Active and passive heave compensation system for hanging equipment

Abstract

The invention relates to the technical field of hoisting and recovery equipment, and in particular to an active and passive heave compensation system for hoisting and recovery equipment, comprising a supporting frame, on which a compensating pulley assembly, a hydraulic pump station, a control console and a constant temperature energy storage tank assembly are respectively installed; wherein the compensating pulley assembly is used for accurately compensating for different heave displacements; the hydraulic pump station provides hydraulic oil to the compensating pulley assembly through the control console; the constant temperature energy storage tank assembly is used for providing auxiliary hydraulic oil to the compensating pulley assembly, and storing energy and absorbing vibrations of the compensating pulley assembly, and accurate compensation under variable load conditions is ensured by the constant temperature compensation tank, which greatly improves the scope of application and working flexibility, and effectively solves the problem of poor sensitivity and stability in the current field of heave compensation technology; at the same time, manual and automatic control are realized, work efficiency is improved, and operation is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of hanging and releasing recovery equipment, and in particular to an active and passive heave compensation system for hanging and releasing equipment. Background Art

[0002] The lifting and recovery equipment is generally used for lifting and recovery of underwater loads. The load is first lowered to a designated location, and then recovered to a mother ship or lifting platform after the load operation is completed. Regardless of the load or the mother ship or platform, they will rise and fall with the waves on the water surface, which will cause the load to generate heave acceleration, and the cable tension will constantly change, which will challenge the stability of the load operation and the structural strength of the lifting equipment, and even lead to extremely dangerous situations.

[0003] Therefore, in order to improve the running stability during the load hoisting process, the method of weakening or eliminating the heave effect through an effective mechanism is called heave compensation. The traditional heave compensation system, whether it is a passive system that adds an accumulator for shock absorption or an active system that is forced to control by an external hydraulic system, has inherent deficiencies. The passive system cannot completely compensate and absorb the heave movement, and the active system cannot achieve a sensitive and stable compensation effect. Therefore, the present invention effectively combines the respective advantages of the active and passive systems, and also develops new technologies for precise compensation. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects and shortcomings existing in the prior art. To this end, the present invention provides an active and passive heave compensation system for a hoisting device. The system ensures accurate compensation under variable load conditions through a constant temperature compensation tank, greatly improves the scope of application and working flexibility, and effectively solves the problem of poor sensitivity and stability in the current field of heave compensation technology.

[0005] In order to achieve the above-mentioned object, the present invention provides an active and passive heave compensation system for a hoisting device, which comprises: a support frame, on which a compensating pulley assembly, a hydraulic pump station, a control console and a constant temperature energy storage tank assembly are respectively installed; the compensating pulley assembly is used to accurately compensate for different heave displacements; the hydraulic pump station provides hydraulic oil to the compensating pulley assembly through the control console;

[0006] The constant temperature energy storage tank assembly is used to provide auxiliary hydraulic oil to the compensating pulley assembly and store energy and absorb vibrations of the compensating pulley assembly.

[0007] Furthermore, the compensating pulley assembly includes a base and a steel wire rope, a compensating hydraulic cylinder is arranged on the base, a vertical movable pulley and a fixed pulley B are respectively arranged at both ends of the compensating hydraulic cylinder, a fixed pulley A is arranged above the movable pulley, a swing pulley is arranged above the fixed pulley B, and the steel wire rope passes around the swing pulley, the fixed pulley B, the movable pulley and the fixed pulley A in sequence; the compensating hydraulic cylinder drives the movable pulley to perform a linear motion relative to the base; the compensating pulley assembly also includes a wire displacement sensor, which is installed on the base, and the wire probe on the wire displacement sensor is connected to the movable pulley; a pin sensor is installed on the movable pulley, and the pin sensor is used to measure the bending moment and shear force applied to the movable pulley.

[0008] Furthermore, the swing pulley includes a fixed pulley C, and the fixed pulley C is rotatably mounted on a fixed seat, and the fixed seat is vertically fixed on the base.

[0009] Furthermore, a sliding mechanism is provided at the bottom of the movable pulley, and the sliding mechanism is used to ensure the linear motion of the movable pulley.

[0010] Furthermore, the sliding mechanism comprises a matching guide rail and a sliding block, the sliding block is arranged on the movable pulley, and the guide rail is arranged on the base.

[0011] Furthermore, the control console includes a two-position three-way manual reversing valve, a three-position four-way electromagnetic proportional valve, a three-position four-way manual reversing valve, and an oil pressure gauge; the oil inlet P of the two-position three-way manual reversing valve is connected to the oil outlet pipeline of the hydraulic pump station; the oil outlet A of the two-position three-way manual reversing valve is connected to the oil inlet P of the three-position four-way electromagnetic proportional valve, and the oil outlet B of the two-position three-way manual reversing valve is connected to the oil inlet P of the three-position four-way manual reversing valve; the oil return port T of the three-position four-way electromagnetic proportional valve and the oil return port T of the three-position four-way manual reversing valve Port T is connected to the oil tank of the hydraulic pump station, the oil outlet A of the three-position four-way electromagnetic proportional valve and the oil outlet A of the three-position four-way manual reversing valve are both connected to the rodless chamber of the compensating hydraulic cylinder; the oil outlet of the constant temperature accumulator tank assembly is connected to the rodless chamber of the compensating hydraulic cylinder; the oil outlet B of the three-position four-way electromagnetic proportional valve and the oil outlet B of the three-position four-way manual reversing valve are both connected to the rod chamber of the compensating hydraulic cylinder; the oil pressure gauge is connected to the oil inlet P of the two-position three-way reversing valve, and the oil pressure gauge is used to measure the inlet oil pressure.

[0012] Further, the constant temperature energy storage tank assembly includes a constant temperature energy storage tank vertically fixed on a mounting frame, a constant pressure unit is arranged on the top of the constant temperature energy storage tank, a temperature control unit is arranged on the bottom of the constant temperature energy storage tank, and an oil drain valve, a manual hydraulic ball valve and an electric hydraulic ball valve are arranged at the bottom of the constant temperature energy storage tank;

[0013] The constant pressure unit is configured to change the working pressure of the compressed air inside the constant temperature energy storage tank according to different load sizes, ensuring that the working pressure can respond to changes in real time according to the load change law, ensuring that the constant temperature energy storage tank is in a rated working state;

[0014] The temperature control unit is configured to perform heat exchange and temperature adjustment on the hydraulic oil and compressed air of the constant temperature energy storage tank to ensure that the interior of the constant temperature energy storage tank is in a constant temperature state.

[0015] Furthermore, the constant temperature energy storage tank comprises, from top to bottom, an upper head, a tank body and a lower head which are sealed and connected to each other; a pressure sensor, a liquid level sensor, a temperature sensor, a pressure gauge A and a safety valve with a ball valve are sealably installed on the top of the upper head; a jacketed cylinder is arranged on the outside of the tank body, a sealed cavity is formed between the jacketed cylinder and the tank body, spiral fins are arranged in the sealed cavity, the spiral fins are welded to the tank body, a water inlet is arranged at the bottom of the jacketed cylinder, a water outlet is arranged at the top of the jacketed cylinder, and a mounting bracket is arranged on the outside of the jacketed cylinder; an oil port is arranged at the bottom of the lower head, and the oil port is connected to the oil drain valve, the manual hydraulic ball valve and the electric hydraulic ball valve respectively through a four-way pipe; a plurality of heat exchange fins are evenly arranged on the inner wall of the tank body.

[0016] Furthermore, the temperature control unit includes an electric three-way ball valve, which is connected to a wafer-type check valve through an electric regulating valve, and the wafer-type check valve is connected to the water inlet; water inlet pipes are respectively provided at both ends of the electric three-way ball valve, and the water inlet pipes are connected to the wafer-type check valve through a wafer-type butterfly valve.

[0017] Furthermore, the constant pressure unit includes an inflation pipeline and an exhaust pipeline, the inflation pipeline includes a one-way valve, the one-way valve is respectively connected to a high-pressure shut-off valve A and an electric proportional control valve A, the high-pressure shut-off valve A and the electric proportional control valve A are both connected to the top of the upper head, and the air outlet end of the one-way valve is provided with a pressure gauge B with a needle valve; the exhaust pipeline includes a high-pressure shut-off valve B and an electric proportional control valve A, the air outlet end of the electric proportional control valve A is provided with a muffler A, the air outlet end of the high-pressure shut-off valve B is provided with a muffler B, and the high-pressure shut-off valve B and the electric proportional control valve A are both connected to the top of the upper head.

[0018] Compared with the prior art, the beneficial effect of the present invention is that the switch and opening position of each valve can be adjusted manually or electrically, thereby meeting the demand for constant tension heave compensation of the cable in each working stage of the hanging and recovery device.

[0019] (1) The present invention combines active and passive compensation systems. The active system is supplied with oil by a hydraulic station to achieve non-biased compensation of the full heave displacement; the passive system is supplied with oil by a constant temperature energy storage tank, which can compensate for the lag of the active system and play a positive role in shock absorption and energy storage, reducing pressure fluctuations, and stabilizing system performance.

[0020] (2) The present invention combines constant tension compensation with variable tension setting. When the load remains unchanged, the pin shaft sensor senses the change in wire rope tension and performs constant tension compensation. When the load changes in real time, the oil pressure in the constant temperature energy storage tank is changed in real time by controlling the filling and discharging speed of the constant temperature energy storage tank to adapt to the load change, so that the system is always in a quasi-static equilibrium state, ensuring that the constant tension compensation system can continue to function.

[0021] (3) The jacket layer design of the constant temperature energy storage tank of the present invention is to perform constant temperature control by exchanging hot water to cope with the temperature difference change during the charging and discharging process of the constant temperature energy storage tank and the temperature change of the hydraulic oil after the return of the compensation cylinder. Among them, the constant temperature of the gas makes the gas state change always follow Boyle's law, and the pressure setting is more accurate and stable, which is beneficial to compensation; the constant temperature of the hydraulic oil can ensure that the entire hydraulic system is in the optimal working state, which is also beneficial to compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 for Figure 1 Schematic diagram of the structure of the compensating pulley assembly.

[0024] Figure 3 for Figure 1 Schematic diagram of the structure of the medium constant temperature energy storage tank assembly.

[0025] Figure 4 for Figure 3 Schematic diagram of the structure of the medium constant temperature energy storage tank.

[0026] Figure 5 It is a system principle diagram of the present invention.

[0027] Figure 6 This is a heave compensation state diagram of the present invention.

[0028] Figure 7 It is a bottom view and a cross-sectional view of the rocking pulley in the present invention.

[0029] Among them: 1. Compensation pulley assembly; 2. Hydraulic pump station; 3. Control console; 4. Constant temperature energy storage tank assembly; 5. Support frame; 11. Movable pulley; 12. Fixed guide wheel A; 13. Compensation hydraulic cylinder; 14. Wire rope; 15. Fixed pulley B; 16. Swing pulley; 17. Sliding mechanism; 18. Wire displacement sensor; 19. Base; 161. Fixed pulley C; 162. Fixed seat; 171. Sliding block; 172. Guide rail; 31. Two-position three-way manual reversing valve; 32. Three-position four-way electromagnetic proportional valve; 33. Three-position four-way manual reversing valve; 34. Oil pressure gauge; 41. Constant temperature energy storage tank; 42. Temperature control unit; 43. Constant pressure unit; 44. Mounting frame; 45. Oil drain valve; 46. Manual hydraulic ball valve; 47. Electric hydraulic ball valve; 411. Upper head; 412. Tank body; 4 13. Lower head; 414. Jacketed cylinder; 415. Water inlet; 416. Water outlet; 417. Spiral fin; 418. Mounting bracket; 411-1. Pressure sensor; 411-2. Liquid level sensor; 411-3. Safety valve; 411-4. Ball valve A; 411-5. Temperature sensor; 411-6. Pressure gauge A; 412-1. Heat exchange fin; 413-1. Oil port; 421. Electric three-way ball valve; 422. Electric regulating valve; 423. Wafer butterfly valve; 424. Wafer check valve; 431. One-way valve; 432. Needle valve; 433. Pressure gauge B; 434. Electric proportional regulating valve A; 435. High-pressure stop valve A; 436. Electric proportional regulating valve B; 437. High-pressure stop valve B; 438. Muffler A; 439. Muffler B. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] Example 1

[0033] See also Figures 1 to 7The present invention provides an active and passive heave compensation system for a hoisting device, comprising a compensating pulley assembly 1, a hydraulic pump station 2, a control console 3, a constant temperature energy storage tank assembly 4 and a support frame 5. The compensating pulley assembly 1 is used as an actuator for heave compensation movement and is used to accurately compensate for different heave displacements. The hydraulic pump station 2 provides hydraulic oil for the compensating pulley assembly 1. The control console 3 is used to realize manual and automatic integrated control of the heave compensation movement. The constant temperature energy storage tank assembly 4 provides auxiliary hydraulic oil supplement and energy storage vibration absorption for the compensating pulley assembly 1. The compensating pulley assembly 1, the hydraulic pump station 2, the control console 3 and the constant temperature energy storage tank assembly 4 are all installed on the support frame 5.

[0034] like Figure 2 As shown, the compensating pulley assembly 1 includes a movable pulley 11, a fixed guide wheel A12, a compensating hydraulic cylinder 13, a steel wire rope 14, a fixed pulley B15, a swing pulley 16 and a mounting base 19. The base 19 is provided with a compensating hydraulic cylinder 13. The two ends of the compensating hydraulic cylinder 13 are respectively provided with vertical movable pulleys 11 and fixed pulleys B15. The movable pulley 11 is provided with a fixed pulley A12 above the movable pulley 11, and the swing pulley 16 is provided above the fixed pulley B15. The compensating hydraulic cylinder 13 drives the movable pulley 11 to perform linear motion relative to the base 19. At the same time, the compensating pulley assembly 1 also includes a wire displacement sensor 18. The wire displacement sensor 18 is installed on the base 19. The wire probe thereof is connected to the movable pulley 11 to ensure that the axial displacement of the movable pulley 11 can be measured in real time to determine whether it has moved into place. The wire displacement sensor 18 provides an important input signal for the feedback and negative feedback control loops of the system.

[0035] The wire displacement sensor 18 here is also called a wire displacement sensor, a wire sensor, a wire electronic ruler or a wire encoder, and is a purchased part. The wire displacement sensor is a sophisticated structure of a linear displacement sensor, which fully combines the advantages of an angle sensor and a linear displacement sensor to become a sensor with a small installation size, a compact structure, a large measuring stroke and high precision. The stroke ranges from several hundred millimeters to several tens of meters, and will not be described here.

[0036] Preferably, a sliding mechanism 17 is provided at the bottom of the movable pulley 11 , and the sliding mechanism 17 is used to ensure the linear motion of the movable pulley 11 .

[0037] Preferably, the sliding mechanism 17 comprises a matching guide rail 172 and a slider 171 , the slider 171 is disposed on the movable pulley 11 , and the guide rail 172 is disposed on the base 19 .

[0038] In the specific implementation process, after being output from the rope winch, the wire rope 14 successively passes around the swing pulley 16, the fixed pulley B15, the movable pulley 11, and the fixed pulley A12, and finally connects to the load. It is worth noting that if multiple rope grooves are provided on the fixed pulley B15 and the movable pulley 11, it is necessary to wind between the fixed pulley B15 and the movable pulley 11 for multiple times to achieve multiple displacement amplification. The expansion and contraction of the compensation hydraulic cylinder 13 will drive the movable pulley 11 to move along the axial direction of the compensation hydraulic cylinder 13. During the movement, the sliding mechanism 17 provides a guiding effect for the movable pulley 11. This axial movement of the movable pulley 11 can change the total length of the wire rope wound in the compensation pulley assembly 1, thereby causing the position of the load end rope to change, and realizing heave displacement compensation.

[0039] In summary, the movable pulley 11 can adjust the number of rope grooves according to the working conditions to obtain different displacement amplification ratios. The central shaft on the movable pulley 11 can be installed with a pin sensor, which can directly transmit the force of the wire rope on the movable pulley 11 to the force measuring shaft section of the pin sensor, thereby measuring the bending moment and shear force of the central shaft, thereby indirectly measuring the rope tension on the wire rope 14, and obtaining the relative position change law of the load. The pin sensor here is a purchased part and will not be described in detail.

[0040] As an embodiment of the present invention, Figure 2 and Figure 7 As shown, the swing pulley 16 includes a fixed pulley C161, which is rotatably mounted on a fixed seat 162, and the fixed seat 162 is vertically fixed on the base 19. When the rope winch is in the process of retracting and releasing the rope, the axial movement of the cable arranger in the winch will cause the wire rope 14 to deflect at a certain angle when entering the swing pulley 16. Then, when the fixed pulley C161 swings with the different input angles of the wire rope 14, the axis of the cylindrical surface of the wire rope output downward to the given pulley B15 is always concentric with the center of the rope groove on the fixed pulley B15, thereby effectively preventing the wire rope 14 from derailing and sliding out of the rope groove, and this swinging motion also effectively avoids the wear of the wire rope 14 and the edge of the rope groove on the fixed pulley C161.

[0041] As an embodiment of the present invention, Figures 3 to 5As shown, the constant temperature energy storage tank assembly 4 includes a constant temperature energy storage tank 41 vertically fixed on a mounting frame 44, a constant pressure unit 43 is arranged on the top of the constant temperature energy storage tank 41, a temperature control unit 42 is arranged on the bottom of the constant temperature energy storage tank 41, and an oil drain valve 45, a manual hydraulic ball valve 46 and an electric hydraulic ball valve 47 are arranged at the bottom of the constant temperature energy storage tank 41; wherein, the constant pressure unit 43 can change the working pressure of the compressed air inside the constant temperature energy storage tank 41 according to different load sizes, so as to ensure that the working pressure can respond to changes in real time according to the load change law, and ensure that the constant temperature energy storage tank 41 is in a rated working state; the temperature control unit 42 can perform heat exchange and temperature adjustment on the hydraulic oil and compressed air of the constant temperature energy storage tank 41, so as to ensure that the inside of the constant temperature energy storage tank 41 is in a constant temperature state.

[0042] Preferably, the above-mentioned constant temperature energy storage tank 41 includes, from top to bottom, an upper head 411, a tank body 412 and a lower head 413 which are sealed and connected to each other; wherein, a pressure sensor 411-1, a liquid level sensor 411-2, a temperature sensor 411-5, a pressure gauge A411-6 and a safety valve 411-3 with a ball valve A411-4 are sealed and installed on the top of the upper head 411; a jacketed cylinder 414 is arranged outside the tank body 412, and a sealed cavity is formed between the jacketed cylinder 414 and the tank body 412, and the sealed cavity has a A spiral fin 417 is provided, which is welded to the tank body 412; a water inlet 415 is provided at the bottom of the jacketed cylinder 414, a water outlet 416 is provided at the top of the jacketed cylinder 414, and a mounting bracket 418 is provided outside the jacketed cylinder 414; an oil port 413-1 is provided at the bottom of the lower head 413, and the oil port 413-1 is connected to the oil drain valve 45, the manual hydraulic ball valve 46 and the electric hydraulic ball valve 47 through a four-way pipe; a plurality of heat exchange fin plates 412-1 are evenly distributed on the inner wall of the tank body 412.

[0043] Preferably, the temperature control unit 42 includes an electric three-way ball valve 421, which is connected to a clamp check valve 424 through an electric regulating valve 422, and the clamp check valve 424 is connected to a water inlet 415; water inlet pipes are respectively provided at both ends of the electric three-way ball valve 421, and the water inlet pipes are connected to the clamp check valve 424 through a clamp butterfly valve 423.

[0044] Preferably, the above-mentioned constant pressure unit 43 includes an inflation pipeline and an exhaust pipeline, wherein the inflation pipeline includes a one-way valve 431, which is respectively connected to a high-pressure shut-off valve A435 and an electric proportional control valve A434, the high-pressure shut-off valve A435 and the electric proportional control valve A434 are both connected to the top of the upper head 411, and the air outlet end of the one-way valve 431 is provided with a pressure gauge B433 with a needle valve 432; the exhaust pipeline includes a high-pressure shut-off valve B437 and an electric proportional control valve B436, the air outlet end of the electric proportional control valve B436 is provided with a muffler A438, the air outlet end of the high-pressure shut-off valve B437 is provided with a muffler B439, and the high-pressure shut-off valve B437 and the electric proportional control valve B436 are both connected to the top of the upper head 411.

[0045] Specifically, the upper layer in the above-mentioned constant temperature energy storage tank 41 is compressed air, the lower layer is hydraulic oil, and the medium in the sealed cavity is water. The electric three-way ball valve 421 is used for switching between hot and cold water, the electric regulating valve 422 is used for flow control of input hot and cold water, the two clamped butterfly valves 423 are used for manual control of the on and off of the cold and hot water pipelines, respectively, and the clamped check valve 424 can prevent the impact of the valve caused by the backflow of the exchanged water. The temperature control unit 42 meets the constant temperature requirements of the medium in the constant temperature energy storage tank 41 through the switching of hot and cold water and flow control. The oil drain valve 45 is used to unload and drain the hydraulic oil in the constant temperature energy storage tank 41, the manual hydraulic ball valve 46 is used for manual control of the output of the hydraulic oil in the constant temperature energy storage tank 41, and the electric hydraulic ball valve 47 is used for automatic control of the output of the hydraulic oil in the constant temperature energy storage tank 41. Silencer A436 and silencer B439 are used for silencing and reducing noise during the compressed air exhaust process, electric proportional control valve A434 and electric proportional control valve B436 are used to automatically control the speed of charging and exhausting the constant temperature energy storage tank 41, high pressure stop valve A435 and high pressure stop valve B437 are used to manually control the charging and exhausting of the constant temperature energy storage tank 41, the pressure gauge 433 installed in the charging pipeline is used to display the pressure of the charging gas source, and the one-way valve 431 on the charging pipeline is used to prevent the compressed air from flowing back to the charging gas source from the constant temperature energy storage tank 41. In summary, the charging pipeline and the exhaust pipeline can not only change the working pressure of the compressed air in the constant temperature energy storage tank 41 according to different load sizes, but also introduce automatic control, ensuring that the working pressure of the compressed air in the constant temperature energy storage tank 41 can respond to changes in real time according to the load change law, and always ensure that the constant temperature energy storage tank 41 is in the rated working state.

[0046] Specifically, the pressure sensor 411-1 installed on the upper head 411 is used to provide input signals for the inflation and exhaust control, the temperature sensor 411-5 provides input signals for the constant temperature control, the liquid level sensor 411-2 is used to feedback the current hydraulic oil level and low level and to alarm, the safety valve 411-3 is used for overpressure unloading in the tank body 412, and a ball valve A411-4 is installed between it and the upper head 411, and the ball valve A411-4 is in a normally open state during operation. The root of the heat exchange fin plate 412-1 is welded to the inner wall of the tank body 412 and is axially symmetrically distributed, which is used to increase the convection heat exchange area with the compressed air and improve the heat exchange efficiency. The root of the spiral fin 417 is welded to the outer wall of the tank body 412 and rises in a spiral shape, which is used to disturb and guide the hot water in the sealed cavity, so that after the hot water enters the sealed cavity from the water inlet 415, it can rise along the spiral fin 417 and finally be discharged from the water outlet 416. The rapid flow in and out can increase the convection heat exchange efficiency and prevent the heat exchange efficiency from being reduced due to the appearance of a local vortex dead zone inside the sealed cavity. The mounting bracket 418 fixed on the outer wall of the jacket cylinder 414 is an ear-type support, and the mounting bracket 418 can effectively fix the entire constant temperature energy storage tank 41 on the mounting bracket 44. The hot water in the sealed cavity in the lower head 413 area is mainly used for heat exchange and temperature adjustment of hydraulic oil.

[0047] As an embodiment of the present invention, Figure 5 As shown, the interior of the control console 3 includes a two-position three-way manual reversing valve 31, a three-position four-way electromagnetic proportional valve 32, a three-position four-way manual reversing valve 33, and an oil pressure gauge 34; wherein, the oil inlet P of the two-position three-way manual reversing valve 31 is connected to the oil outlet pipeline of the hydraulic pump station 2; the oil outlet A of the two-position three-way manual reversing valve 31 is connected to the oil inlet P of the three-position four-way electromagnetic proportional valve 32, and the oil outlet B of the two-position three-way manual reversing valve 31 is connected to the oil inlet P of the three-position four-way manual reversing valve 33; the oil return port T of the three-position four-way electromagnetic proportional valve 32 and the oil return port T of the three-position four-way manual reversing valve 33 are connected to the oil return port T of the three-position four-way electromagnetic proportional valve 32. The oil return port T of the valve 33 is connected to the oil tank of the hydraulic pump station 2, the oil outlet A of the three-position four-way electromagnetic proportional valve 32 and the oil outlet A of the three-position four-way manual reversing valve 33 are connected to the rodless cavity of the compensating hydraulic cylinder 13; the oil outlet of the constant temperature accumulator tank assembly 4 is connected to the rodless cavity of the compensating hydraulic cylinder 13; the oil outlet B of the three-position four-way electromagnetic proportional valve 32 and the oil outlet B of the three-position four-way manual reversing valve 31 are connected to the rod cavity of the compensating hydraulic cylinder 13; the oil pressure gauge 34 is connected to the oil inlet P of the two-position three-way reversing valve 31, and the oil pressure gauge 34 is used to measure the inlet oil pressure.

[0048] like Figure 6 As shown, the present invention is a connecting device between a wire rope winch and a load. Its main function is to change the length of the wire rope around the wheel through the telescopic movement of the compensation hydraulic cylinder 13, thereby adjusting the height position of the load to achieve the effect of heave displacement compensation. The specific implementation method can be described from the following four working conditions:

[0049] (1) Acceleration is downward, and the load tends to sink due to weightlessness.

[0050] At this time, the tension of the wire rope 14 decreases, the oil pressure of the rodless chamber of the compensation hydraulic cylinder 13 decreases, and the hydraulic oil in the constant temperature energy storage tank 41 flows from the oil port 413-1 into the rodless chamber of the compensation hydraulic cylinder 13 to serve as auxiliary hydraulic oil. This auxiliary hydraulic oil can push the piston rod to extend and drive the movable pulley 11 to move to the left, the wire rope 14 is recovered, and the load rises, thereby "counteracting" the sinking displacement. However, due to the decrease in the oil pressure of the rodless chamber, it cannot meet the constant tension requirement, so it is necessary to actively supply oil;

[0051] Active oil supply process: After the pin sensor on the movable pulley 11 senses that the tension is reduced, the two-position three-way manual reversing valve 31 is placed in the right position, and the three-position four-way electromagnetic proportional valve 32 is switched to the left position. The hydraulic pump station 2 supplies oil to the rodless chamber of the compensation hydraulic cylinder 13, further pushing the movable pulley 11 to move to the left, recovering the wire rope 14, and the load increases. At the same time, the oil pressure in the rodless chamber increases, and the tension of the wire rope 14 increases until it reaches the constant tension state before equilibrium. In the process, oil is supplied to the constant temperature energy storage tank 41 to store energy to the specified liquid level. With the change of load acceleration, the opening of the three-position four-way electromagnetic proportional valve 32 is regularly regulated in real time through a certain control logic, so that the system can be in a constant tension state in real time and complete the constant tension compensation action. At the same time, since the hydraulic oil in the constant temperature energy storage tank 41 flows out first and then flows in, the compressed air in the constant temperature energy storage tank 41 expands first and then compresses. In order to keep the gas temperature constant, it is necessary to absorb heat first and then release heat. Therefore, the electric three-way ball valve 421 needs to switch to the hot water pipeline first and then switch to the cold water pipeline. At the same time, the opening of the electric regulating valve 422 is adjusted in real time according to the monitoring signal of the temperature sensor 411-5 to change the flow rate of hot and cold water, thereby changing the heat exchange efficiency and maintaining the constant temperature in the constant temperature energy storage tank 41.

[0052] (2) The acceleration is upward, and the load has a tendency to rise overweight

[0053] At this time, the tension of the wire rope 14 increases, the oil pressure of the rodless chamber in the compensation hydraulic cylinder 13 increases, and the hydraulic oil in the rodless chamber of the compensation hydraulic cylinder 13 flows into the constant temperature energy storage tank 41, causing the piston rod of the compensation hydraulic cylinder 13 to contract and drive the movable pulley 11 to move to the right, the wire rope 14 is released, and the load sinks, thereby "counteracting" the upward displacement. However, due to the increase in the oil pressure in the rodless chamber, it cannot meet the constant tension requirement, so it is necessary to actively unload the load;

[0054] Active unloading process: After the pin sensor on the movable pulley 11 senses the increase in tension, the two-position three-way manual reversing valve 31 is placed in the right position, and the three-position four-way electromagnetic proportional valve 32 is switched to the right position. The hydraulic pump station 2 supplies oil to the rod chamber of the compensation hydraulic cylinder 13, and the hydraulic oil in the rodless chamber and the constant temperature energy storage tank 41 begins to flow back to the oil tank of the hydraulic pump station 2, further pushing the movable pulley 11 to the right, releasing the wire rope 14, and the load decreases. As the oil pressure in the rodless chamber of the compensation hydraulic cylinder 13 decreases, the tension of the wire rope 14 decreases until it reaches the constant tension state before balance. At the same time, after the excess hydraulic oil in the constant temperature energy storage tank 41 is unloaded, the hydraulic oil level returns to the specified level. With the change of load acceleration, the opening of the three-position four-way electromagnetic proportional valve 32 is regularly regulated in real time through a certain control logic, so that the system can be in a constant tension state in real time and complete the constant tension compensation action. At the same time, since the hydraulic oil in the constant temperature energy storage tank 41 flows in first and then flows out, the compressed air in the constant temperature energy storage tank 41 is compressed first and then expanded. In order to keep the gas temperature constant, it is necessary to release heat first and then absorb heat. Therefore, the electric three-way ball valve 421 is required to first switch to the cold water pipeline and then switch to the hot water pipeline. At the same time, the opening of the electric regulating valve 422 is adjusted in real time according to the monitoring signal of the temperature sensor 411-5 to change the flow rate of cold and hot water, thereby changing the heat exchange efficiency and maintaining the constant temperature in the constant temperature energy storage tank 41.

[0055] (3) When the load increases or the water flows upward, the tension of the wire rope 14 increases.

[0056] At this time, due to the significant increase in the tension of the wire rope 14, the set pressure in the constant temperature energy storage tank 41 can no longer meet the new compensation working condition requirements, so it is necessary to inflate the constant temperature energy storage tank 41, and open the electric proportional control valve A434 in the charging pipeline. At the same time, the valve opening is adjusted according to the rate of load increase, and the constant temperature energy storage tank 41 is regularly inflated to increase the set pressure. The input signal of this closed-loop control depends on the sensing signal of the wire displacement sensor 18. The increase in displacement indicates that the oil pressure in the rodless chamber of the compensation hydraulic cylinder 13 increases too fast, and the opening of the electric proportional control valve A434 must be reduced accordingly to slow down the charging rate. Similarly, when the displacement is monitored to decrease, it means that the load increases at a faster rate, and it is necessary to increase the opening of the electric proportional control valve A434 to speed up the charging rate.

[0057] At the same time, during the inflation process, according to the law of conservation of energy of the open system, the high-pressure airflow will generate a large driving work on the system in the constant temperature energy storage tank 41, causing the gas temperature to rise significantly. Therefore, in order to ensure the constant temperature of the gas in the constant temperature energy storage tank 41, the electric three-way ball valve 421 needs to be switched to the cold water pipeline to cool the constant temperature energy storage tank 41. Similarly, according to the input signal of the temperature sensor 411-5, the opening of the electric regulating valve 422 is adjusted to change the heat exchange rate in real time, so that the constant temperature energy storage tank 41 can be kept in a constant temperature state during the entire inflation process.

[0058] (4) When the load decreases or the wire rope 14 enters the water, the tension of the wire rope 14 decreases.

[0059] At this time, due to the significant reduction in the tension of the wire rope 14, the set pressure in the constant temperature energy storage tank 41 can no longer meet the new compensation working condition requirements, so it is necessary to vent the constant temperature energy storage tank 41, and the electric proportional control valve B436 in the exhaust pipeline is opened. At the same time, the valve opening is adjusted according to the rate of load reduction, so that the constant temperature energy storage tank 41 can be regularly vented and the set pressure is reduced. Similarly, the input signal is the perception signal of the wire displacement sensor 18. The increase in displacement indicates that the oil pressure reduction rate of the rodless chamber of the compensation hydraulic cylinder 13 is too slow, and the opening of the electric proportional control valve B436 must be increased accordingly to speed up the exhaust rate. Similarly, the decrease in displacement indicates that the load reduction rate is slow, and the opening of the electric proportional control valve B436 must be reduced to reduce the exhaust rate.

[0060] At the same time, during the exhaust process, according to the law of conservation of energy of the open system, the high-pressure airflow does pushing work to the outside, causing the gas temperature to drop significantly. Therefore, in order to ensure the constant temperature of the gas in the tank, the electric three-way ball valve 421 needs to be switched to the hot water pipeline to heat up the constant temperature energy storage tank 41. Similarly, according to the input signal of the temperature sensor 411-5, the opening of the electric regulating valve 422 is adjusted to change the heat exchange rate in real time, so that the constant temperature energy storage tank 41 can be kept in a constant temperature state during the entire exhaust process.

[0061] In the present invention, except for the constant temperature energy storage tank 41, the support frame 5, the base 19, and the mounting frame 44, the hydraulic pump station 2 is the prior art, and the remaining components used are purchased parts, which will not be described in detail.

[0062] The working principle of the present invention is as follows:

[0063] Principle 1: The present invention combines active and passive compensation systems. The active system is supplied with oil by the hydraulic pump station 2 to achieve unbiased compensation of heave displacement; the passive system is supplied with oil by the constant temperature energy storage tank 41, which can compensate for the lag of the active system while playing the positive effects of shock absorption and energy storage, reducing pressure fluctuations, and stabilizing system performance.

[0064] Principle 2: The present invention combines constant tension compensation with variable tension setting. When the load remains unchanged, the pin sensor on the movable pulley 11 senses the change in wire rope tension and performs constant tension compensation. When the load changes in real time, the oil pressure in the constant temperature energy storage tank 41 is changed in real time by controlling the filling and discharging speed of the constant temperature energy storage tank 41 to adapt to the load change, so that the system is always in a quasi-static equilibrium state, ensuring that the constant tension compensation system can continue to function.

[0065] Principle 3: The constant temperature energy storage tank 41 of the present invention adopts the jacket heat exchange principle, and performs constant temperature control by exchanging hot water to cope with the temperature difference change during the charging and discharging process of the constant temperature energy storage tank 41 and the temperature change of the hydraulic oil after the hydraulic oil flows back through the compensation hydraulic cylinder 13. Among them, the constant temperature of the gas makes the gas state change always follow Boyle's law, and the pressure setting is more accurate and stable, which is beneficial to compensation; the constant temperature of the hydraulic oil can ensure that the entire hydraulic system is in the optimal working state, which is also beneficial to compensation.

[0066] The present invention may be summarized in other specific forms that do not violate the spirit or main features of the present invention. Therefore, no matter from which point of view, the above embodiments of the present invention can only be regarded as an explanation of the present invention and cannot limit the present invention. The claims indicate the scope of the present invention, while the above description does not indicate the scope of the present invention. Therefore, any changes within the meaning and scope equivalent to the claims of the present invention should be considered to be included in the scope of the claims of the present invention.

Claims

1. An active and passive heave compensation system for a hoisting device, characterized in that: The invention comprises a support frame (5), on which a compensating pulley assembly (1), a hydraulic pump station (2), a control console (3) and a constant temperature energy storage tank assembly (4) are respectively mounted; the compensating pulley assembly (1) is used to accurately compensate for different heave displacements; the hydraulic pump station (2) supplies hydraulic oil to the compensating pulley assembly (1) through the control console (3); The constant temperature energy storage tank assembly (4) is used to provide auxiliary hydraulic oil to the compensating pulley assembly (1) and to store energy and absorb vibrations of the compensating pulley assembly (1); The compensating pulley assembly (1) comprises a base (19) and a steel wire rope (14). A compensating hydraulic cylinder (13) is arranged on the base (19). A vertical movable pulley (11) and a fixed pulley B (15) are arranged at both ends of the compensating hydraulic cylinder (13). A fixed pulley A (12) is arranged above the movable pulley (11). A swing pulley (16) is arranged above the fixed pulley B (15). The steel wire rope (14) passes through the swing pulley (16), the fixed pulley B (15), the movable pulley (11) and the fixed pulley A (12). Pulley A (12); the compensating hydraulic cylinder (13) drives the movable pulley (11) to perform linear motion relative to the base (19); the compensating pulley assembly (1) further comprises a wire displacement sensor (18), the wire displacement sensor (18) is mounted on the base (19), and the wire probe on the wire displacement sensor (18) is connected to the movable pulley (11); a pin sensor is mounted on the movable pulley (11), and the pin sensor is used to measure the bending moment and shear force applied to the movable pulley (11); The constant temperature energy storage tank assembly (4) comprises a constant temperature energy storage tank (41) vertically fixed on a mounting frame (44), a constant pressure unit (43) being arranged on the top of the constant temperature energy storage tank (41), the constant pressure unit (43) being configured to be able to change the working pressure of the compressed air inside the constant temperature energy storage tank (41) according to different load sizes, thereby ensuring that the working pressure can respond to changes in real time according to the load change law, and ensuring that the constant temperature energy storage tank (41) is in a rated working state.

2. The active and passive heave compensation system for a hoisting device according to claim 1, characterized in that: The swing pulley (16) comprises a fixed pulley C (161), wherein the fixed pulley C (161) is rotatably mounted on a fixed seat (162), and the fixed seat (162) is vertically fixed on the base (19).

3. The active and passive heave compensation system for a hoisting device according to claim 1, characterized in that: A sliding mechanism (17) is provided at the bottom of the movable pulley (11), and the sliding mechanism (17) is used to ensure the linear motion of the movable pulley (11).

4. The active and passive heave compensation system for a hoisting device according to claim 3, characterized in that: The sliding mechanism (17) comprises a matching guide rail (172) and a sliding block (171); the sliding block (171) is arranged on the movable pulley (11); and the guide rail (172) is arranged on the base (19).

5. The active and passive heave compensation system for a hoisting device according to claim 1, characterized in that: The control console (3) comprises a two-position three-way manual reversing valve (31), a three-position four-way electromagnetic proportional valve (32), a three-position four-way manual reversing valve (33), and an oil pressure gauge (34); an oil inlet P of the two-position three-way manual reversing valve (31) is connected to an oil outlet pipeline of the hydraulic pump station (2); an oil outlet A of the two-position three-way manual reversing valve (31) is connected to an oil inlet P of the three-position four-way electromagnetic proportional valve (32), and an oil outlet B of the two-position three-way manual reversing valve (31) is connected to an oil inlet P of the three-position four-way manual reversing valve (33); an oil return port T of the three-position four-way electromagnetic proportional valve (32) and an oil return port T of the three-position four-way manual reversing valve (33) are connected to an oil return port T of the three-position four-way electromagnetic proportional valve (32). T is connected to the oil tank of the hydraulic pump station (2); the oil outlet A of the three-position four-way electromagnetic proportional valve (32) and the oil outlet A of the three-position four-way manual reversing valve (33) are both connected to the rodless chamber of the compensating hydraulic cylinder (13); the oil outlet of the constant temperature accumulator tank assembly (4) is connected to the rodless chamber of the compensating hydraulic cylinder (13); the oil outlet B of the three-position four-way electromagnetic proportional valve (32) and the oil outlet B of the three-position four-way manual reversing valve (33) are both connected to the rod chamber of the compensating hydraulic cylinder (13); the oil pressure gauge (34) is connected to the oil inlet P of the two-position three-way manual reversing valve (31), and the oil pressure gauge (34) is used to measure the inlet oil pressure.

6. The active and passive heave compensation system for a hoisting device according to any one of claims 1 to 5, characterized in that: A temperature control unit (42) is provided at the bottom of the constant temperature energy storage tank (41), and an oil drain valve (45), a manual hydraulic ball valve (46) and an electric hydraulic ball valve (47) are provided at the bottom end of the constant temperature energy storage tank (41); The temperature control unit (42) is configured to perform heat exchange and temperature adjustment on the hydraulic oil and compressed air in the constant temperature energy storage tank (41), thereby ensuring that the interior of the constant temperature energy storage tank (41) is in a constant temperature state.

7. The active and passive heave compensation system for a hoisting device according to claim 6, characterized in that: The constant temperature energy storage tank (41) comprises, from top to bottom, an upper head (411), a tank body (412) and a lower head (413) which are sealed and connected to each other; a pressure sensor (411-1), a liquid level sensor (411-2), a temperature sensor (411-5), a pressure gauge A (411-6) and a safety valve (411-3) with a ball valve A (411-4) are installed in a sealing manner on the top of the upper head (411); a jacketed cylinder (414) is arranged outside the tank body (412); a sealed cavity is formed between the jacketed cylinder (414) and the tank body (412); a spiral fin (414) is arranged in the sealed cavity. 7), the spiral fin (417) is welded to the tank body (412), the bottom of the jacket cylinder (414) is provided with a water inlet (415), the top of the jacket cylinder (414) is provided with a water outlet (416), and the outside of the jacket cylinder (414) is provided with a mounting bracket (418); the bottom of the lower head (413) is provided with an oil port (413-1), and the oil port (413-1) is connected to the oil drain valve (45), the manual hydraulic ball valve (46) and the electric hydraulic ball valve (47) through a four-way pipe; and the inner wall of the tank body (412) is evenly provided with a plurality of heat exchange fin plates (412-1).

8. The active and passive heave compensation system for a hoisting device according to claim 7, characterized in that: The temperature control unit (42) comprises an electric three-way ball valve (421), the electric three-way ball valve (421) being connected to a wafer check valve (424) via an electric regulating valve (422), the wafer check valve (424) being connected to the water inlet (415); water inlet pipes are respectively provided at both ends of the electric three-way ball valve (421), the water inlet pipes being connected to the wafer check valve (424) via a wafer butterfly valve (423).

9. The active and passive heave compensation system for a hoisting device according to claim 7, characterized in that: The constant pressure unit (43) comprises an air charging pipeline and an air exhaust pipeline. The air charging pipeline comprises a one-way valve (431). The one-way valve (431) is respectively connected to a high-pressure stop valve A (435) and an electric proportional control valve A (434). The high-pressure stop valve A (435) and the electric proportional control valve A (434) are both connected to the top of the upper head (411). A pressure gauge B (433) with a needle valve (432) is provided at the air outlet end of the one-way valve (431). The air exhaust pipeline comprises a high-pressure stop valve B (437) and an electric proportional control valve B (436). A muffler A (438) is provided at the air outlet end of the electric proportional control valve B (436). A muffler B (439) is provided at the air outlet end of the high-pressure stop valve B (437). The high-pressure stop valve B (437) and the electric proportional control valve B (436) are both connected to the top of the upper head (411).

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