EP3290383B1 - Dispositif destiné à lever, abaisser ou maintenir une charge - Google Patents

Dispositif destiné à lever, abaisser ou maintenir une charge Download PDF

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Publication number
EP3290383B1
EP3290383B1 EP17167049.0A EP17167049A EP3290383B1 EP 3290383 B1 EP3290383 B1 EP 3290383B1 EP 17167049 A EP17167049 A EP 17167049A EP 3290383 B1 EP3290383 B1 EP 3290383B1
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EP
European Patent Office
Prior art keywords
active
load
winch
cylinder
hydraulic pump
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.)
Active
Application number
EP17167049.0A
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German (de)
English (en)
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EP3290383A1 (fr
Inventor
Maarten Kuijpers
Patrick Verbakel
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
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Robert Bosch GmbH
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Publication of EP3290383A1 publication Critical patent/EP3290383A1/fr
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water

Definitions

  • the invention relates to a device for lifting, lowering or holding a load according to the preamble of patent claim 1.
  • Sea state or swell compensation systems (Heave Compensation System) - hereinafter also referred to as HCS - are used, for example, in offshore / marine technology when a load is to be deposited from a ship by means of a crane onto an object supported on the seabed, for example a platform.
  • HCS Sea state or swell compensation systems
  • Such a task is the assembly of drilling rigs or offshore wind turbines or when a drill string is lowered from a floating platform and this is raised and lowered by the swell.
  • heavy measuring devices or supply stations for robots or the like are lowered from a ship via a winch to great depths, the tether being then exposed to considerable tensile loads caused by the swell.
  • Passive compensation systems and active compensation systems are known to compensate for such relative movements of the load caused by swell or swell in relation to the respectively predetermined target position.
  • a linearly adjustable unit for example a hydraulic cylinder or a rotationally operated unit, for example a hydraulic motor
  • a hydropneumatic storage unit the pressure of which is designed so that the load is supported in a central position without rough seas - the hydropneumatic storage unit acts thus as a kind of gas spring.
  • passive compensation systems are structurally matched to the respective application purpose and the associated loads, so that adaptation to different loads is only possible with greater effort.
  • Passive compensation systems are often arranged between the actual crane hook and the load and are therefore below sea level when it is lowered.
  • active compensation systems are preferably used in which a linear drive, primarily a hydraulic cylinder, or a rotary drive, primarily a hydraulic motor, is designed with a position control system through which the Load can always be held in the predetermined position by controlling the drive.
  • a linear drive primarily a hydraulic cylinder, or a rotary drive, primarily a hydraulic motor
  • Such a device with active and passive compensation device is in the FR 2 383 876 and the U.S. 4,121 , 806 described.
  • Such active compensation systems are usually arranged on the ship so that they also have to move the weight of the crane rope, the crane blocks (pulley block) and the crane hook, so that the payload is reduced by the additional weight of these components.
  • the load is compensated for by a passive hydropneumatic storage system and, on the other hand, the target position of the load is kept constant by an active control system.
  • a passive hydropneumatic storage system has the advantage that only the compensating movement of the load has to be effected via the active system, while the actual support takes place via the passive system.
  • Combination systems of this type are required in particular when a load is to be lifted from the seabed or from a platform anchored on it or lowered onto it at a predetermined speed.
  • a similar system is also used in those mentioned above FR 2 383 876 and U.S. 4,121,806 explained.
  • passively acting hydraulic cylinders preloaded via a hydropneumatic storage unit and active hydraulic cylinders with position control are arranged parallel to one another in a compensation unit to which the actual crane hook is attached, which in turn is connected to the load via a crane rope.
  • the U.S. 4,021,019 shows a system in which an active hydraulic cylinder is integrated into a passive hydraulic cylinder.
  • the active compensation unit is each designed with a winch arrangement, with a winch rope or the like engaging the load in order to support the lifting device and the passive compensation device when lowering by controlling the lowering of the winch rope by controlling the active winch accordingly.
  • the disadvantage of such solutions is that it is not possible to support the lowering movement, that is to say active lowering by "pressing".
  • the invention is based on the object of creating a device in which the lowering of the load is actively supported.
  • the direction of delivery of a hydraulic pump of the active compensation unit should be controllable simply by reversing a winch drive.
  • the device for lifting, lowering or holding a load has a compensation device which is designed to compensate for relative movements of the load with reference to a target position caused in particular by rough seas.
  • the load can be moved in the direction of the target position or away from it by means of a lifting device.
  • a passive compensation device is assigned to the lifting device.
  • an active compensation unit is provided, which can be controlled via a control unit as a function of a relative movement of the load or an effective force.
  • the passive compensation device is designed in such a way that it at least partially supports the weight of the load.
  • the active compensation unit is designed as a linear actuator, for example as an active cylinder or as a linear motor, the actuating element of which acts on the load parallel to the passive compensation device.
  • An active drive for actuating the actuating element is assigned to the linear actuator.
  • the load can be acted upon actively, i.e. by suitable actuation of the linear actuator both in the lowering direction and in the lifting direction, so that the lowering movement takes place in accordance with the specifications even with complex waves or complex swells.
  • the hydraulic pump is driven by a winch drive.
  • the direction of conveyance is controlled simply by reversing the winch drive.
  • the winch drive is designed with one or two active winches, which are assigned a winch rope or the like, which is deflected by means of a deflection wheel.
  • the winch cable thus extends from one active winch over the deflection wheel to the other winch or other active winch, so that the speed and direction of rotation of the deflection wheel is determined by appropriate control of the active winch or active winches, via which the hydraulic pump is then driven.
  • the linear actuator is an active cylinder, it is preferably designed as a hydraulic cylinder.
  • the hydraulic cylinder is a synchronous cylinder which is arranged in a closed hydraulic circuit.
  • the passive compensation device is preferably designed with a hydraulic cylinder. This has a piston that delimits a pressure chamber that is effective in the support direction. This pressure chamber is in operative connection with a hydropneumatic storage unit and thus forms a type of gas spring.
  • the active drive of a linear actuator designed as a hydraulic cylinder of the active compensation unit, also called an active cylinder, can be the hydraulic pump with two conveying directions, the connections of which are connected in a closed circuit to a pressure chamber of the active cylinder.
  • the hydraulic pump can be driven via an electric drive motor.
  • the direction of conveyance is then simply controlled by reversing the drive motor.
  • the delivery volume of the hydraulic pump can be easily adjusted if the drive motor is designed to be frequency-controlled.
  • the hydraulic pump and the drive motor form a structural unit with the active cylinder, with signal and power supply via an active line, the immersion length of which is adjustable via an active winch arranged on the deck, so that practically the active line also the change in position of the load is lengthened or shortened.
  • the hydraulic pump and the deflection wheel can be mounted on a roller block on which the loose / movable rollers of a pulley block of the lifting device are also mounted.
  • the complexity of the device is particularly low if an active winch is a component of the pulley system that is provided as part of the lifting device for lifting and lowering a load.
  • the passive compensation device is pretensioned, the pretensioning being designed such that a resulting force acting in the support direction corresponds approximately to the weight of the load.
  • the device is designed with compensation devices to compensate for relative movements of the load caused by rough seas with reference to a target position.
  • FIG. 1 shows a greatly simplified schematic diagram of a ship or floating crane 2 designed with a device according to the invention for heave compensation (HCS Heave Compensation System) 1, via which a load L is to be deposited on another ship or on the sea floor 4 or on a platform anchored on this.
  • the device 1 motion compensation device, HCS
  • HCS motion compensation device
  • a loading crane 10 is mounted on the indicated floating crane 2, which has a plurality of stationary rollers 14 (disks) and movable rollers (disks) 16 in a known manner, which together with a support cable 18 form a pulley block 20.
  • the movable rollers 16 (loose part) are on a roller block 22 stored.
  • the effective force of the winch 21 is then translated accordingly via the pulley block 20.
  • a piston 26 divides the cylinder 24 into a pressure chamber 28 effective in the support direction and a pressure chamber 30 effective in the lowering direction.
  • the pressure chamber 28 is connected to a hydropneumatic accumulator unit 32, which, as usual, can be designed as a hydropneumatic piston accumulator with one or more downstream gas bottles and through which the pressure chamber 28 is acted upon with a preload pressure.
  • the force resulting from this bias corresponds in the illustrated embodiment approximately to the load L to be moved. This is thus compensated to approximately 100%.
  • the pressure chamber 28 and the storage unit 32 form a type of gas spring, the pressure of which, however, changes with increasing water depth.
  • the pressure chamber 30 can be assigned a device for compensating the water depth.
  • the pressure chamber 30 can also be connected to a pressure medium expansion tank.
  • the hydraulic cylinder 24 is designed as a differential cylinder.
  • the load-side piston rod 34 which crosses the pressure chamber 28, carries the load L, which is fastened to the piston rod 34, for example, via a crane hook or the like.
  • the passive hydraulic cylinder can also be designed as a synchronous cylinder with two piston rods, so that the forces generated by the pressure of the water are compensated.
  • the active compensation unit 8 also acts on the load L in the illustrated embodiment.
  • the compensation unit 8 has an active cylinder 36 which is connected to the hydraulic cylinder 24 of the passive compensation device 6 via a bridge 38.
  • the active cylinder 36 is designed as a synchronous cylinder, an active piston 40 separating two annular spaces 42, 44 of the active cylinder 40 filled with pressure medium from one another.
  • a piston rod 46 on the load side engages the load L directly or via an extension. It is also conceivable that the load-side piston rod 46 of the active cylinder 36, like the piston rod 34 of the passive hydraulic cylinder, engages the load via the crane hook, as shown in FIG Figure 1 is shown.
  • the other piston rod 48 is led out of the cylinder housing, so that the two annular spaces 42, 44 have the same volumes in the central position of the active piston 40.
  • These two annular spaces 42, 44 are arranged in a closed hydraulic circuit with a hydraulic pump 50, the connections of which are connected via pressure lines 52, 54 to an annular space 42 and 44, respectively.
  • pressure medium can thus be displaced / conveyed out of one of the annular spaces, for example the annular space 42, via the hydraulic pump 50 into the other, expanding annular space 44.
  • the hydraulic pump 50 is a fixed displacement pump and forms a structural unit with the active cylinder 36 and is thus also arranged below the water level when it is lowered to the sea floor 4.
  • the hydraulic pump 50 is driven directly via a shaft 56 or via a gear through a deflection wheel 58 which is part of a winch drive 60.
  • This has two active winches 62, 64, each of which has an electric or hydrostatic drive that is controlled via a control unit (see Figure 3 ) is controllable.
  • a winch rope 66 can be lowered or retrieved (unwound / wound up) via the active winches 62, 64, which is partially rolled up onto one active winch, leads from this active winch to the deflection wheel 58, is deflected via the deflection wheel 58 from the deflection wheel 58 to the other active winch and is partially rolled up onto the other active winch.
  • the speed of the deflection wheel 58 and thus the speed of the hydraulic pump 50 and the amount of pressure medium / delivery rate delivered per unit of time by the hydraulic pump 50 depends on how the speeds of the two active winches 62 and 64 relate to one another, whereby the simplicity is assumed that the The winding radius for the winch rope 66 on one active winch is exactly the same as on the other active winch.
  • the winch cable 66 must be under a certain tension in order to be able to rotate the deflection wheel 58 and the hydraulic pump 50.
  • the hydraulic pump 50 does not have to deliver against excessively high pressures, since the weight of the load L should be borne by the passive compensation device 6 to approximately 100 percent.
  • the active cylinder 36 therefore only has to apply a force which compensates for the change in the pressure in the pressure chamber 28 caused by the movement of the piston 26 and the change in volume of the pressure chamber 28.
  • the pressures in the annular spaces 42 and 44 are therefore low and the drive torque to be applied to drive the hydraulic pump 50 is low.
  • the hydraulic pump 50 is activated and the active cylinder 36 is actuated accordingly, the piston rod 46 either extending or retracting.
  • the winch cable 66 can also be designed as a chain or the like over a length in the area of the deflection.
  • the deflection wheel can be designed as a gear with which the chain interacts.
  • the hydraulic pump 50 and the deflecting wheel 58 with the drive shaft 56 or a transmission are arranged on the active cylinder side.
  • the deflecting wheel 58, the shaft 56 or instead of the shaft a gear and the hydraulic pump 50, which together form the pump unit are mounted on or on the roller block 22, with the mounting taking place, for example, via support brackets or the like.
  • This means that the deflection wheel 58 is mounted on the roller block 22 in accordance with the movable / loose rollers 16.
  • the axes of the rollers and the deflection wheel can be arranged parallel to one another.
  • the pressure lines 52, 54 are longer than in the exemplary embodiment according to FIG Figure 1 educated.
  • these pressure lines can also be designed as channels through the roller block 52 and the bridge 38. Incidentally, this corresponds to in Figure 2 illustrated embodiment to that in Figure 1 , so that further explanations are unnecessary.
  • FIG. 3 shows a variant not belonging to the invention, in which no winch drive 60 but an electric drive is used to drive the hydraulic pump 50. Accordingly, the hydraulic pump 50 is driven by an electric drive motor 68 via the shaft 56 or a transmission. This forms a structural unit with the hydraulic pump 50 and the active cylinder 36, again designed as a synchronous cylinder, whose annular spaces 42, 44 are arranged with the hydraulic pump 50 in a closed hydraulic circuit.
  • the structural unit can be attached to the housing of the active cylinder 36 as a pump block, for example.
  • the drive motor 68 is controlled and supplied with power via a loose electrical line 70, which is unrolled from a drum 71 or rolled onto the drum 71 in accordance with the movement of the roller block 22.
  • the immersion length of the conduit 70 thus changes with the movement of the roller block.
  • the control of the electric motor 68 takes place via the aforementioned electric control unit 72.
  • the drive motor 68 can be frequency-regulated or regulated in some other way, so that the hydraulic pump 50 is designed in principle as a variable displacement pump.
  • the electrical line 70 is only used for signal transmission and the power supply of the electric motor 68.
  • the positioning of the hydraulic pump 50 with the drive motor 68 can also be corresponding Figure 2 respectively.
  • the drive motor 68 and the hydraulic pump 50 can therefore also be located on or on the roller block 22.
  • the deflection wheel 58 forms one of the loose / movable rollers 16 and is thus part of the pulley block 20, which is exemplified on the one hand by two fixed rollers 14, 14 'and on the other hand by two loose rollers 16, 16' and also called “movable Role "acting deflection wheel 58 is formed, which are wrapped by the common support cable 18.
  • the suspension rope 18 is lowered and hauled in via two synchronously operating winches 62, 64, the former wind 62 also performing the function of the winch 21 Figure 1 Has.
  • the reference number 21 is therefore used in Figure 4 additionally added in brackets.
  • the “fixed end” of the winch cable 18 is accordingly in operative connection with the active winch 64.
  • the winch 62 is also designed as an active winch. It is also sufficient that this winch only functions according to the winch 21 Figures 1 and 2 Has.
  • the cable length that is wound onto the active winch 64 is significantly less than the cable length that is wound onto the winch 21, 62.
  • the inertial mass of the active winch 64 is therefore low, so that the power to be installed to drive the active winch 64 is also low.
  • the speed of the active winch 64 is lowered, so that there is a shortage of rope 18 in the strand between the deflection wheel 58 and the active winch 64 and this shortage occurs through the running of the rope 18 the deflection wheel 58 is compensated.
  • the hydraulic pump 50 is driven in such a direction that the hydraulic pump 50 takes pressure medium from the annular space 42 and conveys it into the annular space 44.
  • the speed of the active winch 64 is increased so that an excess of rope length is unrolled from it.
  • the deflection wheel 58 therefore rotates and drives the hydraulic pump 50 in such a direction that the hydraulic pump 50 takes pressure medium from the annular space 44 and conveys it into the annular space 42.
  • the speed of the active winch 64 is increased so that it rolls up more cable length than corresponds to the lifting speed of the load L.
  • the deflection wheel 58 and thus the hydraulic pump 50 are driven in such a direction that the hydraulic pump 50 takes pressure medium from the annular space 42 and conveys it into the annular space 44.
  • the speed of the active winch 64 is reduced so that it rolls up too little rope length.
  • the deflection wheel 58 rotates that is, in the opposite direction and drives the hydraulic pump 50 in such a direction that the hydraulic pump 50 takes pressure medium from the annular space 44 and conveys it into the annular space 42.
  • the speed of the active winch 64 is reduced under certain circumstances to such an extent that it reverses its direction of rotation.
  • the winch 21 is also used as an active winch 62, by activating the winch 21, 62 it can be avoided that the active compensation affects the movement of the roller block 22. Otherwise, the function, taking into account the translation from the deflection roller 58 to the winch 21, corresponds to the function of the exemplary embodiments according to FIGS Figures 1 and 2 .
  • the drives of the hydraulic pump 50 are designed with winches (winch 21, active winches 62, 64).
  • winches winches
  • other actuators for example linear drives or the like, can also be used instead of such winches.
  • the winch cable 66 can be designed as a chain or other wear-resistant traction means in the area of the deflection around the deflection wheel 58 and, for example, made of high-strength plastic, for example. Dyneema® pass.
  • the active compensation unit 8 can be retrofitted with little effort, since the active and passive systems can be operated essentially independently of one another. As explained, the use of the device is not limited to the compensation of movements caused by swell, but can be used in general where the relative movements of a load caused by external circumstances are to be compensated.
  • the active compensation unit can also be designed as a mobile solution.
  • a sea state compensation device in which a load is supported by a passive compensation device and an active compensation unit is designed as a linear actuator.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Claims (8)

  1. Dispositif pour lever, abaisser ou retenir une charge (L), comprenant un dispositif de compensation pour équilibrer des mouvements relatifs de la charge (L) provoqués notamment par la houle par rapport à une position cible, la charge (L) pouvant être déplacée par un dispositif de levage dans la direction de la position cible ou depuis celle-ci, et un dispositif de compensation passif (6) étant associé au dispositif de levage, lequel supporte au moins en partie le poids de la charge (L), une unité de compensation active (8) étant prévue, laquelle peut être commandée en fonction d'un mouvement relatif de la charge (L) ou de la force active, l'unité de compensation active (8) possédant un actionneur linéaire dont l'élément de commande agit sur la charge (L) parallèlement au dispositif de compensation passif (6), caractérisé en ce que l'unité de compensation active (8) présente un entraînement à treuil (60) pour actionner l'actionneur linéaire, l'entraînement à treuil (60) présentant deux treuils actifs (62, 64) auxquels est associé un câble de treuil (66) ou un câble porteur (18) qui est renvoyé au moyen d'une poulie de renvoi (58) par le biais de laquelle une pompe hydraulique (50) est entraînée.
  2. Dispositif selon la revendication 1, dans lequel l'actionneur linéaire est un cylindre actif (36), de préférence un cylindre hydraulique.
  3. Dispositif selon la revendication 2, dans lequel le cylindre actif (36) est réalisé sous forme de vérin synchrone.
  4. Dispositif selon la revendication 2 ou 3, dans lequel le dispositif de compensation passif (6) présente un cylindre (24) avec un piston (26) qui délimite une chambre de pression (28) active dans la direction de support, qui est en liaison fonctionnelle avec une unité d'accumulateur hydropneumatique (32), le cylindre actif (36) étant disposé approximativement parallèlement au cylindre (24).
  5. Dispositif selon l'une quelconque des revendications 2 à 4, dans lequel l'entraînement à treuil (60) présente la pompe hydraulique (50) avec deux sens de refoulement, dont le raccordement est à chaque fois connecté à une chambre de pression du cylindre actif (36).
  6. Dispositif selon la revendication 1, dans lequel la pompe hydraulique (50) et la poulie de renvoi (58) sont supportées sur un bloc à rouleaux (22) sur lequel sont également supportés des rouleaux libres (16) d'un palan (20) du dispositif de levage.
  7. Dispositif selon la revendication 6, dans lequel un treuil actif (64) est un composant du palan (20) .
  8. Dispositif selon l'une quelconque des revendications précédentes, dans lequel le dispositif de compensation passif (6) est sollicité avec une précontrainte de telle sorte que la force de support résultant de la compensation soit approximativement égale au poids de la charge (L).
EP17167049.0A 2016-08-30 2017-04-19 Dispositif destiné à lever, abaisser ou maintenir une charge Active EP3290383B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016216263 2016-08-30

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EP3290383B1 true EP3290383B1 (fr) 2020-12-30

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Publication number Priority date Publication date Assignee Title
DE102021212457A1 (de) 2021-11-05 2023-05-11 Van Halteren Technologies Boxtel B.V. Hydraulische Stabilisierungsvorrichtung

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
US4021019A (en) 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes
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
FR2383876A2 (fr) * 1977-03-17 1978-10-13 Elf Aquitaine Dispositif de compensation des variations de distance entre un objet flottant sur l'eau et le fond de celle-ci
DE102005058952A1 (de) 2005-04-04 2006-10-05 Bosch Rexroth Ag Hydraulische Seegangskompensationseinrichtung
US7934561B2 (en) 2007-04-10 2011-05-03 Intermoor, Inc. Depth compensated subsea passive heave compensator
EP2896589B1 (fr) 2014-01-17 2016-10-19 SAL Offshore B.V. Procédé et appareil
EP3045416A1 (fr) 2015-01-14 2016-07-20 Robert Bosch Gmbh Dispositif de levage, d'abaissement ou de retenue d'une charge et procede de commande d'un tel dispositif

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DE102017206591A1 (de) 2018-03-01

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