Mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms

Abstract

The utility model relates to offshore operation platform technical field, especially a kind of mechanical three degrees of freedom platform for offshore drilling platform coring operation. Including movable platform body, movable platform body includes the support platform located in the deck of hull directly above and the extension platform located in the deck outer side of hull, extension platform is equipped with the through-hole for drill rod to stretch out downwards, support platform and extension platform are integral structure;Movable platform body is connected between the deck of hull by drive arrangement and degree of freedom restraint device, the length change of the leg of drive arrangement at three side edges is realized the compensation of movable platform body six degrees of freedom movement, through degree of freedom restraint device, the degree of freedom of movable platform body is constrained. It can realize offshore drilling coring operation, and the stability of offshore drilling operation platform is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of offshore operation platform technology, and in particular to a mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms. Background Technology

[0002] Multi-degree-of-freedom (DOF) platforms, with their ability to adjust attitude in multiple directions, demonstrate significant advantages in fields such as industrial automation and simulation. They can flexibly adapt to the diverse needs of equipment attitude in different operational scenarios, greatly improving the accuracy and efficiency of operations. However, currently common multi-DOF motion compensation platforms are not suitable for offshore coring operations, specifically in the following aspects: (1) First, existing multi-degree-of-freedom moving platforms usually do not have an extension structure, which means that the drill rod of the drilling rig set on the moving platform cannot extend out of the hull to work; (2) Existing multi-degree-of-freedom platforms are usually small in size and have low load. If an extension platform structure is added to the existing multi-degree-of-freedom moving platform, two problems will arise: First, the volume of the multi-degree-of-freedom moving platform will increase accordingly after the extension platform is added, which will increase the energy consumption and load ratio of the moving platform. High energy consumption requires high power supply from the core sampling ship, resulting in poor platform adaptability. Second, the addition of an extension platform to the multi-degree-of-freedom moving platform will cause the center of gravity of the moving platform to change, which will increase the difficulty of controlling the multi-degree-of-freedom platform. (3) The existing multi-degree-of-freedom moving platform adopts a planar design, and the overall center of gravity is far vertically away from the base platform. Under the condition of swaying waves, the stability of the moving platform is extremely poor, which in turn directly affects the accuracy of the coring operation. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects in the existing technology and to propose a mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms, which can realize offshore drilling coring operations and ensure the stability of the offshore drilling platform.

[0004] The technical solution of this utility model is: a mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms, which includes a moving platform body, the moving platform body including a support platform located directly above the ship's deck and an extension platform located outside the ship's deck, the extension platform is provided with a through hole for the drill pipe to extend downward, and the support platform and the extension platform are an integral structure. The moving platform body is connected to the ship's deck via a drive device and a degree-of-freedom constraint device. The six degrees of freedom of the moving platform body are compensated by the change in the length of the outriggers of the drive device on the three sides. The degrees of freedom of the moving platform body are constrained by the degree-of-freedom constraint device.

[0005] In this utility model, the moving platform body includes: Steel grating; The platform frame is a truss structure made of crisscrossing steel frames. Steel grating is installed on the platform frame, and the perimeter of the platform frame is equipped with enclosed guardrails.

[0006] The hull deck is equipped with a bottom frame, which is connected to the moving platform body via a drive device and a degree-of-freedom constraint device.

[0007] The moving platform body is in the shape of a quadrilateral, and a driving device is provided on the other three sides of the moving platform body, excluding the protruding side. The three driving devices are distributed in an equilateral triangle.

[0008] The drive unit includes: The drive unit is connected to the bottom frame via a Hooke hinge at its bottom and to the top of the drive bracket via a ball joint at its top. The drive bracket has its top higher than the moving platform body, and its bottom is fixedly connected to the moving platform body.

[0009] The drive unit includes: The electric cylinder drive mechanism includes a motor and an electric cylinder piston rod. The output shaft of the motor is connected to the input shaft of the gearbox. The output shaft of the gearbox is connected to the electric cylinder piston rod through a lead screw and nut pair. The top end of the electric cylinder piston rod is fixedly connected to a third support plate, and the lower end of the electric cylinder piston rod is slidably disposed in the electric cylinder body. The cylinder drive mechanism includes several cylinder piston rods and corresponding cylinder bodies. The cylinder piston rods are symmetrically arranged on the outside of the electric cylinder piston rods. The top of the cylinder piston rods is fixedly connected to the third support plate, and the lower end of the cylinder piston rods is slidably arranged in the cylinder body. The top of the cylinder body is bolted to the second support plate, and the bottom of the cylinder body is bolted to the first support plate.

[0010] The moving platform body is equipped with degree-of-freedom constraint devices on the three sides other than the protruding side.

[0011] The degree-of-freedom constraint device includes: The columns are installed vertically, and their bottom ends are fixedly connected to the bottom frame. The support arm is fixedly installed on the side of the platform frame and close to the drive unit; The horizontal tie rod is connected at one end to the extended end of the support arm via a ball joint, and at the other end to the top of the column via a ball joint. When the electric cylinder piston rod and the air cylinder piston rod of the three side drive devices are all at the midpoint of their stroke, the tie rod is in a horizontal state.

[0012] The beneficial effects of this utility model are: (1) It achieves the stationarity of the three degrees of freedom of the moving platform body and the load set on the moving platform body in the inertial coordinate system (i.e. the coordinate system where the land is located), thus compensating for the three degrees of freedom of motion caused by the ship. (2) By setting an extension platform on the moving platform body, the drill rod of the drilling rig can be vertically extended into the rock strata of the seabed to achieve core sampling of seabed samples. This device platform is suitable for seabed drilling and core sampling operations. (3) The moving platform body in this application is set at the bottom of the drive support. Through the drive support located on the three sides, it can not only achieve stable support for the moving platform body, but also reduce the height of the moving platform body. The moving platform body does not need to be set on the top of the drive device, so that the overall center of the moving platform body and the load set on the moving platform body is lowered, which improves the stability of the platform and the load and makes it easier to complete the core sampling operation of the offshore drilling rig. (4) The drive unit proposed in this application adopts a cooperative operation of electric cylinder drive mechanism and pneumatic cylinder drive mechanism. When it is necessary to adjust the height of the moving platform body and the load, the electric cylinder drive mechanism takes advantage of the fast response of electric drive to maintain the target attitude of the moving platform body and the load on the moving platform body in the inertial coordinate system. When the pneumatic cylinder drive mechanism responds, the electric cylinder drive mechanism and the pneumatic cylinder drive mechanism act in parallel, which improves the load capacity of the platform and enables the platform to take into account both response speed and load capacity. (5) The freedom constraint device proposed in this application can accurately constrain the freedom of the platform, enabling the platform to realize the three degrees of freedom of lifting along the Z-axis, rotating along the X-axis, and rotating along the Y-axis in the non-inertial coordinate system (i.e. the coordinate system where the hull is located), and ensuring the safety of the other three degrees of freedom that are not of concern, namely sway, pitch, and yaw, effectively improving the stability of the drilling rig operating platform. Attached Figure Description

[0013] Figure 1 This is a first three-dimensional structural schematic diagram of the present invention; Figure 2 This is a second three-dimensional structural schematic diagram of the present invention; Figure 3 This is a top view of the structure of this utility model; Figure 4 This is a schematic diagram of the drive unit.

[0014] In the diagram: 1 Platform frame; 2 Guardrail; 3 Steel grating; 4 Bottom frame; 5 Drive unit; 501 Ball joint; 502 Electric cylinder piston rod; 503 Air cylinder piston rod; 504 Motor; 505 Gearbox; 506 Hooke joint; 507 First support plate; 508 Electric cylinder body; 509 Air cylinder body; 510 Second support plate; 511 Third support plate; 6 First support arm; 7 First crossbar; 8 Reinforcing rib; 9 First column; 10 Support frame; 11 Third column; 12 Third crossbar; 13 First side; 14 Drive device; 15 Second crossbar; 16 Second side; 17 Drive bracket; 18 Extended side; 20 Second column; 21 Second support arm; 22 Third support arm; 23 Third side; 24 Extended platform; 25 Through hole. Detailed Implementation

[0015] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0016] Specific details are set forth in the following description to provide a full understanding of the present invention. However, the present invention can be implemented in many ways other than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0017] like Figures 1 to 3 As shown, the mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to this utility model includes a moving platform body, a drive device, and a degree-of-freedom constraint device. The moving platform body includes a support platform located directly above the ship's deck and an extension platform 24 located outside the ship's deck. The extension platform 24 has a through hole 25, through which the drill rod of the drilling rig can be inserted into the seabed rock strata. The support platform and the extension platform 24 are fixedly connected. In this embodiment, the support platform and the extension platform 24 are an integral structure.

[0018] The moving platform body includes a planar steel grating 3, which is mounted on a platform frame 1. The platform frame 1 adopts a truss structure, including several steel frames spaced apart along the X-axis and several steel frames spaced apart along the Y-axis. The steel frames are fixedly connected, and the platform frame 1 provides support for the steel grating 3. Enclosed guardrails 2 are installed along the edges of the platform frame 1, protecting workers and objects on the platform and effectively preventing them from falling below.

[0019] A bottom frame 4 is fixed to the deck of the ship. The bottom frame 4 is connected to the moving platform body above it via a drive device 14 and a degree-of-freedom constraint device. The drive device enables the moving platform body to compensate for six degrees of freedom of motion. The degree-of-freedom constraint device restricts the degree of freedom of the moving platform body, allowing it to only perform linear motion in the Z-axis direction, rotation in the X-axis direction, and rotation in the Y-axis direction relative to the ship. Since the ship itself in the ocean also has a certain degree of freedom of motion relative to the land, this application compensates for the three degrees of freedom of motion caused by the ship through the degree-of-freedom constraint device. This ensures that the moving platform body and the load on the moving platform body can always maintain the target attitude relative to the land, guaranteeing the safety and accuracy of the load operation.

[0020] In this embodiment, the moving platform body is quadrilateral in shape, including a protruding side 18, a first side 13, a second side 16, and a third side 23. The protruding side 18 and the third side 23 are correspondingly arranged two sides, as are the first side 13 and the second side 16. The corresponding bottom frame 4 is also quadrilateral in shape. The first side 13, the second side 16, and the third side 23 are connected to the bottom frame 4 via driving devices. In this embodiment, the three driving devices located at the three sides are arranged in an equilateral triangle.

[0021] The drive unit includes a drive section 5 and a drive bracket 17. The bottom of the drive section 5 is connected to the bottom frame 4 via a Hooke hinge 506, and the top of the drive section 5 is connected to the drive bracket 17 via a ball joint 501. The top plane of the drive bracket 17 is connected to the drive section 5, and the bottom plane of the drive bracket 17 is fixedly connected to the moving platform body. By setting the drive bracket 17, the overall center of gravity of the moving platform body and the loads mounted on it can be lowered, improving motion stability and making the platform more suitable for offshore drilling coring operations.

[0022] In this embodiment, the side plane of the drive bracket 17 facing the moving platform body is inclined, which improves the connection strength between the drive bracket 17 and the moving platform body. During the operation of the drive unit 5, the drive bracket 17 moves while the drive bracket 17 moves the moving platform body up and down.

[0023] like Figure 4As shown, the drive unit 5 includes a pneumatic cylinder drive mechanism and an electric cylinder drive mechanism. The electric cylinder drive mechanism includes a motor 504, a gearbox 505, and an electric cylinder piston rod 502. The output shaft of the motor 504 is connected to the input shaft of the gearbox 505. The output shaft of the gearbox 505 and the electric cylinder piston rod 502 are connected by a lead screw and nut pair, which converts the rotation of the output shaft of the gearbox 505 into the vertical up-and-down movement of the electric cylinder piston rod 502. The lead screw and nut pair is a common mechanical structure, so its structure will not be described in detail in this application.

[0024] The gearbox 505 is fixedly mounted on the first support plate 507 at the bottom, and the first support plate 507 is connected to the bottom frame 4 via a Hooke hinge 506. The lower end of the electric cylinder piston rod 502 is slidably mounted inside the electric cylinder body 508. To guide the up-and-down movement of the electric cylinder piston rod 501, a guide ring is provided between the outer wall of the electric piston rod 502 and the inner wall of the electric cylinder body, which limits and guides the movement of the electric cylinder piston rod 501. Generally speaking, the setting of a guide ring is a common mechanical structure in the art, therefore, this application does not further describe or illustrate the guide ring.

[0025] The bottom end of the electric cylinder body 508 is fixedly connected to the first support plate 507, and the top end of the electric cylinder body 508 is fixedly connected to the second support plate 510. The top end of the electric cylinder piston rod 501 is fixedly connected to the third support plate 511, and the third support plate 511 is connected to the top plate of the drive bracket 17 through a ball joint 501.

[0026] The cylinder drive mechanism includes several cylinder piston rods 503 and corresponding cylinder bodies 509. In this embodiment, the cylinder drive mechanism includes two cylinder piston rods 503 located outside the electric cylinder piston rods and symmetrically arranged. The top end of the cylinder body 509 is fixedly connected to the second support plate 510, and the bottom end of the cylinder body 509 is fixedly connected to the first support plate 507. The bottom end of the cylinder piston rod 503 is movably disposed within the cylinder body 509, and the top end of the cylinder piston rod 503 is fixedly connected to the third support plate 511.

[0027] In practical operation, the electric cylinder drive mechanism responds quickly. Therefore, the motor 504 of the electric cylinder drive mechanism actuates first, driving the platform body to move up and down via the electric cylinder piston rod 502. Subsequently, the pneumatic cylinder drive mechanism responds. At this time, the motor drive mechanism and the pneumatic cylinder drive mechanism drive in parallel, improving the load capacity of the entire platform and enabling the platform to balance response speed and load capacity.

[0028] While electric cylinder drive mechanisms offer fast response, their performance is often limited by the power output of the work vessel's generator. The cylinder in this application consistently provides an upward thrust along the cylinder piston. When the drive unit pushes the platform body and load upwards, the cylinder can offset part of the load's gravity, reducing the electric cylinder's drive power and thus lowering its power consumption. Conversely, when the drive unit moves the platform body and load downwards, the gravity of the platform body and load presses the cylinder downwards, further offsetting some of the electric cylinder's drive power and reducing its power consumption. In summary, under the same power output, the electric cylinder drive of this application achieves a higher load capacity.

[0029] In addition, the lifting height of the drive devices at the three sides in this application is not the same when the platform begins to compensate for wave motion. It is necessary to control the lifting height of the drive devices at the three sides separately according to the attitude of the moving platform relative to the inertial coordinate system. The specific implementation method is as follows: the attitude of the moving platform relative to the earth coordinate system is measured in real time by the attitude sensor. The attitude data is transmitted to the controller and the height of the three drive devices under the target attitude is calculated by the control algorithm. Then, the three drive devices are controlled to achieve the moving platform body and the load always in the target attitude. The target attitude is that the moving platform does not rotate around the X-axis and Y-axis relative to the earth coordinate system and remains horizontal and does not move along the Z-axis.

[0030] In this application, the degree-of-freedom constraint device includes three degree-of-freedom constraint mechanisms respectively provided on the three sides other than the protruding side. In this embodiment, a first degree-of-freedom constraint mechanism is provided at the first side 13, a second degree-of-freedom constraint mechanism is provided at the second side 16, and a third degree-of-freedom constraint mechanism is provided at the third side 23. Under the joint constraint of the three degree-of-freedom constraint mechanisms, the moving platform body and the load relative to the hull body can only achieve rotation in the X-axis direction, rotation in the Y-axis direction, and movement in the Z-axis direction.

[0031] The first degree of freedom constraint mechanism includes a first column 9, a first horizontal tie rod 7, and a first support arm 6. The first support arm 6 is fixed to the platform frame located at the first side 13, and is close to the drive bracket located on that side. The bottom of the first column 9 is fixedly connected to the bottom frame 4, and the top of the first column 9 is connected to the first support arm 6 via the first horizontal tie rod 7. One end of the first horizontal tie rod 7 is connected to the top of the first column 9 via a ball joint, and the other end of the first horizontal tie rod 7 is connected to the extended end of the first support arm 6 via a ball joint. To improve the connection strength between the first column 9 and the bottom frame 4, a reinforcing rib 8 is fixedly connected between the first column 9 and the bottom frame 4.

[0032] The second degree of freedom constraint mechanism includes a second column 20, a second horizontal tie rod 15, and a second support arm 21. The second support arm 21 is fixed to the platform frame located at the second side 16, and is close to the drive bracket located on that side. The bottom of the second column 20 is fixedly connected to the bottom frame 4, and the top of the second column 20 is connected to the second support arm 21 via the second horizontal tie rod 15. One end of the second horizontal tie rod 15 is connected to the top of the second column 20 via a ball joint, and the other end of the second horizontal tie rod 15 is connected to the extended end of the second support arm 21 via a ball joint. To improve the connection strength between the second column 20 and the bottom frame 4, reinforcing ribs are fixedly connected between the second column 20 and the bottom frame 4.

[0033] The third degree of freedom constraint mechanism includes a support frame 10, a third column 11, a third horizontal tie rod 12, and a third support arm 22. The third support arm 22 is fixed to the platform frame located at the third side 23, and the third support arm 22 is close to the drive bracket located on that side. The support frame 10 is provided on the outer side of the bottom frame 4 and is fixed to the hull deck. The bottom of the third column 11 is fixedly connected to the support frame 10, and the top of the third column 11 is connected to the third support arm 22 through the third horizontal tie rod 12. One end of the third horizontal tie rod 12 is connected to the top of the third column 11 through a ball joint, and the other end of the third horizontal tie rod 12 is connected to the extended end of the third support arm 22 through a ball joint. To improve the connection strength between the third column 11 and the support frame 10, reinforcing ribs are fixedly connected between the third column 11 and the support frame 10.

[0034] When the electric cylinder piston rod and the pneumatic cylinder piston rod of the drive device on all three sides are at the midpoint of their stroke, the first horizontal tie rod 7, the second horizontal tie rod 15, and the third horizontal tie rod 12 are in a horizontal state. Under the combined pulling action of the first horizontal tie rod 7, the second horizontal tie rod 15, and the third horizontal tie rod 12, the degree of freedom of the moving platform body is constrained.

[0035] During operation, the offshore drilling platform for seabed coring is mounted on the moving platform body, and the drill pipe of the drilling rig penetrates deep into the seabed rock strata through the through-hole 25 on the extended platform 24 to achieve drilling of the seabed rock strata. During the drilling process, this application restricts the movement of the moving platform body, allowing the moving platform body and load to only achieve three degrees of freedom of movement relative to the hull itself, namely displacement along the Z-axis (lifting and lowering) and rotation around the X and Y axes. At the same time, it ensures that the moving platform body and load maintain a constant attitude relative to the target land on the coast, thereby guaranteeing the safety and accuracy of the drilling operation.

[0036] The above provides a detailed description of the mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model. The above description of the disclosed embodiments enables those skilled in the art to implement or use this utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this utility model. Therefore, this utility model is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms, characterized in that, It includes a moving platform body, which includes a support platform located directly above the ship's deck and an extension platform located outside the ship's deck. The extension platform is provided with a through hole for the drill rod to extend downwards. The support platform and the extension platform are an integral structure. The moving platform body is connected to the ship's deck via a drive device and a degree-of-freedom constraint device. The drive device compensates for the six degrees of freedom of the moving platform body, while the degree-of-freedom constraint device constrains the degrees of freedom of the moving platform body.

2. The mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to claim 1, characterized in that, The moving platform itself includes: Steel grating; The platform frame is a truss structure made of crisscrossing steel frames. Steel grating is installed on the platform frame, and the perimeter of the platform frame is equipped with enclosed guardrails.

3. The mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to claim 1, characterized in that, The hull deck is equipped with a bottom frame, which is connected to the moving platform body via a drive device and a degree-of-freedom constraint device.

4. The three-degree-of-freedom mechanical platform for coring operations on offshore drilling platforms according to claim 3, characterized in that, The moving platform body is in the shape of a quadrilateral, and a driving device is provided on the other three sides of the moving platform body, excluding the protruding side. The three driving devices are distributed in an equilateral triangle.

5. The three-degree-of-freedom mechanical platform for coring operations on offshore drilling platforms according to claim 3, characterized in that, The drive unit includes: The drive unit is connected to the bottom frame via a Hooke hinge at its bottom and to the top of the drive bracket via a ball joint at its top. The drive bracket has its top higher than the moving platform body, and its bottom is fixedly connected to the moving platform body.

6. The mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to claim 5, characterized in that, The drive unit includes: The electric cylinder drive mechanism includes a motor and an electric cylinder piston rod. The output shaft of the motor is connected to the input shaft of the gearbox. The output shaft of the gearbox is connected to the electric cylinder piston rod through a lead screw and nut pair. The top end of the electric cylinder piston rod is fixedly connected to a third support plate, and the lower end of the electric cylinder piston rod is slidably disposed in the electric cylinder body. The cylinder drive mechanism includes several cylinder piston rods and corresponding cylinder bodies. The cylinder piston rods are symmetrically arranged on the outside of the electric cylinder piston rods. The top of the cylinder piston rods is fixedly connected to the third support plate, and the lower end of the cylinder piston rods is slidably arranged in the cylinder body. The top of the cylinder body is bolted to the second support plate, and the bottom of the cylinder body is bolted to the first support plate.

7. The mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to claim 3, characterized in that, The moving platform body is equipped with degree-of-freedom constraint devices on the three sides other than the protruding side.

8. The mechanical three-degree-of-freedom platform for coring operations on offshore drilling platforms according to claim 3, characterized in that, The degree-of-freedom constraint device includes: The columns are installed vertically, and their bottom ends are fixedly connected to the bottom frame. The support arm is fixedly installed on the side of the platform frame and close to the drive unit; The horizontal tie rod is connected at one end to the extended end of the support arm via a ball joint, and at the other end to the top of the column via a ball joint. When the electric cylinder piston rod and the air cylinder piston rod of the three side drive devices are all at the midpoint of their stroke, the tie rod is in a horizontal state.

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