CN113371158A - Multi-degree-of-freedom umbilical cable heave compensation device - Google Patents
Multi-degree-of-freedom umbilical cable heave compensation device Download PDFInfo
- Publication number
- CN113371158A CN113371158A CN202110799529.4A CN202110799529A CN113371158A CN 113371158 A CN113371158 A CN 113371158A CN 202110799529 A CN202110799529 A CN 202110799529A CN 113371158 A CN113371158 A CN 113371158A
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- umbilical
- lifting
- swinging
- freedom
- guide wheel
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- 210000003954 umbilical cord Anatomy 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
The invention discloses a multi-degree-of-freedom umbilical cable heave compensation device, which comprises a support frame and a lifting support plate arranged at the upper end of the support frame, wherein at least two lifting guide rails are symmetrically arranged at the inner sides of the support frame at the left side and the right side of the lifting support plate, lifting sliding bearings connected with the lifting support plate are matched on the lifting guide rails in a sliding manner, and a transverse moving guide rail is horizontally arranged on the upper end surface of the lifting support plate; the introduction of the lifting freedom degree can compensate the heave displacement through the storage and release of the umbilical cable; the design of the transverse moving degree of freedom can greatly reduce umbilical bending caused by movement of the umbilical winch cable arranger or non-coplanarity of all umbilical supporting points, thereby reducing friction force and abrasion.
Description
Technical Field
The invention relates to the technical field of umbilical cable heave compensation, in particular to a multi-degree-of-freedom umbilical cable heave compensation device.
Background
In the process of operating the cable manned underwater vehicle, besides the function of hoisting and recovering the cable manned underwater vehicle by providing tension by a steel wire rope, the umbilical cable is required to provide life support for workers of the underwater manned underwater vehicle, and because the diameter and the weight of the umbilical cable are both large, the inertia of the umbilical cable is large, when a mother ship or the underwater vehicle generates heave movement under the action of waves, the umbilical cable cannot rapidly follow the umbilical cable to cause the tension of the umbilical cable to be increased, so that great challenges are brought to the sealing performance of an umbilical cable end pipe joint, the bearing strength of a mother ship hoisting system and the like, and therefore, in order to prevent the breakage of the umbilical cable or the strength failure of a hoisting system structural member, the heave displacement compensation of the waves needs to be performed by using an umbilical cable heave compensation device, and the safety and the reliability of the operating process are improved.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom umbilical cable heave compensation device to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a multi freedom umbilical cord cable heave compensation device, includes support frame and sets up the lift layer board on its upper end, the inboard symmetry of support frame of the lift layer board left and right sides is equipped with two at least lifting guide rails, sliding fit has the lift slide bearing of being connected with the lift layer board on the lifting guide rail, lifting layer board up end level is equipped with the sideslip guide rail, sliding fit has the sideslip slide bearing of being connected with swaing umbilical cord guide pulley subassembly bottom on the sideslip guide rail, the lifting layer board lower extreme is connected with the output of pneumatic cylinder, the pneumatic cylinder bottom is connected fixedly through the pneumatic cylinder free bearing with the support frame, the oilhole of pneumatic cylinder bottom is used for storing the gasbag formula energy storage ware intercommunication of fluid on pipeline and the support frame.
As a further scheme of the invention: the number of the lifting guide rails is four, and the four lifting guide rails correspond to the four corner positions of the lifting supporting plate respectively.
As a further scheme of the invention: swing navel cord guide pulley subassembly and include the sideslip layer board of being connected with sideslip slide bearing, sideslip layer board upper end is equipped with the bottom plate, the vertical axle that sways that is equipped with in bottom plate upper end, it is equipped with one through the rotation of longitudinal rotation piece and shakes the axle sleeve to sway the off-axial side, it is equipped with two and sways the bedplate to sway the axle sleeve left and right sides symmetry, and two are swayd bedplate upper ends and run through a navel cord guide pulley axle, and two are swayd the epaxial rotation of navel cord guide pulley between the bedplate and are equipped with a navel cord guide pulley, the navel cord guide pulley passes through the horizontal rotation piece and is connected with the rotation of navel cord guide pulley axle, and the navel cord limiting plate passes through screw fixed mounting in the inboard of swaing the bedplate for spacing is gone on the navel cord, prevents that the navel cord from breaking away from the navel cord guide pulley.
As a further scheme of the invention: the swing shaft and the bottom plate are fixedly arranged on the transverse moving supporting plate through screws.
As a further scheme of the invention: a positioning piece is arranged between the umbilical cord guide wheel shaft and the swinging base plate and comprises a shaft end baffle and a baffle screw, and the shaft end baffle is installed on the swinging base plate through the baffle screw and used for axially positioning the umbilical cord guide wheel shaft.
As a further scheme of the invention: the horizontal rotating part comprises a bearing end cover, cylindrical roller bearings, an inner distance ring, an outer distance ring and small screws, the bearing end cover is installed on hubs on two sides of the umbilical cord guide wheel through the small screws and used for axially positioning outer rings of the two cylindrical roller bearings, the inner distance ring and the two outer distance rings are used for axially positioning inner rings of the two cylindrical roller bearings, and the umbilical cord guide wheel can rotate around a fixed umbilical cord guide wheel shaft so as to complete traction work of an umbilical cable.
As a still further scheme of the invention: the longitudinal rotating part comprises a bearing pressure plate, a large screw, a thrust ball bearing, a positioning ring, an inner shaft ring and an outer shaft ring; in the lower part of the swing seat plate, a bearing pressing plate is installed at one end of a swing shaft through a large screw, opposite pressing force is provided with a shaft shoulder at the other end of the swing shaft, axial positioning and pre-tightening of four bearings are completed, two thrust ball bearings are used for bearing axial force, two longitudinal cylindrical roller bearings are used for bearing radial force, the two bearings are installed in pairs and are separated at two ends of the swing shaft, axial limiting is realized between each thrust ball bearing and each longitudinal cylindrical roller bearing through an inner shaft collar and an outer shaft collar, a positioning ring sleeved on the swing shaft is used for axial positioning of the longitudinal cylindrical roller bearings, and a connecting end connected with a transverse sliding bearing is installed on the lower side of a transverse sliding bearing plate.
As a still further scheme of the invention: the number of the transverse sliding bearings is four.
Compared with the prior art, the invention has the beneficial effects that: the design of multiple degrees of freedom in the application solves the difficulty of a plurality of umbilical cable retraction compensation technologies, for example, the bending stress caused by the rigidity of the umbilical cord is released due to the increase of the swing degree of freedom, and the friction force between the umbilical cord and the inner side surface of the guide wheel is reduced; the introduction of the lifting freedom degree can compensate the heave displacement through the storage and release of the umbilical cable; the design of the transverse moving degree of freedom can greatly reduce umbilical bending caused by movement of the umbilical winch cable arranger or non-coplanarity of all umbilical supporting points, thereby reducing friction force and abrasion.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multiple degree of freedom umbilical heave compensation apparatus of the present invention;
FIG. 2 is a schematic cross-sectional view of a rocking umbilical cord guide assembly of the present invention;
FIG. 3 is a multi-degree of freedom motion diagram of the present invention;
FIG. 4 is a top view of an application scenario of the present invention;
fig. 5 is a front view of an application scenario of the present invention.
Wherein: 1. a support frame; 2. a gas-bag accumulator; 3. a lifting guide rail; 4. a lifting sliding bearing; 5. lifting the supporting plate; 6. a rocking umbilical cord guide wheel assembly; 7. sliding bearings are transversely moved; 8. transversely moving the guide rail; 9. a hydraulic cylinder hinged support; 10. a hydraulic cylinder; 601. a shaft end baffle plate; 602. a catch screw; 603. an umbilical cord guide axle; 604. an umbilical cord limiting plate; 605. a bearing end cap; 606. a cylindrical roller bearing; 607. an inner distance ring; 608. an outer distance ring; 609. a small screw; 610. a rocking chair plate; 611. an umbilical cord guide wheel; 612. a large screw; 613. a bearing pressure plate; 614. a thrust ball bearing; 615. positioning rings; 616. a base plate; 617. transversely moving the supporting plate; 618. a swing shaft; 619. an inner collar; 620. an outer collar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-5, in the embodiment of the present invention, a multi-degree-of-freedom umbilical cable heave compensation apparatus includes a support frame 1 and a lifting support plate 5 disposed at the upper end of the support frame, at least two lifting guide rails 3 are symmetrically disposed at the inner sides of the support frame 1 at the left and right sides of the lifting support plate 5, a lifting sliding bearing 4 connected to the lifting support plate 5 is slidably fitted on the lifting guide rails 3, a traverse guide rail 8 is horizontally disposed on the upper end surface of the lifting support plate 5, a traverse sliding bearing 7 connected to the bottom of a swing umbilical cable guide wheel assembly 6 is slidably fitted on the traverse guide rail 8, the lower end of the lifting support plate 5 is connected to the output end of a hydraulic cylinder 10, the bottom of the hydraulic cylinder 10 is fixedly connected to the support frame 1 through a hydraulic cylinder hinge 9, an oil hole at the bottom of the hydraulic cylinder 10 is communicated with an air bag type energy accumulator 2 for storing oil on the support frame 1 through a pipeline, when the hydraulic cylinder 10 extends, oil in the airbag type energy accumulator 2 enters the hydraulic cylinder 10, and when the hydraulic cylinder 10 shortens, the oil in the hydraulic cylinder 10 flows back to the airbag type energy accumulator 2, so that the telescopic motion of the hydraulic cylinder 10 can be converted into the up-and-down lifting motion of the swing umbilical cord guide wheel assembly 6, the umbilical cord cable is retracted, and the effect of heave compensation is achieved;
the swing umbilical cord guide wheel assembly 6 comprises a cross sliding support plate 617 connected with a cross sliding bearing 7, a bottom plate 616 is arranged at the upper end of the cross sliding support plate 617, a swing shaft 618 is vertically arranged at the upper end of the bottom plate 616, a swing shaft sleeve is rotatably arranged outside the swing shaft 618 through a longitudinal rotating member, two swing seat plates 610 are symmetrically arranged at the left side and the right side of the swing shaft sleeve, an umbilical cord guide wheel shaft 603 penetrates through the upper ends of the two swing seat plates 610, an umbilical cord guide wheel 611 is rotatably arranged on the umbilical cord guide wheel shaft 603 between the two swing seat plates 610, the umbilical cord guide wheel 611 is rotatably connected with the umbilical cord guide wheel shaft 603 through a horizontal rotating member, and an umbilical cord limiting plate 604 is fixedly arranged at the inner side of the swing seat plates 610 through screws and used for limiting the umbilical cord and preventing the umbilical cord from being separated from the umbilical cord guide wheel 611;
the swing shaft 618 and the bottom plate 616 are fixedly arranged on the traverse supporting plate 617 through screws;
a positioning piece is arranged between the umbilical cord guide wheel shaft 603 and the swinging seat plate 610, the positioning piece comprises a shaft end baffle 601 and a baffle screw 602, and the shaft end baffle 601 is installed on the swinging seat plate 610 through the baffle screw 602 and is used for axially positioning the umbilical cord guide wheel shaft 603.
The horizontal rotating piece comprises a bearing end cover 605, cylindrical roller bearings 606, an inner spacing ring 607, an outer spacing ring 608 and small screws 609, wherein the bearing end cover 605 is installed on hubs on two sides of an umbilical guide wheel 611 through the small screws 609 and is used for axially positioning outer rings of the two cylindrical roller bearings 606. The inner distance ring 607 and the two outer distance rings 608 are used for axially positioning the inner rings of the two cylindrical roller bearings 606, and the umbilical guide wheel 611 can rotate around the fixed umbilical guide wheel shaft 603, so that the traction work of the umbilical is completed;
the longitudinal rotating piece comprises a bearing pressure plate 613, a large screw 612, a thrust ball bearing 614, a positioning ring 615, an inner collar 619 and an outer collar 620;
at the lower part of the swinging seat plate 610, a bearing pressure plate 613 is installed at one end of a swinging shaft 618 through a large screw 612, two thrust ball bearings 614 are used for bearing axial force, two longitudinal cylindrical roller bearings are used for bearing radial force, the two longitudinal cylindrical roller bearings are installed in pairs and are respectively arranged at two ends of the swinging shaft 618, axial limiting is realized between each group of thrust ball bearings 614 and the longitudinal cylindrical roller bearings through an inner shaft collar 619 and an outer shaft collar 620, a positioning ring 615 sleeved on the swinging shaft 618 is used for axial positioning of the longitudinal cylindrical roller bearings, and four transverse sliding bearings 7 are installed at the lower side of a transverse supporting plate 617, so that reliable connection between the whole swinging umbilical cord guide wheel assembly 6 and the transverse guide rail 8 as well as the lifting supporting plate 5 is realized.
As can be seen from fig. 3, the entire umbilical heave compensation apparatus contains four degrees of freedom, namely the rotational freedom of the umbilical guide wheel 611 about the umbilical guide wheel shaft 603, the rocking freedom of the rocking chair plate 610 about the rocking axis 618, the lateral sliding freedom of the traverser blade 617 relative to the traverser rail 8 and the lifting sliding freedom of the lifting blade 5 relative to the lifting rail 3.
The working principle of the invention is as follows: as can be seen from fig. 4, as seen from the top view, in the process of cable retraction and cable release of the umbilical winch, the left-right relative position of the output end of the umbilical cable and the umbilical cable guide wheel assembly 6 changes, in order to ensure that the umbilical cable does not bend, the umbilical cable heave compensation device is required to provide two degrees of freedom, i.e., the traversing degree of freedom and the swinging degree of freedom, so that the wheel groove direction of the umbilical cable guide wheel 611 is finally collinear with the umbilical cable, and the center of the traversing supporting plate 617 is in the linear direction of the umbilical cable. When a mother ship or an underwater vehicle has heave displacement, the tension of the umbilical cable can be changed, when the tension is reduced, the air bag type energy accumulator 2 supplies oil to the hydraulic cylinder 10, the piston rod of the hydraulic cylinder 10 extends out to push the umbilical guide wheel 611 to rise, the umbilical cable is recovered and stored, when the tension is increased, the umbilical guide wheel 611 is pushed downwards to descend, the piston rod of the hydraulic cylinder 10 retracts, the hydraulic cylinder 10 discharges oil, and the air bag type energy accumulator 2 stores energy.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
Claims (8)
1. A multi-degree-of-freedom umbilical cable heave compensation device is characterized by comprising a support frame (1) and a lifting support plate (5) arranged at the upper end of the support frame, wherein at least two lifting guide rails (3) are symmetrically arranged at the inner sides of the support frame (1) at the left side and the right side of the lifting support plate (5), a lifting sliding bearing (4) connected with the lifting support plate (5) is arranged on the lifting guide rails (3) in a sliding fit manner, a transverse moving guide rail (8) is horizontally arranged on the upper end surface of the lifting support plate (5), a transverse sliding bearing (7) connected with the bottom of a swinging umbilical cable guide wheel assembly (6) is arranged on the transverse moving guide rail (8) in a sliding fit manner, the swinging umbilical cable guide wheel assembly (6) is used for towing an umbilical cable, the lower end of the lifting support plate (5) is connected with the output end of a hydraulic cylinder (10), and the bottom of the hydraulic cylinder (10) is fixedly connected with the support frame (1) through a hydraulic cylinder hinged support (9), and the oil hole at the bottom of the hydraulic cylinder (10) is communicated with an air bag type energy accumulator (2) used for storing oil on the support frame (1) through a pipeline.
2. The multiple degree of freedom umbilical heave compensation apparatus according to claim 1, wherein the number of the lifting rails (3) is four, corresponding to four corner positions of the lifting pallet (5).
3. The multiple degree of freedom umbilical cable heave compensation device according to claim 1, wherein the swinging umbilical cable guide wheel assembly (6) comprises a traversing supporting plate (617) connected with a traversing sliding bearing (7), a bottom plate (616) is arranged at the upper end of the traversing supporting plate (617), a swinging shaft (618) is vertically arranged at the upper end of the bottom plate (616), a swinging shaft sleeve is rotatably arranged at the outer side of the swinging shaft (618) through a longitudinal rotating member, two swinging base plates (610) are symmetrically arranged at the left side and the right side of the swinging shaft sleeve, an umbilical cable guide wheel shaft (603) penetrates through the upper ends of the two swinging base plates (610), an umbilical cable guide wheel (611) is rotatably arranged on the umbilical cable guide wheel shaft (603) between the two swinging base plates (610), the umbilical cable guide wheel (611) is rotatably connected with the umbilical cable guide wheel shaft (603) through a horizontal rotating member, and an umbilical cable limiting plate (604) is fixedly arranged at the inner side of the swinging base plates (610) through screws, used for limiting the umbilical cable and preventing the umbilical cable from separating from the umbilical guide wheel (611).
4. The multiple degree of freedom umbilical heave compensation apparatus of claim 3, wherein the swing shaft (618) and the base plate (616) are fixedly mounted to the traverse pallet (617) by screws.
5. The multiple degree of freedom umbilical heave compensation apparatus according to claim 3, wherein a positioning member is provided between the umbilical guide axle (603) and the swinging seat plate (610), the positioning member comprises an axle end baffle (601) and a baffle screw (602), and the axle end baffle (601) is mounted on the swinging seat plate (610) through the baffle screw (602) for axially positioning the umbilical guide axle (603).
6. The multiple degree of freedom umbilical heave compensation apparatus according to claim 3, wherein the horizontal turning piece comprises a bearing end cap (605), a cylindrical roller bearing (606), an inner distance ring (607), an outer distance ring (608) and a small screw (609);
the bearing end covers (605) are arranged on hubs on two sides of an umbilical cord guide wheel (611) through small screws (609) and used for axially positioning outer rings of the two cylindrical roller bearings (606), the inner distance ring (607) and the two outer distance rings (608) are used for axially positioning inner rings of the two cylindrical roller bearings (606), and the umbilical cord guide wheel (611) can rotate around the fixed umbilical cord guide wheel shaft (603), so that traction work of an umbilical cable is completed.
7. The multiple degree of freedom umbilical heave compensation apparatus of claim 3, wherein the longitudinal turning member comprises a bearing pressure plate (613), a large screw (612), a thrust ball bearing (614), a locating ring (615), an inner collar (619), an outer collar (620);
in the lower part of the swinging seat plate (610), a bearing pressure plate (613) is installed at one end of a swinging shaft (618) through a large screw (612), two thrust ball bearings (614) are used for bearing axial force, two longitudinal cylindrical roller bearings are used for bearing radial force, both the two longitudinal cylindrical roller bearings are installed in pairs and are respectively arranged at two ends of the swinging shaft (618), axial limiting is realized between each group of thrust ball bearings (614) and the longitudinal cylindrical roller bearings through an inner shaft ring (619) and an outer shaft ring (620), a positioning ring (615) sleeved on the swinging shaft (618) is used for axially positioning the longitudinal cylindrical roller bearings, and a connecting end connected with a transverse sliding bearing (7) is installed on the lower side of a transverse supporting plate (617).
8. Multiple degree of freedom umbilical heave compensation device according to claim 7, characterised in that the number of traverser slide bearings (7) is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110799529.4A CN113371158B (en) | 2021-07-15 | 2021-07-15 | Multi-degree-of-freedom umbilical cable heave compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110799529.4A CN113371158B (en) | 2021-07-15 | 2021-07-15 | Multi-degree-of-freedom umbilical cable heave compensation device |
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| CN113371158A true CN113371158A (en) | 2021-09-10 |
| CN113371158B CN113371158B (en) | 2024-05-24 |
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