CN215861052U - Active and passive heave compensation system for hoisting equipment - Google Patents
Active and passive heave compensation system for hoisting equipment Download PDFInfo
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- CN215861052U CN215861052U CN202121774892.2U CN202121774892U CN215861052U CN 215861052 U CN215861052 U CN 215861052U CN 202121774892 U CN202121774892 U CN 202121774892U CN 215861052 U CN215861052 U CN 215861052U
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Abstract
The utility model relates to the technical field of hoisting and recovering equipment, in particular to an active and passive heave compensation system for hoisting and recovering equipment, which comprises a supporting frame, wherein a compensation pulley assembly, a hydraulic pump station, a control console and a constant-temperature energy storage tank assembly are respectively arranged on the supporting frame; the compensation pulley assembly is used for carrying out accurate displacement compensation on different heave displacements; the hydraulic pump station provides hydraulic oil for the compensating pulley assembly through the console; the constant-temperature energy storage tank assembly is used for providing auxiliary hydraulic oil for the compensation pulley assembly, storing and absorbing vibration for the compensation pulley assembly, and ensuring accurate compensation under a variable-load working condition through the constant-temperature compensation tank, so that the application range and the working flexibility are greatly improved, and the problem of poor sensitivity and stability in the technical field of heave compensation at present is effectively solved; meanwhile, manual and automatic control is realized, the working efficiency is improved, and the operation is convenient.
Description
Technical Field
The utility model relates to the technical field of hoisting and recovering equipment, in particular to an active and passive heave compensation system for hoisting and recovering equipment.
Background
The hoisting and recovering equipment is generally used for hoisting and recovering underwater loads, the loads are firstly placed at specified positions, and after the loading operation is finished, the loads are recovered to a mother ship or a hoisting platform. No matter the load or the mother ship or the platform, the heave motion can be generated along with the wave under the action of the water surface wave, the load can generate heave acceleration, the tension of the cable continuously changes, the stability of the load operation, the structural strength of the hoisting equipment and the like are challenged, and even an extremely dangerous condition is generated.
Therefore, in order to improve the operational smoothness during the hoisting and lowering of the load, the method of attenuating or eliminating this heave effect by an effective mechanism is called heave compensation. The traditional heave compensation system has inherent defects whether being a passive system for damping and buffering by adding an energy accumulator or an active system for forced regulation and control of an external hydraulic system, the passive system cannot completely compensate and absorb heave motion, and the active system cannot perform sensitive and stable compensation effect, so that the advantages of the active system and the passive system are effectively fused, and a new technology is developed for accurate compensation.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects and shortcomings in the prior art, and provides an active and passive heave compensation system for hoisting equipment.
In order to achieve the above object, the present invention provides an active and passive heave compensation system for a hoisting device, comprising: the supporting frame is provided with a compensating pulley assembly, a hydraulic pump station, a control console and a constant-temperature energy storage tank assembly respectively; the compensation pulley assembly is used for carrying out accurate displacement compensation on different heave displacements; the hydraulic pump station provides hydraulic oil for the compensating pulley assembly through the control console;
the constant-temperature energy storage tank assembly is used for providing auxiliary hydraulic oil for the compensation pulley assembly and storing energy and absorbing vibration for the compensation pulley assembly.
Furthermore, the compensation pulley assembly comprises a base and a steel wire rope, a compensation hydraulic cylinder is arranged on the base, a vertical movable pulley and a vertical fixed pulley B are respectively arranged at two ends of the compensation hydraulic cylinder, a fixed pulley A is arranged above the movable pulley, a swinging pulley is arranged above the fixed pulley B, and the steel wire rope sequentially bypasses the swinging pulley, the fixed pulley B, the movable pulley and the fixed pulley A; the compensation hydraulic cylinder drives the movable pulley to do linear motion relative to the base; the compensation pulley assembly further comprises a stay wire displacement sensor, the stay wire displacement sensor is mounted on the base, and a stay wire probe on the stay wire displacement sensor is connected with the movable pulley; and a pin shaft sensor is arranged on the movable pulley and used for measuring bending moment and shearing force applied to the movable pulley.
Further, the swing pulley comprises a fixed pulley C which is rotatably installed on a fixed seat, and the fixed seat is vertically fixed on the base.
Further, the bottom of the movable pulley is provided with a sliding mechanism, and the sliding mechanism is used for ensuring the linear motion of the movable pulley.
Further, slide mechanism includes assorted guide rail and slider, the slider sets up on the movable pulley, the guide rail sets up on the base.
Furthermore, the control console comprises a two-position three-way manual reversing valve, a three-position four-way electromagnetic proportional valve, a three-position four-way manual reversing valve and an oil pressure gauge; an oil inlet P of the two-position three-way manual reversing valve is connected with an oil outlet pipeline of the hydraulic pump station; an oil outlet A of the two-position three-way manual reversing valve is connected with an oil inlet P of the three-position four-way electromagnetic proportional valve, and an oil outlet B of the two-position three-way manual reversing valve is connected with the oil inlet P of the three-position four-way manual reversing valve; an oil return port T of the three-position four-way electromagnetic proportional valve and an oil return port T of the three-position four-way manual reversing valve are both connected with an oil tank of the hydraulic pump station, and an oil outlet A of the three-position four-way electromagnetic proportional valve and an oil outlet A of the three-position four-way manual reversing valve are both connected with a rodless cavity of the compensation hydraulic cylinder; an oil outlet of the constant-temperature energy storage tank assembly is connected with a rodless cavity of the compensation hydraulic cylinder; an oil outlet B of the three-position four-way electromagnetic proportional valve and an oil outlet B of the three-position four-way manual reversing valve are both connected with a rod cavity of the compensation hydraulic cylinder; the oil pressure gauge is connected with an oil inlet P of the two-position three-way reversing valve and is used for measuring inlet oil pressure.
Furthermore, the constant-temperature energy storage tank assembly comprises a constant-temperature energy storage tank vertically fixed on the mounting frame, a constant-pressure unit is arranged at the top of the constant-temperature energy storage tank, a temperature control unit is arranged at the bottom of the constant-temperature energy storage tank, and an oil drain valve, a manual hydraulic ball valve and an electric hydraulic ball valve are arranged at the bottom end of the constant-temperature energy storage tank;
the constant pressure unit is configured to change the working pressure of the compressed air in the constant temperature energy storage tank according to different load sizes, so that the working pressure can perform real-time change response according to the change rule of the load, and the constant temperature energy storage tank is in a rated working state;
the temperature control unit is configured to be capable of exchanging heat and adjusting temperature of hydraulic oil and compressed air of the constant-temperature energy storage tank, and the inside of the constant-temperature energy storage tank is guaranteed to be in a constant-temperature state.
Further, the constant-temperature energy storage tank sequentially comprises an upper end enclosure, a tank body and a lower end enclosure which are mutually and hermetically connected from top to bottom; the top of the upper end enclosure is hermetically provided with a pressure sensor, a liquid level sensor, a temperature sensor, a pressure gauge A and a safety valve with a ball valve; a jacket cylinder is arranged outside the tank body, a sealed cavity is formed between the jacket cylinder and the tank body, a spiral fin is arranged in the sealed cavity and welded on the tank body, a water inlet is formed in the bottom of the jacket cylinder, a water outlet is formed in the top of the jacket cylinder, and an installation support is arranged outside the jacket cylinder; the bottom of the lower end enclosure is provided with an oil port which is respectively communicated with the oil drain valve, the manual hydraulic ball valve and the electric hydraulic ball valve through a four-way pipe; and a plurality of heat exchange fin plates are uniformly distributed on the inner wall of the tank body.
Further, the temperature control unit comprises an electric three-way ball valve, the electric three-way ball valve is communicated with a butt-clamping check valve through an electric adjusting valve, and the butt-clamping check valve is connected with the water inlet; the both ends of electronic tee bend ball valve are provided with the inlet tube respectively, the inlet tube through to pressing from both sides the butterfly valve with to pressing from both sides the check valve intercommunication.
Further, the constant pressure unit comprises an inflation pipeline and an exhaust pipeline, the inflation pipeline comprises a one-way valve, the one-way valve is respectively communicated with the high-pressure stop valve A and the electric proportional regulating valve A, the high-pressure stop valve A and the electric proportional regulating valve A are both communicated with the top of the upper sealing head, and an air outlet end of the one-way valve is provided with a pressure gauge B with a needle valve; the exhaust pipeline comprises a high-pressure stop valve B and an electric proportional control valve A, a silencer A is arranged at the air outlet end of the electric proportional control valve A, a silencer B is arranged at the air outlet end of the high-pressure stop valve B, and the high-pressure stop valve B and the electric proportional control valve A are communicated with the top of the upper end cover.
Compared with the prior art, the utility model has the beneficial effects that: the switch and the opening position of each valve are manually or electrically adjusted, so that the requirement of each working stage of the hoisting and recovering device on constant tension heave compensation of the mooring rope is met.
(1) The utility model combines an active compensation system and a passive compensation system, the active system is supplied with oil by a hydraulic station, and the deviation-free compensation of the full heave displacement is realized; the passive system is supplied with oil by the constant-temperature energy storage tank, so that the active system can play the positive effects of absorbing and storing energy, reducing pressure fluctuation and stabilizing system performance while compensating the hysteresis of the active system.
(2) The utility model combines constant tension compensation and variable tension adjustment, and when the load is not changed, the tension change of the steel wire rope is sensed through the pin shaft sensor to perform constant tension compensation; when the load changes in real time, the oil pressure in the tank is changed in real time by controlling the air charging and discharging speed of the constant-temperature energy storage tank so as to adapt to the change of the load, so that the system is always in a quasi-static balance state, and the constant-tension compensation system can continuously play a role.
(3) The jacket layer of the constant-temperature energy storage tank is designed to perform constant-temperature regulation and control through the heat exchange water so as to cope with temperature difference change in the charging and discharging processes of the constant-temperature energy storage tank and temperature change of hydraulic oil after the hydraulic oil reflows through the compensation cylinder. The constant temperature of the gas enables the state change of the gas to always follow the Boyle's law, the pressure setting is more accurate and stable, and the compensation is facilitated; the constant temperature of the hydraulic oil can ensure that the whole hydraulic system is in an optimal working state, and is also beneficial to compensation.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the compensating sheave assembly of fig. 1.
Fig. 3 is a schematic structural view of the constant temperature energy storage tank assembly in fig. 1.
Fig. 4 is a schematic structural diagram of the constant temperature energy storage tank in fig. 3.
Fig. 5 is a schematic diagram of the system of the present invention.
Fig. 6 is a heave compensation state diagram of the present invention.
Fig. 7 is a bottom view and a sectional view of the rocking pulley of the present invention.
Wherein: 1. a compensating sheave assembly; 2. a hydraulic pump station; 3. a console; 4. a constant temperature energy storage tank assembly; 5. a support frame; 11. a movable pulley; 12. a fixed guide wheel A; 13. a compensation hydraulic cylinder; 14. a wire rope; 15. a fixed pulley B; 16. a swinging pulley; 17. a sliding mechanism; 18. a pull wire displacement sensor; 19. a base; 161. a fixed pulley C; 162. a fixed seat; 171. a slider; 172. a guide rail; 31. a two-position three-way manual reversing valve; 32. a three-position four-way electromagnetic proportional valve; 33. a three-position four-way manual reversing valve; 34. an oil pressure gauge; 41. a constant temperature energy storage tank; 42. a temperature control unit; 43. a constant voltage unit; 44. a mounting frame; 45. an oil release valve; 46. a manual hydraulic ball valve; 47. an electro-hydraulic ball valve; 411. an upper end enclosure; 412. a tank body; 413. a lower end enclosure; 414. a jacket cylinder; 415. a water inlet; 416. a water outlet; 417. a helical fin; 418. mounting a bracket; 411-1, a pressure sensor; 411-2, a liquid level sensor; 411-3, safety valve; 411-4, ball valve A; 411-5, temperature sensor; 411-6 parts of pressure gauge A; 412-1, heat exchange fin plates; 413-1, oil port; 421. an electric three-way ball valve; 422. an electric control valve; 423. oppositely clamping a butterfly valve; 424. a butt-clamping check valve; 431. a one-way valve; 432. a needle valve; 433. a pressure gauge B; 434. an electric proportional control valve A; 435. a high-pressure stop valve A; 436. an electric proportional control valve B; 437. a high-pressure stop valve B; 438. a muffler A; 439. and a silencer B.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Example 1
Referring to fig. 1 to 7, the utility model provides an active and passive heave compensation system for a lifting device, which comprises a compensation pulley assembly 1, a hydraulic pump station 2, a console 3, a constant temperature energy storage tank assembly 4 and a support frame 5. Compensating pulley assembly 1 is as the executor of heave compensation motion for carry out accurate displacement compensation to different heave displacements, hydraulic power unit 2 provides hydraulic oil for compensating pulley assembly 1, control cabinet 3 is used for realizing the manual and automatic integrated control of heave compensation motion, constant temperature energy storage tank subassembly 4 shakes for compensating pulley assembly 1 provides supplementary and the energy storage of supplementary hydraulic oil and shakes, compensating pulley assembly 1, hydraulic power unit 2, control cabinet 3, constant temperature energy storage tank subassembly 4 all installs on braced frame 5.
As shown in fig. 2, the compensating pulley assembly 1 includes a movable pulley 11, a fixed guide pulley a12, a compensating hydraulic cylinder 13, a steel wire rope 14, a fixed pulley B15, a swinging pulley 16 and a mounting base 19, the base 19 is provided with the compensating hydraulic cylinder 13, two ends of the compensating hydraulic cylinder 13 are respectively provided with the vertical movable pulley 11 and the vertical fixed pulley B15, the fixed pulley a12 is arranged above the movable pulley 11, the swinging pulley 16 is arranged above the fixed pulley B15, and the compensating hydraulic cylinder 13 drives the movable pulley 11 to perform linear motion relative to the base 19. Meanwhile, the compensating pulley assembly 1 further comprises a stay wire displacement sensor 18, the stay wire displacement sensor 18 is installed on a base 19, a stay wire probe of the stay wire displacement sensor is connected with the movable pulley 11 so as to ensure that the axial displacement of the movable pulley 11 can be measured in real time and whether the movable pulley moves in place or not is judged, and the stay wire displacement sensor 18 provides important input signals of a feedback and negative feedback control loop of a system.
The pull string displacement sensor 18 is also called a pull string displacement sensor, a pull string electronic ruler or a pull string encoder, and belongs to purchasing parts. Stay cord displacement sensor is the ingenious constitution of linear displacement sensor on structure, has fully combined angle sensor and linear displacement sensor's advantage, becomes a sensor that the installation size is little, compact structure, measurement stroke are big, the precision is high, and the stroke varies from several hundred millimeters to tens meters, and the here is no longer repeated.
Preferably, the bottom of the movable pulley 11 is provided with a sliding mechanism 17, and the sliding mechanism 17 is used for ensuring the linear motion of the movable pulley 11.
Preferably, the sliding mechanism 17 includes a guide rail 172 and a slider 171, the slider 171 is disposed on the movable pulley 11, and the guide rail 172 is disposed on the base 19.
In the specific implementation process, the steel wire rope 14 is output from the rope winch and then passes through the swinging pulley 16, the fixed pulley B15, the movable pulley 11 and the fixed pulley A12 in sequence, and finally is connected with a load. It is worth mentioning that if the fixed pulley B15 and the movable pulley 11 are provided with the multi-strand rope grooves, it is necessary to wind between the fixed pulley B15 and the movable pulley 11 a plurality of times to achieve the multiple displacement amplification. The expansion of the compensation hydraulic cylinder 13 can drive the movable pulley 11 to move along the axial direction of the compensation hydraulic cylinder 13, in the moving process, the sliding mechanism 17 provides a guiding effect for the movable pulley 11, the axial movement of the movable pulley 11 can change the total length of a steel wire rope wound in the compensation pulley assembly 1, and further the position change of a load end rope is caused, and the heave displacement compensation is realized.
In summary, the movable pulley 11 can adjust the number of rope grooves according to the requirement of the working condition to obtain different displacement amplification ratios, the pin shaft sensor can be installed on the central rotating shaft on the movable pulley 11, and the pin shaft sensor can directly transmit the acting force of the steel wire rope borne by the movable pulley 11 to the force measuring shaft section of the pin shaft sensor, so that the bending moment and the shearing force of the central rotating shaft can be measured, the rope tension on the steel wire rope 14 can be indirectly measured, and the relative position change rule of the load can be obtained. The pin shaft sensor is a purchasing part and is not described in detail.
As an embodiment of the present invention, as shown in fig. 2 and 7, the swinging pulley 16 includes a fixed pulley C161, the fixed pulley C161 is rotatably mounted on the fixed seat 162, the fixed seat 162 is vertically fixed on the base 19, during the process of reeling and unreeling the rope in the rope winch, the movement of the cable arranger in the axial direction of the rope arranger causes a certain angle deviation of the rope 14 when entering the swinging pulley 16, so that during the follow-up swinging of the fixed pulley C161 according to different input angles of the rope 14, the axis of the cylindrical surface of the rope, which outputs the given pulley B15 downwards, is always concentric with the center of the rope groove on the fixed pulley B15, thereby effectively preventing the rope 14 from derailing and sliding out of the rope groove, and the swinging motion also effectively avoids the abrasion of the rope 14 and the edge of the rope groove on the fixed pulley C161.
As an embodiment of the present invention, as shown in fig. 3 to 5, the constant temperature energy storage tank assembly 4 includes a constant temperature energy storage tank 41 vertically fixed on a mounting bracket 44, a constant pressure unit 43 is disposed at the top of the constant temperature energy storage tank 41, a temperature control unit 42 is disposed at the bottom of the constant temperature energy storage tank 41, and an oil drain valve 45, a manual hydraulic ball valve 46 and an electric hydraulic ball valve 47 are disposed at the bottom of the constant temperature energy storage tank 41; the constant pressure unit 43 can change the working pressure of the compressed air in the constant temperature energy storage tank 41 according to different load sizes, so that the working pressure can perform real-time change response according to the change rule of the load, and the constant temperature energy storage tank 41 is in a rated working state; the temperature control unit 42 can exchange heat and regulate temperature of the hydraulic oil and the compressed air in the constant-temperature energy storage tank 41, so as to ensure that the inside of the constant-temperature energy storage tank 41 is in a constant-temperature state.
Preferably, the constant temperature energy storage tank 41 sequentially comprises an upper seal head 411, a tank body 412 and a lower seal head 413 which are hermetically connected with each other from top to bottom; wherein, the top of the upper seal head 411 is hermetically provided with a pressure sensor 411-1, a liquid level sensor 411-2, a temperature sensor 411-5, a pressure gauge A411-6 and a safety valve 411-3 with a ball valve A411-4; a jacket cylinder 414 is arranged outside the tank 412, a sealed cavity is formed between the jacket cylinder 414 and the tank 412, a spiral fin 417 is arranged in the sealed cavity, the spiral fin 417 is welded on the tank 412, a water inlet 415 is arranged at the bottom of the jacket cylinder 414, a water outlet 416 is arranged at the top of the jacket cylinder 414, and a mounting bracket 418 is arranged outside the jacket cylinder 414; an oil port 413-1 is formed in the bottom of the lower end enclosure 413, and the oil port 413-1 is respectively communicated with an oil drain valve 45, a manual hydraulic ball valve 46 and an electric hydraulic ball valve 47 through a four-way pipe; the inner wall of the tank body 412 is uniformly provided with a plurality of heat exchange fins 412-1.
Preferably, the temperature control unit 42 includes an electric three-way ball valve 421, the electric three-way ball valve 421 is communicated with a clamp check valve 424 through an electric regulating valve 422, and the clamp check valve 424 is connected with the water inlet 415; the both ends of electronic tee bend ball valve 421 are provided with the inlet tube respectively, and the inlet tube is through dual-clamp butterfly valve 423 and dual-clamp check valve 424 intercommunication.
Preferably, the constant pressure unit 43 comprises an inflation pipeline and an exhaust pipeline, wherein the inflation pipeline comprises a one-way valve 431, the one-way valve 431 is respectively communicated with a high-pressure stop valve a435 and an electric proportional control valve a434, the high-pressure stop valve a435 and the electric proportional control valve a434 are both communicated with the top of the upper sealing head 411, and an air outlet end of the one-way valve 431 is provided with a pressure gauge B433 with a needle valve 432; the exhaust pipeline comprises a high-pressure stop valve B437 and an electric proportional control valve B436, a silencer A438 is arranged at the air outlet end of the electric proportional control valve B436, a silencer B439 is arranged at the air outlet end of the high-pressure stop valve B437, and the high-pressure stop valve B437 and the electric proportional control valve B436 are communicated with the top of the upper sealing head 411.
Specifically, the upper layer in the constant temperature energy storage tank 41 is compressed air, the lower layer is hydraulic oil, and the medium in the sealed cavity is water. The electric three-way ball valve 421 is used for switching cold water and hot water, the electric regulating valve 422 is used for controlling the flow of input cold water and hot water, the two butt-clamping butterfly valves 423 are respectively used for manually controlling the on-off of the cold water pipeline and the hot water pipeline, the butt-clamping check valve 424 can prevent the heat exchange water from flowing backwards to cause the impact of the valve, and the temperature control unit 42 meets the constant temperature requirement of a medium in the constant temperature energy storage tank 41 through the switching and the flow control of the cold water and the hot water. The oil drain valve 45 is used for unloading and draining the hydraulic oil in the constant-temperature energy storage tank 41, the manual hydraulic ball valve 46 is used for manually controlling the output of the hydraulic oil in the constant-temperature energy storage tank 41, and the electric hydraulic ball valve 47 is used for automatically controlling the output of the hydraulic oil in the constant-temperature energy storage tank 41. The silencer A436 and the silencer B439 are respectively used for silencing and reducing noise in the compressed air exhaust process, the electric proportional control valve A434 and the electric proportional control valve B436 are both used for automatically controlling the speed of charging and exhausting the constant-temperature energy storage tank 41, the high-pressure stop valve A435 and the high-pressure stop valve B437 are used for manually controlling charging and exhausting the constant-temperature energy storage tank 41, the pressure gauge 433 arranged on the charging pipeline is used for displaying the pressure of a charging air source, and the check valve 431 on the charging pipeline is used for preventing compressed air from flowing back to the charging air source from the constant-temperature energy storage tank 41. In conclusion, the inflation pipeline and the exhaust pipeline can not only change the working pressure of the compressed air in the constant-temperature energy storage tank 41 according to different loads, but also can be automatically controlled, so that the working pressure of the compressed air in the constant-temperature energy storage tank 41 can be changed and responded in real time according to the change rule of the loads, and the constant-temperature energy storage tank 41 is always in a rated working state.
Specifically, a pressure sensor 411-1 installed on the upper sealing head 411 is used for providing an input signal for air charging and discharging control, a temperature sensor 411-5 is used for providing an input signal for constant temperature control, a liquid level sensor 411-2 is used for feeding back the current hydraulic oil liquid level and the current low liquid level and giving an alarm, a safety valve 411-3 is used for overpressure unloading in the tank body 412, a ball valve A411-4 is installed between the safety valve and the upper sealing head 411, and the ball valve A411-4 is in a normally open state in the working process. The root of the heat exchange fin plate 412-1 is welded with the inner wall surface of the tank body 412 and is distributed in an axisymmetrical manner to increase the heat convection area with compressed air and improve the heat exchange efficiency, the root of the spiral fin 417 is welded with the outer wall surface of the tank body 412 and rises spirally to disturb and guide heat exchange water in the sealed cavity, so that the heat exchange water can spirally rise along the spiral fin 417 after entering the sealed cavity from the water inlet 415 and is finally discharged from the water outlet 416, the convection heat exchange efficiency can be increased by fast flowing in and out, and the heat exchange efficiency is prevented from being reduced due to the occurrence of a local vortex dead zone in the sealed cavity. The mounting bracket 418 fixed on the outer wall surface of the jacket cylinder 414 is an ear-type support, and the mounting bracket 418 can effectively fix the whole constant-temperature energy storage tank 41 on the mounting frame 44. The heat exchange water in the sealed cavity in the area of the lower end socket 413 is mainly used for heat exchange and temperature regulation of hydraulic oil.
As an embodiment of the present invention, as shown in fig. 5, the console 3 includes a two-position three-way manual directional valve 31, a three-position four-way electromagnetic proportional valve 32, a three-position four-way manual directional valve 33, and an oil pressure gauge 34; wherein, an oil inlet P of the two-position three-way manual reversing valve 31 is connected with an oil outlet pipeline of the hydraulic pump station 2; an oil outlet A of the two-position three-way manual reversing valve 31 is connected with an oil inlet P of the three-position four-way electromagnetic proportional valve 32, and an oil outlet B of the two-position three-way manual reversing valve 31 is connected with an oil inlet P of the three-position four-way manual reversing valve 33; an oil return port T of the three-position four-way electromagnetic proportional valve 32 and an oil return port T of the three-position four-way manual reversing valve 33 are both connected with an oil tank of the hydraulic pump station 2, and an oil outlet A of the three-position four-way electromagnetic proportional valve 32 and an oil outlet A of the three-position four-way manual reversing valve 33 are both connected with a rodless cavity of the compensation hydraulic cylinder 13; an oil outlet of the constant-temperature energy storage tank assembly 4 is connected with a rodless cavity of the compensation hydraulic cylinder 13; an oil outlet B of the three-position four-way electromagnetic proportional valve 32 and an oil outlet B of the three-position four-way manual reversing valve 31 are both connected with a rod cavity of the compensation hydraulic cylinder 13; the oil pressure gauge 34 is connected with an oil inlet P of the two-position three-way reversing valve 31, and the oil pressure gauge 34 is used for measuring inlet oil pressure.
As shown in fig. 6, the present invention is used as a connection device between a wire rope winch and a load, and has the main function of changing the length of a wire rope of a winding wheel through the telescopic motion of a compensation hydraulic cylinder 13, so as to adjust the height position of the load and achieve the effect of heave displacement compensation. The specific implementation can be illustrated from the following four operating conditions:
(1) with downward acceleration, the load has the tendency of weightlessness and sinking
At this time, the tension of the steel wire rope 14 is reduced, the rodless cavity oil pressure of the compensation hydraulic cylinder 13 is reduced, and the hydraulic oil in the constant-temperature energy storage tank 41 flows into the rodless cavity of the compensation hydraulic cylinder 13 from the oil port 413-1 to serve as auxiliary hydraulic oil. The auxiliary hydraulic oil can push the piston rod to extend out and drive the movable pulley 11 to move leftwards, the steel wire rope 14 is recovered, the load rises, and therefore the balance is achieved with the sinking displacement, but the oil pressure of the rodless cavity is reduced, the constant tension requirement cannot be met, and therefore the oil is required to be supplied actively;
the active oil supply process comprises the following steps: after the pin shaft sensor on the movable pulley 11 senses that the tension is reduced, the two-position three-way manual reversing valve 31 is arranged on the right position, the three-position four-way electromagnetic proportional valve 32 is switched to the left position, the hydraulic pump station 2 supplies oil to the rodless cavity of the compensation hydraulic cylinder 13, the movable pulley 11 is further pushed to move left, the steel wire rope 14 is recovered, the load is raised, the oil pressure of the rodless cavity is raised, the tension of the steel wire rope 14 is increased until the constant tension state before balance is achieved, and the oil is supplied to the constant-temperature energy storage tank 41 to store energy to a specified liquid level in the process. Along with the change of the load acceleration, the opening of the three-position four-way electromagnetic proportional valve 32 is regularly regulated and controlled in real time through a certain control logic, so that the system can be in a constant tension state in real time, and the constant tension compensation action is completed. Meanwhile, as the hydraulic oil in the constant temperature energy storage tank 41 flows out first and then flows in, compressed air in the constant temperature energy storage tank 41 expands first and then compresses, and if the gas temperature is to be kept constant, heat absorption first and then heat release are needed, therefore, the electric three-way ball valve 421 needs to be switched to a hot water pipeline and then to a cold water pipeline, and meanwhile, the opening of the electric regulating valve 422 is adjusted in real time according to the monitoring signal of the temperature sensor 411-5, so that the flow of cold water and hot water is changed, the heat exchange efficiency is changed, and the constant temperature in the constant temperature energy storage tank 41 is kept.
(2) With upward acceleration, the load has a tendency to rise with excessive weight
At this time, the tension of the steel wire rope 14 is increased, the oil pressure of the rodless cavity in the compensation hydraulic cylinder 13 is increased, the hydraulic oil of the rodless cavity in the compensation hydraulic cylinder 13 flows into the constant-temperature energy storage tank 41, so that the piston rod of the compensation hydraulic cylinder 13 is contracted and drives the movable pulley 11 to move rightwards, the steel wire rope 14 is released, the load sinks, and the balance is achieved with the ascending displacement, but the oil pressure of the rodless cavity is increased, the constant tension requirement cannot be met, and therefore the unloading needs to be actively carried out;
an active unloading process: after a pin shaft sensor on the movable pulley 11 senses the increase of the tension, the two-position three-way manual reversing valve 31 is arranged at the right position, meanwhile, the three-position four-way electromagnetic proportional valve 32 is switched to the right position, the hydraulic pump station 2 supplies oil to a rod cavity of the compensation hydraulic cylinder 13, hydraulic oil in a rodless cavity and the constant-temperature energy storage tank 41 starts to flow back to an oil tank of the hydraulic pump station 2, the movable pulley 11 is further pushed to move right, the steel wire rope 14 is released, the load is reduced, the tension of the steel wire rope 14 is reduced along with the reduction of the oil pressure of the rodless cavity in the compensation hydraulic cylinder 13 until the constant-tension state before balance is achieved, and meanwhile, after redundant hydraulic oil in the constant-temperature energy storage tank 41 is unloaded, the liquid level of the hydraulic oil returns to the designated liquid level. Along with the change of the load acceleration, the opening of the three-position four-way electromagnetic proportional valve 32 is regularly regulated and controlled in real time through a certain control logic, so that the system can be in a constant tension state in real time, and the constant tension compensation action is completed. Meanwhile, as the hydraulic oil in the constant temperature energy storage tank 41 flows in and then flows out, compressed air in the constant temperature energy storage tank 41 is compressed and then expanded, and if the temperature of the gas is to be kept constant, heat is released and then absorbed, the electric three-way ball valve 421 needs to be switched to a cold water pipeline and then to a hot water pipeline, and meanwhile, the opening of the electric regulating valve 422 is adjusted in real time according to a monitoring signal of the temperature sensor 411-5, so that the flow of the cold water and the hot water is changed, the heat exchange efficiency is changed, and the constant temperature in the constant temperature energy storage tank 41 is kept.
(3) When the load is increased or water is discharged upwards, the tension of the steel wire rope 14 is increased
At this time, because the tension of the steel wire rope 14 is remarkably increased, the set pressure in the constant-temperature energy storage tank 41 cannot meet the requirement of a new compensation working condition, the constant-temperature energy storage tank 41 needs to be inflated, the electric proportional control valve a434 in the inflation pipeline is opened, meanwhile, the valve opening is adjusted according to the rate of load increase, regular inflation is carried out in the constant-temperature energy storage tank 41, the set pressure is increased, an input signal of the closed-loop control depends on a sensing signal of the stay wire displacement sensor 18, the displacement increase indicates that the oil pressure increase rate of a rodless cavity of the compensation hydraulic cylinder 13 is too fast, the valve opening of the electric proportional control valve a434 needs to be correspondingly reduced, the inflation rate is reduced, and similarly, when the displacement decrease is monitored, the load increase rate is indicated to be fast, the valve opening of the electric proportional control valve a434 needs to be increased, and the inflation rate is accelerated.
Meanwhile, in the process of inflation, according to the law of conservation of energy of the opening system, high-pressure airflow can generate great pushing work on the system in the constant-temperature energy storage tank 41, so that the temperature of gas can rise remarkably, therefore, in order to ensure the constant temperature of the gas in the constant-temperature energy storage tank 41, the electric three-way ball valve 421 needs to be switched to a cold water pipeline to cool the constant-temperature energy storage tank 41, and the opening degree of the electric regulating valve 422 is adjusted according to the input signal of the temperature sensor 411-5 to change the heat exchange rate in real time, so that the constant-temperature energy storage tank 41 can be always in a constant-temperature state in the whole inflation process.
(4) When the load is reduced or down into the water, resulting in a reduction in the tension of the wire rope 14
At this time, because the tension of the steel wire rope 14 is significantly reduced, the set pressure in the constant-temperature energy storage tank 41 cannot meet the requirement of a new compensation working condition, so that the constant-temperature energy storage tank 41 needs to be exhausted, the electric proportional control valve B436 in the exhaust pipeline is opened, meanwhile, the opening of the valve is adjusted according to the rate of load reduction, so that the constant-temperature energy storage tank 41 can perform regular exhaust, the set pressure is reduced, the input signal is the sensing signal of the stay wire displacement sensor 18, the displacement increase indicates that the oil pressure reduction rate of the rodless cavity of the compensation hydraulic cylinder 13 is too slow, the opening of the electric proportional control valve B436 needs to be correspondingly increased to accelerate the exhaust rate, and the decrease of the displacement is monitored to indicate that the load reduction rate is slow, the opening of the electric proportional control valve B436 needs to be reduced, and the exhaust rate needs to be reduced.
Meanwhile, in the exhaust process, according to the law of conservation of energy of the opening system, it can be known that the high-pressure airflow acts pushing work outwards, so that the temperature of the gas can be reduced remarkably, therefore, in order to ensure the constant temperature of the gas in the tank, the electric three-way ball valve 421 needs to be switched to a hot water pipeline to heat the constant-temperature energy storage tank 41, and the opening of the electric regulating valve 422 is adjusted according to the input signal of the temperature sensor 411-5 to change the heat exchange rate in real time, so that the constant-temperature energy storage tank 41 can be in a constant-temperature state all the time in the whole exhaust process.
Except for the constant-temperature energy storage tank 41, the supporting frame 5, the base 19 and the mounting frame 44, the hydraulic pump station 2 is in the prior art, and other used parts are purchased parts and are not described in detail.
The working principle of the utility model is as follows:
principle one is as follows: the utility model combines an active compensation system and a passive compensation system, the active system is supplied with oil by the hydraulic pump station 2, and the deviation-free compensation of the heave displacement is realized; the passive system is supplied with oil by the constant-temperature energy storage tank 41, so that the active system can play the positive effects of absorbing and storing energy, reducing pressure fluctuation and stabilizing system performance while compensating the hysteresis of the active system.
Principle two: the utility model combines constant tension compensation and variable tension adjustment, and when the load is not changed, the tension change of the steel wire rope is sensed through the pin shaft sensor on the movable pulley 11 to carry out constant tension compensation; when the load changes in real time, the oil pressure in the constant-temperature energy storage tank 41 is changed in real time by controlling the air charging and discharging speed of the constant-temperature energy storage tank 41 to adapt to the change of the load, so that the system is always in a quasi-static balance state, and the constant-tension compensation system can be ensured to continuously play a role.
Principle three: the constant-temperature energy storage tank 41 adopts a jacket heat exchange principle, and performs constant-temperature regulation and control through heat exchange water so as to deal with temperature difference change in the charging and discharging processes of the constant-temperature energy storage tank 41 and temperature change of hydraulic oil after the hydraulic oil flows back through the compensation hydraulic cylinder 13. The constant temperature of the gas enables the state change of the gas to always follow the Boyle's law, the pressure setting is more accurate and stable, and the compensation is facilitated; the constant temperature of the hydraulic oil can ensure that the whole hydraulic system is in an optimal working state, and is also beneficial to compensation.
The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. The above-described embodiments of the utility model are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims, and not by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. An active and passive heave compensation system for hoisting equipment is characterized by comprising a supporting frame (5), wherein a compensation pulley assembly (1), a hydraulic pump station (2), a control console (3) and a constant-temperature energy storage tank assembly (4) are respectively arranged on the supporting frame (5); the compensation pulley assembly (1) is used for carrying out accurate displacement compensation on different heave displacements; the hydraulic pump station (2) provides hydraulic oil for the compensating pulley assembly (1) through the control console (3);
the constant-temperature energy storage tank assembly (4) is used for providing auxiliary hydraulic oil for the compensation pulley assembly (1) and storing energy and absorbing vibration for the compensation pulley assembly (1).
2. The active and passive heave compensation system for hoisting equipment according to claim 1, wherein the compensation pulley assembly (1) comprises a base (19) and a steel wire rope (14), a compensation hydraulic cylinder (13) is arranged on the base (19), a vertical movable pulley (11) and a fixed pulley B (15) are respectively arranged at two ends of the compensation hydraulic cylinder (13), a fixed pulley A (12) is arranged above the movable pulley (11), a swinging pulley (16) is arranged above the fixed pulley B (15), and the steel wire rope (14) sequentially bypasses the swinging pulley (16), the fixed pulley B (15), the movable pulley (11) and the fixed pulley A (12); the compensation hydraulic cylinder (13) drives the movable pulley (11) to do linear motion relative to the base (19); the compensation pulley assembly (1) further comprises a stay wire displacement sensor (18), the stay wire displacement sensor (18) is installed on the base (19), and a stay wire probe on the stay wire displacement sensor (18) is connected with the movable pulley (11); and a pin shaft sensor is arranged on the movable pulley (11) and used for measuring bending moment and shearing force applied to the movable pulley (11).
3. Active and passive heave compensation system for a hoisting device according to claim 2, characterized in that the swinging sheave (16) comprises a fixed sheave C (161), the fixed sheave C (161) being rotatably mounted on a fixed seat (162), the fixed seat (162) being vertically fixed on the base (19).
4. Active and passive heave compensation system for a hoisting device according to claim 2, characterized in that the bottom of the travelling block (11) is provided with a sliding mechanism (17), which sliding mechanism (17) is used to ensure the linear movement of the travelling block (11).
5. Active and passive heave compensation system for a hoisting device according to claim 4, characterized in that the sliding mechanism (17) comprises matching guide rails (172) and sliders (171), the sliders (171) being arranged on the travelling block (11) and the guide rails (172) being arranged on the base (19).
6. The active and passive heave compensation system for hoisting equipment according to claim 2, wherein the console (3) comprises a two-position three-way manual directional valve (31), a three-position four-way electromagnetic proportional valve (32), a three-position four-way manual directional valve (33) and an oil pressure gauge (34); an oil inlet P of the two-position three-way manual reversing valve (31) is connected with an oil outlet pipeline of the hydraulic pump station (2); an oil outlet A of the two-position three-way manual reversing valve (31) is connected with an oil inlet P of the three-position four-way electromagnetic proportional valve (32), and an oil outlet B of the two-position three-way manual reversing valve (31) is connected with the oil inlet P of the three-position four-way manual reversing valve (33); an oil return port T of the three-position four-way electromagnetic proportional valve (32) and an oil return port T of the three-position four-way manual reversing valve (33) are both connected with an oil tank of the hydraulic pump station (2), and an oil outlet A of the three-position four-way electromagnetic proportional valve (32) and an oil outlet A of the three-position four-way manual reversing valve (33) are both connected with a rodless cavity of the compensation hydraulic cylinder (13); an oil outlet of the constant-temperature energy storage tank assembly (4) is connected with a rodless cavity of the compensation hydraulic cylinder (13); an oil outlet B of the three-position four-way electromagnetic proportional valve (32) and an oil outlet B of the three-position four-way manual reversing valve (33) are connected with a rod cavity of the compensation hydraulic cylinder (13); the oil pressure gauge (34) is connected with an oil inlet P of the two-position three-way manual reversing valve (31), and the oil pressure gauge (34) is used for measuring inlet oil pressure.
7. The active and passive heave compensation system for hoisting equipment according to any one of claims 1 to 6, wherein the constant temperature energy storage tank assembly (4) comprises a constant temperature energy storage tank (41) vertically fixed on a mounting frame (44), a constant pressure unit (43) is arranged at the top of the constant temperature energy storage tank (41), a temperature control unit (42) is arranged at the bottom of the constant temperature energy storage tank (41), and an oil drain valve (45), a manual hydraulic ball valve (46) and an electric hydraulic ball valve (47) are arranged at the bottom end of the constant temperature energy storage tank (41);
the constant pressure unit (43) is configured to be capable of changing the working pressure of the compressed air inside the constant temperature energy storage tank (41) according to different load sizes, so as to ensure that the working pressure can perform real-time change response according to the change rule of the load and ensure that the constant temperature energy storage tank (41) is in a rated working state;
the temperature control unit (42) is configured to be capable of exchanging heat and adjusting temperature of hydraulic oil and compressed air of the constant-temperature energy storage tank (41), and the inside of the constant-temperature energy storage tank (41) is guaranteed to be in a constant-temperature state.
8. The active and passive heave compensation system for hoisting equipment according to claim 7, wherein the constant temperature energy storage tank (41) comprises an upper head (411), a tank body (412) and a lower head (413) which are hermetically connected with each other in sequence from top to bottom; the top of the upper sealing head (411) is hermetically provided with a pressure sensor (411-1), a liquid level sensor (411-2), a temperature sensor (411-5), a pressure gauge A (411-6) and a safety valve (411-3) with a ball valve A (411-4); a jacket cylinder (414) is arranged outside the tank body (412), a sealed cavity is formed between the jacket cylinder (414) and the tank body (412), a spiral fin (417) is arranged in the sealed cavity, the spiral fin (417) is welded on the tank body (412), a water inlet (415) is arranged at the bottom of the jacket cylinder (414), a water outlet (416) is arranged at the top of the jacket cylinder (414), and a mounting bracket (418) is arranged outside the jacket cylinder (414); an oil port (413-1) is formed in the bottom of the lower end enclosure (413), and the oil port (413-1) is respectively communicated with the oil drain valve (45), the manual hydraulic ball valve (46) and the electric hydraulic ball valve (47) through a four-way pipe; the inner wall of the tank body (412) is uniformly provided with a plurality of heat exchange fin plates (412-1).
9. The active and passive heave compensation system for hoisting equipment according to claim 8, wherein the temperature control unit (42) comprises an electric three-way ball valve (421), the electric three-way ball valve (421) is communicated with a clamp check valve (424) through an electric regulating valve (422), and the clamp check valve (424) is connected with the water inlet (415); the both ends of electronic tee bend ball valve (421) are provided with the inlet tube respectively, the inlet tube through to pressing from both sides butterfly valve (423) with to pressing from both sides check valve (424) intercommunication.
10. The active and passive heave compensation system for hoisting equipment according to claim 8, wherein the constant pressure unit (43) comprises an inflation pipeline and an exhaust pipeline, the inflation pipeline comprises a one-way valve (431), the one-way valve (431) is respectively communicated with a high-pressure stop valve A (435) and an electric proportional control valve A (434), the high-pressure stop valve A (435) and the electric proportional control valve A (434) are both communicated with the top of the upper sealing head (411), and an air outlet end of the one-way valve (431) is provided with a pressure gauge B (433) with a needle valve (432); the exhaust pipeline comprises a high-pressure stop valve B (437) and an electric proportional control valve B (436), a silencer A (438) is arranged at the air outlet end of the electric proportional control valve B (436), a silencer B (439) is arranged at the air outlet end of the high-pressure stop valve B (437), and the high-pressure stop valve B (437) and the electric proportional control valve B (436) are communicated with the top of the upper sealing head (411).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121774892.2U CN215861052U (en) | 2021-08-02 | 2021-08-02 | Active and passive heave compensation system for hoisting equipment |
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| CN202121774892.2U CN215861052U (en) | 2021-08-02 | 2021-08-02 | Active and passive heave compensation system for hoisting equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116227159A (en) * | 2023-01-13 | 2023-06-06 | 江苏恒赛海洋科技有限公司 | Displacement acquisition and verification device based on acceleration secondary integration |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116227159A (en) * | 2023-01-13 | 2023-06-06 | 江苏恒赛海洋科技有限公司 | Displacement acquisition and verification device based on acceleration secondary integration |
| CN116227159B (en) * | 2023-01-13 | 2024-05-03 | 江苏恒赛海洋科技有限公司 | Displacement acquisition and verification device based on acceleration secondary integration |
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