A hydraulic energy storage type variable inertia gyroscopic stabilized platform

Abstract

The present invention discloses a hydraulic energy storage type variable inertia gyroscopic stabilization platform, which includes a platform plate, a bracket, a power gyroscopic stabilizer, a four-port flow distribution hydraulic pump, a two-position three-way electromagnetic directional valve I, a two-position three-way electromagnetic directional valve II, an actuator cylinder and a controller. The power gyroscopic stabilizer is connected to the bracket. The A port and the B port on the four-port flow distribution hydraulic pump are connected to the actuator cylinder. The C port of the four-port flow distribution hydraulic pump is connected to the A port of the two-position three-way electromagnetic directional valve I. The D port of the four-port flow distribution hydraulic pump is connected to the A port of the two-position three-way electromagnetic directional valve II. The P ports of the two-position three-way electromagnetic directional valve I and the two-position three-way electromagnetic directional valve II are both connected to the fuel tank. The T ports of the two-position three-way electromagnetic directional valve I and the two-position three-way electromagnetic directional valve II are both connected to the power gyroscopic stabilizer. The controller is connected to the four-port flow distribution hydraulic pump; it not only ensures the working oil pressure stability of the actuator, but also realizes stepless and rapid response to irregular disturbance torques from sea waves, sea winds, etc.

Description

Technical Field

[0001] The present invention belongs to the technical field of hydraulic transmission control and energy storage. Specifically, the present invention relates to a hydraulic energy storage type variable inertia gyroscopic stabilization platform. Background Art

[0002] When a large offshore crane operates on the sea surface, in addition to overcoming the vibration of its own mechanism, it also needs to overcome the disturbing torques generated by the hull counterweight, sea waves, and sea breeze to avoid the risk of the entire large offshore crane tipping over and ensure the stability of the lifted cargo.

[0003] Traditional large offshore cranes, like traditional land cranes, use accumulators with a fixed moment of inertia. First, they cannot provide a relatively stable oil pressure to the actuator, resulting in mechanism vibration and noise. Second, they cannot balance irregular disturbing torques from sea waves and sea breeze, etc.

[0004] Therefore, a stepless adjustable and fast-response energy storage device is needed to meet the application of large offshore cranes. Summary of the Invention

[0005] The present invention provides a hydraulic energy storage type variable inertia gyroscopic stabilization platform to solve the problems in the above background art.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a hydraulic energy storage type variable inertia gyroscopic stabilization platform, including a platform plate, brackets, a power gyroscopic stabilizer, a four-port flow distribution hydraulic pump, a two-position three-way electromagnetic reversing valve I, a two-position three-way electromagnetic reversing valve II, an actuator cylinder, and a controller. There are two brackets symmetrically arranged. The power gyroscopic stabilizer is rotationally connected to the brackets. The A port and B port on the four-port flow distribution hydraulic pump are connected to the rodless cavity of the actuator cylinder. The C port on the four-port flow distribution hydraulic pump is connected to the A port of the two-position three-way electromagnetic reversing valve I. The D port on the four-port flow distribution hydraulic pump is connected to the A port of the two-position three-way electromagnetic reversing valve II. The P ports of the two-position three-way electromagnetic reversing valve I and the two-position three-way electromagnetic reversing valve II are both connected to the fuel tank. The T ports of the two-position three-way electromagnetic reversing valve I and the two-position three-way electromagnetic reversing valve II are communicated with each other and are both connected to the power gyroscopic stabilizer. The controller is connected to the four-port flow distribution hydraulic pump through a control wire harness.

[0007] Preferably, the power gyroscopic stabilizer includes a variable inertia rotor, an inner frame, a rotating shaft, and a rotor motor. The two ends of the variable inertia rotor are rotationally connected to the inner frame. One end of the rotating shaft is fixedly connected to the inner frame, and the other end is rotationally connected to the brackets. The rotor motor is fixedly connected to the inner frame and drives the variable inertia rotor to rotate.

[0008] Preferably, the variable inertia rotor includes an upper partition flange, an inner sleeve, an outer sleeve, a lower partition flange, an annular piston, an upper end plate, a lower end plate and a fixing rod. The upper partition flange and the lower partition flange are rotatably connected to the inner frame. The upper partition flange and the lower partition flange are screwed to the inner wall of the end of the outer sleeve through a screw pair and are pressed against the end of the inner sleeve through a sealing rubber ring. The annular piston is arranged in an annular cavity formed after the inner sleeve and the outer sleeve are coaxially installed, and divides the annular cavity into an air cavity and an oil cavity. The air cavity communicates with the inner sleeve through a through hole on the upper partition flange, and the oil cavity communicates with an oil path through a through hole on the lower partition flange. The two ends of the fixing rod respectively pass through the upper end plate and the lower end plate, and the upper end plate and the lower end plate are pressed against the end of the outer sleeve through a sealing rubber ring.

[0009] Preferably, an electromagnetic clutch is arranged on the extension shaft of the four-port flow window hydraulic pump. The other end of the electromagnetic clutch is connected to a generator. The generator is connected to a storage battery through a cable. The storage battery supplies power to the rotor motor to drive its operation.

[0010] Preferably, an angle sensor is arranged at the end of the rotating shaft. The rotation angle of the rotating shaft is collected by the angle sensor and is connected to a controller through a wire harness.

[0011] Preferably, the displacement of the annular piston is collected by a displacement sensor and is connected to a controller through a wire harness.

[0012] Preferably, the hydraulic oil pressure in the rodless cavity of the actuator cylinder is connected to the controller through a pressure sensor; the extending speed of the piston rod of the actuator cylinder is connected to the controller through a speed sensor via a comparator.

[0013] The beneficial effects of adopting the above technical solutions are as follows:

[0014] 1. For the hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention, when the large offshore crane is lowering the lifted cargo, the piston rod of the actuator cylinder contracts. At this time, the oil in the rodless cavity of the actuator cylinder flows back. The controller controls the operation of the four-port flow window hydraulic pump according to the rotation angle data of the rotating shaft detected by the angle sensor and the position data of the current annular piston detected by the displacement sensor, which is specifically divided into the following three situations.

[0015] The first situation: At this time, the sea waves and sea breeze are very stable, that is, the large offshore crane is very stable, and the change of the interference torque generated by the sea waves and sea breeze is very small. At this time, the oil cavity of the variable inertia rotor does not need to be filled with oil for energy storage.

[0016] The electromagnetic clutch is turned on, the left position of the two-position three-way electromagnetic reversing valve I is turned on, and the oil flows back to the oil tank through the left position of the two-position three-way electromagnetic reversing valve I. The kinetic energy of the oil is used to drive the generator to generate electricity and store it in the storage battery through the four-port flow window hydraulic pump, realizing the recovery of the kinetic energy of the oil. At the same time, the piston rod of the actuator cylinder needs to contract slowly.

[0017] When the electromagnetic clutch is engaged, the left positions of the two-way three-position electromagnetic directional valve 1 and the two-way three-position electromagnetic directional valve 2 are simultaneously engaged. The hydraulic oil returns to the fuel tank through the left positions of the two-way three-position electromagnetic directional valve 1 and the two-way three-position electromagnetic directional valve 2. The kinetic energy of the hydraulic oil drives the generator to generate electricity through the four-port flow window hydraulic pump and stores it in the storage battery, realizing the recovery of the kinetic energy of the hydraulic oil.

[0018] The second case: At this time, the sea waves and sea breeze are small, that is, the large offshore crane produces small swings, and the change in the interference torque generated by the sea waves and sea breeze is small. At this time, the oil chamber of the variable inertia rotor needs to be slowly filled with oil for energy storage.

[0019] When the electromagnetic clutch is engaged, the left position of the two-way three-position electromagnetic directional valve 1 is engaged, and the right position of the two-way three-position electromagnetic directional valve 2 is engaged; a part of the hydraulic oil returns to the fuel tank through the left position of the two-way three-position electromagnetic directional valve 1. The kinetic energy of the hydraulic oil drives the generator to generate electricity through the four-port flow window hydraulic pump and stores it in the storage battery, realizing the recovery of the kinetic energy of the hydraulic oil; another part of the hydraulic oil enters the oil chamber of the variable inertia rotor through the right position of the two-way three-position electromagnetic directional valve 2. The hydraulic oil entering the oil chamber pushes the annular piston to slowly move upward, and the nitrogen in the air chamber is further compressed into the inner sleeve, realizing the stepless and slow increase of the moment of inertia of the variable inertia rotor.

[0020] The third case: At this time, the sea waves and sea breeze are large, that is, the large offshore crane produces large swings, and the change in the interference torque generated by the sea waves and sea breeze is very large. At this time, the oil chamber of the variable inertia rotor needs to be quickly filled with oil for energy storage.

[0021] When the electromagnetic clutch is disengaged, the right position of the two-way three-position electromagnetic directional valve 1 is engaged, and the right position of the two-way three-position electromagnetic directional valve 2 is engaged; the hydraulic oil converges and enters the oil chamber of the variable inertia rotor through the right positions of the two-way three-position electromagnetic directional valve 1 and the two-way three-position electromagnetic directional valve 2. The hydraulic oil entering the oil chamber pushes the annular piston to quickly move upward, and the nitrogen in the air chamber is further compressed into the inner sleeve, realizing the stepless and rapid increase of the moment of inertia of the variable inertia rotor.

[0022] The hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention adopts a multi-stage stepless adjustment variable inertia rotor, which not only ensures the stability of the working oil pressure of the actuator, avoids mechanism vibration and noise, but also realizes a stepless and rapid response to irregular interference torques such as sea waves and sea breezes.

[0023] 2. For the hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention, the oil pressure data of the rodless cavity of the actuator cylinder detected by the pressure sensor and the speed data of the piston rod of the actuator cylinder detected by the speed sensor are used to negatively feedback control the rotation speed and power path of the four-port flow window hydraulic pump through the controller, ensuring the stability of the actuator cylinder during operation. Description of the Drawings

[0024] Figure 1 This is the working principle diagram of the hydraulic energy storage variable inertia gyroscopic stabilization platform of the present invention;

[0025] Figure 2 This is the sectional view of the variable inertia rotor;

[0026] Among them:

[0027] 1. Platform plate; 2. Bracket; 3. Power gyroscopic stabilizer; 4. Four-port flow window hydraulic pump; 5. Two-position three-way solenoid directional valve I; 6. Two-position three-way solenoid directional valve II; 7. Actuating cylinder; 8. Controller; 9. Fuel tank;

[0028] 30. Variable inertia rotor; 31. Inner frame; 32. Rotating shaft; 33. Rotor motor;

[0029] 3-1. Upper partition flange; 3-2. Inner sleeve; 3-3. Outer sleeve; 3-4. Lower partition flange; 3-5. Annular piston; 3-6. Upper end plate; 3-7. Lower end plate; 3-8. Fixed rod;

[0030] 300. Angle sensor; 301. Displacement sensor;

[0031] 40. Electromagnetic clutch; 41. Generator; 42. Battery;

[0032] 70. Pressure sensor; 71. Comparator; 72. Speed sensor. Specific embodiments

[0033] The following is a more detailed description of the specific embodiments of the present invention with reference to the accompanying drawings and through the description of the embodiments, aiming to help those skilled in the art have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitate its implementation.

[0034] As Figures 1 to 2 shown, the present invention is a hydraulic energy storage variable inertia gyroscopic stabilization platform, which adopts a multi-stage stepless adjustable variable inertia rotor, ensuring both the stability of the working oil pressure of the actuator, avoiding mechanism vibration and noise, and achieving a stepless and rapid response to irregular disturbing torques such as waves and sea breezes.

[0035] Specifically, as Figures 1 to 2As shown in the figure, it includes a platform plate 1, a bracket 2, a power gyro stabilizer 3, a four-port flow window hydraulic pump 4, a two-position three-way electromagnetic reversing valve 5, a two-position three-way electromagnetic reversing valve 6, an actuator cylinder 7, and a controller 8. There are two brackets 2 symmetrically arranged. The power gyro stabilizer 3 is rotatably connected to the bracket 2. The A port and B port on the four-port flow window hydraulic pump 4 are connected to the rodless cavity of the actuator cylinder 7. The C port on the four-port flow window hydraulic pump 4 is connected to the A port of the two-position three-way electromagnetic reversing valve 5. The D port on the four-port flow window hydraulic pump 4 is connected to the A port of the two-position three-way electromagnetic reversing valve 6. The P ports of the two-position three-way electromagnetic reversing valve 5 and the two-position three-way electromagnetic reversing valve 6 are both connected to the fuel tank 9. The T ports of the two-position three-way electromagnetic reversing valve 5 and the two-position three-way electromagnetic reversing valve 6 are connected to each other and are both connected to the power gyro stabilizer 3. The controller 8 is connected to the four-port flow window hydraulic pump 4 through a control wire harness.

[0036] The power gyro stabilizer 3 includes a variable inertia rotor 30, an inner frame 31, a rotating shaft 32, and a rotor motor 33. Both ends of the variable inertia rotor 30 are rotatably connected to the inner frame 31. One end of the rotating shaft 32 is fixedly connected to the inner frame 31, and the other end is rotatably connected to the bracket 2. The rotor motor 33 is fixedly connected to the inner frame 31 and drives the variable inertia rotor 30 to rotate.

[0037] The variable inertia rotor 30 includes an upper partition flange 3-1, an inner sleeve 3-2, an outer sleeve 3-3, a lower partition flange 3-4, an annular piston 3-5, an upper end plate 3-6, a lower end plate 3-7, and a fixing rod 3-8. The upper partition flange 3-1 and the lower partition flange 3-4 are rotatably connected to the inner frame 31. The upper partition flange 3-1 and the lower partition flange 3-4 are screwed onto the inner wall of the end of the outer sleeve 3-3 through a screw pair and are pressed against the end of the inner sleeve 3-2 through a sealing rubber ring. The annular piston 3-5 is arranged in the annular cavity formed after the coaxial installation of the inner sleeve 3-2 and the outer sleeve 3-3 and divides the annular cavity into an air chamber and an oil chamber. The air chamber is communicated with the inner sleeve 3-2 through the through hole on the upper partition flange 3-1, and the oil chamber is communicated with the oil circuit through the through hole on the lower partition flange 3-4. Both ends of the fixing rod 3-8 pass through the upper end plate 3-6 and the lower end plate 3-7 respectively, and the upper end plate 3-6 and the lower end plate 3-7 are pressed against the end of the outer sleeve 3-3 through a sealing rubber ring.

[0038] An electromagnetic clutch 40 is provided on the extension shaft of the four-port flow window hydraulic pump 4. The other end of the electromagnetic clutch 40 is connected to a generator 41. The generator 41 is connected to a storage battery 42 through a cable. The storage battery 42 supplies power to the rotor motor 33 to drive its operation.

[0039] An angle sensor 300 is provided at the end of the rotating shaft 32. The rotation angle of the rotating shaft 32 is collected by the angle sensor 300 and is connected to the controller 8 through a wire harness.

[0040] The displacement of the annular piston 3-5 is collected by a displacement sensor 301 and connected to the controller 8 through a wire harness.

[0041] The hydraulic oil pressure in the rodless cavity of the actuator cylinder 7 is connected to the controller 8 through a pressure sensor 70; the extension speed of the piston rod of the actuator cylinder 7 is connected to the controller 8 through a speed sensor 72 via a comparator 71.

[0042] The following uses specific embodiments to elaborate on the specific working mode:

[0043] Embodiment 1:

[0044] For the hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention, in a large offshore crane, when the lifted cargo descends, the piston rod of the actuator cylinder 7 contracts. At this time, the oil in the rodless cavity of the actuator cylinder 7 flows back. The controller 8 controls the operation of the four-port flow control window hydraulic pump 4 according to the rotation angle data of the rotating shaft 32 detected by the angle sensor 300 and the position data of the current annular piston 3-5 detected by the displacement sensor 301. Specifically, it is divided into the following three situations.

[0045] First: At this time, the sea waves and sea breeze are very smooth, that is, the large offshore crane is very stable, and the change in the interference torque generated by the sea waves and sea breeze is very small. At this time, the oil cavity of the variable inertia rotor 30 does not need to be filled with oil for energy storage.

[0046] The electromagnetic clutch 40 is engaged, and the left position of the two-way three-way electromagnetic reversing valve 5 is connected. The oil flows back to the fuel tank through the left position of the two-way three-way electromagnetic reversing valve 5. The kinetic energy of the oil drives the generator 41 to generate electricity and store it in the storage battery 42 through the four-port flow control window hydraulic pump 4, realizing the recovery of the kinetic energy of the oil.

[0047] The electromagnetic clutch 40 is engaged, and the left positions of the two-way three-way electromagnetic reversing valve 5 and the two-way three-way electromagnetic reversing valve 6 are connected simultaneously. The oil flows back to the fuel tank 9 through the left positions of the two-way three-way electromagnetic reversing valve 5 and the two-way three-way electromagnetic reversing valve 6. The kinetic energy of the oil drives the generator 41 to generate electricity and store it in the storage battery 42 through the four-port flow control window hydraulic pump 4, realizing the recovery of the kinetic energy of the oil.

[0048] Second: At this time, the sea waves and sea breeze are relatively small, that is, the large offshore crane has a small swing, and the change in the interference torque generated by the sea waves and sea breeze is relatively small. At this time, the oil cavity of the variable inertia rotor 30 needs to be slowly filled with oil for energy storage.

[0049] The electromagnetic clutch 40 is turned on, the left position of the two-position three-way electromagnetic reversing valve 5 is turned on, and the right position of the two-position three-way electromagnetic reversing valve 6 is turned on; a part of the hydraulic oil returns to the fuel tank 9 through the left position of the two-position three-way electromagnetic reversing valve 5, and the kinetic energy of the hydraulic oil drives the generator 41 to generate electricity through the four-port hydraulic pump 4 and stores it in the storage battery 42, realizing the recovery of the kinetic energy of the hydraulic oil; another part of the hydraulic oil enters the oil cavity of the variable inertia rotor 30 through the right position of the two-position three-way electromagnetic reversing valve 6, and the hydraulic oil entering the oil cavity pushes the annular piston 3-5 to slowly move upward, and the nitrogen in the air cavity is further compressed and enters the inner sleeve 3-2, realizing the stepless and slow increase of the moment of inertia of the variable inertia rotor 30.

[0050] The third case: At this time, the sea waves and sea breeze are relatively large, that is, the large offshore crane generates large swings, and the disturbing torque generated by the sea waves and sea breeze changes greatly. At this time, the oil cavity of the variable inertia rotor 30 needs to be quickly filled with oil for energy storage.

[0051] The electromagnetic clutch 40 is turned off, the right position of the two-position three-way electromagnetic reversing valve 5 is turned on, and the right position of the two-position three-way electromagnetic reversing valve 6 is turned on; the hydraulic oil flows through the right positions of the two-position three-way electromagnetic reversing valve 5 and the two-position three-way electromagnetic reversing valve 6 and converges into the oil cavity of the variable inertia rotor 30, and the hydraulic oil entering the oil cavity pushes the annular piston 3-5 to quickly move upward, and the nitrogen in the air cavity is further compressed and enters the inner sleeve 3-2, realizing the stepless and rapid increase of the moment of inertia of the variable inertia rotor 30.

[0052] The hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention adopts a multi-stage stepless adjustment variable inertia rotor 30, which not only ensures the stability of the working oil pressure of the actuator, avoids mechanism vibration and noise, but also realizes a stepless and rapid response to irregular disturbing torques such as sea waves and sea breeze.

[0053] Embodiment 2:

[0054] On the basis of Embodiment 1, for the hydraulic energy storage type variable inertia gyroscopic stabilization platform of the present invention, the oil pressure data of the rodless cavity of the actuator cylinder 7 detected by the pressure sensor 70 and the speed data of the piston rod of the actuator cylinder 7 detected by the speed sensor 72 are used to negatively feedback control the rotation speed and power path of the four-port hydraulic pump 4 through the controller 8 to ensure the stability of the operation of the actuator cylinder 7.

[0055] The present invention has been described exemplarily in combination with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above methods. As long as various non-substantial improvements are made by adopting the method concept and technical solution of the present invention; or without improvement, the above concept and technical solution of the present invention are directly applied to other occasions, all are within the protection scope of the present invention.

Claims

1. A hydraulic energy storage type variable inertia gyroscopic stabilization platform, characterized in that: It includes a platform plate (1), brackets (2), a power gyro stabilizer (3), a four-port flow window hydraulic pump (4), a two-position three-way solenoid directional valve I (5), a two-position three-way solenoid directional valve II (6), an actuator cylinder (7), and a controller (8). There are two symmetrically arranged brackets (2). The power gyro stabilizer (3) is rotatably connected to the brackets (2). Port A and Port B on the four-port flow window hydraulic pump (4) are connected to the rodless cavity of the actuator cylinder (7). Port C on the four-port flow window hydraulic pump (4) is connected to Port A of the two-position three-way solenoid directional valve I (5). Port D on the four-port flow window hydraulic pump (4) is connected to Port A of the two-position three-way solenoid directional valve II (6). The P ports of the two-position three-way solenoid directional valve I (5) and the two-position three-way solenoid directional valve II (6) are both connected to the fuel tank (9). The T ports of the two-position three-way solenoid directional valve I (5) and the two-position three-way solenoid directional valve II (6) are connected to each other and are both connected to the power gyro stabilizer (3). The controller (8) is connected to the four-port flow window hydraulic pump (4) through a control wire harness. The power gyro stabilizer (3) includes a variable inertia rotor (30), an inner frame (31), a rotating shaft (32), and a rotor motor (33). The two ends of the variable inertia rotor (30) are rotatably connected to the inner frame (31). One end of the rotating shaft (32) is fixedly connected to the inner frame (31), and the other end is rotatably connected to the bracket (2). The rotor motor (33) is fixedly connected to the inner frame (31) and drives the variable inertia rotor (30) to rotate. The hydraulic oil pressure in the rodless cavity of the actuator cylinder (7) is connected to the controller (8) through a pressure sensor (70). The extending speed of the piston rod of the actuator cylinder (7) is connected to the controller (8) through a speed sensor (72) via a comparator (71).

2. The hydraulic energy storage type variable inertia gyroscopic stabilization platform according to claim 1, characterized in that: The variable inertia rotor (30) includes an upper partition flange (3-1), an inner sleeve (3-2), an outer sleeve (3-3), a lower partition flange (3-4), an annular piston (3-5), an upper end plate (3-6), a lower end plate (3-7), and a fixing rod (3-8). The upper partition flange (3-1) and the lower partition flange (3-4) are rotatably connected to the inner frame (31). The upper partition flange (3-1) and the lower partition flange (3-4) are screwed onto the inner wall of the end of the outer sleeve (3-3) through a screw pair and are pressed against the end of the inner sleeve (3-2) through a sealing rubber ring. The annular piston (3-5) is arranged in the annular cavity formed after the coaxial installation of the inner sleeve (3-2) and the outer sleeve (3-3), and divides the annular cavity into an air cavity and an oil cavity. The air cavity is communicated with the inner sleeve (3-2) through a through hole on the upper partition flange (3-1). The oil cavity is communicated with the oil circuit through a through hole on the lower partition flange (3-4). The two ends of the fixing rod (3-8) respectively pass through the upper end plate (3-6) and the lower end plate (3-7), and the upper end plate (3-6) and the lower end plate (3-7) are pressed against the end of the outer sleeve (3-3) through a sealing rubber ring.

3. A hydraulic energy storage type variable inertia gyroscopic stabilization platform according to claim 1, characterized in that: An electromagnetic clutch (40) is provided on the extending shaft of the four-port flow window hydraulic pump (4), and the other end of the electromagnetic clutch (40) is connected to a generator (41). The generator (41) is connected to a storage battery (42) through a cable, and the storage battery (42) supplies power to the rotor motor (33) to drive its operation.

4. A hydraulic energy storage type variable inertia gyroscopic stabilization platform according to claim 1, characterized in that: An angle sensor (300) is provided at the end of the rotating shaft (32). The rotation angle of the rotating shaft (32) is collected by the angle sensor (300) and connected to the controller (8) through a wire harness.

5. A hydraulic energy storage type variable inertia gyroscopic stabilization platform according to claim 2, characterized in that: The displacement of the annular piston (3-5) is collected by a displacement sensor (301) and connected to the controller (8) through a wire harness.

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