CN217754052U - Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block - Google Patents
Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block Download PDFInfo
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- CN217754052U CN217754052U CN202220764487.0U CN202220764487U CN217754052U CN 217754052 U CN217754052 U CN 217754052U CN 202220764487 U CN202220764487 U CN 202220764487U CN 217754052 U CN217754052 U CN 217754052U
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Abstract
The utility model discloses a three degree of freedom stabilization block devices that are used for ocean engineering upper portion chunk to float and hold in palm installation, its characterized in that: including moving platform, deciding platform and three drive branch, the drive branch includes pneumatic cylinder and servo valve, and the lower extreme of three pneumatic cylinder is respectively through third ball socket joint structural connection deciding platform. The upper ends of the three hydraulic cylinders are respectively connected with the lower side of the movable platform through a first ball joint structure. Compared with the traditional parallel mechanism, the movable platform has small area and can be neglected compared with the upper chunk, when the movable platform is installed with the upper chunk, the movable platform can be simplified into a three-degree-of-freedom stable chunk device to control three points of the upper chunk, and the problem that the traditional parallel mechanism solves the kinematic attitude of the movable platform is reduced.
Description
Technical Field
The utility model belongs to the technical field of the ocean engineering installation, concretely relates to a deck support composite set that is used for ocean engineering upper portion chunk to float and holds in palm installation suitable for under high sea condition.
Background
The floating method is a method for installing large-scale blocks on the sea, and is characterized in that the blocks on the upper part of an ocean platform are placed on a barge to sail to the position above a pile foundation, and the blocks are placed on the foundation of the pile foundation by adjusting barge ballast. The method avoids the operation of a large-scale floating crane installation ship, and has the characteristics of large installation weight, short operation time, safe and convenient operation and the like. However, the float-over method requires a strict time window to be carried out, which limits the use of the method in high sea conditions. The motion compensation method can compensate the complex motion of the barge in the severe marine environment, and the operation time window is expanded to a certain extent. Tempel, j. Et al, at dalvelvet university, the netherlands, was granted application number in 2006: NL1027103, which mentions the use of a six degree of freedom Stewart platform for offshore motion compensation, allows the transfer of personnel or cargo between a marine vessel and an offshore structure. The platform enables the work platform to remain stationary relative to the offshore structure by using the survey motion of the vessel to control the six hydraulic cylinders supporting the platform. This has the advantage that no horizontal forces are transferred to the support structure during the mounting process, thereby reducing the delay time of the mounting due to external factors during load transfer. In the process of implementing the operation by the floating and supporting method, each point of the upper block is greatly influenced by three degrees of freedom, namely rolling, pitching and heaving, so that the design of the supporting and combining device which is suitable for the floating and supporting method and has the functions of motion compensation and lifting is of great significance.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a lower deck of being used for ocean engineering upper portion chunk to float and hold in the palm installation supports composite set of the cost and the control degree of difficulty.
The utility model provides a technical scheme that above-mentioned problem adopted is:
the utility model provides a three degree of freedom stabilize chunk device that is used for ocean engineering upper portion chunk to float and hold in the palm installation which characterized in that: including moving platform, deciding platform and three drive branch, the drive branch includes pneumatic cylinder and servo valve, and the lower extreme of three pneumatic cylinder is fixed the platform through third ball socket joint structural connection respectively. The upper ends of the three hydraulic cylinders are respectively connected with the lower side of the movable platform through a first ball joint structure.
Further, as preferred, the upper side of moving the platform has bulb or hemisphere head, and when three pneumatic cylinder stretched out to isometric state, three pneumatic cylinder action lines were handed over in spherical structure's central point.
Further, preferably, the three-degree-of-freedom stabilization block device further comprises a pose sensor, and the pose sensor is connected to an electric control system of the three-degree-of-freedom stabilization block device.
Further, preferably, the servo valve is driven by an electric motor.
Further, it is preferable that the distances between the respective center points of the three first ball joint structures and the center point of the spherical structure are the same.
Preferably, the first ball joint structure includes a ball head fixed to an upper end of the hydraulic cylinder and a ball groove formed in a lower side of the movable platform, and the third ball joint structure includes a ball head fixed to a lower end of the hydraulic cylinder and a ball groove formed in the fixed platform.
Further, preferably, the lower side of the movable platform is hemispherical.
Compared with the prior art, the utility model, have following advantage and effect:
(1) Compared with the traditional parallel mechanism, the movable platform has small area and can be neglected compared with the upper chunk, when the movable platform is installed with the upper chunk, the movable platform can be simplified into a three-degree-of-freedom stable chunk device to control three points of the upper chunk, and the problem that the traditional parallel mechanism solves the kinematic attitude of the movable platform is reduced.
(2) Compared with the existing six-degree-of-freedom platform, the moving platform is simplified into one point, the difficulty of solving the length of the rod in kinematics is reduced, and each device uses three active compensation hydraulic cylinders, so that the control difficulty of the mechanism compensation process is simplified.
Drawings
FIG. 1 is a schematic view of the operation of the deck support assembly of the embodiment of the present invention
Fig. 2 is a schematic structural diagram of a deck support assembly according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a three-degree-of-freedom stable block apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic view of a connection structure of the movable platform according to the embodiment of the present invention.
Reference numerals: barge 1, three-degree-of-freedom stable block device 2, hydraulic jack 3, movable platform 21, fixed platform 22, driving branch 24, hydraulic cylinder 241, first ball joint structure 25, second ball joint structure 26, third ball joint structure 27 and upper block 4
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings by way of examples, which are illustrative of the present invention and are not intended to limit the present invention.
Referring to fig. 1-4, the deck support assembly for ocean engineering upper block float-over installation of the present embodiment comprises a barge 1, at least three-degree-of-freedom stabilization block devices 2, a plurality of hydraulic jacks 3 and an upper block 4, wherein the three-degree-of-freedom stabilization block devices 2 and the hydraulic jacks 3 are installed on a deck of the barge 1,
the three-degree-of-freedom stable block device 2 comprises a movable platform 21, a fixed platform 22 and three driving branches 24, wherein each driving branch 24 comprises a hydraulic cylinder 241 and a servo valve, each servo valve is used for providing driving force for the hydraulic cylinder 241 to enable a rod body of each hydraulic cylinder 241 to do linear reciprocating motion, the fixed platform 22 is used for fixing the three-degree-of-freedom stable block device 2 on a deck of the barge 1, the upper end of the movable platform 21 is used for supporting the upper block 4, and the upper ends of the three hydraulic cylinders 241 are respectively connected with the lower side of the movable platform 21 through first ball joint structures 25. The upper side of the movable platform 21 is connected and supports the upper block 4 by a second ball joint structure 26. The lower side of the movable platform 21 is semispherical. The lower ends of the three hydraulic cylinders 241 are each connected to the fixed platform 22 by a third ball joint structure 27. The servo valve is driven by an electric motor. The distances between the respective center points of the three first ball joint structures 25 and the center point of the second ball joint structure 26 are the same.
When the three hydraulic cylinders 241 are extended to an equal length, the action lines of the three hydraulic cylinders 241 intersect at the center point of the second ball joint structure 26.
The three-degree-of-freedom stabilization block device 2 further comprises a pose sensor, and the pose sensor is connected to an electric control system of the three-degree-of-freedom stabilization block device 2. The position and attitude sensors are used to measure the movement of the barge 1 to control the change in the length of the hydraulic cylinders 241 supporting the topside block 4 and to adjust the position of the topside block 4 so that the topside block 4 remains stationary relative to the offshore pile foundation.
The first ball joint structure 25 includes a ball head fixed to the upper end of the hydraulic cylinder 241 and a ball groove provided on the lower side of the movable platform 21, the second ball joint structure 26 includes a ball head fixed to the upper side of the movable platform 21 and a ball groove provided on the lower side of the upper block 4, and the third ball joint structure 27 includes a ball head fixed to the lower end of the hydraulic cylinder 241 and a ball groove provided on the fixed platform 22.
The utility model discloses at the method operation in-process that holds in the palm of floating, to the floating support installation in-process, through the motion measurement of boats and ships, compensate the wave motion of upper portion chunk 4, the utility model discloses a deck supports composite set's theory of operation and step as follows:
(1) Step 1, the upper block 4 is built on land and integrally shipped and is arranged on the upper parts of the three-freedom-degree stable block device 2 and the hydraulic jack 3.
(2) And 2, transporting the upper block 4 to an offshore target position, arranging positioning devices such as anchor chains and mooring cables and buffering devices such as pile leg fenders, and moving the barge 1 to a stable position between offshore pile foundations with the assistance of the positioning devices and the buffering devices.
(3) And 3, the three-degree-of-freedom stable block device 2 works, the rod length displacement of the active driving branch 24 is reversely solved by detecting the real-time position and posture of the barge 1, and the upper block 4 connected with the upper ball socket of the movable platform 21 is ensured to be static relative to the offshore pile foundation.
(4) And 4, carrying out load transfer after the upper block 4 keeps relatively static, and installing the upper block 4 on the offshore fixed jacket pile leg to finish floating installation.
The above description of the present invention is intended to be illustrative. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (7)
1. The utility model provides a three degree of freedom stabilize chunk device that is used for ocean engineering upper portion chunk to float and hold in the palm installation which characterized in that: including moving the platform, deciding platform and three drive branch, the drive branch includes pneumatic cylinder and servo valve, and the lower extreme of three pneumatic cylinder decides the platform through third ball socket joint structural connection separately, and the upper end of three pneumatic cylinder moves the downside of platform through first ball socket joint structural connection separately.
2. The three degree-of-freedom stable block apparatus according to claim 1, wherein: the upper side of the movable platform is provided with a ball head structure, and when the three hydraulic cylinders extend out to be in an isometric state, the action lines of the three hydraulic cylinders are crossed with the central point of the ball head structure.
3. The three degree-of-freedom stable block apparatus according to claim 1, wherein: the three-degree-of-freedom stabilizing block device further comprises a pose sensor, and the pose sensor is connected to an electric control system of the three-degree-of-freedom stabilizing block device.
4. The three degree-of-freedom stable block apparatus according to claim 1, characterized in that: the servo valve is driven in an electric mode.
5. The three degree-of-freedom stable block apparatus according to claim 1, wherein: the distances between the respective central points of the three first ball joint structures and the central point of the ball head structure are the same.
6. The three degree-of-freedom stable block apparatus according to claim 2, characterized in that: first ball joint structure is including fixing the bulb in the pneumatic cylinder upper end and seting up the ball groove of the downside that moves the platform, and third ball joint structure is including fixing the bulb at the pneumatic cylinder lower extreme and seting up the ball groove on deciding the platform.
7. The three degree-of-freedom stable block apparatus according to claim 1, wherein: the lower side of the movable platform is in a hemispherical shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220764487.0U CN217754052U (en) | 2022-04-02 | 2022-04-02 | Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220764487.0U CN217754052U (en) | 2022-04-02 | 2022-04-02 | Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217754052U true CN217754052U (en) | 2022-11-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220764487.0U Active CN217754052U (en) | 2022-04-02 | 2022-04-02 | Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217754052U (en) |
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2022
- 2022-04-02 CN CN202220764487.0U patent/CN217754052U/en active Active
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