A lifting compensation device and its control method, and a drilling vessel

Abstract

This application discloses a lifting compensation device and its control method, as well as a drilling vessel, including a main frame, a pulley mechanism, a plunger cylinder, an energy storage mechanism, and a bidirectional pump assembly. The pulley mechanism includes a pulley assembly and a traction rope; underwater equipment is mounted on the pulley assembly via the traction rope. The energy storage mechanism includes a cylinder mounted on a platform and a plunger mounted within the cylinder. The cylinder has a plunger cavity, and the plunger is connected to the pulley assembly. The energy storage mechanism, mounted on the platform, includes a passive compensation assembly comprising a first passive cavity, a second passive cavity, and a passive piston. The first passive cavity is connected to the plunger cavity via a first pipe equipped with a first control valve. The bidirectional pump assembly, mounted on the platform, has one end connected to the first passive cavity via a second pipe equipped with a second control valve, and the other end connected to the plunger cavity via a third pipe equipped with a third control valve. This application can simultaneously achieve the recovery and utilization of the lowered potential energy while considering both active and passive compensation.

Description

Technical Field

[0001] This application relates to the field of lifting compensation technology, and in particular to a lifting compensation device and its control method, and a drilling vessel. Background Technology

[0002] In fields such as marine engineering, seabed resource development, and deep-sea exploration, drilling vessels, engineering vessels, pipelaying vessels, and offshore operation platforms are increasingly undertaking tasks requiring the deployment of equipment or tools underwater. For example, underwater drilling rigs, underwater work tools, underwater structure detection instruments, and underwater maintenance equipment (collectively referred to as "underwater equipment") require suspension, lifting, and lowering by cranes on the vessel or platform during operations. Due to the influence of sea winds and wave lights, the vessel experiences significant heave and sway. This displacement is directly transmitted to the suspended underwater equipment via ropes, pulleys, or actuators, causing periodic changes in tension and making it difficult to maintain a stable position or constant stress. However, existing compensation structures are concentrated on the crane, which is located high up and difficult to maintain, while also increasing the overall height of the derrick and raising its center of gravity, severely affecting overall stability. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. This application provides a lifting compensation device and its control method, as well as a drilling vessel, which can realize the recovery and utilization of the lowering potential energy while simultaneously taking into account both active and passive compensation.

[0004] The lifting compensation device according to the first aspect of this application includes:

[0005] The main framework, including the platform;

[0006] The pulley mechanism includes a pulley assembly and a traction rope. The traction rope is mounted on the pulley assembly, with one end connected to the underwater equipment and the other end connected to the main frame.

[0007] A plunger cylinder includes a cylinder body and a plunger. The cylinder body is disposed on the platform. A first end of the plunger is connected to the pulley assembly. A second end of the plunger is movably disposed in the cylinder body. The side of the second end of the plunger away from the first end forms a plunger cavity with the cylinder body.

[0008] An energy storage mechanism is mounted on the platform. The energy storage mechanism includes a passive compensation component, which includes a first passive chamber, a second passive chamber, and a passive piston for separating the first passive chamber and the second passive chamber. The first passive chamber is connected to the plunger chamber through a first pipe, and a first control valve is provided on the first pipe.

[0009] A bidirectional pump assembly is disposed on the platform. The first end of the bidirectional pump assembly is connected to the first passive chamber through a second pipe, and the second pipe is provided with a second control valve. The second end of the bidirectional pump assembly is connected to the plunger chamber through a third pipe, and the third pipe is provided with a third control valve.

[0010] The lifting compensation device according to the embodiments of this application has at least the following beneficial effects:

[0011] The lifting compensation device of this application includes a main frame, a pulley mechanism, a plunger cylinder, an energy storage mechanism, and a bidirectional pump assembly. The main frame includes a platform; the pulley mechanism includes a pulley assembly and a traction rope, with the traction rope sleeved on the pulley assembly. One end of the traction rope is connected to the underwater equipment, and the other end is connected to the main frame. The plunger cylinder includes a cylinder body and a plunger. The cylinder body is fixedly mounted on the platform. The first end of the plunger is fixedly connected to the pulley assembly, and the second end of the plunger is movably mounted inside the cylinder body. The side of the second end of the plunger away from the first end forms a plunger cavity with the cylinder body. By controlling the change in the volume of the plunger cavity, the lifting and lowering of the pulley mechanism is controlled, thereby controlling the lifting and lowering of the underwater equipment.

[0012] An energy storage mechanism is fixedly mounted on a platform. The energy storage mechanism includes a passive compensation component, which comprises a first passive chamber, a second passive chamber, and a passive piston for separating the first and second passive chambers. The first passive chamber is connected to a plunger chamber via a first pipe, and a first control valve is provided on the first pipe. A bidirectional pump assembly is mounted on the platform, with its first end connected to the first passive chamber via a second pipe, and its second end connected to the plunger chamber via a third pipe. A second control valve is provided on the second pipe, and a third control valve is provided on the third pipe.

[0013] When the underwater equipment descends, the bidirectional pump assembly faces the first end, the first control valve is closed, and the second and third control valves are opened. The bidirectional pump assembly is started, and the hydraulic oil in the plunger chamber is pumped sequentially through the third pipe, the bidirectional pump assembly, and the second pipe to the first passive chamber. The pressure in the first passive chamber increases, causing the passive piston to descend, which in turn compresses the nitrogen in the second passive chamber, thus storing energy. At the same time, the plunger descends, the pulley assembly descends, thereby driving the underwater equipment to descend.

[0014] When the underwater equipment descends and then ascends, the bidirectional pump assembly faces the second end, the first and third control valves open, and the second control valve closes. The bidirectional pump assembly is activated, pumping hydraulic oil through the third pipeline to the plunger chamber, causing the plunger to rise. At the same time, the second passive chamber releases energy, and the passive piston rises, causing the hydraulic oil in the first passive chamber to flow through the first pipeline and merge with the hydraulic oil in the third pipeline before being pumped to the plunger chamber, further increasing the plunger's lifting speed. This improves the underwater equipment's lifting rate while reducing energy consumption.

[0015] When the underwater equipment is at the target location and waves are present in the sea area, the first control valve opens, while the second and third control valves close, connecting the plunger chamber to the first passive chamber. This balances the pressure of the passive piston itself with the total pressure in the first and second passive chambers, as well as the total pressure of the plunger and its upper mechanism with the pressure in the plunger chamber. As the main frame rises and falls under the influence of waves, the weight of the underwater equipment changes periodically, disrupting the pressure balance between the total pressure of the plunger and its upper mechanism and the plunger chamber. This, in turn, disrupts the pressure balance between the passive piston itself and the total pressure in the first and second passive chambers, causing the passive piston and plunger to move around the equilibrium point. This compensates for the changes in the force exerted by the underwater equipment on the seabed, thus maintaining a relatively constant force exerted by the underwater equipment on the seabed.

[0016] According to some embodiments of this application, the energy storage mechanism further includes an active compensation component, which includes a first active chamber, a second active chamber, and an active piston for separating the first active chamber and the second active chamber. The active piston is connected to the passive piston. The first active chamber is connected to the second active chamber through a fourth pipe, and the fourth pipe is provided with a fourth control valve.

[0017] The active compensation component further includes a fifth pipe and a sixth pipe. The first end of the fifth pipe is connected to the first active cavity, the first end of the sixth pipe is connected to the second active cavity, and the second ends of both the fifth pipe and the sixth pipe are connected to the bidirectional pump component.

[0018] The lifting compensation device further includes a sensing mechanism and a control mechanism. The sensing mechanism is used to acquire the lifting parameters of the main frame, the pressure parameters of the plunger chamber, and the position parameters of the plunger, the active piston, and the passive piston. The control mechanism is used to control the flow direction and flow rate of hydraulic oil in the fifth pipe and the sixth pipe according to the parameters of the sensing mechanism, so as to drive the active piston to lift and lower.

[0019] According to some embodiments of this application, the active compensation component further includes a switching valve, a seventh pipe, and an eighth pipe. The first end of the seventh pipe is connected to the second end of the bidirectional pump assembly, and the first end of the eighth pipe is connected to the bidirectional pump assembly. The second ends of the fifth pipe and the sixth pipe are connected to the second ends of the seventh pipe and the eighth pipe through the switching valve. The control mechanism controls the flow direction and flow rate of hydraulic oil in the fifth pipe and the sixth pipe through the switching valve.

[0020] According to some embodiments of this application, an emergency release device is also included, which includes a ninth pipe and a sixth control valve disposed on the ninth pipe. One end of the ninth pipe is connected to the oil tank, and the other end is connected to the plunger chamber.

[0021] According to some embodiments of this application, an emergency lifting device is also included, which includes a tenth pipe, a pilot pump disposed on the tenth pipe, and a seventh control valve disposed on the tenth pipe. One end of the tenth pipe is connected to an oil tank, and the other end is connected to the plunger chamber.

[0022] According to some embodiments of this application, a nitrogen cylinder assembly is also included, which is connected to the second passive cavity via an eleventh pipe.

[0023] The method of using the lifting compensation device according to the second aspect of the present application is applied to the lifting compensation device described in the above embodiment, and the control method includes: a descent control method, an ascent control method, and a passive control method;

[0024] The descent control method includes: the bidirectional pump assembly facing the first end, the first control valve closed, and the second and third control valves open; the bidirectional pump assembly is started, pumping the hydraulic oil in the plunger chamber sequentially through the third pipe, the bidirectional pump assembly, and the second pipe to the first passive chamber, increasing the pressure in the first passive chamber and causing the passive piston to descend, thereby compressing the nitrogen in the second passive chamber to achieve energy storage; simultaneously, the plunger descends, the pulley assembly descends, thereby driving the underwater equipment to descend;

[0025] The rising control method includes: the bidirectional pump assembly facing the second end, the first control valve and the third control valve opening, and the second control valve closing; starting the bidirectional pump assembly, the hydraulic oil is pumped through the third pipeline to the plunger chamber through the bidirectional pump assembly, causing the plunger to rise; at the same time, the second passive chamber releases energy, the passive piston rises, causing the hydraulic oil in the first passive chamber to flow through the first pipeline and merge with the hydraulic oil in the third pipeline before being pumped to the plunger chamber.

[0026] The passive control method includes: opening the first control valve and closing the second and third control valves, so that the plunger chamber is connected to the first passive chamber.

[0027] According to some embodiments of this application, the descent control method, the ascent control method, and the passive control method further include:

[0028] The fourth control valve opens, connecting the first and second active chambers, thereby causing the active piston to float.

[0029] According to some embodiments of this application, an active control method is also included;

[0030] The active control method includes: opening the first control valve and closing the second, third, and fourth control valves; the control mechanism controls the connection status of the switching valves according to the parameters of the sensing mechanism to adjust the flow direction and flow rate of the fifth and sixth pipes, control the lifting and lowering of the active piston, and thus control the lifting and lowering of the passive piston.

[0031] A drilling vessel according to a third aspect of this application includes a lifting compensation device as described in any of the above embodiments. The underwater equipment includes a top drive, a drill string, and a drill bit, and the traction rope, the top drive, the drill string, and the drill bit are connected in sequence. Attached Figure Description

[0032] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0033] Figure 1 This is a schematic diagram of the structure of a lifting compensation device according to an embodiment of this application;

[0034] Figure 2 for Figure 1 Another structural diagram;

[0035] Figure 3 for Figure 1 A structural diagram from another angle;

[0036] Figure 4 for Figure 1 A structural diagram from another angle;

[0037] Figure 5 This is a schematic diagram of the lifting compensation device according to one embodiment of this application.

[0038] Figure label:

[0039] Main frame 1; Platform 11; Derrick 12; Top drive 13; Drill string 14; Drill bit 15;

[0040] 2. Pulley mechanism; 21. Pulley assembly; 211. Pulley component; 22. Traction rope;

[0041] 3. Piston cylinder; 31. Cylinder body; 32. Piston; 33. Piston cavity;

[0042] Energy storage mechanism 4; passive compensation component 41; first passive chamber 411; second passive chamber 412; passive piston 413; active compensation component 42; first active chamber 421; second active chamber 422; active piston 423; switching valve 424; fifth pipeline 425; sixth pipeline 426; seventh pipeline 427; eighth pipeline 428; nitrogen cylinder group 43; working nitrogen cylinder group 431; standby nitrogen cylinder group 432; eleventh pipeline 433; eighth control valve 434;

[0043] First pipe 51; First control valve 511; Second pipe 52; Second control valve 521; Third pipe 53; Third control valve 531; Fourth pipe 54; Fourth control valve 541; Ninth control valve 55;

[0044] Bidirectional pump assembly 6; First pump component 61; Second pump component 62; Oil tank 63; Make-up pump 64;

[0045] 7. Control mechanism; 71. MRU real-time acquisition platform; 72. PLC controller;

[0046] Emergency release device 8; Ninth pipeline 81; Sixth control valve 82;

[0047] Emergency lifting device 9; tenth pipeline 91; seventh control valve 92; pilot pump 93. Detailed Implementation

[0048] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0049] In the description of this application, it should be understood that the use of terms such as "center," "middle," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0051] The following reference Figures 1 to 5This application describes the lifting compensation device and its control method, as well as the drilling vessel, in its embodiments.

[0052] according to Figures 1 to 4 As shown, one embodiment of the lifting compensation device of this application includes a main frame 1, a pulley mechanism 2, a plunger cylinder 3, an energy storage mechanism 4, and a bidirectional pump assembly 6. The main frame 1 includes a platform 11 for mounting the various mechanisms. The pulley mechanism 2 includes a pulley assembly 21 and a traction rope 22. The traction rope 22 is sleeved on the pulley assembly 21, with one end connected to underwater equipment and the other end connected to the main frame 1 to form a fixed end. (Continue to see...) Figure 5 The plunger cylinder 3 includes a cylinder body 31 and a plunger 32. The cylinder body 31 is fixedly installed on the platform 11. The first end of the plunger 32 is fixedly connected to the pulley assembly 21. The second end of the plunger 32 is movably installed inside the cylinder body 31. The side of the second end of the plunger 32 away from the first end (i.e., the lower side of the plunger 32) forms a plunger cavity 33 with the cylinder body 31. By controlling the change in the volume of the plunger cavity 33, the plunger 32 is raised or lowered, which drives the pulley mechanism 2 to rise and fall synchronously, thereby driving the traction rope 22 to raise or lower the underwater equipment.

[0053] See Figure 5 The energy storage mechanism 4 is fixedly installed on the platform 11. The energy storage mechanism 4 includes a passive compensation component 41, which includes a first passive chamber 411, a second passive chamber 412, and a passive piston 413. The passive piston 413 is movably installed inside the passive compensation component 41 to separate and form the first passive chamber 411 and the second passive chamber 412. The first passive chamber 411 is connected to the plunger chamber 33 through a first pipe 51. A first control valve 511 is provided on the first pipe 51 to control the communication state between the first passive chamber 411 and the plunger chamber 33.

[0054] The bidirectional pump assembly 6 is installed on the platform 11. The first end of the bidirectional pump assembly 6 is connected to the first passive chamber 411 through the second pipe 52. The second pipe 52 is provided with a second control valve 521. The second end of the bidirectional pump assembly 6 is connected to the plunger chamber 33 through the third pipe 53. The third pipe 53 is provided with a third control valve 531. The bidirectional pump assembly 6 can pump the hydraulic oil in the plunger chamber 33 to the first passive chamber 411, or pump the hydraulic oil in the first passive chamber 411 to the plunger chamber 33.

[0055] In some embodiments, the main frame 1 further includes a derrick 12, which is fixedly installed on the platform 11 and sleeved on the outside of the pulley mechanism 2 and the plunger cylinder 3.

[0056] In some embodiments, the first control valve 511, the second control valve 521, and the third control valve 531 may be configured as electrically controlled valves.

[0057] In some embodiments, the second control valve 521 may be configured as a one-way valve that only allows hydraulic oil to flow from the first end of the bidirectional pump assembly 6 to the first passive chamber 411.

[0058] In some embodiments, see Figure 1 , Figure 2 and Figure 5 The pulley assembly 21 includes two connected pulley components 211.

[0059] In some embodiments, see Figure 5 The bidirectional pump assembly 6 includes a first pump component 61, a second pump component 62, and an oil tank 63. Both the first pump component 61 and the second pump component 62 are connected to the oil tank 63 and are arranged in parallel to improve the operating efficiency of the bidirectional pump assembly 6. Both the first pump component 61 and the second pump component 62 can be configured as swashplate plunger pumps, allowing control of the positive and negative angles of the swashplates of the first pump component 61 and the second pump component 62, thereby changing the suction and discharge directions of the first pump component 61 and the second pump component 62.

[0060] In some embodiments, the bidirectional pump assembly 6 further includes a replenishing pump 64, one end of which is connected to the oil tank 63, and the other end of which is connected to the first pump component 61 and / or the second pump component 62 via a pipeline. The output of the replenishing pump 64 is maintained at a low discharge pressure for replenishing oil to the input of the first pump component 61 and / or the second pump component 62.

[0061] In some embodiments, a ninth control valve 55 is also included, one end of which is connected to the second pipe 52 and the other end is connected to the oil tank 63, for controlling the pressure of the energy storage mechanism 4.

[0062] In some embodiments, the underwater equipment may be configured as a drilling tool, an underwater measuring device, an underwater docking device, etc.

[0063] according to Figures 1 to 5 As shown, an embodiment of the present application describes a control method for a lifting compensation device, which is applied to the lifting compensation device. The control method includes: a descent control method, an ascent control method, and a passive control method.

[0064] The descent control method includes: when the underwater equipment descends, the bidirectional pump assembly 6 faces the first end, the first control valve 511 is closed, and the second control valve 521 and the third control valve 531 are opened, isolating the connection between the plunger chamber 33 and the first passive chamber 411, while maintaining the connection between the first end of the bidirectional pump assembly 6 and the first passive chamber 411, and the connection between the second end of the bidirectional pump assembly 6 and the plunger chamber 33. The bidirectional pump assembly 6 is started, causing it to operate in the first end delivery direction, pumping the hydraulic oil in the plunger chamber 33 sequentially through the third pipe 53, the bidirectional pump assembly 6, and the second pipe 52 to the first passive chamber 411. The increased pressure in the first passive chamber 411 causes the passive piston 413 to descend, thereby compressing the nitrogen in the second passive chamber 412, achieving energy storage, which can be released during the subsequent ascent; simultaneously, the pressure in the plunger chamber 33 decreases, the plunger 32 descends a first preset distance, the pulley assembly 21 descends a first preset distance, and the traction rope 22 moves relative to the pulley assembly 21 by twice the first preset distance, ultimately driving the underwater equipment to descend.

[0065] The ascent control method includes: when the underwater equipment descends and then ascends, the bidirectional pump assembly 6 faces the second end, the first control valve 511 and the third control valve 531 are opened, and the second control valve 521 is closed, maintaining the connection between the plunger chamber 33 and the first passive chamber 411, and the connection between the second end of the bidirectional pump assembly 6 and the plunger chamber 33, while disconnecting the connection between the first end of the bidirectional pump assembly 6 and the first passive chamber 411. The bidirectional pump assembly 6 is then started, causing it to operate in the output direction of the second end, pumping hydraulic oil from the oil tank 63 to the plunger chamber 33 through the third pipe 53, causing the plunger 32 to rise. Simultaneously, the second passive chamber 412 releases energy, and the passive piston 413 rises, causing the hydraulic oil in the first passive chamber 411 to be squeezed and then pumped through the first pipe 51 and merged with the hydraulic oil in the third pipe 53 to the plunger chamber 33. The pressure in the plunger chamber 33 increases, the plunger 32 is lifted, the pulley assembly 21 is lifted by a second preset distance, and the traction rope 22 moves relative to the pulley assembly 21 by twice the second preset distance, ultimately driving the underwater equipment to rise.

[0066] The passive control method includes: when the underwater equipment is at the target location and there are waves in the sea area, the first control valve 511 is opened, and the second control valve 521 and the third control valve 531 are closed, keeping the plunger chamber 33 connected to the first passive chamber 411, disconnecting the connection between the first end of the bidirectional pump assembly 6 and the first passive chamber 411, and the connection between the second end of the bidirectional pump assembly 6 and the plunger chamber 33, so that the weight of the passive piston 413 itself and the total pressure of the first passive chamber 411 are balanced with the pressure of the second passive chamber 412, and the total pressure of the plunger 32 and its upper mechanism are balanced with the pressure of the plunger chamber 33. As the main frame 1 rises and falls under the action of waves, the weight of the underwater equipment changes periodically, breaking the pressure balance between the total pressure of the plunger 32 and its upper mechanism and the pressure balance between the plunger cavity 33. This, in turn, breaks the pressure balance between the weight of the passive piston 413 itself and the total pressure of the first passive cavity 411 and the pressure balance of the second passive cavity 412. This causes the passive piston 413 and the plunger 32 to move around the center of equilibrium, compensating for the changes in the force exerted by the underwater equipment on the seabed strata. As a result, the force exerted by the underwater equipment on the seabed strata becomes relatively constant, thus achieving automatic passive lifting and lowering compensation for the underwater equipment.

[0067] The lifting compensation device and its usage method of this application firstly allow the hydraulic oil in the plunger chamber 33 to enter the first passive chamber 411 and compress nitrogen in the second passive chamber 412 during descent, thus storing energy. During subsequent ascent, the nitrogen expands and releases energy, driving the first passive chamber 411 to pump out hydraulic oil. The hydraulic oil from the first passive chamber 411 merges with the hydraulic oil from the bidirectional pump and is then pumped into the plunger chamber 33, further increasing the lifting speed of the plunger 32. This improves the lifting rate of the underwater equipment while reducing energy consumption, achieving the recovery and reuse of the descent potential energy. Secondly, the lifting compensation device of this application separates the energy storage mechanism 4 from the overhead crane, with the energy storage mechanism 4 externally connected to the platform 11. This not only reduces the weight of the equipment on the overhead crane but also lowers the overall height of the derrick 12, thereby significantly lowering the center of gravity of the main frame 1 and its supporting structure. Finally, the lifting compensation device of this application adopts the lifting method of plunger cylinder 3. The moving distance of the traction rope 22 is only twice that of the plunger cylinder 3, resulting in less wear and significantly extending the service life of the traction rope 22. This can improve work efficiency and reduce the cost of using the traction rope 22.

[0068] In some embodiments, see Figure 2 The bidirectional pump assembly 6 and the plunger cylinder 3 are installed on different layers of the platform 11, with the bidirectional pump assembly 6 installed on the lower layer. This not only lowers the overall center of gravity of the main frame 1, but also reduces the noise in the working area of ​​the upper platform 11.

[0069] according to Figure 5As shown, in one embodiment of this application, the energy storage mechanism 4 further includes an active compensation component 42. The active compensation component 42 includes a first active chamber 421, a second active chamber 422, and an active piston 423. The active piston 423 is movably installed inside the active compensation component 42 and is used to separate and form the first active chamber 421 and the second active chamber 422. The active piston 423 is rigidly connected to the passive piston 413, enabling the two pistons to move synchronously in the axial direction. The active compensation component 42 can apply an active adjustment effect to the passive compensation component 41. The first active chamber 421 is connected to the second active chamber 422 through a fourth pipe 54, and a fourth control valve 541 is provided on the fourth pipe 54. The fourth control valve 541 is used to control the communication state of the first active chamber 421 and the second active chamber 422. The active compensation component 42 also includes a fifth pipe 425 and a sixth pipe 426. The first end of the fifth pipe 425 is connected to the first active cavity 421, the first end of the sixth pipe 426 is connected to the second active cavity 422, and the second ends of the fifth pipe 425 and the sixth pipe 426 are both connected to the bidirectional pump component 6.

[0070] The lifting compensation device also includes a sensing mechanism (not shown) and a control mechanism 7. The sensing mechanism is used to acquire the lifting parameters of the main frame 1, the pressure parameters of the plunger chamber 33, and the position parameters of the plunger 32, the active piston 423, and the passive piston 413. The control mechanism 7 is used to control the flow direction and flow rate of hydraulic oil in the fifth pipe 425 and the sixth pipe 426 according to the parameters of the sensing mechanism, so as to deliver or discharge hydraulic oil to the first active chamber 421 or the second active chamber 422 respectively, thereby driving the active piston 423 to rise or fall.

[0071] according to Figures 1 to 5 As shown, in one embodiment of this application, the control method of the lifting compensation device includes: a descent control method, an ascent control method, a passive control method, and an active control method.

[0072] The descent control method, the ascent control method, and the passive control method all further include: opening the fourth control valve 541 to connect the first active chamber 421 and the second active chamber 422 to each other, thereby causing the active piston 423 to be in a floating state, and the active piston 423 rises and falls with the passive piston 413.

[0073] The active control method includes: firstly, executing a passive control method, i.e., opening the first control valve 511 and closing the second control valve 521 and the third control valve 531. Then, closing the fourth control valve 541, disconnecting the connection between the first active chamber 421 and the second active chamber 422. The control mechanism 7, based on the parameters of the sensing mechanism, controls the connection state of the switching valve 424 to adjust the flow direction and flow rate of the fifth pipe 425 and the sixth pipe 426, respectively supplying or discharging hydraulic oil to the first active chamber 421 or the second active chamber 422, thereby controlling the lifting and lowering of the active piston 423. When the active piston 423 moves up or down within the active compensation cylinder, the passive piston 413 is synchronously driven, causing corresponding changes in the volume of the first passive chamber 411 and the second passive chamber 412, thereby controlling the volume of the plunger chamber 33 and achieving active driving of the plunger 32's lifting and lowering.

[0074] Specifically:

[0075] When active control of underwater equipment lifting is required, the first control valve 511 opens, while the second control valve 521, third control valve 531, and fourth control valve 541 close. The control mechanism 7, based on parameters from the sensing mechanism, controls the connection state of the switching valve 424 to adjust the flow direction and flow rate of the fifth pipe 425 and the sixth pipe 426. Hydraulic oil is discharged from the first active chamber 421 and supplied to the second active chamber 422, causing the active piston 423 to rise. Simultaneously, the passive piston 413 rises, reducing the volume and increasing the pressure in the first passive chamber 411. This, in turn, increases the pressure in the plunger chamber 33, causing the plunger 32 to rise, thereby lifting the underwater equipment.

[0076] Similarly, when the descent of the underwater equipment needs to be actively controlled, the first control valve 511 opens, while the second control valve 521, the third control valve 531, and the fourth control valve 541 close. The control mechanism 7, based on the parameters of the sensing mechanism, controls the connection state of the switching valve 424 to adjust the flow direction and flow rate of the fifth pipe 425 and the sixth pipe 426, supplying hydraulic oil to the first active chamber 421 and discharging hydraulic oil from the second active chamber 422. This causes the active piston 423 to descend, and the passive piston 413 to descend synchronously, increasing the volume and decreasing the pressure in the first passive chamber 411. This, in turn, reduces the pressure in the plunger chamber 33, causing the plunger 32 to descend, thereby driving the underwater equipment to descend.

[0077] The lifting compensation device and its control method of this application can simultaneously satisfy active and passive compensation, and can quickly respond to sudden changes in sea state or load, achieving high-precision active compensation control. When active control does not require intervention, opening the fourth control valve 541 connects the first active chamber 421 and the second active chamber 422, and the active piston 423 enters a floating state, thus avoiding the influence of the active compensation component 42 on passive compensation and ensuring the flexibility and stability of the system response.

[0078] In some embodiments, see Figure 5 The control mechanism 7 includes a PLC controller 72.

[0079] In some embodiments, see Figure 5 The sensing mechanism includes an MRU real-time acquisition platform 71, a first sensing component (not shown), and a second sensing component (not shown). The MRU real-time acquisition platform 71 is used to acquire the vertical movement parameters of the main frame 1 caused by the influence of sea waves; the first sensing component is used to acquire pressure sensing data in the plunger cavity 33 and position sensing data of the plunger 32; the second sensing component is used to acquire position sensing data of the active piston 423 and the passive piston 413.

[0080] In some embodiments, see Figure 5 The first pipe 51 and the third pipe 53 are merged into one pipe and then connected to the plunger cavity 33. Compared with the double-acting hydraulic cylinder, the plunger cylinder 3 of this application has only one pipe connected to the outside, which reduces the risk of leakage, simplifies the pipeline layout, and significantly reduces the layout cost.

[0081] according to Figure 5 As shown, in one embodiment of this application, the active compensation component 42 further includes a switching valve 424, a seventh pipe 427, and an eighth pipe 428. The first end of the seventh pipe 427 is connected to the second end of the bidirectional pump assembly 6, which pumps hydraulic oil from the oil tank 63 to the seventh pipe 427. The first end of the eighth pipe 428 is connected to the bidirectional pump assembly 6, and hydraulic oil in the eighth pipe 428 can be pumped to the bidirectional pump assembly 6. The second ends of the fifth pipe 425 and the sixth pipe 426 are connected to the second end of the eighth pipe 428 or the second end of the ninth pipe 81 via the switching valve 424. The control mechanism 7 can control the flow direction and flow rate of hydraulic oil in the fifth pipe 425 and the sixth pipe 426 via the switching valve 424.

[0082] In some embodiments, see Figure 5 The first end of the eighth pipe 428 is connected to the oil tank 63, and the hydraulic oil of the first active chamber or the second active chamber flows back to the oil tank 63 through the eighth pipe.

[0083] When active control of the underwater equipment lifting is required, the control mechanism 7 controls the switching valve 424 to connect the sixth pipe 426 and the seventh pipe 427, enabling the hydraulic oil of the bidirectional pump assembly 6 to be pumped sequentially through the seventh pipe 427 and the sixth pipe 426 into the second active chamber 422. The fifth pipe 425 is connected to the eighth pipe 428, and the active piston 423 rises, causing the hydraulic oil in the first active chamber 421 to flow back to the bidirectional pump assembly 6 sequentially through the fifth pipe 425 and the eighth pipe 428.

[0084] Similarly, when active control of the underwater equipment's descent is required, the control mechanism 7 controls the switching valve 424 to connect the fifth pipe 425 and the seventh pipe 427, enabling hydraulic oil to be pumped sequentially through the seventh pipe 427 and the fifth pipe 425 into the first active chamber 421. The sixth pipe 426 is connected to the eighth pipe 428, and the active piston 423 descends, causing the hydraulic oil in the second active chamber 422 to flow back to the bidirectional pump assembly 6 sequentially through the sixth pipe 426 and the eighth pipe 428. Figure 5 As shown, in one embodiment of this application, the lifting compensation device further includes an emergency lowering device 8. The emergency lowering device includes a ninth pipe 81 and a sixth control valve 82. The sixth control valve 82 is installed on the ninth pipe 81, one end of which is connected to the oil tank 63, and the other end is connected to the plunger chamber 33. When the bidirectional pump assembly 6 loses its pumping function, the sixth control valve 82 is opened, and the hydraulic oil in the plunger cylinder 3 is released back into the oil tank 63 under the weight of the plunger 32 and its upper mechanism, thus achieving emergency lowering of the plunger 32.

[0085] according to Figure 5 As shown, in one embodiment of this application, the lifting compensation device further includes an emergency lifting device 9. The emergency lifting device 9 includes a tenth pipe 91, a pilot pump 93, and a seventh control valve 92. Both the seventh control valve 92 and the pilot pump 93 are installed on the tenth pipe 91. One end of the tenth pipe 91 is connected to the oil tank 63, and the other end is connected to the plunger chamber 33. When the bidirectional pump assembly 6 loses its pumping function, opening the seventh control valve 92 activates the pilot pump 93, pumping hydraulic oil from the oil tank 63 into the plunger chamber 33, thereby achieving an emergency lifting of the plunger 32.

[0086] In some embodiments, the sixth control valve 82 and the seventh control valve 92 can be configured as manual valves, electrically controlled valves, etc.

[0087] according to Figures 1 to 5 As shown, in one embodiment of this application, the lifting compensation device further includes a nitrogen cylinder group 43, which is connected to the second passive cavity 412 via an eleventh pipe 433. Specifically, the nitrogen cylinder group 43 includes a working nitrogen cylinder group 431 and a spare nitrogen cylinder group 432. The working nitrogen cylinder group 431 is connected to the second passive cavity 412, which can increase the volume of the second passive cavity 412 and improve the lifting compensation device's ability to cope with large waves. The spare nitrogen cylinder group 432 is arranged in parallel with the working nitrogen cylinder group 431 and is connected to the second passive cavity 412 via a pipeline. The spare nitrogen cylinder group 432 can be used to replace the working nitrogen cylinder group 431 when it fails, and can also be used to quickly replenish the working nitrogen cylinder group 431.

[0088] In some embodiments, an eighth control valve 434 is provided on the eleventh pipe 433 for controlling the connection state between the nitrogen cylinder group 43 and the second passive chamber 412.

[0089] In some embodiments, see Figure 5 Before executing the passive control method and the active control method, the control method of the lifting compensation device also includes the step of adjusting the position of the plunger 32 and the passive piston 413.

[0090] Adjusting the position of plunger 32 and passive piston 413 includes: opening the third control valve 531, allowing the bidirectional pump assembly 6 to discharge or supply oil to the plunger chamber 33 through the third channel, so that the plunger 32 is close to the middle of the stroke of the plunger chamber 33, away from the upper and lower ends of the stroke, to avoid collision and damage to the ends of the plunger chamber 33 when the passive control method is executed. At the same time, nitrogen is input or output to the second passive chamber 412 through the nitrogen cylinder group 43, so that the volume of the first passive chamber 411 is approximately equal to the volume of the second passive chamber 412, that is, the passive piston 413 is in the middle.

[0091] according to Figures 1 to 5 As shown, a drilling vessel according to one embodiment of this application includes a lifting compensation device, and the underwater equipment includes a top drive 13, a drill string 14 and a drill bit 15, with a towing rope 22, the top drive 13, the drill string 14 and the drill bit 15 connected in sequence.

[0092] The lifting compensation device and its control method disclosed in this application, along with the drilling vessel, firstly, externally mount the bidirectional pump assembly 6 and plunger cylinder 3 on the platform 11, thereby significantly reducing the weight on the overhead crane and lowering the overall height of the derrick 12, meeting the requirements for crossing the sea-crossing bridge. This also lowers the center of gravity of the overall structure, enhancing overall stability. Secondly, by separating the bidirectional pump assembly 6 from the plunger cylinder 3 and placing the bidirectional pump assembly 6 at a lower position on the platform 11, the center of gravity of the overall structure is further lowered, reducing noise in the drill bit 15 operating area. Furthermore, using the plunger cylinder 3 lifting method, the traction rope 22 travels only twice the distance of the plunger 32, extending the service life of the traction rope 22. In addition, placing the energy storage mechanism 4 near the plunger cylinder 3 improves the compensation response efficiency while facilitating maintenance by personnel and reducing downtime. Finally, a portion of the gravitational potential energy below the drill string 14 can be stored in the passive compensation assembly 41 and nitrogen cylinder group 43 via the bidirectional pump assembly 6, and released and reused during the lifting of the drill string 14, thereby improving operational efficiency and reducing energy consumption.

[0093] In the description of this specification, the use of terms such as "an embodiment," "some examples," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" indicates that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0094] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A lifting compensation device, characterized in that: include The main framework, including the platform; The pulley mechanism includes a pulley assembly and a traction rope. The traction rope is mounted on the pulley assembly, with one end connected to the underwater equipment and the other end connected to the main frame. A plunger cylinder includes a cylinder body and a plunger. The cylinder body is disposed on the platform. A first end of the plunger is connected to the pulley assembly. A second end of the plunger is movably disposed in the cylinder body. The side of the second end of the plunger away from the first end forms a plunger cavity with the cylinder body. An energy storage mechanism is mounted on the platform. The energy storage mechanism includes a passive compensation component, which includes a first passive chamber, a second passive chamber, and a passive piston for separating the first passive chamber and the second passive chamber. The first passive chamber is connected to the plunger chamber through a first pipe, and a first control valve is provided on the first pipe. A bidirectional pump assembly is disposed on the platform. The first end of the bidirectional pump assembly is connected to the first passive chamber through a second pipe, and the second pipe is provided with a second control valve. The second end of the bidirectional pump assembly is connected to the plunger chamber through a third pipe, and the third pipe is provided with a third control valve.

2. The lifting compensation device according to claim 1, characterized in that: The energy storage mechanism further includes an active compensation component, which includes a first active chamber, a second active chamber, and an active piston for separating the first active chamber and the second active chamber. The active piston is connected to the passive piston. The first active chamber is connected to the second active chamber through a fourth pipe, and the fourth pipe is provided with a fourth control valve. The active compensation component further includes a fifth pipe and a sixth pipe. The first end of the fifth pipe is connected to the first active cavity, the first end of the sixth pipe is connected to the second active cavity, and the second ends of both the fifth pipe and the sixth pipe are connected to the bidirectional pump component. The lifting compensation device also includes a sensing mechanism and a control mechanism. The sensing mechanism is used to acquire the lifting parameters of the main frame, the pressure parameters of the plunger chamber, and the position parameters of the plunger, the active piston, and the passive piston. The control mechanism is used to control the flow direction and flow rate of hydraulic oil in the fifth and sixth pipes according to the parameters of the sensing mechanism, so as to drive the active piston to rise and fall.

3. The lifting compensation device according to claim 2, characterized in that: The active compensation component also includes a switching valve, a seventh pipe, and an eighth pipe. The first end of the seventh pipe is connected to the second end of the bidirectional pump assembly, and the first end of the eighth pipe is connected to the bidirectional pump assembly. The second ends of the fifth pipe and the sixth pipe are connected to the second ends of the seventh pipe and the eighth pipe, respectively, through the switching valve. The control mechanism controls the flow direction and flow rate of hydraulic oil in the fifth pipe and the sixth pipe through the switching valve.

4. The lifting compensation device according to claim 1, characterized in that: It also includes an emergency release device, which includes a ninth pipe and a sixth control valve installed on the ninth pipe. One end of the ninth pipe is connected to the oil tank, and the other end is connected to the plunger chamber.

5. The lifting compensation device according to claim 1 or 4, characterized in that: It also includes an emergency lifting device, which includes a tenth pipe, a pilot pump installed on the tenth pipe, and a seventh control valve installed on the tenth pipe. One end of the tenth pipe is connected to the oil tank, and the other end is connected to the plunger chamber.

6. The lifting compensation device according to claim 1, characterized in that: It also includes a nitrogen cylinder assembly, which is connected to the second passive chamber via an eleventh pipe.

7. A control method for a lifting compensation device, characterized in that, The control method applied to the lifting compensation device according to any one of claims 1 to 6 includes: a descent control method, an ascent control method, and a passive control method; The descent control method includes: the bidirectional pump assembly facing the first end, the first control valve closed, and the second and third control valves open; the bidirectional pump assembly is started, pumping the hydraulic oil in the plunger chamber sequentially through the third pipe, the bidirectional pump assembly, and the second pipe to the first passive chamber, increasing the pressure in the first passive chamber and causing the passive piston to descend, thereby compressing the nitrogen in the second passive chamber to achieve energy storage; simultaneously, the plunger descends, the pulley assembly descends, thereby driving the underwater equipment to descend; The rising control method includes: the bidirectional pump assembly facing the second end, the first control valve and the third control valve opening, and the second control valve closing; starting the bidirectional pump assembly, the hydraulic oil is pumped through the third pipeline to the plunger chamber through the bidirectional pump assembly, causing the plunger to rise; at the same time, the second passive chamber releases energy, the passive piston rises, causing the hydraulic oil in the first passive chamber to flow through the first pipeline and merge with the hydraulic oil in the third pipeline before being pumped to the plunger chamber. The passive control method includes: opening the first control valve and closing the second and third control valves, so that the plunger chamber is connected to the first passive chamber.

8. The control method for the lifting compensation device according to claim 7, characterized in that: The descent control method, the ascent control method, and the passive control method further include: The fourth control valve opens, connecting the first and second active chambers, thereby causing the active piston to float.

9. The control method for the lifting compensation device according to claim 8, characterized in that: It also includes active control methods; The active control method includes: opening the first control valve and closing the second, third, and fourth control valves; the control mechanism controls the connection status of the switching valves according to the parameters of the sensing mechanism to adjust the flow direction and flow rate of the fifth and sixth pipes, control the lifting and lowering of the active piston, and thus control the lifting and lowering of the passive piston.

10. A drilling vessel, characterized in that: The underwater equipment includes the lifting compensation device according to any one of claims 1 to 6, wherein the underwater equipment includes a top drive, a drill string and a drill bit, and the traction rope, the top drive, the drill string and the drill bit are connected in sequence.

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