EP4053068B1

EP4053068B1 - Lifting system with three-way motion compensation function

Info

Publication number: EP4053068B1
Application number: EP20909257.6A
Authority: EP
Inventors: Yadong Li; Xiquan Liu; Yunfeng Li; Yuanhui SUN; Peng XIN; Tao Lv; Xiaohui LV; Peng Liu; Jianwen Li; Tao Sun; Yongjie SONG
Original assignee: Shandong Marine Energy Co Ltd; Shandong Offshore Equipment Co Ltd; Shandong Offshore Research Institute Co Ltd
Current assignee: Shandong Marine Energy Co Ltd; Shandong Offshore Equipment Co Ltd; Shandong Offshore Research Institute Co Ltd
Priority date: 2019-12-30
Filing date: 2020-12-14
Publication date: 2024-03-27
Anticipated expiration: 2040-12-14
Also published as: EP4053068A1; WO2021135902A1; EP4053068A4

Description

TECHNICAL FIELD

The present disclosure relates to a lifting system with a three-way motion compensation function, and belongs to the technical field of ocean engineering.

BACKGROUND

In an offshore operation, a vessel body moves with a wave in a sea condition, and devices on the vessel body also move with the wave, causing phenomena such as imbalance of stress on a lifting device, mechanical collision, and constant change of a lifting position. In addition, a synchronous lifting process is hard to guarantee; or even, a marine accident is caused. Heave compensation in a vertical direction is generally used in the prior art, but heave compensation has an unsatisfactory compensation effect and a complex structure. In a double-vessel hoisting method proposed recently, based on the lever principle, a boom is provided with a ballast buoy at a front end and a counterweight tank at a rear end. In a lifting operation, water is discharged from the buoy, and the counterweight tank is filled with water, thereby jointly increasing a lifting force. However, the double-vessel hoisting method has the following defects: (1) It requires a complex structure, and takes a long time to fill and discharge water. (2) In this operation, a lifted object may collide with the vessel body because of shaking of the vessel body. (3) Lifting efficiency is low. EP 0 903 319 A1 discloses a working platform, in particular for servicing aircrafts. DE 34 03 016 A1 discloses an unloading device for ships. KR 2019 0132741 discloses a skid apparatus for a floating structure.

SUMMARY

To overcome the above defects in the prior art, the present disclosure provides a lifting system with a three-way motion compensation function to implement three-way motion compensation that avoids an impact of a wave on a lifting device and implements synchronous lifting of a plurality of lifting systems.
The lifting system with a three-way motion compensation function in the present disclosure includes a main arm, a second mobile cart, a first support, a second support, a first mobile cart, a lifting mechanism, and a vessel body. The front end of the main arm is mounted at an upper end of the first mobile cart. A rear end of the main arm is mounted at an upper end of the second mobile cart. A lower end of the first mobile cart is mounted on the first support. A lower end of the second mobile cart is mounted on the second support. The first support and the second support are separately fixed on the vessel body. First rails are mounted on two sides of a bottom of the front end of the main arm. First road wheel sets are mounted at the upper end of the first mobile cart. The first rails are mounted on the first road wheel sets. Concave second rails are mounted on two sides of the rear end of the main arm. Second road wheel sets are mounted at the upper end of the second mobile cart and in the concave second rails that are used for limiting up-down motion of the main arm. The main arm moves left and right through the first road wheel sets and the second road wheel sets. Third road wheels are mounted at the lower end of the first mobile cart. Fourth rails are symmetrically mounted on two sides of the first support. The third road wheels are mounted on the fourth rails and move along the fourth rails, thereby enabling the first mobile cart to move front and back relative to the first support. Fourth road wheels are mounted at the lower end of the second mobile cart. U-shaped third rails are mounted on two sides of the second support. The fourth road wheels are mounted on the U-shaped third rails having a vertical positioning function and move along the U-shaped third rails, thereby enabling the second mobile cart to move front and back relative to the second support. The main arm is driven to move front and back when the first mobile cart and the second mobile cart act synchronously. The lifting mechanism for driving a lifted object to move up and down is hinged to the front end of the main arm.
Preferably, two first racks are symmetrically mounted on two sides of the main arm.
Preferably, third racks are symmetrically mounted on a left side and a right side of the first support.
Preferably, a pair of first hydraulic motors symmetrically disposed about the main arm are mounted at the upper end of the first mobile cart. A first gear is mounted on each of the first hydraulic motors and meshed with the first racks on the main arm, thereby driving the main arm to move. A pair of first locking mechanisms used for locking the main arm and symmetrically disposed about the main arm are mounted at the upper end of the first mobile cart, such that the main arm can be static relative to the first mobile cart. Two first road wheel sets are symmetrically disposed in each of a front side and a rear side of the upper end of the first mobile cart. Four third road wheels are symmetrically disposed on each of a left side and a right side of the lower end of the first mobile cart. A pair of second hydraulic motors symmetrically disposed about the main arm are mounted at the lower end of the first mobile cart. A second gear is mounted on each of the second hydraulic motors and meshed with the third racks on the first support, thereby driving the first mobile cart to move. A pair of second locking mechanisms used for locking the first mobile cart and symmetrically disposed about the first support are mounted at the lower end of the first mobile cart, such that the first mobile cart can be static relative to the first support.
Preferably, each of the first locking mechanisms and the second locking mechanisms includes a locking apparatus mounted on the first mobile cart, as well as the first racks of the main arm and the third racks of the first support, which are meshed with the locking apparatus. Each of the locking apparatuses includes a locking rack whose section takes the shape of an inverted trapezoid. The locking rack is disposed on one side of the first racks/third racks. Two adjustment hydraulic cylinders are hinged to a bottom of the locking rack. A structure defined by the adjustment hydraulic cylinders has a certain included angle and takes the shape of inverted V. Two locking sliders capable of moving left and right are disposed on the locking rack. Each of the locking sliders slides uni-directionally along a slide rail and is provided with an inclined surface matched with the locking rack. The adjustment hydraulic cylinders push the locking rack into the first racks/third racks. The locking rack and the first racks/third racks are meshed with each other. The two locking sliders approach the locking rack. The inclined surfaces of the two locking sliders are fitted with inclined surfaces of the locking rack.
Preferably, the second support is formed by welding plates together, and a second rack is mounted in a middle of the second support.
Preferably, the second mobile cart is formed by welding a plate and rectangular tubes together. A third hydraulic motor is mounted in a middle of the second mobile cart. A third gear is mounted on the third hydraulic motor and meshed with the second rack on the second support, thereby driving the second mobile cart to move. First guide wheels are mounted on a left side and a right side of the lower end of the second mobile cart, and are in contact with side walls of the U-shaped third rails, thereby implementing left-right positioning and guiding for the second mobile cart. Four second guide wheels are mounted on a support frame of the second mobile cart, symmetrically disposed about the main arm, and mounted in the concave second rails, thereby performing a guiding function on left-right motion of the main arm.
Preferably, the lifting mechanism includes a connecting rod, a driving rod, a lifting bracket, and a hydraulic cylinder. One end of the connecting rod is hinged to the lifting bracket, and the other end thereof is hinged to the main arm. One end of the driving rod is hinged to the lifting bracket, and the other end thereof is hinged to the main arm. A rod end of the hydraulic cylinder is hinged to the driving rod, and a barrel end thereof is hinged to the main arm. The lifting bracket moves up and down under the action of stretching of the hydraulic cylinder.
The present disclosure has the following beneficial effects:

(1) The lifting system can perform a three-way motion compensation function, and can effectively avoid mechanical collision, position deviation, or the like caused by rolling, pitching, or heaving of the vessel body.
(2) The locking mechanisms are disposed in two motion directions of the main arm, such that the main arm can be effectively and reliably locked when there is no need for compensation.
(3) The hydraulic motors, the road wheels, the guide wheels, the locking mechanisms, and the like are all disposed symmetrically, thereby ensuring that stress is balanced and no extra torque is generated.
(4) The lifting bracket in the lifting mechanism may be further provided with tooling, such as a clamping mechanism, thereby lifting objects of various structures.
(5) A plurality of the lifting systems can be used jointly, thereby having wide applicability. Because hydraulic pressure is used for lifting, the lifting system has high lifting efficiency and low comprehensive costs.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a three-dimensional diagram of a lifting system;
FIG. 2 is a three-dimensional diagram of a main arm;
FIG. 3 is a three-dimensional diagram of an upper portion of a first mobile cart;
FIG. 4 is a three-dimensional diagram of a bottom of the first mobile cart;
FIG. 5 is a three-dimensional diagram of a first support;
FIG. 6 is a three-dimensional diagram of a second mobile cart;
FIG. 7 is a three-dimensional diagram of a second support;
FIG. 8 is a main view of a lifting mechanism; and
FIG. 9 is a main view of a locking mechanism.

Reference numerals in the accompanying drawings are as follows: 1-main arm, 11-first rail, 12-second rail, and 13-first rack;

2-second mobile cart, 21-second road wheel set, 22-fourth road wheel, 23-third hydraulic motor, 24-first guide wheel, and 25-second guide wheel;
3-second support, 31-third rail, and 32-second rack;
4-first support, 41-fourth rail, and 42-third rack;
5-first mobile cart, 51-first road wheel set, 52-third road wheel, 53-first hydraulic motor, 54-first locking mechanism, 55-second hydraulic motor, and 56-second locking mechanism;
6-lifting mechanism, 61-connecting rod, 62-driving rod, 63-lifting bracket, and 64-hydraulic cylinder;
7-vessel body; and
8-locking apparatus, 81-locking rack, 82-adjustment hydraulic cylinder, 83-locking slider, and 84-slide rail.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solutions in the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. It will become apparent that the described embodiments are merely some, rather than, all of the embodiments of the present disclosure. All other examples obtained by a person of ordinary skill in the art based on the examples of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.
As shown in FIG. 1, the present disclosure provides a lifting system with a three-way motion compensation function including a main arm 1, a first mobile cart 5, a second mobile cart 2, a second support 3, a first support 4, a lifting mechanism 6, and a vessel body 7. A front end of the main arm 1 is mounted at an upper end of the first mobile cart 5. A rear end of the main arm 1 is mounted at an upper end of the second mobile cart 2 A lower end of the first mobile cart 5 is mounted on the first support 4. A lower end of the second mobile cart 2 is mounted on the second support 3. The lifting mechanism 6 is mounted at the front end of the main arm 1. The second support 3 and the first support 4 are separately fixed on the vessel body 7.
As shown in FIG. 2 to FIG. 7, rails I 11 are mounted on two sides of a bottom of the front end of the main arm 1. First road wheel sets 51 are mounted at the upper end of the first mobile cart 5. The first rails 11 are mounted on the first road wheel sets 51. Concave second rails 12 are mounted on two sides of the rear end of the main arm 1. Second road wheel sets 21 are mounted at the upper end of the second mobile cart 2 and in the concave second rails 12 that are used for limiting up-down motion of the main arm 1. The main arm 1 can move left and right through the first road wheel sets 51 and the second road wheel sets 21. Third road wheels 52 are mounted at the lower end of the first mobile cart 5. Fourth rails 41 are symmetrically mounted on two sides of the first support 4. The third road wheels 52 are mounted on the fourth rails 41 and can move along the fourth rails 41, thereby enabling the first mobile cart 5 to move front and back relative to the first support 4. Fourth road wheels 22 are mounted at the lower end of the second mobile cart 2. U-shaped third rails 31 are mounted on two sides of the second support 3. The fourth road wheels 22 are mounted in the third rails 31 having a vertical positioning function and can move along the third rails 31, thereby enabling the second mobile cart 2 to move front and back relative to the second support 3. The main arm 1 can be driven to move front and back when the first mobile cart 5, and the second mobile cart 2 act synchronously.
As shown in FIG. 1 and FIG. 8, the lifting mechanism 6 capable of driving a lifted object to move up and down is hinged to the front end of the main arm 1.
As shown in FIG. 9, each of first locking mechanisms 54 and second locking mechanisms 56 includes a locking apparatus 8 mounted on the first mobile cart 5, as well as first racks 13 of the main arm 1 and third racks 42 of the first support 4, which are meshed with the locking apparatus 8. Each of the locking apparatuses 8 includes a locking rack 81 whose section takes the shape of an inverted trapezoid. The locking rack 81 is disposed on one side of the first racks 13/third racks 42. Two adjustment hydraulic cylinders 82 are hinged to a bottom of the locking rack 81; a structure defined by the adjustment hydraulic cylinders 82 has a certain included angle and takes the shape of inverted V. Two locking sliders 83 capable of moving left and right are disposed on the locking rack 81. Each of the locking sliders 83 slides uni-directionally along a slide rail 84 and is provided with an inclined surface matched with the locking rack 81. The adjustment hydraulic cylinders push the locking rack 81 into the first racks13/third racks 42. The locking rack 81 and the first racks 13/third racks 42 are meshed with each other. The two locking sliders 83 approach the locking rack 81, and the inclined surfaces of the two locking sliders 83 are fitted with inclined surfaces of the locking rack 81.
When an object is lifted, second hydraulic motors 55 and third hydraulic motor 23 act synchronously to adjust a position of the main arm 1 in a front-back direction. Then, first hydraulic motors 53 act to adjust the position of the main arm 1 in a left-right direction; the hydraulic cylinder 64 in the lifting mechanism 6 acts to enable a lifting bracket 63 to approach the lifted object. Cooperating with an accumulator, the lifting mechanism 6 controls stretching of the hydraulic cylinder 64 by detecting stress on the lifting bracket 63, and keeps stress on the lifting bracket 63 unchanged, thereby preforming a passive compensation function. The first hydraulic motors 53, the second hydraulic motors 55, and the third hydraulic motor 23 are controlled by detecting a position offset of the vessel body relative to the lifted object, thereby compensating position deviation of the main arm 1 in the left-right direction and the front-back direction. Finally, the lifting bracket 63 is static relative to the lifted object, and the stress is constant.
In addition, a plurality of the lifting systems may be used to work jointly based on weight of the lifted object.
The lifting system can perform a three-way motion compensation function, and can effectively avoid mechanical collision, position deviation, or the like caused by rolling, pitching, or heaving of the vessel body. The locking mechanisms provided in the present disclosure can effectively and reliably lock the main arm when there is no need for compensation. Moreover, the plurality of the lifting systems can be used jointly. The lifting system has wide applicability, and uses hydraulic pressure for lifting, thereby having high lifting efficiency and low comprehensive costs.
The lifting system can be widely applied to scenarios of ocean engineering.
A circuit, an electronic component, and a module used in the lifting system are all belong to the prior art, and can be implemented by a person skilled in the art. Description of details is not required. Content provided by the present disclosure does not include improvement on software and a method.
It should be noted that in this specification, relational terms such as first and second are used only to differentiate an entity or operation from another entity or operation, and do not require or imply that any actual relationship or sequence exists between these entities or operations. In addition, terms "include", "comprise", or any other variants thereof are intended to cover a non-exclusive inclusion, such that a process, a method, an article, or a device that includes a list of elements not only includes those elements, but also includes other elements that are not explicitly listed, or further includes elements inherent to the process, the method, the article, or the device.

Claims

A lifting system with a three-way motion compensation function, comprising
a main arm (1),

a second mobile cart (2),

a first support (4),

a second support (3),

a first mobile cart (5),

a lifting mechanism (6), and

a vessel body (7),

wherein a front end of the main arm (1) is mounted at an upper end of the first mobile cart (5);

a rear end of the main arm (1) is mounted at an upper end of the second mobile cart (2);

a lower end of the first mobile cart (5) is mounted on the first support (4);

a lower end of the second mobile cart (2) is mounted on the second support (3);

the first support (4) and the second support (3) are separately fixed on the vessel body (7);

first road wheel sets (51) are mounted at the upper end of the first mobile cart (5); the main arm (1) moves left and right; the main arm (1) is driven to move front and back when the first mobile cart (5) and the second mobile cart (2) act synchronously;

characterized in that

first rails (11) are mounted on two sides of a bottom of the front end of the main arm (1);

the first rails (11) are mounted on the first road wheel sets (51);

concave second rails (12) are mounted on two sides of the rear end of the main arm (1);

second road wheel sets (21) are mounted at the upper end of the second mobile cart (2) and the second road wheel sets (21) are mounted in the concave second rails (12) configured for limiting up-down motion of the main arm (1);

the left and right movement of the main arm (1) is provided through the first road wheel sets (51) and the second road wheel sets (21);

third road wheels (52) are mounted at the lower end of the first mobile cart (5);

fourth rails (41) are symmetrically mounted on two sides of the first support (4);

the third road wheels (52) are mounted on the fourth rails (41) and move along the fourth rails (41), to drive the first mobile cart (5) to move front and back relative to the first support (4);

fourth road wheels (22) are mounted at the lower end of the second mobile cart (2);

U-shaped third rails (31) are mounted on two sides of the second support (3);

the fourth road wheels (22) are mounted on the U-shaped third rails (31) having a vertical positioning function and configured to move along the U-shaped third rails (31) to drive the second mobile cart (2) to move front and back relative to the second support (3); and

the lifting mechanism (6) for driving a lifted object to move up and down is hinged to the front end of the main arm (1).
The lifting system according to claim 1, characterized in that two first racks (13) are symmetrically mounted on two sides of the main arm (1).
The lifting system according to claim 2, characterized in that third racks (42) are symmetrically mounted on a left side and a right side of the first support (4).
The lifting system according to claim 3, characterized in that a pair of first hydraulic motors (53) symmetrically disposed about the main arm (1) are mounted at the upper end of the first mobile cart (5);
a first gear is mounted on each of the first hydraulic motors (53) and meshed with the first racks (13) on the main arm (1) to drive the main arm (1) to move;

a pair of first locking mechanisms (54) symmetrically disposed about the main arm (1) are mounted at the upper end of the first mobile cart (5), and the pair of first locking mechanisms (54) are configured for locking the main arm (1) to make the main arm (1) static relative to the first mobile cart (5);

two first road wheel sets (51) are symmetrically disposed in each of a front side and a rear side of the upper end of the first mobile cart (5); four third road wheels (52) are symmetrically disposed on each of a left side and a right side of the lower end of the first mobile cart (5);

a pair of second hydraulic motors (55) symmetrically disposed about the main arm (1) are mounted at the lower end of the first mobile cart (5);

a second gear is mounted on each of the second hydraulic motors (55) and meshed with the third racks (42) on the first support (4) to drive the first mobile cart (5) to move; and

a pair of second locking mechanisms (56) symmetrically disposed about the first support (4) are mounted at the lower end of the first mobile cart (5), and the pair of second locking mechanisms (56) are configured for locking the first mobile cart (5) to make the first mobile cart (5) static relative to the first support (4).
The lifting system according to claim 4, characterized in that each of the first locking mechanisms (54) and the second locking mechanisms (56) comprises a locking apparatus (8) mounted on the first mobile cart (5); the first racks (13) of the main arm (1) and the third racks (42) of the first support (4) are meshed with the locking apparatus (8); each of the locking apparatuses (8) comprises a locking rack (81) having a section in a shape of an inverted trapezoid;
the locking rack (81) is disposed on a side of the first racks (13)/third racks (42);

two adjustment hydraulic cylinders (82) are hinged to a bottom of the locking rack (81);

a structure defined by the two adjustment hydraulic cylinders (82) has a certain included angle and takes the shape of inverted V;

two locking sliders (83) are movably disposed on a left side and a right side of the locking rack (81);

each of the two locking sliders (83) slides uni-directionally along a slide rail (84), and is provided with an inclined surface matched with the locking rack (81);

the two adjustment hydraulic cylinders (82) push the locking rack (81) into the first racks (13)/third racks (42);

the locking rack (81) and the first racks (13)/third racks (42) are meshed with each other;

the two locking sliders (83) approach the locking rack (81);

and the inclined surfaces of the two locking sliders (83) are fitted with inclined surfaces of the locking rack (81).
The lifting system according to claim 1, characterized in that the second support (3) is formed by welding plates together; and a second rack (32) is mounted in a middle of the second support (3).
The lifting system according to claim 6, characterized in that the second mobile cart (2) is formed by welding a plate and rectangular tubes together;
a third hydraulic motor (23) is mounted in a middle of the second mobile cart (2);

a third gear is mounted on the third hydraulic motor (23) and meshed with the second rack (32) on the second support (3), to drive the second mobile cart (2) to move;

first guide wheels (24) are mounted on a left side and a right side of the lower end of the second mobile cart (2), and are in contact with side walls of the U-shaped third rails (31) to implement left-right positioning and guiding for the second mobile cart (2); and

four second guide wheels (25) are mounted on a support frame of the second mobile cart (2), symmetrically disposed about the main arm (1), and mounted in the concave second rails (12) to perform a guiding function on left-right motion of the main arm (1).
The lifting system according to claim 1, characterized in that the lifting mechanism (6) comprises a connecting rod (61), a driving rod (62), a lifting bracket (63), and a hydraulic cylinder (64);
a first end of the connecting rod (61) is hinged to the lifting bracket (63), and a second end of the connecting rod (61) is hinged to the main arm (1);

a first end of the driving rod (62) is hinged to the lifting bracket (63), and a second end of the driving rod (62) is hinged to the main arm (1);

a rod end of the hydraulic cylinder (64) is hinged to the driving rod (62), and a barrel end of the hydraulic cylinder (64) is hinged to the main arm (1); and

the lifting bracket (63) moves up and down under the action of stretching of the hydraulic cylinder (64).