EP0228050B1 - Kompensatorvorrichtung - Google Patents

Kompensatorvorrichtung Download PDF

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Publication number
EP0228050B1
EP0228050B1 EP86117769A EP86117769A EP0228050B1 EP 0228050 B1 EP0228050 B1 EP 0228050B1 EP 86117769 A EP86117769 A EP 86117769A EP 86117769 A EP86117769 A EP 86117769A EP 0228050 B1 EP0228050 B1 EP 0228050B1
Authority
EP
European Patent Office
Prior art keywords
load
chamber
hydraulic
piston
gas
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP86117769A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0228050A3 (en
EP0228050A2 (de
Inventor
Hans Ing.-grad. Kühn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bomag GmbH and Co OHG
Menck GmbH
Original Assignee
Menck GmbH
Bomag Menck GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Menck GmbH, Bomag Menck GmbH filed Critical Menck GmbH
Publication of EP0228050A2 publication Critical patent/EP0228050A2/de
Publication of EP0228050A3 publication Critical patent/EP0228050A3/de
Application granted granted Critical
Publication of EP0228050B1 publication Critical patent/EP0228050B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water

Definitions

  • the invention relates to a compensator device for reducing sea-related relative movements between a load hanging on a surface crane and a load setting surface or the crane hook and a load to be picked up, with a hydraulic cylinder to be attached to the crane hook or to be connected to the load in a tensile manner, a seal-displaceable therein Interior into a load-bearing chamber filled with hydraulic fluid during operation and a second chamber dividing pistons, a piston rod connected to it and protruding from the load chamber in a sealed manner with devices for suspending the load or on the crane hook, and a hydraulic accumulator connected to the load-bearing chamber for receiving a prestressed gas cushion, wherein the second chamber is filled with hydraulic fluid in the operating state, at least one hydraulic accumulator connected to the second chamber is provided for receiving a gas cushion biased to a lower pressure.
  • DE-A 3 430 085 (according to Art. 54.3 EPC) to arrange a hydraulic accumulator connected on the load carrier side either concentrically around the cylinder or in a jacket housing concentric with the hydraulic cylinder.
  • this known compensator device does not have a hydraulic accumulator of lower voltage, which is connected to the side opposite the load-carrying chamber. Instead, a mechanical spring for damping is provided to prevent the piston from hitting the cylinder base hard.
  • the disadvantage of the known devices is that they are unsuitable for depositing components in the large water depths of 300 to 800 meters, which are common today, since at such depths the extension of the piston rod is opposed by a cross-section and the correspondingly high pressure force when the water depth is lowered .
  • both the cushioning effect itself and the speed of its action is impaired, so that dangerously high shock forces can arise for a short time, especially since the load is connected to the crane by very long support elements.
  • the object of the invention is to provide a compensator device of the type mentioned which, with simple means, ensures rapid and effective damping of undesired relative movements between the load and the support surface or crane hook even with considerable swell and a large working depth.
  • the compensator device of the type mentioned is equipped according to the invention with the features of claim 1.
  • This compensator device allows an effective automatic compensation of undesirable relative movements even in a large working depth with a relatively simple, inexpensive construction.
  • the device can very easily be optimally adapted to the desired conditions by adjusting the gas pressures in the hydraulic accumulators.
  • the design and the spatial arrangement of the hydraulic accumulators on the hydraulic cylinder can be adapted appropriately depending on whether a particularly slim or a particularly short construction is desirable.
  • a jib crane A is arranged on a work ship S, the crane hook H of which is lowered under water with the supporting rope.
  • the compensator C hangs on the crane hook, to whose downwardly protruding piston rod a shock-sensitive load L is attached, which is to be placed gently on the sea floor.
  • the working ship S is subject to irregular fluctuations, which are further increased considerably by the elongated boom of the crane A.
  • Fig. 2 shows schematically the difficult situation of immersing the load L in the moving water surface.
  • the water surface normally shows a relative movement to the load L corresponding to the prevailing swell, whereby the swell-related fluctuations of the crane jib arranged on the work ship S can add up with the vertical displacements of the water surface, so that repeated deep immersion of the load L corresponds accordingly great weight loss in the next moment a complete lift off the water surface with full weight load of all supporting organs can follow.
  • the compensator device C largely compensates for undesired relative movements.
  • the compensator device shown in FIG. 3 has a central hydraulic cylinder 1, which is divided by a piston 2 into a load-carrying chamber 6 filled with hydraulic fluid and a second chamber 5 also filled with hydraulic fluid.
  • the piston 2 is provided with a piston rod 3 extending in both directions, which passes through both chambers 5 and 6 and projects outwards on both sides in a sealed manner through the axial end walls of the hydraulic cylinder 1 by means of seals 7.
  • the piston rod has the same diameter in both sections emerging from the hydraulic cylinder 1. This ensures that when used under water no significant forces are exerted on the piston 2 by the water pressure corresponding to the respective water depth, because the resulting distance from the height of the hydraulic cylinder 1 between its top and bottom causes only a slight pressure difference.
  • the load-carrying chamber 6 is connected via connecting channels 9 to a hydraulic accumulator 8 concentrically enclosing the hydraulic cylinder 1, the annular interior of which is subdivided into a gas space 11 and a liquid space 12 communicating with the load-carrying chamber 6 by an annular piston 10 which can be displaced therein.
  • the gas pressure P i existing in the gas space 11 is set to such a value that the piston 2 only travels the hydraulic fluid enclosed in the load-bearing chamber 6 via the connecting channels 9 can press into the liquid chamber 12 of the hydraulic accumulator 8 that the piston 2 is located approximately in the middle of the hydraulic cylinder 1.
  • the spring constant of this system results from the size of the gas space 11 and the gas pressure Pi set therein.
  • the crane hook H of the working ship S which has been raised, for example, by the sea, can be attached to the support structure arranged at the upper end of the housing 15 containing the hydraulic cylinder 1 gen 14 pull with great force, without this informing the piston 2 and the load L attached to the piston rod 3 via the support eye 13 because the prestressed gas cushion contained in the gas space 11 deflects without a large increase in force.
  • the suspension cable leading to the crane hook H also has a spring constant which is dependent on its length and which contributes to calming the load.
  • the second chamber 5 of the hydraulic cylinder 1 is connected via connecting channels 17 to a hydraulic accumulator 16 which concentrically surrounds the end of the piston rod 3 projecting upward from the hydraulic cylinder 1, the annular interior of which is sealed by an annular piston 18 which can be moved therein to an upper gas chamber 19 and a lower liquid chamber 20 is divided.
  • the second chamber 5 of the hydraulic cylinder 1, the connecting channels 17 and the liquid chamber 20 are completely filled with hydraulic fluid during operation. In this arrangement, depending on the movement of the piston 2 upwards or downwards, hydraulic fluid is displaced from the second chamber 5 against the gas pressure in the gas space 19 into the liquid space 20 or is conveyed into the second chamber 5 under the effect of the gas pressure in the gas space 20.
  • the gas pressure P 2 in the gas space 19 rises a value between 0.5 and 50 bar, set to a considerably lower value relative to the gas pressure p i in the gas space 11, for example between 100 and 400 bar, which is selected such that hydraulic fluid is supplied sufficiently quickly from the fluid space 20 when the piston 2 moves downward is, however, is not adversely affected by the spring constant of the gas space 11 under very high gas pressure P 1 when the piston 2 moves upward with displacement of hydraulic fluid into the liquid space 20 and a corresponding increase in the gas pressure in the gas space 19.
  • the gas space 19 can brake the upward movement of the piston 2 before reaching the upper end position in that the increasing gas pressure P 2 in the gas space 19 opposes the upward movement of the piston 2 increasing resistance. This prevents the piston 2 in the hydraulic cylinder 1 from shooting up dangerously quickly in the event of an unexpected application of the load L, which could otherwise damage the seals 7 and the seals on the piston 2 or even the hydraulic cylinder 1.
  • individual hydraulic accumulators 23 and 24 are arranged around the hydraulic cylinder 1 and the upper end of the piston rod 3 emerging therefrom.
  • the hydraulic accumulators 24 each contain a gas chamber 25 and a liquid chamber 12 separated from the latter by a displaceable separating piston 26, each communicating with the load-carrying chamber 6 of the hydraulic cylinder 1 via a connecting channel 9.
  • the hydraulic accumulators 24 contain a liquid space 20 communicating via a connecting channel 17 with the second chamber 5 of the hydraulic cylinder 1 and a gas space 27 separated therefrom by a flexible membrane 28, for example a rubber bubble.
  • the hydraulic accumulators 23 are arranged in parallel between the upper and lower ring flanges of the hydraulic cylinder 1 at equal intervals around its circumference and are covered on the outside by a cylindrical housing wall 59. Each hydraulic accumulator 23 is held firmly pressed against its seat on the lower ring flange by a hollow cylindrical pressure piece 30 screwed into a threaded bore in the upper ring flange. Each hydraulic accumulator 23 has a filling valve 31 in the gas interior 25 for adjusting the gas pressure P i in the gas space 25.
  • each filling valve 31 is in turn accessible through the opening of the tubular pressure piece 30.
  • the compensator device shown in Fig. 4 is easier to manufacture and can be adapted even more flexibly to handle different heavy loads, since not only the gas pressure of each hydraulic accumulator 23 or 24 can be individually adjusted, but can be achieved by filling selected hydraulic accumulators with a particularly high gas pressure that they only participate in the movement damping in extreme cases or not at all. This can also change the size of the ins total gas spaces effective for movement damping can be changed in a simple manner.
  • FIGS. 3 and 4 represent the shortest possible construction taking into account the required extension length of the piston rod 3 up and down, as is advantageous for cranes with a relatively small crane hook height.
  • the hydraulic accumulators 23 communicating via connection channels 9 with the load-carrying chamber 6 and the hydraulic accumulators 24 communicating via connection channels 17 with the second chamber 5 of the hydraulic cylinder 1 are arranged alternately on a common circular line around the hydraulic cylinder 1.
  • the individual hydraulic accumulators can optionally be designed with a separating piston separating the gas space 25 or a membrane separating the gas space 27. This embodiment is very compact and economical, however, the storage volume to be accommodated and thus the load to be handled are limited.
  • the protruding ends of the piston rod 3 concentrically surrounding jacket tubes 32 and 33 are attached to the end faces of the hydraulic cylinder 1.
  • the casing tube 32 is closed at the upper end and there carries a support eye 14 for the crane rope 4.
  • the lower casing tube 33 has at its lower end a passage opening for an extension rod 35 connected to the piston rod 4, which has a support eye 13 for fastening at its lower end the load has.
  • Both jacket tubes 32 and 33 have lateral passage openings 37 through which water displaced by the extending piston rod 3 can flow out when working under water or 3 water can flow in when the piston rod retracts.
  • the casing pipes 32 and 33 each have conically tapered end sections 39 and the piston rod 3 carries at their ends consumption sections 38 which penetrate into the conically tapered end section 39 of the respective casing pipe 32 and 33 when the piston rod 3 extends after passing through the passage openings 37 .
  • the water in this must be displaced through an increasingly narrow annular gap to the passage openings 37, which results in a damping of the extension movement of the piston rod 3, which prevents a hard stop of the piston 2 on the end face of the hydraulic cylinder 1.
  • shock-absorbing devices 40 are arranged in the load-bearing chamber 6 and the second chamber 5 of the hydraulic cylinder 1, each near their end walls, which advantageously have a piston, which is sealingly displaceably guided in a cylinder and has an outwardly projecting tappet, which piston 2 against an in the highly cushioned gas cushion enclosed by the shock-absorbing device 40 can be pushed back inward.
  • shock-absorbing devices can also be used, provided that they allow sufficient shock-absorbing in a sufficiently small space.
  • a very heavy hollow body which weighs only a small fraction of its surface weight when immersed under water due to its large buoyancy, can be lowered without special regulating measures with regard to the volume or the pressure of the hydraulic accumulators under water.
  • the piston 2 rests in the hydraulic cylinder 1 on the shock-absorbing devices 40 and presses in their plunger practically completely.
  • the piston 2 is pressed accordingly upwards under the action of the shock-absorbing devices 40 and the hydraulic accumulators connected to the load-carrying chamber 6.
  • shock absorbing devices 40 can expediently be equipped with conventional devices (not shown) for adjusting the preload pressure in order to adapt to the requirements of the individual case.
  • the piston 2 is pushed up into a central position in the hydraulic cylinder 1 by the gas pressure in the hydro 23, which is set in advance to the correspondingly reduced weight.
  • the piston 2 and the load L then only oscillate slightly around this middle position.
  • FIG. 6 The preferred embodiment shown in FIG. 6 is similar to that according to FIG. 5, but now a hydraulic accumulator communicating with the second chamber 5 is arranged inside the hollow piston rod 3. This is not only space-saving, but also economically advantageous because it can save some of the hydraulic accumulators surrounding the hydraulic cylinder or the total volume of the gas spaces available for damping can be increased accordingly.
  • the hollow piston rod 3 contains two gas spaces 44 and 45, each of which is separated from a central liquid chamber by sealingly displaceable separating pistons 46 and 47, which are connected to the second chamber 5 of the Hy via a connecting channel 48 draulikzylinders 1 communicates.
  • only hydraulic accumulators 23 communicating with the load-bearing chamber 6 can be provided around the hydraulic cylinder 1, which results in an optimal accumulator volume without increasing the diameter of the overall device.
  • Filling valves 50 for filling the gas spaces 44 and 45 are arranged at the ends of the piston rod 3.
  • the piston 2 is almost in its lowest end position in the hydraulic cylinder 1.
  • the lower end of the piston rod 3 with its conical section 38 has penetrated correspondingly deep into the conically tapered end section 39 of the casing tube, so that the displacement of the in the the conically tapering end section 39 of the water enclosed by the remaining narrow annular gap with a rapid extension movement of the piston rod 3 produces a braking effect.
  • the liquid space 49 separated from the gas space 44 by the separating piston 46 is connected to the second chamber 5 of the hydraulic cylinder via connecting openings 51, while the separated one is separated from the gas space 45 by a separating piston 52 in the lower part of the Hollow piston rod 3 separated liquid space 57 communicates with the load-bearing chamber 6 of the hydraulic cylinder 1 via connection openings 53.
  • the gas space 45 is filled with gas biased to a high gas pressure Pi, while a lower gas pressure P 2 is set in the gas space 44.
  • two stops 54 and 55 are provided in the region of the piston.
  • the separating piston 46 can at most reach a position in contact with the stop 54, in which the pressure fluid contained in the chamber 5 becomes depressurized, because the pressure of the gas cushion contained in the gas space 44 then counteracts via the separating piston 46 supports the stop 54.
  • the separating piston 52 can at most come to rest against the stop 55, the gas pressure in the gas space 45 also being intercepted via the separating piston 52 and the stop 55.
  • excess quantities of hydraulic fluid are filled into the load-carrying chamber 5 and the second chamber 6, so that the separating pistons 46 and 52 do not yet abut the corresponding stops 54 or 55 even in the end positions of the piston 2.
  • Fig. 7 The embodiment shown in Fig. 7 is because of its slim, particularly robust against mechanical damage design economically and technically gün stig. This applies in particular if the diameter of the piston rod 3 and the hydraulic accumulator contained therein can be dimensioned sufficiently large to achieve large gas spaces 44 and 45, or if the demands on the loads which can be absorbed or the reduction in relative movements achieved are not particularly high.
  • the compensator device is designed such that it can cope with the various working conditions, including unforeseen deviations, during operation without additional intervention from the work ship, so that it is very easy to use and requires only a minimum of monitoring and maintenance.
  • colored markings can be observed, for example, on the extension rod 35 emerging from the lower casing tube 33, which provide information about the position and the travel distance of the piston 2 in the hydraulic cylinder 1 or the corresponding movements of the load L.
  • this can be done using the underwater camera, which is usually required anyway.
  • the relative position of the extension rod 35 to the lower end of the casing tube 33 can also be detected by means of a suitable sensor and signaled to the crane or work ship using conventional means.
  • a remotely operable shut-off valve 56 is installed in the connecting channel leading from the load-carrying chamber 6 to the hydraulic accumulator 23, which is controlled via a control line 60 or not shown actuating devices which can be remotely actuated by radio.
  • Shut-off valves 56 of this type can be provided in the connecting channel 9 or 17 of each hydraulic accumulator 23 or 24. In this way, the number of effective hydraulic accumulators can be adapted to the changing working and load conditions and the desired degree of damping even during work above or below water.
  • the compensator device explained above with reference to preferred embodiments can be modified by the person skilled in the art in various ways depending on the requirements, provided that the mutual action of the piston 2 displaceable in the hydraulic cylinder 1 with hydraulic fluid interacting with hydraulic accumulators is retained. If you do not use a piston rod with both ends for devices intended for use over water only, you will still achieve significantly improved operational safety compared to abrupt changes in load when an unexpected load is placed on a suspended load or a stationary load is suddenly lifted off.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Damping Devices (AREA)
  • Jib Cranes (AREA)
  • Polarising Elements (AREA)
  • Sorption Type Refrigeration Machines (AREA)
  • Control And Safety Of Cranes (AREA)
EP86117769A 1985-12-28 1986-12-19 Kompensatorvorrichtung Expired - Lifetime EP0228050B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19853546277 DE3546277A1 (de) 1985-12-28 1985-12-28 Kompensatorvorrichtung
DE3546277 1985-12-28

Publications (3)

Publication Number Publication Date
EP0228050A2 EP0228050A2 (de) 1987-07-08
EP0228050A3 EP0228050A3 (en) 1988-11-17
EP0228050B1 true EP0228050B1 (de) 1990-07-18

Family

ID=6289658

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86117769A Expired - Lifetime EP0228050B1 (de) 1985-12-28 1986-12-19 Kompensatorvorrichtung

Country Status (5)

Country Link
US (1) US4724970A (no)
EP (1) EP0228050B1 (no)
JP (1) JPS62157184A (no)
DE (1) DE3546277A1 (no)
NO (1) NO163051C (no)

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CH681005A5 (no) * 1988-03-24 1992-12-31 Recomatic S A
FI893145A (fi) * 1989-06-28 1990-12-29 Rauma Repola Oy Foerfarande och anordning foer flyttning av ett under vattenytan befintligt lass.
US4964491A (en) * 1989-07-11 1990-10-23 The United States Of America As Represented By The Secretary Of The Navy System for limiting snap load intensity
US5385609A (en) * 1990-01-26 1995-01-31 E. B. Thomas Apparatus and method for treating the outer surface of a pipeline
US5140927A (en) * 1991-01-02 1992-08-25 Motion Technology Motion compensation and tension control system
FR2753188B1 (fr) * 1996-09-10 1998-12-11 Reel Sa Procede pour reguler le fonctionnement d'un dispositif compensateur de charge et compensateur de charge mettant en oeuvre ce procede
JP2002187691A (ja) * 2000-12-22 2002-07-02 Tomoe Giken:Kk 油圧アブソーバー式伸縮装置及びにこれを連結した昇降装置
US7028988B2 (en) * 2003-10-14 2006-04-18 Pgs Americas, Inc. Cable handling system
FR2885610B1 (fr) * 2005-05-12 2009-01-16 Airbus France Sas Dispositif d'elinguage d'une piece avec compensation d'effort et systeme de levage le comprenant
GB0610268D0 (en) * 2006-05-24 2006-07-05 Expro North Sea Ltd Deployment system
JP5282902B2 (ja) * 2009-10-14 2013-09-04 東洋建設株式会社 水中での重量物の吊上げ及び移設方法
CN104903227B (zh) * 2012-10-17 2018-01-26 费尔菲尔德工业股份有限公司 有效负载控制设备、方法
EP2752361B1 (en) 2013-01-04 2016-04-20 Hallcon b.v. Hoisting system and accompagnying connector catch assembly
EP2896589B1 (en) 2014-01-17 2016-10-19 SAL Offshore B.V. Method and apparatus
NO344137B1 (no) * 2014-05-30 2019-09-16 Safelink As Selvjusterende hivkompensator
NO338250B1 (no) * 2014-06-07 2016-08-08 Safelink As Anordning for kompensering av eksternt trykk på aktuatorer
US10584015B2 (en) * 2014-11-17 2020-03-10 Saipem S.P.A. Pipeline assembly line and method for supporting an apparatus designed to couple to a pipeline
CN104930017B (zh) * 2015-06-29 2017-01-11 中国科学院广州能源研究所 一种可调节两端缓冲能量的液压装置
EP3420177A4 (en) 2016-02-22 2019-10-23 Safelink AS ACTIVE MOBILE HUB COMPENSATOR FOR LOWER SEA ENVIRONMENT
NO343286B1 (en) * 2016-02-22 2019-01-14 Safelink As Inline active subsea heave compensator
NO341043B1 (no) * 2016-04-22 2017-08-14 Tech Damper As Subsea demperstag
WO2017196181A1 (en) * 2016-05-08 2017-11-16 Safelink As Depth compensated actuator and use of same in association with a transportable heave compensator
NO343533B1 (en) * 2016-05-08 2019-04-01 Safelink As Hydraulic depth compensated actuator
EP3269677B1 (en) * 2016-07-12 2019-12-18 Ernst-B. Johansen AS Heave compensator and method for reducing the risk of snap-loads during the splash-zone phase
US10669137B2 (en) * 2017-09-25 2020-06-02 Wt Industries, Llc Heave compensation system
CA3161164A1 (en) * 2019-11-11 2021-05-20 J. Ray Mcdermott, S.A. Disruptive coupling systems and methods for subsea systems
US11608251B1 (en) 2021-01-20 2023-03-21 United States Of America As Represented By The Administrator Of Nasa Pneumatically adjustable lifting apparatus

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FR2197806B1 (no) * 1972-09-06 1975-03-07 Seram
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GB1505645A (en) * 1974-07-30 1978-03-30 Stothert & Pitt Ltd Apparatus for use in raising or lowering a load in a condition of relative motion
FR2344490A1 (fr) * 1976-03-18 1977-10-14 Elf Aquitaine Dispositif de compensation des variations de distance entre un objet flottant sur l'eau et le fond de celle-ci
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DE3430085A1 (de) * 1984-08-16 1986-02-27 PHB Weserhütte AG, 5000 Köln In das lastseil von hebezeugen einsetzbares plastisch-elastisches verschiebegelenk

Also Published As

Publication number Publication date
NO865297D0 (no) 1986-12-23
NO163051C (no) 1990-03-28
EP0228050A3 (en) 1988-11-17
US4724970A (en) 1988-02-16
JPS62157184A (ja) 1987-07-13
NO163051B (no) 1989-12-18
EP0228050A2 (de) 1987-07-08
NO865297L (no) 1987-08-11
DE3546277C2 (no) 1989-03-23
DE3546277A1 (de) 1987-07-02

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