CN110467108A - A kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch hangs connector - Google Patents
A kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch hangs connector Download PDFInfo
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- CN110467108A CN110467108A CN201910811685.0A CN201910811685A CN110467108A CN 110467108 A CN110467108 A CN 110467108A CN 201910811685 A CN201910811685 A CN 201910811685A CN 110467108 A CN110467108 A CN 110467108A
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- 238000013016 damping Methods 0.000 claims abstract description 38
- 238000013461 design Methods 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009189 diving Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010727 cylinder oil Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
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Abstract
The present invention relates to a kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch to hang connector, and the connector that hangs is divided into upper layer and lower layer, and upper layer is support platform, is equipped with winch and guide roller；Lower layer is overlap joint platform, and bottom has docking facilities；Upper layer and lower layer have damping cylinder and compensation cylinder, and winch is heave compensation winch；On the crossbeam of door frame, upper layer damping cylinder and compensation cylinder one end are socketed in the other end on door frame crossbeam and are hinged on support platform bottom support platform upper socket；Support platform bottom is hinged with overlap joint platform, and lower layer's damping cylinder and compensation cylinder one end are hinged on support platform bottom, and the other end is hinged on overlap joint mesa base.The present invention has the advantages that it is of the present invention hang connector and be integrated into compensation of undulation equipment and winch hang on connector, whole design is compact, it is full-featured, the passive compensation way of different masters is selected according to different sea situations and hoist, provides higher reliability and flexibility for operation on the sea.
Description
Technical field
The present invention relates to a kind of compensation of undulation to hang connector, in particular to a kind of Three Degree Of Freedom master of integrated winch passively combines
Formula compensation of undulation hangs connector.
Background technique
With the acceleration of ocean development, operation on the sea is more and more frequent, and current existing submersible hangs equipment mostly with A type
Based on door frame and single armed are hung, when amplitude of fluctuation under the sea situation of rather harsh due to hull big operation, easily causes danger, very greatly
The time of our operations on the sea is limited in degree.
Marine worker single armed is hung since structure is simple, and easy to control, demand is big, has more mature compensation of undulation application case
Example.In comparison A type door frame is due to using crowd single (mostly scientific investigation class ship), the reasons such as compensation control complexity all without
Have compensation of undulation function, in addition, due to having individual winch so that door frame takes up a large area, at the same hanger rope and door frame and by
Hoisting object etc. is easily interfered, and operation on the sea is influenced.Why not on the door as, frame structure carries out big modification, does not increase control difficulty excessively
In the case where, increase certain compensation of undulation function for door frame while reducing door frame occupied area, it is current for avoiding hanger rope interference
Research hotspot and difficult point.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of passive association type waves of the Three Degree Of Freedom master of integrated winch to mend
It repays and hangs connector, to solve deficiency in the prior art.
In order to solve the above technical problems, the technical solution of the present invention is as follows: a kind of Three Degree Of Freedom master of integrated winch passively joins
Box-like compensation of undulation hangs connector, and innovative point is: the connector that hangs uses upper and lower double-layer structure,
The superstructure includes the support platform with through-hole, and the both ends of the upper surface of the support platform are symmetrically arranged with connection
Shackle plate, the support platform are socketed on door frame crossbeam by connecting shackle plate, turn round support platform can around door frame crossbeam；
Heave compensation winch and guide roller are installed in parallel in support platform between the two connections shackle plate, in guide roller two sides
Upper layer damping cylinder and upper layer compensation cylinder are symmetrically arranged in support platform；One end of the upper layer damping cylinder and upper layer compensation cylinder is equal
It is socketed on door frame crossbeam, the other end of upper layer damping cylinder and upper layer compensation cylinder is hinged in support platform；
The understructure includes the overlap joint platform with through-hole, which is hinged on support platform by linkwork
Bottom；It is symmetrically arranged with lower layer's damping cylinder and lower layer's compensation cylinder at the both ends of overlap joint platform, lower layer's damping cylinder and lower layer are mended
The one end for repaying cylinder is hinged on support platform bottom, and the other end that lower layer's damping cylinder and lower layer compensate cylinder is hinged on overlap joint platform
On, and support platform upper link point is located at the outside of overlap joint platform upper link point.
Further, the linkwork include be symmetricly set on support platform bottom centre two sides sector it is hinged total
At being hinged with articulated connection plate between each fan-shaped hinged assembly, and the other end for the plate that is articulated and connected is connected and fixed with platform is overlapped.
Further, the articulated connection plate is isosceles triangular structure plate body, and the top of isosceles triangular structure plate body
Angle uses rounding off.
Further, the connection shackle plate is isosceles triangular structure plate body, and the top of isosceles triangular structure plate body
Angle uses rounding off.
The present invention has the advantages that
(1) the passive association type compensation of undulation of Three Degree Of Freedom master of the integrated winch of the present invention hangs connector, and whole design is compact, and function is complete
Face can select different compensation ways according to different sea situations and hoist；
Winch, which is integrated into, to be hung on connector, and the occupied area of A type door frame is reduced, avoid door frame wide-angle folding when hanger rope with
Door frame or by the interference between hoisting object；
When low sea situation operation, the heave compensation function of winch is opened, winch compensates hull with the upper of wave by the folding and unfolding of hanger rope
Lower fluctuating, the roll and pitch of hull is general unobvious under low sea situation, passively subtracts in conjunction with upper layer damping cylinder and lower layer's damping cylinder
Swing function can meet the lifting operation of common diving apparatus or cargo；
When high sea situation operation, the transverse and longitudinal of hull shakes aggravation, passively subtract wave cannot stabilized hanging object, at this moment starting on
Layer compensation cylinder and lower layer compensate cylinder, and by the Attitude of sensor real-time monitoring, control system makes to compensate cylinder and compensates winch
It cooperates, Active Compensation hull realizes the stabilization of hanging object with the movement of wave, meets job requirements under high sea situation；
(2) the passive association type compensation of undulation of Three Degree Of Freedom master of the integrated winch of the present invention hangs connector, wherein linkwork it is hinged
Connecting plate with connect shackle plate using isosceles triangle plate body structure so that connection between support platform and door frame crossbeam and
It is firm that connection between overlap joint platform and support platform more consolidates, and then guarantees to hang the service life of connector；Meanwhile each isosceles
The apex angle of triangle plate body structure uses rounding off, convenient for the connection between component.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is that the passive association type compensation of undulation of Three Degree Of Freedom master of the integrated winch of the present invention hangs the structural schematic diagram of connector.
Fig. 2 is control system flow chart.
Fig. 3 is damping cylinder Hydraulic System Principle schematic diagram.
Specific embodiment
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
Embodiment
The passive association type compensation of undulation of Three Degree Of Freedom master that the present embodiment integrates winch hangs connector, as shown in Figure 1, hanging connector
Using upper and lower double-layer structure.
Superstructure includes support platform 7, and the both ends of the upper surface of the support platform 7 are symmetrically arranged with connection shackle plate
10, support platform 7 is socketed on door frame crossbeam 4 by connecting shackle plate 10, turn round support platform 7 can around door frame crossbeam 4；Even
Connect the inside that shackle plate 10 is connect with door frame crossbeam 4 avoids door frame crossbeam 4 from wearing equipped with axle sleeve, and left and right junction passes through anchor ear and limits
Make its left and right play.
In support platform 7 between two connection shackle plates 10 heave compensation winch 6 and guide roller 5 are installed in parallel, heave
It compensates winch 6 and selects the miniaturization lightweight winch for having heave compensation function；Support platform 7 is opened close to 5 side of guide roller
There is wire guide, hanger rope is drawn from heave compensation winch 6, reaches lower layer by wire guide by guide roller 5.
Upper layer damping cylinder 3 and upper layer compensation cylinder 4 are symmetrically arranged in the support platform 7 of 5 two sides of guide roller；Upper layer damping
The tailpiece of the piston rod of cylinder 3 is hinged on a turning set of door frame crossbeam 4, opens and closes angle adjustment rotation by door frame after the installation is completed
It is then fixed around the rotary freedom of door beam 4,3 base of upper layer damping cylinder by modes such as nut or welding in the position of set
Seat end is hinged on the upper surface of the support platform bottom；Upper layer compensation cylinder 8 is mounted in support platform using identical method,
Upper layer damping cylinder 3 and upper layer compensation cylinder 8 are arranged symmetrically in support platform 7.
Understructure includes overlap joint platform 1, which is hinged on the bottom of support platform 7 by linkwork；Hinge
The specific structure of connection mechanism is the hinged assembly 11 of the sector including being symmetricly set on 7 bottom centre two sides of support platform, each sector
Articulated connection plate 12 is hinged between hinged assembly 11, and the other end for the plate 12 that is articulated and connected is connected and fixed with overlap joint platform 1.
Lower layer's damping cylinder 2 and lower layer's compensation cylinder 9,2 base end of lower layer's damping cylinder are symmetrically arranged at the both ends of overlap joint platform 1
It is articulated with 7 bottom lower surface of support platform, tailpiece of the piston rod is articulated with overlap joint 1 bottom upper surface of platform, hinged in support platform 7
Point is located at the outside of the hinge joint on overlap joint platform 1；Lower layer's compensation cylinder 9 is mounted on overlap joint platform 1 using identical method, under
Layer damping cylinder 2 and lower layer's compensation cylinder 9 are arranged symmetrically on overlap joint platform 1；Overlap the corresponding 7 conducting wire hole site of support platform of platform 1
It is provided with wire guide；Screw hole is arranged at overlap joint 1 bottom of platform, can carry buffer, anchor ear handgrip, mechanical arm, the recycling lowering equipments such as cage.
In order to enable between connection between support platform 7 and door frame crossbeam 4 and overlap joint platform 1 and support platform 7
It is firm that connection more consolidates, and guarantees the service life for hanging connector；Articulated connection plate 12 and connection shackle plate 10 are all made of isosceles three
Angular structure plate body, meanwhile, the apex angle of each isosceles triangle plate body structure uses rounding off, convenient for the connection between component.
In embodiment, the hydraulic principle of upper layer damping cylinder 3 and lower layer's damping cylinder 2, as shown in figure 3, under normal circumstances, three
Four-way electrohydraulic servo valve solenoid valve is in an intermediate position, and cylinder oil inlet and outlet is connected by throttle valve, by adjusting throttle valve opening
It is strong and weak to can change damping cylinder damping；After manually adjusting it to compensate cylinder, throttle valve is closed, passes through controller and controls two sides electricity
Active Compensation movement is realized in the switching of hydraulic servo position.
In the present embodiment, heave compensation winch 6, upper layer damping cylinder 3, upper layer compensation cylinder 8, lower layer's damping cylinder 2 and lower layer are mended
Repaying cylinder 9 can be controlled separately；The hydraulic cylinder of support platform 7 overlaps the hydraulic cylinder of platform 1, and heave compensation winch 6, three is simultaneously
Cooperation can weaken or compensate hull rolling, pitching and the movement for heaving three degree of freedom.
When sea situation is 1 to 2 grade, marine wave is smaller, and hull mainly based on heave movement, is only opened heave compensation and twisted
The heave compensation function of vehicle 6, attitude transducer measure the heave amplitude Ht of hull, and control system utilizes heave compensation winch 6
By the reversed input-Ht of the folding and unfolding of hanger rope, compensation hull with wave heave movement；The roll and pitch of hull is under low sea situation
It is general unobvious, it is assumed that door frame is mounted on shipboard, and rolling occurs for hull when lifting operation, and damping cylinder 3 stress in upper layer passes through damping
Movement, so that overlap joint platform 1 rocks decreases, similarly, hull generation pitching when lifting operation, lower layer's damping cylinder 2 can also quilt
Dynamic reduction overlap joint platform 1 rocks, at this point, the compensation cylinder of upper and lower level is all in servo-actuated state.Three works together can be real
Existing low sea situation lower mast Three Degree Of Freedom, which passively resists, to wave, and meets the lifting operation of common diving apparatus or cargo.
When sea situation is 2 to 4 grades, as shown in Fig. 2, the transverse and longitudinal of hull shakes aggravation, control system monitoring ship figure state first
Data, when the horizontal pitch angular of hull is less than threshold angle α, control system do not intervene suspending head movement, using under low sea situation only
Start the process of heave compensation winch 6 and damping cylinder；When hull swing angle is more than threshold angle α, control system will be automatic
It opens upper layer or lower layer compensates cylinder, attitude angle Φ (roll) and θ are shaken by the hull transverse and longitudinal of sensor real-time monitoring
(pitch), subsequent time prediction while control system interior prediction algorithm advanced prediction hull future time relative pose, is calculated
Compensation rate Φ t and θ t makes upper and lower level compensate the elongation of cylinder 9 or shrinks θ t and Φ t come stabilized overlap joint platform 1 by controller；
Further, if lifting requirements are higher, the starting of compensation cylinder can be manually controlled in any case, and increase is hung the anti-of connector and waved
Ability.When sea situation is 5 grades or more, hull movement is further exacerbated by, and after compensation cylinder starting overlap joint platform 1 cannot still controlled
In the hunting range of safety, it can manually select and damping cylinder is changed to compensation cylinder, further increase the compensation ability of suspending head.
Apparatus of the present invention compensate hull heave movement Ht using compensation winch 6, utilize variable upper layer damping cylinder 3 and upper layer
It compensates cylinder 8 and compensates hull pitching θ (pitch), compensate hull rolling Φ using variable lower layer's damping cylinder 2 and lower layer's compensation cylinder 9
(roll), the Three Degree Of Freedom active compensation of undulation that operation under high sea situation may be implemented realizes the stabilization of hanging object, meets high sea
Job requirements under condition.
Basic principles and main features and advantages of the present invention of the invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (4)
1. a kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch hangs connector, it is characterised in that: described to hang connector
Using upper and lower double-layer structure,
The superstructure includes the support platform with through-hole, and the both ends of the upper surface of the support platform are symmetrically arranged with connection
Shackle plate, the support platform are socketed on door frame crossbeam by connecting shackle plate, turn round support platform can around door frame crossbeam；
Heave compensation winch and guide roller are installed in parallel in support platform between the two connections shackle plate, in guide roller two sides
Upper layer damping cylinder and upper layer compensation cylinder are symmetrically arranged in support platform；One end of the upper layer damping cylinder and upper layer compensation cylinder is equal
It is socketed on door frame crossbeam, the other end of upper layer damping cylinder and upper layer compensation cylinder is hinged in support platform；
The understructure includes the overlap joint platform with through-hole, which is hinged on support platform by linkwork
Bottom；It is symmetrically arranged with lower layer's damping cylinder and lower layer's compensation cylinder at the both ends of overlap joint platform, lower layer's damping cylinder and lower layer are mended
The one end for repaying cylinder is hinged on support platform bottom, and the other end that lower layer's damping cylinder and lower layer compensate cylinder is hinged on overlap joint platform
On, and support platform upper link point is located at the outside of overlap joint platform upper link point.
2. the Three Degree Of Freedom master of integrated winch according to claim 1 is passive, association type compensation of undulation hangs connector, feature
Be: the linkwork includes the hinged assembly of sector for being symmetricly set on support platform bottom centre two sides, each fan-shaped hinged
Articulated connection plate is hinged between assembly, and the other end for the plate that is articulated and connected is connected and fixed with overlap joint platform.
3. the Three Degree Of Freedom master of integrated winch according to claim 2 is passive, association type compensation of undulation hangs connector, feature
Be: the articulated connection plate is isosceles triangular structure plate body, and the apex angle of isosceles triangular structure plate body uses round and smooth mistake
It crosses.
4. the Three Degree Of Freedom master of integrated winch according to claim 1 is passive, association type compensation of undulation hangs connector, feature
Be: the connection shackle plate is isosceles triangular structure plate body, and the apex angle of isosceles triangular structure plate body uses round and smooth mistake
It crosses.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910811685.0A CN110467108A (en) | 2019-08-30 | 2019-08-30 | A kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch hangs connector |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910811685.0A CN110467108A (en) | 2019-08-30 | 2019-08-30 | A kind of passive association type compensation of undulation of the Three Degree Of Freedom master of integrated winch hangs connector |
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| CN110467108A true CN110467108A (en) | 2019-11-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111648563A (en) * | 2020-06-14 | 2020-09-11 | 哈尔滨市三棵中药材市场太清参茸行 | Building body spraying equipment for building |
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|---|---|---|---|---|
| CN106715315A (en) * | 2014-09-16 | 2017-05-24 | Ifp新能源公司 | System for controlling the movement of a load |
| US20180171727A1 (en) * | 2016-12-19 | 2018-06-21 | IFP Energies Nouvelles | Motion compensation system for a load hanging from a mobile unit with a main cylinder and a secondary cylinder |
| CN109052193A (en) * | 2018-09-26 | 2018-12-21 | 江苏科技大学 | A kind of compensation of undulation A type door frame Special-purpose hanger connector |
| US20190113018A1 (en) * | 2017-10-17 | 2019-04-18 | Dinh Chinh Nguyen | Ocean wave energy exploiting and storing device |
| CN210528282U (en) * | 2019-08-30 | 2020-05-15 | 江苏科技大学 | Three-degree-of-freedom active and passive combined type wave compensation hanger joint of integrated winch |
-
2019
- 2019-08-30 CN CN201910811685.0A patent/CN110467108A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106715315A (en) * | 2014-09-16 | 2017-05-24 | Ifp新能源公司 | System for controlling the movement of a load |
| US20180171727A1 (en) * | 2016-12-19 | 2018-06-21 | IFP Energies Nouvelles | Motion compensation system for a load hanging from a mobile unit with a main cylinder and a secondary cylinder |
| US20190113018A1 (en) * | 2017-10-17 | 2019-04-18 | Dinh Chinh Nguyen | Ocean wave energy exploiting and storing device |
| CN109052193A (en) * | 2018-09-26 | 2018-12-21 | 江苏科技大学 | A kind of compensation of undulation A type door frame Special-purpose hanger connector |
| CN210528282U (en) * | 2019-08-30 | 2020-05-15 | 江苏科技大学 | Three-degree-of-freedom active and passive combined type wave compensation hanger joint of integrated winch |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111648563A (en) * | 2020-06-14 | 2020-09-11 | 哈尔滨市三棵中药材市场太清参茸行 | Building body spraying equipment for building |
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