Self-adaptive stable hook device for deep-sea active heave compensation crane

Abstract

The invention relates to a self-adaptive hook stabilizing device for a deep sea active heave compensation crane, which is characterized in that two symmetrically arranged towing winches of a hook stabilizing system are connected with a lifting hook, the hook stabilizing system acquires angle, displacement and tension signals of cables of the two towing winches in real time through a sensor, and the signals are input into a self-adaptive controller; the self-adaptive hook stabilizing system effectively inhibits three-dimensional swing of the lifting hook by monitoring and adjusting the state of a rope of a towing winch in real time, so that accurate positioning of the lifting hook in the operation process is ensured, and the overall working efficiency and the stability of the lifting hook are improved; through the design of the device, the stress of the lifting hook can be balanced, the risk of cable winding is reduced, and potential safety hazards caused by improper movement of the lifting hook are reduced, so that the life safety and property safety of workers are guaranteed; the self-adaptive hook stabilizing system is combined with an automatic control technology, through dynamic adjustment and real-time feedback, self-optimization can be carried out under different operation conditions, the operation efficiency and flexibility of the system are improved, and the self-adaptive hook stabilizing system adapts to more complex operation environments.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea development equipment design, and in particular to an adaptive hook stabilizing device for a deep-sea active heave compensation crane. Background Art

[0002] As a key piece of equipment for deep-sea development, deep-sea active heave-compensated cranes provide reliable service for deepwater lifting operations in harsh environments. However, traditional heave-compensated cranes can only compensate for hook heave. The ship's roll and pitch, as well as the crane's slewing, luffing, and hoisting, can cause the hook to swing at both in-plane and out-of-plane angles, significantly impacting lifting efficiency and safety. To better address this issue, research institutes at home and abroad have conducted extensive research on hook motion compensation and developed various hook stabilization devices for heave-compensated cranes to improve efficiency and safety.

[0003] For example, a double-hook synchronization monitoring system and monitoring method for offshore platforms requires a large amount of crane modification work, occupies deck space, and the control accuracy is difficult to quantify; a crane on a ship / floating platform with a three-degree-of-freedom stabilization system uses a hydraulic system for overall compensation. The hydraulic system is large, the inertia error of the hydraulic system is difficult to resolve, and the accuracy of subsequent maintenance and adjustment compensation is difficult to guarantee. Summary of the Invention

[0004] To address the above problems, an adaptive hook stabilization device for a deep-sea active heave compensation crane is proposed. A set of symmetrical towing winches are installed at the front end of the tower to compensate for the hook motion. This device can not only compensate for the swing of the hook's in-plane and out-of-plane angles, but also compensate for the hook swing caused by the crane's rotation.

[0005] The technical solution of the present invention is: an adaptive hook stabilization device for a deep-sea active heave-compensating crane, wherein the heave-compensating winch is fixed to the tower platform by bolts and is connected to the hook through fixed pulleys on the main arm and the folding arm; the hook stabilization system is arranged directly in front of the tower, and the two symmetrically arranged towing winches of the hook stabilization system are connected to the hook. The hook stabilization system collects the angle, displacement, and tension signals of the cables of the two towing winches in real time through sensors, and the signals are input to the adaptive controller, compared with the preset stability threshold, and the deviation is calculated to control the two towing winches, thereby suppressing the roll and pitch of the aerial hook and achieving hook stabilization.

[0006] Preferably, the two towing winches are symmetrically arranged on both sides of the towing winch base, and an adjustable adaptive control hydraulic cylinder is added to the connection part between the two towing winches and the towing winch base. The hydraulic cylinder adjusts the rope-out points of the two towing winches according to the actual operating conditions, thereby ensuring the uniformity of the hook when subjected to force.

[0007] Preferably, the angle signal: the angle sensor is installed at the connection between the hook and the center line of the crane to monitor the real-time angle change between the hook and the center line of the crane. The angle is the angle value of the hook deviating from the center line of the crane, reflecting the swing direction and amplitude.

[0008] Preferably, the displacement signal: the displacement sensor is deployed at the end of the towing winch cable to detect the real-time length change of the cable, the length is the cable release / cable reeling distance, and the length change reflects the lateral displacement distance of the hook.

[0009] Preferably, the tension signal: the tension sensor is integrated at the connection between the towing winch and the cable to monitor the real-time tension value of the cable and the change in the tension value, reflecting the force fluctuation caused by the swing of the hook.

[0010] Preferably, the adaptive controller: adopts a constant tension mode during operation, giving priority to quickly responding to external interference through tension adjustment; adopts a fixed rope length mode after the operation, locks the cable length, eliminates free swing by slowly adjusting the tension, and ensures stable storage of the system.

[0011] Preferably, the constant tension mode outputs a control signal to the hydraulic system in proportion to the angle deviation value, adjusts the output flow of the hydraulic pump of the towing winch, and changes the cable tension.

[0012] Preferably, in the fixed rope length mode, the hydraulic cylinder is adaptively controlled by the hydraulic system according to the displacement deviation value, so as to fine-tune the position of the rope outlet point of the towing winch and balance the force on the hook.

[0013] The beneficial effects of the present invention are as follows: the present invention is used for an adaptive hook stabilization device of a deep-sea active heave compensation crane. The adaptive hook stabilization system effectively suppresses the three-dimensional swing of the hook by real-time monitoring and adjusting the rope status of the towing winch, thereby ensuring the precise positioning of the hook during operation and improving the overall work efficiency and hook stability; the design of the device can balance the force on the hook, reduce the risk of cable entanglement, and reduce the safety hazards caused by improper hook movement, thereby ensuring the life safety and property safety of the staff; the adaptive hook stabilization system combines automatic control technology, and through dynamic adjustment and real-time feedback, it can perform self-optimization under different operating conditions, improve the operating efficiency and flexibility of the system, and adapt to more complex operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of an adaptive hook stabilizing device for a deep-sea active heave compensation crane according to the present invention;

[0015] Figure 2 This is a schematic structural diagram of the hook stabilization system in the device of the present invention;

[0016] Figure 3This is a working flow chart of the hook stabilizing device of the present invention. DETAILED DESCRIPTION

[0017] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0018] like Figure 1 The diagram below shows the structure of an adaptive hook stabilization device for a deep-sea active heave-compensating crane. The device includes a hydraulic system 1.1, a heave-compensating winch 1.2, a tower 1.3, a main boom 1.4, a folding arm 1.5, and a hook stabilization system 1.6. Hydraulic system 1.1, located on a second-level platform behind tower 1.3, serves as the power unit for the main winch. Heave-compensating winch 1.2 compensates for the main winch's lifting and heave. Bolted to the platform behind tower 1.3, heave-compensating winch 1.2 is connected to the hook via fixed pulleys on the main boom 1.4 and folding arm 1.5. The tower 1.3 houses the heave-compensation electronic control system and the hook stabilization system's electro-hydraulic control system. The distal end of the main boom 1.4 is connected to the tower 1.3, while the fore end of the main boom 1.4 is connected to the folding arm 1.5 to control crane lifting. The folding arm 1.5 is linked to the main arm 1.4. The boom head of the folding arm 1.5 is connected to the hook via a rope. The boom head is equipped with a rope skipping device to prevent the ropes from getting tangled. The hook stabilization system 1.6 is located directly in front of the tower body 1.3. Its two symmetrically arranged towing winches are connected to the hook. By controlling the two towing winches, the hook stabilization system 1.6 suppresses the roll and pitch of the mid-air hook, thereby achieving a stable hook.

[0019] In deep-sea lifting operations, the stability of the hook is a key factor in ensuring project safety and efficiency. Figure 2 In the layout of the hook stabilization system 1.6, 2.5 is the towing winch base, installed directly in front of the tower 1.3. Two towing winches 2.1 and 2.4 are symmetrically positioned on either side of the towing winch base 2.5. Due to environmental factors such as wind, waves, and currents, the hook undergoes complex three-dimensional oscillation in space, which not only affects its precise positioning but can also significantly reduce work efficiency. Furthermore, if improperly controlled, hook oscillation can cause casualties and property damage, making this issue an urgent need for effective solutions.

[0020] To address these issues, a new adaptive hook stabilization system has been designed based on a towing winch. This system features both constant tension control and fixed rope length control modes, aiming to stabilize the hook position by automatically adjusting force transmission and rope length. Its specific operating principles are as follows:

[0021] When the hook sways due to external factors, it inevitably forms a certain angle with the crane's centerline. This change in angle causes the hook to shift, affecting the stability of the entire lifting operation. When the hook deviates to the left, the system suppresses this sway by controlling the towing winch 2.1 to release the cable and the towing winch 2.4 to reel it in. The implementation of this operating mechanism relies on real-time monitoring of the hook's motion state and making corresponding adjustments based on the size and direction of the offset. Conversely, when the hook deviates to the right, the towing winch 2.1 will reel in the cable, while the towing winch 2.4 will release the cable, thereby suppressing the sway. The core of this mechanism is continuous feedback adjustment, which enables precise control of the hook.

[0022] The symmetrical placement of the two towing winches was chosen, taking into account their importance in maintaining hook stability. During operation, if the rope delivery points of the two towing winches 2.1 and 2.4 are offset, the hook may be subjected to uneven tension. Furthermore, this uneven force may cause the cable to become entangled in the towing winch drum, further compromising the safety and stability of the system. To address this potential issue, adjustable adaptive control hydraulic cylinders (labeled 2.2 and 2.3) have been added to the connection between towing winches 2.1 and 2.4 and the towing winch base 2.5. The drive hydraulic cylinders of towing winches 2.1 and 2.4 can adjust the rope delivery points of towing winches 2.1 and 2.4 according to actual operating conditions, thereby ensuring uniform force on the hook and avoiding the risk of cable entanglement. The adaptive control hydraulic cylinder not only has the ability to adjust the rope delivery point, but also monitors the system status in real time, allowing for quick adjustments during operation. The introduction of this adaptive control mechanism improves the intelligence level of the system, enabling it to self-optimize its configuration under different operating conditions and maintain the best working state.

[0023] The specific implementation method of the adaptive hook stabilization system control is as follows:

[0024] 1. Inspection methods and monitoring signals

[0025] 1. Inspection methods

[0026] Angle sensor: Installed at the connection between the hook and the center line of the crane, it monitors the real-time angle change (left / right angle) between the hook and the center line of the crane.

[0027] Displacement sensor: Deployed at the end of the towing winch cable to detect the real-time length change of the cable (cable release / retraction distance).

[0028] Tension sensor: integrated into the connection between the towing winch and the cable to monitor the real-time tension value (pull size) of the cable.

[0029] 2. Monitoring signal

[0030] Angle signal: The angle value of the hook deviating from the center line of the crane (unit: °), reflecting the swing direction and amplitude.

[0031] Displacement signal: the change in cable length (unit: m), reflecting the lateral displacement distance of the hook.

[0032] Tension signal: cable tension change value (unit: N), reflecting the force fluctuation caused by the swing of the hook.

[0033] 2. Signal processing and calculation of hydraulic adjustment amount

[0034] 1. Control logic and algorithm

[0035] Real-time feedback mechanism:

[0036] The system collects angle, displacement, and tension signals in real time through sensors, inputs them into the adaptive controller (with built-in PID algorithm or fuzzy control algorithm), compares them with the preset stability threshold (such as angle deviation ±5°, displacement deviation ±0.1m), and calculates the deviation (actual value - threshold).

[0037] Control mode switching:

[0038] Constant tension mode (during operation): When the hook swings due to external forces such as wind, waves, rotation, etc., the swing is suppressed by adjusting the cable tension first.

[0039] Calculation logic: Based on the angle deviation value, a control signal is proportionally output to the hydraulic system to adjust the output flow of the hydraulic pump of the towing winch and change the cable tension (for example, if the angle deviates 1° to the left, the tension of the left winch for releasing the cable is reduced by 5%, and the tension of the right winch for reeling in the cable is increased by 5%).

[0040] Fixed rope length mode (storage stage after operation): When the hook swings freely, the cable length is locked and the tension is adjusted.

[0041] Calculation logic: Based on the displacement deviation value, the hydraulic system drives the adaptive control hydraulic cylinder (2.2 / 2.3) to fine-tune the position of the towing winch's rope release point (for example, if the displacement deviates to the right by 0.2m, the right hydraulic cylinder extends by 0.1m and the left hydraulic cylinder shortens by 0.1m) to balance the hook force.

[0042] 2. Core parameters for calculating hydraulic adjustment: hydraulic cylinder cross-sectional area (A, unit: \(m^2\)), hydraulic oil pressure (P, unit: Pa), cable tension (F, unit: N). Mechanical relationship: \(F=P\times A\), the output force is changed by adjusting P or A. Calculation steps: According to the angle / displacement deviation, the required compensation force \(F_{compensation}\) is calculated through the control algorithm (e.g., 1000N tension difference is required to suppress 1° swing). According to the hydraulic cylinder parameters, the required hydraulic pressure adjustment \(\Delta P=F_{compensation} / A\) is reversed (e.g., the hydraulic cylinder cross-sectional area is 0.01m 2 When the required compensation force is 1000N, Delta P = 1000 / 0.01 = 10^5Pa. The output signal is sent to the hydraulic valve group to adjust the hydraulic pump flow or relief valve pressure, achieving precise control of Delta P.

[0043] 3. Implementation of Swing Suppression

[0044] 1. Dynamic compensation process

[0045] Symmetrical winches working together:

[0046] When the hook deviates to the left, the left towing winch (2.1) releases the cable and reduces the tension, while the right towing winch (2.4) reels in the cable and increases the tension, thereby forming a reverse pulling force to suppress the left swing.

[0047] When the hook deviates to the right, the opposite operation is performed to offset the swinging tendency through the symmetrical force couple.

[0048] Adaptive hydraulic cylinder fine-tuning:

[0049] If the towing winch's release point deviates, resulting in uneven force, the adaptive control hydraulic cylinder (2.2 / 2.3) adjusts the release point position in real time to ensure balanced tension on the left and right cables and avoid cable entanglement.

[0050] 2. Control mode switching logic

[0051] During operation (constant tension mode): prioritizes quick response to external disturbances through tension adjustment to ensure lifting accuracy.

[0052] After operation (fixed rope length mode): lock the cable length and eliminate free swing by slowly adjusting the tension to ensure the system is stable for storage.

[0053] 4. Key technological advantages

[0054] Dual-mode control: Constant tension and fixed rope length modes cover the entire operation process, improving stability in different scenarios.

[0055] Adaptive adjustment: Dynamically correct the rope release point through the hydraulic cylinder, automatically adapting to hook offset and load changes.

[0056] Multi-signal fusion: Combine angle, displacement, and tension data to achieve three-dimensional precise control of swing amplitude, direction, and force.

[0057] After the crane's operation is complete and it enters storage, the hook's free swing, caused by the crane's slewing, hoisting, and luffing movements, becomes more pronounced. Without effective control, this swing could lead to continued instability. This is when the adaptive hook stabilization system switches to fixed-rope-length mode. In this mode, the system not only monitors hook swing in real time but also takes necessary measures to suppress the swing by adjusting the cable length, thereby ensuring the hook's stability.

[0058] The above-described embodiments merely represent specific implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. An adaptive hook stabilizing device for a deep-sea active heave compensation crane, characterized in that: The heave compensation winch is fixed to the tower platform with bolts and connected to the hook through the fixed pulleys on the main arm and the folding arm; the stable hook system is arranged in front of the tower, and the two symmetrically arranged towing winches of the stable hook system are connected to the hook. The stable hook system collects the angle, displacement and tension signals of the cables of the two towing winches in real time through sensors. The signals are input to the adaptive controller, compared with the preset stability threshold, and the deviation is calculated to control the two towing winches to suppress the roll and pitch of the aerial hook and achieve stable hook.

2. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 1, characterized in that: The two towing winches are symmetrically arranged on both sides of the towing winch base. An adjustable adaptive control hydraulic cylinder is added to the connection part between the two towing winches and the towing winch base. The hydraulic cylinder adjusts the rope output points of the two towing winches according to the actual operating conditions, thereby ensuring the uniformity of the hook when subjected to force.

3. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 2, characterized in that: The angle signal: The angle sensor is installed at the connection between the hook and the center line of the crane to monitor the real-time angle changes between the hook and the center line of the crane. The angle is the angle value of the hook deviating from the center line of the crane, reflecting the swing direction and amplitude.

4. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 3, characterized in that: The displacement signal: The displacement sensor is deployed at the end of the towing winch cable to detect the real-time length change of the cable. The length is the cable release / retraction distance, and the length change reflects the lateral displacement distance of the hook.

5. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 4, characterized in that: The tension signal: The tension sensor is integrated into the connection between the towing winch and the cable to monitor the real-time tension value of the cable and the change in the tension value, reflecting the force fluctuation caused by the swing of the hook.

6. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 5, characterized in that: The adaptive controller adopts a constant tension mode during operation, giving priority to quickly responding to external disturbances through tension adjustment; and adopts a fixed rope length mode after operation, locking the cable length and eliminating free swing by slowly adjusting the tension to ensure stable storage of the system.

7. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 6, characterized in that: The constant tension mode: according to the angle deviation value, a control signal is proportionally output to the hydraulic system to adjust the output flow of the hydraulic pump of the towing winch and change the cable tension.

8. The adaptive hook stabilizing device for a deep-sea active heave compensation crane according to claim 6, characterized in that: The fixed rope length mode: according to the displacement deviation value, the hydraulic system drives the adaptive control hydraulic cylinder to fine-tune the position of the towing winch's rope output point and balance the hook force.

Images