Linear heave compensation device based on composite cylinder

Abstract

The invention designs a linear heave compensation device based on a composite cylinder, belongs to the technical field of ocean engineering equipment, adopts a heave compensation scheme of a double-composite-cylinder structure comprising a heave compensation execution cylinder and an integrated control cylinder, and is provided with a plurality of functional cavities; the working gas cylinder group is communicated with a rod cavity of the heave compensation execution cylinder through the gas-liquid converter to provide passive compensation force for the heave compensation execution cylinder; oil is alternately supplied to inner cavities of the two composite cylinders in a control mode of direct driving of the two-way variable pump, and active compensation force is provided for the heave compensation execution cylinder; for an underwater high-pressure environment, deepwater pressure acts on a piston rod of the integrated control cylinder and a piston rod of the heave compensation execution cylinder at the same time, and the water depth compensation function is achieved through offset of internal pressure of the double cylinders. Multiple functions such as passive compensation, active compensation and water depth compensation are achieved, multiple working condition operations such as water, splash zone passing and landing can be continuously completed, the two-way variable pump is adopted to directly drive the compensation execution cylinder, the response speed and the control precision are improved, and the beneficial effects of being low in energy consumption, compact in structure, integrated in multiple functions and the like are achieved.

Description

Technical Field

[0001] The invention relates to a linear heave compensation device based on a composite cylinder, belonging to the technical field of marine engineering equipment. Background Art

[0002] When offshore engineering equipment is operating, it will be affected by a variety of natural factors such as wind, waves, and currents, causing six degrees of freedom of movement. Among them, heave, roll, and pitch will cause the load to move in the vertical direction, which may cause an accidental collision between the load and the platform, or re-suspension of the landed load. These emergencies may cause equipment damage and cable breakage at the least, or may cause safety accidents and endanger personnel safety at the worst. In order to ensure the smooth progress of offshore operations and expand the range of sea conditions for operations, offshore engineering equipment must be equipped with a heave compensation system.

[0003] Heave compensation systems can be divided into fixed and mobile types according to the installation method; they can be divided into winch rotary type and hydraulic cylinder linear type according to the working principle; they can be divided into passive compensation type, active compensation type and active and passive combined compensation type according to the power supply method. The actuator of the linear compensation system is a hydraulic cylinder. Compared with equipment with large rotational inertia such as winches, its system response is faster and the control accuracy is higher. However, most of the current linear compensation systems are limited to fixed installation on ships, and do not have the ability to operate underwater or be used mobile. They cannot compensate for the external water pressure in deep-water high-pressure environments, and are faced with the problem of continuous operation under different working conditions such as surface and underwater compensation and splash zone compensation. Some compensation systems that have the ability to operate underwater mostly only have simple passive compensation functions, while a few systems with active compensation functions have problems such as complex structure and large size.

[0004] In the existing active compensation scheme, if an ordinary single-rod hydraulic cylinder is used as the heave compensation hydraulic cylinder, its compensation system has the advantages of simple structure and low cost. However, since there are only two functional chambers inside the ordinary hydraulic cylinder, it is difficult to realize the active control function of the two movement processes of the extension / retraction of the compensation cylinder, resulting in large fluctuations in the motor working condition and the active chamber working pressure of the compensation cylinder during the switching and speed regulation of the hydraulic pump, and the compensation accuracy and operation stability are poor. If an accumulator-based heave compensation system is adopted, although indirect two-way active control of the extension and retraction movement of the heave compensation hydraulic cylinder can be achieved by controlling the accumulator, its structure is complex and the increase in links leads to increased system pressure and energy loss, and the indirect control method using the accumulator is prone to cause large control system lag, making it difficult to obtain ideal compensation accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide a linear heave compensation device based on a composite cylinder, which can meet the heave compensation requirements of offshore engineering operations such as lifting machinery, reduce system pressure loss, improve system compensation accuracy, and achieve switching between multiple operating modes, thereby providing a heave compensation device with excellent performance, energy saving and high efficiency, and strong industrial applicability for the offshore engineering lifting field.

[0006] To achieve the above-mentioned purpose, the overall concept of the present invention is to adopt a heave compensation scheme based on a composite actuator cylinder and an integrated control cylinder, the control unit collects the heave movement of the ship through the MRU, and the heave compensation actuator cylinder is equipped with a displacement sensor to measure the compensation displacement, and jointly realizes the displacement closed-loop control; wherein the integrated control cylinder integrates the water depth compensation function, and the driving mode adopts a two-way variable pump direct drive, and the alternating oil supply to the inner cavity of the heave compensation actuator cylinder and the inner cavity of the integrated control cylinder is completed by changing the displacement and direction of the pump, so as to realize the active compensation function, and the rod cavity of the heave compensation actuator cylinder is connected to the gas cylinder group for different operation modes through the gas-liquid converter, which can realize the switching between different working conditions such as deck lifting, passing the wave splash zone, underwater lowering, landing, etc., so as to meet the continuity of marine operations; when the inner cavity of the heave compensation actuator cylinder is connected with the inner cavity of the integrated control cylinder, the passive compensation of the system can be realized, and the energy consumption of the system can be reduced by integrating the active and passive compensation.

[0007] The present invention adopts the following technical solution:

[0008] A linear heave compensation device based on a composite cylinder comprises a heave compensation actuator cylinder, an integrated control cylinder, a bidirectional variable pump, a constant speed motor, an oil storage accumulator, an oil replenishment accumulator, a pressure balance accumulator, a gas cylinder group, a gas-liquid converter, an MRU motion posture sensor, a cooler, a filter, an oil replenishment pump, a pressure sensor, a displacement sensor, a temperature sensor, and various control valves and a one-way valve; in the linear heave compensation device based on the composite cylinder, the rodless cavity of the heave compensation actuator cylinder is connected with the rodless cavity of the integrated control cylinder to realize the water depth compensation function; the constant speed motor drives the bidirectional variable pump to alternately supply oil to the inner cavity of the heave compensation actuator cylinder and the inner cavity of the integrated control cylinder through the active compensation switch valve to realize active compensation Function: When the inner cavity of the heave compensation actuator cylinder is connected to the inner cavity of the integrated control cylinder, the passive compensation function can be realized. The two inner cavities are connected through an electromagnetic stop valve, which can realize the switching of active and passive compensation. The rod cavity of the heave compensation actuator cylinder is connected to the gas cylinder group through a gas-liquid converter. The gas cylinder group includes a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder. The working gas cylinder is used for above-water and underwater compensation. The splash zone gas cylinder is used for hoisting loads through the splash zone working condition. The high-pressure gas source cylinder supplements the pressure of other gas cylinders. The low-pressure gas collecting cylinder is used to temporarily collect gas when the gas in the high-pressure state underwater is difficult to release. The outlet of each gas cylinder is connected to an electromagnetic stop valve, and the on and off of gas cylinders of different modes are realized by controlling the electromagnetic stop valve. The cylinder group is connected to the relief valve through the air filter, and the relief valve can be used to release the pressure of the gas cylinder, which also plays a safety protection role; the gas cylinder is connected to the air cavity of the gas-liquid converter through the throttle valve block, and the air cavity pressure buffering effect can be achieved by controlling the throttle valve block. The liquid cavity of the gas-liquid converter is connected to the rod cavity of the heave compensation actuator cylinder through the throttle valve block, and the liquid cavity of the gas-liquid converter is connected to the plug-in one-way valve and the overflow valve to form a safety protection circuit; the rod cavity of the integrated control cylinder is connected to the pressure balance accumulator to balance the pressure fluctuations caused by switching of gas cylinders in different modes; the oil storage accumulator acts as an oil tank in this closed hydraulic system; the DC servo motor drives the oil replenishment pump and the oil replenishment accumulator to work together to achieve Replenish oil to the system; connect a temperature sensor to the outlet of the two-way variable pump. When the temperature of the hydraulic closed circuit is too high, open the heat dissipation circuit through the heat dissipation circuit switch valve. At this time, the oil in the composite cylinder cavity can flow into the cooler through the heat dissipation circuit switch valve and flow back to the oil storage accumulator through the filter. A cooling fan is also provided to cool the oil; pressure sensors are installed at the outlet of the composite cylinder cavity and each key oil circuit to monitor the pressure of the oil circuit in real time; the lower end of the piston rod of the heave compensation actuator cylinder is connected to the hoisting load through an earring, and the piston rod is equipped with a displacement sensor. The control unit collects the ship's heave motion signal through the MRU, and realizes the displacement closed-loop control together with the compensation displacement signal detected by the sensor;

[0009] In the linear heave compensation device based on the composite cylinder, in the initial state, the piston rod of the heave compensation actuator cylinder is balanced by the combined action of the force of the pressure balance accumulator, the force of the gas cylinder group and the load gravity; the pressure balance accumulator provides pressure for the rod chamber of the integrated control cylinder, which is transmitted to its rodless chamber through the piston rod of the integrated control cylinder. Since the rodless chamber of the heave compensation actuator cylinder is connected with the rodless chamber of the integrated control cylinder, the pressure balance accumulator provides pre-charge pressure for the rodless chamber of the heave compensation actuator cylinder in the initial state, so as to prevent the two-way variable pump from sucking oil from the inner chamber of the compensation actuator cylinder in the initial state and causing negative pressure in the inner chamber. In the initial state, the pressure balance accumulator acts on the piston rod of the heave compensation actuator cylinder to provide a downward balancing force; the gas cylinder group is connected with the gas-liquid converter, provides pressure to the rod chamber of the heave compensation actuator cylinder, and provides an upward passive compensation force on the piston rod of the heave compensation actuator cylinder;

[0010] The linear heave compensation device based on the composite cylinder, when actively controlled, the control unit controls the displacement and direction of the bidirectional variable pump in real time according to the received ship heave signal and the displacement signal of the piston rod of the compensation actuator cylinder; the two ports of the bidirectional variable pump are respectively connected to the inner cavity of the heave compensation actuator cylinder and the inner cavity of the integrated control cylinder;

[0011] When the ship drives the compensation device to rise, the active control unit controls the two-way variable pump to supply oil to the inner cavity of the heave compensation actuator cylinder, and the oil replenishment pump replenishes oil to the oil suction port of the two-way variable pump. The oil in the inner cavity of the integrated control cylinder flows into the oil storage accumulator through the heat dissipation circuit, and the inner cavity volume of the integrated control cylinder decreases, and the volume of its rod cavity increases, and the piston rod retracts; at the same time, the inner cavity volume of the heave compensation actuator cylinder increases, so that the volume of the rod cavity of the heave compensation actuator cylinder decreases, thereby realizing the extension of the piston rod of the heave compensation actuator cylinder to compensate for the rising displacement of the hoisting load;

[0012] When the ship drives the compensation device to descend, the active control unit controls the two-way variable pump to supply oil to the inner cavity of the integrated control cylinder, and the oil replenishment pump replenishes oil to the oil suction port of the two-way variable pump. The oil in the inner cavity of the heave compensation actuator cylinder flows into the oil storage accumulator through the heat dissipation circuit, and the inner cavity volume of the integrated control cylinder increases, and its rod cavity volume decreases, and the piston rod extends; at the same time, the inner cavity of the heave compensation actuator cylinder decreases, thereby increasing the rod cavity volume of the heave compensation actuator cylinder, thereby realizing the retraction of the piston rod of the heave compensation actuator cylinder to compensate for the descending displacement of the hoisting load;

[0013] The linear heave compensation device based on the composite cylinder is passively controlled. When receiving a passive compensation signal, the control unit controls the two-way variable pump to idle, and the inner cavity of the heave compensation actuator cylinder and the inner cavity of the integrated control cylinder are connected through the electromagnetic switch valve to achieve pressure balance. The working pressure of the gas cylinder group adjusts the rod cavity pressure of the heave compensation actuator cylinder to achieve passive heave compensation.

[0014] In the linear heave compensation device based on the composite cylinder, the gas cylinder group is connected with the gas-liquid converter, and pressure is provided to the rod chamber of the heave compensation actuator cylinder to bear the load. The bidirectional variable pump is connected with the inner chamber of the heave compensation actuator cylinder to provide active force. The active and passive forces work together to realize a more efficient and energy-saving heave compensation solution.

[0015] The linear heave compensation device based on the composite cylinder, when the heave compensation device is in an underwater environment, the water pressure acts on the heave compensation actuator cylinder and the piston rod of the integrated control cylinder respectively, and the pressure is transmitted to the rodless chambers of the two composite cylinders respectively. The two chambers are connected to offset their pressure changes, thereby realizing the water depth compensation function. The water depth compensation function is integrated into the integrated control cylinder, making the compensation device structure more compact and reducing pressure loss; when the heave compensation device is lowered into the water, the annular area of ​​the rodless chamber of the heave compensation actuator cylinder is S1, the cross-sectional area of ​​the piston rod of the heave compensation actuator cylinder is S1', the annular area of ​​the rodless chamber of the integrated control cylinder is S2, and the cross-sectional area of ​​the piston rod of the integrated control cylinder is S2', then it is necessary to meet the following conditions:

[0016]

[0017] The linear heave compensation device based on the composite cylinder has an independent heat dissipation circuit. When the constant speed motor drives the bidirectional variable pump to supply oil to the inner cavity of the heave compensation execution cylinder, the oil in the inner cavity of the integrated control cylinder flows back to the oil storage accumulator. When the system is in a continuous working state, the oil between the two inner cavities constantly alternates, which will cause the oil temperature to be too high. At this time, the heat dissipation circuit switch valve is connected to the upper position, and the oil flows into the cooler and is cooled by the heat dissipation fan, and then flows back to the oil storage accumulator through the filter.

[0018] The present invention is beneficial in that:

[0019] 1. The present invention adopts a composite cylinder structure as the compensation actuator cylinder and the integrated control cylinder, and can integrate the water depth compensation function into the integrated control cylinder. Compared with the traditional linear heave compensation device, it has a more compact structure while ensuring functional integrity, reduces pressure loss during the working process, and improves energy utilization. The present invention integrates water depth compensation, active compensation and passive compensation, etc., and has highly integrated characteristics in structure and function.

[0020] 2. The present invention adopts a bidirectional variable pump to directly drive the compensation actuator cylinder. The main force acts directly on the heave compensation actuator cylinder. Compared with the accumulator-type heave compensation device, it reduces the intermediate links and greatly reduces the energy loss. In terms of control effect, the use of a bidirectional pump direct drive can reduce the control time lag and make the control accuracy higher.

[0021] 3. The present invention can realize switching among multiple operation modes and continuously complete multiple operation conditions including deck lifting, passing through the splash zone, underwater lowering and landing. The linear heave compensation device based on the composite cylinder involved in the present invention is equipped with gas cylinders for different working conditions. The rod chamber pressure of the heave compensation actuator cylinder can be adjusted by switching the gas cylinders for different operation modes, thereby realizing the adjustment of the compensation stiffness and adapting to various operation conditions.

[0022] 4. The present invention has an independent heat dissipation circuit. To solve the problem of difficulty in heat dissipation of oil in a closed hydraulic system circuit, the heat dissipation circuit of the system can be opened by adjusting the electromagnetic reversing valve. The heat dissipation circuit is independent of the active and passive control circuits of the compensation device, has higher heat dissipation efficiency, and indirectly increases the service life of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a principle diagram of a linear heave compensation device based on a composite cylinder of the present invention;

[0024] Among them: 1-integrated control cylinder, 2-passive compensation switch valve, 3-first stop valve, 4-heave compensation actuator cylinder, 5-magnetostrictive displacement sensor, 6-first throttle valve block, 7-overflow valve, 8-inserted one-way valve, 9-first discharge valve, 10-gas-liquid converter, 11-MRU motion posture sensor, 12-second stop valve, 13-gas cylinder group, 14-second throttle valve block, 15-second discharge valve, 16-air filter, 17-gas cylinder switch valve, 18-exhaust valve, 19-oil replenishment accumulator, 20-oil replenishment pump, 21-DC servo motor, 22-oil storage accumulator, 23-bidirectional variable pump, 24-constant speed motor, 25-temperature sensor Sensor, 26-active compensation switch valve, 27-heat dissipation circuit switch valve, 28-PLC control unit, 29-cooling fan, 30-cooler, 31-filter, 32-reversing valve, 33-pressure balance accumulator, 34-pressure sensor, 35-third stop valve; V1-rodless chamber of heave compensation actuator cylinder, V2-rod chamber of heave compensation actuator cylinder, V3-inner chamber of heave compensation actuator cylinder, V4-rodless chamber of integrated control cylinder, V5-rod chamber of integrated control cylinder, V6-inner chamber of integrated control cylinder, S1-annular area of ​​rodless chamber of heave compensation actuator cylinder, S2-annular area of ​​rodless chamber of integrated control cylinder, G-gas-liquid converter air chamber, V-gas-liquid converter liquid chamber. DETAILED DESCRIPTION

[0025] To further disclose the technical solution of the present invention, the following is a detailed description with examples in conjunction with the accompanying drawings of the specification. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The present invention "a linear heave compensation device based on a composite cylinder" is further described in detail below in conjunction with the accompanying drawings and specific implementations.

[0027] As shown in the figure, the rodless chamber V1 of the heave compensation actuator cylinder is connected with the rodless chamber V4 of the integrated control cylinder; the constant speed motor 24 drives the two-way variable pump 23 to alternately supply oil to the heave compensation actuator cylinder chamber V3 and the integrated control cylinder chamber V6 through the active compensation switch valve 26; the heave compensation actuator cylinder chamber V3 and the integrated control cylinder chamber V6 are connected through the passive compensation switch valve 2; the heave compensation actuator cylinder rodless chamber V1 and the integrated control cylinder rodless chamber V4 are connected through the first stop valve 3; the heave compensation actuator cylinder rod chamber V2 is connected to the gas cylinder group 13 through the gas-liquid converter 10, and the gas cylinder group 13 includes a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder, and each gas cylinder outlet is connected to the gas cylinder switch valve 1 7 and exhaust valve 18, the gas cylinder group is connected to the second discharge valve 15 through the air filter 16; the gas cylinder is connected to the gas chamber G of the gas-liquid converter through the second throttle valve block 14, the gas-liquid converter liquid chamber V is connected to the rod chamber V2 of the heave compensation actuator cylinder through the first throttle valve block 6, and the gas-liquid converter liquid chamber V is connected to the plug-in one-way valve 8 and the overflow valve 7; the rod chamber V5 of the integrated control cylinder is connected to the pressure balance accumulator 33 through the third stop valve 35; the oil storage accumulator 22 acts as an oil tank in this closed hydraulic system; the DC servo motor 21 drives the oil replenishment pump 20, the oil replenishment pump 20 is connected to the oil replenishment accumulator 19, and the oil replenishment pump 20 in the oil replenishment circuit is connected to the rodless chamber of the composite cylinder and the integrated The control cylinder has a rod cavity V5; the temperature sensor 25 is connected to the outlet of the two-way variable pump 23, and the two oil outlets of the two-way variable pump 23 are connected to the heave compensation actuator cylinder cavity V3 and the integrated control cylinder cavity V6 through the active compensation switch valve 26. The return oil circuits of the heave compensation actuator cylinder cavity V3 and the integrated control cylinder cavity V6 are connected to the heat dissipation circuit switch valve 27, and the heat dissipation circuit switch valve 27 is connected to the cooler 30, and the cooler 30 is connected to the filter 31 to form a heat dissipation circuit with the oil storage accumulator 22, and a heat dissipation fan 29 is also provided to connect the cooler 30; pressure sensors 34 are installed at the outlet of the composite cylinder cavity and each key oil circuit; the lower end of the piston rod of the heave compensation actuator cylinder 4 is connected to the hoisting load through an earring, and the active The plug rod is installed with a displacement sensor 5, and the control unit 28 collects the ship's heave motion signal through the MRU11; the heave compensation execution cylinder has a rod cavity V2 connected to the gas cylinder group 13 through the gas-liquid converter 10. The gas cylinder group 13 includes a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder, wherein the working gas cylinder is for water and underwater compensation, the splash zone gas cylinder is used for hoisting loads through the splash zone working condition, the high-pressure gas source cylinder supplements the pressure of other gas cylinders, and the low-pressure gas collecting cylinder is used for temporary collection of gas when the high-pressure gas underwater is difficult to release. The outlet of each gas cylinder is connected to the gas cylinder switch valve 17, and the gas cylinders of different modes are turned on and off by controlling the gas cylinder switch valve 17, thereby completing the switching between different working modes.

[0028] The working principle of the present invention is as follows:

[0029] When the active control mode of the heave compensation device is working normally, the PLC control unit 28 receives the ship heave signal and the displacement signal collected by the compensation actuator cylinder piston rod displacement sensor 5 through the MRU11, and controls the displacement and direction of the bidirectional variable pump 23 in real time; the two ports of the bidirectional variable pump 23 are respectively connected to the inner cavity V3 of the heave compensation actuator cylinder and the inner cavity V6 of the integrated control cylinder.

[0030] In the initial state, the pressure setting of the gas cylinder group 13 is completed, and the gas cylinder group 13 is adjusted to make the piston rod of the heave compensation actuator cylinder move to the balanced position. The load is connected through the earring of the piston rod of the heave compensation actuator cylinder 4, and the balance is achieved under the joint action of the pressure balance accumulator 33 and the gas cylinder group 13; the pressure balance accumulator 33 provides pressure for the rod chamber V6 of the integrated control cylinder, and the pressure is transmitted to the V4 chamber through the piston rod of the integrated control cylinder 1. The V4 chamber is connected to the V1 chamber. In the initial state, pre-charge pressure is provided for the rodless chamber V1 of the heave compensation actuator cylinder. In the initial state, the pressure balance accumulator 33 acts on the piston rod of the heave compensation actuator cylinder 4 to provide a downward balancing force; the gas cylinder group 13 is connected to the gas-liquid converter 10, and provides pressure for the rod chamber V2 of the heave compensation actuator cylinder. The pressure of the rod chamber V2 of the heave compensation actuator cylinder is adjusted by the working pressure of the gas cylinder group 13. The gas cylinder group 13 acts on the piston rod of the heave compensation actuator cylinder 4 to provide an upward passive compensation force.

[0031] When the ship drives the compensation device to rise, the active control unit 28 controls the two-way variable pump 23 to supply oil to the inner cavity V3 of the heave compensation actuator cylinder, and the oil replenishment pump 20 replenishes oil to the oil suction port of the two-way variable pump 23. The oil in the inner cavity V6 of the integrated control cylinder flows into the oil accumulator 22 through the heat dissipation circuit, and the volume of the inner cavity V6 of the integrated control cylinder decreases, and the volume of its rod cavity V5 increases, and the piston rod retracts; at the same time, the volume of the inner cavity V3 of the heave compensation actuator cylinder increases, thereby reducing the volume of the rod cavity V2 of the heave compensation actuator cylinder, thereby realizing the extension of the piston rod of the heave compensation actuator cylinder 4, generating a movement opposite to the displacement of the ship, and compensating for the rising displacement of the hoisting load.

[0032] Similarly, when the ship drives the compensation device to descend, the active control unit 28 controls the two-way variable pump 23 to supply oil to the inner cavity V6 of the integrated control cylinder, and the oil replenishment pump 20 replenishes oil to the oil suction port of the two-way variable pump 23, and the oil in the inner cavity V3 of the heave compensation actuator cylinder flows into the oil accumulator 22 through the heat dissipation circuit, and the volume of the inner cavity V6 of the integrated control cylinder increases, and the volume of its rod cavity V5 decreases, and the piston rod extends; at the same time, the inner cavity V3 of the heave compensation actuator cylinder decreases, thereby increasing the volume of the rod cavity V2 of the heave compensation actuator cylinder, and then realizing the retraction of the piston rod of the heave compensation actuator cylinder 4, generating a movement opposite to the displacement of the ship, and compensating for the downward displacement of the hoisting load.

[0033] When the passive control mode of the heave compensation device is working normally, the control unit 28 controls the two-way variable pump 23 to idle, and the control unit 28 opens the passive compensation switch valve 2 to connect the inner cavity V3 of the heave compensation actuator cylinder and the inner cavity V6 of the integrated control cylinder to achieve pressure balance, and the working pressure of the gas cylinder group 13 adjusts the pressure of the rod cavity V2 of the heave compensation actuator cylinder to achieve passive heave compensation.

[0034] When the heave compensation device is operating underwater, the pressure of the underwater environment acts on the piston rod of the heave compensation actuator cylinder 4, and is transmitted to the rodless chamber V1 of the compensation actuator cylinder to generate pressure changes. Similarly, the water pressure acts on the piston rod of the integrated control cylinder 1, and is transmitted to the rodless chamber V4 of the integrated control cylinder to generate pressure changes. The rodless chamber V1 of the compensation actuator cylinder is connected to the rodless chamber V4 of the integrated control cylinder. Since the ratio of the cross-sectional area of ​​the piston rod of the compensation actuator cylinder 4 to the annular area S1 of the rodless chamber of the compensation actuator cylinder is equal to the ratio of the cross-sectional area of ​​the piston rod of the integrated control cylinder 1 to the annular area S2 of the rodless chamber of the integrated control cylinder, the pressure changes of the rodless chamber V1 of the compensation actuator cylinder and the rodless chamber V4 of the integrated control cylinder are offset, thereby realizing the water depth compensation function.

[0035] When the oil temperature of the closed hydraulic system is too high, the control unit 28 controls the cooling circuit switch valve 27 to open according to the signal of the temperature sensor 25. When the two-way variable pump 23 supplies oil to the inner cavity V3 of the heave compensation actuator cylinder, the oil in the inner cavity V6 of the integrated control cylinder flows into the cooler 30 through the upper position of the cooling circuit switch valve 27 and is cooled by the cooling fan 29, and then flows into the oil storage accumulator 22 through the filter 31; when the two-way variable pump 23 supplies oil to the inner cavity V6 of the integrated control cylinder, the oil in the inner cavity V3 of the heave compensation actuator cylinder flows into the cooler 30 through the lower position of the cooling circuit switch valve 27 and is cooled by the cooling fan 29, and then flows into the oil storage accumulator 22 through the filter 31.

[0036] The above is only an embodiment of the present invention, and the present invention is not limited thereto. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A linear heave compensation device based on a composite cylinder, comprising a heave compensation actuator cylinder (4), an integrated control cylinder (1), a bidirectional variable pump (23), a constant speed motor (24), an oil storage accumulator (22), an oil replenishment accumulator (19), a pressure balance accumulator (33), a gas cylinder group (13), a gas-liquid converter (10), an MRU motion posture sensor (11), a cooler (30), a filter (31), an oil replenishment pump (20), a DC servo motor (21), a pressure sensor (34), a displacement sensor (5), and a temperature sensor ( 25), passive compensation switch valve (2), first stop valve (3), first throttle valve block (6), overflow valve (7), plug-in check valve (8), first discharge valve (9), second stop valve (12), second throttle valve (14), second discharge valve (15), air filter (16), gas cylinder switch valve (17), exhaust valve (18), active compensation switch valve (26), heat dissipation circuit switch valve (27), PLC control unit (28), heat dissipation fan (29), reversing valve (32), third stop valve (35); characterized in that, The rodless chamber (V1) of the heave compensation actuator cylinder is connected to the rodless chamber (V4) of the integrated control cylinder; the fixed speed motor (24) drives the bidirectional variable pump (23) to pump oil back and forth between the inner chamber (V3) of the heave compensation actuator cylinder and the inner chamber (V6) of the integrated control cylinder through the active compensation switch valve (26); the inner chamber (V3) of the heave compensation actuator cylinder and the inner chamber (V6) of the integrated control cylinder are connected through the passive compensation switch valve (2); the rodless chamber (V1) of the heave compensation actuator cylinder and the rodless chamber (V4) of the integrated control cylinder are connected through the first stop valve (3); the rod chamber (V2) of the heave compensation actuator cylinder is connected to the gas cylinder group (13) through the gas-liquid converter (10), The gas cylinder group (13) comprises a low-pressure gas collecting cylinder, a high-pressure gas source cylinder, a working gas cylinder and a splash zone gas cylinder. The outlet of each gas cylinder is connected to a gas cylinder switch valve (17) and an exhaust valve (18). The gas cylinder group is connected to a second discharge valve (15) through an air filter (16); the gas cylinder is connected to a gas cavity (G) of a gas-liquid converter through a second throttle valve block (14); the liquid cavity (V) of the gas-liquid converter is connected to a rod cavity (V2) of a heave compensation actuator cylinder through a first throttle valve block (6); the liquid cavity (V) of the gas-liquid converter is connected to a plug-in check valve (8) and a relief valve (7); the rod cavity (V5) of an integrated control cylinder is connected to a pressure relief valve (V5) through a third stop valve (35). The oil storage accumulator (22) acts as an oil tank in this closed hydraulic system; the DC servo motor (21) drives the oil replenishment pump (20), the oil replenishment pump (20) is connected to the oil replenishment accumulator (19), and the oil replenishment pump (20) in the oil replenishment circuit is connected to the rodless chamber of the composite cylinder and the rod chamber (V5) of the integrated control cylinder through the reversing valve (32); the outlet of the two-way variable pump (23) is connected to the temperature sensor (25), and the two oil outlets of the two-way variable pump (23) are connected to the heave compensation execution cylinder chamber (V3) and the integrated control cylinder chamber (V6) through the active compensation switch valve (26), and the heave compensation execution cylinder The inner cavity (V3) and the integrated control cylinder inner cavity (V6) are connected to the heat dissipation circuit switch valve (27), the heat dissipation circuit switch valve (27) is connected to the cooler (30), the cooler (30) is connected to the filter (31), and forms a heat dissipation circuit with the oil storage accumulator (22), and is further provided with a heat dissipation fan (29) connected to the cooler (30); a pressure sensor (34) is installed at the outlet of the composite cylinder inner cavity and each key oil circuit; the lower end of the piston rod of the heave compensation actuator cylinder (4) is connected to the hoisting load through an earring, and the piston rod is installed with a displacement sensor (5); the control unit (28) collects the ship heave motion signal through the MRU (11).

2. The linear heave compensation device based on a composite cylinder according to claim 1 is characterized in that: The pressure balancing accumulator (33) provides pressure for the rod chamber (V6) of the integrated control cylinder, and the pressure is transmitted to the V4 chamber through the piston rod of the integrated control cylinder (1). The V4 chamber is connected to the V1 chamber, and in the initial state, a preset pressure is provided for the rodless chamber (V1) of the heave compensation actuator cylinder, which acts on the piston rod of the heave compensation actuator cylinder (4) to provide a downward balancing force; the gas cylinder group (13) acts on the piston rod of the heave compensation actuator cylinder (4) to provide an upward passive compensation force, and the passive compensation force is balanced with the load gravity after being offset by the balancing force.

3. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: The control unit (28) switches to the active control mode by closing the passive compensation switch valve (2) and opening the active compensation switch valve (26), and switches to the passive control mode by closing the active compensation switch valve (26) and opening the passive compensation switch valve (2).

4. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: When the heave compensation device is in an underwater environment, water pressure acts on the piston rods of the heave compensation actuator cylinder (4) and the integrated control cylinder (1), respectively, and the rodless chambers (V1 and V4) of the two composite cylinders are connected to offset the water pressure. When the heave compensation device is lowered into the water, the annular area of ​​the rodless chamber (V1) of the heave compensation actuator cylinder is S1, the cross-sectional area of ​​the piston rod of the heave compensation actuator cylinder (4) is S1', the annular area of ​​the rodless chamber (V4) of the integrated control cylinder is S2, and the cross-sectional area of ​​the piston rod of the integrated control cylinder (1) is S2', which must meet the following requirements:

5. The linear heave compensation device based on a composite cylinder according to claim 1, characterized in that: When the oil temperature of the closed hydraulic circuit is too high, the two-way variable pump (23) supplies oil to the inner chamber (V3) of the heave compensation actuator cylinder, and the oil replenishment pump (20) replenishes oil to the oil suction port of the two-way variable pump (23). The oil in the inner chamber (V6) of the integrated control cylinder flows into the cooler (30) through the heat dissipation circuit switch valve (27) and is cooled by the heat dissipation fan (29), and then flows back to the oil storage accumulator (22) through the filter (31).

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