EP3243735A1 - Dispositif compensatoire d'état de la mer - Google Patents

Dispositif compensatoire d'état de la mer Download PDF

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Publication number
EP3243735A1
EP3243735A1 EP17170046.1A EP17170046A EP3243735A1 EP 3243735 A1 EP3243735 A1 EP 3243735A1 EP 17170046 A EP17170046 A EP 17170046A EP 3243735 A1 EP3243735 A1 EP 3243735A1
Authority
EP
European Patent Office
Prior art keywords
platform
actuator
compensation device
passive
active
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.)
Granted
Application number
EP17170046.1A
Other languages
German (de)
English (en)
Other versions
EP3243735B1 (fr
Inventor
Evert Mulder
Maarten Kuijpers
Johan van Hoof
Mark van Lieshout
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3243735A1 publication Critical patent/EP3243735A1/fr
Application granted granted Critical
Publication of EP3243735B1 publication Critical patent/EP3243735B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
    • B63B17/0081—Vibration isolation or damping elements or arrangements, e.g. elastic support of deck-houses
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B66F7/16—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks
    • B66F7/20—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by one or more hydraulic or pneumatic jacks by several jacks with means for maintaining the platforms horizontal during movement

Definitions

  • the invention relates to a sea state compensation device according to the preamble of claim 1.
  • Such sea state compensation devices are used, for example, in naval technology to deposit a load by means of a crane from a ship on a fixed, for example, on the shore or on the seabed supported object, such as a drilling platform.
  • a crane may also be disposed on the drilling platform or the like, so that the load on the ship or a corresponding object acted upon by the sea is to be set down.
  • a similar task is, for example, when a drill string is lowered from a floating platform and this is raised or lowered by the sea.
  • the movements of a load caused by the swell can be compensated by the Heave Compensation Unit, so that the relative position of the load to a target level (deposit position on land or on the ship) is kept substantially constant despite waves.
  • Such a sea state compensation device is for example in the EP 2 414 218 B1 disclosed.
  • the device has a platform or the like, which carries the load to be taken over or put down or on which a crane or the like is arranged.
  • This platform is over an active cylinder arrangement supported on a ship deck.
  • the ship movements due to the sea state are detected by a suitable sensor and passed on to a control unit. This then controls the stroke of the active cylinder so that the platform is held in the desired relative position.
  • a generic swell compensation device in which a load-bearing platform is designed as a Stewart platform. Such an arrangement has six obliquely to each other employed active cylinder, via which the platform can be held in the desired relative position. To support the dead weight of the platform and / or the load arranged thereon, the active cylinders can be associated with passive cylinders.
  • the invention has for its object to provide a sea state compensation device that allows for low device complexity, a simple adaptation to different loads.
  • the sea state compensation device has a platform that can be moved by at least one active actuator. This is controlled by a control unit to compensate for the swell or the like caused relative movements of the platform with respect to a target position.
  • the active actuator is associated with a passive system with at least one actuator, via which the weight of the platform and / or a load arranged on this is supported.
  • the sea state compensation device is designed with a bracket or lever arrangement which can be pivoted about a joint device.
  • the pivotally mounted passive actuator engages on the console.
  • the console engages directly or indirectly on the platform and is designed such that a lever arm of the passive actuator with respect to the hinge device changes in response to an extension or retraction movement of the actuator.
  • console means a device that makes it possible to bring the actuator with a variable lever in operative connection with the platform.
  • the supporting force applied by the passive actuator to the platform is variable and preferably depends indirectly on it Hub or the extension or retraction movement of the actuator and thus also from the pivot angle of the console and from the translation / lever ratios.
  • This console is preferably designed so that when unloaded platform, the above-mentioned lever is relatively low - in other words said, the passive actuator attacks with a comparatively unfavorable transmission ratio to the platform.
  • the platform In the case of a load, the platform is accordingly lowered slightly, this leads to a pivoting of the console and a concomitant increase in the support lever, so that with constant force transmission through the active cylinder due to the cheaper translation increased support force is transmitted to the platform to the higher load wear.
  • the passive actuator - hereinafter called actuator only - a cylinder, preferably a hydraulic cylinder, which is biased by means of a gas storage at least in the direction of support.
  • This gas storage then acts as a pneumatic spring.
  • Nitrogen is preferably used as the gas.
  • a variant of the invention provides that the actuator, the hinge device and a supporting device carrying the platform attack at a distance from each other on the console, wherein the attack areas span approximately a triangle and are thus arranged offset to each other.
  • the usual non-linear dependence of the volume of the gas on the applied pressure can be compensated for by a suitable mechanism, which ensures that the pV-dependence (gas curve) in the operating range is approximately linear.
  • This mechanism may be, for example, a handlebar assembly which carries the support means and which is supported on the console and on the hinge means.
  • This link assembly may, for example, have a handlebar which is mounted on the console.
  • a second link can then be mounted on the hinge device and connected via a knee joint with the first link. The support device is then supported in the region of the knee joint.
  • the stability of the device is improved when two such handlebar assemblies are provided parallel to each other.
  • the kinematics of this link arrangement is chosen so that the non-linear p-V dependence of the gas (gas curve) is approximately compensated.
  • three active actuators act on the platform, to each of which a passive system according to the invention is then assigned.
  • the structure is particularly compact when the passive actuators, preferably three passive actuators are supported on a central support block.
  • the active actuators can be in operative connection with the passive actuators such that the actuating movement of the active actuators is supported by the passive system.
  • an active cylinder can be held on the pivotable console, so that the pivoting movement of the console supports the adjusting movement.
  • the pivoting movement of the console can be used to additionally drive an active actuator designed as a motor in the direction of adjustment.
  • the DC bus elements of the electric drives can be coupled.
  • FIG. 1 is a three-dimensional schematic diagram of an embodiment of an inventive Seegangkompensations Nur (Heave Compensation Unit) 1 - hereinafter called Unit 1 - shown.
  • This is arranged for example on the deck of a ship and serves to compensate for relative movements of the ship caused by waves with respect to a fixed position (target position).
  • the unit 1 has a platform 2 on which a load is to be deposited or from which such a load is to be taken over. In principle, it is also possible to arrange on this platform 2 a crane or the like, are taken over the loads from a stationary system, such as a drilling platform and then sold on the ship.
  • the ship deck is in the illustration according to FIG. 1 provided with the reference numeral 4.
  • the support of the platform 2 on the ship deck 4 takes place on the one hand via an active system with a large number of active actuators.
  • three Aktivaktuatoren 6, 8, 10 are used, which in FIG. 1 only indicated by dash-dotted lines.
  • the platform 2 is triangular in the broadest sense, in which case the Aktivaktuatoren 6, 8, 10 attack in the corner areas.
  • Such a solution is in the aforementioned EP 2 414 218 B1 disclosed.
  • the actuation of the active actuators 6, 8, 10 takes place via an indicated control unit 12, which outputs control signals to the active actuators 6, 8, 10 via the illustrated signal lines to the platform 2 to hold in the predetermined relative position while compensating the sea state. This is detected by a suitable sensor 14 and processed by the control unit 12.
  • a passive system 16 is provided for supporting the weight of the platform 2 and the load arranged thereon.
  • the active actuators 6, 8, 10 then serve essentially only to move the platform 2 to compensate for the swell - the dead weight of the platform and the load arranged thereon is supported by the passive system 16.
  • the active actuators 6, 8, 10 may have, for example, hydraulic cylinders, hydraulic motors or electric drives.
  • a passive actuator assembly 18, 20, 22 of the passive system 16 is assigned to each of these active actuators 6, 8, 10.
  • FIG. 2 shows a first embodiment of a Passivaktuator arrangement 18, 20, 22 for a passive system 16 for passive support of the dead weight of a platform 2 or loads arranged thereon.
  • Passivaktuator arrangement 18 has a hydraulic cylinder 24 which is biased in the extension direction - for example via a gas reservoir 26.
  • the hydraulic cylinder 24 may be formed, for example, as a differential cylinder, wherein an annular space may be connected to a hydraulic accumulator or the like, so that during an actuating movement of the hydraulic cylinder 24, the pressure medium displaces from the decreasing pressure chamber in the direction of the connected hydraulic accumulator and pressure medium from another, for example acted upon by the gas reservoir 26, hydraulic accumulator flows into the increasing pressure chamber.
  • the hydraulic cylinder 24 is shown in FIG. 2 pivotally mounted on a deck-side cylinder joint A.
  • a piston rod 28 of the hydraulic cylinder 24 or another actuator of the actuator acts on a console 30 which is a further supported on the ship deck 4 joint device C is pivotally mounted.
  • the piston rod 28 is shown in the illustration FIG. 2 connected to the console 30 via a hinge H.
  • a support means 32 which is formed for example as a rigid support strut.
  • This support means 32 is in turn articulated via a joint G to the console 30.
  • the support device 32 engages on the platform 2 via a joint E and thus supports it against the ship deck 4.
  • a transverse strut 34 is arranged, which acts on the one hand on the platform 2 and on the other hand articulated via a support joint D is mounted on the ship deck 4. Accordingly, the joints D, A and C are arranged ship deck side.
  • the joint device C and the two joints designated H and G are arranged approximately triangular to each other - the console 30 then has a corresponding geometry, the outer contours can of course be rounded or formed in any other way.
  • the bracket 30 pivots about the hinge device C around, wherein the hydraulic cylinder pivots about the cylinder joint A.
  • the joint H moves along a movement path 34 which extends between the end positions J and K.
  • FIG. 2 shown is the position of the console 30 with almost completely retracted hydraulic cylinder 24 - this position is taken at maximum load. As explained above, this load can be in the 3- to 4-digit ton range. In this end position (maximum load) is the lever L, with which the hydraulic cylinder 24 engages the rotatable about the joint device C console 30, maximum. The force of the hydraulic cylinder 24 is thus corresponding to this large lever L on the Console 30 and thus transferred to the support means 32 so that the platform 2 is supported with a comparatively large force.
  • the passive system 16 must only carry the weight of the platform 2 - in conventional solutions then had the bias of the hydraulic cylinder 24, for example, the gas pressure in the gas storage 26, to be adjusted in order to avoid overcompensation. This gas pressure then in turn must be increased consuming when exposed to a load - as explained above, this adjustment is time consuming and costly.
  • the geometry of the console 30 and the pivoting of the hydraulic cylinder 24 are designed so that adjust the required leverage to support the dead weight of the platform 2 in the minimum case and the maximum load provided (for example> 1000 tons) without the passive Active actuators make a significant contribution.
  • FIG. 3 again shows in a somewhat more realistic representation of the basic structure of the passive system according to the invention 16, wherein only two passive actuator assemblies 18, 20 are shown, over which the platform 2 is supported passively. On this is to be taken over or stored by means of a not influenced by the swell crane, of which only the crane hook, a load 36.
  • FIG. 3 on the right is the detail X showing the passive actuator assembly 18. Accordingly, the platform 2 is supported via the support means 32, which acts on the platform 2 via the joint E and the joint G on the console 30. The latter is - as explained - pivotable about the joint 4 supported on the ship deck C pivotable.
  • the piston rod 28 of the hydraulic cylinder 24 engages via the joint H, which in turn passes over the cylinder joint A (see FIG FIG. 3 left) is pivotally mounted on the ship deck 4.
  • the piston rod 28 of the hydraulic cylinder 24 engages via the joint H, which in turn passes over the cylinder joint A (see FIG FIG. 3 left) is pivotally mounted on the ship deck 4.
  • the load 36 acts a load 36 with the maximum weight on the platform 2, so that in accordance with the maximum lever L is effective to transmit the force of the hydraulic cylinder 24 to the platform 2.
  • the force of a passive actuator for example a hydraulic cylinder, is transmitted to the platform 2 via a lever system, the effective lever being larger at high load than in the unloaded state.
  • FIG. 4 shows a variant in which the bias of the hydraulic cylinder 24 via the gas reservoir 26 takes place.
  • This is filled with nitrogen.
  • This gas reservoir 26 thus acts as a gas spring, so that the pressure changes depending on the load.
  • the gas characteristic ie the pressure-volume characteristic
  • Such deviations of the "gas curve" are compensated in the illustrated embodiment via a link assembly 38, which is arranged mechanically between the support means 32 and the console 30.
  • This link assembly 38 has a first link 40 which is articulated via the joint G to the console 30.
  • a second link 42 is pivotally mounted on the one hand via a link B on the ship's deck 4 and on the other hand connected via a knee joint F to the first link 40.
  • this knee joint F In the area of this knee joint F is also the Support device 32 hinged pivotally. This attacks - as in the embodiment described above - via the joint E on the platform 2.
  • the support in the transverse direction is again via a transverse strut 35.
  • the kinematics of the handlebar assembly 38 for example, the length of the handlebars 40, 42 is selected so that the deviations from the ideal line resulting from the characteristic of the gas curve can be compensated. Otherwise, this corresponds to FIG. 4 illustrated embodiment that of the Figures 2 and 3 , so that further explanations are dispensable with reference to the above statements.
  • FIG. 5 shows a slightly more detailed representation of the in FIG. 4 illustrated embodiment of the passive actuator assembly 18 (20, 22).
  • the platform 2 is supported by the respective supporting device 32, which is articulated to the platform 2 via the joint E.
  • the strut-shaped support means 32 is in turn connected via the knee joint F with the handlebar assembly 38.
  • the knee joint F is formed so that it connects the two arms 40, 42 articulated and further also pivoting of the support means 32 at least in the plane according to FIG. 5 allows.
  • the first link 40 is articulated via the joint G to the console 30.
  • the second link 42 is mounted on the steering joint B.
  • the piston rod 28 of the hydraulic cylinder 24 or the other actuator engages on the hinge H on the console 30.
  • the hydraulic cylinder 24 is biased via the gas reservoir 26 to a predetermined pressure.
  • the piston rod-side pressure chamber of the hydraulic cylinder 24 is - as already explained above - connected to a hydraulic accumulator 44.
  • the embodiment corresponds to FIG. 5 from that one FIG. 4 , so that further explanations are dispensable.
  • the function of the Aktivaktuatoren 6, 8, 10 by the passive system at peak loads, for example, when compensating a caused by the swell lowering movement of the ship 16 are supported.
  • electric motors, hydraulic motors or hydraulic cylinders or the like can be used as active actuators.
  • FIG. 5 on the right is an example designed as a hydraulic cylinder Aktivaktuator 6, the piston rod acts on the hinge H and thus connected to the console 30.
  • the actuation of this Aktivaktuators 6 takes place - as in FIG. 5 indicated on the right - via a zero-adjustable hydraulic pump 48 which is driven by a motor 50 to the active actuator 6 (hydraulic cylinder) in response to the control signal of the control unit 12 on or extend.
  • the maximum power of the active system requiring extension of the Aktivaktuators 6 when lowering the ship (Heave) is supported by the passive system 16, since the console 30 then also pivots in the direction of enlargement of the lever arm H.
  • FIG. 5 on the left an alternative variant is shown.
  • the Aktivaktuatoren 6 are formed by hydraulic motors 52, the actuating elements, such as spindles or the like, drive to hold the platform 2 in the desired relative position.
  • the drive of the hydraulic motors 52 is carried out as in the previously described variant via a pivotable about zero pump 48 and a controlled by the control unit 12 electric drive 50.
  • the hydraulic motor 52 is additionally drivable via a pinion 54, which meshes with external teeth 56 of the console 30, so that upon pivoting of the console 30 about the hinge device C via the pinion 54, the hydraulic motor 52 is additionally driven, so that this is supported by the passive system 16 in its function to compensate for large load changes with high dynamics can.
  • the function of at least one Aktivaktuators can be supported by the passive system, so that there "saved" energy can be used to adjust the other Aktivaktuatoren.
  • all Aktivaktuatoren be supported by the passive system in the manner described above.
  • FIG. 1 illustrated embodiment is with a passive system 16 according to FIG. 4 executed, this being shown in its functional position, which it occupies with unloaded platform 2.
  • the joint device C is supported via joint cheeks 58 on the ship deck 4.
  • the unilaterally rounded bracket 30 is mounted between these two joint cheeks 58.
  • the link assembly 38 is hinged on the one hand via the link B to the joint cheeks 58 and on the other hand via the joint G to the console 30.
  • the links 40, 42 are connected via the knee joint F with each other.
  • two such link assemblies 38, 38 'as a 4-link arrangement are provided parallel to each other, so that the knee joint F, the two link assemblies 38, 38' connects.
  • the supporting device 32 designed as a support strut is supported, which in turn acts on the platform 2 via the joint E.
  • the transverse support is in each case via a transverse strut 35, which is articulated on the one hand via a strut joint J on the platform 2 and on the other hand is supported on the ship deck 4 via the support joint D.
  • the hydraulic cylinders 24 of the passive actuator assemblies 18, 20, 22 are supported in the illustrated embodiment via the cylinder joint A to a deck-side support block 60, on which the other hydraulic cylinders of the other passive actuator arrangements are supported.
  • This support block 60 is located as shown in FIG FIG. 1 approximately in the middle below the in the broadest sense triangular platform 2.
  • FIG. 6 shows the state in which the maximum load 36 acts on the platform 2.
  • the active actuators 6, 8, 10 designed as hydraulic cylinders are also indicated, which are provided on the one hand via joints (with reference numbers in FIG FIG. 6 only the joints K, L) attack on the platform 2 and on the other hand, for example, on the hinge H, are supported on the respective console 30.
  • a sea state compensation device with an active system and a passive system.
  • actuators are connected via a hinge device to a platform carrying a load.
  • the effective lever with which the actuators support the platform passive be changed depending on the load condition.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
EP17170046.1A 2016-05-12 2017-05-09 Dispositif compensatoire d'état de la mer Active EP3243735B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016208170 2016-05-12

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EP3243735A1 true EP3243735A1 (fr) 2017-11-15
EP3243735B1 EP3243735B1 (fr) 2019-04-10

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EP (1) EP3243735B1 (fr)
DE (1) DE102017207771A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114013582A (zh) * 2021-11-09 2022-02-08 江苏科技大学 一种具有波浪补偿功能的无人化运输船舶
CN115092316A (zh) * 2022-07-04 2022-09-23 烟台锆孚海洋工程科技有限公司 重载三自由度波浪补偿平台

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113022793B (zh) * 2021-04-06 2022-12-13 清华大学 补偿装置及船舰
CN114590357B (zh) * 2022-03-16 2023-02-21 江苏科技大学 一种坐底船防冲刷保护装置及其工作方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1869282B1 (fr) 2005-04-04 2009-10-07 Bosch Rexroth AG Dispositif hydraulique de compensation de pilonnement
WO2011143694A1 (fr) * 2010-05-16 2011-11-24 Nauti-Craft Pty Ltd Embarcation multicoque avec suspension
EP1993902B1 (fr) 2006-03-01 2012-04-11 Technische Universiteit Delft Navire, plate-forme de mouvement, methode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
US20130213288A1 (en) * 2012-02-22 2013-08-22 Velodyne Acoustics, Inc. Boat with active suspension system
EP2414218B1 (fr) 2009-04-03 2014-06-11 Barge Master IP B.V. Dispositif de compensation de mouvement pour la compensation d'un cadre porteur sur un navire pour deplacement d'eau

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1869282B1 (fr) 2005-04-04 2009-10-07 Bosch Rexroth AG Dispositif hydraulique de compensation de pilonnement
EP1993902B1 (fr) 2006-03-01 2012-04-11 Technische Universiteit Delft Navire, plate-forme de mouvement, methode de compensation des mouvements d'un navire et utilisation d'une plate-forme de stewart
EP2414218B1 (fr) 2009-04-03 2014-06-11 Barge Master IP B.V. Dispositif de compensation de mouvement pour la compensation d'un cadre porteur sur un navire pour deplacement d'eau
WO2011143694A1 (fr) * 2010-05-16 2011-11-24 Nauti-Craft Pty Ltd Embarcation multicoque avec suspension
US20130213288A1 (en) * 2012-02-22 2013-08-22 Velodyne Acoustics, Inc. Boat with active suspension system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114013582A (zh) * 2021-11-09 2022-02-08 江苏科技大学 一种具有波浪补偿功能的无人化运输船舶
CN115092316A (zh) * 2022-07-04 2022-09-23 烟台锆孚海洋工程科技有限公司 重载三自由度波浪补偿平台
CN115092316B (zh) * 2022-07-04 2023-11-21 烟台锆孚海洋工程科技有限公司 重载三自由度波浪补偿平台

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Publication number Publication date
EP3243735B1 (fr) 2019-04-10
DE102017207771A1 (de) 2017-11-16

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