CN115837963A - A stable compensation platform for ocean engineering - Google Patents

Abstract

The invention discloses a stable compensation platform for ocean engineering, which comprises a passive inertial volume damping mechanism, an active hydraulic compensation platform arranged above the passive inertial volume damping mechanism, a rotary table arranged in the middle position above the active hydraulic compensation platform, and a rotary driving mechanism connected with the rotary table, wherein an attitude sensor is also arranged above the active hydraulic compensation platform and below the rotary table, and the attitude sensor, the passive inertial volume damping mechanism and the active hydraulic compensation platform are arranged on the rotary table; the invention has the advantages that the passive inertial capacitance vibration reduction mechanism with six degrees of freedom is adopted, high-frequency low-amplitude vibration in all directions can be reduced, the passive inertial capacitance vibration reduction mechanism is combined with an active hydraulic compensation platform, the swinging in three directions of rolling, yawing and pitching caused by sea waves can be compensated, the supporting columns are added to support most of weight, the energy consumption is reduced, and the power required by the hydraulic lifting mechanism is further reduced.

Description

A stable compensation platform for ocean engineering

technical field

The invention relates to the technical field of stable platforms, in particular to a stable compensation platform for marine engineering.

Background technique

In ocean engineering operations, under the excitation of sea waves, the offshore engineering vessel will sway with relatively low frequencies and large amplitudes in six directions: heave, sway, surge, yaw, roll, and pitch, as shown in Figure 1; at the same time, the hull is Under the influence of sea wind and other equipment such as engines, vibrations with higher frequencies and smaller amplitudes are also generated; the stable compensation platform is an anti-sway and vibration-reduction device commonly used for important equipment on board, such as cranes installed on crane ships, in order to reduce waves. The swing effect of hoisting requires the installation of a stable compensation platform; the radar installed on the warship needs a stable working environment, and also needs to be protected by a stable compensation platform;

The traditional solution is to use a pure active six-degree-of-freedom compensation platform or a simple buffer damping device, as shown in Figure 2, a six-degree-of-freedom (pure) active compensation platform commonly used in marine engineering vessels, similar to the Stewart platform structure, with 6 cylinder piston rods The upper platform (moving platform) is supported in the way of "long sides connected with short sides", which can compensate the swing of all 6 degrees of freedom. This kind of stable compensation platform scheme, because the load is completely supported by 6 cylinder piston rods, and if The weight of the crane is very huge, and the compensation requires a lot of energy. Secondly, it needs a large-power hydraulic drive equipment, which will increase the cost; Cannot cope with vibration compensation; and for the scheme using a simple buffer damping device, it cannot isolate vibration well and cannot compensate wave excitation;

In view of this, we designed and improved the existing compensation platform to meet the needs of offshore engineering operations.

Contents of the invention

The purpose of the present invention is to design a stable compensation platform to solve the problems of large energy consumption, high cost and inability to isolate the vibration of the hull in the traditional scheme in ocean engineering operations, specifically a stable compensation platform for ocean engineering.

To achieve the above object, the technical solution of the present invention is a stable compensation platform for marine engineering, including a passive inertial vibration reduction mechanism, an active hydraulic compensation platform arranged above the passive inertial vibration reduction mechanism, and an active hydraulic compensation platform arranged on the active hydraulic compensation platform. The turntable at the upper middle position, the rotary drive mechanism connected with the turntable, the attitude sensor above the active hydraulic compensation platform and below the turntable, the attitude sensor, the passive inertial vibration reduction mechanism, the active hydraulic compensation platform, the rotary drive The mechanism is connected with the active chip; ocean engineering equipment is installed on the turntable.

As a further supplement to the technical solution, the passive inertial vibration damping mechanism includes a base, a plurality of fluid inertial containers arranged above the base and located on its outer circumference, springs arranged on and connected to the fluid inertial containers, arranged on The limit buffer mechanism at the center of the base, the middle platform arranged above the fluid inerter and the limit buffer mechanism, the lower end of the fluid inerter is connected to the base through a universal joint and the upper end is connected to the middle platform through a ball hinge , the lower end of the limit buffer mechanism is connected to the base through a universal joint and the upper end is connected to the middle platform through a ball hinge.

As a further supplement to the technical solution, there are six fluid inerters, and the six fluid inerters are arranged symmetrically on the left and right sides of the base.

As a further supplement to the technical solution, the limit buffer mechanism includes a limit inertial cylinder, a limiter inertial rod connected with the limiter inertial cylinder, the lower end of the limiter inertial cylinder is connected to the base through a universal joint and The upper end of the limiting inertial rod is connected with the middle platform through a ball hinge.

As a further supplement to the technical solution, the active hydraulic compensation platform includes a plurality of hydraulic lifting mechanisms evenly distributed on the middle platform, a support column set at the center above the middle platform, an upper platform set above the hydraulic lifting mechanism and the support column , the turntable is set above the upper platform, the upper end of the hydraulic lifting mechanism is connected to the upper platform through a universal joint and the lower end is connected to the middle platform through a universal joint, the lower end of the support column is fixedly connected to the middle platform and its The upper end is connected with the upper platform through a universal joint, and the attitude sensor is arranged on the upper platform.

As a further supplement to the technical solution, there are four hydraulic lifting mechanisms and they are evenly distributed on the middle platform.

As a further supplement to the technical solution, the hydraulic lifting mechanism (21) includes a hydraulic cylinder (211), a cylinder piston rod (212) connected to the hydraulic cylinder (211), an inerter (213) arranged below the hydraulic cylinder (211) ); the cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inertial container (213) is connected with the upper surface of the middle platform through a universal joint.

As a further supplement to the technical solution, the rotary drive mechanism is built in the turntable.

Its beneficial effect is that a six-degree-of-freedom passive inertial vibration reduction mechanism is adopted, which can reduce high-frequency and low-amplitude vibrations in all directions, and combined with an active hydraulic compensation platform, it can compensate for rolling, yaw, and pitch caused by waves. Sway in two directions, and increase the support column to support most of the weight, reduce energy consumption, and further reduce the power required by the hydraulic lifting mechanism.

Description of drawings

Fig. 1 is the force diagram under the working condition of the offshore engineering vessel;

Fig. 2 is a schematic structural diagram of the prior art;

Fig. 3 is a schematic view of the structure of the first angle of the present invention;

Fig. 4 is a schematic diagram of the structure of the second angle of the present invention;

Fig. 5 is a hydraulic principle diagram of the active compensation part in the present invention.

In the figure, 1. Passive inertial capacity damping mechanism; 11. Base; 12. Fluid inerter; 13. Spring; 14. Limiting buffer mechanism; 141. Limiting inertial cylinder; 142. Limiting inertial rod; 15. Middle platform; 2. Active hydraulic compensation platform; 21. Hydraulic lifting mechanism; 211. Hydraulic cylinder; 212. Oil cylinder piston rod; 213. Inerter container; 22. Support column; 23. Upper platform;

Detailed ways

First of all, the original design intention of the present invention is explained. Although the existing compensation platform can compensate the swing of 6 degrees of freedom when it is used in marine engineering, the load is completely supported by 6 oil cylinder piston rods, and the weight of the crane, etc. It is very huge, and the compensation needs a lot of energy consumption. Secondly, it needs a large power hydraulic drive equipment, which will increase the cost and the use effect is not good. Based on this, we have designed a stable compensation platform through active and passive compounding, and adopted six freedoms The high-degree passive inertial vibration reduction mechanism can reduce high-frequency and low-amplitude vibrations in all directions, and combined with the active hydraulic compensation platform 2, it can compensate the three directions of roll, yaw, and pitch caused by waves.

The present invention is different from the prior art (Fig. 2) in that a passive inertial vibration damping mechanism is added on the basis of the prior art (Fig. 2), and a design improvement and innovation is made to the structure of the active hydraulic compensation platform 2; The four directions of roll, yaw, pitch and heave are the largest in the ship's sway, and the influence of heave is easily compensated by traditional methods without repeated compensation by the platform. The other two directions are relatively small. The impact can be reduced through the passive inertial vibration reduction mechanism without the main supporting force provided by the supporting column 22 in the middle. The hydraulic lifting mechanism 21 only needs to adjust the driving force of the attitude without holding up the entire load. The supporting column 22 can support most of the weight , reduce energy consumption, and can further reduce the power used by the hydraulic lifting mechanism 21. This technical solution can realize the integrated function of vibration reduction and compensation through the combination of the passive inertial vibration reduction mechanism 1 and the active hydraulic compensation platform 2.

In order to facilitate those skilled in the art to be more clear about the technical solution, the specific structures and principles of the above-mentioned mechanisms will be described below in conjunction with accompanying drawings 3-5:

As shown in Figure 3-5, a stable compensation platform for marine engineering includes a passive inertial vibration reduction mechanism 1, an active hydraulic compensation platform 2 arranged above the passive inertial vibration reduction mechanism 1, an active hydraulic compensation platform 2 arranged on the active hydraulic compensation The turntable 3 at the middle position above the platform 2 and the rotary drive mechanism (not shown) connected to the turntable 3, in order to further save space and facilitate the operation of the turntable 3, the rotary drive mechanism is built in the turntable 3, in detail, the rotary drive mechanism adopts Driven by a motor; an attitude sensor (not shown) is provided above the active hydraulic compensation platform 2 and below the turntable 3, which can detect the attitude of the upper platform 23, the attitude sensor, the passive inertial vibration reduction mechanism 1, and the active hydraulic compensation platform 2 , the rotating drive mechanism is connected with the active chip; the active chip can monitor the attitude sensor, the passive inertial vibration reduction mechanism 1, the active hydraulic compensation platform 2, the working state of the rotating drive mechanism and control its work; the marine engineering equipment (such as cranes, etc.) Installed on the turntable 3, when working, the passive inertial vibration reduction mechanism 1 can reduce the vibration in all six directions, and the active hydraulic compensation platform 2 can compensate the sway of the hull in three directions: roll, yaw, and pitch, so as to achieve reduction Integrated function of vibration compensation.

The structure of the passive inertial vibration damping mechanism 1 will be described in detail below, which includes a base 11, a plurality of fluid inertial containers 12 arranged above the base 11 and located on its outer circumference, arranged on the fluid inertial containers 12 and The spring 13 connected with it, the position-limiting buffer mechanism 14 arranged at the central position of the base 11, the middle platform 15 arranged above the fluid inerter container 12 and the position-limit buffer mechanism 14, the lower end of the fluid inerter container 12 and the base 11 through ten thousand The joint is connected and its upper end is connected with the middle platform 15 through a ball hinge, the lower end of the limit buffer mechanism 14 is connected with the base 11 through a universal joint and its upper end is connected with the middle platform 15 through a ball hinge;

As shown in Figure 1, wherein the fluid inerter container 12 is inclined to the outside along the direction from top to bottom, in detail, the hinge point of the fluid inerter container 12 and the base 11 is located at the peripheral edge of the base, and along The base 11 is arranged at intervals in the circumferential direction, the hinge point of the fluid inerter container and the middle platform 15 is located at the circumferential edge of the middle platform 15, and is arranged at intervals along the circumferential direction of the middle platform 15, the fluid inerter container and the middle platform 15 The hinge points of the fluid accumulators 15 and the hinge points of the base 11 are different in position distribution; the fluid accumulators are inclined vertically and horizontally and the inclination directions of each fluid accumulators are different.

As a preferred embodiment, the number of fluid inerters 12 is set to six, and the six fluid inerters 12 are symmetrically arranged on the left and right sides of the base 11, and the six fluid inerters 12 are combined with springs 13 to replace the existing six An active lever, the use effect is better.

Wherein, the limit buffer mechanism 14 includes a limit inertial cylinder 141, a limiter inertia rod 142 connected with the limiter inertial cylinder 141, the lower end of the limiter inertial cylinder 141 is connected with the base 11 through a universal joint and limited The upper end of the position inertia tolerance rod 142 is connected with the middle platform 15 through a ball hinge, which can further realize the function of limiting, buffering and decompressing.

The structure of the active hydraulic compensation platform 2 will be described in detail below, which includes a plurality of hydraulic lifting mechanisms 21 evenly distributed on the middle platform 15, a support column 22 arranged at the center above the middle platform 15, and a hydraulic lifting mechanism arranged on the middle platform 15. 21. The upper platform 23 above the supporting column 22, the turntable 3 is set above the upper platform 23, the upper end of the hydraulic lifting mechanism 21 is connected with the upper platform 23 through a universal joint and the lower end is connected with the middle platform 15 through a universal joint, the supporting column The lower end of 22 is fixedly connected with the middle platform 15 and its upper end is connected with the upper platform 23 through a universal joint. 1. An inerter 213 arranged below the hydraulic cylinder; the piston rod 212 of the oil cylinder is connected with the upper platform 23 through a universal joint, and the lower end of the inerter 213 is connected with the upper surface of the middle platform 15 through a universal joint.

As a preferred embodiment, four hydraulic lifting mechanisms 21 are provided and evenly distributed on the middle platform 15, and four hydraulic lifting mechanisms 21 are used to replace the six hydraulic lifting mechanisms 21 of the prior art, and passive inertial vibration reduction Mechanism 1 has a good composite stability compensation effect.

Preferably, the shape and size of the base 11 are larger than the shape and size of the middle platform 15, and the shape and size of the upper platform 23 are larger than the shape and size of the middle platform 15, which is conducive to reducing the center of the compensation platform and improving the stability and load-bearing capacity of the compensation platform Further, the shape of the base is a hexagonal plate symmetrically arranged on the left and right, and the shape of the middle platform 15 is the same as the shape of the base and its size is smaller than the size of the base 11. The base 11 and the middle platform 15 are not offset The position is placed, and its top and bottom are reversely installed and placed. The limit buffer mechanism 14 and the support column 22 are arranged at the center of gravity of the base 11 and the middle platform 15; the structure of the upper platform 23 is designed as a square, and the upper end of the support column 22 is arranged on The position of the center of gravity of the upper platform, and the size design of the upper platform 23 and the size design of the middle platform 15 make the hydraulic lifting mechanism 21 vertically placed and connected with the upper platform 23 and the middle platform 15 respectively.

As shown in Figure 5, the working principle of the active hydraulic compensation platform is as follows: first, the attitude sensor installed on the upper platform detects the attitude change of the upper platform, and transmits the detection data to the main control chip, and the control system calculates the four hydraulic cylinders (cylinder A1, cylinder A2, cylinder A3 and cylinder A4) need to compensate the displacement, control four electric hydraulic pumps (electric hydraulic pump M1, electric hydraulic pump M2, electric hydraulic pump M3 and electric hydraulic pump M4) oil supply, and four Electromagnets (electromagnet K10 and electromagnet K11, electromagnet K20 and electromagnet K21, electromagnet K30 and electromagnet K31 and electromagnet K40 and electromagnet K41) forward and reverse power supply time, drive four hydraulic oil cylinders, be respectively the oil cylinder piston rod motion of oil cylinder A1, oil cylinder A2, oil cylinder A3 and oil cylinder A4; Four oil cylinders (oil cylinder A1, oil cylinder A1, Oil cylinder A2, oil cylinder A3 and oil cylinder A4) drive the platform to change its attitude, thereby realizing the time-varying nonlinear motion of the platform in the roll and pitch directions, and the compensation of the superimposed motion in this direction.

The overall working principle of the present invention will be systematically described below: the passive inertial capacity damping mechanism 1 part of the active-passive composite stable compensation platform of the present invention does not need to be actively operated. When the vibration is excited, the middle platform 15 and the base 11 produce an unknown direction relative The movement trend, the relative movement tendency of all six directions will cause the six fluid inerters 12 and the spring 13 to have a stretching tendency, which can reduce this kind of movement tendency and thereby suppress the vibration in all directions between the middle platform 15 and the base 11. The attitude sensor on the upper platform 23 monitors the attitude of the platform at any time and transmits it to the main control chip. The data returned by the main control chip drives 4 hydraulic lifting mechanisms 21 to lift and drive the turntable 3 to rotate, compensating the roll, yaw, and pitch of the hull, so that The upper platform 23 remains stable.

The above-mentioned technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention, and some changes that those skilled in the art may make to certain parts reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims (8)

1. A stable compensation platform for ocean engineering, characterized in that it comprises a passive inertial vibration reduction mechanism (1), an active hydraulic compensation platform (2) arranged on the passive inertial vibration reduction mechanism (1), a set The turntable (3) at the middle position above the active hydraulic compensation platform (2), and the rotary drive mechanism connected to the turntable (3), and an attitude sensor is also provided above the active hydraulic compensation platform (2) and below the turntable (3) , the attitude sensor, the passive inertial vibration reduction mechanism (1), the active hydraulic compensation platform (2), the rotation drive mechanism are connected with the active chip; the marine engineering equipment is installed on the turntable (3). 2. A stable compensation platform for marine engineering according to claim 1, characterized in that the passive inertial vibration damping mechanism (1) includes a base (11), which is arranged above the base (11) And a plurality of fluid inerters (12) located on its outer circumference, a spring (13) arranged on and connected to the fluid inerters (12), a limit buffer mechanism (14) arranged in the center of the base (11) , the middle platform (15) that is arranged on the fluid accumulator (12) and the limit buffer mechanism (14), the lower end of the fluid inerter (12) is connected with the base (11) through a universal joint and its upper end passes through The ball hinge is connected with the middle platform (15), the lower end of the limit buffer mechanism (14) is connected with the base (11) through a universal joint and the upper end is connected with the middle platform (15) through a ball hinge. 3. A stable compensation platform for marine engineering according to claim 2, characterized in that, there are 6 fluid inerters (12), and the 6 fluid inerters (12) are symmetrically arranged on The left and right sides of base (11). 4. A kind of stable compensation platform for ocean engineering according to claim 2, characterized in that, the limit buffer mechanism (14) includes a limit inertial cylinder (141), and a limiter inertial cylinder ( 141) connected limit inertial rod (142), the lower end of the limiter inertial cylinder (141) is connected to the base (11) through a universal joint and the upper end of the limiter inertial rod (142) is connected to the middle platform through a ball hinge (15) CONNECTION. 5. A kind of stable compensation platform for ocean engineering according to claim 2, characterized in that, said active hydraulic compensation platform (2) includes a plurality of hydraulic lifting mechanisms ( 21), the support column (22) that is arranged on the central position above the middle platform (15), the upper platform (23) that is arranged on the upper platform (23) above the hydraulic lifting mechanism (21), the support column (22), and the turntable (3) is arranged on Above the upper platform (23), the upper end of the hydraulic lifting mechanism (21) is connected with the upper platform (23) through a universal joint and its lower end is connected with the middle platform (15) through a universal joint, and the support column (22) The lower end is fixedly connected with the middle platform (15) and its upper end is connected with the upper platform (23) through a universal joint, and the attitude sensor is arranged on the upper platform (23). 6. A stable compensation platform for ocean engineering according to claim 5, characterized in that, four hydraulic lifting mechanisms (21) are provided and evenly distributed on the middle platform (15). 7. A stable compensation platform for marine engineering according to claim 1, characterized in that the hydraulic lifting mechanism (21) includes a hydraulic cylinder (211), a cylinder piston rod connected to the hydraulic cylinder (211) (212), the inerter (213) arranged below the hydraulic cylinder (211); the cylinder piston rod (212) is connected with the upper platform (23) through a universal joint, and the lower end of the inerter (213) passes through a universal The knuckle is connected with the upper surface of the middle platform (15). 8. A stable compensation platform for ocean engineering according to claim 6, characterized in that the rotation drive mechanism is built in the turntable (3).

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