Mooring device with wave compensation function and control system and control method thereof

Abstract

The invention discloses a mooring device with a wave compensation function, which is formed by bilaterally symmetrically arranging a first mooring winch to an Nth mooring winch on a ship deck along a ship side part, all the mooring winches are the same in composition and parameter setting, and the other end of each mooring winch is connected with a fixing anchor through a mooring cable; when the mooring winch on the left side draws the cable, the mooring winch on the right side draws the cable, and vice versa. The mooring device has the function of automatically buffering the impact of waves on the ship body, the ship can automatically return to the initial position under the action of the mooring device after the wave impact is eliminated, passive wave compensation is achieved, the good energy-saving effect is achieved, the moored ship can be in an unattended state for a long time, all mooring winch interfaces are unified, and the mooring effect is good. And engineering installation and implementation are facilitated, and cost reduction is facilitated. The invention further provides a control system and a control method of the mooring device.

Description

Technical Field

[0001] The present invention relates to the technical field of wave compensation systems, and in particular to a mooring device with wave compensation function, its control system and control method. Background Art

[0002] With the continuous deepening of ocean resource development, offshore engineering operations are becoming increasingly frequent, and the application of engineering vessels in ocean operations is also becoming more and more extensive. However, the ocean environment is complex and changeable, and the waves have a significant impact on the stability of engineering vessels. Especially during mooring and positioning operations, the hull movement caused by waves will lead to the instability of the position of the engineering vessel, thus affecting the operation accuracy and safety.

[0003] In order to overcome the influence of waves on the stability of engineering vessels, wave compensation technology has emerged. Wave compensation devices are mainly divided into two types: passive and active. For engineering vessels with a large mass and long-term operation, it is unrealistic to adopt active wave compensation due to huge energy consumption; the passive wave compensation device realizes compensation through components such as a hydraulic system and an accumulator, and has the advantages of simple structure, low energy consumption, etc., and can work for a long time. However, the traditional passive wave compensation mooring device using a hydraulic cylinder and an accumulator often may cause the mooring cable to break due to limited compensation stroke when facing the impact load under high sea conditions, so it is difficult to meet the operation requirements under complex sea conditions.

[0004] Therefore, it is necessary to provide a mooring device with wave compensation function, its control system and control method to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a mooring device with wave compensation function, its control system and control method aiming at the deficiencies of the existing technology, so as to improve the mooring and positioning stability of engineering vessels under complex sea conditions.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is:

[0007] A mooring device with wave compensation function includes multiple mooring winches. It is characterized in that it is composed of the first mooring winch to the Nth mooring winch arranged symmetrically left and right along the ship's side on the ship's deck. The composition and parameter settings of each mooring winch are the same. The value of N is calculated from the rated tension of a single mooring winch, the ship's tonnage and the ship's anti-wind and wave grade parameters. One end of each mooring winch close to the ship's side is connected and fixed to an anchor through a mooring cable; when the mooring winch on the left side takes in the cable, the mooring winch on the right side pays out the cable, and when the mooring winch on the right side takes in the cable, the mooring winch on the left side pays out the cable.

[0008] Preferably, the mooring winch is composed of an oil tank, a motor pump unit, a first one-way valve, an electromagnetic overflow valve, a first pressure sensor, a first three-position four-way electro-hydraulic reversing valve, a second three-position four-way electro-hydraulic reversing valve, a third three-position four-way electro-hydraulic reversing valve, a second one-way valve, a one-way throttle valve, an accumulator, a two-position three-way electro-hydraulic reversing valve, a displacement sensor, a second pressure sensor, an oil cylinder, a first pulley, a second pulley, a third pulley, an encoder, a balance valve, a two-way overflow valve, a make-up oil valve, a hydraulic motor, a drum and a cable.

[0009] Preferably, the oil outlet of the motor pump unit is connected to the oil inlet of the first one-way valve, and the oil outlet of the first one-way valve is respectively connected to the oil inlet of the electromagnetic overflow valve, the first pressure sensor, the P port of the first three-position four-way electro-hydraulic reversing valve and the P port of the second three-position four-way electro-hydraulic reversing valve. The oil outlet of the electromagnetic overflow valve is connected to the oil tank;

[0010] The A port of the first three-position four-way electro-hydraulic reversing valve is respectively connected to the A port of the hydraulic motor and the external control port of the balance valve; the B port of the first three-position four-way electro-hydraulic reversing valve is connected to the B port of the hydraulic motor through the balance valve; a two-way overflow valve is also connected in parallel between the A and B ports of the hydraulic motor, and the A port of the hydraulic motor is also connected to the make-up oil valve;

[0011] The A port of the second three-position four-way electro-hydraulic reversing valve is sequentially connected in series with the second one-way valve and the accumulator, and the outlet of the second one-way valve is also connected to the P port of the two-position three-way electro-hydraulic reversing valve through the one-way throttle valve; the B port of the second three-position four-way electro-hydraulic reversing valve is connected to the P port of the third three-position four-way electro-hydraulic reversing valve;

[0012] The A port of the third three-position four-way electro-hydraulic reversing valve is connected to the T port of the two-position three-way electro-hydraulic reversing valve, the B port of the third three-position four-way electro-hydraulic reversing valve is connected to the upper cavity of the oil cylinder, the lower cavity of the oil cylinder is connected to the A port of the two-position three-way electro-hydraulic reversing valve, and the lower cavity of the oil cylinder is also connected to the second pressure sensor;

[0013] The T ports of the first three-position four-way electro-hydraulic reversing valve, the second three-position four-way electro-hydraulic reversing valve and the third three-position four-way electro-hydraulic reversing valve are all connected to the oil tank;

[0014] The hydraulic motor is coaxially connected to the drum; the piston rod of the oil cylinder is connected to the wheel shaft bracket of the third pulley; the cable is fixed on the drum and wound several times and then winds a quarter of a circle around the first pulley, enters the third pulley, winds half a circle and then enters the second pulley and is connected to the load;

[0015] A displacement sensor is arranged inside the oil cylinder, and an encoder is coaxially installed on the second pulley.

[0016] Preferably, the displacement sensor is a magnetostrictive displacement sensor, and its output signal is an analog signal of 0-10V.

[0017] Preferably, the electromagnetic overflow valve is in a unloading state under normal conditions; the first three-position four-way electro-hydraulic directional valve has a Y-type neutral position function, and the second and third three-position four-way electro-hydraulic directional valves both have an O-type neutral position function; both the electromagnetic overflow valve and the two-way overflow valve are pilot-operated overflow valves; for the installation requirement of the one-way throttle valve, when the oil fluid outputs from the accumulator and enters the one-way throttle valve, there is a throttling effect, and conversely, when the oil fluid flows back, there is no throttling effect.

[0018] Preferably, the oil cylinder is a single-rod oil cylinder, vertically installed, with the upper chamber being the rod chamber and the lower chamber being the rodless chamber; the third pulley moves up and down following the piston rod of the oil cylinder; the brackets of the first pulley and the second pulley (13) are fixedly installed on the ship deck; the drum is embedded with a planetary reducer, and the input shaft of the planetary reducer is connected to the output shaft of the hydraulic motor.

[0019] A control system for a mooring device with a wave compensation function sets the electromagnet of the electromagnetic overflow valve as the first electromagnet, the left and right electromagnets of the first three-position four-way electro-hydraulic directional valve as the second and third electromagnets respectively, the left and right electromagnets of the second three-position four-way electro-hydraulic directional valve as the fourth and fifth electromagnets respectively, the left and right electromagnets of the third three-position four-way electro-hydraulic directional valve as the sixth and seventh electromagnets respectively, and the electromagnet of the two-position three-way electro-hydraulic directional valve as the eighth electromagnet. The control system further includes an operation unit, a sensing unit, a PLC, and a hydraulic control unit;

[0020] The operation unit consists of a touch screen, a manual / automatic knob, a first button, a second button, a third button, a fourth button, a fifth button, a sixth button, a seventh button, an eighth button, a ninth button, a tenth button, an eleventh button, a twelfth button, a thirteenth button, and a fourteenth button;

[0021] The sensing unit consists of an encoder, a first pressure sensor, a second pressure sensor, and a displacement sensor;

[0022] The PLC includes a communication module, a digital input module, an analog input module, and a digital output module;

[0023] The hydraulic control unit consists of the first electromagnet, the second electromagnet, the third electromagnet, the fourth electromagnet, the fifth electromagnet, the sixth electromagnet, the seventh electromagnet, and the eighth electromagnet;

[0024] The touch screen is connected to the communication module;

[0025] The digital input module is respectively connected to the manual / automatic knob, the first button, the second button, the third button, the fourth button, the fifth button, the sixth button, the seventh button, the eighth button, the ninth button, the tenth button, the eleventh button, the twelfth button, the thirteenth button, the fourteenth button, and the encoder;

[0026] The analog input module is respectively connected to a first pressure sensor, a second pressure sensor, and a displacement sensor;

[0027] The digital output module is respectively connected to a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a fifth electromagnet, a sixth electromagnet, a seventh electromagnet, and an eighth electromagnet.

[0028] Preferably, the control system has manual and automatic control states. The first button, the second button, the third button, the fourth button, the fifth button, the sixth button, the seventh button, the eighth button, and the fourteenth button are all non-self-locking momentary buttons; the ninth button, the tenth button, the eleventh button, the twelfth button, and the thirteenth button are all self-locking buttons;

[0029] When the manual / automatic knob is switched to the manual state, the first button, the second button, the third button, the fourth button, the fifth button, the sixth button, the seventh button, the eighth button, the ninth button, the tenth button, the eleventh button, the twelfth button, and the thirteenth button are effective only when pressed, otherwise they are invalid, while the fourteenth button is effective regardless of the position to which the manual / automatic knob is switched;

[0030] When the first button is pressed, the first electromagnet is energized and de-energized when released;

[0031] When the second button is pressed, the second electromagnet is energized and de-energized when released;

[0032] When the third button is pressed, the third electromagnet is energized and de-energized when released;

[0033] When the fourth button is pressed, the fourth electromagnet is energized and de-energized when released;

[0034] When the fifth button is pressed, the fifth electromagnet is energized and de-energized when released;

[0035] When the sixth button is pressed, the sixth electromagnet is energized and de-energized when released;

[0036] When the seventh button is pressed, the seventh electromagnet is energized and de-energized when released;

[0037] When the eighth button is pressed, the eighth electromagnet is energized and de-energized when released;

[0038] When the ninth button is pressed, the first electromagnet, the fourth electromagnet, and the eighth electromagnet are energized and de-energized when pressed again;

[0039] When the tenth button is pressed, the first electromagnet, the fifth electromagnet, the sixth electromagnet, and the eighth electromagnet are energized, and when pressed again, the first electromagnet, the fifth electromagnet, the sixth electromagnet, and the eighth electromagnet are de-energized;

[0040] When the eleventh button is pressed, the first electromagnet, the fifth electromagnet, the seventh electromagnet, and the eighth electromagnet are energized, and when pressed again, the first electromagnet, the fifth electromagnet, the seventh electromagnet, and the eighth electromagnet are de-energized;

[0041] When the twelfth button is pressed, the first electromagnet and the second electromagnet are energized, and when pressed again, the first electromagnet and the second electromagnet are de-energized;

[0042] When the thirteenth button is pressed, the first electromagnet and the third electromagnet are energized, and when pressed again, the first electromagnet and the third electromagnet are de-energized;

[0043] When the fourteenth button is pressed, all the electromagnets are de-energized.

[0044] A control system for a mooring device with a wave compensation function, and the control method of the control system includes the following steps:

[0045] Step 1: Switch the manual / automatic knob to the manual state, press the twelfth button, the first electromagnet and the second electromagnet are energized, and the rest of the electromagnets are de-energized. The hydraulic motor drives the drum to actively pay out the cable, and the anchor dropping action is executed;

[0046] Step 2: After the anchor dropping is completed, press the twelfth button again, and then press the ninth button. Then the first electromagnet, the fourth electromagnet, and the eighth electromagnet are energized, and the rest of the electromagnets are de-energized. The accumulator is filled with liquid;

[0047] Step 3: When the pressure of the first pressure sensor reaches the set value p1, press the ninth button again, and then press the tenth button. Then the first electromagnet, the fifth electromagnet, the sixth electromagnet, and the eighth electromagnet are energized, and the rest of the electromagnets are de-energized. The piston of the oil cylinder moves upward;

[0048] Step 4: When the piston of the oil cylinder moves upward to half of its stroke, press the tenth button again, and then press the thirteenth button. The first electromagnet and the third electromagnet are energized, and the rest of the electromagnets are de-energized. The hydraulic motor drives the drum to actively take in the cable, and the cable tensioning action is executed;

[0049] Step 5: When the cable is tensioned and the pressure of the second pressure sensor reaches the set value p2, press the thirteenth button again, and then switch the manual / automatic knob to the automatic state. All the electromagnets are de-energized, and the self-stabilization function starts; Step 6: If the wind and waves act on the hull, causing the cable tension to be too large, and the piston of the oil cylinder has been pressed to the bottom of its stroke, and the pressure at port B of the hydraulic motor reaches the set pressure p3 of the two-way overflow valve, then the hydraulic motor is dragged backwards by the cable and pays out the cable passively;

[0050] Step 7: If the wind and waves abate, resulting in a decrease in the cable tension, and the oil cylinder piston is at or above the middle position, the digital output module of the PLC controls the first electromagnet and the third electromagnet to be energized. The hydraulic motor drives the drum to actively wind the cable until the cable returns to the initial cable laying length position, and then returns to Step 6.

[0051] Preferably, the pressure set value p1 is equal to the filling pressure of the accumulator; the pressure set value p2 is equal to the pressure in the rodless cavity of the oil cylinder corresponding to the initial cable tension; the pressure set value p3 is equal to the pressure generated at port B of the hydraulic motor when the cable bears the rated tension.

[0052] Compared with the prior art, the present invention has the following advantages:

[0053] 1. The mooring device provided by the present invention has the function of automatically buffering the impact of waves on the hull, and can achieve overload protection by winding or unwinding the cable through the mooring winches on both sides of the ship's hull. After the overload is eliminated, the ship can automatically return to the initial position under the action of the mooring device.

[0054] 2. The automatic buffering function of the mooring device provided by the present invention belongs to passive wave compensation, which has very good energy-saving effects and can keep the moored ship unattended for a long time.

[0055] 3. The mooring device provided by the present invention adopts modular installation. The moored ship can arrange a certain number of mooring winches according to needs, and the interfaces of each mooring winch are unified, which is convenient for engineering installation and implementation, and is also beneficial to cost reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a layout schematic diagram of a mooring device with wave compensation function according to the present invention;

[0057] Figure 2 is a hydraulic schematic diagram of the mooring winch of a mooring device with wave compensation function according to the present invention;

[0058] Figure 3 is a control system block diagram of a mooring device with wave compensation function according to the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0059] The present invention will be further clarified below in conjunction with the drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading the present invention, various equivalent forms of modification of the present invention by those skilled in the art all fall within the scope defined by the appended claims of this application.

[0060] In the present invention, unless otherwise clearly specified or defined, terms such as "installation", "setting", "connection", "fixed connection" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, terms such as "upper", "lower", "bottom", "top" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relational terms determined for the convenience of describing the structural relationships of various components or elements of the present invention, and do not specifically refer to any component or element in the present invention, and should not be construed as a limitation to the present invention.

[0062] As Figure 1 Shown is a layout schematic diagram of a mooring device with wave compensation function according to the present invention, which is composed of the first mooring winch C1 to the Nth mooring winch CN symmetrically arranged left and right along the ship's side on the ship's deck. The composition and parameter settings of each mooring winch are the same. The value of N is calculated from the rated tension of a single mooring winch, the ship's tonnage and the ship's anti-wind and wave grade parameters. One end of each mooring winch close to the side is connected and fixed to an anchor through a mooring cable; when the mooring winch on the left side takes in the cable, the mooring winch on the right side pays out the cable, and when the mooring winch on the right side takes in the cable, the mooring winch on the left side pays out the cable.

[0063] As Figure 2 Shown is a hydraulic schematic diagram of the mooring winch of a mooring device with wave compensation function according to the present invention. Taking any one mooring winch as an example, it is composed of an oil tank 1, a motor pump unit 2, a first one-way valve 3-1, an electromagnetic overflow valve 4, a first pressure sensor 5-1, a first three-position four-way electro-hydraulic reversing valve 6-1, a second three-position four-way electro-hydraulic reversing valve 6-2, a third three-position four-way electro-hydraulic reversing valve 6-3, a second one-way valve 3-2, a one-way throttle valve 7, an accumulator 8, a two-position three-way electro-hydraulic reversing valve 9, a displacement sensor 10, a second pressure sensor 5-2, an oil cylinder 11, a first pulley 12, a second pulley 13, a third pulley 14, an encoder 15, a balance valve 16, a two-way overflow valve 17, a make-up oil valve 18, a hydraulic motor 19, a drum 20 and a cable 21.

[0064] The oil outlet of the motor pump unit 2 is connected to the oil inlet of the first one-way valve 3-1. The oil outlet of the first one-way valve 3-1 is respectively connected to the oil inlet of the electromagnetic overflow valve 4, the first pressure sensor 5-1, the P port of the first three-position four-way electro-hydraulic reversing valve 6-1 and the P port of the second three-position four-way electro-hydraulic reversing valve 6-2. The oil outlet of the electromagnetic overflow valve 4 is connected to the oil tank 1;

[0065] The A port of the first three-position four-way electro-hydraulic directional valve 6-1 is not only connected to the A port of the hydraulic motor 19, but also connected to the externally controlled port of the balance valve 16; the B port of the first three-position four-way electro-hydraulic directional valve 6-1 is connected to the B port of the hydraulic motor 19 via the balance valve 16; a two-way overflow valve 17 is also connected in parallel between the A and B ports of the hydraulic motor 19, and its A port is also connected to the oil replenishing valve 18;

[0066] The A port of the second three-position four-way electro-hydraulic directional valve 6-2 is connected in series with the second one-way valve 3-2 and the accumulator 8 in sequence, and the outlet of the second one-way valve 3-2 is also connected to the P port of the two-position three-way electro-hydraulic directional valve 9 via the one-way throttle valve 7; the B port of the second three-position four-way electro-hydraulic directional valve 6-2 is connected to the P port of the third three-position four-way electro-hydraulic directional valve 6-3;

[0067] The A port of the third three-position four-way electro-hydraulic directional valve 6-3 is connected to the T port of the two-position three-way electro-hydraulic directional valve 9, the B port of the third three-position four-way electro-hydraulic directional valve 6-3 is connected to the upper chamber of the oil cylinder 11, the lower chamber of the oil cylinder 11 is connected to the A port of the two-position three-way electro-hydraulic directional valve 9, and the lower chamber of the oil cylinder 11 is also connected to the second pressure sensor 5-2;

[0068] The T ports of the first three-position four-way electro-hydraulic directional valve 6-1, the second three-position four-way electro-hydraulic directional valve 6-2, and the third three-position four-way electro-hydraulic directional valve 6-3 are all connected to the oil tank 1;

[0069] The hydraulic motor 19 is coaxially connected to the drum 20; the piston rod of the oil cylinder 11 is connected to the wheel axle bracket of the third pulley 14; the cable 21 is fixed on the drum 20 and wound several times, then winds around the first pulley 12 for a quarter of a turn, enters the third pulley 14, winds for half a turn and then enters the second pulley 13 and is connected to the load;

[0070] The oil cylinder 11 is internally provided with a displacement sensor 10, and the encoder 15 is coaxially installed on the second pulley 13.

[0071] In the embodiment, the displacement sensor 10 is a magnetostrictive displacement sensor, and its output signal is an analog signal of 0-10V. The electromagnetic overflow valve 4 is in a unloading state under normal conditions. The first three-position four-way electro-hydraulic directional valve 6-1 has a Y-type neutral position function, and the second three-position four-way electro-hydraulic directional valve 6-2 and the third three-position four-way electro-hydraulic directional valve 6-3 both have an O-type neutral position function. The electromagnetic overflow valve 4 and the two-way overflow valve 17 are both pilot-operated overflow valves. The installation requirement of the one-way throttle valve 7 is that when the oil flows out from the accumulator 8 and enters the one-way throttle valve 7, there is a throttling effect, and conversely, there is no throttling effect when the oil flows back. The oil cylinder 11 is a single-rod oil cylinder, vertically installed, the upper chamber is the rod chamber, and the lower chamber is the rodless chamber; the third pulley 14 moves up and down with the piston rod of the oil cylinder 11; the brackets of the first pulley 12 and the second pulley 13 are fixedly installed on the ship deck; the drum 20 is internally embedded with a planetary reducer, and the input shaft of the planetary reducer is connected to the output shaft of the hydraulic motor 19.

[0072] As shown Figure 3 in the following figure is the structural block diagram of the control system of a mooring device with wave compensation function according to the present invention. Combining Figure 2 , the electromagnet of the electromagnetic overflow valve 4 is set as the first electromagnet 1DT, the left and right electromagnets of the first three-position four-way electro-hydraulic directional valve 6-1 are respectively the second electromagnet 2DT and the third electromagnet 3DT, the left and right electromagnets of the second three-position four-way electro-hydraulic directional valve 6-2 are respectively the fourth electromagnet 4DT and the fifth electromagnet 5DT, the left and right electromagnets of the third three-position four-way electro-hydraulic directional valve 6-3 are respectively the sixth electromagnet 6DT and the seventh electromagnet 7DT, and the electromagnet of the two-position three-way electro-hydraulic directional valve 9 is the eighth electromagnet 8DT. Its control system also consists of an operation unit 100, a sensing unit 200, a PLC 300, and a hydraulic control unit 400;

[0073] The operation unit 100 consists of a touch screen 101, a manual / automatic knob 102, a first button 103, a second button 104, a third button 105, a fourth button 106, a fifth button 107, a sixth button 108, a seventh button 109, an eighth button 110, a ninth button 111, a tenth button 112, an eleventh button 113, a twelfth button 114, a thirteenth button 115, and a fourteenth button 116; the sensing unit 200 consists of an encoder 15, a first pressure sensor 5-1, a second pressure sensor 5-2, and a displacement sensor 10; the PLC 300 includes a communication module 301, a digital input module 302, an analog input module 303, and a digital output module 304; the hydraulic control unit 400 consists of a first electromagnet 1DT, a second electromagnet 2DT, a third electromagnet 3DT, a fourth electromagnet 4DT, a fifth electromagnet 5DT, a sixth electromagnet 6DT, a seventh electromagnet 7DT, and an eighth electromagnet 8DT; the touch screen 101 is connected to the communication module 301; the digital input module 302 is respectively connected to the manual / automatic knob 102, the first button 103, the second button 104, the third button 105, the fourth button 106, the fifth button 107, the sixth button 108, the seventh button 109, the eighth button 110, the ninth button 111, the tenth button (112), the eleventh button 113, the twelfth button 114, the thirteenth button 115, the fourteenth button 116, and the encoder 15; the first pressure sensor 5-1, the second pressure sensor 5-2, and the displacement sensor 10 are all connected to the analog input module 303; the digital output module 304 is respectively connected to the first electromagnet 1DT, the second electromagnet 2DT, the third electromagnet 3DT, the fourth electromagnet 4DT, the fifth electromagnet 5DT, the sixth electromagnet 6DT, the seventh electromagnet 7DT, and the eighth electromagnet 8DT.

[0074] In an embodiment, the control system has manual and automatic control states. The first button 103 to the eighth button 110 and the fourteenth button 116 are all non-self-locking momentary buttons; the ninth button 111 to the thirteenth button 115 are all self-locking buttons.

[0075] When the manual / automatic knob 102 is switched to the manual state, the first button 103 to the thirteenth button 115 are effective only when pressed, otherwise they are ineffective, while the fourteenth button 116 is effective regardless of the position to which the manual / automatic knob 102 is switched.

[0076] When the first button 103 is pressed, the first electromagnet 1DT is energized and de-energized when released.

[0077] When the second button 104 is pressed, the second electromagnet 2DT is energized and de-energized when released.

[0078] When the third button 105 is pressed, the third electromagnet 3DT is energized and de-energized when released.

[0079] When the fourth button 106 is pressed, the fourth electromagnet 4DT is energized and de-energized when released.

[0080] When the fifth button 107 is pressed, the fifth electromagnet 5DT is energized and de-energized when released.

[0081] When the sixth button 108 is pressed, the sixth electromagnet 6DT is energized and de-energized when released.

[0082] When the seventh button 109 is pressed, the seventh electromagnet 7DT is energized and de-energized when released.

[0083] When the eighth button 110 is pressed, the eighth electromagnet 8DT is energized and de-energized when released.

[0084] When the ninth button 111 is pressed, the first electromagnet 1DT, the fourth electromagnet 4DT, and the eighth electromagnet 8DT are energized and de-energized when pressed again.

[0085] When the tenth button 112 is pressed, the first electromagnet 1DT, the fifth electromagnet 5DT, the sixth electromagnet 6DT, and the eighth electromagnet 8DT are energized and de-energized when pressed again.

[0086] When the eleventh button 113 is pressed, the first electromagnet 1DT, the fifth electromagnet 5DT, the seventh electromagnet 7DT, and the eighth electromagnet 8DT are energized. When pressed again, the first electromagnet 1DT, the fifth electromagnet 5DT, the seventh electromagnet 7DT, and the eighth electromagnet 8DT are de-energized;

[0087] When the twelfth button 114 is pressed, the first electromagnet 1DT and the second electromagnet 2DT are energized. When pressed again, the first electromagnet 1DT and the second electromagnet 2DT are de-energized;

[0088] When the thirteenth button 115 is pressed, the first electromagnet 1DT and the third electromagnet 3DT are energized. When pressed again, the first electromagnet 1DT and the third electromagnet 3DT are de-energized;

[0089] When the fourteenth button 116 is pressed, all the electromagnets are de-energized.

[0090] A control system for a mooring device with a wave compensation function. The control method of the control system includes the following steps:

[0091] Step 1: Switch the manual / automatic knob 102 to the manual state. Press the twelfth button 114. The first electromagnet 1DT and the second electromagnet 2DT are energized, and the other electromagnets are de-energized. The hydraulic motor 19 drives the reel 20 to actively pay out the cable, and the anchoring action is executed;

[0092] Step 2: After the anchoring is completed, press the twelfth button 114 again, and then press the ninth button 111. Then the first electromagnet 1DT, the fourth electromagnet 4DT, and the eighth electromagnet 8DT are energized, and the other electromagnets are de-energized. The accumulator 8 is filled with liquid;

[0093] Step 3: When the pressure of the first pressure sensor 5-1 reaches the set value p1, press the ninth button 111 again, and then press the tenth button 112. Then the first electromagnet 1DT, the fifth electromagnet 5DT, the sixth electromagnet 6DT, and the eighth electromagnet 8DT are energized, and the other electromagnets are de-energized. The piston of the oil cylinder 11 moves upward;

[0094] Step 4: When the piston of the oil cylinder 11 moves upward to half of its stroke, press the tenth button 112 again, and then press the thirteenth button 115. The first electromagnet 1DT and the third electromagnet 3DT are energized, and the other electromagnets are de-energized. The hydraulic motor 19 drives the reel 20 to actively wind the cable, and the cable tensioning action is executed;

[0095] Step 5: When the cable 21 is tensioned and the pressure of the second pressure sensor 5-2 reaches the set value p2, press the thirteenth button 115 again, and then switch the manual / automatic knob 102 to the automatic state. All the electromagnets are de-energized, and the self-stabilization function starts;

[0096] Step 6: If the wind and waves act on the hull, causing the tension of the cable 21 to be too high, and the piston of the oil cylinder 11 has been pressed to the bottom of the stroke, and the pressure at port B of the hydraulic motor 19 reaches the set pressure p3 of the two-way overflow valve 17, then the hydraulic motor 19 is dragged backward by the cable 21 to passively pay out the cable.

[0097] Step 7: If the wind and waves weaken, causing the tension of the cable 21 to decrease, and the piston of the oil cylinder 11 is in the middle position or above, then the digital output module 304 of the PLC 300 controls the first electromagnet 1DT and the third electromagnet 3DT to be energized, and the hydraulic motor 19 drives the drum 20 to actively take in the cable until the cable returns to the initial cable laying length position, and then returns to Step 6.

[0098] The pressure set value p1 is equal to the filling pressure of the accumulator 8; the pressure set value p2 is equal to the pressure in the rodless cavity of the oil cylinder corresponding to the initial tension of the cable 21; the pressure set value p3 is equal to the pressure generated at port B of the hydraulic motor 19 when the cable 21 bears the rated tension.

[0099] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the inventive concept described herein through the above teachings or the techniques or knowledge in related fields. And the changes and modifications made by those skilled in the art that do not depart from the spirit and scope of the present invention should all be within the protection scope of the appended claims of the present invention.

Claims

1. A mooring device with wave compensation function, comprising a plurality of mooring winches, characterized in that, It is composed of the first mooring winch (C1) to the Nth mooring winch (CN) which are symmetrically arranged on the ship's deck along the ship's side. The composition and parameter settings of each mooring winch are the same. The value of N is calculated from the rated tension of a single mooring winch, the ship's tonnage, and the ship's wave and wind resistance level parameters. One end of each mooring winch close to the ship's side is connected and fixed to the anchor through a mooring cable. When the mooring winch on the left side takes in the cable, the mooring winch on the right side pays out the cable, and when the mooring winch on the right side takes in the cable, the mooring winch on the left side pays out the cable.

2. The mooring device with a wave compensation function according to claim 1, wherein The mooring winch is composed of an oil tank (1), a motor pump unit (2), a first one-way valve (3-1), an electromagnetic overflow valve (4), a first pressure sensor (5-1), a first three-position four-way electro-hydraulic directional valve (6-1), a second three-position four-way electro-hydraulic directional valve (6-2), a third three-position four-way electro-hydraulic directional valve (6-3), a second one-way valve (3-2), a one-way throttle valve (7), an accumulator (8), a two-position three-way electro-hydraulic directional valve (9), a displacement sensor (10), a second pressure sensor (5-2), an oil cylinder (11), a first pulley (12), a second pulley (13), a third pulley (14), an encoder (15), a balance valve (16), a two-way overflow valve (17), a make-up oil valve (18), a hydraulic motor (19), a drum (20), and a cable (21).

3. A mooring device with a wave compensation function according to claim 2, characterized in that, The oil outlet of the motor pump unit (2) is connected to the oil inlet of the first one-way valve (3-1). The oil outlet of the first one-way valve (3-1) is respectively connected to the oil inlet of the electromagnetic overflow valve (4), the first pressure sensor (5-1), the P port of the first three-position four-way electro-hydraulic directional valve (6-1), and the P port of the second three-position four-way electro-hydraulic directional valve (6-2). The oil outlet of the electromagnetic overflow valve (4) is connected to the oil tank (1). The A port of the first three-position four-way electro-hydraulic directional valve (6-1) is respectively connected to the A port of the hydraulic motor (19) and the external control port of the balance valve (16). The B port of the first three-position four-way electro-hydraulic directional valve (6-1) is connected to the B port of the hydraulic motor (19) through the balance valve (16). A two-way overflow valve (17) is also connected in parallel between the A and B ports of the hydraulic motor (19), and the A port of the hydraulic motor (19) is also connected to the make-up oil valve (18). The A port of the second three-position four-way electro-hydraulic directional valve (6-2) is sequentially connected in series with the second one-way valve (3-2) and the accumulator (8). The outlet of the second one-way valve (3-2) is also connected to the P port of the two-position three-way electro-hydraulic directional valve (9) through the one-way throttle valve (7). The B port of the second three-position four-way electro-hydraulic directional valve (6-2) is connected to the P port of the third three-position four-way electro-hydraulic directional valve (6-3). The A port of the third three-position four-way electro-hydraulic directional valve (6-3) is connected to the T port of the two-position three-way electro-hydraulic directional valve (9). The B port of the third three-position four-way electro-hydraulic directional valve (6-3) is connected to the upper chamber of the oil cylinder (11). The lower chamber of the oil cylinder (11) is connected to the A port of the two-position three-way electro-hydraulic directional valve (9), and the lower chamber of the oil cylinder (11) is also connected to the second pressure sensor (5-2). The T ports of the first three-position four-way electro-hydraulic directional control valve (6-1), the second three-position four-way electro-hydraulic directional control valve (6-2), and the third three-position four-way electro-hydraulic directional control valve (6-3) are all connected to the oil tank (1). The hydraulic motor (19) is coaxially connected to the drum (20); the piston rod of the oil cylinder (11) is connected to the axle bracket of the third pulley (14); the cable (21) is fixed on the drum (20) and wound several times, then winds a quarter turn around the first pulley (12), enters the third pulley (14), winds half a turn and then enters the second pulley (13) and is connected to the load. The oil cylinder (11) is internally provided with a displacement sensor (10), and an encoder (15) is coaxially installed on the second pulley (13).

4. A mooring device with a wave compensation function according to claim 2, characterized in that, The displacement sensor (10) is a magnetostrictive displacement sensor, and its output signal is an analog signal of 0 to 10V.

5. The mooring device with a wave compensation function according to claim 2, characterized in that, The electromagnetic overflow valve (4) is in a unloading state under normal conditions; the first three-position four-way electro-hydraulic directional control valve (6-1) has a Y-type neutral position function, and the second three-position four-way electro-hydraulic directional control valve (6-2) and the third three-position four-way electro-hydraulic directional control valve (6-3) both have an O-type neutral position function; the electromagnetic overflow valve (4) and the two-way overflow valve (17) are both pilot-operated overflow valves; the installation requirement of the one-way throttle valve (7) is that when the oil fluid outputs from the accumulator (8) and enters the one-way throttle valve (7), there is a throttling effect, and conversely, there is no throttling effect when the oil fluid flows back.

6. A mooring device with a wave compensation function according to claim 2, characterized in that, The oil cylinder (11) is a single-rod oil cylinder, vertically installed, the upper chamber is the rod chamber, and the lower chamber is the rodless chamber; the third pulley (14) moves up and down following the piston rod of the oil cylinder (11); the brackets of the first pulley (12) and the second pulley (13) are fixedly installed on the ship deck; the drum (20) is internally embedded with a planetary reducer, and the input shaft of the planetary reducer is connected to the output shaft of the hydraulic motor (19).

7. A control system for a mooring device with a wave compensation function according to any one of claims 1-6, characterized in that, The electromagnet of the electromagnetic overflow valve (4) is set as the first electromagnet (1DT), the left and right electromagnets of the first three-position four-way electro-hydraulic directional control valve (6-1) are respectively the second electromagnet (2DT) and the third electromagnet (3DT), the left and right electromagnets of the second three-position four-way electro-hydraulic directional control valve (6-2) are respectively the fourth electromagnet (4DT) and the fifth electromagnet (5DT), the left and right electromagnets of the third three-position four-way electro-hydraulic directional control valve (6-3) are respectively the sixth electromagnet (6DT) and the seventh electromagnet (7DT), the electromagnet of the two-position three-way electro-hydraulic directional control valve (9) is the eighth electromagnet (8DT), and the control system also includes an operation unit (100), a sensing unit (200), a PLC (300), and a hydraulic control unit (400). The operation unit (100) is composed of a touch screen (101), a manual / automatic knob (102), a first button (103), a second button (104), a third button (105), a fourth button (106), a fifth button (107), a sixth button (108), a seventh button (109), an eighth button (110), a ninth button (111), a tenth button (112), an eleventh button (113), a twelfth button (114), a thirteenth button (115), and a fourteenth button (116). The sensing unit (200) consists of an encoder (15), a first pressure sensor (5-1), a second pressure sensor (5-2), and a displacement sensor (10); The PLC (300) includes a communication module (301), a digital input module (302), an analog input module (303), and a digital output module (304); The hydraulic control unit (400) consists of a first electromagnet (1DT), a second electromagnet (2DT), a third electromagnet (3DT), a fourth electromagnet (4DT), a fifth electromagnet (5DT), a sixth electromagnet (6DT), a seventh electromagnet (7DT), and an eighth electromagnet (8DT); The touch screen (101) is connected to the communication module (301); The digital input module (302) is respectively connected to a manual / automatic knob (102), a first button (103), a second button (104), a third button (105), a fourth button (106), a fifth button (107), a sixth button (108), a seventh button (109), an eighth button (110), a ninth button (111), a tenth button (112), an eleventh button (113), a twelfth button (114), a thirteenth button (115), a fourteenth button (116), and the encoder (15); The analog input module (303) is respectively connected to the first pressure sensor (5-1), the second pressure sensor (5-2), and the displacement sensor (10); The digital output module (304) is respectively connected to the first electromagnet (1DT), the second electromagnet (2DT), the third electromagnet (3DT), the fourth electromagnet (4DT), the fifth electromagnet (5DT), the sixth electromagnet (6DT), the seventh electromagnet (7DT), and the eighth electromagnet (8DT).

8. The control system of a mooring device with a wave compensation function according to claim 7, characterized in that, The control system has manual and automatic control states. The first button (103), the second button (104), the third button (105), the fourth button (106), the fifth button (107), the sixth button (108), the seventh button (109), the eighth button (110), and the fourteenth button (116) are all non-self-locking momentary buttons; the ninth button (111), the tenth button (112), the eleventh button (113), the twelfth button (114), and the thirteenth button (115) are all self-locking buttons; When the manual / automatic knob (102) is switched to the manual state, the first button (103), the second button (104), the third button (105), the fourth button (106), the fifth button (107), the sixth button (108), the seventh button (109), the eighth button (110), the ninth button (111), the tenth button (112), the eleventh button (113), the twelfth button (114), and the thirteenth button (115) are effective only when pressed, otherwise they are ineffective, while the fourteenth button (116) is effective regardless of the position to which the manual / automatic knob (102) is switched; When the first button (103) is pressed, the first electromagnet (1DT) is energized, and when released, the first electromagnet (1DT) is de-energized; When the second button (104) is pressed, the second electromagnet (2DT) is energized, and when released, the second electromagnet (2DT) is de-energized; When the third button (105) is pressed, the third electromagnet (3DT) is energized, and when released, the third electromagnet (3DT) is de-energized; When the fourth button (106) is pressed, the fourth electromagnet (4DT) is energized, and when released, the fourth electromagnet (4DT) is de-energized; When the fifth button (107) is pressed, the fifth electromagnet (5DT) is energized, and when released, the fifth electromagnet (5DT) is de-energized; When the sixth button (108) is pressed, the sixth electromagnet (6DT) is energized, and when released, the sixth electromagnet (6DT) is de-energized; When the seventh button (109) is pressed, the seventh electromagnet (7DT) is energized, and when released, the seventh electromagnet (7DT) is de-energized; When the eighth button (110) is pressed, the eighth electromagnet (8DT) is energized, and when released, the eighth electromagnet (8DT) is de-energized; When the ninth button (111) is pressed, the first electromagnet (1DT), the fourth electromagnet (4DT), and the eighth electromagnet (8DT) are energized, and when pressed again, the first electromagnet (1DT), the fourth electromagnet (4DT), and the eighth electromagnet (8DT) are de-energized; When the tenth button (112) is pressed, the first electromagnet (1DT), the fifth electromagnet (5DT), the sixth electromagnet (6DT), and the eighth electromagnet (8DT) are energized, and when pressed again, the first electromagnet (1DT), the fifth electromagnet (5DT), the sixth electromagnet (6DT), and the eighth electromagnet (8DT) are de-energized; When the eleventh button (113) is pressed, the first electromagnet (1DT), the fifth electromagnet (5DT), the seventh electromagnet (7DT), and the eighth electromagnet (8DT) are energized, and when pressed again, the first electromagnet (1DT), the fifth electromagnet (5DT), the seventh electromagnet (7DT), and the eighth electromagnet (8DT) are de-energized; When the twelfth button (114) is pressed, the first electromagnet (1DT) and the second electromagnet (2DT) are energized, and when pressed again, the first electromagnet (1DT) and the second electromagnet (2DT) are de-energized; When the thirteenth button (115) is pressed, the first electromagnet (1DT) and the third electromagnet (3DT) are energized, and when pressed again, the first electromagnet (1DT) and the third electromagnet (3DT) are de-energized; When the fourteenth button (116) is pressed, all the electromagnets are de-energized.

9. The control system of a mooring device with a wave compensation function according to claim 8, characterized in that, The control method of the control system includes the following steps: Step 1: Switch the manual / automatic knob (102) to the manual state, press the twelfth button (114), the first electromagnet (1DT) and the second electromagnet (2DT) are energized, and the rest of the electromagnets are de-energized. The hydraulic motor (19) drives the drum (20) to actively pay out the cable and perform the anchor dropping action; Step 2: After anchoring is completed, press the twelfth button (114) again, and then press the ninth button (111). Then, the first electromagnet (1DT), the fourth electromagnet (4DT), and the eighth electromagnet (8DT) are energized, and the remaining electromagnets are de-energized. The accumulator (8) is filled with liquid. Step 3: When the pressure of the first pressure sensor (5-1) reaches the set value p1, press the ninth button (111) again, and then press the tenth button (112). Then, the first electromagnet (1DT), the fifth electromagnet (5DT), the sixth electromagnet (6DT), and the eighth electromagnet (8DT) are energized, and the remaining electromagnets are de-energized. The piston of the oil cylinder (11) moves upward. Step 4: When the piston of the oil cylinder (11) moves upward to half of its stroke, press the tenth button (112) again, and then press the thirteenth button (115). The first electromagnet (1DT) and the third electromagnet (3DT) are energized, and the remaining electromagnets are de-energized. The hydraulic motor (19) drives the drum (20) to actively wind the cable, and the actuating cable (21) is tensioned. Step 5: When the cable (21) is tensioned and the pressure of the second pressure sensor (5-2) reaches the set value p2, press the thirteenth button (115) again, and then switch the manual / automatic knob (102) to the automatic state. All electromagnets are de-energized, and the self-stabilization function starts. Step 6: If the wind and waves act on the hull, causing the tension of the cable (21) to be too high, and the piston of the oil cylinder (11) has been pressed to the bottom of its stroke, and the pressure at port B of the hydraulic motor (19) reaches the set pressure p3 of the two-way overflow valve (17), then the hydraulic motor (19) is dragged in reverse by the cable (21) to passively pay out the cable. Step 7: If the wind and waves weaken, causing the tension of the cable (21) to decrease, and the piston of the oil cylinder (11) is in the middle position or above, then the digital output module (304) of the PLC (300) controls the first electromagnet (1DT) and the third electromagnet (3DT) to be energized. The hydraulic motor (19) drives the drum (20) to actively wind the cable until the cable returns to the initial cable laying length position, and then returns to Step 6.

10. The control method of the control system of a mooring device with a wave compensation function according to claim 9, characterized in that, The pressure set value p1 is equal to the liquid filling pressure of the accumulator (8); the pressure set value p2 is equal to the pressure in the rodless cavity of the oil cylinder corresponding to the initial tension of the cable (21); the pressure set value p3 is equal to the pressure generated at port B of the hydraulic motor (19) when the cable (21) bears the rated tension.

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