Active and passive integrated heave compensation device and adjusting method thereof

Abstract

The invention relates to the technical field of offshore operation, and particularly discloses an active and passive integrated heave compensation device and an adjusting method thereof.The heave compensation device comprises a main body, the main body comprises a hydraulic cylinder, an active and passive composite energy accumulator and a gas cylinder, the hydraulic cylinder comprises a rodless cavity and a rod cavity, and the active and passive composite energy accumulator comprises a cavity; the cavity is divided into a connecting oil cavity, a first active compensation oil cavity, a second active compensation oil cavity and a passive compensation air cavity through a first piston, a fixed partition plate and a second piston, and communicating channels are arranged between the connecting oil cavity and the rod cavity and between the passive compensation air cavity and the air cylinder. A hydraulic control assembly capable of conducting bidirectional reciprocating conveying on hydraulic oil in the first active compensation oil cavity and the second active compensation oil cavity so as to change the oil amount in the first active compensation oil cavity and the second active compensation oil cavity is arranged between the first active compensation oil cavity and the second active compensation oil cavity. The whole device is simple in structure and high in integration level, the bearing proportion of the compensation amount of active compensation in the whole heave compensation can be adjusted according to different sea conditions and operation requirements, and flexibility is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore operations, and in particular to an active and passive integrated heave compensation device and an adjustment method thereof. Background Art

[0002] In the field of marine engineering, heave compensation devices are widely used in lifting and handling equipment to reduce the impact of waves in the marine environment on the equipment. Traditional heave compensation devices are mainly divided into passive compensation type, active compensation type and active and passive compensation type according to the compensation form. Among them, passive heave compensation devices usually use accumulators and gas cylinders to absorb and buffer external impacts. They have simple structures and low costs, but limited application scenarios; while active heave compensation devices use sensors and electronic control systems to adjust the working state of the device through feedback mechanisms to achieve more accurate compensation effects, but they are more expensive and consume more energy. Although the active and passive compensation type combines the active compensation function with the passive compensation function, the structures and control systems of the active compensation part and the passive compensation part are usually separated, and they work independently. The overall structure is larger and more complicated, the energy utilization efficiency is still limited, and the flexibility is poor, making it difficult to meet the different operational application requirements under complex sea conditions. Summary of the invention

[0003] The purpose of the present invention is to provide an active and passive integrated heave compensation device and an adjustment method thereof in view of the existing technical status.

[0004] The heave compensation device of the present invention has a simple overall structure and a high degree of integration. It can adjust the proportion of the active compensation in the entire heave compensation according to different sea conditions and operational requirements. It has greater flexibility and can achieve more efficient energy utilization and reduce unnecessary energy consumption while ensuring the compensation effect.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] In one aspect, the present invention provides an active and passive integrated heave compensation device, comprising a main body, wherein the main body comprises a hydraulic cylinder, an active and passive composite accumulator and a gas cylinder,

[0007] The hydraulic cylinder comprises a first piston member for hoisting objects, and the inner cavity of the hydraulic cylinder is divided into a vacuum rodless cavity and a rod cavity filled with hydraulic oil by the first piston member.

[0008] The active-passive composite accumulator comprises a cavity, a fixed partition and a second piston member that can reciprocate relative to the fixed partition are arranged in the cavity, the second piston member comprises a first piston and a second piston that are connected to each other, the first piston and the second piston are respectively arranged on both sides of the fixed partition, the first piston, the fixed partition and the second piston divide the cavity into a connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber and a passive compensation air chamber that are arranged in sequence,

[0009] A connecting passage is provided between the connecting oil chamber and the rod chamber, and between the passive compensation air chamber and the gas cylinder. A hydraulic control component is provided between the first active compensation oil chamber and the second active compensation oil chamber, which can carry out bidirectional reciprocating transportation of the hydraulic oil inside the two chambers to change the amount of oil inside the two chambers.

[0010] In some embodiments, the hydraulic control assembly includes a bidirectional pump for delivering hydraulic oil, and the bidirectional pump is respectively connected to the first active compensation oil chamber and the second active compensation oil chamber.

[0011] In some embodiments, the hydraulic control component includes a two-way passage and an overflow passage that are interconnected, the two-way pump is arranged on the two-way passage, the two-way pump includes a first connecting end and a second connecting end, the overflow passage includes a first overflow valve, a second overflow valve and a bypass passage, the oil inlet of the first overflow valve is connected to the first active compensation oil chamber, the oil inlet of the second overflow valve is connected to the second active compensation oil chamber, the bypass passage includes an oil inlet end, a first one-way oil outlet section and a second one-way oil outlet section, the oil inlet end is respectively connected to the oil outlet of the first overflow valve, the oil outlet of the second overflow valve, the flow inlet of the first one-way oil outlet section and the flow inlet of the second one-way oil outlet section, the flow outlet of the first one-way oil outlet section is respectively connected to the first active compensation oil chamber and the first connecting end, and the flow outlet of the second one-way oil outlet section is respectively connected to the second active compensation oil chamber and the second connecting end.

[0012] In some embodiments, in the heave compensation device, the maximum ratio of the active compensation amount to the total compensation amount is:

[0013]

[0014] Where α is the maximum ratio of the active compensation to the total compensation provided by the heave compensation device, A AHC is the compensation amount of active compensation, A PHC The total compensation amount provided for the heave compensation device includes the compensation amount of active compensation and the compensation amount of passive compensation. P1 is the set pressure of the first relief valve or the second relief valve; and P is the load borne by the hydraulic cylinder.

[0015] In some embodiments, the setting pressure of the first relief valve is equal to the setting pressure of the second relief valve, which makes control simpler.

[0016] In some embodiments, the bidirectional passage includes a first delivery passage and a second delivery passage, the two ends of the first delivery passage are respectively connected to the first active compensation oil chamber and the first connecting end, the first delivery passage is sequentially provided with a first diverter end and a second diverter end along a direction close to the first connecting end, the first diverter end is connected to the oil inlet of the first overflow valve, the second diverter end is connected to the flow outlet of the first one-way oil outlet section, the two ends of the second delivery passage are respectively connected to the second active compensation oil chamber and the second connecting end, the second delivery passage is sequentially provided with a third diverter end and a fourth diverter end along a direction close to the second connecting end, the third diverter end is connected to the oil inlet of the second overflow valve, and the fourth diverter end is connected to the flow outlet of the second one-way oil outlet section.

[0017] In some embodiments, the communication passage includes a first passage for connecting the connecting oil chamber and the rod chamber, and a hydraulic throttle valve for adjusting the damping of the passive compensation function is provided on the first passage.

[0018] In some embodiments, the communication passage includes a second passage for connecting the passive compensation air chamber and the gas cylinder, and the second passage is provided with an exhaust throttle valve for adjusting the stiffness of the passive compensation function.

[0019] On the other hand, the present invention provides a method for adjusting the active and passive integrated heave compensation device, comprising:

[0020] According to the preset sea state parameters, the maximum ratio of the compensation amount of active compensation to the total compensation amount provided by the heave compensation device is set;

[0021] Monitor the actual sea state data and the current motion state of the main body in real time, and adjust the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device according to the actual sea state data and the current motion state of the main body;

[0022] The setting and adjustment of the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device comprises the following steps: adjusting the setting pressures of the first relief valve and the second relief valve.

[0023] In some embodiments, it also includes:

[0024] adjusting the hydraulic throttle valve disposed between the connecting oil chamber and the rod chamber to adjust the damping of the passive compensation function;

[0025] The exhaust throttle valve disposed between the passive compensation air chamber and the gas cylinder is adjusted to adjust the stiffness of the passive compensation function.

[0026] In some embodiments, it also includes:

[0027] According to the actual sea condition data, the current sea condition level is divided.

[0028] The maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device is positively correlated with the sea state level;

[0029] The setting pressures of the first relief valve and the second relief valve are positively correlated with the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device.

[0030] The beneficial effects of the present invention are:

[0031] The present invention comprises a heave compensation device with both active compensation and passive compensation functions, which is composed of a hydraulic cylinder, an active and passive composite accumulator, a hydraulic control component and a gas cylinder. The active and passive composite accumulator is composed of a connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber and a passive compensation air chamber. The hydraulic control component is used to adjust the oil volume inside the first active compensation oil chamber and the second active compensation oil chamber in the active and passive composite accumulator to realize the active compensation function of the load on the hydraulic cylinder. The hydraulic cylinder, the gas cylinder, the connecting oil chamber and the passive compensation air chamber in the active and passive composite accumulator form a stiffness damping system similar to passive compensation, which effectively absorbs and buffers vibration energy, thereby realizing high integration of active compensation and passive compensation functional components. The overall device has a simple structure, high integration, and convenient installation and maintenance. The hydraulic control component adjusts the oil volume inside the first active compensation oil chamber and the second active compensation oil chamber, and can also change the proportion of active compensation, so that the proportion of active compensation in the entire heave compensation can be flexibly adjusted according to different sea conditions and operation requirements. The flexibility is stronger, and more efficient energy utilization can be achieved and unnecessary energy consumption can be reduced under the premise of ensuring the compensation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a structural schematic diagram of an active and passive integrated heave compensation device installed on an offshore crane according to Example 1 of the present invention.

[0033] Figure 2 This is a schematic structural diagram of an active and passive integrated heave compensation device according to Example 1 of the present invention.

[0034] Figure 3 This is a schematic diagram of the oil circuit of an active and passive integrated heave compensation device according to Example 1 of the present invention, which performs active compensation when it detects that the suspended object has a downward trend.

[0035] Figure 4 This is a schematic diagram of the oil circuit of an active and passive integrated heave compensation device according to Example 1 of the present invention, which performs active compensation when it detects that the suspended object has an upward trend.

[0036] Figure 5 This is a schematic diagram of the oil circuit of an overflow circuit of an active and passive integrated heave compensation device according to Example 1 of the present invention.

[0037] Figure 6 This is a flow chart of an adjustment method for an active and passive integrated heave compensation device according to Example 2 of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in further detail below.

[0039] Example 1

[0040] See also Figure 1 to Figure 2 As shown, this embodiment is an active and passive integrated heave compensation device, comprising a main body 1, wherein the main body 1 comprises a hydraulic cylinder 2, an active and passive composite accumulator 3 and a gas cylinder.

[0041] The hydraulic cylinder 2 comprises a first piston member 23 for hoisting the object 8. The inner cavity of the hydraulic cylinder 2 is divided into a vacuum rodless cavity 21 and a rod cavity 22 filled with hydraulic oil by the first piston member 23.

[0042] The active-passive composite accumulator 3 includes a cavity, in which a fixed partition 32 and a second piston member 31 that can reciprocate relative to the fixed partition 32 are arranged. The second piston member 31 includes a first piston 311 and a second piston 312 that are connected to each other. The first piston 311 and the second piston 312 are respectively arranged on both sides of the fixed partition 32. The first piston 311, the fixed partition 32 and the second piston 312 divide the cavity into a connecting oil chamber 33, a first active compensation oil chamber 34, a second active compensation oil chamber 35 and a passive compensation air chamber 36 that are arranged in sequence.

[0043] A connecting passage is provided between the connecting oil chamber 33 and the rod chamber 22, and between the passive compensation air chamber 36 and the gas cylinder. A hydraulic control component 5 is provided between the first active compensation oil chamber 34 and the second active compensation oil chamber 35, which can carry out bidirectional reciprocating transportation of the hydraulic oil inside the two chambers to change the amount of oil inside the two chambers.

[0044] During installation, the heave compensation device of the present invention is suspended between the crane and the object 8 to be lifted. Specifically, the rod chamber 22 of the hydraulic cylinder 2 is installed downward, and the piston rod of the first piston member 23 is connected to the object 8.

[0045] The heave compensation device of this embodiment has both active compensation function and passive compensation function. When the heave compensation of the heave compensation device adopts active compensation and passive compensation together, the principle is as follows:

[0046] The load transfer pressure borne by the hydraulic cylinder 2 is given to the connecting oil chamber 33 of the active and passive composite accumulator 3. The hydraulic control component 5 performs bidirectional reciprocating transportation of the hydraulic oil inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35 to change the oil volume inside the two, actively compensates for a part of the pressure, and the passive compensation air chamber 36 passively compensates the remaining force, wherein the force of the passive compensation air chamber 36 is provided by the gas cylinder.

[0047] The hydraulic control component 5 adjusts the oil volume in the first active compensation oil chamber 34 and the second active compensation oil chamber 35 in the active and passive composite accumulator 3 to realize the active compensation function of the load on the hydraulic cylinder 2. Specifically, the compensation principle of the active compensation function is as follows:

[0048] See also Figure 3 As shown, when it is detected that the suspended object 8 has a downward trend, the hydraulic oil inside the second active compensation oil chamber 35 is transported to the first active compensation oil chamber 34 through the hydraulic control component 5, and the second piston member 31 is pressed toward the connecting oil chamber 33, thereby increasing the pressure in the rod chamber 22 of the hydraulic cylinder 2, and assisting the first piston member 23 of the hydraulic cylinder 2 to quickly retract upward, thereby suppressing the descent of the suspended object 8 and achieving the effect of heave compensation.

[0049] See also Figure 4 As shown, when it is monitored that the suspended object 8 has an upward trend, the hydraulic oil inside the first active compensation oil chamber 34 is transported to the second active compensation oil chamber 35 through the hydraulic control component 5, and the second piston member 31 moves away from the connecting oil chamber 33, reducing the pressure in the rod chamber 22 of the hydraulic cylinder 2. Under the synergistic effect of the gravity of the suspended object 8, the first piston member 23 of the hydraulic cylinder 2 quickly extends downward, suppressing the rise of the suspended object 8 and achieving the effect of heave compensation.

[0050] At the same time, the hydraulic control component 5 can also change the proportion of active compensation by adjusting the amount of oil inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35, so that the proportion of active compensation in the entire heave compensation can be flexibly adjusted according to different sea conditions. For example, when it is monitored that the suspended object 8 has a downward trend, the more oil the hydraulic control component 5 transports from the second active compensation oil chamber 35 to the first active compensation oil chamber 34, the greater the force applied to the connecting oil chamber 33, and the greater the proportion of active compensation.

[0051] Among them, the first active compensation oil chamber 34, the second active compensation oil chamber 35 and the second piston member 31 in the active and passive composite accumulator 3 are regarded as an integral piston, and the hydraulic cylinder 2, the gas cylinder, the connecting oil chamber 33 and the passive compensation air chamber 36 in the active and passive composite accumulator 3 form a stiffness damping system similar to passive compensation, which effectively absorbs and buffers vibration energy. For example, in extreme use conditions, when the first active compensation oil chamber 34 and the second active compensation oil chamber 35 are fully connected in real time during use, the first active compensation oil chamber 34 and the second active compensation oil chamber 35 can no longer play the active compensation function, and the heave compensation is all passively compensated by the passive compensation air chamber 36.

[0052] The present invention comprises a heave compensation device having both active compensation and passive compensation functions, wherein the active and passive composite accumulator 3 is composed of a connecting oil chamber 33, a first active compensation oil chamber 34, a second active compensation oil chamber 35 and a passive compensation air chamber 36. The hydraulic control component 5 is used to adjust the oil volume inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35 in the active and passive composite accumulator 3, so as to realize the active compensation function of the load on the hydraulic cylinder 2. The connecting oil chamber 33 and the passive compensation air chamber 36 in the active and passive composite accumulator 3 are adjusted by the hydraulic control component 5. A stiffness damping system similar to passive compensation is formed to effectively absorb and buffer vibration energy, thereby achieving a high degree of integration of active compensation and passive compensation functional components. The overall device has a simple structure, high integration, and convenient installation and maintenance. The hydraulic control component 5 adjusts the oil volume inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35, and can also change the proportion of active compensation. Therefore, the proportion of active compensation in the entire heave compensation can be flexibly adjusted according to different sea conditions and operational requirements. It is more flexible and can achieve more efficient energy utilization and reduce unnecessary energy consumption while ensuring the compensation effect.

[0053] Among them, a connecting rod is provided between the first piston 311 and the second piston 312, and the first piston 311 and the second piston 312 are rigidly connected by the connecting rod. The fixed partition 32 is provided with a through hole for the connecting rod to pass through, and a sealing member is provided between the through hole and the connecting rod to ensure that while the connecting rod can reciprocate along the axis direction of the through hole, the gap between the through hole and the connecting rod remains sealed.

[0054] Among them, see Figure 2 and Figure 3 As shown, the hydraulic control assembly 5 includes a two-way pump 51 for conveying hydraulic oil, and the two-way pump 51 is respectively connected to the first active compensation oil chamber 34 and the second active compensation oil chamber 35.

[0055] Specifically, when it is monitored that the suspended object 8 has a downward trend, the two-way pump 51 pumps the hydraulic oil inside the second active compensating oil chamber 35 into the first active compensating oil chamber 34 under high pressure; when it is monitored that the suspended object 8 has an upward trend, the two-way pump 51 pumps the hydraulic oil inside the first active compensating oil chamber 34 into the second active compensating oil chamber 35 under high pressure.

[0056] Among them, see Figures 2 to 5 As shown, the hydraulic control assembly 5 includes a two-way passage 52 and an overflow passage 53 that are interconnected. The two-way pump 51 is arranged on the two-way passage 52. The two-way pump 51 includes a first connecting end and a second connecting end. The overflow passage 53 includes a first overflow valve 531, a second overflow valve 532 and a shunt passage. The oil inlet of the first overflow valve 531 is connected to the first active compensation oil chamber 34, and the oil inlet of the second overflow valve 532 is connected to the second active compensation oil chamber 35. The shunt passage includes an oil inlet end 533, a first The one-way oil outlet section 534 and the second one-way oil outlet section 535, the oil inlet end 533 are respectively connected with the oil outlet of the first overflow valve 531, the oil outlet of the second overflow valve 532, the flow inlet of the first one-way oil outlet section 534 and the flow inlet of the second one-way oil outlet section 535, the flow outlet of the first one-way oil outlet section 534 is respectively connected with the first active compensation oil chamber 34 and the first connecting end, the flow outlet of the second one-way oil outlet section 535 is respectively connected with the second active compensation oil chamber 35 and the second connecting end.

[0057] The first overflow valve 531 limits the pressure that can be reached inside the first active compensation oil chamber 34 , and the second overflow valve 532 limits the pressure that can be reached inside the second active compensation oil chamber 35 .

[0058] When the internal pressure of the first active compensating oil chamber 34 and the second active compensating oil chamber 35 does not exceed the set pressure of the first overflow valve 531 and the second overflow valve 532, the hydraulic oil inside the first active compensating oil chamber 34 and the second active compensating oil chamber 35 is transported through the two-way passage 52 under the action of the two-way pump 51, so that the oil volume and pressure inside the two chambers increase or decrease accordingly. After the two-way pump 51 stops operating, the hydraulic oil inside the two chambers stops being transported and is maintained at the oil volume level.

[0059] See also Figure 5As shown, when the internal pressure of the first active compensating oil chamber 34 exceeds the set pressure of the first overflow valve 531, or when the internal pressure of the second active compensating oil chamber 35 exceeds the set pressure of the second overflow valve 532, the hydraulic oil enters the hydraulic control component 5 and is released through the first overflow valve 531 or the second overflow valve 532 to ensure that the internal pressure of the first active compensating oil chamber 34 and the second active compensating oil chamber 35 never exceeds the set pressure of the first overflow valve 531 and the second overflow valve 532.

[0060] Therefore, by adjusting the set pressures of the first overflow valve 531 and the second overflow valve 532, the maximum pressure value that can be reached inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35 can be limited, thereby limiting the maximum ratio of the active compensation amount to the total compensation amount. As a result, when the heave compensation device is applied to different sea conditions and operational requirements, it is possible to adjust the set pressures of the first overflow valve 531 and the second overflow valve 532 as needed to provide a compensation scheme with a more appropriate active and passive bearing ratio, thereby achieving a better compensation effect. The adjustment operation of the active and passive compensation ratio is simple, and the overall device has high application flexibility and stronger adaptability.

[0061] For example, in calmer sea conditions, the maximum ratio of active compensation to the total compensation can be lowered, and the overall compensation scheme is mainly based on passive compensation. In deep-sea operations or severe sea conditions, the maximum ratio of active compensation to the total compensation can be increased, and the overall compensation scheme is mainly based on active compensation.

[0062] Among them, in the heave compensation device, the maximum ratio of the active compensation amount to the total compensation amount is:

[0063]

[0064] Where α is the ratio of the active compensation to the total compensation provided by the heave compensation device, A AHC is the compensation amount of active compensation, A PHC The total compensation amount provided by the heave compensation device includes the compensation amount of active compensation and the compensation amount of passive compensation. P1 is the set pressure of the first relief valve 531 or the second relief valve 532; and P is the load borne by the hydraulic cylinder 2.

[0065] When P1 is 0, the first active compensation oil chamber 34 and the second active compensation oil chamber 35 are completely connected in real time during use. At this time, the first active compensation oil chamber 34 and the second active compensation oil chamber 35 can no longer play the active compensation function, and the heave compensation is all passively compensated by the passive compensation air chamber 36.

[0066] Preferably, P1>0, at this time, the compensation of the heave compensation device can be undertaken jointly by active compensation and passive compensation. Compared with the single passive compensation mode, it can have both low energy consumption and compensation accuracy, and the comprehensive effect is higher.

[0067] The setting pressure of the first relief valve 531 and the setting pressure of the second relief valve 532 are the same.

[0068] Wherein, one-way valves are provided on the first one-way oil outlet section 534 and the second one-way oil outlet section 535, and the one-way flow of the hydraulic oil is controlled by the one-way valves.

[0069] Among them, an oil replenishment accumulator is also provided between the first one-way oil outlet section 534 and the second one-way oil outlet section 535 to replenish oil. When necessary, the hydraulic oil in the oil replenishment accumulator is transported to the two-way pump 51 via the first one-way oil outlet section 534 or the second one-way oil outlet section 535.

[0070] Among them, see Figures 2 to 5 As shown, the two-way passage 52 includes a first delivery passage 521 and a second delivery passage 522, the two ends of the first delivery passage 521 are respectively connected to the first active compensation oil chamber 34 and the first connecting end, the first delivery passage 521 is sequentially provided with a first diverter end 523 and a second diverter end 524 along a direction close to the first connecting end, the first diverter end 523 is connected to the oil inlet of the first overflow valve 531, the second diverter end 524 is connected to the flow outlet of the first one-way oil outlet section 534, the two ends of the second delivery passage 522 are respectively connected to the second active compensation oil chamber 35 and the second connecting end, the second delivery passage 522 is sequentially provided with a third diverter end 525 and a fourth diverter end 526 along a direction close to the second connecting end, the third diverter end 525 is connected to the oil inlet of the second overflow valve 532, and the fourth diverter end 526 is connected to the flow outlet of the second one-way oil outlet section 535.

[0071] Among them, see Figure 2 As shown, the communication passage includes a first passage for connecting the connecting oil chamber 33 and the rod chamber 22, and the first passage is provided with a hydraulic throttle valve 6 for adjusting the damping of the passive compensation function.

[0072] The damping characteristics of passive compensation can be changed by adjusting the hydraulic throttle valve 6. For example, in calmer sea conditions, the opening of the hydraulic throttle valve 6 can be increased to reduce the damping, thereby allowing a certain range of heave movement; while in the case of larger waves, the opening of the hydraulic throttle valve 6 can be reduced to increase the damping, so as to more effectively absorb and buffer the vibration energy.

[0073] Among them, see Figure 2As shown, the communication passage includes a second passage for connecting the passive compensation air chamber 36 and the gas cylinder, and the second passage is provided with an exhaust throttle valve 7 for adjusting the stiffness of the passive compensation function.

[0074] The stiffness characteristics of passive compensation can be changed by adjusting the exhaust throttle valve 7. For example, when the hydraulic cylinder 2 is subjected to a large load, the opening of the exhaust throttle valve 7 can be increased to increase the stiffness, thereby enhancing the buffering effect; conversely, when the load on the hydraulic cylinder 2 is small, the opening of the exhaust throttle valve 7 can be reduced to reduce the stiffness of the system, so that the equipment can cope with wave impact more flexibly.

[0075] The heave compensation device of the present invention can select appropriate stiffness and damping parameters by adjusting the hydraulic throttle valve 6 and the exhaust throttle valve 7 to better adapt to different application scenarios, has better flexibility and adaptability, and can achieve better compensation effects.

[0076] Among them, the main body 1 also includes a monitoring component, which includes an MRU posture sensor, a pressure sensor and a water depth sensor. The MRU posture sensor is used to monitor the movement posture, speed and acceleration of the main body 1, and the pressure sensor is used to monitor the internal pressure of the hydraulic cylinder 2, the active and passive composite accumulator 3, the gas cylinder and the two-way pump 51. In this embodiment, the MRU posture sensor is arranged at the lower end of the hydraulic cylinder 2.

[0077] Example 2

[0078] See also Figure 6 As shown, this embodiment discloses a method for adjusting the heave compensation device in Embodiment 1, including adjusting the active and passive compensation ratios, wherein the steps of adjusting the active and passive compensation ratios include:

[0079] S100. Setting the initial ratio: according to the preset sea condition parameters, setting the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device;

[0080] S200. Dynamically adjust the ratio: monitor the actual sea condition data and the current motion state of the main body in real time, adjust the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device according to the actual sea condition data and the current motion state of the main body, and continuously adjust the active and passive ratio according to the information fed back by the monitoring data, so as to ensure efficient heave compensation and effectively reduce energy consumption;

[0081] The setting and adjustment of the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device comprises the following steps: adjusting the setting pressures of the first relief valve and the second relief valve.

[0082] For example, when the sea conditions of the monitoring component suddenly deteriorate and the waves increase, the setting pressure of the first overflow valve and the second overflow valve is increased to increase the proportion that active compensation can bear and ensure the stability of the hoisting of the suspended object.

[0083] Exemplarily, the monitoring components of sea condition data may include any one or more combinations of wind speed and direction sensors, temperature sensors, pressure sensors, conductivity sensors, wave sensors, and water depth sensors, but are not limited thereto. The monitoring of sea condition data may adopt current conventional monitoring methods, and it is only necessary to be able to obtain sea condition data in real time, which will not be elaborated here.

[0084] Exemplarily, the monitoring component of the motion state of the current subject may be an MRU posture sensor, but is not limited thereto. It only needs to be able to monitor the motion state of the current subject, and will not be elaborated here.

[0085] The present invention can limit the maximum pressure value that can be reached inside the first active compensation oil chamber and the second active compensation oil chamber by adjusting the setting pressure of the first overflow valve and the second overflow valve, and further limit the maximum ratio of the compensation amount of active compensation to the total compensation amount. As a result, when the heave compensation device is applied to different sea conditions and operation demand scenarios, it can adjust the setting pressure of the first overflow valve and the second overflow valve as needed to provide a compensation scheme with a more appropriate active and passive bearing ratio to achieve better compensation effect. The adjustment operation of the active and passive compensation ratio is simple. This adjustment method enables the heave compensation device of the present invention to flexibly respond to changeable sea conditions and different offshore operation requirements, balance the weight between the low energy consumption of passive compensation and the high precision of active compensation according to demand, provide stable and efficient heave compensation, and achieve the best heave compensation effect.

[0086] Among them, it also includes:

[0087] According to the actual sea condition data, the current sea condition level is divided.

[0088] The maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device is positively correlated with the sea condition level, wherein the classification of the sea condition level can be carried out according to the existing standard documents, the higher the level, the worse the sea condition, the greater the compensation ratio that the active compensation needs to bear;

[0089] The setting pressure of the first overflow valve and the second overflow valve is positively correlated with the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device, that is, the greater the compensation proportion required by the active compensation, the greater the setting pressure of the first overflow valve and the second overflow valve.

[0090] Example 3

[0091] Compared with Example 2, the differences of this embodiment also include:

[0092] Adjusting damping: adjusting the hydraulic throttle valve disposed between the connecting oil chamber and the rod chamber to adjust the damping of the passive compensation function;

[0093] Adjusting the stiffness: adjusting the exhaust throttle valve disposed between the passive compensation air cavity and the gas cylinder to adjust the stiffness of the passive compensation function.

[0094] In practical applications, the heave compensation device includes an active compensation operation mode mainly based on active compensation and a passive compensation operation mode mainly based on passive compensation.

[0095] In deep sea operations or in harsh sea conditions, the active compensation operation mode can provide fast and accurate heave compensation to ensure the stability and safety of the suspended objects. For operations with high precision requirements, such as laying submarine cables or deploying precision instruments, the active compensation operation mode can effectively ensure the success rate of the operation.

[0096] Under smooth sea conditions, the passive compensation operation mode can achieve a low-energy heave compensation effect by setting appropriate stiffness and damping parameters. In this mode, the setting pressures of the first relief valve and the second relief valve are relatively low. At this time, the first active compensation oil chamber and the second active compensation oil chamber are basically connected, and the two-way pump basically does not work. The heave compensation is mainly carried out by the combined action of the hydraulic cylinder, the passive compensation air chamber and the gas cylinder. The passive compensation operation mode can also be used in occasions of long-term stable operation and occasions such as passing through wave splash zones where compensation of the suspension rope tension is required.

[0097] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the field can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. An active and passive integrated heave compensation device, comprising a main body, characterized in that: The main body includes a hydraulic cylinder, an active and passive composite accumulator and a gas cylinder. The hydraulic cylinder comprises a first piston member for hoisting objects, and the inner cavity of the hydraulic cylinder is divided into a vacuum rodless cavity and a rod cavity filled with hydraulic oil by the first piston member. The active-passive composite accumulator comprises a cavity, a fixed partition and a second piston member that can reciprocate relative to the fixed partition are arranged in the cavity, the second piston member comprises a first piston and a second piston that are connected to each other, the first piston and the second piston are respectively arranged on both sides of the fixed partition, the first piston, the fixed partition and the second piston divide the cavity into a connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber and a passive compensation air chamber that are arranged in sequence, A connecting passage is provided between the connecting oil chamber and the rod chamber, and between the passive compensation air chamber and the gas cylinder. A hydraulic control component is provided between the first active compensation oil chamber and the second active compensation oil chamber, which can carry out bidirectional reciprocating transportation of the hydraulic oil inside the two chambers to change the amount of oil inside the two chambers.

2. The active and passive integrated heave compensation device according to claim 1, characterized in that: The hydraulic control component includes a bidirectional pump for conveying hydraulic oil, and the bidirectional pump is respectively connected to the first active compensation oil chamber and the second active compensation oil chamber.

3. The active and passive integrated heave compensation device according to claim 2, characterized in that: The hydraulic control component includes a two-way passage and an overflow passage that are interconnected. The two-way pump is arranged on the two-way passage. The two-way pump includes a first connecting end and a second connecting end. The overflow passage includes a first overflow valve, a second overflow valve and a bypass passage. The oil inlet of the first overflow valve is connected to the first active compensation oil chamber, and the oil inlet of the second overflow valve is connected to the second active compensation oil chamber. The bypass passage includes an oil inlet end, a first one-way oil outlet section and a second one-way oil outlet section. The oil inlet end is respectively connected to the oil outlet of the first overflow valve, the oil outlet of the second overflow valve, the flow inlet of the first one-way oil outlet section and the flow inlet of the second one-way oil outlet section. The flow outlet of the first one-way oil outlet section is respectively connected to the first active compensation oil chamber and the first connecting end, and the flow outlet of the second one-way oil outlet section is respectively connected to the second active compensation oil chamber and the second connecting end.

4. The active and passive integrated heave compensation device according to claim 3, characterized in that: In the heave compensation device, the maximum ratio of the active compensation amount to the total compensation amount is: Where α is the maximum ratio of the active compensation to the total compensation provided by the heave compensation device, A AHC is the compensation amount of active compensation, A PHC The total compensation amount provided for the heave compensation device includes the compensation amount of active compensation and the compensation amount of passive compensation. P1 is the set pressure of the first relief valve or the second relief valve; and P is the load borne by the hydraulic cylinder.

5. The active and passive integrated heave compensation device according to claim 3, characterized in that: The two-way passage includes a first conveying passage and a second conveying passage, the two ends of the first conveying passage are respectively connected to the first active compensation oil chamber and the first connecting end, the first conveying passage is provided with a first diverter end and a second diverter end in sequence along a direction close to the first connecting end, the first diverter end is connected to the oil inlet of the first overflow valve, the second diverter end is connected to the flow outlet of the first one-way oil outlet section, the two ends of the second conveying passage are respectively connected to the second active compensation oil chamber and the second connecting end, the second conveying passage is provided with a third diverter end and a fourth diverter end in sequence along a direction close to the second connecting end, the third diverter end is connected to the oil inlet of the second overflow valve, and the fourth diverter end is connected to the flow outlet of the second one-way oil outlet section.

6. The active and passive integrated heave compensation device according to claim 1, characterized in that: The communication passage comprises a first passage for connecting the connecting oil chamber and the rod chamber, and a hydraulic throttle valve for adjusting the damping of the passive compensation function is provided on the first passage.

7. The active and passive integrated heave compensation device according to claim 1, characterized in that: The communication passage comprises a second passage for connecting the passive compensation air chamber and the gas cylinder, and the second passage is provided with an exhaust throttle valve for adjusting the stiffness of the passive compensation function.

8. A method for adjusting an active and passive integrated heave compensation device according to any one of claims 3 to 7, characterized in that: include: According to the preset sea state parameters, the maximum ratio of the compensation amount of active compensation to the total compensation amount provided by the heave compensation device is set; Monitor the actual sea state data and the current motion state of the main body in real time, and adjust the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device according to the actual sea state data and the current motion state of the main body; The setting and adjustment of the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device comprises the following steps: adjusting the setting pressures of the first relief valve and the second relief valve.

9. The adjustment method according to claim 8, characterized in that: Also includes: adjusting the hydraulic throttle valve disposed between the connecting oil chamber and the rod chamber to adjust the damping of the passive compensation function; The exhaust throttle valve disposed between the passive compensation air chamber and the gas cylinder is adjusted to adjust the stiffness of the passive compensation function.

10. The adjustment method according to claim 8, characterized in that: Also includes: According to the actual sea condition data, the current sea condition level is divided. The maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device is positively correlated with the sea state level; The setting pressures of the first relief valve and the second relief valve are positively correlated with the maximum ratio of the compensation amount of the active compensation to the total compensation amount provided by the heave compensation device.

Images