Counterweight type heave compensation differential lifting appliance for offshore hoisting

Abstract

A load steel wire rope is wound around a differential compensation winch through a load winding drum, a balance weight steel wire rope is wound around the differential compensation winch through a balance weight winding drum, and a passive compensation balance weight is arranged at the bottom of the balance weight steel wire rope. A load steel wire rope penetrates through a pulley block in a load hook head of the balance lifting beam and then is fixed to the balance lifting beam, the load hook head of the balance lifting beam lifts a load through the lifting steel wire rope, and the sum of the passive compensation adjustable counter weights on the two sides is smaller than and close to the load. When a feedforward signal is received and a load weight is required to be lifted, the differential compensation winches on the two sides provide lifting force to lift the load weight, and meanwhile, the passive compensation adjustable balance weight descends; according to the passive compensation adjustable balance weight, the differential compensation winch only needs to provide the weight difference between the balance weight and the load weight and the dynamic load force of the load weight, and the compensation power is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering, and in particular to a counterweight type heave compensation differential spreader for offshore lifting. Background Art

[0002] In the field of marine engineering, marine cranes are core equipment, and their operational stability is crucial. Marine cranes are specialized cranes that perform transport operations in offshore environments. They are primarily used for critical tasks such as transporting and transferring cargo between ships, replenishing supplies at sea, and deploying and recovering underwater equipment. The unique offshore environment presents significant challenges in controlling marine cranes.

[0003] Due to complex operating conditions such as the ship's nonlinear dynamic base excitation, offshore wind, waves, and currents, coupled with the crane's inherent underactuated characteristics, the suspended load's heave phenomenon is extremely prominent. If this heave causes the load to collide with other ship equipment or structures, serious consequences can result. Therefore, an efficient heave compensation device is crucial to preventing load sway and ensuring operational safety.

[0004] Existing passive heave compensation relies on a combination of wave lift and the ship's gravity to control the movement of a hydraulic cylinder. This system compresses and releases compressed gas cylinders as the ship heaves and sinks, pushing the cylinder piston. However, this system offers low compensation accuracy and struggles to meet the demands of high-precision operations. While active heave compensation, which places a crane on a motion compensation platform and can compensate for the ship's six degrees of freedom, offers high accuracy and is applicable to all types of cranes, it requires the platform to bear the full weight of the crane and its load, resulting in excessive power consumption, high operating costs, and heavy equipment loads. Summary of the Invention

[0005] Purpose of the invention: The present invention aims to solve the deficiencies in the prior art and to provide a counterweight heave-compensated differential spreader for offshore lifting.

[0006] Technical solution: A counterweight heave compensation differential spreader for offshore lifting, comprising a balanced beam equipped with a hydraulic control box, a differential compensation winch provided inside the left side of the balanced beam, a brake and a drive motor provided at both ends of the differential compensation winch, a load wire rope wound around the differential compensation winch through a load drum, a counterweight wire rope wound around the differential compensation winch through a counterweight drum, a passive compensation counterweight provided at the bottom of the counterweight wire rope, and a There is a differential compensation winch, with a brake two and a drive motor two installed at both ends of the differential compensation winch respectively. The differential compensation winch is wound with a load wire rope two through a load drum two. The differential compensation winch is wound with a counterweight wire rope two through a counterweight drum two. A passive compensation counterweight two is provided at the bottom of the counterweight wire rope two. The load wire rope one and the load wire rope two are fixed to the balance beam after passing through the pulley group inside the load hook head of the balance beam. The load hook head of the balance beam lifts the load object through the lifting wire rope.

[0007] A further improvement of the present invention is that a fixed guide pulley 1 and a fixed guide pulley 2 are installed at the central position of the balancing beam through a pin shaft, and the pulley group inside the load hook head of the balancing beam includes pulley 1 and pulley 2.

[0008] A further improvement of the present invention is that one end of the load wire rope is fixed to the load drum one, the other end of the load wire rope is guided to the pulley one through the fixed guide pulley one, and then fixed to the ear plate two at the bottom of the balanced beam; one end of the counterweight wire rope is fixed to the counterweight drum one, and the other end of the counterweight wire rope is fixed to the ear plate one at the bottom of the balanced beam after passing through the counterweight pulley group one.

[0009] A further improvement of the present invention is that the counterweight pulley assembly 1 is hinged to the passive compensation counterweight 1.

[0010] A further improvement of the present invention is that one end of the load steel wire rope 2 is fixed to the load drum 2, the other end of the load steel wire rope 2 is guided to the pulley 2 through the fixed guide pulley 2, and then fixed to the ear plate 3 at the bottom of the balanced beam, one end of the counterweight steel wire rope 2 is fixed to the counterweight drum 2, and the other end of the counterweight steel wire rope 2 is fixed to the ear plate 4 at the bottom of the balanced beam after passing through the counterweight pulley group 2.

[0011] A further improvement of the present invention is that the second counterweight pulley assembly is hinged to the second passive compensation counterweight.

[0012] A further improvement of the present invention is that the upper portion of the balancing beam is rigidly connected to the hook head of the ship crane via a hoisting wire rope, and the load hook head of the balancing beam is equipped with a sling shelf.

[0013] A further improvement of the present invention is that the outgoing directions of the load steel wire rope 1 and the counterweight steel wire rope 1 are arranged at 180 degrees, the outgoing directions of the load steel wire rope 2 and the counterweight steel wire rope 2 are arranged at 180 degrees, and the outgoing directions of the counterweight steel wire rope 1 and the counterweight steel wire rope 2 are consistent.

[0014] A further improvement of the present invention is that differential compensation winch 1 and differential compensation winch 2 are rigidly fixed to the balance beam; differential compensation winch 1 is connected to drive motor 1 and brake 1 through a coupling, and differential compensation winch 2 is connected to drive motor 2 and brake 2 through a coupling; drive motor 1, drive motor 2, brake 1, brake 2, and hydraulic control box are rigidly fixed to the balance beam.

[0015] Compared with the prior art, at least the following beneficial effects are achieved: Since the sum of the counterweights of passive compensation counterweight one and passive compensation counterweight two is close to the load weight, the passive counterweight can bear most of the load weight, and the differential winch only needs to provide weight difference and dynamic load force. Compared with the traditional active compensation solution, the power consumption is reduced, which significantly reduces energy consumption and operating costs; the passive counterweight provides basic balance, and the differential winch realizes dynamic force compensation through the reverse movement of the load drum and the counterweight drum. Combined with the magnification effect of the pulley group inside the load hook of the balance beam, it can quickly respond to the heave and sinking movement of the ship; the counterweight weight can be adjusted by increasing or decreasing the weight of passive compensation counterweight one and passive compensation counterweight two to adapt to different load conditions; the whole can be integrated into the balance beam without the need to build an additional motion compensation platform, and has a wide range of applications; the drive motor and brake form a dual braking system to ensure the safety of the load hovering. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural diagram of a counterweight heave-compensating differential spreader for offshore lifting according to the present invention; Figure 2 This is a schematic diagram of the heave compensation interval of the present invention; Figure 3 It is a C-section view; Figure 4 It is the cross-sectional view in the direction of B; Figure 5 It is the cross-sectional view in the direction of A; Figure 6 This is the lowest position diagram for heave compensation; Figure 7 It is the recovery state diagram of the present invention; Figure 8 This is a diagram of the shelving state of the present invention.

[0017] Reference numerals: 1-hoisting wire rope, 2-hydraulic control box, 3-balancing lifting beam, 401-differential compensation winch 1, 4011-load drum 1, 4012-counterweight drum 1, 402-differential compensation winch 2, 4021-load drum 2, 4022-counterweight drum 2, 501-brake 1, 502-brake 2, 601-counterweight wire rope 1, 602-counterweight wire rope 2, 701-load wire rope 1, 702-load wire rope 2, 801-drive motor 1. 802-Drive Motor 2. 901-Counterweight Pulley Block 1. 902-Counterweight Pulley Block 2. 1001-Passive Compensating Counterweight 1. 1002-Passive Compensating Counterweight 2. 11-Load Weight. 12-Lifting Wire Rope. 13-Balance Beam Load Hook. 14-Pin. 1501-Fixed Guide Pulley 1. 1502-Fixed Guide Pulley 2. 1601-Ear Plate 1. 1602-Ear Plate 2. 1603-Ear Plate 3. 1604-Ear Plate 4. 17-Spreader Rack. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present invention are now described in detail. It should be noted that, unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention and its application or use. Techniques, methods, and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as being merely exemplary, not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0019] See attached Figure 1-8The present invention relates to a counterweight heave compensation differential sling for offshore lifting, comprising a balancing beam 3 equipped with a hydraulic control box 2. A differential compensation winch 401 is provided inside the left side of the balancing beam 3. A brake 501 and a drive motor 801 are respectively installed at both ends of the differential compensation winch 401. A load wire rope 701 is wound around the differential compensation winch 401 through a load drum 4011. A counterweight wire rope 601 is wound around the differential compensation winch 401 through a counterweight drum 4012. A passive compensation counterweight 1001 is provided at the bottom of the counterweight wire rope 601. A differential compensation drum is provided inside the right side of the balancing beam 3. Winch 2 402, a brake 2 502 and a drive motor 2 802 are respectively installed at both ends of the differential compensation winch 2 402, the differential compensation winch 2 402 is wound with a load wire rope 2 702 through a load drum 2 4021, the differential compensation winch 2 402 is wound with a counterweight wire rope 2 602 through a counterweight drum 2 4022, and a passive compensation counterweight 2 1002 is provided at the bottom of the counterweight wire rope 2 602, the load wire rope 1 701 and the load wire rope 2 702 are fixed to the balance beam 3 after passing through the pulley group inside the load hook head 13 of the balance beam, and the load hook head 13 of the balance beam lifts the load object 11 through the lifting wire rope 12.

[0020] A fixed guide pulley 1501 and a fixed guide pulley 2 1502 are installed at the central position of the balancing beam 3 through a pin shaft 14. The pulley group inside the load hook head 13 of the balancing beam includes pulley 1 and pulley 2; one end of the load wire rope 1 701 is fixed to the load drum 1 4011, and the other end of the load wire rope 1 701 is guided to the pulley 1 through the fixed guide pulley 1501, and then fixed to the ear plate 2 1602 at the bottom of the balancing beam 3; one end of the counterweight wire rope 1 601 is fixed to the counterweight drum 1 4012, and the other end of the counterweight wire rope 1 601 passes through the counterweight pulley group 1 901 and is fixed to the ear plate 1601 at the bottom of the balancing beam 3; the counterweight pulley group 1 901 is hinged to the passive compensation counterweight 1001.

[0021] One end of the load wire rope 2 702 is fixed to the load drum 2 4021, and the other end of the load wire rope 2 702 is guided to the pulley 2 through the fixed guide pulley 2 1502, and then fixed to the ear plate 3 1603 at the bottom of the balance beam 3. One end of the counterweight wire rope 2 602 is fixed to the counterweight drum 2 4022, and the other end of the counterweight wire rope 2 602 is fixed to the ear plate 4 1604 at the bottom of the balance beam 3 after passing through the counterweight pulley group 2 902; the counterweight pulley group 2 902 is hinged to the passive compensation counterweight 2 1002.

[0022] The top of the balancing beam 3 is rigidly connected to the ship crane hook via the hoisting wire rope 1. The balancing beam load hook 13 is equipped with a spreader rack 17. The spreader rack 17 effectively protects the heave-compensating differential spreader from erosion and damage by the external environment when not in operation. It provides a stable storage environment, reduces wear and corrosion of the spreader, and facilitates maintenance and management, thereby extending its service life. The combination of four hoisting wire ropes and dual winches forms a wire rope redundancy design, which improves impact resistance and adapts to complex working conditions at sea. The outgoing directions of the load steel wire rope 1 701 and the counterweight steel wire rope 1 601 are arranged at 180 degrees, and the outgoing directions of the load steel wire rope 2 702 and the counterweight steel wire rope 2 602 are arranged at 180 degrees. The outgoing directions of the counterweight steel wire rope 1 601 and the counterweight steel wire rope 2 602 are consistent.

[0023] The differential compensation winch 1 401 and the differential compensation winch 2 402 are rigidly fixed to the balance beam 3; the differential compensation winch 1 401 is connected to the drive motor 1 801 and the brake 1 501 through a coupling, and the differential compensation winch 2 402 is connected to the drive motor 2 802 and the brake 2 502 through a coupling; the drive motor 1 801, the drive motor 2 802, the brake 1 501, the brake 2 502, and the hydraulic control box 2 are rigidly fixed to the balance beam 3.

[0024] Installation step 1: Fix the differential compensation winch 1 401 and differential compensation winch 2 402 rigidly to the inside of the balance beam 3 with bolts. Connect the drive motor 1 801, drive motor 2 802 and brake 1 501, brake 2 502 to both ends of the drum through couplings, and fix them rigidly to the balance beam 3. Installation Step 2: Threading and winding the load wire rope 1 701 and the load wire rope 2 702: One end of the load wire rope 1 701 is fixed to the load drum 1 4011, and the other end of the load wire rope 1 701 is guided to the pulley 1 through the fixed guide pulley 1501, and then fixed to the ear plate 2 1602 at the bottom of the balance beam 3; one end of the load wire rope 2 702 is fixed to the load drum 2 4021, and the other end of the load wire rope 2 702 is guided to the pulley 2 through the fixed guide pulley 2 1502, and then fixed to the ear plate 3 1603 at the bottom of the balance beam 3; Installation step 3: Threading and winding the counterweight wire rope 1 601 and the counterweight wire rope 2 602: one end of the counterweight wire rope 1 601 is fixed on the counterweight drum 1 4012, and the other end of the counterweight wire rope 1 601 passes through the counterweight pulley group 1 901 and is fixed to the ear plate 1 1601 at the bottom of the balance beam 3; one end of the counterweight wire rope 2 602 is fixed on the counterweight drum 2 4022, and the other end of the counterweight wire rope 2 602 passes through the counterweight pulley group 2 902 and is fixed to the ear plate 4 1604 at the bottom of the balance beam 3.

[0025] Counterweight adjustment: According to the weight of the load weight 11, adjust the weight of the passive compensation counterweight 1 1001 and the passive compensation counterweight 2 1002 so that the total weight is less than but close to 90%-95% of the load weight, and fix them with bolts.

[0026] When the load is lifted, drive motor 1 801 and drive motor 2 802 are activated, reeling in load wire rope 1 701 and load wire rope 2 702 while simultaneously unreeling counterweight wire rope 1 601 and counterweight wire rope 2 602. The reeled load wire rope 1 701 and load wire rope 2 702 then pass through the pulley assembly within the load hook 13 of the balancing beam to lift the load object 11. Passive compensation counterweight 1 1001 and passive compensation counterweight 2 1002 are then lowered synchronously via counterweight pulley assembly 1 901 and counterweight pulley assembly 2 902, respectively. Because the total counterweight is close to the load weight, differential compensation winch 1 401 and differential compensation winch 2 402 only need to provide the weight difference and dynamic load, significantly reducing drive power.

[0027] When the load is lowered, brake 1 501 and brake 2 502 are released, the load descends under the action of gravity, counterweight wire rope 1 601 and counterweight wire rope 2 602 are wound, the passive compensation counterweight rises, and the brake offsets the load inertia force by controlling the drum speed to achieve smooth lowering.

[0028] When the ship heaves and sinks due to the influence of wind and waves, dynamic compensation is performed. Passive compensation counterweight 1001 and passive compensation counterweight 2 1002 use gravity difference to provide initial compensation. Differential compensation winch 1 401 and differential compensation winch 2 402 dynamically adjust the wire rope tension according to the real-time displacement signal, realizing the combination of passive pre-compensation and active fine compensation, thereby achieving the effect of suppressing the heave swing of the suspended object.

[0029] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A counterweight heave-compensating differential spreader for offshore lifting, characterized by: The invention comprises a balancing beam (3) equipped with a hydraulic control box (2), wherein a differential compensation winch (401) is provided inside the left side of the balancing beam (3), a brake (501) and a drive motor (801) are respectively provided at both ends of the differential compensation winch (401), a load wire rope (701) is wound around the differential compensation winch (401) through a load drum (4011), a counterweight wire rope (601) is wound around the differential compensation winch (401) through a counterweight drum (4012), a passive compensation counterweight (1001) is provided at the bottom of the counterweight wire rope (601), a differential compensation winch (402) is provided inside the right side of the balancing beam (3), and the differential compensation winch (501) is provided with a brake (501) and a drive motor (801) at both ends. Two ends of the winch (402) are respectively provided with a brake (502) and a drive motor (802). The differential compensation winch (402) is wound with a load wire rope (702) through a load drum (4021). The differential compensation winch (402) is wound with a counterweight wire rope (602) through a counterweight drum (4022). A passive compensation counterweight (1002) is provided at the bottom of the counterweight wire rope (602). The load wire rope (701) and the load wire rope (702) are fixed to the balance beam (3) after passing through a pulley group inside the load hook (13) of the balance beam. The load hook (13) of the balance beam lifts the load object (11) through the lifting wire rope (12).

2. The counterweight heave-compensating differential spreader for offshore lifting according to claim 1, characterized in that: A fixed guide pulley 1 (1501) and a fixed guide pulley 2 (1502) are installed at the central position of the balance beam (3) via a pin shaft (14), and a pulley group inside the balance beam load hook head (13) includes pulley 1 and pulley 2.

3. The counterweight heave-compensating differential spreader for offshore lifting according to claim 2, characterized in that: One end of the load steel wire rope 1 (701) is fixed to the load drum 1 (4011), and the other end of the load steel wire rope 1 (701) is guided to the pulley 1 through the fixed guide pulley 1 (1501), and then fixed to the ear plate 2 (1602) at the bottom of the balance beam (3). One end of the counterweight steel wire rope 1 (601) is fixed to the counterweight drum 1 (4012), and the other end of the counterweight steel wire rope 1 (601) passes through the counterweight pulley group 1 (901) and is fixed to the ear plate 1 (1601) at the bottom of the balance beam (3).

4. The counterweight heave-compensating differential spreader for offshore lifting according to claim 3, characterized in that: The counterweight pulley assembly 1 (901) is hinged to the passive compensation counterweight 1 (1001).

5. The counterweight heave-compensating differential spreader for offshore lifting according to claim 2, characterized in that: One end of the load steel wire rope 2 (702) is fixed to the load drum 2 (4021), and the other end of the load steel wire rope 2 (702) is guided to the pulley 2 through the fixed guide pulley 2 (1502), and then fixed to the ear plate 3 (1603) at the bottom of the balance beam (3). One end of the counterweight steel wire rope 2 (602) is fixed to the counterweight drum 2 (4022), and the other end of the counterweight steel wire rope 2 (602) is fixed to the ear plate 4 (1604) at the bottom of the balance beam (3) after passing through the counterweight pulley group 2 (902).

6. The counterweight heave-compensating differential spreader for offshore lifting according to claim 5, characterized in that: The second counterweight pulley assembly (902) is hinged to the second passive compensation counterweight (1002).

7. The counterweight heave-compensating differential spreader for offshore lifting according to claim 1, characterized in that: The upper portion of the balancing beam (3) is rigidly connected to the hook of a ship crane via a hoisting wire rope (1), and the load hook (13) of the balancing beam is equipped with a sling shelf (17).

8. The counterweight heave-compensating differential spreader for offshore lifting according to claim 1, characterized in that: The outgoing directions of the load steel wire rope 1 (701) and the counterweight steel wire rope 1 (601) are arranged at 180 degrees, the outgoing directions of the load steel wire rope 2 (702) and the counterweight steel wire rope 2 (602) are arranged at 180 degrees, and the outgoing directions of the counterweight steel wire rope 1 (601) and the counterweight steel wire rope 2 (602) are consistent.

9. The counterweight heave-compensating differential spreader for offshore lifting according to any one of claims 1 to 8, characterized in that: The differential compensating winch 1 (401) and the differential compensating winch 2 (402) are rigidly fixed to the balance beam (3); the differential compensating winch 1 (401) is connected to the drive motor 1 (801) and the brake 1 (501) through a coupling, and the differential compensating winch 2 (402) is connected to the drive motor 2 (802) and the brake 2 (502) through a coupling; the drive motor 1 (801), the drive motor 2 (802), the brake 1 (501), the brake 2 (502), the hydraulic control box (2) and the balance beam (3) are rigidly fixed.

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