Three-way compensation receiving system and method for offshore module transfer operation

Abstract

The present invention relates to the field of marine engineering technology, and specifically to a three-way compensation receiving system and method for offshore module transfer operations. The present invention includes a support mechanism assembly, a sliding mechanism assembly and a drive structure assembly, wherein the support mechanism assembly includes a module base receiving interface, a vertical receiving mechanism and a receiving device steel structure from top to bottom; the sliding mechanism assembly includes a sliding structure frame, a roller guide rail mechanism, and a gear rack mechanism; the lateral drive motor and the longitudinal drive motor of the drive structure assembly are electrically driven, and the hydraulic drive system adopts a hydraulic-electric hybrid drive; according to actual needs, the three drive structures all adopt a manual compensation mode, an active pressure compensation mode, an active position compensation mode, a passive pressure compensation mode, and a passive position compensation mode, which can follow the movement of the offshore module, reduce the difficulty of docking, and thus ensure that the vertical receiving mechanism and the receiving ship remain relatively constant.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering technology, and in particular to a three-way compensation receiving system and method for offshore module transshipment operations. Background Art

[0002] During the transshipment of large offshore modules (the process of placing large modules on one or two ships and transferring the modules from their original location to another ship), when the modules are placed on the receiving ship, when the foundation of the modules contacts the ship, the receiving ship will produce various movements in various directions (roll, sway, pitch, swing, bow pitch, heave) due to the influence of waves, wind, and other marine environmental conditions. The movements in the above directions will lead to: 1) difficulties in docking the offshore module with the receiving ship; 2) during the contact between the supporting structure on the receiving ship and the module, interaction forces in three directions of space are generated between the receiving ship and the module (impact forces in various directions, excluding the part where the weight of the module is transferred to the receiving ship due to operational needs). The hazards caused by these forces: a) affecting the stability of the module, which may cause the module to capsize; b) the impact force may damage the supporting structure of the receiving ship or the bottom foundation of the module; c) aggravating the movement of the receiving ship;

[0003] Disadvantages of the existing technology: The design of the receiving device of the existing large offshore modules has a buffer design in the vertical direction. In actual application, elastic materials or sand boxes are used. However, the impact force varies greatly with the mutual movement of the module and the receiving ship, which has a great impact on the stability of the module and the receiving ship. The existing design has no buffer design in the horizontal direction. Once the receiving device is installed on the receiving ship, the horizontal interaction force generated during the module transfer operation cannot be buffered, which will aggravate the movement of the module and the receiving ship, causing system instability. Summary of the invention

[0004] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art and provide a three-way compensation receiving system and method for offshore module transfer operations, wherein a force compensation system is designed in the vertical direction, and the system is driven by a gas-liquid mixed hydraulic system to control the interaction force between the ship and the module in the vertical direction so that it does not change drastically with the relative movement of the module and the receiving ship, thereby greatly reducing the movement amplitude of the module and the receiving ship and increasing the stability of the system; a compensation system is designed in the horizontal direction, and the system is driven by a gear rack mechanism driven by an electric motor to compensate for the drastic changes in the interaction force in the horizontal plane caused by the relative movement of the receiving ship and the module, so that the amplitude of the change of the interaction force with the change of the relative movement of the module and the receiving ship is greatly reduced, thereby increasing the stability of the system.

[0005] A technical solution of the present invention is:

[0006] A three-way compensation receiving system for offshore module transfer operation includes a support mechanism assembly, a sliding mechanism assembly and a drive structure assembly, wherein:

[0007] The supporting mechanism assembly includes, from top to bottom, the module foundation receiving interface, the vertical receiving mechanism and the receiving device steel structure, among which:

[0008] The module foundation receiving interface is used to support the alignment of the mechanism assembly and the module foundation during the module lowering process and is designed in a bell-mouth shape;

[0009] The vertical receiving mechanism has physical contact with the module foundation during operation and provides vertical support force for the module;

[0010] The receiving device steel structure is erected on the deck, with the top being the vertical receiving mechanism and the bottom being the contact surface with the main deck of the ship;

[0011] The sliding mechanism assembly includes a sliding structure frame, a roller guide mechanism, and a gear rack mechanism, wherein:

[0012] The sliding structure frame is a rectangular frame, and the interior of the rectangular frame is a supporting mechanism assembly;

[0013] The roller guide mechanism is installed at the bottom of the sliding structure frame and connected to the foundation on the deck, and is installed between the sliding structure frame and the foundation on the deck, and between the support mechanism assembly and the sliding structure frame;

[0014] The gear rack mechanism includes a transverse driving motor fixed at the bottom of the frame, a gear on the motor driving shaft, which is meshed with a rack on the base of the deck, and is used to drive the relative movement of the mechanism where the gear is located and the mechanism where the rack is located;

[0015] The drive structure assembly includes a transverse drive motor, a longitudinal drive motor and a hydraulic drive system, wherein:

[0016] A transverse drive motor is fixed to the lower surface of the sliding structure frame and is used to drive the rack and pinion mechanism to achieve relative movement between the sliding structure frame and the foundation on the deck;

[0017] The longitudinal drive motor is fixed on the steel structure of the receiving device and is used to drive the rack and pinion mechanism to achieve the relative movement between the sliding structure frame and the supporting mechanism assembly;

[0018] The hydraulic drive system is fixed on the steel structure of the receiving device and is used for the vertical receiving mechanism to realize the relative movement between the offshore module and the receiving ship.

[0019] Preferably, the sliding mechanism assembly further comprises a deck foundation, a deck sliding limiting structure and a deck sliding surface, wherein:

[0020] The deck foundation is fixed on the deck of the receiving ship and is used to support the sliding structure frame and is connected to the sliding structure frame through a roller guide mechanism;

[0021] The sliding limit structure on the deck is used to limit the position of the support mechanism assembly under extreme working conditions so that it does not exceed the range of the limit structure;

[0022] The sliding surface on the deck is the surface of the deck or the surface of a separately laid steel plate, which has undergone special surface treatment and material coating to reduce the friction coefficient.

[0023] Preferably, the driving structure assembly further includes a limiting roller, wherein:

[0024] The limiting roller is fixed to the lower surface of the sliding structure frame and is located on the outer side of the foundation on the deck, and is used to limit the longitudinal relative movement between the sliding structure frame and the foundation on the deck.

[0025] Preferably, the transverse drive motor and the longitudinal drive motor are electrically driven, and the inverter control module is connected to the transverse drive motor and the longitudinal drive motor respectively through the inverter rectifier module.

[0026] Preferably, the hydraulic drive system adopts a hydraulic-electric hybrid drive, including a nitrogen storage device, a nitrogen control valve group, a nitrogen generating device, a piston accumulator, a hydraulic cylinder control valve group and a vertical hydraulic cylinder. The vertical hydraulic cylinder is connected to the nitrogen storage device via the piston accumulator, and the nitrogen storage device is connected to the nitrogen generating device via the nitrogen control valve group; a hydraulic cylinder control valve group is arranged between the vertical hydraulic cylinder and the piston accumulator.

[0027] Another technical solution of the present invention is:

[0028] A three-way compensation undertaking method for offshore module transfer operation comprises the following steps:

[0029] S1. Docking of offshore module with receiving device on receiving vessel: including the following steps:

[0030] S11: Under the driving action of the transverse driving motor, the sliding structure frame and the supporting mechanism assembly make transverse adaptive movement relative to the deck;

[0031] S12: Under the driving action of the longitudinal drive motor, the support mechanism assembly performs longitudinal adaptive movement relative to the sliding structure frame;

[0032] S2. After the module foundation interface contacts the offshore module, the load gradually increases to the transition load; including the following steps:

[0033] S21: The offshore module is lowered to the position of the module foundation receiving interface, and the vertical receiving mechanism is lifted by the hydraulic drive mechanism to contact the offshore module;

[0034] S22: After the vertical receiving mechanism contacts the offshore module, the hydraulic drive system is adjusted to a compensation mode to maintain the vertical interaction force between the receiving ship and the module relatively stable, thereby reducing the impact force of the interaction between the two. The output pressure value set by the hydraulic drive system is continuously modified and gradually increased as the operation proceeds;

[0035] S23: Since the load applied in the vertical direction is too small, the friction between the vertical receiving mechanism and the receiving vessel is insufficient, and relative motion will occur between the two. The horizontal transverse drive motor and the longitudinal drive motor are adjusted to a compensation mode;

[0036] S24: As the spatial position of the offshore module is lowered and the supporting force of the vertical receiving mechanism increases, the pressure between the supporting mechanism assembly and the receiving ship increases to a certain value. Due to the effect of the vertical pressure at this time, the relative movement trend between the receiving ship and the offshore module is not sufficient to cause real relative movement between the two. The supporting mechanism assembly is connected to the receiving ship by welding, and S is performed after the connection is completed;

[0037] S3. The transition load is transferred to the receiving ship until the entire transfer is completed.

[0038] Preferably, the hydraulic drive system of step S22, the lateral drive motor and the longitudinal drive motor of step S23 all have the following five compensation modes: manual compensation mode, active pressure compensation mode, active position compensation mode, passive pressure compensation mode, and passive position compensation mode; the five compensation modes are selected according to actual needs.

[0039] Preferably, the manual compensation mode uses position sensors and pressure sensors to collect relevant information of the drive structure assembly, and uses a handle to drive the three drive mechanisms of the transverse drive motor, longitudinal drive motor, and hydraulic drive system to perform reverse compensation, thereby ensuring that the vertical receiving mechanism and the receiving ship remain relatively constant.

[0040] Preferably, the active pressure compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, according to the difference between the pressure between the support mechanism assembly and the offshore module fed back in real time and the set target pressure, and the pressure change caused by the external excitation at the next moment predicted by the prediction model, the output torque of the lateral drive motor, the longitudinal drive motor and the thrust of the vertical receiving hydraulic cylinder are calculated, so as to adjust the position of the lateral drive motor and the longitudinal drive motor in the horizontal direction, and actively drive the switch of the nitrogen generator, so as to use the nitrogen control valve group to adjust the vertical receiving hydraulic cylinder for active compensation;

[0041] The active position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, based on the real-time feedback of the relative position of the rack and pinion mechanism, the deviation between the actual position of the hydraulic cylinder and the set position, and the predicted position of the rack and pinion mechanism and the actual position change of the hydraulic cylinder at the next moment, the relative position output to the rack and pinion mechanism and the elongation of the vertical hydraulic cylinder are calculated, thereby adjusting the position of the horizontal lateral drive motor and the longitudinal drive motor, and actively driving the switch of the nitrogen generator, thereby using the nitrogen control valve group to adjust the vertical hydraulic cylinder for active compensation.

[0042] Preferably, the passive pressure compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the difference between the pressure between the support mechanism assembly and the offshore module fed back in real time and the set target pressure, calculating the output torque of the lateral drive motor, the longitudinal drive motor and the thrust of the vertical receiving hydraulic cylinder, so as to use the hydraulic drive system to drive the vertical receiving hydraulic cylinder to perform reverse pressure compensation, thereby ensuring that the pressure between the vertical receiving mechanism and the receiving ship remains relatively constant; or using the gear rack mechanism to compensate for the interaction force in the horizontal plane between the vertical receiving mechanism and the receiving ship;

[0043] The passive position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and calculating the relative position of the output gear rack mechanism and the elongation of the vertical receiving hydraulic cylinder according to the deviation between the real-time feedback position of the gear rack mechanism, the position of the support mechanism assembly, and the position of the vertical receiving mechanism and the set position, so as to use the hydraulic drive system to drive the vertical receiving hydraulic cylinder for position compensation, thereby ensuring that the vertical receiving mechanism and the receiving ship remain relatively constant; or simultaneously using the gear rack mechanism to compensate for the relative position change between the vertical receiving mechanism and the receiving ship in the horizontal plane.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) A horizontal drive motor and a longitudinal drive motor are designed in the horizontal plane, and the drastic change of the interaction force caused by the relative movement of the vertical receiving mechanism and the receiving ship in the horizontal plane is made constant; there is no such design in the prior art.

[0046] (2) The lateral drive motor, longitudinal drive motor, and hydraulic drive system all have five compensation modes, which can follow the movement of the offshore module and reduce the difficulty of docking; there is no such design in the prior art.

[0047] (3) The stiffness coefficients of the lateral drive motor and the longitudinal drive motor can be adjusted during operation along with the loading process; there is no such design in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 It is one of the three-dimensional diagrams of the three-way compensation receiving system of the present invention.

[0050] Figure 2 This is the second stereogram of the three-way compensation receiving system of the present invention.

[0051] Figure 3 It is one of the electrical schematic diagrams of the hydraulic drive system of the present invention.

[0052] Figure 4 This is the second electrical schematic diagram of the hydraulic drive system of the present invention.

[0053] In the figure: 1. Module foundation receiving interface; 2. Vertical receiving mechanism; 3. Receiver steel structure; 4. Sliding structure frame; 5. Roller guide mechanism; 6. Gear rack mechanism; 7. Deck foundation; 8. Sliding limit structure on deck; 9. Sliding surface on deck; 10. Transverse drive motor; 11. Longitudinal drive motor; 12. Hydraulic drive system; 13. Nitrogen storage device; 14. Nitrogen control valve group; 15. Nitrogen generating device; 16. Piston accumulator; 17. Hydraulic cylinder control valve group; 18. Vertical receiving hydraulic cylinder; 19. Limit roller. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0055] Example 1

[0056] like Figure 1 and Figure 2 As shown, this embodiment provides a three-way compensation receiving system for offshore module transfer operation, including a support mechanism assembly, a sliding mechanism assembly and a drive structure assembly, wherein:

[0057] The supporting mechanism assembly includes, from top to bottom, the module foundation receiving interface 1, the vertical receiving mechanism 2 and the receiving device steel structure 3, wherein:

[0058] The module foundation receiving interface 1 is used to support the alignment of the mechanism assembly and the module foundation during the module lowering process and is designed in a bell-mouth shape;

[0059] The vertical receiving mechanism 2 is in physical contact with the module foundation during operation to provide vertical support force for the module;

[0060] The receiving device steel structure 3 is erected on the deck, the top is the vertical receiving mechanism 2, and the bottom is the contact surface with the main deck of the ship;

[0061] The sliding mechanism assembly includes a sliding structure frame 4, a roller guide rail mechanism 5, and a gear rack mechanism 6, wherein:

[0062] The sliding structure frame 4 is a rectangular frame, and the interior of the rectangular frame is a support mechanism assembly;

[0063] The roller guide mechanism 5 is installed at the bottom of the sliding structure frame 4 and connected to the foundation 7 on the deck, and is installed between the sliding structure frame 4 and the foundation 7 on the deck, and between the support mechanism assembly and the sliding structure frame 4;

[0064] The rack and pinion mechanism 6 includes a transverse drive motor 10 fixed at the bottom of the frame, and a gear on the motor drive shaft meshes with a rack on the foundation 7 on the deck to drive the relative movement between the mechanism where the gear is located and the mechanism where the rack is located;

[0065] The drive structure assembly includes a transverse drive motor 10, a longitudinal drive motor 11 and a hydraulic drive system 12, wherein:

[0066] A transverse drive motor 10 is fixed to the lower surface of the sliding structure frame 4 and is used to drive the rack and pinion mechanism 6 to achieve relative movement between the sliding structure frame 4 and the foundation 7 on the deck;

[0067] The longitudinal drive motor 11 is fixed on the receiving device steel structure 3 and is used to drive the rack and pinion mechanism 6 to achieve the relative movement between the sliding structure frame 4 and the supporting mechanism assembly;

[0068] The hydraulic drive system 12 is fixed on the steel structure 3 of the receiving device and is used for vertically receiving the mechanism 2 to realize the relative movement between the offshore module and the receiving vessel.

[0069] Working principle: A force compensation system is designed in the vertical direction. The system is driven by a gas-liquid mixed hydraulic system to control the interaction force between the ship and the module in the vertical direction so that it does not change dramatically with the relative movement of the module and the receiving ship, thereby greatly reducing the movement amplitude of the module and the receiving ship and increasing the stability of the system; a compensation system is designed in the horizontal direction. The system is driven by a gear rack mechanism 6 driven by an electric motor to compensate for the dramatic changes in the interaction force in the horizontal plane caused by the relative movement of the receiving ship and the module, so that the amplitude of the change of the interaction force with the change of the relative movement of the module and the receiving ship is greatly reduced, thereby increasing the stability of the system.

[0070] Example 2

[0071] Based on Example 1, this embodiment provides a three-way compensation undertaking method for offshore module transfer operation, comprising the following steps:

[0072] A three-way compensation undertaking method for offshore module transfer operation comprises the following steps:

[0073] S1. Docking of offshore module with receiving device on receiving vessel: including the following steps:

[0074] S11: Under the driving action of the transverse driving motor 10, the sliding structure frame 4 and the supporting mechanism assembly make a transverse adaptive movement relative to the deck;

[0075] S12: Under the driving action of the longitudinal drive motor 11, the support mechanism assembly performs longitudinal adaptive movement relative to the sliding structure frame 4;

[0076] S2, after the module foundation receiving interface 1 contacts the offshore module, the load gradually increases to the transition load; including the following steps:

[0077] S21: The offshore module is lowered to the position of the module foundation receiving interface 1, and the vertical receiving mechanism 2 is lifted by the hydraulic drive mechanism to contact the offshore module;

[0078] S22: After the vertical receiving mechanism 2 contacts the offshore module, the hydraulic drive system 12 is adjusted to a compensation mode to maintain the vertical interaction force between the receiving ship and the module relatively stable, thereby reducing the impact force of the interaction between the two. The output pressure value set by the hydraulic drive system 12 is continuously modified and gradually increased as the operation proceeds;

[0079] S23: Since the load applied in the vertical direction is too small, the friction between the vertical receiving mechanism 2 and the receiving vessel is insufficient, and relative motion will occur between the two. The horizontal transverse drive motor 10 and the longitudinal drive motor 11 are adjusted to a compensation mode;

[0080] S24: As the spatial position of the offshore module is lowered and the supporting force of the vertical receiving mechanism 2 increases, the pressure between the supporting mechanism assembly and the receiving ship increases to a certain value. Due to the effect of the vertical pressure at this time, the relative movement trend between the receiving ship and the offshore module is not sufficient to cause real relative movement between the two. The supporting mechanism assembly is connected to the receiving ship by welding. After the connection is completed, S is performed;

[0081] S3. The transition load is transferred to the receiving ship until the entire transfer is completed.

[0082] Example 3

[0083] On the basis of Embodiment 1, preferably, the sliding mechanism assembly further comprises a deck foundation 7, a deck sliding limiting structure 8 and a deck sliding surface 9, wherein:

[0084] The deck foundation 7 is fixed on the deck of the receiving ship and is used to support the sliding structure frame 4, and is connected to the sliding structure frame 4 through a roller guide mechanism 5;

[0085] The sliding limit structure 8 on the deck is used to limit the position of the support mechanism assembly under extreme working conditions so that it does not exceed the range of the limit structure;

[0086] The sliding surface 9 on the deck is the upper surface of the deck or the surface of a steel plate laid separately, which has undergone special surface treatment and material coating to reduce the friction coefficient.

[0087] Preferably, the driving structure assembly further includes a limiting roller 19, wherein:

[0088] The limiting roller 19 is fixed to the lower surface of the sliding structure frame 4 and is located outside the foundation 7 on the deck, and is used to limit the longitudinal relative movement between the sliding structure frame 4 and the foundation 7 on the deck.

[0089] Example 4

[0090] On the basis of Example 1, the transverse drive motor 10 and the longitudinal drive motor 11 are electrically driven, and the inverter control module is connected to the transverse drive motor 10 and the longitudinal drive motor 11 respectively through the inverter rectifier module.

[0091] The hydraulic drive system 12 adopts a hydraulic-electric hybrid drive, including a nitrogen storage device 13, a nitrogen control valve group 14, a nitrogen generating device 15, a piston accumulator 16, a hydraulic cylinder control valve group 17 and a vertical hydraulic cylinder 18. The vertical hydraulic cylinder 18 is connected to the nitrogen storage device 13 via the piston accumulator 16, and the nitrogen storage device 13 is connected to the nitrogen generating device 15 via the nitrogen control valve group 14; a hydraulic cylinder control valve group 17 is arranged between the vertical hydraulic cylinder 18 and the piston accumulator 16.

[0092] Example 5

[0093] Based on Example 1, the hydraulic drive system 12, the lateral drive motor 10 and the longitudinal drive motor 11 all have the following five compensation modes: manual compensation mode, active pressure compensation mode, active position compensation mode, passive pressure compensation mode, and passive position compensation mode; the five compensation modes are selected according to actual needs.

[0094] like Figure 3 and Figure 4 As shown, the manual compensation mode uses position sensors and pressure sensors to collect relevant information of the drive structure assembly, and uses a handle to drive the three drive mechanisms of the transverse drive motor 10, the longitudinal drive motor 11, and the hydraulic drive system 12 to perform reverse compensation, thereby ensuring that the vertical receiving mechanism 2 and the receiving ship remain relatively constant.

[0095] The active pressure compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, according to the difference between the pressure between the support mechanism assembly and the offshore module and the set target pressure fed back in real time, and the pressure change caused by the external excitation at the next moment predicted by the prediction model, the output torque of the lateral drive motor 10, the longitudinal drive motor 11 and the thrust of the vertical receiving hydraulic cylinder 18 are calculated, so as to adjust the position of the lateral drive motor 10 and the longitudinal drive motor 11 in the horizontal direction, and actively drive the switch of the nitrogen generator 15, so as to use the nitrogen control valve group 14 to adjust the vertical receiving hydraulic cylinder 18 for active compensation;

[0096] The active position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, based on the real-time feedback of the relative position of the rack and pinion mechanism 6, the deviation between the actual position of the hydraulic cylinder and the set position, and the predicted position of the rack and pinion mechanism 6 and the actual position change of the hydraulic cylinder at the next moment, the relative position output to the rack and pinion mechanism 6 and the elongation of the vertical hydraulic cylinder 18 are calculated, thereby adjusting the position of the horizontal lateral drive motor 10 and the longitudinal drive motor 11, and actively driving the switch of the nitrogen generator 15, thereby using the nitrogen control valve group 14 to adjust the vertical hydraulic cylinder 18 for active compensation.

[0097] The passive pressure compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the difference between the pressure between the support mechanism assembly and the offshore module fed back in real time and the set target pressure, calculating the output torque of the lateral drive motor 10, the longitudinal drive motor 11 and the thrust of the vertical receiving hydraulic cylinder 18, so as to use the hydraulic drive system 12 to drive the vertical receiving hydraulic cylinder 18 to perform reverse pressure compensation, thereby ensuring that the vertical receiving mechanism 2 and the receiving ship remain relatively constant; or using the gear rack mechanism 6 to compensate for the interaction force in the horizontal plane between the vertical receiving mechanism 2 and the receiving ship;

[0098] The passive position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and calculating the relative position of the output gear rack mechanism 6 and the elongation of the vertical receiving hydraulic cylinder 18 according to the deviation between the real-time feedback position of the gear rack mechanism 6, the position of the support mechanism assembly, and the position of the vertical receiving mechanism 2 and the set position, so as to use the hydraulic drive system 12 to drive the vertical receiving hydraulic cylinder 18 for position compensation, thereby ensuring that the vertical receiving mechanism 2 and the receiving ship remain relatively constant; or simultaneously using the gear rack mechanism 6 to compensate for the relative position change between the vertical receiving mechanism 2 and the receiving ship in the horizontal plane.

[0099] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all of these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A three-way compensation receiving system for offshore module transfer operation, characterized in that: It includes a supporting mechanism assembly, a sliding mechanism assembly and a driving structure assembly, wherein: The support mechanism assembly includes, from top to bottom, a module foundation receiving interface (1), a vertical receiving mechanism (2) and a receiving device steel structure (3), wherein: The module foundation receiving interface (1) is used to support the alignment of the mechanism assembly and the module foundation during the module lowering process and is designed to be in a bell-mouth shape; The vertical receiving mechanism (2) is in physical contact with the module foundation during operation to provide vertical support force for the module; The receiving device steel structure (3) is erected on the deck, the top of which is the vertical receiving mechanism (2), and the bottom surface is the contact surface with the main deck of the ship; The sliding mechanism assembly comprises a sliding structure frame (4), a roller guide rail mechanism (5), and a gear rack mechanism (6), wherein: The sliding structure frame (4) is a rectangular frame, and the interior of the rectangular frame is a supporting mechanism assembly; A roller guide mechanism (5) is installed at the bottom of the sliding structure frame (4) and connected to the foundation (7) on the deck, and is installed between the sliding structure frame (4) and the foundation (7) on the deck, and between the support mechanism assembly and the sliding structure frame (4); The rack and pinion mechanism (6) comprises a transverse driving motor (10) fixed at the bottom of the frame, the motor driving shaft having a gear which meshes with a rack on the foundation (7) on the deck, and is used to drive the relative movement of the mechanism where the gear is located and the mechanism where the rack is located; The driving structure assembly comprises a transverse driving motor (10), a longitudinal driving motor (11) and a hydraulic driving system (12), wherein: A transverse drive motor (10) is fixed to the lower surface of the sliding structure frame (4) and is used to drive the gear rack mechanism (6) to achieve relative movement between the sliding structure frame (4) and the foundation (7) on the deck; A longitudinal drive motor (11) is fixed to the steel structure (3) of the receiving device and is used to drive the rack and pinion mechanism (6) to achieve relative movement between the sliding structure frame (4) and the supporting mechanism assembly; A hydraulic drive system (12) is fixed to the receiving device steel structure (3) and is used for vertically receiving the mechanism (2) to realize relative movement between the offshore module and the receiving vessel; The sliding mechanism assembly further comprises a sliding limit structure (8) on the deck and a sliding surface (9) on the deck, wherein: The deck foundation (7) is fixed on the deck of the receiving ship and is used to support the sliding structure frame (4), and is connected to the sliding structure frame (4) through a roller guide mechanism (5); The sliding limit structure (8) on the deck is used to limit the position of the support mechanism assembly under extreme working conditions so that it does not exceed the range of the limit structure; The deck sliding surface (9) is the deck surface or the surface of a steel plate laid separately, which has undergone special surface treatment and material coating to reduce the friction coefficient; The hydraulic drive system (12) adopts a hydraulic-electric hybrid drive, and comprises a nitrogen storage device (13), a nitrogen control valve group (14), a nitrogen generating device (15), a piston accumulator (16), a hydraulic cylinder control valve group (17) and a vertical hydraulic cylinder (18); the vertical hydraulic cylinder (18) is connected to the nitrogen storage device (13) via the piston accumulator (16); the nitrogen storage device (13) is connected to the nitrogen generating device (15) via the nitrogen control valve group (14); and a hydraulic cylinder control valve group (17) is provided between the vertical hydraulic cylinder (18) and the piston accumulator (16).

2. The three-way compensation receiving system for offshore module transfer operation according to claim 1, characterized in that: The driving structure assembly further comprises a limiting roller (19), wherein: The limiting roller (19) is fixed to the lower surface of the sliding structure frame (4) and is located outside the deck foundation (7) and is used to limit the longitudinal relative movement of the sliding structure frame (4) and the deck foundation (7).

3. The three-way compensation receiving system for offshore module transfer operation according to claim 1, characterized in that: The transverse drive motor (10) and the longitudinal drive motor (11) are electrically driven, and the frequency converter control module is respectively connected to the transverse drive motor (10) and the longitudinal drive motor (11) via a frequency converter rectifier module.

4. A three-way compensation undertaking method for offshore module transshipment operation, using the three-way compensation undertaking system for offshore module transshipment operation according to any one of claims 1 to 3, characterized in that: The following steps are involved: S1. Docking of offshore module with receiving device on receiving vessel: including the following steps: S11: Under the driving action of the transverse driving motor (10), the sliding structure frame (4) and the supporting mechanism assembly perform transverse adaptive movement relative to the deck; S12: Under the driving action of the longitudinal drive motor (11), the support mechanism assembly performs longitudinal adaptive movement relative to the sliding structure frame (4); S2, after the module foundation receiving interface (1) contacts the offshore module, the load gradually increases to the transition load; including the following steps: S21: the offshore module is lowered to the position of the module foundation receiving interface (1), and the vertical receiving mechanism (2) is lifted by the hydraulic drive mechanism to contact the offshore module; S22: After the vertical receiving mechanism (2) contacts the offshore module, the hydraulic drive system (12) is adjusted to a compensation mode to maintain the vertical interaction force between the receiving ship and the module relatively stable, thereby reducing the impact force of the interaction between the two. The output pressure value set by the hydraulic drive system (12) is continuously modified and gradually increased as the operation proceeds; S23: Since the load applied in the vertical direction is too small, the friction between the vertical receiving mechanism (2) and the receiving vessel is insufficient, and relative movement occurs between the two. The horizontal transverse drive motor (10) and the longitudinal drive motor (11) are adjusted to a compensation mode; S24: As the spatial position of the offshore module is lowered and the supporting force of the vertical receiving mechanism (2) increases, the pressure between the supporting mechanism assembly and the receiving vessel increases to a certain value. Due to the effect of the vertical pressure at this time, the relative movement trend between the receiving vessel and the offshore module is not sufficient to cause real relative movement between the two. The supporting mechanism assembly is connected to the receiving vessel by welding. After the connection is completed, S3 is performed; S3. The transition load is transferred to the receiving ship until the entire transfer is completed.

5. The three-way compensation undertaking method for offshore module transfer operation according to claim 4, characterized in that: The hydraulic drive system (12) of step S22, the lateral drive motor (10) and the longitudinal drive motor (11) of step S23 all have the following five compensation modes: manual compensation mode, active pressure compensation mode, active position compensation mode, passive pressure compensation mode, and passive position compensation mode; the five compensation modes are selected according to actual needs.

6. The three-way compensation undertaking method for offshore module transfer operation according to claim 5, characterized in that: The manual compensation mode uses a position sensor and a pressure sensor to collect relevant information of the drive structure assembly, and uses a handle to drive the three drive mechanisms of the transverse drive motor (10), the longitudinal drive motor (11), and the hydraulic drive system (12) to perform reverse compensation, thereby ensuring that the vertical receiving mechanism (2) and the receiving vessel remain relatively constant.

7. The three-way compensation undertaking method for offshore module transfer operation according to claim 5, characterized in that: The active pressure compensation mode comprises the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the difference between the pressure between the support mechanism assembly and the offshore module and the set target pressure fed back in real time, and the pressure change caused by the external excitation at the next moment predicted by the prediction model, the output torque of the lateral drive motor (10), the longitudinal drive motor (11) and the thrust of the vertical receiving hydraulic cylinder (18) are calculated, thereby adjusting the position of the lateral drive motor (10) and the longitudinal drive motor (11) in the horizontal direction, and actively driving the switch of the nitrogen generating device (15), thereby using the nitrogen control valve group (14) to adjust the vertical receiving hydraulic cylinder (18) for active compensation; The active position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the deviation between the relative position of the gear rack mechanism (6) and the actual position of the hydraulic cylinder and the set position fed back in real time, as well as the position of the gear rack mechanism (6) and the actual position change of the hydraulic cylinder predicted by the prediction model at the next moment, the relative position output to the gear rack mechanism (6) and the elongation of the vertical receiving hydraulic cylinder (18) are calculated, thereby adjusting the position of the horizontal lateral drive motor (10) and the longitudinal drive motor (11), and actively driving the switch of the nitrogen generating device (15), thereby using the nitrogen control valve group (14) to adjust the vertical receiving hydraulic cylinder (18) for active compensation.

8. The three-way compensation undertaking method for offshore module transfer operation according to claim 5, characterized in that: The passive pressure compensation mode comprises the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the difference between the pressure between the support mechanism assembly and the offshore module fed back in real time and the set target pressure, calculating the output torque of the lateral drive motor (10), the longitudinal drive motor (11) and the thrust of the vertical receiving hydraulic cylinder (18), thereby using the hydraulic drive system (12) to drive the vertical receiving hydraulic cylinder (18) to perform reverse pressure compensation, thereby ensuring that the pressure between the vertical receiving mechanism (2) and the receiving ship remains relatively constant; or using the gear rack mechanism (6) to compensate for the interaction force in the horizontal plane between the vertical receiving mechanism (2) and the receiving ship; The passive position compensation mode includes the following steps: using the historical data of the drive structure assembly to establish a prediction model, and according to the deviation between the real-time feedback position of the rack and pinion mechanism (6), the position of the support mechanism assembly, and the position of the vertical receiving mechanism (2), and the set position, the relative position of the output rack and pinion mechanism (6) and the elongation of the vertical receiving hydraulic cylinder (18) are calculated, so as to use the hydraulic drive system (12) to drive the vertical receiving hydraulic cylinder (18) for position compensation, thereby ensuring that the vertical receiving mechanism (2) and the receiving ship remain relatively constant; or at the same time, the rack and pinion mechanism (6) is used to compensate for the relative position change between the vertical receiving mechanism (2) and the receiving ship in the horizontal plane.

Images