CN114319291A - Floating support installation lifting device with motion compensation function - Google Patents
Floating support installation lifting device with motion compensation function Download PDFInfo
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- CN114319291A CN114319291A CN202111673064.4A CN202111673064A CN114319291A CN 114319291 A CN114319291 A CN 114319291A CN 202111673064 A CN202111673064 A CN 202111673064A CN 114319291 A CN114319291 A CN 114319291A
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Abstract
The invention discloses a floating support installation lifting device with a motion compensation function, and belongs to the technical field of ocean platform installation. The device comprises an upper platform directly contacted with an upper block, a lower platform fixedly connected with a barge through a fixing device, an active hydraulic cylinder, a passive hydraulic cylinder, a force sensor, a pose sensor and the like. The active and passive hydraulic cylinders are connected with the upper and lower platforms through spherical hinges, the hydraulic rods are controlled to stretch through hydraulic servo valves, six-degree-of-freedom motion of the upper platform can be achieved, and by combining attitude sensors and upper computer software calculation, the floating support installation lifting operation requirements are met, meanwhile, motion of the barge under the wave flow effect can be compensated, stability of the barge is kept, and the upper module block is transferred to the guide pipe frame in a stable state. The device can enlarge the offshore floating support installation operation window, reduces the construction risk and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of ocean platform installation, in particular to a floating support installation lifting device with a motion compensation function.
Background
With the development of modularization and maximization of the ocean platform, the traditional hoisting method cannot meet the installation requirement, and the installation of the ocean platform by the floating-supporting method is carried out as soon as possible. Load transfer is the most important link in the floating support installation process, and in the link, the insertion tips of the upper module blocks are gradually butted with the pile legs, the weight of the module blocks is gradually transferred onto the pile legs of the jacket, and under the action of wind and wave flows, the multi-degree-of-freedom movement of the ship brings hidden dangers to installation operation, the ship movement needs to be compensated in a reasonable mode, the construction risk is reduced, and the operation efficiency is improved.
In recent years, the load capacity of large equipment is increased day by day, a single actuating mechanism of the traditional method cannot meet the requirements of modern engineering, and the hydraulic synchronization technology is widely applied to the field of jacking or translation of large structures. If in the jacking process, because the displacement of each actuating mechanism is different due to the ship movement, the bearing may be deformed to a certain extent, and major accidents occur. The margin-free jacking device has high requirements on the precision of a control system, great control difficulty and high manufacturing cost.
Disclosure of Invention
In view of the above-mentioned shortcomings, the present invention provides a floating-supported lifting device with motion compensation function. The multi-degree-of-freedom ship motion compensation device aims to compensate ship multi-degree-of-freedom motion while completing the lifting operation of an upper module, expand a floating support installation operation window, reduce construction risks and improve operation efficiency.
The invention is realized by the following technical scheme: a floatover installation lifting device with a motion compensation function comprises a lower platform 202 fixedly connected with a barge deck and an upper platform 201 directly contacted with an upper chunk, wherein a plurality of active hydraulic cylinders 203 for lifting and adjusting the posture of the upper platform 201 and passive hydraulic cylinders 204 for bearing the weight of the upper chunk are arranged between the upper platform 201 and the lower platform 202;
the active hydraulic cylinders 203 are uniformly distributed on the outer sides of the passive hydraulic cylinders 204; two ends of the driving hydraulic cylinder 203 are respectively connected to the hinge points of the upper platform 201 and the lower platform 202 through ball chains 205; two ends of the passive hydraulic cylinder 204 are respectively connected with the upper platform 201 and the lower platform 202 through ball chains 205.
As a further scheme of the present invention, two ball chains 205 are disposed on each hinge point;
the upper end and the lower end of each active hydraulic cylinder 203 are respectively connected to the two ball chains 205 which are closest to the hinge point of the upper platform 201 and the hinge point of the lower platform 202.
As a further aspect of the present invention, two ends of the passive hydraulic cylinder 204 are hinged to the centers of the upper platform 201 and the lower platform 202 through ball chains 206, respectively.
As a further scheme of the present invention, the number of the active hydraulic cylinders 203 is six, and the number of the hinge points on the upper platform 201 and the lower platform 202 is three; the hinge points of the upper platform 201 are uniformly distributed on the upper platform 201, the hinge points of the lower platform 202 are uniformly distributed on the lower platform 202, and the angle difference of the hinge points of the upper platform 201 and the lower platform 202 on the horizontal plane is 60 degrees.
As a still further aspect of the present invention, the lifting apparatus further includes a force sensor 206 for monitoring the supporting force of the active hydraulic cylinder 203 and the passive hydraulic cylinder 204.
As a still further aspect of the present invention, each of the active hydraulic cylinder 203 and the passive hydraulic cylinder 204 includes a hydraulic cylinder body, a hydraulic push rod installed in the hydraulic cylinder body, and a servo valve for providing a driving force to the hydraulic push rod to drive the branched linear reciprocating motion.
As a further aspect of the present invention, the stroke of the passive hydraulic cylinder 204 is smaller than that of the active hydraulic cylinder 203, and the piston area of the passive hydraulic cylinder 204 is larger than that of the active hydraulic cylinder 203.
As a further scheme of the present invention, the lifting apparatus further includes a pose sensor 207, configured to detect a scale to be lifted and a pose to be compensated, and further control the active hydraulic cylinder 203 and the passive hydraulic cylinder 204 to adjust the pose of the upper platform.
An operation system comprises the floating-support installation lifting device 2 with the motion compensation function, the lower platform 202 is fixedly connected with a floating-support installation barge 3 through a fixing device, and the upper platform 201 is abutted with the upper platform block 1 to complete the scale needing to be lifted and the posture needing to be compensated.
The invention can realize six-degree-of-freedom motion of the upper platform by controlling the active hydraulic cylinder and the passive hydraulic cylinder to stretch through the hydraulic servo valve, can compensate the motion of the barge under the action of wave current while completing lifting operation by combining a pose sensor and upper computer software calculation, keeps the stability of the barge, and transfers the upper chunk to the jacket in a stable state. The device can enlarge the offshore floating support installation operation window, reduces the construction risk and improves the operation efficiency. In the specific structure, the active hydraulic cylinder telescopically adjusts the pose of the upper platform to compensate the movement of the barge, and can play a bearing role to a certain extent. The passive hydraulic cylinder is slightly shorter than the active hydraulic cylinder in stroke, but the piston area is larger, and the active hydraulic cylinder and the passive hydraulic cylinder work in a cooperation mode and have stronger bearing capacity compared with a common hydraulic jack. Meanwhile, the passive hydraulic cylinder is driven in a redundant mode, the possible singular position in the floating support installation operation process can be avoided, the stability of the floating support installation system during construction is improved, and the construction risk is reduced. The upper platform, the lower platform, the active hydraulic cylinder and the passive hydraulic cylinder are connected through the connecting spherical hinges, a certain margin is provided for a control system, the control difficulty is reduced, and the manufacturing cost can be correspondingly reduced.
Drawings
Fig. 1 is a schematic view of an installation operation of a floating-mounted lifting device with a motion compensation function.
Fig. 2 is a schematic view of the installation of a lifting device in a float-over lifting device with motion compensation function.
Fig. 3 is a schematic structural diagram of a lifting device in a float-over-mount lifting device with a motion compensation function.
Fig. 4 is a schematic diagram of the distribution positions of the connecting hinge points of the driving hydraulic cylinder and the driven hydraulic cylinder in the float-over-mount lifting device with the motion compensation function.
In the figure: 1-upper platform block, 2-lifting device, 3-floatover barge, 4-jacket, 201-upper platform, 202-lower platform, 203-active hydraulic cylinder, 204-passive hydraulic cylinder, 205-ball chain, 206-force sensor, 207-pose sensor, 401-upper platform active branched chain hinged point, 402-upper platform passive branched chain hinged point and 403-lower platform active branched chain hinged point.
Detailed Description
In the description of the present invention, it is to be understood that the terms "longitudinal," "lateral," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
As shown in fig. 1, a floatover installation lifting device with motion compensation function comprises a lower platform 202 fixedly connected with a barge deck and an upper platform 201 directly contacted with an upper chunk, wherein a plurality of active hydraulic cylinders 203 for lifting and adjusting the posture of the upper platform 201 and passive hydraulic cylinders 204 for bearing the weight of the upper chunk are arranged between the upper platform 201 and the lower platform 202;
the active hydraulic cylinders 203 are uniformly distributed on the outer sides of the passive hydraulic cylinders 204; two ends of the driving hydraulic cylinder 203 are respectively connected to the hinge points of the upper platform 201 and the lower platform 202 through ball chains 205; two ends of the passive hydraulic cylinder 204 are respectively connected with the upper platform 201 and the lower platform 202 through ball chains 205.
Specifically, a lower platform 202 in the lifting device 2 is fixedly connected with the float-over barge 3 through a fixing device, the upper platform 201 is directly contacted with the upper platform block 1, a posture sensor 207 detects the scale to be lifted and the posture to be compensated, the active hydraulic cylinder 203 drives the upper platform 201 to move, and the passive hydraulic cylinder 204 bears most of the weight of the upper platform block 1 as required and controls the upper platform block 1 to gradually and stably descend onto the jacket 4.
As a further scheme of the present invention, two ball chains 205 are disposed on each hinge point;
the upper end and the lower end of each active hydraulic cylinder 203 are respectively connected to the two ball chains 205 which are closest to the hinge point of the upper platform 201 and the hinge point of the lower platform 202.
As a further aspect of the present invention, two ends of the passive hydraulic cylinder 204 are hinged to the centers of the upper platform 201 and the lower platform 202 through ball chains 206, respectively.
In particular, the passive hydraulic cylinder 204 mainly supports the load on the upper platform 201.
As a further scheme of the present invention, the number of the active hydraulic cylinders 203 is six, and the number of the hinge points on the upper platform 201 and the lower platform 202 is three; the hinge points of the upper platform 201 are uniformly distributed on the upper platform 201, the hinge points of the lower platform 202 are uniformly distributed on the lower platform 202, and the angle difference of the hinge points of the upper platform 201 and the lower platform 202 on the horizontal plane is 60 degrees.
Specifically, the upper platform 201 and the lower platform 202 are connected with the active hydraulic cylinder 203 and the passive hydraulic cylinder 204 through a connecting spherical hinge 205, the passive branched chain hinge point of the upper platform connected with the passive hydraulic cylinder 204 and the passive branched chain hinge point of the lower platform 202 are both positioned at the circle center of the upper platform 201 and the lower platform 202, and the hinge points connected with the six active hydraulic cylinders 203 are divided into a group two by two and are uniformly distributed along the edge circumference of the upper platform 201 and the lower platform 202.
As a still further aspect of the present invention, the lifting apparatus further includes a force sensor 206 for monitoring the supporting force of the active hydraulic cylinder 203 and the passive hydraulic cylinder 204.
As a still further aspect of the present invention, each of the active hydraulic cylinder 203 and the passive hydraulic cylinder 204 includes a hydraulic cylinder body, a hydraulic push rod installed in the hydraulic cylinder body, and a servo valve for providing a driving force to the hydraulic push rod to drive the branched linear reciprocating motion.
As a further aspect of the present invention, the stroke of the passive hydraulic cylinder 204 is smaller than that of the active hydraulic cylinder 203, and the piston area of the passive hydraulic cylinder 204 is larger than that of the active hydraulic cylinder 203.
As a further scheme of the present invention, the lifting apparatus further includes a pose sensor 207, configured to detect a scale to be lifted and a pose to be compensated, and further control the active hydraulic cylinder 203 and the passive hydraulic cylinder 204 to adjust the pose of the upper platform.
An operation system comprises the floating-support installation lifting device 2 with the motion compensation function, the lower platform 202 is fixedly connected with a floating-support installation barge 3 through a fixing device, and the upper platform 201 is abutted with the upper platform block 1 to complete the scale needing to be lifted and the posture needing to be compensated.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. A floatover-mounted lifting device with a motion compensation function comprises a lower platform (202) fixedly connected with a barge deck and an upper platform (201) in direct contact with an upper chunk, and is characterized in that a plurality of active hydraulic cylinders (203) used for lifting and adjusting the posture of the upper platform (201) and passive hydraulic cylinders (204) used for bearing the weight of the upper chunk are arranged between the upper platform (201) and the lower platform (202);
the active hydraulic cylinders (203) are uniformly distributed on the outer side of the passive hydraulic cylinder (204); two ends of the driving hydraulic cylinder (203) are respectively connected to the hinged points of the upper platform (201) and the lower platform (202) through ball chains (205); two ends of the passive hydraulic cylinder (204) are respectively connected with the upper platform (201) and the lower platform (202) through ball chains (205).
2. The float-mounted lifting apparatus with motion compensation function as claimed in claim 1, wherein two ball chains (205) are provided on each of the hinge points;
the upper end and the lower end of each driving hydraulic cylinder (203) are respectively connected to two ball chains (205) which are closest to the hinge point of the upper platform (201) and the hinge point of the lower platform (202).
3. The floating installation lifting device with motion compensation function of claim 2, characterized in that the two ends of the passive hydraulic cylinder (204) are hinged at the center of the upper platform (201) and the lower platform (202) through ball chains (206), respectively.
4. The floating installation lifting device with motion compensation function of claim 3, characterized in that the number of the active hydraulic cylinders (203) is six, and the hinge points on the upper platform (201) and the lower platform (202) are respectively three; the hinge points of the upper platform (201) are uniformly distributed on the upper platform (201), the hinge points of the lower platform (202) are uniformly distributed on the lower platform (202), and the angle difference of the hinge points of the upper platform (201) and the lower platform (202) on the horizontal plane is 60 degrees.
5. The float-mounted lifting device with motion compensation function of claim 1, characterized in that the lifting device further comprises a force sensor (206) for monitoring the bearing force of the active hydraulic cylinder (203) and the passive hydraulic cylinder (204).
6. The float-mounted lifting device with motion compensation function according to claim 1, wherein the active hydraulic cylinder (203) and the passive hydraulic cylinder (204) each comprise a hydraulic cylinder body, a hydraulic push rod mounted in the hydraulic cylinder body, and a servo valve for providing a driving force to the hydraulic push rod to drive the branch linear reciprocating motion.
7. The float-mounted lifting device with motion compensation function of claim 6, characterized in that the stroke of the passive hydraulic cylinder (204) is smaller than that of the active hydraulic cylinder (203), and the piston area of the passive hydraulic cylinder (204) is larger than that of the active hydraulic cylinder (203).
8. The floating installation lifting device with motion compensation function of claim 1, characterized in that the lifting device further comprises a pose sensor (207) for detecting the scale to be lifted and the pose to be compensated, and further controlling the active hydraulic cylinder (203) and the passive hydraulic cylinder (204) to adjust the pose of the upper platform.
9. A working system, comprising a plurality of floatover-mounted lifting devices with motion compensation function as claimed in claims 1-8, wherein the lower platform (202) is fixedly connected with the floatover-mounted barge (3) through a fixing device, and the upper platform (201) is abutted with the upper platform block (1) to complete the dimension to be lifted and the compensated pose.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111673064.4A CN114319291A (en) | 2021-12-31 | 2021-12-31 | Floating support installation lifting device with motion compensation function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111673064.4A CN114319291A (en) | 2021-12-31 | 2021-12-31 | Floating support installation lifting device with motion compensation function |
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2021
- 2021-12-31 CN CN202111673064.4A patent/CN114319291A/en active Pending
Patent Citations (10)
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|---|---|---|---|---|
| CN103267210A (en) * | 2013-05-16 | 2013-08-28 | 燕山大学 | Six-freedom-degree parallel pointing platform |
| CN105668430A (en) * | 2016-03-01 | 2016-06-15 | 江苏科技大学 | Crane device with multi-degree-of-freedom active wave compensation function and compensation method |
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Application publication date: 20220412 |