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EP3252001B1 - Ensemble à vérins - Google Patents

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Publication number
EP3252001B1
EP3252001B1 EP17170536.1A EP17170536A EP3252001B1 EP 3252001 B1 EP3252001 B1 EP 3252001B1 EP 17170536 A EP17170536 A EP 17170536A EP 3252001 B1 EP3252001 B1 EP 3252001B1
Authority
EP
European Patent Office
Prior art keywords
winch device
compensation system
piston
cantilever arm
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17170536.1A
Other languages
German (de)
English (en)
Other versions
EP3252001A1 (fr
Inventor
Evert Mulder
Maarten Kuijpers
Johan van Hoof
Mark van Lieshout
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Van Halteren Technologies Boxtel BV
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3252001A1 publication Critical patent/EP3252001A1/fr
Application granted granted Critical
Publication of EP3252001B1 publication Critical patent/EP3252001B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes

Definitions

  • the invention relates to a winch device with a system for heave compensation according to the preamble of patent claim 1.
  • winch devices are mounted on ships, for example, and are used to raise and lower loads outside the ship's side.
  • heave compensation systems are provided.
  • Passive and active systems for heave compensation are known from the prior art. With passive systems, a spring concept is implemented, while with active systems, height control with active height correction is implemented. To do this, active systems - in contrast to passive systems - require an external power supply.
  • the pamphlet U.S. 4,021,019 shows a winch device in the form of a crane, the jib of which is supported by a pair of hydraulic cylinders set at an angle to one another.
  • these are further developed as a passive compensation system whose quasi spring force is essentially determined by the tension of a hydraulic accumulator connected to the cylinder.
  • an active compensation system can be connected in addition or in parallel, which has a bidirectional variable displacement pump. Both systems use the same pair of hydraulic cylinders.
  • the disadvantage of the latter winch device is that to adapt the passive compensation system to heavier loads, a compressor or a pump and a correspondingly complex hydraulic system in terms of device technology are required, which increases the pressure in the hydraulic accumulator. This is necessary, for example, after the hydraulic accumulator pressure has been reduced in order to adapt the passive compensation system to a lower load. Furthermore, a comparatively large amount of energy and time is required to increase the pressure in the hydraulic accumulator.
  • the invention is based on the object of creating a winch device with a passive compensation system that can be adapted to different loads. Furthermore, little energy and time should be required for adaptation.
  • the claimed winch device has a boom on which at least one deflection roller for a flexible traction means is arranged.
  • the traction means is used to raise and lower a load using a winch.
  • the boom can be rotated or pivoted about an approximately horizontal axis, so that the deflection roller can be raised and lowered.
  • the cantilever is supported or supported by a compensation system for passive heave compensation in order to equalize the lifting force - quasi spring force - which the cantilever transmits to the load via the flexible traction mechanism. According to the invention, a distance between an articulation point of the compensation system on the boom and the axis can be changed.
  • the winch device is preferably arranged on the deck of a floating body, in particular a ship, so that its wave motion is compensated for.
  • the deflection roller can be positioned or is positioned outside the ship's side.
  • the passive compensation system preferably has a cylinder-piston combination as its main component.
  • a piston rod of the cylinder-piston combination can be coupled to the articulation point that can be changed according to the invention.
  • the winch device preferably has a drive, via which a translational movement of the pivot point along a path of movement on the boom can be generated. Then the time required for an adjustment process is minimal, for example about 20 seconds in one embodiment.
  • the drive is preferably arranged directly on the boom.
  • the latter has an adjusting hydraulic cylinder which is coupled on the one hand to the boom and on the other hand to a rotor on which the pivot point is also formed.
  • the winch device When the winch device according to the invention has a main section or main body which is fixed to the ship, the axis is defined by an upper pivot joint between the main section and the boom, and the passive compensation system is articulated to the main section via a lower pivot joint.
  • the movement path of the pivot point is in the form of a circular arc and has a circular arc center approximately in the lower swivel joint. This allows the supporting moment to be changed without changing the torque or pivoting position of the jib and thus changing the height of the deflection pulley and the load. It is thus possible to adapt the passive compensation system to different loads and in particular to adapt it to increased loads with an energy input that is theoretically zero and which practically only has to be sufficient to overcome friction losses.
  • the cylinder-piston combination is coupled on the one hand to the movable articulation point and on the other hand to the lower swivel joint.
  • a compressible gas is provided in the cylinder. If the cylinder can be tensioned by means of nitrogen and preferably by means of a piston accumulator of the passive compensation system, the risk of the diesel effect is avoided. This effect can arise when, according to the state of the art, air comes together with oil, for example due to leaks under pressure.
  • a geometry of the boom is preferably adapted to a gas curve. This achieves a linear progression of the lifting force - quasi spring force.
  • the trajectory of the articulation point can also deviate from the circular arc shape mentioned above.
  • the trajectory is optimized with a view to changes in the gas curve and with a view to minimizing the adjustment forces of the drive.
  • a preferred development of the winch device according to the invention has an additional active compensation system.
  • the passive compensation system can essentially compensate for the static load, while the active compensation system essentially compensates for the movement of the floating body - in particular the ship.
  • the active compensation system can also provide additional compensation for that of the passive compensation system perform fully compensated wave movements.
  • the active compensation system can also compensate for the deviations resulting from the gas curve, in particular if these are not compensated for via the aforementioned geometry of the boom and/or the trajectory. When the load is set down, this can be compensated for particularly quickly.
  • the additional active compensation system is independent of the device and can be retrofitted in a modular manner if it has a hydraulic cylinder.
  • the hydraulic cylinder of the active compensation system and the cylinder-piston combination of the passive compensation system and the adjusting hydraulic cylinder each have a cylinder housing, a piston and one or two piston rods as essential components.
  • the hydraulic cylinder of the active compensation system can be clamped between the main section and the boom.
  • the active compensation movements are then also generated by pivoting the boom (raising and lowering the deflection roller), so that a non-compensated winch can be used.
  • the hydraulic cylinder of the active compensation system can be smaller than the cylinder-piston combination of the passive compensation system.
  • the hydraulic cylinder of the active compensation system can then be arranged in a space-saving manner between the axis formed by the swivel or rotary joint and the cylinder-piston combination of the passive compensation system.
  • a plastic cable or a light-weight glass fiber cable (eg Dyneema) can then be provided as a flexible traction device.
  • a steel cable can also be used.
  • figure 1 shows in a cross-section a hull 1 of a ship, on the deck of which a non-compensated winch 2 is rotatably attached.
  • a main section 4 is fastened to the hull 1 at the edge of the deck, and a boom 8 is articulated to the upper end section of the main section via an upper rotary joint 6 .
  • the swivel joint 6 thus forms an axis 10 which is approximately horizontal and parallel to the deck of the hull 1 of the ship.
  • the boom 8 extends essentially away from the hull 1 in the direction of the open water and has a deflection roller 12, 18 on the end section remote from the hull 1 and on an end section directed towards the hull 1.
  • a load 14 is raised or lowered or kept as still as possible via a drive (not shown) of the winch 2 and via a fiber optic cable 16 .
  • One end section of the fiber optic cable 16 is attached to the end section of the boom 8 remote from the hull 1 and runs from there over a deflection roller 18, to which the load 14 is attached and the two deflection rollers 12, 18 of the boom 8 to the winch 2.
  • figure 1 shows a cylinder-piston combination 20 with a differential cylinder and with a piston rod which is articulated to the boom 8 via a pivot point 22, while the differential cylinder is articulated to a lower region of the main section 4 via a lower pivot joint 24.
  • the cylinder-piston combination 20 thus forms an inclined support for the boom 8. This support is resilient, since a piston head space of the differential cylinder is connected via a line 26 to a pressure space of a high-pressure piston accumulator 28 and is filled with a constant amount of nitrogen.
  • the force that the cylinder-piston combination 20 exerts along its piston rod on the pivot point 22 is determined by a gas curve of the nitrogen.
  • the total compensation of the passive compensation system is also determined by an angle between the cylinder-piston combination 20 and the boom 8 and by a distance of the pivot point 22 from the axis 10 of the swivel joint 6 . This distance can be adjusted according to the invention.
  • the pivot point 22 can be moved along the boom 8 via a translatory drive 30 . A movement path and in particular its length are symbolized by a double arrow 32 .
  • an active compensation system is planned, of which figure 1 only one hydraulic cylinder 34 is shown. In the exemplary embodiment shown, this is designed as a synchronous cylinder, which is also clamped between the boom 8 and the main section 4, with the corresponding joints not being displaceable.
  • the hydraulic cylinder 34 can be retracted and extended actively and comparatively quickly via a hydraulic actuator (not shown).
  • the hydraulic cylinder 34 of the active compensation system is smaller than the cylinder-piston combination 20 of the passive compensation system. In operation, the passive compensation system transmits a greater moment of support to the boom 8 than the active compensation system.
  • figure 2 shows a second embodiment of the winch device according to the invention in a perspective view.
  • the limp traction mechanism and the winch were omitted.
  • the main section 4 attached to the deck of the hull 1 and the boom 8 coupled thereto via the upper pivot joint 6 with the two deflection rollers 12, 18 correspond to those of the first exemplary embodiment according to FIG figure 1 .
  • a boom-side end section of the piston rod of the cylinder-piston combination 20 of the passive compensation system is guided between two laterally spaced sections of the boom 8 via a runner 36 along a movement path 38 .
  • the movement path 38 is in the form of a circular arc.
  • the circular arc of the movement path 38 has its center in the lower swivel joint 24. This ensures that the (in figure 2 drive (not shown for reasons of clarity) requires little force and energy in order to adjust the runner 36 along the movement path 38, with which the passive compensation system can be adapted to different loads with minimal outlay in terms of device technology and energy requirements.
  • an additional active compensation system is preferably also provided there.
  • Deviating from the shape of a circular arc, the movement path can also have other shapes that are optimized for the application.
  • figure 3 shows a schematic perspective view of the winch device according to the invention according to a third embodiment with a movement path 138 which is arcuate and not circular.
  • the boom 8 with the two deflection rollers 12 and 18, the main section 4, the cylinder-piston combination 20 of the passive compensation system, the hydraulic cylinder 34 of the active compensation system and the swivel joint 6 with the axis 10 correspond to those of the first exemplary embodiment figure 1 .
  • a runner 136 can be moved along the movement path 138 of the boom 8 according to the double arrow 132 .
  • the runner 136 has a number of rollers on its upper side, on which the boom 8, more precisely its movement path 138, rests.
  • the drive is designed as an adjusting hydraulic cylinder 130 whose cylinder housing is articulated to the boom 8 adjacent to the axis 10 and whose piston rod is articulated to the runner 136 .
  • the adjusting hydraulic cylinder 130 is arranged approximately parallel to the boom 8 .
  • the piston rod of the adjusting hydraulic cylinder 130 and the cylinder-piston combination 20 of the passive compensation system are connected to the rotor 136 via the pivot point 22 .
  • loads 14 with a weight of, for example, 150 t can be held in a water depth of, for example, 2500 m.
  • the fiber optic cable weighs another 60 t, for example.
  • a winch device with a heave-compensating system that is passive and has a fixed amount of compressible gas is disclosed.
  • the system is adjusted or set by changing a support torque on a pivotable extension arm. For this purpose, a point at which the supporting force is introduced into the boom can be shifted along the boom.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)

Claims (15)

  1. Dispositif de treuil comprenant un bras (8), sur lequel est agencée au moins une poulie de renvoi (12) pour un moyen de traction mou en flexion, le bras (8) pouvant pivoter ou tourner autour d'un axe (10), le bras (8) étant soutenu ou supporté par un système de compensation passif pour la compensation du pilonnement, caractérisé en ce qu'une distance entre un point d'articulation (22) du système de compensation sur le bras (8) et l'axe (10) est modifiable.
  2. Dispositif de treuil selon la revendication 1, comprenant un entraînement (30 ; 130), par l'intermédiaire duquel un mouvement de translation du point d'articulation (22) peut être produit le long d'une trajectoire de déplacement (38 ; 138) du bras (8) .
  3. Dispositif de treuil selon la revendication 2, dans lequel l'entraînement est un cylindre hydraulique de réglage (130).
  4. Dispositif de treuil selon l'une quelconque des revendications précédentes, comprenant une section principale (4), dans lequel l'axe (10) est défini par une articulation pivotante ou tournante supérieure (6) entre la section principale (4) et le bras (8), et dans lequel le système de compensation passif est relié de manière articulée à la section principale (4) par l'intermédiaire d'une articulation pivotante inférieure (24) .
  5. Dispositif de treuil selon les revendications 2 et 4, dans lequel la trajectoire de déplacement (38) du point d'articulation (22) est en forme d'arc de cercle et a un centre approximativement dans l'articulation pivotante inférieure (24).
  6. Dispositif de treuil selon la revendication 4 ou 5, dans lequel le système de compensation passif présente une combinaison cylindre-piston (20) remplie de gaz, qui est couplée d'une part au point d'articulation mobile (22) et d'autre part à l'articulation pivotante inférieure (24).
  7. Dispositif de treuil selon la revendication 6, dans lequel la combinaison cylindre-piston (20) peut être tendue au moyen d'un accumulateur à piston (28) rempli avec le gaz.
  8. Dispositif de treuil selon la revendication 7, dans lequel la quantité du gaz dans l'accumulateur à piston (28) est essentiellement inchangée.
  9. Dispositif de treuil selon l'une quelconque des revendications 6 à 8, dans lequel une géométrie du bras (8) ou de la trajectoire de déplacement (138) est adaptée à une courbe de gaz.
  10. Dispositif de treuil selon l'une quelconque des revendications précédentes, comprenant un système de compensation actif supplémentaire.
  11. Dispositif de treuil selon la revendication 10, dans lequel le système de compensation actif présente un cylindre hydraulique (34).
  12. Dispositif de treuil selon les revendications 4 et 11, dans lequel le cylindre hydraulique (34) est serré entre la section principale (4) et le bras (8).
  13. Dispositif de treuil selon la revendication 11 ou 12, dans lequel le cylindre hydraulique (34) est plus petit que la combinaison cylindre-piston (20).
  14. Dispositif de treuil selon la revendication 13, dans lequel le cylindre hydraulique (34) est agencé entre l'axe (10) et la combinaison cylindre-piston (20) .
  15. Dispositif de treuil selon l'une quelconque des revendications précédentes, dans lequel le moyen de traction mou en flexion est un câble en matière plastique ou un câble en fibre de verre (16).
EP17170536.1A 2016-06-01 2017-05-11 Ensemble à vérins Active EP3252001B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016209512 2016-06-01

Publications (2)

Publication Number Publication Date
EP3252001A1 EP3252001A1 (fr) 2017-12-06
EP3252001B1 true EP3252001B1 (fr) 2022-07-06

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EP17170536.1A Active EP3252001B1 (fr) 2016-06-01 2017-05-11 Ensemble à vérins

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EP (1) EP3252001B1 (fr)
DE (1) DE102017207948A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108565072B (zh) * 2018-03-01 2024-01-26 长春振宇机电成套有限公司 四轴绞线机拉力位置的自动补偿系统
CN108832782B (zh) * 2018-06-27 2020-02-07 河南瑞发电气集团有限公司 一种异形风电定子线圈的成型装置及成型方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4021019A (en) * 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE142878C (fr) *
WO2016089207A1 (fr) * 2014-12-05 2016-06-09 H. Schinkel Holding B.V. Dispositif de compensation de mouvement
WO2017167962A1 (fr) * 2016-03-31 2017-10-05 H. Schinkel Holding B.V. Appareil comprenant un bras pouvant pivoter et un ressort configurable

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4021019A (en) * 1975-03-24 1977-05-03 British Columbia Research Council Heave compensating cranes

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Publication number Publication date
DE102017207948A1 (de) 2017-12-07
EP3252001A1 (fr) 2017-12-06

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