction；Because being also linear between pressure and pressure sensor electric current
Relationship, so the linear change part of tension when pressure sensor electric current and buck on cable is also linear relationship.
Heave compensation system is that entire ROV hangs technology segment more crucial in system, is ground to heave compensation system
Study carefully and be not only related to the underwater normal work of ROV, core apparatus of the tension compensating system as the utility model carries out it
Pressure and tensile property analysis are that design calculates the essential important step of heave compensation system, by establishing model, theory
The mode of analysis and measuring, obtains the linear relationship in the pressure and umbilical cables on oil cylinder piston between tension,
This is for ensureing heave compensation system trouble free service, further grasping heave compensation system working principle, understanding wave for ROV
The affecting laws of work have extremely important meaning.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should all cover within the protection scope of the present utility model.Therefore, the protection scope of the utility model should be with
Subject to the protection scope of claims.
Claims (8)
1. a kind of ROV heave compensation system, including door frame is hung, cable storage winch, pulling winch and tension compensating system are special
Sign is that the door frame that hangs is equipped with umbilical cord winch, and the umbilical cord winch is equipped with umbilical cables, and the tension compensating system includes
Heave compensator and pressure regulation supercharging device, the heave compensator include running block, fixed pulley group, accumulator, air accumulator and
Display box, the umbilical cables head end are successively around in cable storage winch, pulling winch, running block and fixed pulley group；
The running block two sides are respectively equipped with the first oil cylinder and the second oil cylinder, are equipped on first oil cylinder and the second oil cylinder
Piston rod, the piston rod bottom is equipped with piston, and top is fixedly linked with running block, first oil cylinder and the second oil cylinder
Between be equipped with oil pipe, the oil pipe is connected with oil pressure pipe, and the number of the accumulator is two, two accumulator one end respectively with
It is equipped with first pipe between first oil cylinder and the second oil cylinder, second pipe, first pipe are equipped between the other end and air accumulator
Road is equipped with liquid valve, and the second pipe is equipped with the first air valve, and is connected with pneumatic tube, and the air accumulator is connected with third pipe
Road, the third pipeline are equipped with the first charge valve；
The display box is equipped with oil pressure gauge, air gauge and tension and detects display, and the oil pressure gauge and air gauge are separately connected
There is the gentle interface of oily interface, the gentle interface of the oil interface is cooperatively connected with oil pressure pipe and pneumatic tube respectively, the pressure regulation pressurization
Device includes booster pump and gas cylinder, and the booster pump is equipped with the 4th pipeline, and the 5th pipeline is equipped between gas cylinder, and described the
Four pipe ends are used cooperatively with third pipe end.
2. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the umbilical cables, which are connected with, only swings device.
3. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the number of the air accumulator is two,
Two air accumulators are interconnected, and the second pipe is equipped with first pressure gauge.
4. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the oil pressure pipe includes the first branch pipe
Hose is connect fastly, and first branch pipe is equipped with liquid table valve, and described connect fastly is equipped with connector between hose and the first branch pipe, institute
Oil pipe is stated equipped with the second charge valve, the oil pipe end is equipped with hydraulic oil fast charge connector.
5. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the pneumatic tube is equipped with gas meter valve,
The gas interface is connected with bleeder pipe, and the bleeder pipe is equipped with vent valve.
6. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the display box is connected with computer
Terminal, the terminal are connected with alarm.
7. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the booster pump includes booster pump sheet
Body, the 6th pipeline and the 7th pipeline, the booster pump ontology are equipped with intake valve, upper exhaust valve and lower exhaust valve, the pressurization
It pumping and is equipped with the second branch pipe and third branch pipe between ontology and the 7th pipeline, three branch pipe is connected with the 5th pipeline, and the described 5th
Pipeline is connected with the 4th branch pipe, and the 6th pipeline and the 7th pipeline one end are interconnected and are connected with the 4th pipeline, and described the
The six pipeline other ends are connect with booster pump ontology, are equipped on the 6th pipeline, the 7th pipeline, third branch pipe and the 4th branch pipe
Valve, the valve number on the 7th pipeline is two, and is located at the second branch pipe two sides.
8. a kind of ROV heave compensation system as described in claim 1, it is characterized in that, the number of the gas cylinder is several,
Several gas cylinders are interconnected, and the 5th pipeline is equipped with the second air valve and second pressure gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721357482.1U CN208617269U (en) | 2017-10-20 | 2017-10-20 | A kind of ROV heave compensation system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721357482.1U CN208617269U (en) | 2017-10-20 | 2017-10-20 | A kind of ROV heave compensation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697828A (en) * | 2017-10-20 | 2018-02-16 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of ROV heave compensation systems |
| CN111516806A (en) * | 2020-04-29 | 2020-08-11 | 上海中车艾森迪海洋装备有限公司 | Laying and recycling system and method for underwater equipment |
-
2017
- 2017-10-20 CN CN201721357482.1U patent/CN208617269U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107697828A (en) * | 2017-10-20 | 2018-02-16 | 中国人民解放军陆军军事交通学院镇江校区 | A kind of ROV heave compensation systems |
| CN111516806A (en) * | 2020-04-29 | 2020-08-11 | 上海中车艾森迪海洋装备有限公司 | Laying and recycling system and method for underwater equipment |
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