Heave compensation hydraulic system

Abstract

The utility model relates to the technical field of hydraulic systems, in particular to a heave compensation hydraulic system. A heave compensation hydraulic system comprises an oil source system which provides oil liquid; a winch system; the driving system is driven by the oil source system to drive the winch system, the driving system comprises at least two motor units, at least one motor unit executes active heave compensation, and at least one motor unit executes passive heave compensation. The driving system further comprises an energy accumulator unit, the oil source system provides pressure oil to the motor unit executing active heave compensation and provides pressure oil to the energy accumulator unit in a one-way mode, and the motor unit executing passive heave compensation is communicated with the energy accumulator unit. The technical problems that a heave compensation system in the prior art is large in occupied space and low in compensation efficiency are solved.

Description

Technical Field

[0001] This utility model relates to the field of hydraulic technology, specifically to a heave compensation hydraulic system. Background Technology

[0002] With the increasing development of marine resources, the demand for winches with heave compensation functions is growing. Winches with heave compensation functions can reduce or even counteract the effects of wind, waves, and ocean currents, greatly expanding the winch's operating window, improving operational efficiency, and ensuring the safety of goods, equipment, personnel, and surrounding property.

[0003] In existing technologies, some offshore winches also possess heave compensation capabilities. For example, document CN105804675A discloses a hydraulic drive system for an offshore drilling compensation winch. This system utilizes a motor (secondary adjustment element) for active heave compensation and a combination of hydraulic cylinders and accumulators for passive heave compensation. This approach offers high compensation accuracy and low energy consumption. However, hydraulic cylinders are costly and require significant deck space. Another example is document CN107986179A, which discloses a heave compensation device for an offshore crane. This device utilizes a motor (secondary adjustment element) and a supercapacitor for heave compensation, saving power but resulting in low compensation efficiency. Yet another example is document CN111573545A, which discloses a distributed energy-saving active-passive composite heave compensation system and its operating method. This system employs hydraulic cylinders for active heave compensation and a hoisted passive heave compensator for passive heave compensation. This approach offers high compensation accuracy and requires minimal deck space. However, due to the limited stroke of the hydraulic cylinders used for active heave compensation, the active heave compensation capability is limited, and the adaptability to sea conditions is poor. In addition, the hoisting compensation equipment reduces the hoisting load of the winch and weakens the winch's hoisting height capability. In other words, the existing heave compensation system has the technical problems of large space occupation and low compensation efficiency. Utility Model Content

[0004] To address the technical problems of large space occupation and low compensation efficiency in existing heave compensation systems, this utility model provides a heave compensation hydraulic system that solves the aforementioned technical problems.

[0005] To solve the above-mentioned technical problems, this utility model provides a heave compensation hydraulic system, comprising:

[0006] An oil supply system that provides oil.

[0007] winch system;

[0008] The drive system drives the winch system under the influence of the oil source system. The drive system includes at least two motor units, at least one of which performs active heave compensation and at least one of which performs passive heave compensation.

[0009] According to one embodiment of the present invention, the drive system further includes an accumulator unit, the oil source system provides pressurized oil to the motor unit that performs active heave compensation, and provides pressurized oil unidirectionally to the accumulator unit, and the motor unit that performs passive heave compensation is connected to the accumulator unit.

[0010] According to one embodiment of the present invention, the motor unit includes a servo motor and a servo valve. The servo motor includes an A port and a B port. The A port is connected to the a port of the servo valve via a first working oil circuit, and the B port is connected to the b port of the servo valve via a second working oil circuit. The servo valve controls the flow of pressure oil into and out of the servo motor, and the servo motor is connected to the winch system for transmission.

[0011] According to one embodiment of the present invention, a first cartridge valve is provided on the first working oil circuit. The first cartridge valve controls the opening and closing of the first working oil circuit, and a first solenoid valve controls the control chamber of the first cartridge valve to introduce high pressure or release pressure.

[0012] According to one embodiment of the present invention, a pressure control valve group is provided between the first working oil circuit and the second working oil circuit. The pressure control valve group includes a connecting oil circuit and a second cartridge valve. The first working oil circuit and the second working oil circuit are connected through the connecting oil circuit. The second cartridge valve controls the opening and closing of the connecting oil circuit. The control chambers of the first working oil circuit and the second cartridge valve are both connected to an overflow structure.

[0013] According to one embodiment of the present invention, the overflow structure includes a first overflow valve, a second overflow valve, and a second solenoid valve. The inlet and control chamber of the first cartridge valve are both connected to the first overflow valve. The second solenoid valve switches the control of the oil port of the second cartridge valve that is connected to the first working oil circuit and the control chamber to simultaneously connect to the first overflow valve and the second overflow valve. The pressure setting value of the first overflow valve is higher than the pressure setting value of the second overflow valve.

[0014] According to one embodiment of the present invention, the accumulator unit includes a high-pressure accumulator and a low-pressure accumulator. The pressurized oil provided by the oil source system can flow to the high-pressure accumulator through a one-way valve. The high-pressure accumulator and the low-pressure accumulator are connected through a control valve group. The low-pressure accumulator is connected to the return oil circuit.

[0015] According to one embodiment of the present invention, the control valve group includes a third solenoid valve and a third overflow valve arranged in parallel. The high-voltage accumulator can overflow to the low-voltage accumulator through the third overflow valve, and the third solenoid valve controls the on / off connection between the high-voltage accumulator and the low-voltage accumulator.

[0016] According to one embodiment of the present invention, the oil source system includes a main pump group and an auxiliary pump group. The main pump group provides pressurized oil to the drive system, and the auxiliary pump group provides oil to the brake of the motor unit to release the brake on the motor unit.

[0017] According to one embodiment of the present invention, at least two electromagnetic reversing valves are connected in series at the pump outlet of the auxiliary pump group. When all electromagnetic reversing valves are energized and reversed, the auxiliary pump group pumps oil to the brake of the motor unit. The pressure oil pumped out by the main pump group can be depressurized by a pressure reducing valve and then used to release the brake on the motor unit.

[0018] Based on the above technical solution, the technical effects that this utility model can achieve are as follows:

[0019] 1. The heave compensation hydraulic system of this utility model includes a drive system comprising at least two motor units. At least one motor unit performs active heave compensation, and at least one motor unit performs passive heave compensation. That is, the heave compensation hydraulic system of this utility model uses hydraulic motors for both active and passive heave compensation, avoiding the problems of limited stroke and low compensation efficiency associated with hydraulic cylinders. In terms of installation structure, the motor units have identical structures, and at least two motor units can be connected in parallel on the same winch equipment, resulting in a small deck space occupation and facilitating installation and maintenance.

[0020] 2. The heave compensation hydraulic system of this utility model implements a passive heave compensation motor unit connected to an accumulator, which is used to bear most of the static load of the winch system. When the ship is heave-compensating, passive heave compensation is achieved by relying on the compression of gas in the accumulator unit by the waves and the ship's gravity, which greatly reduces the energy consumption during active heave compensation, reduces the installed capacity of the hydraulic system pump station and the space occupied on the ship; when performing the active heave compensation function, the servo valve is precisely controlled by the signal of the attitude sensor (MRU), which in turn precisely controls the rope winding and unwinding actions of the winch system. The compensation accuracy is high and the anti-interference ability is strong, which makes up for the poor accuracy of passive heave compensation.

[0021] 3. In the heave compensation hydraulic system of this utility model, the motor unit performing active heave compensation and the motor unit performing passive heave compensation are isolated in the hydraulic circuit by a one-way valve. When the ship moves upward due to the wave action and the winch releases the rope, the motor unit performing passive heave compensation is driven to rotate by the winch system, and the high-pressure oil generated is recovered by the accumulator unit. When the ship moves downward due to the wave action and the winch retrieves the rope, the motor unit performing passive heave compensation needs to drive the winch system to rotate and retrieve the rope. In this case, the accumulator unit provides high-pressure oil for the rotation of the motor unit performing passive heave compensation, realizing the reuse of energy after recovery. Up to 60% of the energy is recovered and reused, which greatly reduces the installed power of the hydraulic system power station.

[0022] 4. In the heave compensation hydraulic system of this utility model, a pressure control valve group is provided between the first working oil circuit and the second working oil circuit of the motor unit, which can realize two pressure point control. When the second solenoid valve is de-energized, the first relief valve is in the working position; when the first solenoid valve is energized, the second relief valve is in the working position. Once the oil pressure is too high, the control chamber of the second cartridge valve is depressurized, the second cartridge valve is opened, and the first working oil circuit and the second working oil circuit are connected, which can realize pressure protection.

[0023] 5. In the heave compensation hydraulic system of this utility model, the number of high-pressure accumulators is calculated based on the winch lifting weight, motor displacement, and sea state. The high-pressure accumulators are mainly used for passive heave compensation; the low-pressure accumulators stabilize the return oil pressure, reduce the return oil impact caused by changes in oil flow rate, and improve the control accuracy during active heave compensation; the third relief valve of the control valve group plays a protective role, and can release pressure to the low-pressure accumulator when the high-pressure accumulator reaches a certain pressure; the third solenoid valve can control the oil pressure of the passive heave compensation section. When the third solenoid valve is energized, it releases the high-pressure oil of the passive heave compensation section; when the third solenoid valve is de-energized, it maintains pressure.

[0024] 6. The heave compensation hydraulic system of this utility model includes a main pump group and an auxiliary pump group. The main pump group provides pressurized oil to the drive system, and the auxiliary pump group provides oil to release the braking effect of the motor unit brake. At least two solenoid directional valves are connected in series at the pump outlet of the auxiliary pump group. When both are energized simultaneously, the oil provided by the auxiliary pump group can reach the brake and release the braking effect. If one solenoid directional valve is not energized, the motor unit is braked. Part of the pressurized oil pumped out by the main pump group can be used to release the braking of the motor unit after passing through a pressure reducing valve. This circuit is a backup for the auxiliary pump group. In case of failure of the auxiliary pump group, the braking of the motor unit can be released through this circuit to ensure the normal operation of the motor unit. Attached Figure Description

[0025] Figure 1 This is a hydraulic schematic diagram of the heave compensation hydraulic system of this utility model;

[0026] Figure 2This is a hydraulic schematic diagram of the oil source system;

[0027] Figure 3 This is a schematic diagram of the winch system.

[0028] Figure 4 This is the hydraulic schematic diagram of the motor unit;

[0029] Figure 5 This is a schematic diagram of the energy storage unit.

[0030] In the diagram: 1-Oil supply system; 11-Main pump group; 12-Auxiliary pump group; 13-Solenoid directional valve; 14-Pressure reducing valve; 151-First check valve; 152-Second check valve; 153-Third check valve; 154-Fourth check valve; 16-Safety valve; 17-Manual ball valve; 18-Filter; 19-Oil tank; 2-Wind system; 21-Wind; 22-Rope; 23-Load; 24-Absolute displacement encoder; 25-Force sensor; 26-Angle sensor; 27-MRU sensor; 3-Drive system; 31-Motor unit; 311-Servo motor; 312-Servo valve; 3131-First working oil circuit; 3132-Second working oil circuit; 3141-First replenishing oil circuit; 3142-Second replenishing oil circuit; 3143-Fifth check valve; 3144-Sixth check valve; 315-On / off valve assembly; 3151-First cartridge valve; 3152-First solenoid valve; 316-Pressure control valve assembly; 3161-Connecting oil circuit; 3162-Second cartridge valve; 3163-First relief valve; 3164-Second relief valve; 3165-Second solenoid valve; 317-Variable control mechanism; 318-Proportional valve; 319-Reducer; 310-Brake; 32-Accumulator unit; 321-High-pressure accumulator; 322-Low-pressure accumulator; 323-Check valve; 324-Control valve assembly; 3241-Relief valve; 3242-Third solenoid valve; 41-Pressure oil circuit; 42-Return oil circuit; 43-Brake oil circuit; 44-Drain oil circuit. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0032] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0034] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0035] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0036] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0037] like Figure 1 As shown, this embodiment provides a heave compensation hydraulic system, including an oil source system 1, a winch system 2, and a drive system 3. The oil source system 1 provides oil to the drive system 3, and the drive system 3 drives the winch system 2 to work.

[0038] like Figure 2 As shown, the oil supply system 1 is used to provide oil. The oil supply system 1 includes a main pump group 11 and an auxiliary pump group 12. The main pump group 11 is the main oil source of the heave compensation hydraulic system and supplies oil to the drive system 3. The auxiliary pump group 12 is used to provide oil to release the braking effect on the motor unit 31.

[0039] The main pump assembly 11 includes a main pump and a main motor. The main motor drives the main pump to pump the oil stored in the oil tank 19 to the pressure oil passage 41, and then supplies oil to the drive system 3 via the pressure oil passage 41. The main pump can be configured as a variable displacement pump, and the variable displacement mechanism can control the displacement of the main pump. The main pump output oil source is a constant pressure oil source. When the pressure reaches the pressure cutoff value, the main pump outputs at the minimum displacement to reduce energy consumption.

[0040] The auxiliary pump assembly 12 includes an auxiliary pump and an auxiliary motor. The auxiliary motor drives the auxiliary pump to pump the oil stored in the oil tank 19 to the brake oil passage 43, and then supplies oil through the brake oil passage 43 to the brake 310 of the drive system 3 to release the braking effect.

[0041] As a preferred embodiment, the main pump's outlet is connected to a safety valve 16. The pressure setting value of the safety valve 16 is slightly higher than the main pump's pressure cut-off value. When the pump outlet pressure exceeds the pressure setting value, the safety valve 16 opens, and the high-pressure oil is released into the oil return line 42 and enters the oil tank 19, preventing the main pump from being damaged due to excessive pressure. The auxiliary pump's outlet is also connected to a safety valve 16. When the auxiliary pump's outlet pressure exceeds the pressure setting value of the safety valve 16, the safety valve 16 opens, and the oil pumped by the auxiliary pump is released into the oil return line 42 and enters the oil tank 19.

[0042] As a preferred technical solution in this embodiment, the pump outlets of the main pump and the auxiliary pump are respectively connected to filters 18, so that the pumped pressurized oil can be filtered by filters 18 before reaching the corresponding outlet, ensuring the cleanliness of the oil. A filter 18 is also provided at the outlet of the return oil line 42 to the oil tank 19 to ensure the cleanliness of the oil returning to the oil tank 19.

[0043] As a preferred embodiment, at least two electromagnetic directional valves 13 are connected in series at the pump outlet of the auxiliary pump. Only when all electromagnetic directional valves 13 are energized and switched can the oil pumped by the auxiliary pump reach the brake oil circuit 43 to supply oil to the brake 310. In this embodiment, two electromagnetic directional valves 13 are provided. The braking effect of the brake 310 can only be released when both electromagnetic directional valves 13 are energized and switched. If one electromagnetic directional valve 13 is not energized, the brake 310 is engaged.

[0044] As a preferred technical solution in this embodiment, the pressure oil in the pressure oil passage can be reduced by the pressure reducing valve 114 and then flow to at least two solenoid directional valves 13, and then reach the brake oil circuit 43 after passing through the solenoid directional valves 13. This circuit serves as a backup for the auxiliary pump group 12; when the auxiliary pump group fails, the brake can be released through this circuit, ensuring the normal operation of the drive system 3. Preferably, the oil passage connecting the pump outlet of the pressure reducing valve 114 and the pump outlet of the auxiliary pump is connected to a safety valve 16 after merging, facilitating control of the oil pressure in the oil circuit; the oil passage connecting the pump outlet of the pressure reducing valve 114 and the pump outlet of the auxiliary pump is also connected to a normally closed manual ball valve 17. When the system pressure is too high, the manual ball valve 17 can be manually opened, and the brake oil can be depressurized through the manual ball valve 17.

[0045] As a preferred technical solution in this embodiment, in order to ensure the flow direction of the oil, the oil source system 1 is also equipped with multiple one-way valve structures. Specifically, the pump outlet of the main pump is connected to a third one-way valve 153, which controls the pressure oil pumped out by the main pump to flow unidirectionally to the pressure oil passage 41; a fourth one-way valve 154 is provided on the oil passage from the return oil passage 42 to the oil tank 19, which controls the return oil to flow unidirectionally to the oil tank 19; the oil pumped out by the auxiliary pump flows to the reversing solenoid valve 13 through the first one-way valve 151; the pressure oil on the pressure oil passage 41 is depressurized by the pressure reducing valve 14 and then flows to the reversing solenoid valve 13 through the second one-way valve 152.

[0046] like Figure 3 As shown, the winch system 2 includes a winch 21, which is driven by the drive system 3. The winch 21 lifts the load 23 via a rope 22.

[0047] As a preferred technical solution in this embodiment, the winch 21 is equipped with multiple sensors. In this embodiment, the winch 21 is equipped with an absolute displacement encoder 24 for recording the length of the rope 22 laid out by the winch 21; a force sensor 25 is equipped on the winch 21 for monitoring the force on the rope 22; an angle sensor 26 is equipped on the winch 21 for monitoring the angular velocity of the winch 21; and an MRU sensor, i.e., a motion reference unit sensor or attitude sensor, is equipped on the winch 21 for monitoring the motion data of the ship, which is used to calculate the control signal input for active heave compensation.

[0048] As a preferred technical solution in this embodiment, the rope 22 may be, but is not limited to, a steel wire rope.

[0049] like Figure 1 As shown, the drive system 3 is connected to the winch system 2 via a transmission. Driven by the pressurized oil from the oil source system 1, the drive system 3 drives the winch system 2 to work. The drive system 3 includes at least two motor units 31 and an accumulator unit 32. At least one motor unit 31 performs active heave compensation, and at least one motor unit 32 performs passive heave compensation.

[0050] The motor units 31 have the same structure, and multiple motor units 31 are connected in parallel on the same winch equipment. For example... Figure 4 As shown, taking a motor unit 31 that performs active heave compensation as an example, the motor unit 31 includes a servo motor 311 and a servo valve 312. The servo motor 311 has an A port and a B port, and the servo valve 312 has a p port, a t port, an a port, and a b port. The p port of the servo valve 312 is connected to the pressure oil passage 41 to introduce pressure oil; the t port of the servo valve 312 is connected to the return oil passage 42; the a port of the servo valve 312 is connected to the A port of the servo motor 311 through the first working oil passage 3131, and the b port of the servo valve 312 is connected to the B port of the servo motor 311 through the second working oil passage 3132. Servo valve 312 is a three-position four-way valve. When servo valve 312 is in the neutral position, almost no oil reaches servo motor 311. When servo valve 312 is in the first working position, port p of servo valve 312 is connected to port a, port t is connected to port b, and oil enters through port A and exits through port B of servo motor 311. When servo valve 312 is in the second working position, port p of servo valve 312 is connected to port b, port t is connected to port a, and pressurized oil enters through port B and exits through port A of servo motor 311.

[0051] As a preferred technical solution of this embodiment, a switching valve group 315 is provided on the first working oil circuit 3131. The switching valve group 315 includes a first cartridge valve 3151 and a first solenoid valve 3152. The first cartridge valve 3151 controls the opening and closing of the first working oil circuit 3131, and the first solenoid valve 3152 controls the introduction of high pressure or pressure relief into the control chamber of the first cartridge valve 3151. Specifically, the first cartridge valve 3151 can be a cone valve, and the first solenoid valve 3152 can be a two-position three-way valve. When the first solenoid valve 3152 is de-energized, the A port of the servo motor 311 is connected to the control chamber of the first cartridge valve 3151 via the first solenoid valve 3152, and the control chamber of the first cartridge valve 3151 is under high pressure. When the first solenoid valve 3152 is energized and reversed, the control chamber of the first cartridge valve 3151 is connected to the drain oil passage 44, and the control chamber of the first cartridge valve 3151 is under low pressure. The valve core of the first cartridge valve 3151 is easily opened, and the first working oil passage 3131 is in a connected state. In this embodiment, when the motor unit 31 is working, the first solenoid valve 3152 remains energized.

[0052] As a preferred embodiment, a pressure control valve assembly 316 is further provided between the first working oil passage 3131 and the second working oil passage 3132. The pressure control valve assembly 316 includes a connecting oil passage 3161, on which a second cartridge valve 3162 is provided. The second cartridge valve 3162 controls the opening and closing of the connecting oil passage 3161. The control chambers of the first working oil passage 3131 and the second cartridge valve 3162 are both connected to an overflow structure. The overflow structure includes a first overflow valve 3163, a second overflow valve 3164, and a second solenoid valve 3165. The control chambers of the first working oil passage 3131 and the second cartridge valve 3162 are directly connected to the first overflow valve 3164, and the control chambers of the first working oil passage 3131 and the second cartridge valve 3162 are connected to the second overflow valve 3165 through the second solenoid valve 3165. When the first solenoid valve 3165 is de-energized, the control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 are only connected to the first relief valve 3163. When the first solenoid valve 3165 is energized, the control chambers of the first working oil circuit 3131 and the second cartridge valve 3162 are simultaneously connected to the first relief valve 3163 and the second relief valve 3164. Preferably, the pressure setting value of the first relief valve 3163 is higher than the pressure setting value of the second relief valve 3164, that is, when the first solenoid valve 3165 is de-energized, the first relief valve 3163 is in the working position; when the first solenoid valve 3165 is energized and reverses direction, the second relief valve 3164 is in the working position. The first working oil circuit 3131 is the motor load oil circuit. When the oil pressure in the first working oil circuit 3131 is too high, the first relief valve 3163 or the second relief valve 3164 opens, the control chamber of the second cartridge valve 3162 is depressurized, the connecting oil circuit 3161 is in the connected state, the first working oil circuit 3131 and the second working oil circuit 3132 are connected, and the A oil port and B oil port of the servo motor 311 are connected to achieve pressure protection.

[0053] As a preferred technical solution in this embodiment, the servo motor 311 can be a piston motor, which has a variable control mechanism 317 and a proportional valve 318. The variable control mechanism 317 moves to push the swashplate under the control of the proportional valve 318. By giving different signals to the proportional valve 318, the swashplate tilt angle of the servo motor 311 is controlled.

[0054] As a preferred technical solution in this embodiment, the servo motor 311 is connected to the winch 21 via the reducer 319; the brake 310 is provided for each motor unit 31 and is located between the servo motor 311 and the reducer 319.

[0055] As a preferred technical solution of this embodiment, in order to avoid insufficient oil supply, two oil replenishment circuits are also provided, namely a first oil replenishment circuit 3141 and a second oil replenishment circuit 3142. The first oil replenishment circuit 3141 is connected to the return oil circuit 44 and the first working oil circuit 3131. A fifth check valve 3143 is provided on the first oil replenishment circuit 3141 to control the oil to flow unidirectionally from the return oil circuit 44 to the first working oil circuit 3131. The second oil replenishment circuit 3142 is connected to the return oil circuit 44 and the second working oil circuit 3132. A sixth check valve 3144 is provided on the second oil replenishment circuit 3142 to control the oil to flow unidirectionally from the return oil circuit 44 to the second working oil circuit 3132.

[0056] As a preferred technical solution in this embodiment, the p port of the servo valve 312 of the motor unit 31 that performs active heave compensation is connected to the pressure oil circuit 41, and the p port of the servo valve 312 of the motor unit 31 that performs passive heave compensation is connected to the accumulator unit 32.

[0057] The accumulator unit 32 includes a high-pressure accumulator 321 and a low-pressure accumulator 322. The pressure oil in the pressure oil passage 41 flows to the high-pressure accumulator 321 through the check valve 323. The high-pressure accumulator 321 is connected to the motor unit 31 that performs passive heave compensation. The high-pressure accumulator 321 and the return oil passage 42 are connected through the control valve group 324.

[0058] As a preferred technical solution in this embodiment, multiple high-pressure accumulators 321 can be configured, connected in parallel. The number of high-pressure accumulators 321 can be calculated based on the lifting weight of the winch 21, the motor displacement, and the sea state. The high-pressure accumulators 321 are mainly used for passive heave compensation. Multiple low-pressure accumulators 322 can be configured, connected in parallel. The low-pressure accumulators 322 are connected to the return oil circuit 42, which can stabilize the return oil pressure, reduce the return oil impact caused by changes in oil flow rate, and improve the control accuracy during active compensation.

[0059] As a preferred technical solution in this embodiment, the control valve group 324 includes a third relief valve 3241 and a third solenoid valve 3242 arranged in parallel. When the pressure of the high-pressure accumulator 321 is too high, it can be depressurized to the return oil circuit 42 through the third relief valve 3241. In addition, the third solenoid valve 3242 can be energized to open, so that the high-pressure accumulator 321 can be depressurized. When the third solenoid valve 3242 is de-energized, it maintains pressure.

[0060] Based on the above technical solution, the heave compensation hydraulic system of this embodiment, taking four motor units 31 as an example, has two motor units 31 performing active heave compensation and two motor units 31 performing passive heave compensation. The control method for the active and passive heave compensation modes is as follows:

[0061] First, based on the total load weighing value obtained by the force sensor 25, a command signal is sent to the proportional valve 318 of the four motor units 31 to set the corresponding swashplate angle.

[0062] Then, a certain opening value is set for the servo valve 312 of the motor unit 31 that performs passive compensation, so that the A oil port of the servo motor 311 is always connected to the high-pressure accumulator 321, thereby realizing the passive heave compensation function.

[0063] When the ship moves upward due to the waves, winch 21 releases the rope. The control method is as follows: motor unit 31 is driven to rotate by winch 21, realizing oil intake at port B and oil return at port A. At this time, motor unit 31 is in pump mode. Due to the action of check valve 323, the high-pressure oil at port A is recovered by high-pressure accumulator 321, thereby realizing energy recovery. Low-pressure accumulator 322 stabilizes the return oil pressure, and port B of servo motor 311 can be replenished with oil from return oil circuit 42 through second replenishment oil circuit 3142.

[0064] When the ship moves downwards due to waves, winch 21 retracts the rope. The control method is as follows: motor unit 31 drives winch 21 to retrieve the equipment, at which point motor unit 31 is in motor operation mode. During this process, part of the oil recovered by high-pressure accumulator 321 enters the p port of servo valve 312, and then provides high-pressure oil for the rotation of servo motor 311, realizing the reuse of recovered energy and reducing the installed power of the power station. Low-pressure accumulator 322 stabilizes the return oil pressure, reduces the return oil impact caused by changes in oil flow rate, and improves the control accuracy during active compensation.

[0065] Finally, move the control lever to give the winch 21 a command value for the rope winding or unwinding speed. The MRU sensor 27 outputs the MRU displacement, MRU velocity, and MRU acceleration in real time; the absolute displacement encoder 24 or other sensors on the winch 21 can calculate the unwinding speed and unwinding length to control the winch winding or unwinding, thereby maintaining a constant distance or velocity of the load relative to the seabed (Earth reference frame) and realizing active heave compensation function.

[0066] The heave compensation hydraulic system of this embodiment can realize automatic tension control function: when the load 23 is lifted for the first time, the rope 22 is in a slack state. At this time, the wave motion will cause the rope 22 to be suddenly tightened. This sudden change in the tension of the rope 22 will seriously affect the safety and stability of the winch 21 operation. Therefore, before lifting the load 21, the rope 11 is tensioned first. The control principle is: set the servo motor 311 to a small swing angle, i.e., output torque, and then control the speed to make the rope 22 have a certain tension.

[0067] The heave compensation hydraulic system in this embodiment can achieve constant tension control: when lifting or lowering load 23 from another ship or seabed, wave motion can cause rope 22 to be suddenly tightened or loosened. Such changes in rope 22 tension can seriously affect the safety and stability of winch operation. The control principle is: after completing the automatic tensioning function, the output torque of servo motor 311 is automatically adjusted through force control to ensure that the tension of rope 22 is always maintained within a preset range.

[0068] The heave compensation hydraulic system in this embodiment can achieve overpressure protection. When the second solenoid valve 3165 is de-energized and the first relief valve 3163 is in the working position, if the pressure value of port A of the servo motor 311 exceeds the set value of the first relief valve 3163, the second cartridge valve 3162 opens, and ports A and B of the servo motor 311 are connected, thus preventing the servo motor 311 from being damaged due to overpressure.

[0069] The heave compensation hydraulic system in this embodiment can achieve manual overload protection. When the winch 21 is hoisting the load 23, if the operator finds that the hoisting load 23 is abnormal (such as accidentally hooking seabed equipment, such as seabed pipelines), the manual overload protection allows the operator to manually lower the hoisted load 23 quickly to avoid accidents. Specifically, the second solenoid valve 3165 is manually energized, and the second relief valve 3164 is in the working position. Because the set value of the second relief valve 3164 is small, the load force causes the second relief valve 3164 to open, connecting the A and B ports of the servo motor 311. The servo motor 311 outputs a small torque, thus the load 23 automatically falls.

[0070] The heave compensation hydraulic system in this embodiment can achieve automatic overload protection. When the winch 21 lifts the load 23, if the load 23 exceeds the set value and the lifting of the load 23 continues, there is a significant risk to the entire winch mechanical structure. The automatic overload protection function is that when the load 23 exceeds the set value, the servo motor 311 is controlled to prevent the output torque of the winch 21 from increasing, so that the excessive load 23 will not be lifted or automatically lowered. Specifically, during the operation of the winch 21, if the force sensor 25 detects that the force on the rope 22 exceeds the set value, a smaller signal is input to the proportional valve 318 controlling the swashplate angle of the servo motor 311, controlling the winch 21 to output a smaller torque, thus causing the load 23 to automatically fall.

[0071] The heave compensation hydraulic system of this embodiment can achieve an automatic anti-loosening function: when the load 23 passes through the splash zone, if the rope release speed of the winch 21 is greater than the descent speed of the load 23, the rope 22 will become loose. Due to the waves, the loosened rope 22 will suddenly tighten again, causing an impact and potentially damaging the winch 21. The automatic anti-loosening protection is used to control the rope release speed of the winch 21 to ensure that the tension of the rope 22 is maintained at a safe value. Specific implementation: During the operation of the winch 21 (especially when passing through the splash zone), the force sensor 25 monitors the force on the rope 22. If the force on the rope 22 suddenly decreases and falls below the set value, the winch 21 is controlled to operate at a lower speed by controlling the input signal of the servo valve 312 corresponding to the servo motor 311 that performs active heave compensation.

[0072] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A heave compensation hydraulic system, characterized by, The application relates to a winch system, comprising: an oil source system (1) for providing oil; a winch system (2); a drive system (3) for driving the winch system (2) under the drive of the oil source system (1), the drive system (3) comprising at least two motor units (31), at least one motor unit (31) performing active heave compensation and at least one motor unit (31) performing passive heave compensation.

2. A heave compensation hydraulic system according to claim 1, characterised in that, The drive system (3) further comprises an accumulator unit (32), the oil source system (1) providing pressure oil to the motor unit (31) performing active heave compensation and unidirectionally providing pressure oil to the accumulator unit (32), the motor unit (31) performing passive heave compensation being in communication with the accumulator unit (32).

3. A heave compensation hydraulic system according to claim 2, characterised in that, The motor unit (31) comprises a servo motor (311) and a servo valve (312), the servo motor (311) comprising an A oil port and a B oil port, the A oil port being communicated to an a oil port of the servo valve (312) through a first working oil path (3131), the B oil port being communicated to a b oil port of the servo valve (312) through a second working oil path (3132), the servo valve (312) controlling the pressure oil to enter or exit the servo motor (311), the servo motor (311) being in transmission connection with the winch system (2).

4. A heave compensation hydraulic system according to claim 3, characterised in that, A first cartridge valve (3151) is arranged on the first working oil path (3131), the first cartridge valve (3151) controlling the opening and closing of the first working oil path (3131), a first electromagnetic valve (3152) controlling the introduction of high pressure or pressure relief into the control cavity of the first cartridge valve (3151).

5. A heave compensation hydraulic system according to claim 3, wherein, A pressure control valve group (316) is arranged between the first working oil path (3131) and the second working oil path (3132), the pressure control valve group (316) comprising a communication oil path (3161) and a second cartridge valve (3162), the first working oil path (3131) and the second working oil path (3132) being communicated through the communication oil path (3161), the second cartridge valve (3162) controlling the opening and closing of the communication oil path (3161), the control cavities of the first working oil path (3131) and the second cartridge valve (3162) being communicated with overflow structures.

6. A heave compensation hydraulic system according to claim 5, wherein, The overflow structure comprises a first overflow valve (3163), a second overflow valve (3164) and a second electromagnetic valve, the first working oil path (3131) and the control cavity being communicated with the first overflow valve (3163), the second electromagnetic valve switching to control the first working oil path (3131) and the control cavity to be simultaneously communicated with the first overflow valve (3163) and the second overflow valve (3164), the pressure set value of the first overflow valve (3163) being higher than that of the second overflow valve (3164).

7. A heave compensation hydraulic system according to claim 2, characterised in that, The accumulator unit (32) comprises a high-pressure accumulator (321) and a low-pressure accumulator (322), the pressure oil provided by the oil source system (1) can flow to the high-pressure accumulator (321) through a one-way valve (323), the high-pressure accumulator (321) and the oil return oil path (42) are communicated through a control valve group (324), and the low-pressure accumulator (322) is communicated with the oil return oil path (42).

8. A heave compensation hydraulic system according to claim 7, characterised in that, The control valve group (324) comprises a third electromagnetic valve (3242) and a third overflow valve (3241) arranged in parallel, the high-pressure accumulator (321) can overflow to the low-pressure accumulator (322) through the third overflow valve (3241), and the third electromagnetic valve (3242) controls the on-off between the high-pressure accumulator (321) and the low-pressure accumulator (322).

9. A heave compensation hydraulic system according to claim 1, characterised in that, The oil source system (1) comprises a main pump group (11) and a secondary pump group (12), the main pump group (11) provides pressure oil to the driving system (3), and the secondary pump group (12) provides oil to the brake (310) of the motor unit (31) to release the brake of the motor unit (31).

10. A heave compensation hydraulic system according to claim 9, wherein, The pump outlet of the secondary pump group (12) is in series communication with at least two electromagnetic reversing valves (13), when all the electromagnetic reversing valves (13) are powered to reverse, the secondary pump group (12) pumps oil to the brake (310) of the motor unit (31), and the pressure oil pumped by the main pump group (11) can be used to release the brake of the motor unit (31) after being decompressed by a pressure reducing valve (14).

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