Heave compensation system for ROV

Abstract

The invention relates to a heave compensation system for an ROV. The heave compensation system for the ROV comprises a sling gantry, a cable storage winch, a traction winch and a tension compensationsystem, wherein an umbilical winch is arranged on the sling gantry and provided with an umbilical cable; the tension compensation system comprises a heave compensator and a pressure adjusting and increasing device; the heave compensator comprises a moving pulley block, a fixed pulley block, energy accumulators, gas storage tanks and a display box; a first oil cylinder and a second oil cylinder arearranged on the two sides of the moving pulley block separately; the display box is provided with an oil pressure gauge, a gas pressure gauge and a tension detection displayer; and the pressure adjusting and increasing device comprises a booster pump and gas cylinders. The heave compensation system for the ROV can prevent a mother ship from generating a heave movement under the wave function, transmit the heave movement to slung subsea equipment like the ROV through a main umbilical cable, reduce the heave coupled motion conduction, absorb acceleration power, and reduce umbilical cable looseness and smooth active tension peak value, thereby improving the movement control conditions of the ROV, preventing the umbilical cable from being damaged, improving the system operation safety and forming a special and propagable general technical result.

Description

technical field [0001] The invention relates to a heave compensation system for ROV, which belongs to the field of underwater robots. Background technique [0002] The development of marine exploration and resource development and utilization, deep-sea observation and research programs requires a large number of deep-sea equipment cable laying, testing and maintenance operations, which greatly rely on the long-term underwater working hours, strong operating capabilities, and large load capacity. The remote-controlled submersible is the ROV underwater robot. Among them, the main equipment achievement of the "4000-meter deep-sea operation system" is the 4000-meter unmanned remote-controlled submersible. It is the first large-depth ROV system independently developed by my country, and the maximum working water depth is 4000m. , the main operating function is to conduct seabed detection, sampling and other underwater operations. When the ROV is operating underwater, the mother sh...

AI Technical Summary

Problems solved by technology

When the ROV is operating underwater, the mother ship inevitably has heave motion under the action of sea surface waves, which greatly reduces the efficiency and safety of the system. At the same time, the acceleration of the heave motion causes the cable tension to increase, which may exceed the umbilical cable. The allowable working load may lead to fatigue damage, which needs to be improved urgently

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