Underwater rotary compensator

Abstract

The application relates to an underwater rotary compensation device, which comprises a base connected with a winch through a first cable, a reel rotatably arranged on the base, a second cable wound around the reel, the second cable being connected with a load, and a driving assembly, the power output end of which is in transmission connection with the reel to drive the reel to rotate, so that the introduction of excessive rotational inertia can be avoided, the influence of the rotational inertia of the long cable can be eliminated, the power demand of the compensation device is greatly reduced, the power of the driving assembly does not need to be set too large, the heave compensation of the load can be realized, and thus the equipment volume and cost are reduced.

Description

Technical Field

[0001] This application relates to the field of marine engineering equipment technology, and in particular to an underwater rotary compensation device. Background Technology

[0002] During cargo replenishment operations between ships, the action of waves causes swaying and heave, resulting in relative vertical movement between the ships. This can lead to rising ships colliding with cargo being lowered, or even cargo already placed on deck being suspended again due to the ship's sinking. This poses significant difficulties and even dangers to effective operations at sea. Similarly, during deep-sea underwater production and pipeline laying, the heave of ships causes the mooring lines to experience repeatedly changing time-varying tension, which intensifies as sea conditions worsen.

[0003] In related technologies, traditional compensation systems use deck winches with compensation functions. When the load is lowered to a deeper underwater depth, the winch needs to bear the weight of the cable. The moment of inertia of the winch when carrying the cable is large, resulting in a large total power demand for the equipment. Correspondingly, the power of the drive and braking components is also large, which makes the equipment cost high and occupies a large space. Utility Model Content

[0004] This application provides an underwater rotary compensation device that can avoid introducing excessive rotational inertia, and the weight of the second cable has little impact on the compensation accuracy of the drum, thereby reducing the size and weight of the equipment.

[0005] This application provides an underwater rotating compensation device, comprising: The base is connected to the winch via a first cable; A drum, rotatably mounted on the base, is wound with a second cable, the second cable being connected to a load; and A drive assembly, the power output end of which is connected to the drum drive to drive the drum to rotate; In one possible implementation, the base is provided with a lifting point and a suspension point opposite each other in its height direction, and the lifting point is connected to the winch via the first cable; One end of the second cable is connected to the drum, and the other end of the second cable is connected to the load through the suspension point. The length of the second cable is less than the length of the first cable.

[0006] In one possible implementation, the drive assembly includes a driver, a drive gear, and a transmission gear. The output shaft of the driver is connected to the drive gear, the drive gear meshes with the transmission gear, and the power output end of the transmission gear is connected to the drum drive.

[0007] In one possible implementation, a first sealed chamber is provided on the first side of the base, and a power supply device is provided inside the first sealed chamber, the power supply device being connected to the driver.

[0008] In one possible implementation, a second sealed chamber is provided on the first side of the base, and a motion attitude sensor is provided inside the second sealed chamber. The motion attitude sensor is used to detect the heave signal of the base and is controlled and connected to the driver.

[0009] In one possible implementation, the suspension point is provided with a first guide wheel, and the other end of the second cable away from the drum is connected to the load through the first guide wheel.

[0010] In one possible implementation, a tension sensor is also included, configured to detect the tension of the second cable, and the tension sensor is controlled to be connected to the actuator.

[0011] In one possible implementation, the driver is provided with an encoder configured to acquire the rotational speed of the driver.

[0012] In one possible implementation, a third sealed chamber is provided on the second side of the base, and an energy storage device is provided inside the third sealed chamber, which is connected to the driver.

[0013] In one possible implementation, a fourth sealed chamber is provided on the second side of the base, and a high-pressure gas cylinder is provided inside the fourth sealed chamber. The first end of the high-pressure gas cylinder is connected to the accumulator, and the second end of the high-pressure gas cylinder is connected to the external environment through a pressure relief valve. The high-pressure gas cylinder is used to absorb and release the energy of the accumulator.

[0014] In one possible implementation, the base includes two opposing support plates, which are fixedly connected by a second guide wheel.

[0015] The technical solutions provided in this application have the following advantages compared with the prior art: The underwater rotary compensation device provided in this application addresses the issue of inconsistent load height relative to the seabed or docking point during underwater installation. When a ship's deck winch lowers the load to a deeper depth, the ship's heave caused by waves makes installation difficult and can even lead to collisions and damage. The drum itself has a cable storage function. The lifting point is connected to the surface winch via a second cable, and the lower suspension point is connected to the load via the second cable. When the base is lifted by waves, the drive assembly controls the drum to release the second cable, ensuring the load maintains its relative position and thus achieving active heave compensation. Compared to existing winch-based systems that directly connect the load via long cables, this underwater rotary compensation device avoids introducing excessive rotational inertia, eliminates the influence of long cables' rotational inertia, significantly reduces power requirements, and eliminates the need for excessively high drive assembly power to compensate for load heave, thereby reducing equipment size and cost. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 This is a schematic diagram of the structure of an underwater rotating compensation device provided in an embodiment of this application; Figure 2 for Figure 1 The diagram shows the working principle of the underwater rotating compensation device. Figure 1 ; Figure 3 for Figure 1 The diagram shows the working principle of the underwater rotating compensation device. Figure 2 The arrow indicates the direction in which the second cable is released. Figure 4 A schematic diagram of the structure of an underwater rotary compensation device provided in another embodiment of this application; Figure 5 for Figure 1 A perspective view of the underwater rotating compensation device is shown. Figure 6 for Figure 5 A top view of the underwater rotating compensation device is shown.

[0020] Explanation of reference numerals in the attached figures: 10. Base; 101. Support plate; 102. Second guide wheel; 103. Accommodation cavity; 11. Lifting point; 12. Suspension point; 121. First guide wheel; 13. First sealed chamber; 14. Second sealed chamber; 15. Third sealed chamber; 16. Fourth sealed chamber; 20. Drum; 30. Drive assembly; 31. Driver; 32. Drive gear; 33. Transmission gear; 40. First cable; 50. Second cable; m. Load. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] Currently, in conventional deep-water crane compensation methods, the winch is installed on the crane, which is located on the ship's deck. After the load is lowered 2,000 meters, the winch needs to bear an additional 2,000 meters of cable weight for compensation. Due to the large moment of inertia, the power of the equipment is greatly increased, and multiple sets of motors and other drive components are usually required, resulting in high equipment costs.

[0025] To address the issue of high cost caused by the large rotational inertia of existing deep-water compensation devices, which typically require multiple sets of motors and other drive components, this application provides an underwater rotary compensation device that avoids introducing excessive rotational inertia, eliminates the influence of the rotational inertia of long cables, significantly reduces power requirements, and eliminates the need for excessively high power in the drive components to achieve heave compensation for the load, thereby reducing the size and cost of the equipment.

[0026] like Figure 1 As shown, this application provides an underwater rotary compensation device, including a base 10, a drum 20 and a drive assembly 30. The base 10 is connected to a winch via a first cable 40. Generally, the winch is mounted on a crane located on the ship's deck. By driving the winch to wind up and down the first cable 40 through the crane, the base 10 can be raised and lowered, thereby controlling the raising and lowering of the load m.

[0027] The drum 20 is rotatably mounted on the base 10. The drum 20 is wound with a second cable 50, which is connected to the load m. The drum 20 stores a certain length of the second cable 50. The power output end of the drive assembly 30 is connected to the drum 20 to drive the drum 20 to rotate, thereby realizing the retrieval or release of the second cable 50.

[0028] For ease of explanation and understanding, the height direction of the base 10 can be the Z-direction shown in the figure, and the direction of the load m's heave motion due to wave influence can also be the Z-direction shown in the figure. It is understandable that during underwater installation operations, the ship's deck winch hoists the load m and lowers it underwater. Due to the ship's heave motion due to waves, the height H of the load m relative to the seabed or the docking object constantly changes, making installation difficult or even causing collision damage. The drum 20 itself has a cable storage function, such as... Figure 2 As shown, the lifting point 11 is connected to the sea surface winch via the first cable 40, and the lower suspension point 12 is connected to the load m via the second cable 50. When the base 10 is lifted upwards by the waves, the drive assembly 30 controls the drum 20 to release the second cable 50. Figure 3 As shown, this ensures that the load m maintains a constant relative position, i.e., H remains constant. When the base 10 moves downwards due to the influence of waves, the drive assembly 30 controls the drum 20 to retract the second cable 50 to ensure that the load m maintains a constant relative position, thereby achieving active heave compensation and supporting a smooth transition throughout the entire process of "lifting-water entry-underwater operation-seabed landing," reducing the risk of hydraulic shock. Compared to existing winches that directly connect the load via a long cable, the underwater rotary compensation device provided in this application only introduces the weight of the second cable 50 during the heave compensation process, thereby reducing the impact of the rotational inertia of the long cable on the compensation accuracy. Therefore, the power requirement of the compensation device is significantly reduced, and the power of the drive assembly does not need to be set too high to achieve heave compensation of the load, thereby reducing the size and cost of the equipment.

[0029] In practical applications, the underwater rotating compensation device provided in this application can be applied to shallow water areas, and the length of the second cable 50 can be greater than or equal to the length of the first cable 40.

[0030] The underwater rotating compensation device provided in this application can also be applied to deep water areas, where the length of the second cable 50 is less than the length of the first cable 40. For example, the length of the first cable 40 is at least 2000m, and the length of the second cable 50 can be set to 6m. Of course, the length of the second cable 50 can also be set to 5m, 7m, 8m, etc., meaning that the length of the second cable 50 is much shorter than the length of the first cable 40.

[0031] Specifically, the base 10 has a lifting point 11 and a suspension point 12 arranged opposite each other in the height direction. The lifting point 11 can be configured as a lifting lug structure with a channel. One end of the first cable 40 passes through the channel and is fixed to the lifting lug structure, and the other end is connected to the winch. One end of the second cable 50 is connected to the drum 20, and the other end of the second cable 50 is connected to the load m through the suspension point 12.

[0032] Since the length of the second cable 50 is less than that of the first cable 40, it can avoid introducing excessive rotational inertia, eliminate the influence of the rotational inertia of the long cable, and significantly reduce the power requirement. Compared with the prior art, the power of the drive component 30 does not need to be set too high to achieve heave compensation for the load m, thereby reducing the size and cost of the equipment.

[0033] The drive assembly includes a driver 31. The power output end of the driver 31 can be connected to the drum 20 via a transmission structure such as a sprocket, gear, or pulley, thereby enabling the driver 31 to drive the drum 20 to rotate. The driver 31 can be a secondary motor, a servo motor, or other power device.

[0034] In one embodiment, such as Figure 4 As shown, the drive assembly 30 includes a driver 31, a drive gear 32, and a transmission gear 33. The output shaft of the driver 31 is connected to the drive gear 32, and the drive gear 32 is meshed with the transmission gear 33. The power output end of the transmission gear 33 is coaxially connected to the drum 20 via a coupling. When the base 10 rises or falls with the waves, it sends a control signal to the secondary element based on the platform heave motion signal detected by the motion attitude sensor. The secondary element drives the drum 20 to rotate in both directions to achieve the active heave compensation function for the load m. When the base 10 sinks with the waves, in order to ensure that the height H of the load m relative to the bottom of the seabed or the docking object remains unchanged, the actuator 31 (e.g., a secondary motor) operates in motor mode. The actuator 31 drives the drum 20 to wind up the rope and lift the load m through the transmission action of the drive gear 32 and the transmission gear 33, so as to compensate for the sinking position of the load m. When the base 10 rises with the waves, in order to ensure that the height H of the load m relative to the bottom of the seabed or the docking object remains unchanged, the actuator 31 (e.g., a secondary motor) operates in pump mode. The drum 20 releases the cable and lowers the load m, so as to compensate for the rising position of the load m.

[0035] In one embodiment, such as Figure 5 and Figure 6 As shown, a first sealed chamber 13 is provided on the first side of the base 10. A power supply device is installed inside the first sealed chamber 13. The power supply device is electrically connected to the driver 31, thereby providing power to the driver 31. No external power supply is required during operation, improving the endurance efficiency and overcoming the energy consumption bottleneck of active compensation. The power supply device can be powered by a battery, which is connected to the driver 31 via a wire, or it can be powered by a gas turbine, which is connected to the driver 31 via a cable.

[0036] In one embodiment, such as Figure 5 and Figure 6As shown, a second sealed chamber 14 is provided on the first side of the base 10. A motion attitude sensor is installed inside the second sealed chamber 14. The motion attitude sensor is used to detect the heave signal of the base 10. The motion attitude sensor is connected to the driver 31 for control. When the base 10 rises or sinks with the waves, it sends a control signal to the driver 31 based on the platform heave motion signal detected by the motion attitude sensor. The driver 31 drives the drum 20 to rotate in both directions to achieve the active heave compensation function for the load m.

[0037] In one embodiment, such as Figure 2 As shown, a first guide wheel 121 is provided at the suspension point 12. The first guide wheel 121 is mounted on the base 10 via a pin. The other end of the second cable 50 away from the drum 20 is connected to the load m via the first guide wheel 121. Specifically, the second cable 50 adheres to at least a portion of the outer periphery of the first guide wheel 121 under its own tension. The first guide wheel 121 can control the direction of the second cable 50, ensuring that the device is balanced and does not tilt during use.

[0038] When lowering a load m underwater, the crane moves with the ship's rise and fall due to wave effects. Excessive tension can cause the cable to break and the equipment to be lost; conversely, insufficient tension can cause the second cable 50 wound on the drum 20 to become slack and unruly. Therefore, this embodiment also includes a tension sensor to detect the tension of the second cable 50, the specific structure of which is described below.

[0039] In one embodiment, the underwater rotary compensation device further includes a tension sensor. The tension sensor can be an existing pin-type tension sensor, mounted on the pin of the first guide wheel 121. The tension sensor is configured to detect the tension of the second cable 50 and is connected to the actuator 31. When the tension of the second cable 50 is greater than a preset tension, it indicates that the tension of the second cable 50 is too high. In this case, the tension sensor sends a first signal to the actuator 31, controlling the actuator 31 to drive the drum 20 to release the cable to achieve tension attenuation. When the tension of the second cable 50 is less than the preset tension, it indicates that the tension of the second cable 50 is too low and it is in a slack state. In this case, the tension sensor sends a second signal to the actuator 31, controlling the actuator 31 to drive the drum 20 to retract the cable to achieve tension attenuation, ensuring that the second cable 50 is tightly arranged, thereby achieving a constant tension function. The fusion of the motion attitude sensor and the tension sensor allows for real-time sensing of wave and load conditions, improving compensation accuracy.

[0040] The driver 31 is also equipped with an encoder, which is configured to acquire the rotational speed of the driver 31. The rotational speed of the driver 31 acquired by the encoder can be used to calculate the lowering length of the second cable 50. The encoder works in conjunction with the driver 31 to enable the driver 31 to make timely retraction adjustments, thereby achieving wave compensation control.

[0041] In one embodiment, such as Figure 6 As shown, a third sealed chamber 15 is provided on the second side of the base 10, and an energy accumulator is installed inside the third sealed chamber 15. The energy accumulator is connected to the driver 31. When the drum 20 lifts the load m, the driver 31 operates in motor mode, and the energy accumulator and the driver 31 together provide energy to the system; when the drum 20 lowers the load m, the driver 31 operates in pump mode, converting the gravitational potential energy and wave energy of the load m into hydraulic energy and storing it in the energy accumulator.

[0042] In one embodiment, such as Figure 6 As shown, a fourth sealed chamber 16 is provided on the second side of the base 10. A high-pressure gas cylinder is provided inside the fourth sealed chamber 16. The first end of the high-pressure gas cylinder is connected to the accumulator, and the second end of the high-pressure gas cylinder is connected to the external environment through a pressure relief valve. The high-pressure gas cylinder is used to absorb and release the energy of the accumulator.

[0043] In one embodiment, such as Figure 5 As shown, the base 10 includes two opposing support plates 101, which are fixedly connected by a second guide wheel 102. A receiving cavity 103 is formed between the two support plates 101, and the drum 20 is rotatably disposed in the receiving cavity 103. A portion of the second cable 50 is stored in the receiving cavity 103, and the other portion of the second cable 50 extends out through the first guide wheel 121 and is connected to the load m.

[0044] Furthermore, the first guide wheel 121 and the second guide wheel 102 are arranged opposite each other in the height direction of the base 10.

[0045] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a specific order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0046] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0047] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application 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 claimed herein.

Claims

1. An underwater rotating compensation device, characterized in that, include: The base (10) is connected to the winch via a first cable (40); A drum (20) is rotatably mounted on the base (10), and a second cable (50) is wound around the drum (20), the second cable (50) being connected to the load (m); and A drive assembly (30) is connected to the drum (20) via a power output end to drive the drum (20) to rotate.

2. The underwater rotary compensation device according to claim 1, characterized in that, The length of the second cable (50) is less than the length of the first cable (40).

3. The underwater rotary compensation device according to claim 1 or 2, characterized in that, The drive assembly (30) includes a driver (31), a drive gear (32) and a transmission gear (33). The output shaft of the driver (31) is connected to the drive gear (32), the drive gear (32) is meshed with the transmission gear (33), and the power output end of the transmission gear (33) is connected to the drum (20) for transmission.

4. The underwater rotary compensation device according to claim 3, characterized in that, The base (10) has a first sealed chamber (13) on its first side, and a power supply device is provided inside the first sealed chamber (13). The power supply device is connected to the driver (31).

5. The underwater rotary compensation device according to claim 3, characterized in that, A second sealed chamber (14) is provided on the first side of the base (10). A motion attitude sensor is provided inside the second sealed chamber (14). The motion attitude sensor is used to detect the rise and fall signal of the base (10). The motion attitude sensor is controlled and connected to the driver (31).

6. The underwater rotary compensation device according to claim 3, characterized in that, The base (10) has a lifting point (11) and a suspension point (12) arranged opposite each other in its height direction. The lifting point (11) is connected to the winch through the first cable (40). One end of the second cable (50) is connected to the drum (20), and the other end of the second cable (50) is connected to the load (m) through the suspension point (12); The suspension point (12) is provided with a first guide wheel (121), and the other end of the second cable (50) away from the drum (20) is connected to the load (m) through the first guide wheel (121).

7. The underwater rotary compensation device according to claim 3, characterized in that, It also includes a tension sensor configured to detect the tension of the second cable (50), the tension sensor being controlled to the driver (31).

8. The underwater rotary compensation device according to claim 3, characterized in that, A third sealed chamber (15) is provided on the second side of the base (10), and an energy storage device is provided inside the third sealed chamber (15). The energy storage device is connected to the driver (31).

9. The underwater rotary compensation device according to claim 8, characterized in that, A fourth sealed chamber (16) is provided on the second side of the base (10). A high-pressure gas cylinder is provided in the fourth sealed chamber (16). The first end of the high-pressure gas cylinder is connected to the accumulator. The second end of the high-pressure gas cylinder is connected to the external environment through a pressure relief valve. The high-pressure gas cylinder is used to absorb and release the energy of the accumulator.

10. The underwater rotary compensation device according to claim 1 or 2, characterized in that, The base (10) includes two opposing support plates (101), which are fixedly connected by a second guide wheel (102).

Images