CN206555191U - Wave compensating device - Google Patents

Abstract

The utility model discloses a wave compensation device, which comprises a control unit, a passive compensation unit, an active compensation unit and a sensor unit; the data output end of the sensor unit is connected to the data acquisition end of the control unit; the first passive hydraulic oil cylinder and the first passive hydraulic oil cylinder in the passive compensation unit The second passive hydraulic cylinder is symmetrically arranged at both ends of the hook; the active compensation unit includes an active hydraulic cylinder connected upside down to the hook and an active oil supply control module. The oil inlet of the active oil supply control module is used to connect to the first oil pump. Oil outlet, the first oil outlet is connected to the active rod chamber oil port of the active hydraulic cylinder, the second oil outlet is connected to the active rodless chamber oil port of the active hydraulic cylinder, and the first controlled end is connected to the first supply port of the control unit Oil control end, the second controlled end is connected to the second oil supply control end of the control unit; the utility model combines passive compensation and active compensation, improves compensation accuracy, reduces kinetic energy input, and can better adapt to harsh sea conditions and drill string Deep sea drilling with heavy load.

Description

Heave compensation device

technical field

The utility model relates to the field of wave compensation, in particular to a wave compensation device.

Background technique

With the development of the economy, the oil and gas resources on the earth are being exhausted, and the exploitation of oil and gas has begun to turn to the ocean, especially to the deep sea waters.

During offshore drilling operations, the drilling ship and the hook will produce periodic heave movements under the action of sea waves, and correspondingly, the drill string will also produce corresponding heave movements, which will cause changes in drilling pressure, which may cause the drill bit to break away Bottom of the well, so that the drilling operation is suspended, and may even damage the drill bit, resulting in huge economic losses. For this reason, in the prior art, a wave compensating device is often added to the drilling equipment to solve the above problems.

However, the compensation accuracy of the existing wave compensation device is low, and it can only be applied to shallow sea drilling operations with good sea conditions. There may be problems such as suspension of drilling operations or damage to the drill bit; in addition, deep-sea drilling operations require the use of long drill strings, which have a large load. The existing wave compensation device will consume a lot of power energy and high cost.

Contents of the invention

The technical problem to be solved by the utility model is to provide a wave compensating device, which can better adapt to deep-sea drilling operations with harsh sea conditions and heavy drill string loads.

In order to solve the above technical problems, the utility model proposes a wave compensation device, including a control unit, a passive compensation unit, an active compensation unit and a sensor unit;

The control unit has a data acquisition terminal, a first fuel supply control terminal and a second fuel supply control terminal;

The sensor unit has a data output end; the data output end is connected to the data acquisition end of the control unit;

The passive compensation unit includes a first accumulator, a second accumulator, a high-pressure working gas cylinder, and a first passive hydraulic cylinder and a second passive hydraulic cylinder symmetrically arranged at both ends of the hook, and the first passive hydraulic cylinder The hydraulic cylinder and the second passive hydraulic cylinder are arranged in parallel; the first passive hydraulic cylinder has a first passive rodless chamber oil port and a first passive piston rod for connecting one end of the hook, and the second The passive hydraulic oil cylinder has a second passive rodless chamber oil port and a second passive piston rod for connecting the other end of the hook; the first passive rodless chamber oil port is connected to the first accumulator The gas inlet and outlet of the high-pressure working gas cylinder, the oil port of the second passive rodless cavity is connected to the gas inlet and outlet of the high-pressure working gas cylinder through the second accumulator;

The active compensation unit includes an active hydraulic cylinder connected upside down to the hook and an active oil supply control module for controlling the connection and isolation of the oil supply passage between the oil pump and the active hydraulic cylinder; the active hydraulic cylinder It has an active rod chamber oil port, an active rodless chamber oil port and an active piston rod for connecting the hook; the active oil supply control module has a first controlled end, a second controlled end, a first outlet An oil port, a second oil outlet, and an oil inlet for connecting the first oil outlet of the oil pump; the active rod chamber oil port is connected to the first oil outlet, and the active rodless chamber The oil port is connected to the second oil outlet, the first controlled end is connected to the first oil supply control end of the control unit, and the second controlled end is connected to the second oil supply control end of the control unit .

Preferably, the heave compensation device further includes an inflation control unit; the control unit also has an inflation control terminal;

The inflation control unit includes a first control gas valve, a second control gas valve, a control gas pressure regulating valve, a low pressure control gas cylinder, a third control gas valve, a first electric control valve, a first pneumatic actuator, a working gas guide A through valve, a working gas pressure regulating valve, and a general air inlet for connecting the air outlet of the air compressor; the first pneumatic actuator is used to control the opening and closing of the working gas conducting valve;

The total air inlet is connected to the air inlet of the working gas conduction valve through the first control air valve, and the total air inlet is also connected to the inlet of the control gas pressure regulating valve through the second control air valve. gas port; the low-pressure gas outlet of the control gas regulator valve is connected to the gas inlet and outlet of the low-pressure control gas cylinder; the gas inlet and outlet of the low-pressure control gas cylinder are also connected to the first gas inlet and outlet through the third control gas valve The air inlet of the electric control valve; the gas outlet of the first electric control valve is connected to the working gas conduction valve through the first pneumatic actuator, and the gas outlet of the working gas conduction valve passes through the working gas The pressure regulating valve is connected to the gas inlet and outlet of the high-pressure working gas cylinder; the control signal input end of the first electric control valve is connected to the inflation control end of the control unit.

Preferably, the inflation control unit also includes a fourth control air valve, a second electric control valve, a second pneumatic actuator and a working exhaust valve; the control unit also has a first exhaust control terminal; the second The pneumatic actuator is used to control the opening and closing of the working exhaust valve;

The air inlet of the working exhaust valve is connected to the air inlet of the working gas conduction valve; the gas inlet and outlet of the low-pressure control gas cylinder are also connected to the second electric control valve through the fourth control air valve The air inlet of the second electric control valve is connected to the working exhaust valve through the second pneumatic actuator; the control signal input end of the second electric control valve is connected to the first an exhaust control terminal.

Preferably, the passive compensation unit further includes a first passive fuel supply control module;

The first passive oil supply control module includes a first pressure regulating relief valve, a second pressure regulating relief valve, a first filter, a second filter and a first electro-hydraulic reversing valve; the control unit also has The third fuel supply control terminal and the fourth fuel supply control terminal;

The oil inlet of the first pressure regulating and relief valve is used to connect to the second oil outlet of the oil pump, and the oil outlet of the first pressure regulating and relief valve is connected to the oil inlet of the first filter , the oil return port of the first pressure regulating and relief valve is connected to the oil inlet of the second filter; the oil outlet of the second filter is used to connect to the oil tank; the second pressure regulating and relief valve The oil inlet of the oil pump is used to connect the third oil outlet of the oil pump, the oil outlet of the second pressure regulating and relief valve is connected to the oil inlet of the first filter, and the oil outlet of the second pressure regulating and relief valve The oil return port is connected to the oil inlet of the second filter; the oil outlet of the first filter is connected to the oil inlet of the first electro-hydraulic reversing valve; the oil outlet of the first electro-hydraulic reversing valve The first oil outlet is connected to the oil port of the first passive rodless chamber, the second oil outlet of the first electrohydraulic reversing valve is connected to the oil port of the second passive rodless chamber, and the first electrohydraulic The first control signal input end of the reversing valve is connected to the third oil supply control end of the control unit, and the second control signal input end of the first electro-hydraulic reversing valve is connected to the fourth oil supply control end of the control unit. end.

Preferably, the first passive hydraulic cylinder also has a first passive rod chamber oil port, and the second passive hydraulic cylinder also has a second passive rod chamber oil port;

The passive compensation unit also includes a second passive oil supply control module; the second passive oil supply control module includes a third pressure regulating relief valve, a fourth pressure regulating relief valve, a third filter, and a fourth filter , the second electro-hydraulic directional valve and the third electro-hydraulic directional valve; the control unit also has a fifth oil supply control terminal, a sixth oil supply control terminal, a seventh oil supply control terminal and an eighth oil supply control terminal ;

The oil inlet of the third pressure regulating and relief valve is used to connect the second oil outlet of the oil pump, and the oil outlet of the third pressure regulating and relief valve is connected to the oil inlet of the third filter, so The oil return port of the third pressure regulating and relief valve is connected to the oil inlet of the fourth filter; the oil inlet of the fourth pressure regulating and relief valve is used to connect the third oil outlet of the oil pump, and the The oil outlet of the fourth pressure regulating and relief valve is connected to the oil inlet of the third filter, and the oil return port of the fourth pressure regulating and relief valve is connected to the oil inlet of the fourth filter; The oil outlet of the fourth filter is used to connect to the oil tank; the oil outlet of the third filter is connected to the oil inlet of the second electro-hydraulic directional valve and the oil inlet of the third electro-hydraulic directional valve port; the first oil outlet of the second electro-hydraulic directional valve is connected to the oil port of the first passive rodless cavity, and the second oil outlet of the second electro-hydraulic directional valve is connected to the first passive There is an oil port in the rod chamber, the first control signal input end of the second electro-hydraulic directional valve is connected to the fifth oil supply control end of the control unit, the second control signal input of the second electro-hydraulic directional valve is The terminal is connected to the sixth oil supply control terminal of the control unit; the first oil outlet of the third electro-hydraulic reversing valve is connected to the oil port of the second passive rodless chamber, and the third electro-hydraulic reversing valve The second oil outlet of the second passive rod chamber is connected to the oil port of the second passive rod chamber, the first control signal input end of the third electro-hydraulic directional valve is connected to the seventh oil supply control end of the control unit, and the first The second control signal input end of the three electro-hydraulic reversing valves is connected to the eighth oil supply control end of the control unit.

Preferably, the passive compensation unit further includes a first safety isolation valve and a second safety isolation valve; the control unit also has an isolation control terminal;

The first safety isolation valve is arranged between the oil port of the first passive rodless chamber and the first accumulator, and the control signal input end of the first safety isolation valve is connected to the isolation unit of the control unit. Control end; the second safety isolation valve is arranged between the oil port of the second passive rodless chamber and the second accumulator, and the control signal input end of the second safety isolation valve is connected to the control Isolated control side of the unit.

Preferably, the passive compensation unit also includes an electric control valve of the working gas cylinder and an exhaust valve of the working gas cylinder; the control unit also has a second exhaust control terminal;

The air inlet of the electric control valve of the working gas cylinder is connected to the exhaust port of the high-pressure working gas cylinder, the gas outlet of the electric control valve of the working gas cylinder is connected to the exhaust valve of the working gas cylinder, and the working gas cylinder The control signal input end of the electric control valve is connected to the second exhaust control end of the control unit.

Preferably, the sensor unit includes a first position sensor for collecting piston position information of the first accumulator, a second position sensor for collecting piston position information of the second accumulator, a third position sensor for collecting the piston position information of the first passive hydraulic cylinder, a fourth position sensor for collecting the piston position information of the second passive hydraulic cylinder, and a fourth position sensor for collecting the piston position information of the active hydraulic cylinder The fifth position sensor, the motion reference unit used to collect the heave displacement of the drilling ship, the hook displacement sensor used to collect the heave displacement of the hook, the passive hydraulic cylinder used to collect the oil pressure An oil pressure sensor, an active oil pressure sensor used to collect the oil pressure of the active hydraulic cylinder, and a tension sensor used to collect the tension of the dead rope end.

Preferably, the control unit also has a ninth fuel supply control terminal; the active control module also has a third controlled terminal, and the third controlled terminal is connected to the ninth fuel supply control terminal of the control unit;

The active fuel supply control module also includes a fifth pressure relief valve, a fifth filter, a sixth filter, a proportional reversing valve, an electromagnetic reversing valve, a first logic core, a second logic core, a first single One-way pilot valve and second one-way pilot valve;

The oil inlet of the fifth pressure regulating and relief valve is connected to the oil inlet of the active oil supply control module, and the oil outlet of the fifth pressure regulating and relief valve is connected to the oil inlet of the fifth filter , the oil return port of the fifth pressure regulating and relief valve is connected to the oil inlet port of the sixth filter;

The oil outlet of the fifth filter is connected to the first oil inlet of the proportional reversing valve and the first oil inlet of the electromagnetic reversing valve, and the oil outlet of the fifth filter also passes through The first one-way pilot valve is connected to the second oil outlet of the active oil supply control module;

The second oil inlet of the proportional reversing valve is connected to the oil inlet of the sixth filter, and the first oil outlet of the proportional reversing valve is connected to the first oil outlet of the active oil supply control module , the second oil outlet of the proportional reversing valve is connected to the second oil outlet of the active oil supply control module through the second one-way pilot valve, and the first control signal input end of the proportional reversing valve connected to the first controlled end of the active oil supply module, and the second control signal input end of the proportional directional valve is connected to the second controlled end of the active oil supply module;

The second oil inlet of the electromagnetic reversing valve is connected to the oil inlet of the sixth filter, and the oil outlet of the electromagnetic reversing valve is connected to the control oil port of the first logic core and the second The control oil port of the logic core, the control signal input end of the electromagnetic reversing valve is connected to the third controlled end of the active oil supply module;

The first oil port of the first logic core is connected to the first oil outlet of the active control oil supply module, and the second oil port of the first logic core is connected to the oil inlet of the sixth filter;

The first oil port of the second logic core is connected to the second oil outlet of the active oil supply control module, and the second oil port of the second logic core is connected to the oil inlet of the sixth filter;

The oil outlet of the sixth filter is used to connect to the oil tank.

Preferably, the control unit includes a microcontroller, a switch and a PLC controller; the microcontroller is connected to the switch through a field bus, and the switch is connected to the PLC controller through a field bus.

Implementing the utility model has the following beneficial effects:

The wave compensation device provided by the utility model is provided with a control unit, a passive compensation unit, an active compensation unit and a sensor unit; the data output end of the sensor unit is connected to the data acquisition end of the control unit; the first passive hydraulic cylinder in the passive compensation unit and The second passive hydraulic cylinder is symmetrically arranged at both ends of the hook, the first passive piston rod of the first passive hydraulic cylinder is connected to one end of the hook, and the second passive piston rod of the second passive hydraulic cylinder is connected to the large hook. The other end of the hook; the active compensation unit includes an active hydraulic cylinder connected upside down to the hook and an active oil supply control module; the active oil supply control module includes a first oil outlet, a second oil outlet, a first controlled end, a second Two controlled ends and an oil inlet for connecting the first oil outlet of the oil pump, the first oil outlet is connected to the active rod chamber oil port of the active hydraulic cylinder, and the second oil outlet is connected to the active rodless of the active hydraulic cylinder The cavity oil port, the first controlled end is connected to the first oil supply control end of the control unit, and the second controlled end is connected to the second oil supply control end of the control unit. It can be seen that the utility model combines passive compensation and active compensation, improves the compensation accuracy, reduces the input of power energy, and thus can better adapt to deep-sea drilling operations with harsh sea conditions and heavy drill string loads.

Description of drawings

Fig. 1 is a schematic structural view of an embodiment of a heave compensating device provided by the present invention;

Fig. 2 is a principle schematic diagram of another embodiment of the heave compensating device provided by the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

In practical application, the drilling ship is provided with a drilling platform, and the wave compensation device is installed on the derrick of the drilling platform, and the wave compensation device is connected to the drill string through a hook; in addition, the wave compensation device needs to be connected to an oil pump, an oil tank And an air compressor, wherein the oil pump is used to provide hydraulic oil for the heave compensation device, the oil tank is used to store hydraulic oil, and the air compressor is used to provide gas of corresponding pressure to the heave compensation device.

Please refer to Fig. 1 , which is a structural schematic diagram of an embodiment of a heave compensating device provided by the utility model (connected with a hook and an oil pump).

The wave compensation device provided by the embodiment of the utility model includes a control unit 10, a passive compensation unit 20, an active compensation unit 30 and a sensor unit 40;

The control unit 10 has a data acquisition terminal, a first fuel supply control terminal and a second fuel supply control terminal;

The sensor unit 40 has a data output end; the data output end is connected to the data acquisition end of the control unit 10;

The passive compensation unit 20 includes a first accumulator 201, a second accumulator 202, a high-pressure working gas cylinder 203, and a first passive hydraulic cylinder 204 and a second passive hydraulic cylinder 205 symmetrically arranged at both ends of the hook 60 , and the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 are arranged in parallel; The first passive piston rod 2042 at one end, the second passive hydraulic oil cylinder 205 has a second passive rodless chamber oil port 2051 and a second passive piston rod 2052 for connecting the other end of the hook 60; A passive rodless chamber oil port 2041 connects the gas inlet and outlet of the high-pressure working gas cylinder 203 through the first accumulator 201, and the second passive rodless chamber oil port 2051 passes through the second accumulator 202 Connect the gas inlet and outlet of the high-pressure working gas cylinder 203;

The active compensation unit 30 includes an active hydraulic cylinder 301 connected upside down to the hook and an active oil supply control module 302 for controlling the connection and isolation of the oil supply passage between the oil pump 70 and the active hydraulic cylinder 301; The active hydraulic cylinder 301 has an active rod chamber oil port 3011, an active rodless chamber oil port 3012 and an active piston rod 3013 for connecting the hook 60; the active oil supply control module 302 has a first controlled end, the second controlled end, the first oil outlet, the second oil outlet, and the oil inlet oil_in for connecting the first oil outlet of the oil pump 70; the active rod cavity oil port 3011 is connected The first oil outlet, the active rodless chamber oil port 3012 is connected to the second oil outlet, the first controlled end is connected to the first oil supply control end of the control unit 10, and the first The two controlled terminals are connected to the second fuel supply control terminal of the control unit 10 .

It should be noted that, in practical applications, the bottom of the cylinder body of the first passive hydraulic cylinder 204 and the bottom of the cylinder body of the second passive hydraulic cylinder 205 are both installed on the derrick 80 of the drilling platform, and the first A passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 are arranged in parallel, and the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 are symmetrically arranged at both ends of the hook 60 , the first The first passive piston rod 2042 of a passive hydraulic cylinder 204 is connected to one end of the hook 60, and the second passive piston rod 2052 of the second passive hydraulic cylinder 205 is connected to the other end of the hook 60; The cylinder body of the oil cylinder 301 is installed upside down on the derrick 80 of the drilling platform, and the active piston rod 3013 in the active hydraulic oil cylinder 301 is connected to the hook 60. Preferably, the active piston rod 3013 is connected to the large hook 60. Hook 60 in the middle. It can be seen that when the first passive piston rod 2042, the second passive piston rod 2052 and the active piston rod 3013 move correspondingly, they can exert corresponding force on the big hook 60 to drive the big hook 60. The hook 60 generates a corresponding movement, thereby compensating the heave displacement of the big hook 60 due to the action of sea waves.

In the embodiment of the present utility model, in the passive compensation unit 20, the first accumulator 201 includes a gas chamber, a hydraulic oil chamber, a piston, a gas inlet and outlet, and a fluid inlet and outlet; the first passive hydraulic cylinder 204 The first passive rodless chamber oil port 2041 is located on the side wall of the rodless chamber of the first passive hydraulic cylinder 204; the rodless chamber of the first passive hydraulic cylinder 204 and the first accumulator 201 The hydraulic oil chamber communicates through the oil port 2041 of the first passive rodless chamber, the fluid inlet and outlet of the first accumulator 201, and the oil pipe between the two; the gas chamber of the first accumulator 201 and The gas chamber of the high-pressure working gas cylinder 203 communicates with the gas inlet and outlet of the first accumulator 201 , the gas inlet and outlet of the high-pressure working gas cylinder 203 , and the gas pipe between them.

In addition, the gas inlet and outlet of the first accumulator 201 are also provided with a first working gas valve 211 and a first exhaust valve 212, the first working gas valve 211 is used to control the first accumulator 201 and the external gas pipeline, the first exhaust valve 212 is used to discharge the gas in the gas chamber of the first accumulator 201 when necessary, for example, when the heave compensation device finishes working To avoid dangerous accidents caused by the high-pressure gas in the first accumulator 201. Moreover, a first discharge valve 213 is also provided at the common connection end of the fluid inlet and outlet of the first accumulator 201 and the first passive rodless chamber oil port 2041 of the first passive hydraulic cylinder 204, for When necessary, the hydraulic oil in the hydraulic oil cavity of the first accumulator 201 and the hydraulic oil in the rodless cavity of the first passive hydraulic oil cylinder 204 are discharged.

Correspondingly, the second accumulator 202 includes a gas chamber, a hydraulic oil chamber, a piston, a gas inlet and outlet, and a fluid inlet and outlet; the second passive rodless chamber oil port 2051 of the second passive hydraulic cylinder 205 is located in the On the side wall of the rodless chamber of the second passive hydraulic oil cylinder 205; the rodless chamber of the second passive hydraulic oil cylinder 205 and the hydraulic oil chamber of the second accumulator 202 pass through the second passive rodless chamber oil port 2051, the fluid inlet and outlet of the second accumulator 202, and the oil pipe between the two; the gas chamber of the second accumulator 202 and the gas chamber of the high-pressure working gas cylinder 203 pass through the The gas inlet and outlet of the second accumulator 202 , the gas inlet and outlet of the high-pressure working gas cylinder 203 , and the gas pipe between them are connected. In addition, the gas inlet and outlet of the second accumulator 202 are also provided with a second working gas valve 214 and a second exhaust valve 215, and the second working gas valve 214 is used to control the 202 and the external gas pipeline, the second exhaust valve 215 is used to discharge the gas in the gas chamber of the second accumulator 202 when necessary, for example, when the heave compensation device finishes working To avoid dangerous accidents caused by the high-pressure gas in the second accumulator 202 . Moreover, a second discharge valve 216 is also provided at the common connection end of the fluid inlet and outlet of the second accumulator 202 and the second passive rodless chamber oil port 2051 of the second passive hydraulic cylinder 205 for When needed, the hydraulic oil in the hydraulic oil cavity of the second accumulator 202 and the hydraulic oil in the rodless cavity of the second passive hydraulic oil cylinder 205 are discharged. In the embodiment of the present utility model, a third working gas valve 217 is provided at the gas inlet and outlet of the high-pressure working gas cylinder 203 for controlling the connection and isolation between the high-pressure working gas cylinder 203 and the external gas pipeline.

It should be noted that, in the embodiment of the present utility model, the gas inlet and outlet of the first accumulator 201, the gas inlet and outlet of the second accumulator 202, and the gas inlet and outlet of the high-pressure working gas cylinder 203 The outlets are all connected to the working gas conduction valve through the working gas pressure regulating valve, and the working gas conduction valve is also used to connect to the air compressor to obtain high-pressure working gas.

In the embodiment of the present utility model, in the active compensation unit 30, the active rod chamber oil port 3011 of the active hydraulic cylinder 301 is also provided with a third relief valve 303, and the active rodless chamber oil port 3012 There is also a fourth discharge valve 304, which is used to discharge the hydraulic oil in the rod chamber and the rodless chamber of the active hydraulic cylinder 301 respectively when needed.

The working principle of the wave compensation device provided by the embodiment of the utility model is as follows:

Before performing heave compensation, it is necessary to complete the preparation work of the heave compensation device, that is, charge the first accumulator 201, the second accumulator 202 and the high-pressure working gas cylinder 203, and charge the The first accumulator 201, the second accumulator 202, the first passive hydraulic cylinder 204, the second passive hydraulic cylinder 205 and the active hydraulic cylinder 301 are filled with oil, and the piston of the first accumulator 201 , the piston of the second accumulator 202, the piston of the first passive hydraulic cylinder 204, the piston of the second passive hydraulic cylinder 205, and the piston of the active hydraulic cylinder 301 are all located in the middle of the stroke, The initial oil-gas pressure balance is formed.

When the drilling ship produces heave motion under the action of sea waves, the wave compensation device will perform passive compensation, active prediction compensation and active secondary compensation. Wherein, the passive compensation and the active predictive compensation can occur at the same time, that is, in the actual implementation process, the two occur almost at the same time, but it should be noted that there are various influencing factors in the implementation process, so the two are not happen simultaneously at any moment. Additionally, the active secondary compensation occurs after the active predictive compensation. The working process of the passive compensation, the active predictive compensation and the active secondary compensation will be described in detail below.

Active predictive compensation:

The motion reference unit (MRU, Motion Reference Unit) in the sensor unit 40 collects the current heave displacement of the drilling ship, and the control unit 10 collects the current heave displacement of the drilling ship and the pre-stored historical heave data Obtain the heave trend of the drilling ship, that is, the first heave trend, to predict the movement of the drilling ship at the next moment, and control the work of the active oil supply control module 302 according to the heave trend , so that the oil pump 70 fills the rodless cavity or the rod cavity of the active hydraulic cylinder 301 with oil, so as to compensate the heave displacement of the hook 60 due to the action of sea waves.

Specifically, if it is known according to the heave trend that the drilling ship will move upward at the next moment, the control unit 10 controls the active oil supply module to connect the oil pump 70 and the active hydraulic cylinder 301 to the rodless The oil supply passage between the chambers makes the oil pump 70 inject hydraulic oil into the rodless chamber of the active hydraulic cylinder 301, so that the active piston rod 3013 of the active hydraulic cylinder 301 moves downward, and then drives the large The hook 60 moves downward to compensate for the upward displacement of the hook 60 due to the action of sea waves; if it is known that the drilling ship will move downward at the next moment according to the heave trend, the control unit 10 controls The active oil supply control module 302 communicates with the oil supply path between the oil pump 70 and the rod chamber of the active hydraulic cylinder 301 , so that the oil pump 70 injects hydraulic oil into the rod chamber of the active hydraulic cylinder 301 , so that the active piston rod 3013 of the active hydraulic cylinder 301 moves upwards, and then drives the hook 60 to move upwards, so as to compensate the downward displacement of the hook 60 due to the action of sea waves.

Passive Compensation:

When the drilling ship moves upward under the action of sea waves, the first passive piston rod 2042 of the first passive hydraulic cylinder 204, the second passive piston rod 2052 of the second passive hydraulic cylinder 205 and the large hook 60 Both move upward instantaneously. As the hook 60 moves upward, the upward pulling force of the hook 60 on the drill string to which it is connected increases. The downward pressure of the two passive piston rods 2052 increases, and the upper and lower ends of the piston in the first passive hydraulic cylinder 204 will produce a pressure difference, that is, a loss of balance, so that the piston in the first passive hydraulic cylinder 204 will go downward. movement, that is, the first passive piston rod 2042 moves downward, and similarly, the second passive piston rod 2052 also moves downward, thereby driving the large hook 60 to move downward to compensate for the large hook 60 due to The upward displacement caused by the action of waves. Moreover, when the first passive piston rod 2042 and the second passive piston rod 2052 move downward, the hydraulic oil in the rodless cavity of the first passive hydraulic cylinder 204 and the hydraulic oil in the second passive hydraulic cylinder 205 The hydraulic oil in the rodless chamber is respectively pressed into the hydraulic oil chamber of the first accumulator 201 and the hydraulic oil chamber of the second accumulator 202, the piston of the first accumulator 201 and the hydraulic oil chamber of the second accumulator The pistons of an accumulator 201 all move upward, the volume of the working gas in the first accumulator 201, the second accumulator 202 and the high-pressure working gas cylinder 203 is compressed, and the pressure is increased, thereby achieving passive Compensated oil-air pressure balance.

When the drilling ship moves downward under the action of sea waves, the first passive piston rod 2042 of the first passive hydraulic cylinder 204, the second passive piston rod 2052 of the second passive hydraulic cylinder 205 and the large hook 60 all move downward instantaneously. As the hook 60 moves downward, the upward pulling force of the hook 60 on the drill string connected to it decreases, so that the hook 60 exerts a great influence on the first passive piston rod 2042 and the first passive piston rod 2042. When the downward pressure of the second passive piston rod 2052 decreases, a pressure difference will be generated between the upper and lower ends of the piston in the first passive hydraulic cylinder 204, that is, the balance will be lost, and the first accumulator 201, the The pressure of the working gas in the second accumulator 202 and the high-pressure working gas cylinder 203 decreases, the volume expands, the piston of the first accumulator 201 moves downward, and the hydraulic pressure of the first accumulator 201 The hydraulic oil in the oil chamber is pressed into the rodless chamber of the first passive hydraulic cylinder 204, the first passive piston rod 2042 moves upwards, similarly, the second passive piston rod 2052 also moves upwards, As a result, the hook 60 is driven upward to compensate for the downward displacement of the hook 60 due to the action of sea waves, so as to achieve oil-gas pressure balance after passive compensation.

Active secondary compensation:

When the drilling ship moves upwards under the action of sea waves, after the passive compensation and the active prediction compensation processes, the control unit 10 obtains the WOB collected by the sensor unit 40 and the current value of the hook 60 rising displacement, and control the active oil supply module to connect the oil supply passage between the oil pump 70 and the rodless chamber of the active hydraulic cylinder 301 according to the drilling pressure and the current heave displacement of the hook 60, Make the oil pump 70 inject hydraulic oil into the rodless cavity of the active hydraulic cylinder 301, so that the active piston rod 3013 of the active hydraulic cylinder 301 moves downward, and then drives the hook 60 to move downward to compensate The upward displacement of the hook 60 due to the action of sea waves.

When the drilling ship moves downward under the action of sea waves, after the passive compensation and the active prediction compensation process, the control unit 10 obtains the WOB collected by the sensor unit 40 and the pressure of the hook 60 The current sinking displacement, and control the active oil supply module to connect the oil supply between the oil pump 70 and the rod cavity of the active hydraulic cylinder 301 according to the drill pressure and the current heave displacement of the hook 60 passage, so that the oil pump 70 injects hydraulic oil into the rod chamber of the active hydraulic cylinder 301, so that the active piston rod 3013 of the active hydraulic cylinder 301 moves upward, and then drives the hook 60 upward to compensate The downward displacement of the hook 60 due to the action of sea waves.

The wave compensation device provided by the embodiment of the utility model is provided by setting the control unit 10, the passive compensation unit 20, the active compensation unit 30 and the sensor unit 40; the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 in the passive compensation unit 20 Symmetrically arranged at both ends of the hook 60, the first passive piston rod 2042 of the first passive hydraulic cylinder 204 is connected to one end of the hook 60, and the second passive piston rod 2052 of the second passive hydraulic cylinder 205 is connected to the The other end of the hook 60; the active compensation unit 30 includes an active hydraulic cylinder 301 connected upside down to the hook 60 and an active oil supply control module 302; the active oil supply control module 302 includes a first oil outlet, a second oil outlet, The first controlled end, the second controlled end and the oil inlet for connecting the first oil outlet of the oil pump, the first oil outlet is connected to the active rod cavity oil port 3011 of the active hydraulic cylinder 301, and the second oil outlet The port is connected to the active rodless chamber oil port 3012 of the active hydraulic cylinder 301, the first controlled end is connected to the first oil supply control end of the control unit 10, and the second controlled end is connected to the second oil supply control end of the control unit 10. It can be seen that the utility model combines passive compensation and active compensation, improves the compensation accuracy, reduces the input of power energy, and thus can better adapt to deep-sea drilling operations with harsh sea conditions and heavy drill string loads.

Please refer to Fig. 1 and Fig. 2 together, which is a schematic diagram of the principle of another embodiment of the heave compensation device provided by the utility model (connected with hook, oil pump, oil tank and air compressor), the heave compensation device provided by this embodiment On the basis of above-mentioned embodiment, further optimization is made, specifically as follows:

Preferably, the heave compensation device further includes an inflation control unit 50; the control unit 10 also has an inflation control terminal;

The inflation control unit 50 includes a first control gas valve 501, a second control gas valve 502, a control gas pressure regulating valve 503, a low pressure control gas cylinder 504, a third control gas valve 505, a first electric control valve 506, a first Pneumatic actuator 507, working gas conduction valve 508, working gas pressure regulating valve 509, and the total air inlet gas_in used to connect the air outlet of air compressor 90; the first pneumatic actuator 507 is used to control the The opening and closing of the working gas conduction valve 508;

The total air inlet gas_in is connected to the air inlet of the working gas conduction valve 508 through the first control gas valve 501 , and the total air inlet gas_in is also connected to the control gas through the second control gas valve 502 The air inlet of the pressure regulating valve 503; the low-pressure gas outlet of the control gas pressure regulating valve 503 is connected to the gas inlet and outlet of the low-pressure control gas cylinder 504; the gas inlet and outlet of the low-pressure control gas cylinder 504 also pass through the first Three control gas valves 505 are connected to the air inlet of the first electric control valve 506; the gas outlet of the first electric control valve 506 is connected to the working gas conduction valve 508 through the first pneumatic actuator 507, so The gas outlet of the working gas conduction valve 508 is connected to the gas inlet and outlet of the high-pressure working gas cylinder 203 through the working gas pressure regulating valve 509; the control signal input end of the first electric control valve 506 is connected to the control unit 10's inflatable control end.

It should be noted that before the heave compensation, the first accumulator 201 , the second accumulator 202 and the high-pressure working gas cylinder 203 in the heave compensation device need to be inflated. In other embodiments, the gas inlet and outlet of the first accumulator 201, the gas inlet and outlet of the second accumulator 202, and the gas inlet and outlet of the high-pressure working gas cylinder 203 can be adjusted by working gas The valve is connected to the air outlet of the working gas conduction valve, and the air inlet of the working gas conduction valve is used to connect to the air outlet of the air compressor. When inflation is required, the user manually opens the work gas conduction valve. However, high-pressure working gas is a dangerous energy source. If it is not handled carefully, it may cause dangerous accidents and directly endanger users.

Therefore, in the embodiment of the present utility model, the inflation control unit 50 is added in the heave compensation device. In practical applications, the air compressor 90 is connected to the general air inlet gas_in, before charging the heave compensating device (that is, the first accumulator 201, the second accumulator 202 and before the high-pressure working gas cylinder 203 is inflated), the second control gas valve 502 is opened, and the high-pressure gas output by the air compressor 90 is decompressed through the control gas pressure regulating valve 503 to meet the preset pressure threshold After the low-pressure gas is filled into the low-pressure control gas cylinder 504, to complete the inflation work of the low-pressure control gas cylinder 504. When it is necessary to inflate the heave compensation device, the first control air valve 501 and the third control air valve 505 are opened, and then the inflation control terminal of the control unit 10 outputs a corresponding control signal to the first The control signal input end of an electric control valve 506, the first electric control valve 506 conducts, and the low-pressure gas in the low-pressure control gas cylinder 504 reaches the first pneumatic actuator through the first electric control valve 506 507, so as to control the first pneumatic actuator 507 to open the working gas conduction valve 508, after that, the high-pressure gas output by the air compressor 90 passes through the first control gas valve 501 and the working gas conduction valve in sequence The through valve 508 reaches the working gas pressure regulating valve 509, and after the pressure of the working gas pressure regulating valve 509 is reduced to meet the preset pressure threshold, the high-pressure gas is charged into the first accumulator 201 and the second accumulator 201. Two accumulators 202 and the high-pressure working gas cylinder 203 . In this embodiment, low-pressure gas is used as the control gas to control the inflation process of the heave compensation device, which effectively improves the safety and stability of the heave compensation device, and high-pressure gas is used as the first accumulator 201 and the working gas of the second accumulator 202 effectively increase the elastic potential energy of the working gas, thereby effectively improving the load carrying capacity of the heave compensation device.

It should be noted that a third exhaust valve 514 is provided at the exhaust port of the low-pressure control gas cylinder 504 to discharge the gas in the low-pressure control gas cylinder 504 when needed.

Preferably, the inflation control unit 50 also includes a fourth control air valve 510, a second electric control valve 511, a second pneumatic actuator 512 and a working exhaust valve 513; the control unit 10 also has a first exhaust control end; the second pneumatic actuator 512 is used to control the opening and closing of the working exhaust valve 513;

The air inlet of the working exhaust valve 513 is connected to the air inlet of the working gas conduction valve 508; the gas inlet and outlet of the low-pressure control gas cylinder 504 are also connected to the first The air inlet of the second electric control valve 511, the air outlet of the second electric control valve 511 is connected to the working exhaust valve 513 through the second pneumatic actuator 512; the control signal of the second electric control valve 511 The input end is connected to the first exhaust control end of the control unit 10 .

In the embodiment of the present utility model, the inflation control unit 50 is also provided with an exhaust circuit for exhausting the wave compensation device. Specifically, when the heave compensating device needs to be exhausted, the fourth control air valve 510 is opened, and then the first exhaust control terminal of the control unit 10 outputs a corresponding control signal to the second electric control unit 10. The control signal input end of the valve 511, the second electric control valve 511 conducts, and the low-pressure gas in the low-pressure control gas cylinder 504 reaches the second pneumatic actuator 512 through the second electric control valve 511, thereby Controlling the second pneumatic actuator 512 to open the working exhaust valve 513, after that, the high-pressure gas in the first accumulator 201, the second accumulator 202 and the high-pressure working gas cylinder 203 are sequentially It is discharged through the working gas pressure regulating valve 509 , the working gas conduction valve 508 and the working exhaust valve 513 . This embodiment adopts low-pressure gas as the control gas, and can discharge the high-pressure working gas in the first accumulator 201, the second accumulator 202, and the high-pressure working gas cylinder 203 when necessary, for example, the When the heave compensation device finishes working, the probability of dangerous accidents is greatly reduced, and the safety performance of the device is improved.

In an optional embodiment, the passive compensation unit 20 further includes a first passive fuel supply control module;

The first passive oil supply control module includes a first pressure regulating relief valve, a second pressure regulating relief valve, a first filter, a second filter and a first electro-hydraulic reversing valve; the control unit 10 also It has a third fuel supply control terminal and a fourth fuel supply control terminal;

The oil inlet of the first pressure regulating and relief valve is used to connect the second oil outlet of the oil pump 70, and the oil outlet of the first pressure regulating and relief valve is connected to the oil inlet of the first filter The oil return port of the first pressure regulating and relief valve is connected to the oil inlet of the second filter; the oil outlet of the second filter is used to connect to the oil tank 100; the second pressure regulating and relief valve The oil inlet of the flow valve is used to connect the third oil outlet of the oil pump 70, the oil outlet of the second pressure regulating and relief valve is connected to the oil inlet of the first filter, and the second pressure regulating and relief valve is connected to the oil inlet of the first filter. The oil return port of the flow valve is connected to the oil inlet of the second filter; the oil outlet of the first filter is connected to the oil inlet of the first electro-hydraulic directional valve; The first oil outlet of the directional valve is connected to the first passive rodless chamber oil port 2041, and the second oil outlet of the first electro-hydraulic reversing valve is connected to the second passive rodless chamber oil port 2051, so The first control signal input end of the first electro-hydraulic directional valve is connected to the third oil supply control end of the control unit 10, and the second control signal input end of the first electro-hydraulic directional valve is connected to the control unit 10 of the fourth oil supply control end. (not shown)

It should be noted that before performing heave compensation, the first accumulator 201, the second accumulator 202, the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 in the heave compensation device need to be filled with oil .

It should be noted that the second oil outlet of the oil pump 70 is the oil supply port of the passive compensation unit 20, and the flow rate is relatively large, which is used to supply the first accumulator 201 and the second accumulator. 202. The first passive hydraulic oil cylinder 204 and the second passive hydraulic oil cylinder 205 provide hydraulic oil; the third oil outlet of the oil pump 70 is the oil supply port of the passive compensation unit 20, and the flow rate is relatively small. When the hydraulic oil in the first accumulator 201, the second accumulator 202, the first passive hydraulic cylinder 204 or the second passive hydraulic cylinder 205 leaks or is lost, supplement it Hydraulic oil.

In this embodiment, both the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 are hydraulic cylinders filled with oil on one side, that is, there is only one oil port on the first passive hydraulic cylinder 204— - The oil port 2041 of the first passive rodless chamber, the first passive rodless chamber oil port 2041 is located on the side wall of the rodless chamber of the first passive hydraulic cylinder 204 . In addition, the structure of the second passive hydraulic cylinder 205 is the same as that of the first passive hydraulic cylinder, and will not be repeated here.

In this embodiment, the first pressure regulating relief valve and the second pressure regulating relief valve are used to limit the oil pressure, so as to prevent the oil pressure of the hydraulic oil supplied to the passive compensation unit 20 from being too high; specifically Specifically, the first pressure regulating and relief valve has a first preset oil pressure threshold, when the oil pressure of the hydraulic oil flowing into the oil inlet of the first pressure regulating and relief valve is higher than the first preset oil pressure When the pressure threshold is reached, the oil inlet port and the oil return port of the first pressure regulating relief valve are connected, and part of the hydraulic oil flows back to the oil tank through the oil return port of the first pressure regulating relief valve and the second filter 100; similarly, the second pressure regulating and relief valve has a second preset oil pressure threshold, when the oil pressure of the hydraulic oil flowing into the oil inlet of the second pressure regulating and relief valve is higher than the second When the oil pressure threshold is preset, the oil inlet and oil return port of the second pressure regulating and relief valve are connected, and part of the hydraulic oil passes through the oil return port of the second pressure regulating and relief valve and the second filter Flow back to tank 100. The first filter and the second filter are used to filter out foreign particles in the hydraulic oil. The first electro-hydraulic directional valve is a three-position four-way electro-hydraulic directional valve, and the first electro-hydraulic directional valve has a first control signal input end, a second control signal input end, an oil inlet, a first outlet The oil port and the second oil outlet, when the first control signal input end has a corresponding control signal input, the first oil outlet communicates with the oil inlet, and the second oil outlet communicates with the The oil inlet is cut off. When the second control signal input terminal has a corresponding control signal input, the second oil outlet communicates with the oil inlet, and the first oil outlet communicates with the oil inlet. Mouth partition.

The working principle of the first passive fuel supply control module is described in detail below:

In actual use, the oil inlet of the first pressure regulating and relief valve is connected to the second oil outlet of the oil pump 70, and the oil inlet of the second pressure regulating and relief valve is connected to the third outlet of the oil pump 70. The oil port connects the oil inlet of the oil pump 70 and the oil outlet of the second filter to the oil tank 100 .

When it is necessary to charge the first accumulator 201 and the first passive hydraulic cylinder 204 with oil, the third oil supply control terminal of the control unit 10 outputs a corresponding control signal to the first electro-hydraulic commutation The first control signal input end of the valve, the first oil outlet of the first electro-hydraulic reversing valve communicates with its oil inlet, and the hydraulic oil flowing out of the second oil outlet of the oil pump 70 passes through the first The oil inlet ports of the pressure regulating and relief valve, the first filter and the first electro-hydraulic reversing valve flow to the first oil outlet of the first electro-hydraulic reversing valve, so that the first accumulator The accumulator 201 and the first passive hydraulic cylinder 204 are charged with oil; when the second accumulator 202 and the second passive hydraulic cylinder 205 need to be charged with oil, the fourth oil supply control of the control unit 10 output corresponding control signal to the second control signal input port of the first electro-hydraulic reversing valve, the second oil outlet of the first electro-hydraulic reversing valve communicates with its oil inlet, and the oil pump 70 The hydraulic oil flowing out of the second oil outlet of the first pressure regulating relief valve, the first filter and the oil inlet port of the first electro-hydraulic directional valve flows to the first electro-hydraulic directional valve The second oil outlet of the valve, so as to charge the second accumulator 202 and the second passive hydraulic cylinder 205 with oil. During this process, if the oil pressure of the hydraulic oil flowing out of the second oil outlet of the oil pump 70 is higher than the first preset oil pressure threshold of the first pressure regulating and relief valve, part of the hydraulic oil will pass through the The oil return port of the first pressure regulating and relief valve and the second filter flow back to the oil tank 100 .

In addition, during the working process, if it is necessary to replenish hydraulic oil for the first accumulator 201 and the first passive hydraulic cylinder 204, the third oil supply control terminal of the control unit 10 outputs a corresponding control signal to The first control signal input end of the first electro-hydraulic reversing valve, the first oil outlet of the first electro-hydraulic reversing valve communicates with its oil inlet, and the third oil outlet of the oil pump 70 flows out The hydraulic oil flows to the first oil outlet of the first electro-hydraulic directional valve through the second pressure-regulating relief valve, the first filter, and the oil inlet of the first electro-hydraulic directional valve , so as to supplement hydraulic oil to the first accumulator 201 and the first passive hydraulic cylinder 204; if it is necessary to supplement hydraulic oil to the second accumulator 202 and the second passive hydraulic cylinder 205, the The fourth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the second control signal input terminal of the first electro-hydraulic reversing valve, and other working processes are similar and will not be repeated here. During this process, if the oil pressure of the hydraulic oil flowing out of the third oil outlet of the oil pump 70 is higher than the second preset oil pressure threshold of the second pressure regulating and relief valve, part of the hydraulic oil will pass through the The oil return port of the second pressure regulating and relief valve and the second filter flow back to the oil tank 100 .

Preferably, the first passive hydraulic oil cylinder 204 also has a first passive rod chamber oil port 2043, and the second passive hydraulic oil cylinder 205 also has a second passive rod chamber oil port 2053;

The passive compensation unit 20 also includes a second passive oil supply control module 206; the second passive oil supply control module 206 includes a third pressure regulating relief valve 2061, a fourth pressure regulating relief valve 2062, a third filter 2063, the fourth filter 2064, the second electro-hydraulic reversing valve 2065 and the third electro-hydraulic reversing valve 2066; the control unit 10 also has a fifth oil supply control terminal, a sixth oil supply control terminal, a seventh oil supply control terminal Oil control terminal and the eighth oil supply control terminal;

The oil inlet of the third pressure regulating and relief valve 2061 is used to connect to the second oil outlet of the oil pump 70, and the oil outlet of the third pressure regulating and relief valve 2061 is connected to the inlet of the third filter 2063. Oil port, the oil return port of the third pressure regulating and relief valve 2061 is connected to the oil inlet of the fourth filter 2064; the oil inlet of the fourth pressure regulating and relief valve 2062 is used to connect the oil pump 70 The third oil outlet, the oil outlet of the fourth pressure regulating and relief valve 2062 is connected to the oil inlet of the third filter 2063, and the oil return port of the fourth pressure regulating and relief valve 2062 is connected to the The oil inlet of the fourth filter 2064; the oil outlet of the fourth filter 2064 is used to connect the oil tank 100; the oil outlet of the third filter 2063 is connected to the second electro-hydraulic reversing valve 2065 oil inlet and the oil inlet of the third electro-hydraulic reversing valve 2066; the first oil outlet of the second electro-hydraulic reversing valve 2065 is connected to the first passive rodless chamber oil port 2041 (in the figure 2, the connection relationship is represented by two D signs), the second oil outlet of the second electro-hydraulic directional valve 2065 is connected to the first passive rod chamber oil port 2043 (in FIG. A C label indicates the connection relationship), the first control signal input end of the second electro-hydraulic reversing valve 2065 is connected to the fifth oil supply control end of the control unit 10, and the second electro-hydraulic reversing valve 2065 The second control signal input end of the control unit 10 is connected to the sixth oil supply control end of the control unit 10; the first oil outlet of the third electro-hydraulic reversing valve 2066 is connected to the second passive rodless chamber oil port 2051 ( In Fig. 2, the connection relationship is represented by two F symbols), the second oil outlet of the third electro-hydraulic reversing valve 2066 is connected to the second passive rod cavity oil port 2053 (in Fig. 2, Use two E labels to indicate the connection relationship), the first control signal input end of the third electro-hydraulic reversing valve 2066 is connected to the seventh oil supply control end of the control unit 10, and the third electro-hydraulic reversing valve The second control signal input end of the valve 2066 is connected to the eighth fuel supply control end of the control unit 10 .

In the embodiment of the present utility model, both the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 are hydraulic cylinders filled with oil on both sides, that is, the first passive hydraulic cylinder 204 has two oil cylinders Port—the first passive rodless chamber oil port 2041 and the first passive rodless chamber oil port 2043, the first passive rodless chamber oil port 2041 is located on the side wall of the rodless chamber of the first passive hydraulic cylinder 204 Above, the first passive rod chamber oil port 2043 is located on the side wall of the rod chamber of the first passive hydraulic cylinder 204 . In addition, the structure of the second passive hydraulic cylinder 205 is the same as that of the first passive hydraulic cylinder, and will not be repeated here. It should be noted that, compared with the single-side oil-filled hydraulic cylinder selected in the above embodiment, the use of the double-side oil-filled hydraulic cylinder enhances the working stability of the heave compensation device.

It should be noted that before performing heave compensation, the first accumulator 201, the second accumulator 202, the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 in the heave compensation device need to be filled with oil .

It should be noted that the second oil outlet of the oil pump 70 is the oil supply port of the passive compensation unit 20, and the flow rate is relatively large, which is used to supply the first accumulator 201 and the second accumulator. 202. The first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 provide working oil, the third oil outlet of the oil pump 70 is the oil supply port of the passive compensation unit 20, and the flow rate is relatively small. It is used for when the hydraulic oil in the first accumulator 201, the second accumulator 202, the first passive hydraulic cylinder 204 or the second passive hydraulic cylinder 205 leaks or is lost Add hydraulic oil.

In the embodiment of the present utility model, the third pressure-regulating relief valve 2061 and the fourth pressure-regulating relief valve 2062 are used to limit the oil pressure to prevent the oil pressure of the hydraulic oil supplied to the passive compensation unit 20 Too high; specifically, the third pressure regulating relief valve 2061 has a third preset oil pressure threshold, when the oil pressure of the hydraulic oil flowing into the oil inlet of the third pressure regulating relief valve 2061 is higher than the specified When the third preset oil pressure threshold is reached, the oil inlet port and the oil return port of the third pressure regulating and relief valve 2061 are connected, and part of the hydraulic oil passes through the oil return port of the third pressure regulating and relief valve 2061 and the oil return port. The fourth filter 2064 flows back to the oil tank 100; similarly, the fourth pressure regulating and relief valve 2062 has a fourth preset oil pressure threshold, when the oil inlet of the fourth pressure regulating and relief valve 2062 flows When the oil pressure of the hydraulic oil is higher than the fourth preset oil pressure threshold, the oil inlet and the oil return port of the fourth pressure regulating relief valve 2062 are connected, and part of the hydraulic oil overflows through the fourth pressure regulating relief valve 2062. The oil return port of the valve 2062 and the fourth filter 2064 flow back to the oil tank 100 . The third filter 2063 and the fourth filter 2064 are used to filter out foreign particles in the hydraulic oil. The second electro-hydraulic directional valve 2065 is a three-position four-way electro-hydraulic directional valve, and the second electro-hydraulic directional valve 2065 has a first control signal input end, a second control signal input end, an oil inlet, a second An oil outlet and a second oil outlet, when the first control signal input terminal has a corresponding control signal input, the first oil outlet communicates with the oil inlet, and the second oil outlet It is isolated from the oil inlet, and when the second control signal input terminal has a corresponding control signal input, the second oil outlet communicates with the oil inlet, and the first oil outlet communicates with the The oil inlet is cut off, and the structures and working principles of the third electro-hydraulic directional valve 2066 and the second electro-hydraulic directional valve 2065 are the same, and will not be repeated here.

It should be noted that a fifth relief valve 218 is also provided at the first passive rod chamber oil port 2043 of the first passive hydraulic cylinder 204 , and a fifth relief valve 218 is provided at the second passive rod chamber of the second passive hydraulic cylinder 205 . The chamber oil port 2053 is also provided with a sixth relief valve 219, which is respectively used to transfer the hydraulic oil in the rod chamber of the first passive hydraulic cylinder 204 to the rod chamber of the second passive hydraulic cylinder 205 when necessary. The hydraulic oil in the cavity is discharged.

The working principle of the second passive fuel supply control module 206 is described in detail below:

In actual use, the oil inlet of the third pressure regulating and relief valve 2061 is connected to the second oil outlet of the oil pump 70, and the oil inlet of the fourth pressure regulating and relief valve 2062 is connected to the second oil outlet of the oil pump 70. Three oil outlets, the oil inlet of the oil pump 70 and the oil outlet of the fourth filter 2064 are used to connect to the oil tank 100 .

When it is necessary to fill the rodless chamber of the first passive hydraulic cylinder 204 and the first accumulator 201 with oil, the fifth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the second The first control signal input end of the electro-hydraulic reversing valve 2065, the first oil outlet of the first electro-hydraulic reversing valve communicates with its oil inlet, and the hydraulic oil flowing out of the second oil outlet of the oil pump 70 The first oil outlet of the second electro-hydraulic reversing valve 2065 flows through the third pressure regulating relief valve 2061, the third filter 2063 and the oil inlet port of the second electro-hydraulic reversing valve 2065 port, so as to fill the rodless chamber of the first passive hydraulic cylinder 204 and the first accumulator 201 with oil; When the rod cavity is filled with oil, the seventh oil supply control terminal of the control unit 10 outputs a corresponding control signal to the first control signal input terminal of the third electro-hydraulic reversing valve 2066, and other working processes are similar, and are not described here. Add repeat. In the above process, if the oil pressure of the hydraulic oil flowing out of the second oil outlet of the oil pump 70 is higher than the third preset oil pressure threshold of the third pressure regulating and relief valve 2061, part of the hydraulic oil will pass through the The oil return port of the third pressure regulating and relief valve 2061 and the fourth filter 2064 flow back to the oil tank 100 .

When it is necessary to fill the rod chamber of the first passive hydraulic cylinder 204 with oil, the sixth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the second port of the second electro-hydraulic reversing valve 2065. The control signal input end, the second oil outlet of the second electro-hydraulic reversing valve 2065 communicates with its oil inlet, and the hydraulic oil flowing out of the second oil outlet of the oil pump 70 passes through the third pressure regulator The flow valve 2061, the third filter 2063 and the oil inlet of the second electro-hydraulic reversing valve 2065 flow to the second oil outlet of the second electro-hydraulic reversing valve 2065, thereby giving the first The rod chamber of the passive hydraulic cylinder 204 is filled with oil; when the rod chamber of the second passive cylinder needs to be filled with oil, the eighth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the third The second control signal input terminal of the electro-hydraulic reversing valve 2066 is similar to other working processes, and will not be repeated here. In the above process, if the oil pressure of the hydraulic oil flowing out of the second oil outlet of the oil pump 70 is higher than the third preset oil pressure threshold of the third pressure regulating and relief valve 2061, part of the hydraulic oil will pass through the The oil return port of the third pressure regulating and relief valve 2061 and the fourth filter 2064 flow back to the oil tank 100 .

In addition, during the working process, if it is necessary to replenish hydraulic oil for the first accumulator 201 and the rodless chamber of the first passive hydraulic cylinder 204, the fifth oil supply control terminal of the control unit 10 outputs a corresponding The control signal of the second electro-hydraulic reversing valve 2065 is sent to the first control signal input port of the second electro-hydraulic reversing valve 2065, the first oil outlet of the second electro-hydraulic reversing valve 2065 is connected with its oil inlet, and the oil pump 70 The hydraulic oil flowing out of the third oil outlet flows to the second electro-hydraulic through the third pressure-regulating relief valve 2061, the third filter 2063 and the oil inlet of the second electro-hydraulic reversing valve 2065. The first oil outlet of the reversing valve 2065, thereby replenishing hydraulic oil to the rodless chamber of the first accumulator 201 and the first passive hydraulic cylinder 204; When the rodless cavity of the second passive hydraulic cylinder 205 is supplemented with hydraulic oil, the seventh oil supply control terminal of the control unit 10 outputs a corresponding control signal to the first control signal of the third electro-hydraulic reversing valve 2066 For the input terminal, the other working processes are similar and will not be repeated here. During the above process, if the oil pressure of the hydraulic oil flowing out of the third oil outlet of the oil pump 70 is higher than the fourth preset oil pressure threshold of the fourth pressure regulating and relief valve 2062, part of the hydraulic oil will pass through the The oil return port of the fourth pressure regulating and relief valve 2062 and the fourth filter 2064 flow back to the oil tank 100 .

If it is necessary to supplement hydraulic oil to the rod cavity of the first passive hydraulic cylinder 204, the sixth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the second electro-hydraulic reversing valve 2065. Two control signal input ports, the second oil outlet of the second electro-hydraulic reversing valve 2065 communicates with its oil inlet, and the hydraulic oil flowing out of the third oil outlet of the oil pump 70 passes through the third pressure regulator The oil inlet port of the overflow valve 2061, the third filter 2063 and the second electro-hydraulic reversing valve 2065 flows to the second oil outlet of the second electro-hydraulic reversing valve 2065, thereby providing the first An accumulator 201 and the rodless chamber of the first passive hydraulic cylinder 204 replenish hydraulic oil; when it is necessary to replenish hydraulic oil for the rod chamber of the second passive hydraulic cylinder 205, the eighth supply of the control unit 10 The oil control terminal outputs a corresponding control signal to the second control signal input terminal of the third electro-hydraulic reversing valve 2066. Other working processes are similar and will not be repeated here. In the above process, if the oil pressure of the hydraulic oil flowing out of the third oil outlet of the oil pump 70 is higher than the fourth preset oil pressure threshold of the fourth pressure regulating and relief valve 2062, part of the hydraulic oil will pass through the The oil return port of the fourth pressure regulating and relief valve 2062 and the fourth filter 2064 flow back to the oil tank 100 .

Preferably, the passive compensation unit 20 further includes a first safety isolation valve 207 and a second safety isolation valve 208; the control unit 10 also has an isolation control terminal;

The first safety isolation valve 207 is arranged between the first passive rodless chamber oil port 2041 and the first accumulator 201, and the control signal input end of the first safety isolation valve 207 is connected to the The isolation control end of the control unit 10; the second safety isolation valve 208 is arranged between the second passive rodless chamber oil port 2051 and the second accumulator 202, and the second safety isolation valve 208 The control signal input end of the control unit is connected to the isolated control end of the control unit 10 .

In the embodiment of the present utility model, the first safety isolation valve 207 and the second safety isolation valve 208 are added, when the first passive piston rod 2042 and the second passive piston rod 2052 suddenly lose the load, The isolation control terminal of the control unit 10 outputs corresponding control signals to the first safety isolation valve 207 and the second safety isolation valve 208, and the first safety isolation valve 207 and the second safety isolation valve 208 close, cut off the oil passage between the first accumulator 201 and the first passive hydraulic cylinder 204, and the oil passage between the second accumulator 202 and the second passive hydraulic cylinder 205, That is, the first accumulator 201 can no longer press hydraulic oil into the first passive hydraulic cylinder 204, and the second accumulator 202 can no longer press hydraulic oil into the second passive hydraulic cylinder 205. Effectively prevent the first passive piston rod 2042 from flying out of the first passive hydraulic cylinder 204, and the second passive piston rod 2052 from flying out of the second passive hydraulic cylinder 205, which enhances the The safety and reliability of the heave compensation device.

Preferably, the passive compensation unit 20 also includes an electric control valve 209 for a working gas cylinder and an exhaust valve 210 for a working gas cylinder; the control unit 10 also has a second exhaust control terminal;

The air inlet of the working gas cylinder electric control valve 209 is connected to the exhaust port of the high-pressure working gas cylinder 203, and the gas outlet of the working gas cylinder electric control valve 209 is connected to the working gas cylinder exhaust valve 210, so The control signal input end of the electric control valve 209 of the working gas cylinder is connected to the second exhaust control end of the control unit 10 .

In the embodiment of the present utility model, the electric control valve 209 of the working gas cylinder and the exhaust valve 210 of the working gas cylinder are used to discharge the gas in the high-pressure working gas cylinder 203 when needed, for example, the wave compensation device ends During work, the high-pressure gas in the high-pressure working gas cylinder 203 is prevented from causing dangerous accidents. Specifically, when the gas in the high-pressure working gas cylinder 203 needs to be discharged, the second exhaust control terminal of the control unit 10 outputs a corresponding control signal to the control signal input of the electric control valve 209 of the working gas cylinder. At the end, the electric control valve 209 of the working gas cylinder controls the opening of the exhaust valve 210 of the working gas cylinder, so as to discharge the gas in the high-pressure working gas cylinder 203 .

It should be noted that exhaust can be exhausted through the electric control valve 209 of the working gas cylinder, the exhaust valve 210 of the working gas cylinder and the exhaust circuit in the charging control unit 50 mentioned above, but the difference between them is that through the working The gas cylinder electric control valve 209 and the working gas cylinder exhaust valve 210 exhaust gas more accurately, while the exhaust gas through the exhaust circuit in the charging control unit 50 is relatively rough.

Preferably, the sensor unit 40 includes a first position sensor 401 for collecting the piston position information of the first accumulator 201 , a second position sensor 401 for collecting the piston position information of the second accumulator 202 Sensor 402, a third position sensor 403 for collecting the piston position information of the first passive hydraulic oil cylinder 204, a fourth position sensor 404 for collecting the piston position information of the second passive hydraulic oil cylinder 205, and a fourth position sensor 404 for collecting the piston position information of the second passive hydraulic oil cylinder 205 The fifth position sensor 405 for the piston position information of the active hydraulic cylinder 301, the motion reference unit (not shown) for collecting the heave displacement of the drilling ship, the large sensor for collecting the heave displacement of the hook 60 A hook displacement sensor (not shown), a passive oil pressure sensor 406 for collecting the oil pressure of the passive hydraulic cylinder, an active oil pressure sensor 407 for collecting the oil pressure of the active hydraulic cylinder 301, and an active oil pressure sensor 407 for collecting the oil pressure of the active hydraulic cylinder 301 The working gas pressure sensor 408 for the pressure of the working gas in the passive compensation unit 20, and the tension sensor (not shown) for collecting the tension of the dead rope end.

In the embodiment of the present utility model, the first position sensor 401 is arranged on the piston of the first accumulator 201; the second position sensor 402 is arranged on the piston of the second accumulator 202; The third position sensor 403 is set on the piston of the first passive hydraulic cylinder 204; the fourth position sensor 404 is set on the piston of the second passive hydraulic cylinder 205; the fifth position sensor 405 is set On the piston of the active hydraulic cylinder 301; the motion reference unit is arranged on the hull of the drilling ship, and is used to collect the heave displacement of the drilling ship, that is, the relative position of the drilling ship relative to the seabed Absolute displacement: the hook displacement sensor is arranged on the hook 60 for collecting the heave displacement of the hook 60, that is, the absolute displacement of the hook 60 relative to the corresponding position of the drilling ship; The passive oil pressure sensor 406 is used to collect the oil pressure of the hydraulic oil in the passive hydraulic oil cylinder, which can be arranged at the oil port of the first passive hydraulic oil cylinder 204 or the second passive hydraulic oil cylinder 205 (rodless chamber Both the oil port and the rod chamber oil port are available), the figure only shows the situation that it is arranged at the first passive rodless chamber oil port 2041 of the first passive hydraulic cylinder 204; the active oil pressure sensor 407 is used In order to collect the oil pressure of the hydraulic oil in the active hydraulic cylinder 301, it can be set at the oil port of the active hydraulic cylinder 301 (the oil port of the rod chamber or the oil port of the non-rod chamber can be used), only shown in the figure Excluding the situation that it is set at the oil port 3012 of the first active rodless chamber; the working gas pressure sensor 408 is used to collect the pressure of the working gas in the passive compensation unit 20, and it can be set at the high-pressure working gas The gas inlet and outlet of the bottle 203; the tension sensor is arranged at the dead rope end for collecting the tension of the dead rope end. The above sensors collect corresponding data in real time and feed back to the control unit 10 .

It should be noted that the control unit 10 can automatically and accurately adjust the piston of the first accumulator 201 to the middle position of the stroke according to the data collected by the first position sensor 401. The data collected by the second position sensor 402 , the third position sensor 403 , the fourth position sensor 404 and the fifth position sensor 405 automatically and accurately transfer the second accumulator 202 and the first passive hydraulic cylinder 204 , the pistons of the second passive hydraulic cylinder 205 and the active hydraulic cylinder 301 are adjusted to the middle position of the stroke, the adjustment process does not require the user to observe with the naked eye, and does not need the user to manually adjust, which simplifies the adjustment process and increases the accuracy of the adjustment , can better meet user needs.

It should be noted that the control unit 10 can obtain the heave velocity of the drilling ship according to the heave displacement of the drilling ship collected by the motion reference unit, and combine the heave displacement with the prestored historical heave Data acquisition of the heave trend of the drilling ship, and then generate an active prediction compensation signal according to the heave displacement, heave velocity and the heave trend, to control the work of the active oil supply control module 302, so that the The oil pump 70 fills the rodless chamber of the active hydraulic cylinder 301 with oil or fills the rod chamber of the active hydraulic cylinder 301 , so as to compensate the heave displacement of the hook 60 due to the action of sea waves.

In addition, the control unit 10 can also acquire the heave velocity of the hook 60 and the heave trend of the hook 60 according to the heave displacement of the hook 60 collected by the hook displacement sensor, and, According to the oil pressure of the passive hydraulic cylinder collected by the passive oil pressure sensor 406, the oil pressure of the active hydraulic cylinder 301 collected by the active oil pressure sensor 407, and the dead rope end tension collected by the tension sensor to obtain the WOB , and according to the heave trend of the hook 60 to obtain the variation trend of the weight on bit, and then generate The active secondary compensation signal is used to control the work of the active oil supply control module 302, so that the oil pump 70 fills the rodless chamber or the rod chamber of the active hydraulic cylinder 301 with oil, thereby further compensating the large hook 60 Heave displacement due to sea wave action.

Preferably, the control unit 10 also has a ninth fuel supply control terminal; the active control module also has a third controlled terminal, and the third controlled terminal is connected to the ninth fuel supply control terminal of the control unit 10 ;

The active oil supply control module 302 also includes a fifth pressure regulator relief valve 3021, a fifth filter 3022, a sixth filter 3023, a proportional reversing valve 3024, an electromagnetic reversing valve 3025, a first logic core 3026, a sixth Two logic cores 3027, a first one-way conduction valve 3028 and a second one-way conduction valve 3029;

The oil inlet of the fifth pressure regulating and relief valve 3021 is connected to the oil inlet of the active oil supply control module 302, and the oil outlet of the fifth pressure regulating and relief valve 3021 is connected to the fifth filter 3022 The oil inlet of the fifth pressure regulating and relief valve 3021 is connected to the oil inlet of the sixth filter 3023;

The oil outlet of the fifth filter 3022 is connected to the first oil inlet of the proportional reversing valve 3024 and the first oil inlet of the electromagnetic reversing valve 3025, and the outlet of the fifth filter 3022 The oil port is also connected to the second oil outlet of the active oil supply control module 302 through the first one-way pilot valve 3028;

The second oil inlet port of the proportional reversing valve 3024 is connected to the oil inlet port of the sixth filter 3023, and the first oil outlet port of the proportional reversing valve 3024 is connected to the first oil supply port of the active oil supply control module 302. An oil outlet, the second oil outlet of the proportional reversing valve 3024 is connected to the second oil outlet of the active oil supply control module 302 through the second one-way pilot valve 3029, the proportional reversing valve The first control signal input end of 3024 is connected to the first controlled end of the active oil supply module, and the second control signal input end of the proportional reversing valve 3024 is connected to the second controlled end of the active oil supply module;

The second oil inlet port of the electromagnetic reversing valve 3025 is connected to the oil inlet port of the sixth filter 3023, and the oil outlet port of the electromagnetic reversing valve 3025 is connected to the control oil port of the first logic core 3026 and The control oil port of the second logic core 3027, the control signal input end of the electromagnetic reversing valve 3025 is connected to the third controlled end of the active oil supply module;

The first oil port of the first logic core 3026 is connected to the first oil outlet of the active control oil supply module, and the second oil port of the first logic core 3026 is connected to the oil inlet of the sixth filter 3023 mouth;

The first oil port of the second logic core 3027 is connected to the second oil outlet of the active oil supply control module 302, and the second oil port of the second logic core 3027 is connected to the inlet of the sixth filter 3023. Oil port;

The oil outlet of the sixth filter 3023 is used to connect with the oil tank 100 .

It should be noted that in FIG. 2, two A symbols are used to indicate that the first oil outlet of the active oil supply control module 302 is connected to the active rod chamber oil port of the active hydraulic cylinder 301, and two B symbols are used The number indicates that the second oil outlet of the active oil supply control module 302 is connected to the active rodless chamber oil port of the active hydraulic cylinder 301 .

It should be noted that the active oil supply control module 302 is used to control the communication and isolation of the oil supply passage between the oil pump 70 and the active hydraulic cylinder 301, and it can have various structures, for example, in the shape of the above-mentioned first In the passive oil supply control module, the first oil outlet of the electro-hydraulic reversing valve is connected to the first oil outlet of the active oil supply control module 302, that is, connected to the rod cavity oil port of the active hydraulic cylinder 301, the The second oil outlet of the electro-hydraulic reversing valve is connected to the second oil outlet of the active oil supply control module 302, that is, connected to the rodless chamber oil port of the active hydraulic cylinder 301. For other connections, refer to the first oil outlet. The structure of the passive oil supply control module is not described here, but in the above structure, under the action of the sea waves, the active hydraulic cylinder 301 always has a compensation function. However, sometimes the user does not want the active hydraulic cylinder 301 to The oil cylinder 301 performs an active compensation operation.

Therefore, in the embodiment of the present utility model, the active oil supply control module 302 has a suspension/compensation switching function, that is, the active oil supply control module 302 can output according to the ninth oil supply control terminal of the control unit 10 The control signal controls whether the active piston rod 3013 of the active hydraulic cylinder 301 follows the movement of the hook 60, that is, whether it can perform an active compensation operation. This embodiment can control the working state of the active compensation unit 30 according to user requirements, enriches the functions of the heave compensation device, and can better meet user requirements.

In the embodiment of the present utility model, the fifth pressure regulating relief valve 3021 is used to limit the oil pressure to prevent the oil pressure of the hydraulic oil supplied to the active compensation unit 30 from being too high; The pressure relief valve 3021 has a fifth preset oil pressure threshold. When the oil pressure of the hydraulic oil flowing into the oil inlet of the fifth pressure regulating relief valve 3021 is higher than the fifth preset oil pressure threshold, the The oil inlet and oil return port of the fifth pressure regulating and relief valve 3021 are connected, and part of the hydraulic oil flows back to the oil tank 100 through the oil return port of the fifth pressure regulating and relief valve 3021 and the sixth filter 3023 . The fifth filter 3022 and the sixth filter 3023 are used to filter out foreign particles in the hydraulic oil. The proportional reversing valve 3024 is a three-position, four-way electro-hydraulic reversing valve, and the proportional reversing valve 3024 has a first control signal input end, a second control signal input end, a first oil inlet, and a second oil inlet. , the first oil outlet and the second oil outlet, when the first control signal input terminal has a corresponding control signal input, the first oil outlet communicates with the second oil inlet, and the first oil outlet communicates with the second oil inlet. The second oil outlet communicates with the first oil inlet, and when the second control signal input port has a corresponding control signal input, the first oil outlet communicates with the first oil inlet, and the first oil outlet communicates with the first oil inlet. The second oil outlet communicates with the second oil inlet. The electromagnetic reversing valve 3025 has a control signal input port, a first oil inlet, a second oil inlet and an oil outlet. When the electromagnetic reversing When the control signal input end of the valve 3025 has a corresponding control signal input, the first oil inlet is connected to the oil outlet; when the control signal input end of the electromagnetic reversing valve 3025 has no corresponding control signal input , the second oil inlet communicates with the oil outlet. The first logic core 3026 has a first oil port, a second oil port and a control oil port. When the control oil port has no hydraulic oil input or the oil pressure of the input hydraulic oil is lower than the preset oil pressure, The first oil port communicates with the second oil port, and when the oil pressure of the hydraulic oil input from the control oil port is higher than the preset oil pressure, the first oil port and the second oil port The oil port partition is equivalent to a spring switch. The structure and function of the second logic core 3027 and the first logic core 3026 are the same, and will not be repeated here.

The working principle of the active oil supply control module 302 in this embodiment will be described in detail below:

When the ninth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, the high-pressure hydraulic oil output by the oil pump 70 cannot reach the first logic core 3026 and the control oil port of the second logic core 3027, therefore, the first oil port and the second oil port of the first logic core 3026 communicate, and the first oil port and the second oil port of the second logic core 3027 port communication, which is equivalent to the communication between the active rod chamber oil port 3011 and the active rodless chamber oil port 3012 of the active hydraulic cylinder 301, the two ends of the piston of the active hydraulic oil cylinder 301 will never produce a pressure difference, so , the active piston rod 3013 will follow the movement of the hook 60, that is, the active piston rod 3013 cannot exert force on the hook 60, and there is no active compensation operation; when the ninth of the control unit 10 When the oil supply control terminal does not output a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, the high-pressure hydraulic oil output by the oil pump 70 can reach the first logic core 3026 and the second logic core 3027 control oil port, therefore, the first oil port and the second oil port of the first logic core 3026 are isolated, and the first oil port and the second oil port of the second logic core 3027 are isolated, that is, the active The active rod chamber oil port 3011 and the active rodless chamber oil port 3012 of the hydraulic oil cylinder 301 are not connected, and the two ends of the piston of the active hydraulic oil cylinder 301 can generate a corresponding pressure difference under corresponding circumstances. Therefore, in the described When the hook 60 generates a heave motion, that is, the active piston rod 3013 can exert a corresponding force on the hook 60 , there is an active compensation operation.

Specifically, the active compensation unit 30 has four working states, namely: the active piston rod 3013 moves upward following the hook 60, and the active piston rod 3013 moves downward following the hook 60. , the active piston rod 3013 moves upward under the control of the control unit 10, thereby driving the hook 60 to move upward, and the active piston rod 3013 moves downward under the control of the control unit 10, thereby Drive the big hook 60 to move downward. Their working process will be described in detail below.

1. The active piston rod 3013 moves upwards following the hook 60 .

When the ninth oil supply control terminal of the control unit 10 does not output a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, and the active piston rod 3013 moves upward following the hook 60, The hydraulic oil in the rodless cavity of the active hydraulic oil cylinder 301 is pressed out, and the pressed out hydraulic oil passes through the first oil port of the first logic core 3026, and from the second oil of the first logic core 3026 part of it flows downwards through the sixth filter 3023 and then flows back to the oil tank 100, and the other part flows through the second oil port and the first oil port of the second logic core 3027 to the active hydraulic cylinder 301 in turn. In the rod chamber, during this process, the hydraulic oil in the rod chamber and the rodless chamber of the active hydraulic cylinder 301 are lubricating.

2. The active piston rod 3013 moves downward following the hook 60 .

When the ninth fuel supply control terminal of the control unit 10 does not output a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, and the active piston rod 3013 moves downward following the hook 60 , the hydraulic oil in the rod cavity of the active hydraulic cylinder 301 is pressed out, and the pressed out hydraulic oil passes through the first oil port of the second logic core 3027, and from the second port of the second logic core 3027 The oil port flows to the second oil port of the first logic core 3026, and then flows out from the first oil port of the first logic core 3026 into the rodless cavity of the active hydraulic cylinder 301. In addition, the oil in the oil tank 100 The hydraulic oil flows through the sixth filter 3023 to the second oil port of the first logic core 3026 under the action of siphon, and then flows out from the first oil port of the first logic core 3026 to the active hydraulic cylinder In the rodless chamber of 301, during this process, the hydraulic oil in the rod chamber and rodless chamber of the active hydraulic cylinder 301 is also lubricating.

3. The active piston rod 3013 moves downward under the control of the control unit 10 , thereby driving the hook 60 to move downward.

When the control unit 10 detects the upward movement of the hook 60, the ninth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, and its The second oil supply control terminal outputs a corresponding control signal to the second control signal input terminal of the proportional reversing valve 3024, and the first oil outlet of the oil pump 70 flows out high-pressure hydraulic oil, which passes through the fifth pressure regulator After the flow valve 3021 and the fifth filter 3022, part of the high-pressure hydraulic oil flows to the first logic core 3026 and the second logic core through the second oil inlet and oil outlet of the electromagnetic reversing valve 3025 The control oil port of 3027 makes the first oil port and the second oil port of the first logic core 3026 cut off, and the first oil port and the second oil port of the second logic core 3027 are cut off, that is, the active hydraulic pressure The oil port 3011 of the active rod chamber and the oil port 3012 of the active rodless chamber of the oil cylinder 301 are not connected. The other part passes through the first oil inlet port of the proportional reversing valve 3024, and flows out from the first oil outlet port of the proportional reversing valve 3024 into the rodless chamber of the active hydraulic cylinder 301, which is the active oil for the active hydraulic cylinder 301. The rodless cavity of the hydraulic cylinder 301 is filled with oil, and the active piston rod 3013 of the active hydraulic cylinder 301 moves downward, thereby driving the hook 60 to move downward to compensate for the upward displacement of the hook 60 due to the action of sea waves . Moreover, when the active piston rod 3013 moves downward, the hydraulic oil in the rod chamber of the active hydraulic oil cylinder 301 is pressed out, and after the pressed out hydraulic oil passes through the second one-way pilot valve 3029, It flows in from the first oil inlet of the proportional reversing valve 3024, and then flows out from the first oil outlet of the proportional reversing valve 3024 into the rodless cavity of the active hydraulic cylinder 301, for the active hydraulic pressure The rodless chamber of the oil cylinder 301 supplements the hydraulic oil. Since the hydraulic oil flowing out of the rod chamber of the active hydraulic oil is directly high-pressure hydraulic oil, the hydraulic oil flowing out of the rod chamber of the active hydraulic oil can be used as the The rodless chamber of the active hydraulic cylinder 301 supplements part of the hydraulic oil, which can reduce the high-pressure hydraulic oil that the oil pump 70 needs to provide for the rod chamber of the active hydraulic cylinder 301, which reduces the workload of the oil pump 70 and effectively saves energy.

4. The active piston rod 3013 moves upward under the control of the control unit 10 , thereby driving the hook 60 to move upward.

When the control unit 10 detects that the hook 60 moves downward, the ninth oil supply control terminal of the control unit 10 outputs a corresponding control signal to the control signal input terminal of the electromagnetic reversing valve 3025, and Its first oil supply control terminal outputs a corresponding control signal to the first control signal input terminal of the proportional reversing valve 3024, and the high-pressure hydraulic oil flowing out of the first oil outlet of the oil pump 70 passes through the fifth regulating valve. After the pressure relief valve 3021 and the fifth filter 3022, a part of the high-pressure hydraulic oil flows through the second oil inlet and the oil outlet of the electromagnetic reversing valve 3025 to the first logic core 3026 and the second logic core 3026. The control oil port of the core 3027 makes the first oil port and the second oil port of the first logic core 3026 cut off, and the first oil port and the second oil port of the second logic core 3027 are cut off, that is, the active The active rod chamber oil port 3011 and the active rodless chamber oil port 3012 of the hydraulic cylinder 301 are not connected. Another part of the high-pressure hydraulic oil passes through the first oil inlet port of the proportional reversing valve 3024, flows out from the second oil outlet port of the proportional reversing valve 3024, and then flows through the first one-way pilot valve 3028 to The rod chamber of the active hydraulic cylinder 301 is filled with oil, and the active piston rod 3013 of the active hydraulic cylinder 301 moves upward, thereby driving the hook 60 to move upward, In order to compensate the sinking displacement of the hook 60 due to the action of sea waves, and when the active piston rod 3013 moves upward, the hydraulic oil in the rodless chamber of the active hydraulic cylinder 301 is pressed out. The hydraulic oil flows in from the first oil outlet of the proportional reversing valve 3024 , then flows out from the second oil inlet of the proportional reversing valve 3024 , and flows back to the oil tank 100 after passing through the sixth filter 3023 .

Preferably, the control unit 10 includes a microcontroller 101, a switch 102 and a PLC controller 103; the microcontroller 101 is connected to the switch 102 through a field bus, and the switch 102 is connected to the switch 102 through a field bus. The PLC controller 103 is connected.

In the embodiment of the present utility model, the microcontroller 101 is used to analyze the data collected by the sensor unit 40 and generate corresponding control instructions, the switch 102 is used to realize the forwarding of data and control instructions, and the PLC control The device 103 is used to implement data format conversion. It can be understood that, during specific implementation, in physical form, the PLC controller in the control unit 10 is electrically connected to the corresponding valves and corresponding sensors in the device.

The wave compensation device provided by the embodiment of the utility model is provided by setting the control unit 10, the passive compensation unit 20, the active compensation unit 30 and the sensor unit 40; the first passive hydraulic cylinder 204 and the second passive hydraulic cylinder 205 in the passive compensation unit 20 Symmetrically arranged at both ends of the hook 60, the first passive piston rod 2042 of the first passive hydraulic cylinder 204 is connected to one end of the hook 60, and the second passive piston rod 2052 of the second passive hydraulic cylinder 205 is connected to the The other end of the hook 60; the active compensation unit 30 includes an active hydraulic cylinder 301 connected upside down to the hook 60 and an active oil supply control module 302; the active oil supply control module 302 includes a first oil outlet, a second oil outlet, The first controlled end, the second controlled end and the oil inlet for connecting the first oil outlet of the oil pump, the first oil outlet is connected to the active rod cavity oil port 3011 of the active hydraulic cylinder 301, and the second oil outlet The port is connected to the active rodless chamber oil port 3012 of the active hydraulic cylinder 301, the first controlled end is connected to the first oil supply control end of the control unit 10, and the second controlled end is connected to the second oil supply control end of the control unit 10. It can be seen that the utility model combines passive compensation and active compensation, improves the compensation accuracy, reduces the input of power energy, and thus can better adapt to deep-sea drilling operations with harsh sea conditions and heavy drill string loads.

The above is a preferred embodiment of the utility model, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the utility model, some improvements and deformations can also be made, these improvements and deformations It is also regarded as the protection scope of the present utility model.

Claims (10)

1. A heave compensation device, characterized in that, comprises a control unit, a passive compensation unit, an active compensation unit and a sensor unit; The control unit has a data acquisition terminal, a first fuel supply control terminal and a second fuel supply control terminal; The sensor unit has a data output end; the data output end is connected to the data acquisition end of the control unit; The passive compensation unit includes a first accumulator, a second accumulator, a high-pressure working gas cylinder, and a first passive hydraulic cylinder and a second passive hydraulic cylinder symmetrically arranged at both ends of the hook, and the first passive hydraulic cylinder The hydraulic cylinder and the second passive hydraulic cylinder are arranged in parallel; the first passive hydraulic cylinder has a first passive rodless chamber oil port and a first passive piston rod for connecting one end of the hook, and the second The passive hydraulic oil cylinder has a second passive rodless chamber oil port and a second passive piston rod for connecting the other end of the hook; the first passive rodless chamber oil port is connected to the first accumulator The gas inlet and outlet of the high-pressure working gas cylinder, the oil port of the second passive rodless cavity is connected to the gas inlet and outlet of the high-pressure working gas cylinder through the second accumulator; The active compensation unit includes an active hydraulic cylinder connected upside down to the hook and an active oil supply control module for controlling the connection and isolation of the oil supply passage between the oil pump and the active hydraulic cylinder; the active hydraulic cylinder It has an active rod chamber oil port, an active rodless chamber oil port and an active piston rod for connecting the hook; the active oil supply control module has a first controlled end, a second controlled end, a first outlet An oil port, a second oil outlet, and an oil inlet for connecting the first oil outlet of the oil pump; the active rod chamber oil port is connected to the first oil outlet, and the active rodless chamber The oil port is connected to the second oil outlet, the first controlled end is connected to the first oil supply control end of the control unit, and the second controlled end is connected to the second oil supply control end of the control unit . 2. The heave compensation device according to claim 1, characterized in that, the heave compensation device also includes an inflation control unit; the control unit also has an inflation control terminal; The inflation control unit includes a first control gas valve, a second control gas valve, a control gas pressure regulating valve, a low pressure control gas cylinder, a third control gas valve, a first electric control valve, a first pneumatic actuator, a working gas guide A through valve, a working gas pressure regulating valve, and a general air inlet for connecting the air outlet of the air compressor; the first pneumatic actuator is used to control the opening and closing of the working gas conducting valve; The total air inlet is connected to the air inlet of the working gas conduction valve through the first control air valve, and the total air inlet is also connected to the inlet of the control gas pressure regulating valve through the second control air valve. gas port; the low-pressure gas outlet of the control gas regulator valve is connected to the gas inlet and outlet of the low-pressure control gas cylinder; the gas inlet and outlet of the low-pressure control gas cylinder are also connected to the first gas inlet and outlet through the third control gas valve The air inlet of the electric control valve; the gas outlet of the first electric control valve is connected to the working gas conduction valve through the first pneumatic actuator, and the gas outlet of the working gas conduction valve passes through the working gas The pressure regulating valve is connected to the gas inlet and outlet of the high-pressure working gas cylinder; the control signal input end of the first electric control valve is connected to the inflation control end of the control unit. 3. The heave compensating device according to claim 2, wherein the inflation control unit further comprises a fourth control air valve, a second electric control valve, a second pneumatic actuator and a working exhaust valve; the control The unit also has a first exhaust control terminal; the second pneumatic actuator is used to control the opening and closing of the working exhaust valve; The air inlet of the working exhaust valve is connected to the air inlet of the working gas conduction valve; the gas inlet and outlet of the low-pressure control gas cylinder are also connected to the second electric control valve through the fourth control air valve The air inlet of the second electric control valve is connected to the working exhaust valve through the second pneumatic actuator; the control signal input end of the second electric control valve is connected to the first an exhaust control terminal. 4. The heave compensation device according to claim 1, wherein the passive compensation unit further comprises a first passive oil supply control module; The first passive oil supply control module includes a first pressure regulating relief valve, a second pressure regulating relief valve, a first filter, a second filter and a first electro-hydraulic reversing valve; the control unit also has The third fuel supply control terminal and the fourth fuel supply control terminal; The oil inlet of the first pressure regulating and relief valve is used to connect to the second oil outlet of the oil pump, and the oil outlet of the first pressure regulating and relief valve is connected to the oil inlet of the first filter , the oil return port of the first pressure regulating and relief valve is connected to the oil inlet of the second filter; the oil outlet of the second filter is used to connect to the oil tank; the second pressure regulating and relief valve The oil inlet of the oil pump is used to connect the third oil outlet of the oil pump, the oil outlet of the second pressure regulating and relief valve is connected to the oil inlet of the first filter, and the oil outlet of the second pressure regulating and relief valve The oil return port is connected to the oil inlet of the second filter; the oil outlet of the first filter is connected to the oil inlet of the first electro-hydraulic reversing valve; the oil outlet of the first electro-hydraulic reversing valve The first oil outlet is connected to the oil port of the first passive rodless chamber, the second oil outlet of the first electrohydraulic reversing valve is connected to the oil port of the second passive rodless chamber, and the first electrohydraulic The first control signal input end of the reversing valve is connected to the third oil supply control end of the control unit, and the second control signal input end of the first electro-hydraulic reversing valve is connected to the fourth oil supply control end of the control unit. end. 5. The heave compensation device according to claim 1, wherein the first passive hydraulic cylinder also has a first passive rod chamber oil port, and the second passive hydraulic cylinder also has a second passive rod chamber Oil port; The passive compensation unit also includes a second passive oil supply control module; the second passive oil supply control module includes a third pressure regulating relief valve, a fourth pressure regulating relief valve, a third filter, and a fourth filter , the second electro-hydraulic directional valve and the third electro-hydraulic directional valve; the control unit also has a fifth oil supply control terminal, a sixth oil supply control terminal, a seventh oil supply control terminal and an eighth oil supply control terminal ; The oil inlet of the third pressure regulating and relief valve is used to connect the second oil outlet of the oil pump, and the oil outlet of the third pressure regulating and relief valve is connected to the oil inlet of the third filter, so The oil return port of the third pressure regulating and relief valve is connected to the oil inlet of the fourth filter; the oil inlet of the fourth pressure regulating and relief valve is used to connect the third oil outlet of the oil pump, and the The oil outlet of the fourth pressure regulating and relief valve is connected to the oil inlet of the third filter, and the oil return port of the fourth pressure regulating and relief valve is connected to the oil inlet of the fourth filter; The oil outlet of the fourth filter is used to connect to the oil tank; the oil outlet of the third filter is connected to the oil inlet of the second electro-hydraulic directional valve and the oil inlet of the third electro-hydraulic directional valve port; the first oil outlet of the second electro-hydraulic directional valve is connected to the oil port of the first passive rodless cavity, and the second oil outlet of the second electro-hydraulic directional valve is connected to the first passive There is an oil port in the rod chamber, the first control signal input end of the second electro-hydraulic directional valve is connected to the fifth oil supply control end of the control unit, the second control signal input of the second electro-hydraulic directional valve is The terminal is connected to the sixth oil supply control terminal of the control unit; the first oil outlet of the third electro-hydraulic reversing valve is connected to the oil port of the second passive rodless chamber, and the third electro-hydraulic reversing valve The second oil outlet of the second passive rod chamber is connected to the oil port of the second passive rod chamber, the first control signal input end of the third electro-hydraulic directional valve is connected to the seventh oil supply control end of the control unit, and the first The second control signal input end of the three electro-hydraulic reversing valves is connected to the eighth oil supply control end of the control unit. 6. The heave compensation device according to claim 1, wherein the passive compensation unit further comprises a first safety isolation valve and a second safety isolation valve; the control unit also has an isolation control terminal; The first safety isolation valve is arranged between the oil port of the first passive rodless chamber and the first accumulator, and the control signal input end of the first safety isolation valve is connected to the isolation unit of the control unit. Control end; the second safety isolation valve is arranged between the oil port of the second passive rodless chamber and the second accumulator, and the control signal input end of the second safety isolation valve is connected to the control Isolated control side of the unit. 7. The heave compensating device according to claim 1, wherein the passive compensation unit also includes an electric control valve of a working gas cylinder and an exhaust valve of a working gas cylinder; the control unit also has a second exhaust control terminal ; The air inlet of the electric control valve of the working gas cylinder is connected to the exhaust port of the high-pressure working gas cylinder, the gas outlet of the electric control valve of the working gas cylinder is connected to the exhaust valve of the working gas cylinder, and the working gas cylinder The control signal input end of the electric control valve is connected to the second exhaust control end of the control unit. 8. The heave compensation device according to claim 1, characterized in that, the sensor unit comprises a first position sensor for collecting piston position information of the first accumulator, and a first position sensor for collecting piston position information of the second accumulator The second position sensor for the piston position information of the energy device, the third position sensor for collecting the piston position information of the first passive hydraulic cylinder, and the fourth position sensor for collecting the piston position information of the second passive hydraulic cylinder sensor, a fifth position sensor for collecting the piston position information of the active hydraulic cylinder, a motion reference unit for collecting the heave displacement of the drilling ship, and a hook displacement sensor for collecting the heave displacement of the hook , a passive oil pressure sensor for collecting the oil pressure of the passive hydraulic cylinder, an active oil pressure sensor for collecting the oil pressure of the active hydraulic cylinder, and a tension sensor for collecting the tension of the dead rope end. 9. The heave compensation device according to claim 1, wherein the control unit also has a ninth oil supply control terminal; the active control module also has a third controlled terminal, and the third controlled terminal connected to the ninth oil supply control terminal of the control unit; The active fuel supply control module also includes a fifth pressure relief valve, a fifth filter, a sixth filter, a proportional reversing valve, an electromagnetic reversing valve, a first logic core, a second logic core, a first single One-way pilot valve and second one-way pilot valve; The oil inlet of the fifth pressure regulating and relief valve is connected to the oil inlet of the active oil supply control module, and the oil outlet of the fifth pressure regulating and relief valve is connected to the oil inlet of the fifth filter , the oil return port of the fifth pressure regulating and relief valve is connected to the oil inlet port of the sixth filter; The oil outlet of the fifth filter is connected to the first oil inlet of the proportional reversing valve and the first oil inlet of the electromagnetic reversing valve, and the oil outlet of the fifth filter also passes through The first one-way pilot valve is connected to the second oil outlet of the active oil supply control module; The second oil inlet of the proportional reversing valve is connected to the oil inlet of the sixth filter, and the first oil outlet of the proportional reversing valve is connected to the first oil outlet of the active oil supply control module , the second oil outlet of the proportional reversing valve is connected to the second oil outlet of the active oil supply control module through the second one-way pilot valve, and the first control signal input end of the proportional reversing valve connected to the first controlled end of the active oil supply module, and the second control signal input end of the proportional directional valve is connected to the second controlled end of the active oil supply module; The second oil inlet of the electromagnetic reversing valve is connected to the oil inlet of the sixth filter, and the oil outlet of the electromagnetic reversing valve is connected to the control oil port of the first logic core and the second The control oil port of the logic core, the control signal input end of the electromagnetic reversing valve is connected to the third controlled end of the active oil supply module; The first oil port of the first logic core is connected to the first oil outlet of the active control oil supply module, and the second oil port of the first logic core is connected to the oil inlet of the sixth filter; The first oil port of the second logic core is connected to the second oil outlet of the active oil supply control module, and the second oil port of the second logic core is connected to the oil inlet of the sixth filter; The oil outlet of the sixth filter is used to connect to the oil tank. 10. The heave compensating device according to any one of claims 1 to 9, wherein the control unit includes a microcontroller, a switch and a PLC controller; the microcontroller is connected to the A switch, the switch is connected to the PLC controller through the field bus.