A kind of active and passive integrated heave compensation device and its adjusting method

Abstract

The application relates to the technical field of offshore operations, and particularly discloses a main-passive integrated heave compensation device and a regulating method thereof. The heave compensation device comprises a main body, the main body comprises a hydraulic cylinder, a main-passive composite accumulator and a gas cylinder, the hydraulic cylinder comprises a rodless cavity and a rod cavity, the main-passive composite 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 gas cavity arranged in sequence by a first piston, a fixed partition plate and a second piston, a communication passage is arranged between the connecting oil cavity and the rod cavity and between the passive compensation gas cavity and the gas cylinder, and a hydraulic control assembly for bidirectional reciprocating transportation of hydraulic oil in the first active compensation oil cavity and the second active compensation oil cavity to change the oil quantity 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 overall device has simple structure and high integration degree, can adjust the bearing proportion of the compensation quantity of active compensation in the whole heave compensation according to different sea conditions and operation requirements, and is more flexible.

Description

Technical Field

[0001] This invention relates to the field of marine operations technology, and in particular to an integrated active and passive heave compensation device and its adjustment method. Background Technology

[0002] In the field of marine engineering, heave compensation devices are widely used for lifting and transporting equipment to reduce the impact of waves on the equipment. Traditional heave compensation devices are mainly classified into passive compensation, active compensation, and mixed-passive compensation types according to their compensation methods. Passive heave compensation devices typically use accumulators and gas cylinders to absorb and buffer external impacts. They are simple in structure and low in cost, but their application scenarios are limited. Active heave compensation devices, on the other hand, use sensors and electronic control systems to adjust the device's operating state through feedback mechanisms, thereby achieving a more precise compensation effect. However, they are more expensive and consume more energy. Although mixed-passive compensation devices combine active and passive compensation functions, the structures and control systems of the active and passive compensation parts are usually separate, operating independently. The overall structure is larger and more complex, with limited energy utilization efficiency and poor flexibility, making it difficult to meet the needs of different operational applications in complex sea conditions. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated active and passive heave compensation device and its adjustment method, addressing the limitations of existing technologies.

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

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

[0006] On one hand, the present invention provides an integrated active and passive heave compensation device, comprising a main body, the main body including a hydraulic cylinder, an active and passive combined accumulator, and a gas cylinder.

[0007] The hydraulic cylinder includes a first piston for lifting objects. The inner cavity of the hydraulic cylinder is divided by the first piston into a rodless cavity that is under vacuum and a rod cavity filled with hydraulic oil.

[0008] The active-passive composite accumulator includes a cavity, within which a fixed partition and a second piston reciprocating relative to the fixed partition are provided. The second piston includes a first piston and a second piston connected to each other, with the first and second pistons respectively located on opposite sides of the fixed partition. The first piston, the fixed partition, and the second piston divide the cavity into a sequentially arranged connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber, and a passive compensation gas chamber.

[0009] A communication 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 to bidirectionally reciprocate the hydraulic oil inside them in order to change the amount of oil inside them.

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

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

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

[0013]

[0014] In the formula, α is the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device, A AHC For the amount of compensation proactively provided, A PHC The total compensation provided to 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; P is the load borne by the hydraulic cylinder.

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

[0016] In some embodiments, the bidirectional 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 diversion end and a second diversion end in sequence along the direction close to the first connecting end. The first diversion end is connected to the oil inlet of the first overflow valve. The second diversion 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 diversion end and a fourth diversion end in sequence along the direction close to the second connecting end. The third diversion end is connected to the oil inlet of the second overflow valve. The fourth diversion 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, the first passage being provided with a hydraulic throttle valve for adjusting the passive compensation function damping.

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

[0019] On the other hand, the present invention provides an adjustment method for the above-mentioned active-passive integrated heave compensation device, comprising:

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

[0021] Real-time monitoring of actual sea conditions and the current motion status of the main body; and adjustment of the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device based on the actual sea conditions and the current motion status of the main body.

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

[0023] In some embodiments, it also includes:

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

[0025] Adjust the exhaust throttle valve located between the passive compensation air chamber and the air cylinder to adjust the stiffness of the passive compensation function.

[0026] In some embodiments, it also includes:

[0027] The current sea state level is determined based on the actual sea state data.

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

[0029] The set 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.

[0030] The beneficial effects of this invention are as follows:

[0031] This invention comprises a heave compensation device with both active and passive compensation functions, consisting of a hydraulic cylinder, an active-passive composite accumulator, a hydraulic control component, and a gas cylinder. The active-passive composite accumulator consists of a connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber, and a passive compensation gas chamber. By adjusting the oil volume in the first and second active compensation oil chambers of the active-passive composite accumulator through the hydraulic control component, active compensation for the load on the hydraulic cylinder is achieved. The hydraulic cylinder, gas cylinder, connecting oil chamber, and passive compensation gas chamber of the active-passive composite accumulator form a stiffness damping system similar to passive compensation, effectively absorbing and buffering vibration energy. This achieves a high degree of integration of active and passive compensation components. The overall device has a simple structure, high integration, and convenient installation and maintenance. The hydraulic control component can also adjust the oil volume in the first and second active compensation oil chambers to change the proportion of active compensation, thus flexibly adjusting the proportion of active compensation in the overall heave compensation according to different sea conditions and operational needs. This provides greater flexibility and enables more efficient energy utilization while ensuring compensation effectiveness and reducing unnecessary energy consumption. Attached Figure Description

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

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

[0034] Figure 3 This is a schematic diagram of the oil circuit of an active-passive integrated heave compensation device according to Embodiment 1 of the present invention, which performs active compensation when the suspended object is detected to have a downward trend.

[0035] Figure 4 This is a schematic diagram of the oil circuit of an active-passive integrated heave compensation device according to Embodiment 1 of the present invention, which performs active compensation when the suspended object is detected to have an upward trend.

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

[0037] Figure 6 This is a flowchart of an adjustment method for an integrated active and passive heave compensation device according to Embodiment 2 of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in further detail below.

[0039] Example 1

[0040] See Figures 1 to 2 As shown in the figure, this embodiment of an integrated active and passive heave compensation device includes a main body 1, which includes a hydraulic cylinder 2, an active and passive combined accumulator 3, and a gas cylinder.

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

[0042] The active-passive composite accumulator 3 includes a cavity, within which a fixed partition 32 and a second piston 31 reciprocating relative to the fixed partition 32 are provided. The second piston 31 includes a first piston 311 and a second piston 312 connected to each other. The first piston 311 and the second piston 312 are respectively disposed 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 arranged in sequence.

[0043] A communication passage is provided between the connecting oil chamber 33 and the rod chamber 22, and between the passive compensation air chamber 36 and the air 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 bidirectionally reciprocate to transport the hydraulic oil inside both to change the amount of oil inside them.

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

[0045] The heave compensation device in this embodiment has both active and passive compensation functions. When the heave compensation device uses both active and passive compensation for heave compensation, the principle is as follows:

[0046] The load pressure borne by the hydraulic cylinder 2 is transmitted to the connecting oil chamber 33 of the active-passive composite accumulator 3. The hydraulic control component 5 performs bidirectional reciprocating delivery of hydraulic oil in the first active compensation oil chamber 34 and the second active compensation oil chamber 35 to change the oil volume in both chambers, actively compensating for a portion of the pressure, and passively compensating for the remaining force by the passive compensation air chamber 36, wherein the force of the passive compensation air chamber 36 is provided by the air cylinder.

[0047] Specifically, 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 of the active-passive composite accumulator 3 to achieve active compensation for the load on the hydraulic cylinder 2. The specific compensation principle of the active compensation function is as follows:

[0048] See Figure 3 As shown, when the suspended object 8 is detected to be descending, 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. The second piston 31 presses against the connecting oil chamber 33, increasing the pressure on the rod chamber 22 of the hydraulic cylinder 2. This assists the first piston 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 Figure 4 As shown, when the upward trend of the suspended object 8 is detected, 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. The second piston 31 moves away from the connecting oil chamber 33, reducing the pressure on the rod chamber 22 of the hydraulic cylinder 2. Under the synergistic effect of the gravity of the suspended object 8, the first piston 23 of the hydraulic cylinder 2 quickly extends downward, suppressing the upward movement of the suspended object 8 and achieving the effect of heave compensation.

[0050] Meanwhile, the hydraulic control component 5 can adjust the amount of oil in the first active compensation oil chamber 34 and the second active compensation oil chamber 35, thereby changing the proportion of active compensation. This allows for flexible adjustment of the proportion of active compensation in the overall heave compensation according to different sea conditions. For example, when the suspended load 8 is detected to be descending, the more oil the hydraulic control component 5 delivers 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] In this system, the first active compensation oil chamber 34, the second active compensation oil chamber 35, and the second piston 31 in the active-passive composite accumulator 3 are considered as a single piston. The hydraulic cylinder 2, the gas cylinder, the connecting oil chamber 33 in the active-passive composite accumulator 3, and the passive compensation air chamber 36 form a stiffness damping system similar to passive compensation, which effectively absorbs and buffers vibration energy. For example, in extreme use cases, when the first active compensation oil chamber 34 and the second active compensation oil chamber 35 are fully connected in real time, the first active compensation oil chamber 34 and the second active compensation oil chamber 35 can no longer perform active compensation functions. In this case, the heave compensation is entirely passively compensated by the passive compensation air chamber 36.

[0052] This invention comprises a hydraulic cylinder 2, an active-passive composite accumulator 3, a hydraulic control component 5, and a gas cylinder, forming a heave compensation device with both active and passive compensation functions. The active-passive composite accumulator 3 consists of a connecting oil chamber 33, a first active compensation oil chamber 34, a second active compensation oil chamber 35, and a passive compensation gas chamber 36. By adjusting the oil volume in the first active compensation oil chamber 34 and the second active compensation oil chamber 35 within the active-passive composite accumulator 3, the active compensation function for the load on the hydraulic cylinder 2 is achieved. The active compensation function is achieved through the hydraulic cylinder, the gas cylinder, the connecting oil chamber 33, and the passive compensation gas chamber 36 within the active-passive composite accumulator 3. A stiffness damping system similar to passive compensation is formed, which effectively absorbs and buffers vibration energy. This achieves a high degree of integration between active and passive compensation functional components. The overall device has a simple structure, high integration, and convenient installation and maintenance. The hydraulic control component 5 can adjust 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. This allows for flexible adjustment of the active compensation amount in the overall heave compensation according to different sea conditions and operational needs, resulting in greater flexibility. It can achieve more efficient energy utilization and reduce unnecessary energy consumption while ensuring the compensation effect.

[0053] A connecting rod is provided between the first piston 311 and the second piston 312, which rigidly connects the first piston 311 and the second piston 312. The fixed partition 32 is provided with a through hole for the connecting rod to pass through. A sealing element is provided between the through hole and the connecting rod to ensure that the gap between the through hole and the connecting rod remains sealed while the connecting rod can reciprocate along the axis of the through hole.

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

[0055] Specifically, when the suspended object 8 is detected to be descending, the bidirectional pump 51 pumps the hydraulic oil in the second active compensation oil chamber 35 into the first active compensation oil chamber 34 at high pressure; when the suspended object 8 is detected to be ascending, the bidirectional pump 51 pumps the hydraulic oil in the first active compensation oil chamber 34 into the second active compensation oil chamber 35 at high pressure.

[0056] Among them, see Figures 2 to 5 As shown, the hydraulic control component 5 includes a bidirectional passage 52 and an overflow passage 53 that are interconnected. The bidirectional pump 51 is disposed on the bidirectional passage 52 and 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 branch 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 branch passage includes an oil inlet end 533, a first... The oil outlet section 534 and the second one-way oil outlet section 535 are respectively connected to 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 to 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 to the second active compensation oil chamber 35 and the second connecting end.

[0057] The first relief valve 531 limits the pressure that can be reached inside the first active compensation oil chamber 34, and the second relief 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 compensation oil chamber 34 and the second active compensation oil chamber 35 does not exceed the set pressure of the first relief valve 531 and the second relief valve 532, the hydraulic oil inside the first active compensation oil chamber 34 and the second active compensation oil chamber 35 is transported through the bidirectional passage 52 under the action of the bidirectional pump 51, thereby causing the oil volume and pressure inside both to change accordingly. After the bidirectional pump 51 stops operating, the hydraulic oil inside both stops being transported and remains at the oil volume level.

[0059] See Figure 5As shown, when the internal pressure of the first active compensation oil chamber 34 exceeds the set pressure of the first relief valve 531, or when the internal pressure of the second active compensation oil chamber 35 exceeds the set pressure of the second relief valve 532, the hydraulic oil enters the hydraulic control component 5 and is then depressurized via the first relief valve 531 or the second relief valve 532, so as to ensure that the internal pressure of the first active compensation oil chamber 34 and the second active compensation oil chamber 35 never exceeds the set pressure of the first relief valve 531 and the second relief valve 532.

[0060] Therefore, by adjusting the set pressure 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 active compensation to total compensation. As a result, this heave compensation device can adjust the set pressure of the first overflow valve 531 and the second overflow valve 532 as needed when applied to different sea conditions and operational scenarios, so as to provide a compensation scheme with a more suitable active and passive compensation ratio and achieve better compensation effect. The adjustment of the active and passive compensation ratio is simple, and the overall device has high application flexibility and stronger adaptability.

[0061] For example, in relatively calm sea conditions, the maximum ratio of active compensation to 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 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] In the formula, α is the proportion of the active compensation amount to the total compensation amount provided by the heave compensation device, and A AHC For the amount of compensation proactively provided, A PHC The total compensation provided to the heave compensation device includes the compensation amount of active compensation and the compensation amount of passive compensation. P1 is the setting pressure of the first relief valve 531 or the second relief valve 532; 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. At this time, the first active compensation oil chamber 34 and the second active compensation oil chamber 35 can no longer perform active compensation functions, and the heave compensation is all passively compensated by the passive compensation air chamber 36.

[0066] Preferably, P1 > 0. In this case, the heave compensation device can be compensated by both active and passive compensation. Compared with the single passive compensation mode, it can have both low energy consumption and high compensation accuracy, resulting in a higher overall effect.

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

[0068] The first one-way oil outlet section 534 and the second one-way oil outlet section 535 are equipped with one-way valves, which control the one-way flow of hydraulic oil.

[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 delivered to the bidirectional pump 51 through 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 bidirectional passage 52 includes a first conveying passage 521 and a second conveying passage 522. The two ends of the first conveying passage 521 are respectively connected to the first active compensation oil chamber 34 and the first connecting end. The first conveying passage 521 is provided with a first diversion end 523 and a second diversion end 524 in sequence along the direction close to the first connecting end. The first diversion end 523 is connected to the oil inlet of the first overflow valve 531. The second diversion end 524 is connected to the flow outlet of the first one-way oil outlet section 534. The two ends of the second conveying passage 522 are respectively connected to the second active compensation oil chamber 35 and the second connecting end. The second conveying passage 522 is provided with a third diversion end 525 and a fourth diversion end 526 in sequence along the direction close to the second connecting end. The third diversion end 525 is connected to the oil inlet of the second overflow valve 532. The fourth diversion 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 connecting 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 passive compensation function damping.

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

[0073] Among them, see Figure 2As shown, the connecting 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] By adjusting the exhaust throttle valve 7, the stiffness characteristics of passive compensation can be altered. For example, when the hydraulic cylinder 2 is under a large load, the opening of the exhaust throttle valve 7 can be increased to improve stiffness and thus enhance the buffering effect; conversely, when the hydraulic cylinder 2 is under a small load, the opening of the exhaust throttle valve 7 can be reduced to decrease system stiffness, enabling the equipment to cope with wave impacts 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, with better flexibility and stronger adaptability, and can achieve better compensation effect.

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

[0077] Example 2

[0078] See Figure 6 As shown, this embodiment discloses an adjustment method for the heave compensation device in Embodiment 1, including adjusting the active-passive compensation ratio. The adjustment steps for the active-passive compensation ratio include:

[0079] S100. Set initial ratio: Based on preset sea state parameters, set the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device;

[0080] S200. Dynamic adjustment ratio: Real-time monitoring of actual sea state data and the current motion status of the main body, and adjustment of 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 status of the main body. Based on the information fed back by the monitoring data, the active and passive ratio is continuously adjusted, which can not only ensure efficient heave compensation, but also effectively reduce energy consumption.

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

[0082] For example, when the sea conditions suddenly deteriorate and the waves increase, the set pressure of the first and second overflow valves can be increased to increase the proportion that the active compensation can handle, thus ensuring the stability of the hoisting.

[0083] For example, the monitoring components for sea state 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 to these. The monitoring of sea state data can adopt conventional monitoring methods, as long as they can acquire sea state data in real time, which will not be elaborated here.

[0084] For example, the component for monitoring the motion state of the current subject can be an MRU attitude sensor, but it is not limited to this. It only needs to be able to monitor the motion state of the current subject, and will not be elaborated further here.

[0085] This invention limits the maximum pressure values ​​achievable within the first and second active compensation oil chambers by adjusting the set pressures of the first and second overflow valves. This limits the maximum ratio of active compensation to total compensation, allowing the heave compensation device to adjust the set pressures of the first and second overflow valves as needed to provide a more suitable compensation scheme with a proper active-passive compensation ratio, achieving better compensation results. The adjustment of the active-passive compensation ratio is simple. This adjustment method enables the heave compensation device of this invention to flexibly respond to changing sea conditions and different maritime operation requirements, balancing the low energy consumption of passive compensation with the high precision of active compensation according to needs, providing stable and efficient heave compensation, and achieving the best heave compensation effect.

[0086] This also includes:

[0087] The current sea state level is determined based on the actual sea state data.

[0088] The maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device is positively correlated with the sea state level. The sea state level can be classified according to existing standard documents. The higher the level, the worse the sea state, and the more severe the sea state, the greater the proportion of compensation 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 ratio that the active compensation needs to bear, the greater the setting pressure of the first overflow valve and the second overflow valve.

[0090] Example 3

[0091] Compared to Example 2, this example also includes the following differences:

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

[0093] Adjusting stiffness: Adjust the exhaust throttle valve located between the passive compensation air chamber and the gas cylinder to adjust the stiffness of the passive compensation function.

[0094] In practical applications, heave compensation devices include active compensation operation mode, which is mainly based on active compensation, and passive compensation operation mode, which is mainly based on passive compensation.

[0095] In deep-sea operations or harsh sea conditions, the active compensation mode can provide rapid and precise heave compensation, ensuring the stability and safety of the suspended load. For operations requiring high precision, such as laying submarine cables or deploying precision instruments, the active compensation mode can effectively guarantee the success rate of the operation.

[0096] In calm sea conditions, the passive compensation operation mode can achieve low-energy heave compensation by setting appropriate stiffness and damping parameters. In this mode, the set pressure values ​​of the first and second relief valves are relatively low. At this time, the first and second active compensation oil chambers are basically connected, and the bidirectional pump is basically not working. Heave compensation is mainly achieved by the combined action of the hydraulic cylinder, the passive compensation air chamber, and the air cylinder. The passive compensation operation mode is also suitable for long-term stable operation and for situations where compensation of the suspension rope tension is required, such as crossing splash zones.

[0097] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A combined active and passive heave compensation device, comprising a main body, characterized in that, The main body includes a hydraulic cylinder, an active-passive combined accumulator, and a gas cylinder. The hydraulic cylinder includes a first piston for lifting objects. The inner cavity of the hydraulic cylinder is divided by the first piston into a rodless cavity that is under vacuum and a rod cavity filled with hydraulic oil. The active-passive composite accumulator includes a cavity, within which a fixed partition and a second piston reciprocating relative to the fixed partition are provided. The second piston includes a first piston and a second piston connected to each other, with the first and second pistons respectively located on opposite sides of the fixed partition. The first piston, the fixed partition, and the second piston divide the cavity into a sequentially arranged connecting oil chamber, a first active compensation oil chamber, a second active compensation oil chamber, and a passive compensation gas chamber. A communication 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 to bidirectionally reciprocate the hydraulic oil inside them in order to change the amount of oil inside them. The hydraulic control assembly includes a bidirectional pump for delivering hydraulic oil, the bidirectional pump being connected to the first active compensation oil chamber and the second active compensation oil chamber respectively; The hydraulic control component includes a bidirectional passage and an overflow passage that are interconnected. The bidirectional pump is located on the bidirectional passage. The overflow passage includes a first overflow valve, a second overflow valve, and a branch 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. By adjusting the set pressure of the first relief valve and the second relief valve, the maximum ratio of the active compensation amount to the total compensation amount is limited. The bidirectional pump includes a first connecting end and a second connecting end. The diversion path 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 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, respectively. The flow outlet of the first one-way oil outlet section is connected to the first active compensation oil chamber and the first connecting end, respectively. The flow outlet of the second one-way oil outlet section is connected to the second active compensation oil chamber and the second connecting end, respectively.

2. The active-passive integrated heave compensation device according to claim 1, characterized in that, In the heave compensation device, the maximum ratio of active compensation to total compensation is: In the formula, α is the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device, A AHC For the amount of compensation proactively provided, A PHC The total compensation provided to 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; P is the load borne by the hydraulic cylinder.

3. The active-passive integrated heave compensation device according to claim 1, characterized in that, The bidirectional 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 diversion end and a second diversion end in sequence along the direction close to the first connecting end. The first diversion end is connected to the oil inlet of the first overflow valve. The second diversion 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 diversion end and a fourth diversion end in sequence along the direction close to the second connecting end. The third diversion end is connected to the oil inlet of the second overflow valve. The fourth diversion end is connected to the flow outlet of the second one-way oil outlet section.

4. The active-passive integrated heave compensation device according to claim 1, characterized in that, The connecting passage includes a first passage for connecting the connecting oil chamber and the rod chamber, and the first passage is provided with a hydraulic throttle valve for adjusting the passive compensation function damping.

5. The active-passive integrated heave compensation device according to claim 1, characterized in that, 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.

6. A method for adjusting an integrated active-passive heave compensation device according to any one of claims 1 to 5, characterized in that, include: Based on preset sea state parameters, set the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device; Real-time monitoring of actual sea conditions and the current motion status of the main body; and adjustment of the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device based on the actual sea conditions and the current motion status of the main body. The setting and adjustment of the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device includes the following steps: adjusting the setting pressure of the first overflow valve and the second overflow valve.

7. The adjustment method according to claim 6, characterized in that, Also includes: Adjust the hydraulic throttle valve located between the connecting oil chamber and the rod chamber to adjust the damping of the passive compensation function; Adjust the exhaust throttle valve located between the passive compensation air chamber and the air cylinder to adjust the stiffness of the passive compensation function.

8. The adjustment method according to claim 6, characterized in that, Also includes: The current sea state level is determined based on the actual sea state data. Among them, the maximum ratio of the active compensation amount to the total compensation amount provided by the heave compensation device is positively correlated with the sea state level; The set 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.

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