A three-axis mobile dual-ship float-over motion compensation method

Abstract

The application discloses a kind of triaxial mobile double-ship floating motion compensation method, belong to the field of ocean engineering, including the following steps: S1, adjusting support arm main body telescopic length, S2, adjusting double-hull gravity center, S3, longitudinal motion compensation, S4, transverse motion compensation, S5, adjusting the height of adapter;Guide rail is arranged on the deck of double-hull, the bottom end of support arm is provided with pulley, counterweight cabin is installed in the top end of support arm main body by buckle, the bottom end of buckle is provided with trapezoidal slot, trapezoidal slot is slidably connected with guide rail, one end of support arm main body is symmetrically provided with opening, the bottom end of opening is provided with ball socket, the top end of support arm main body is fixedly connected with positioning rod.The application installs support arm on the deck of double-hull, can actively compensate the transverse, longitudinal and roll motion of double-hull, overcome the disadvantage that motion compensation process cannot be artificially intervened, and compared with traditional passive compensation, the range of double-hull motion compensation is expanded.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to a three-axis mobile dual-ship floating motion compensation method. Background Technology

[0002] As marine development continues to advance into the deep sea, offshore platforms are becoming increasingly large-scale and complex. Traditional offshore platform hoisting methods, limited by cost and technology, cannot meet these needs. As a result, the offshore platform floating installation method has emerged, which involves transporting the upper modules of the offshore platform to the installation location via transport barges and transferring the upper modules onto the jacket structure by adjusting the tide levels and ballast tank loading.

[0003] In traditional floating installation systems, motion compensation devices are mostly passive, using the leg coupling device in the docking device for passive compensation. However, passive motion compensation methods are very limited in terms of both the range of operation that can be compensated and the mass of the upper module that can be supported. They can only play a passive role in buffering and vibration reduction, and the compensation function cannot be applied to the entire floating installation process, but only during the load transfer process. Furthermore, the compensation process and the compensation effect cannot be manually controlled, which is not conducive to the operation and monitoring of the installation process. Therefore, a three-axis mobile dual-boat floating motion compensation method is proposed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to solve the problems in the prior art by proposing a three-axis mobile dual-boat floating motion compensation method.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for compensating for motion leakage of a three-axis mobile dual-boat system includes the following steps:

[0007] S1. Adjust the extension length of the support arm: Adjust the extension length of the support arm as needed based on the size of the upper module of the offshore platform and the jacket foundation.

[0008] S2. Adjusting the center of gravity of the catamaran: Based on the extension and retraction length of the main support arm, the counterweight compartment is loaded and unloaded into the compartment, so that the center of gravity of the catamaran does not shift when the catamaran is performing the float-over operation, thus maintaining the stability of the catamaran during the float-over operation.

[0009] S3. Swaying motion compensation: By monitoring the swaying motion of the catamaran during the towing operation, the support arm moves along the guide rail accordingly to complete the motion compensation of the catamaran in the swaying motion.

[0010] S4. Sway motion compensation: The support arm can move laterally according to the sway motion of the catamaran monitored during the operation, and maintain the stability of the end point of the support arm, so as to compensate for the sway motion of the catamaran.

[0011] S5. Adjusting the height of the connecting part: The connecting part is moved by the telescopic cylinder, and at the same time, the auxiliary hydraulic cylinder drives the bottom corner of the connecting part to retract, so that the connecting part rotates around the top corner as the center. This causes the top corner of the connecting part to push the U-shaped block to rotate. The U-shaped block drives the H-shaped block to move down through the universal joint, thus reducing the height of the H-shaped block. Conversely, the telescopic cylinder extends and the auxiliary hydraulic cylinder shortens, thus reducing the height of the H-shaped block.

[0012] The guide rail is installed on the deck of the catamaran. The bottom end of the support arm is equipped with a pulley. The counterweight compartment is installed on the top of the support arm body by a buckle. The bottom end of the buckle has a trapezoidal groove, which is slidably connected to the guide rail. One end of the support arm body has symmetrical openings, and the bottom end of the opening has a ball socket. The top end of the support arm body is fixedly connected to a positioning rod near the opening, and one end of the positioning rod has a groove.

[0013] Preferably, the opening is provided with a telescopic cylinder and an auxiliary hydraulic cylinder, and the bottom ends of the telescopic cylinder and the auxiliary hydraulic cylinder are connected to a ball joint.

[0014] Preferably, one end of the telescopic cylinder is hinged to the top corner of the connector, and one end of the auxiliary hydraulic cylinder is hinged to the bottom corner of the connector.

[0015] Preferably, a transition groove is fixedly connected to one side of the U-shaped block near the bottom end, and the transition groove is hinged to the corner of the connector.

[0016] Preferably, one side of the U-shaped block is connected to the I-shaped block near the top via a universal hinge, and a fixing block is fixedly connected to one side of the U-shaped block, the fixing block being rotatably connected to the positioning rod.

[0017] Preferably, the U-shaped block and the I-shaped block form a receiving component, and an upper assembly is placed at the top of the receiving component.

[0018] Preferably, the connector is triangular in shape, and each of the four corners of the connector has a turning hole.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. When a catamaran is performing float-over operations, this invention can actively compensate for the sway, pitch, and roll movements of the catamaran by installing support arms and other components on the catamaran deck during float-over installation or dismantling operations. This is different from the traditional passive compensation method and overcomes the drawback of not being able to manually intervene in the motion compensation process. Furthermore, this method expands the range of motion compensation for catamarans compared to traditional passive compensation.

[0021] 2. This invention compensates for the catamaran's motion during swaying by monitoring the catamaran's swaying motion during the buoyancy operation and causing the support arm to move along the guide rail accordingly.

[0022] 3. The present invention includes a counterweight compartment, which is mainly used to load and drain water into the compartment according to the extension and retraction length of the main body of the support arm, so that the center of gravity of the catamaran does not shift during the floating operation and the catamaran is kept stable during the floating operation.

[0023] 4. The present invention is equipped with a support arm, which can move laterally according to the swaying motion of the catamaran monitored during operation, so as to maintain the stability of the end point of the support arm and achieve the function of compensating for the swaying motion of the catamaran.

[0024] 5. By setting up a telescopic hydraulic cylinder, an auxiliary hydraulic cylinder, and a connecting component, the present invention can adjust the position of the receiving component and further adjust the position of the support point to maintain the stability of the upper block's position. Attached Figure Description

[0025] Figure 1 This is a process flow diagram of a three-axis mobile dual-ship floating motion compensation method proposed in this invention;

[0026] Figure 2 This is a schematic diagram of the catamaran structure in the three-axis mobile twin-ship floating motion compensation method proposed in this invention;

[0027] Figure 3 This is a schematic diagram of the support arm in a three-axis mobile dual-ship floating motion compensation method proposed in this invention;

[0028] Figure 4 This is a schematic diagram of the opening and ball socket in a three-axis mobile dual-boat floating motion compensation method proposed in this invention;

[0029] Figure 5 This is a schematic diagram of the connection structure of the receiving component and the connecting component in a three-axis mobile dual-ship floating motion compensation method proposed in this invention.

[0030] In the diagram: 1. Catamaran; 101. Guide rail; 2. Support arm; 201. Support arm body; 202. Telescopic cylinder; 203. Connector; 204. Receiving component; 2041. U-block; 2042. H-block; 205. Opening; 206. Ball socket; 3. Counterweight compartment; 4. Buckle; 5. Auxiliary hydraulic cylinder; 6. Positioning rod; 7. Universal hinge. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] Reference Figure 1-5 A method for compensating for motion of a three-axis mobile dual-boat floating system includes the following steps:

[0033] S1. Adjust the extension length of the main body of support arm 2: Adjust the extension length of the main body of support arm 2 according to the size of the upper module of the offshore platform and the foundation of the jacket as needed;

[0034] S2. Adjusting the center of gravity of the catamaran 1: Based on the extension and retraction length of the main body of the support arm 2, the counterweight compartment 3 is loaded and unloaded into the compartment, so that the center of gravity of the catamaran 1 will not shift when the catamaran 1 is performing the float-over operation, and the stability of the catamaran 1 during the float-over operation is maintained.

[0035] S3, Swaying Motion Compensation: By monitoring the swaying motion of the catamaran 1 during the towing operation, the support arm 2 moves along the guide rail accordingly, thus completing the motion compensation of the catamaran 1 in the swaying motion.

[0036] S4. Swaying motion compensation: The support arm 2 can move laterally according to the swaying motion of the catamaran 1 monitored during the operation, so as to maintain the stability of the end point of the support arm 2 and achieve the function of compensating for the swaying motion of the catamaran 1.

[0037] S5. Adjusting the height of the receiving part 204: The telescopic cylinder 202 pushes the connecting part 203 to move, while the auxiliary hydraulic cylinder 5 drives the bottom corner of the connecting part 203 to retract, so that the connecting part 203 rotates around the top corner as the center, and then the top corner of the connecting part 203 pushes the U-shaped block 2041 to rotate. The U-shaped block 2041 drives the H-shaped block 2042 to move down through the universal joint 7, reducing the height of the H-shaped block 2042. Conversely, the telescopic cylinder 202 extends and the auxiliary hydraulic cylinder 5 shortens, so that the height of the H-shaped block 2042 is reduced.

[0038] The guide rail 101 is set on the deck of the catamaran 1. The bottom end of the support arm 2 is equipped with a pulley, which facilitates the movement of the support arm 2. The counterweight compartment 3 is installed on the top of the main body of the support arm 2 through the buckle 4. The counterweight compartment 3 can adjust the center of gravity of the catamaran 1. The bottom end of the buckle 4 is provided with a trapezoidal groove, which is slidably connected to the guide rail 101. One end of the main body of the support arm 2 is symmetrically provided with an opening 205. The bottom end of the opening 205 is provided with a ball socket 206, which facilitates the installation of the telescopic cylinder 202 and the auxiliary hydraulic cylinder 5. The top of the main body of the support arm 2 is fixedly connected to a positioning rod 6 near the opening 205. One end of the positioning rod 6 is provided with a groove.

[0039] The opening 205 is equipped with a telescopic cylinder 202 and an auxiliary hydraulic cylinder 5. The bottom ends of the telescopic cylinder 202 and the auxiliary hydraulic cylinder 5 are ball-jointed to the ball socket 206. One end of the telescopic cylinder 202 is hinged to the top corner of the connector 203, and one end of the auxiliary hydraulic cylinder 5 is hinged to the bottom corner of the connector 203.

[0040] A further benefit is that the telescopic cylinder 202 and the auxiliary hydraulic cylinder 5 can drive the connecting member 203 to move, thereby providing power for the adjustment of the receiving member 204.

[0041] A transition groove is fixedly connected to one side of the U-shaped block 2041 near the bottom, and the transition groove is hinged to the corner of the connector 203.

[0042] A further benefit is that the connecting piece 203 can drive the U-shaped block 2041 to move up and down during rotation, thereby controlling the height of the H-shaped block 2042.

[0043] One side of the U-shaped block 2041 is connected to the H-shaped block 2042 near the top via a universal hinge 7. A fixing block is fixedly connected to one side of the U-shaped block 2041, and the fixing block is rotatably connected to the positioning rod 6.

[0044] A further benefit is that the positioning rod 6 can be used to install the U-shaped block 2041 in the receiving part 204, thereby enabling the receiving part 204 to be installed.

[0045] The U-shaped block 2041 and the H-shaped block 2042 form the receiving component 204, and the upper component is placed on the top of the receiving component 204.

[0046] The connector 203 is triangular in shape, and each of the four corners of the connector 203 has a turning hole.

[0047] When this invention is used, the extension length of the main body of the support arm 2 is adjusted according to the size of the upper block of the offshore platform and the foundation of the jacket structure as needed. Then, based on the extension and retraction length of the main body of the support arm 2, the counterweight tank 3 is loaded and unloaded into the tank, so that the center of gravity of the catamaran 1 does not shift when it is performing the float-over operation, and the stability of the catamaran 1 is maintained during the float-over operation.

[0048] During the floating towing operation, the support arm 2 moves along the guide rail by monitoring the swaying motion of the catamaran 1 during the floating towing operation, thereby completing the motion compensation of the catamaran 1 in the swaying motion. At the same time, the support arm 2 can move laterally according to the swaying motion of the catamaran 1 monitored during the operation, so as to maintain the stability of the end point of the support arm 2 and achieve the function of compensating for the swaying motion of the catamaran 1.

[0049] Finally, the telescopic cylinder 202 pushes the connector 203 to move, while the auxiliary hydraulic cylinder 5 causes the bottom corner of the connector 203 to retract, causing the connector 203 to rotate around the top corner. This causes the top corner of the connector 203 to push the U-shaped block 2041 to rotate. The U-shaped block 2041 drives the H-shaped block 2042 to move down through the universal joint 7, reducing the height of the H-shaped block 2042. Conversely, the telescopic cylinder 202 extends and the auxiliary hydraulic cylinder 5 shortens, thus reducing the height of the H-shaped block and ensuring the stability of the upper block.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for compensating for motion of a three-axis mobile dual-boat floating system, comprising the following steps: S1. Adjust the extension length of the support arm body (201): Adjust the extension length of the support arm body (201) according to the size of the upper module of the offshore platform to be operated and the foundation of the jacket; S3. Adjust the center of gravity of the catamaran (1): Based on the extension and retraction length of the main body (201) of the support arm, load and unload the counterweight tank (3) into the tank so that the center of gravity of the catamaran (1) will not shift when it is performing the towing operation, and maintain the stability of the catamaran (1) during the towing operation. S3, Swaying motion compensation: By monitoring the swaying motion of the catamaran (1) during the floating operation, the support arm (2) moves along the guide rail (101) accordingly, thus completing the motion compensation of the catamaran (1) in the swaying motion. S4. Swaying motion compensation: The support arm (2) can move laterally according to the swaying motion of the catamaran (1) monitored during the operation, so as to maintain the stability of the end point of the support arm (2) and achieve the function of compensating for the swaying motion of the catamaran (1). S5. Adjust the height of the receiving part (204): The telescopic cylinder (202) pushes the connecting part (203) to move, and at the same time, the auxiliary hydraulic cylinder (5) drives the bottom corner of the connecting part (203) to retract, so that the connecting part (203) rotates around the top corner as the center, and then the top corner of the connecting part (203) pushes the U-shaped block (2041) to rotate. The U-shaped block (2041) drives the H-shaped block (2042) to move down through the universal joint (7), reducing the height of the H-shaped block (2042). Conversely, the telescopic cylinder (202) extends and the auxiliary hydraulic cylinder (5) shortens, so that the height of the H-shaped block (2042) is reduced. The guide rail (101) is set on the deck of the catamaran (1). The bottom end of the support arm (2) is provided with a pulley. The counterweight compartment (3) is installed on the top of the support arm body (201) by a buckle (4). The bottom end of the buckle (4) is provided with a trapezoidal groove. The trapezoidal groove is slidably connected to the guide rail (101). One end of the support arm body (201) is symmetrically provided with an opening (205). The bottom end of the opening (205) is provided with a ball socket (206). The top end of the support arm body (201) is fixedly connected with a positioning rod (6) near the opening (205). One end of the positioning rod (6) is provided with a groove.

2. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 1, characterized in that: The opening (205) is equipped with a telescopic cylinder (202) and an auxiliary hydraulic cylinder (5), the bottom ends of which are connected to the ball joint of the ball socket (206).

3. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 2, characterized in that: One end of the telescopic cylinder (202) is hinged to the top corner of the connector (203), and one end of the auxiliary hydraulic cylinder (5) is hinged to the bottom corner of the connector (203).

4. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 3, characterized in that: A transition groove is fixedly connected to one side of the U-shaped block (2041) near the bottom end, and the transition groove is hinged to the corner of the connector (203).

5. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 1, characterized in that: One side of the U-shaped block (2041) is connected to the top end via a universal hinge (7) and an I-shaped block (2042). A fixing block is fixedly connected to one side of the U-shaped block (2041), and the fixing block is rotatably connected to the positioning rod (6).

6. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 5, characterized in that: The U-shaped block (2041) and the I-shaped block (2042) form a receiving component (204), and an upper assembly is placed on the top of the receiving component (204).

7. The method for compensating for motion of a three-axis mobile dual-ship floating system according to claim 1, characterized in that: The connector (203) is triangular in shape, and each of the four corners of the connector (203) is provided with a turning hole.

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