CN113371158B - Multi-degree-of-freedom umbilical cable heave compensation device - Google Patents
Multi-degree-of-freedom umbilical cable heave compensation device Download PDFInfo
- Publication number
- CN113371158B CN113371158B CN202110799529.4A CN202110799529A CN113371158B CN 113371158 B CN113371158 B CN 113371158B CN 202110799529 A CN202110799529 A CN 202110799529A CN 113371158 B CN113371158 B CN 113371158B
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- Prior art keywords
- umbilical
- guide wheel
- shaft
- swinging
- umbilical cord
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- 210000003954 umbilical cord Anatomy 0.000 claims abstract description 53
- 230000000712 assembly Effects 0.000 claims 2
- 238000000429 assembly Methods 0.000 claims 2
- 125000006850 spacer group Chemical group 0.000 claims 2
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
- Earth Drilling (AREA)
Abstract
The application discloses a multi-degree-of-freedom umbilical cable heave compensation device which comprises a support frame and a lifting supporting plate arranged at the upper end of the support frame, wherein at least two lifting guide rails are symmetrically arranged on the inner sides of the support frame on the left side and the right side of the lifting supporting plate, lifting sliding bearings connected with the lifting supporting plate are in sliding fit on the lifting guide rails, and a transverse sliding guide rail is horizontally arranged on the upper end surface of the lifting supporting plate; the lift degree of freedom can be introduced by compensating the lift displacement through the storage and the release of the umbilical cable; the design of the transverse movement degree of freedom can greatly reduce umbilical cord bending caused by movement of the umbilical cord winch cable arranging device or non-coplanarity of each umbilical cord supporting point and the like, so that friction force and abrasion are reduced.
Description
Technical Field
The invention relates to the technical field of umbilical cable heave compensation, in particular to an umbilical cable heave compensation device with multiple degrees of freedom.
Background
In the operation process of the manned underwater vehicle, besides the function of hanging and recovering by providing tension by the steel wire rope, the umbilical cable is required to provide life support for the staff of the underwater manned underwater vehicle, because the diameter and the weight of the umbilical cable are large, the inertia of the umbilical cable is large, so that the umbilical cable can be increased Zhang Lidou due to incapability of agility follow-up when the mother ship or the underwater vehicle is subjected to heave motion under the action of waves, and the sealing performance of an umbilical cable end pipeline joint, the bearing strength of a mother ship hanging and releasing system and the like are very challenging, so that the umbilical cable is required to be utilized to carry out heave displacement compensation of waves in order to prevent the occurrence of fracture and damage of the umbilical cable or strength failure of structural members of the hanging and releasing system, and the safety and reliability of the operation process are improved.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom umbilical cable heave compensation device so as to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The utility model provides a multi freedom umbilical cable heave compensation device, includes the support frame and sets up the lifting support board of upper end thereof, the inboard symmetry of support frame of lifting support board left and right sides is equipped with two at least lifting guide rail, sliding fit has the lift slide bearing who is connected with lifting support board on the lifting guide rail, lifting support board up end level is equipped with the sideslip guide rail, sliding fit has the sideslip slide bearing who is connected with swaing umbilical cord guide pulley subassembly bottom on the sideslip guide rail, the lifting support board lower extreme is connected with the output of pneumatic cylinder, the pneumatic cylinder bottom is fixed through the pneumatic cylinder free bearing connection with the support frame, the oilhole of pneumatic cylinder bottom is used for storing the gasbag formula energy storage intercommunication of fluid on passing through pipeline and the support frame.
As a further scheme of the invention: the number of the lifting guide rails is four, and the lifting guide rails correspond to the four corner positions of the lifting supporting plate respectively.
As a further scheme of the invention: the swinging umbilical cord guide wheel assembly comprises a transverse moving support plate connected with a transverse moving sliding bearing, a bottom plate is arranged at the upper end of the transverse moving support plate, a swinging shaft is vertically arranged at the upper end of the bottom plate, a swinging shaft sleeve is arranged on the outer side of the swinging shaft through a longitudinal rotating piece in a rotating mode, two swinging seat plates are symmetrically arranged on the left side and the right side of the swinging shaft sleeve, an umbilical cord guide wheel shaft penetrates through the upper ends of the two swinging seat plates, an umbilical cord guide wheel is arranged on the umbilical cord guide wheel shaft between the two swinging seat plates in a rotating mode, the umbilical cord guide wheel is connected with the umbilical cord guide wheel shaft in a rotating mode through a horizontal rotating piece, and an umbilical cord limiting plate is fixedly arranged on the inner side of the swinging seat plate and used for limiting an umbilical cord cable and preventing the umbilical cord cable from being separated from the umbilical cord guide wheel.
As a further scheme of the invention: the swing shaft and the bottom plate are fixedly arranged on the transverse moving supporting plate through screws.
As a further scheme of the invention: the umbilical cord guide wheel shaft and the swinging seat plate are provided with positioning pieces, each positioning piece comprises a shaft end baffle plate and a baffle plate screw, and the shaft end baffle plates are installed on the swinging seat plate through the baffle plate screws and used for axially positioning the umbilical cord guide wheel shaft.
As a further scheme of the invention: the horizontal rotating piece comprises a bearing end cover, cylindrical roller bearings, an inner distance ring, an outer distance ring and small screws, wherein the bearing end cover is arranged on hubs on two sides of an umbilical cord guide wheel through the small screws and used for axially positioning outer rings of the two cylindrical roller bearings, the inner distance ring and the two outer distance rings are used for axially positioning inner rings of the two cylindrical roller bearings, and the umbilical cord guide wheel can rotate around an immobilized umbilical cord guide wheel shaft, so that traction work of an umbilical cord cable is completed.
As still further aspects of the invention: the longitudinal rotating piece comprises a bearing pressing plate, a large screw, a thrust ball bearing, a positioning ring, an inner collar and an outer collar; the bearing pressing plate is arranged at one end of the swing shaft through a big screw at the lower part of the swing seat plate, provides opposite pressing force with the other end shaft shoulder of the swing shaft, completes axial positioning and pre-tightening of four bearings, is used for bearing axial force by two thrust ball bearings, is used for bearing radial force by two longitudinal cylindrical roller bearings, is arranged in pairs and is respectively arranged at two ends of the swing shaft, axial limiting is realized between each group of thrust ball bearings and the longitudinal cylindrical roller bearings through an inner shaft collar and an outer shaft collar, a positioning ring sleeved on the swing shaft is used for axial positioning of the longitudinal cylindrical roller bearings, and a connecting end connected with a transverse sliding bearing is arranged at the lower side of the transverse sliding supporting plate.
As still further aspects of the invention: the number of the transverse sliding bearings is four.
Compared with the prior art, the application has the beneficial effects that: the multi-degree-of-freedom design solves the difficulty of a plurality of umbilical cable retraction compensation technologies, for example, the bending stress caused by the rigidity of the umbilical cable is released due to the increase of the swinging degree of freedom, and the friction force between the umbilical cable and the inner side surface of the guide wheel is reduced; the lift degree of freedom can be introduced by compensating the lift displacement through the storage and the release of the umbilical cable; the design of the transverse movement degree of freedom can greatly reduce umbilical cord bending caused by movement of the umbilical cord winch cable arranging device or non-coplanarity of each umbilical cord supporting point and the like, so that friction force and abrasion are reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-degree-of-freedom umbilical heave compensation apparatus according to the invention;
FIG. 2 is a schematic cross-sectional view of a wobble umbilical idler assembly of the present invention;
FIG. 3 is a schematic illustration of multiple degrees of freedom motion of the present invention;
FIG. 4 is a top view of an application scenario of the present invention;
Fig. 5 is a front view of an application scenario of the present invention.
Wherein: 1. a support frame; 2. an air bag type accumulator; 3. lifting the guide rail; 4. a lifting sliding bearing; 5. lifting the supporting plate; 6. swinging the umbilical cord guide wheel assembly; 7. a traversing sliding bearing; 8. a traversing guide rail; 9. a hydraulic cylinder hinged support; 10. a hydraulic cylinder; 601. a shaft end baffle; 602. a baffle screw; 603. umbilical cord guide wheel shaft; 604. umbilical cord limiting plates; 605. a bearing end cap; 606. cylindrical roller bearings; 607. an inner distance ring; 608. an outer distance ring; 609. a small screw; 610. swinging the seat plate; 611. an umbilical cord guide wheel; 612. a large screw; 613. a bearing pressing plate; 614. a thrust ball bearing; 615. a positioning ring; 616. a bottom plate; 617. traversing the supporting plate; 618. a swing shaft; 619. an inner collar; 620. an outer collar.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-5, in an embodiment of the present invention, a multi-degree-of-freedom umbilical cable heave compensation device includes a support frame 1 and a lifting support plate 5 disposed at the upper end of the support frame 1, at least two lifting guide rails 3 are symmetrically disposed at the inner sides of the support frame 1 on the left and right sides of the lifting support plate 5, lifting sliding bearings 4 connected with the lifting support plate 5 are slidably fitted on the lifting guide rails 3, traversing guide rails 8 are horizontally disposed at the upper end surfaces of the lifting support plate 5, traversing sliding bearings 7 connected with the bottom of a swinging umbilical cord guide wheel assembly 6 are slidably fitted on the traversing guide rails 8, the lower end of the lifting support plate 5 is connected with the output end of a hydraulic cylinder 10, the bottom of the hydraulic cylinder 10 is fixedly connected with the support frame 1 through a hydraulic cylinder hinged support 9, oil holes at the bottom of the hydraulic cylinder 10 are communicated with an air bag type accumulator 2 for storing oil on the support frame 1 through pipelines, when the hydraulic cylinder 10 stretches, the oil in the air bag type accumulator 2 enters the hydraulic cylinder 10, and when the hydraulic cylinder 10 contracts, the oil in the hydraulic cylinder 10 swings back into the air bag type accumulator 2, so that the telescopic motion of the hydraulic cylinder 10 can be converted into the traversing sliding bearings 7, thereby realizing the retraction of the umbilical cable heave compensation assembly;
The swinging umbilical cord guide wheel assembly 6 comprises a traversing support plate 617 connected with a traversing sliding bearing 7, a bottom plate 616 is arranged at the upper end of the traversing support plate 617, a swinging shaft 618 is vertically arranged at the upper end of the bottom plate 616, a swinging shaft sleeve is rotationally arranged at the outer side of the swinging shaft 618 through a longitudinal rotating piece, two swinging seat plates 610 are symmetrically arranged at the left side and the right side of the swinging shaft sleeve, an umbilical cord guide wheel shaft 603 penetrates through the upper ends of the two swinging seat plates 610, an umbilical cord guide wheel 611 is rotationally arranged on the umbilical cord guide wheel shaft 603 between the two swinging seat plates 610, the umbilical cord guide wheel 611 is rotationally connected with the umbilical cord guide wheel shaft 603 through a horizontal rotating piece, and an umbilical cord limiting plate 604 is fixedly arranged at the inner side of the swinging seat plates 610 through screws and used for limiting an umbilical cord and preventing the umbilical cord from being separated from the umbilical cord guide wheel 611;
the swing shaft 618 and the bottom plate 616 are fixedly arranged on the transverse moving supporting plate 617 through screws;
A positioning piece is arranged between the umbilical cord guide wheel shaft 603 and the swinging seat plate 610 and comprises a shaft end baffle 601 and a baffle screw 602, and the shaft end baffle 601 is installed on the swinging seat plate 610 through the baffle screw 602 and used for axially positioning the umbilical cord guide wheel shaft 603.
The horizontal rotating member comprises a bearing end cover 605, cylindrical roller bearings 606, an inner distance ring 607, an outer distance ring 608 and small screws 609, wherein the bearing end cover 605 is arranged on hubs on two sides of an umbilical guide wheel 611 through the small screws 609 and is used for axially positioning outer rings of the two cylindrical roller bearings 606. The inner distance ring 607 and the two outer distance rings 608 are used for axially positioning the inner rings of the two cylindrical roller bearings 606, and the umbilical guide wheel 611 can rotate around the fixed umbilical guide wheel shaft 603, so that the traction work of the umbilical cable is completed;
the longitudinal rotating member comprises a bearing pressing plate 613, a large screw 612, a thrust ball bearing 614, a positioning ring 615, an inner shaft 619 and an outer shaft 620;
At the lower part of the swing seat plate 610, a bearing pressing plate 613 is mounted at one end of a swing shaft 618 through a large screw 612, two thrust ball bearings 614 are used for bearing axial force, two longitudinal cylindrical roller bearings are used for bearing radial force, the two thrust ball bearings are mounted in pairs and are respectively arranged at two ends of the swing shaft 618, axial limiting is realized between each group of thrust ball bearings 614 and each group of longitudinal cylindrical roller bearing through an inner collar 619 and an outer collar 620, a positioning ring 615 sleeved on the swing shaft 618 is used for axially positioning the longitudinal cylindrical roller bearings, and four transverse sliding bearings 7 are mounted at the lower side of a transverse sliding supporting plate 617, so that reliable connection between the whole swing umbilical cord guide wheel assembly 6, a transverse sliding guide rail 8 and a lifting supporting plate 5 is realized.
As can be seen from fig. 3, the whole umbilical heave compensation apparatus has four degrees of freedom, namely, the rotational degree of freedom of the umbilical guide wheel 611 around the umbilical guide wheel shaft 603, the swinging degree of freedom of the swinging seat plate 610 around the swinging shaft 618, the traversing sliding degree of freedom of the traversing carriage 617 relative to the traversing rail 8, and the elevating sliding degree of freedom of the elevating carriage 5 relative to the elevating rail 3.
The working principle of the invention is as follows: as can be seen from the top working view of fig. 4, when the left and right relative positions of the umbilical cable output end and the umbilical cable guide wheel assembly 6 are changed in the process of reeling and unreeling the umbilical cable winch, in order to ensure that the umbilical cable is not bent, two degrees of freedom, namely a traversing degree of freedom and a swinging degree of freedom, are required to be provided by the umbilical cable heave compensation device, the wheel groove direction of the umbilical cable guide wheel 611 is finally aligned with the umbilical cable, and the center position of the traversing support plate 617 is in the straight line direction of the umbilical cable. When the mother ship or the underwater submersible vehicle is subjected to heave displacement, the tension of the umbilical cable is changed, when the tension is reduced, the air bag type energy accumulator 2 supplies oil to the hydraulic cylinder 10, the piston rod of the hydraulic cylinder 10 stretches out to push the umbilical guide wheel 611 to ascend, the umbilical cable is recovered and stored, when the tension is increased, the umbilical guide wheel 611 is pushed downwards to descend, the piston rod of the hydraulic cylinder 10 retracts, the hydraulic cylinder 10 discharges oil, and the air bag type energy accumulator 2 stores energy.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
Claims (6)
1. The multi-degree-of-freedom umbilical cable heave compensation device is characterized by comprising a support frame (1) and a lifting support plate (5) arranged at the upper end of the support frame, wherein at least two lifting guide rails (3) are symmetrically arranged on the inner sides of the support frame (1) at the left side and the right side of the lifting support plate (5), lifting sliding bearings (4) connected with the lifting support plate (5) are slidably matched on the lifting guide rails (3), traversing guide rails (8) are horizontally arranged on the upper end surfaces of the lifting support plate (5), traversing sliding bearings (7) connected with the bottoms of swinging umbilical cable guide wheel assemblies (6) are slidably matched on the traversing guide rails (8), the swinging umbilical cable guide wheel assemblies (6) are used for towing umbilical cables, the lower ends of the lifting support plate (5) are connected with the output ends of hydraulic cylinders (10), the bottoms of the hydraulic cylinders (10) are fixedly connected with the support frame (1) through hydraulic cylinder hinged supports (9), and oil holes at the bottoms of the hydraulic cylinders (10) are communicated with air bag type accumulators (2) used for storing oil on the support frame (1) through pipelines;
The swinging umbilical cord guide wheel assembly (6) comprises a transverse moving supporting plate (617) connected with a transverse moving sliding bearing (7), a bottom plate (616) is arranged at the upper end of the transverse moving supporting plate (617), a swinging shaft (618) is vertically arranged at the upper end of the bottom plate (616), a swinging shaft sleeve is rotatably arranged at the outer side of the swinging shaft (618) through a longitudinal rotating piece, two swinging seat plates (610) are symmetrically arranged at the left side and the right side of the swinging shaft sleeve, an umbilical cord guide wheel shaft (603) penetrates through the upper ends of the two swinging seat plates (610), an umbilical cord guide wheel (611) is rotatably arranged on the umbilical cord guide wheel shaft (603) between the two swinging seat plates (610), the umbilical cord guide wheel (611) is rotatably connected with the umbilical cord guide wheel shaft (603) through a horizontal rotating piece, and an umbilical cord limiting plate (604) is fixedly arranged at the inner side of the swinging seat plates (610) through screws and used for limiting an umbilical cord cables and preventing the umbilical cords from being separated from the umbilical cord guide wheels (611);
The number of the lifting guide rails (3) is four, and the four lifting guide rails correspond to the four corner positions of the lifting supporting plate (5) respectively.
2. The multi-degree of freedom umbilical heave compensation apparatus according to claim 1, wherein the swing shaft (618) and the base plate (616) are fixedly mounted to the traversing carriage (617) by screws.
3. The multi-degree-of-freedom umbilical heave compensation apparatus according to claim 1, wherein a positioning member is arranged between the umbilical cord guide wheel shaft (603) and the swing seat plate (610), the positioning member comprises a shaft end baffle plate (601) and a baffle plate screw (602), and the shaft end baffle plate (601) is mounted on the swing seat plate (610) through the baffle plate screw (602) for axially positioning the umbilical cord guide wheel shaft (603).
4. The multi-degree of freedom umbilical heave compensation apparatus of claim 1 wherein the horizontal rotation member comprises a bearing end cap (605), cylindrical roller bearings (606), inner spacer rings (607), outer spacer rings (608) and small screws (609);
The bearing end covers (605) are arranged on hubs on two sides of the umbilical guide wheel (611) through small screws (609) and used for axially positioning outer rings of the two cylindrical roller bearings (606), the inner positioning ring (607) and the two outer positioning rings (608) are used for axially positioning inner rings of the two cylindrical roller bearings (606), and the umbilical guide wheel (611) can rotate around a fixed umbilical guide wheel shaft (603), so that traction work of an umbilical cable is completed.
5. The multi-degree of freedom umbilical heave compensation apparatus of claim 1, wherein the longitudinal rotation member comprises a bearing platen (613), a large screw (612), a thrust ball bearing (614), a positioning collar (615), an inner collar (619), an outer collar (620);
At the lower part of the swinging seat plate (610), a bearing pressing plate (613) is arranged at one end of a swinging shaft (618) through a big screw (612), two thrust ball bearings (614) are used for bearing axial force, two longitudinal cylindrical roller bearings are used for bearing radial force, the two thrust ball bearings are arranged in pairs and are respectively arranged at two ends of the swinging shaft (618), axial limiting is realized between each group of thrust ball bearings (614) and the longitudinal cylindrical roller bearings through an inner shaft ring (619) and an outer shaft ring (620), a positioning ring (615) sleeved on the swinging shaft (618) is used for axial positioning of the longitudinal cylindrical roller bearings, and a connecting end connected with a transverse sliding bearing (7) is arranged at the lower side of the transverse sliding supporting plate (617).
6. The multi-degree of freedom umbilical heave compensation apparatus according to claim 1, wherein the number of traversing slide bearings (7) is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110799529.4A CN113371158B (en) | 2021-07-15 | 2021-07-15 | Multi-degree-of-freedom umbilical cable heave compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110799529.4A CN113371158B (en) | 2021-07-15 | 2021-07-15 | Multi-degree-of-freedom umbilical cable heave compensation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113371158A CN113371158A (en) | 2021-09-10 |
| CN113371158B true CN113371158B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110799529.4A Active CN113371158B (en) | 2021-07-15 | 2021-07-15 | Multi-degree-of-freedom umbilical cable heave compensation device |
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| CN (1) | CN113371158B (en) |
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