• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a motion compensation system for a load attached to a mobile installation (1). The compensation system comprises two mittens (3, 4), an articulated arm (2), a cable (5), at least one main cylinder (6) and at least one secondary cylinder (7). The secondary cylinder (7) is mounted in tilting (rotation about a substantially horizontal axis) on the mobile installation (1), and on a joint of the articulated arm (2).
    公开号:FR3060549A1
    申请号:FR1662761
    申请日:2016-12-19
    公开日:2018-06-22
    发明作者:Benoit Amaudric du Chaffaut
    申请人:IFP Energies Nouvelles IFPEN；
    IPC主号:
    专利说明:

    © Publication number: 3,060,549 (to be used only for reproduction orders)
    ©) National registration number: 16 62761 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE © Int Cl 8 : B 66 C 13/06 (2017.01), E 21 B 19/09
    A1 PATENT APPLICATION
    ©) Date of filing: 19.12.16. © Applicant (s): IFP ENERGIES NOUVELLES Etablis- (© Priority: public education - FR. @ Inventor (s): AMAUDRIC DU CHAFFAUT BENOIT. ©) Date of public availability of the request: 22.06.18 Bulletin 18/25. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): IFP ENERGIES NOUVELLES Etablisse- related: public. ©) Extension request (s): © Agent (s): IFP ENERGIES NOUVELLES.
    COMPENSATION SYSTEM FOR MOVING A LOAD HANGING TO A MOBILE INSTALLATION WITH MAIN CYLINDER AND SECONDARY CYLINDER.
    FR 3 060 549 - A1 (b /) The present invention relates to a motion compensation system for a load attached to a mobile installation (1). The compensation system comprises two mittens (3, 4), an articulated arm (2), a cable (5), at least one main cylinder (6) and at least one secondary cylinder (7). The secondary cylinder (7) is mounted in tilting (rotation about a substantially horizontal axis) on the mobile installation (1), and on an articulation of the articulated arm (2).

    The present invention relates to the field of motion compensation for a mobile element suspended from a mobile installation. The invention relates more particularly to the compensation of a pounding movement of a floating offshore installation, supporting either a drill string terminated by a drilling tool (drill string), or a riser connected in a manner rigid to equipment attached to the bottom. Such a floating installation must also be compensated for the vertical heaving during installation and especially during the assembly at the bottom of various equipment, such as for example an underwater wellhead.
    Conventionally, load support systems are made using a cable winch and a set of fixed and mobile pulleys. Thanks to these load support systems, the load can be maneuvered more or less regularly, for example gradually increased (in the case of successive rods added to a drill string), then partially placed on the bottom (drilling) , and finally resumed and rested as necessary, as the drilling deepens.
    However, at sea, the swell causes, among other effects, the heaving, that is to say an oscillatory movement of vertical translation, of floating devices. When these support equipment in contact with the bottom, such as a drill string, it is necessary to compensate for the heave in order to maintain, within acceptable limits, the force of contact of the tool with the bottom of the hole,
    To compensate for such movements, there are three main families of devices:
    - the devices that are placed in the drill string: the part of the string located above the device continues to undergo pounding with the floating support, while the part of the string located under the device remains practically immobile by relation to the bottom of the sea,
    - the devices that are inserted between the lining and the lifting system of the drilling rig, and
    - the devices that are integrated into the lifting system.
    For this third family, a compensation system comprises at least one main jack, one end of which is fixedly connected (without relative movement) to the upper end of the load (fixed block) and the other end is fixedly connected (without movement relative) to the mobile installation. Each main cylinder accompanies the pounding movement and is therefore therefore deployed vertically or in a direction very close to the vertical. In addition, the compensation system comprises at least one articulated arm connecting the mobile installation to the fixed block. Each articulated arm is formed of rigid elements hinged together, in this case by pivot connections between the rigid elements. For the same reason as for the main cylinders, these arms are movable in substantially vertical planes, and the axes of their articulations are horizontal.
    The performance of such a system, measurable by the variation in the force of contact of the tool with the bottom of the hole (weight on the tool), essentially depends on the volume of the pressurized gas accumulators. The variation in weight on the tool will be smaller the larger the volume of the accumulators, which is quickly detrimental to a floating support in terms of weight, size, and associated costs.
    The document FR 2575452 (US 5520369) describes such a system comprising two mittens, at least one compensation cylinder connected to accumulators, a cable, and two articulated arms which include pulleys and connecting rods making it possible to compensate for a movement for a hooked element. on a mobile installation. This system makes it possible to reduce the volume of the accumulators by a suitable geometry of the articulated arms and to partially reduce the error. However, for this design, the volume of the accumulators remains large (around 16m 3 for a conventional architecture), and the compensation errors remain significant; the force on the load remains inconsistent.
    Patent application WO 2004/001193 describes an improvement to the system described in the document FR 2575452 (US 5520369). The improvement consists in using, in addition to the vertical main cylinders, secondary cylinders, which connect the floating installation and certain rods of the articulated arms. However, by this design, the secondary cylinders stress these connecting rods in bending in addition to the traction or compression, which requires oversizing of these connecting rods. In addition, this patent application specifies that the main cylinders and the secondary cylinders are connected to the same reserve of pressurized gas, which makes the system inefficient and not easily adjustable.
    To overcome these drawbacks, the present invention relates to a motion compensation system for a load attached to a mobile installation. The compensation system comprises two mittens, at least one articulated arm, a cable, at least one main cylinder and at least one secondary cylinder. The secondary cylinder is mounted in tilting (rotation about a substantially horizontal axis) on the mobile installation, and on the articulation of the articulated arm. Thus, the secondary cylinder makes it possible to increase the precision of the compensation for movement, to make the system adjustable, and its action at the level of the articulation of the articulated arm makes it possible to avoid the bending forces in the connecting rods of the articulated arm, and thus lighten them.
    The system according to the invention
    The invention relates to a motion compensation system for a load attached to a mobile installation, comprising a fixed muffle, a mobile muffle for hanging said load, at least one articulated arm for connecting said fixed muffle to said mobile installation, each articulated arm. comprising at least one pulley, a cable passing through said pulleys of each articulated arm and through said first and second mittens, and at least a first main jack fixed on said mobile installation and on said fixed muffle. Said compensation system comprises at least one secondary jack mounted in rotation on said mobile installation and on the articulation of said articulated arm.
    According to one embodiment of the invention, said main cylinder is a hydropneumatic cylinder linked to an oleopneumatic accumulator.
    According to an implementation of the invention, said secondary cylinder is a pneumatic cylinder linked to a pneumatic accumulator.
    Advantageously, said articulated arm comprises at least two connecting rods articulated with respect to one another, a pulley being arranged at the articulation of said connecting rods on which said secondary cylinder is mounted in rotation.
    Advantageously, each end of said connecting rods comprises a pulley for the passage of said cable.
    According to an embodiment option, said compensation system comprises at least two articulated arms arranged symmetrically with respect to the axis formed by said first and second mittens.
    According to one embodiment, said compensation system comprises at least two secondary cylinders arranged symmetrically with respect to the axis of said main cylinder, so that the components of the actions of said secondary cylinders orthogonal to the direction of movement of said fixed block cancel each other for any position of said fixed block.
    According to one implementation, said motion compensation system comprises two main cylinders.
    According to an alternative embodiment, said compensation system comprises two secondary cylinders for each articulated arm.
    In addition, the invention relates to the use of a motion compensation system according to one of the preceding characteristics, for heave compensation for the support of drilling tools and / or for depositing loads at sea.
    Brief presentation of the figures
    Other characteristics and advantages of the system according to the invention will appear on reading the description below of nonlimiting examples of embodiments, with reference to the appended figures and described below.
    FIG. 1 illustrates a motion compensation system according to an embodiment of the invention.
    FIGS. 2a to 2d schematically illustrate several positions of a motion compensator according to an embodiment of the invention.
    Figure 3 illustrates a motion compensation system according to an alternative embodiment of the invention.
    FIG. 4 illustrates a configuration of a compensation system according to the invention.
    FIG. 5 is a graph representing the forces as a function of the lift for the compensation system according to the invention.
    Detailed description of the invention
    The present invention relates to a movement compensation system (heave compensator) for an element (also called load) hung (or suspended) from a mobile installation (for example a ship, a floating platform, etc.). The load is likely to be maneuvered more or less regularly, for example gradually increased (in the case of successive rods added to a drill string), then placed partially on the bottom (drilling), and finally picked up and rested as necessary as the drilling deepens. These operations are most often carried out using a cable winch and a set of fixed and movable pulleys (hauling) to reduce the effort required of the winch, at the cost of greater cable travel. The hauling system consists of a first muffle, called a fixed block (in English "crown block") and a second muffle, called a mobile block (in English "traveling block"). It is recalled that a muffle is a mechanical device allowing the lifting of a load by several strands of cable.
    The compensation system includes:
    at least one main cylinder, one end of which is fixedly connected (without relative movement) to the upper end of the load (fixed block) and the other end of which is fixedly connected (without relative movement) to the mobile installation. Each main cylinder accompanies the pounding movement and is therefore therefore deployed vertically or in a direction very close to the vertical.
    - At least one articulated arm, preferably two, four, or six arms arranged symmetrically, the articulated arm connecting the mobile installation to the fixed block. Each articulated arm is formed of rigid elements hinged together, in this case by pivot connections between the rigid elements. For the same reason as for the main cylinders, these arms are movable in substantially vertical planes, and the axes of their articulations are horizontal.
    The articulated arms allow the length of the cable to be kept substantially constant during the movement of the first muffle relative to the mobile installation.
    The increase in the number of articulated arms makes it possible in particular to increase the maximum load admissible by the compensation system.
    The articulated arm or arms described above are equipped with at least one pulley disposed at one end and / or articulation of the arms so as to guide the strands of the operating cable leaving the fixed block in parallel with the rigid elements composing said arms. The purpose of such a path being to keep constant the length of the strands of the operating cable between the fixed block and their attachments to the mobile installation, winch and anchor of dead strand (as described in patent application FR2575452 (US 5520369)), in order to make the tension of said cable independent of the relative positions of the fixed block and the mobile installation.
    According to an alternative, the articulated arm can comprise three articulated connecting rods.
    According to the invention, the motion compensation system further comprises at least one secondary cylinder. The secondary cylinder connects the mobile installation and an articulation of the articulated arm. The secondary cylinder is pivotally mounted (rotatably mounted) on the mobile installation, and on the articulation of the articulated arm. In other words, the secondary cylinder can pivot relative to the movable installation about a substantially horizontal axis, and the secondary cylinder can pivot around the axis of articulation of the articulated arm about a substantially horizontal axis. . By means of the secondary jack, the rigid element of the articulated arm secured to the head of the main jack exerts by this means an additional force on the head of the main jack. The joint action of the main cylinder and the secondary cylinder allows compensation for the movement of the mobile installation (heaving). The principle of this architecture is to come and exert a complementary force on the upper end of the load (fixed block) using the secondary cylinder. The secondary cylinder optimizes motion compensation compared to the use of a main cylinder alone, and allows a smaller dimensioning of the main cylinder and its energy source. In addition, the connection of the secondary cylinder on the articulation of the articulated arm makes it possible to avoid bending stresses in the connecting rods of the articulated arm.
    The movement of the mobile installation (e.g. heaving) is compensated for by the displacement of the fixed block in relation to the mobile installation. Thus, the load suspended from this fixed block is stationary relative to a fixed mark (for example the bottom of the sea). The displacement of the fixed block relative to the mobile installation is controlled by the cylinders.
    The fixed block can be mounted on a support element (for example a gantry), the main cylinder can then be placed between the mobile installation and the gantry.
    The articulated arms allow the length of the cable to be kept substantially constant during the movement of the fixed block relative to the mobile installation.
    According to an embodiment of the invention for which the compensation system comprises an even number of articulated arms, the compensation system may comprise at least two secondary cylinders arranged symmetrically with respect to the axis of the main cylinder, so that that the components of the actions of the secondary cylinders orthogonal (that is to say substantially horizontal) to the direction of travel of the first muffle, cancel each other out for any position of the first muffle. In this way, the result of the actions of the jacks on the first block is substantially vertical.
    Preferably, each articulated arm can comprise two connecting rods and a pulley. A first end of a first connecting rod can then be articulated on the mobile installation. In addition, a second end of a first connecting rod can be articulated relative to a first end of the second connecting rod. In addition, a second end of the second connecting rod can be articulated relative to the first muffle, or relative to the gantry supporting the first muffle. In addition, a pulley can be installed at the joint between the two connecting rods.
    According to an alternative, the articulated arm can comprise three articulated connecting rods.
    According to a preferred embodiment of the invention, each articulated arm composed of two connecting rods is associated with a secondary cylinder pulling, in the vertical plane defined by the two connecting rods, between the articulation of the connecting rods and the mobile installation. The effort of the secondary cylinder produces compression of the connecting rod attached to the fixed block. The vertical component of this compression is added to or subtracted from the vertical force of the main cylinder or cylinders, depending on the inclination of the connecting rod. The articulated arms being arranged symmetrically with respect to the vertical axis of the displacement of the load, the horizontal components of the compressions of the rods attached to the fixed block cancel each other out. When these connecting rods are themselves horizontal, the effect of the secondary cylinders is zero, the load is then supported by the only main cylinders. The dimensions and the positioning of the articulated arms, as well as the characteristics of the main and secondary jacks, are chosen so that the result of the forces exerted on the block fixes by the main jacks on the one hand, and by the connecting rods attached to this same fixed block, on the other hand, remains as close as possible to the force deployed by the main cylinders when the connecting rods attached to the fixed block are horizontal. Ideally, this result is constant over the entire stroke of the main cylinders, and the compensation is then called "isodyne", that is to say at constant force.
    According to an implementation of the invention, it can be considered that the nominal load of the compensation system corresponds to the force deployed by the main cylinders at mid-stroke. The extreme deviations, positive and negative, of the force deployed by the main cylinders compared to the nominal load, correspond to the start and end of travel of these same cylinders. Thus, it is possible to size the articulated arms and the associated secondary cylinders to best compensate for these deviations. For example, if the nominal load is 450 tonnes, and if the main cylinders exert an effort of 550 tonnes at the start of the stroke and 350 tonnes at the end of the stroke, it can be assumed that the effort at mid-stroke will be close to 450 tonnes. The vertical forces to be provided by the articulated arm and secondary cylinder assemblies must therefore vary between 0 and 100 tonnes, up or down depending on the position above or below mid-stroke, where the connecting rods attached to the fixed block are substantially horizontal and where the compensating force is therefore zero.
    According to a configuration of the invention, the compensation system may include two secondary cylinders for each articulated arm. In this case, the two secondary cylinders can be arranged in parallel between the mobile installation and the articulation of the articulated arm. Advantageously, the two secondary cylinders are mounted in rotation on the articulation on either side of the pulley and of the connecting rods. This configuration allows a balancing of efforts on the axis of the joint. In addition, this configuration makes it possible to use small secondary cylinders.
    Advantageously, the articulated arm - auxiliary actuator assemblies can be arranged symmetrically with respect to the vertical axis of the load, the horizontal components of the complementary forces balance and cancel each other out. Thus, the result of the vertical components is added or subtracted, depending on the inclination of the connecting rods, to the force of the main cylinders.
    According to an implementation of the invention, the main cylinder can be a hydropneumatic cylinder linked to an oleopneumatic accumulator. The term accumulator designates a reserve of pressurized gas, for example air, in connection with an intermediate cylinder of the oleopneumatic type, which separates the gas from the gas reserve, and the oil from the hydraulic cylinder. The reserve of pressurized gas can be in the form of gas cylinders. Thus, the main cylinders can be connected to a reserve of compressed gas providing the necessary elasticity. An incompressible liquid is placed between the cylinders and the gas reserve, to ensure the safety of the system by the rapid closing of a valve so as to prevent too rapid expansion of the gas in the event of a sudden load failure. The production of this oleopneumatic damping system can be identical to that described in the document FR 2575452 (US 5520369), with an oleopneumatic accumulator of reduced size. When at least two main oleopneumatic cylinders are used, it is possible to pool the accumulator, to balance the pressures, and therefore the forces in the hydraulic cylinders.
    According to an implementation of the invention, the secondary cylinder can be a pneumatic cylinder linked to a pneumatic accumulator, which can be in the form of gas cylinders. The pneumatic accumulator is distinct from the oleopneumatic accumulator intended for the main cylinder: the compensation system then comprises two independent accumulators. Thus, each type of cylinder (main or secondary) has its own energy source, which improves the precision of the compensation.
    Thus, the possibility of limiting large deviations in the forces exerted by the main cylinders makes it possible to significantly reduce the size of the oleopneumatic accumulators associated with these same main cylinders.
    According to an embodiment option, the volume of the pneumatic accumulator of the secondary cylinders is much less than the volume of the oleopneumatic accumulator of the main cylinders. For example, for the load value of 450 tonnes mentioned above, associated with a stroke of the main cylinders of 7.62 m (25 feet), the best compensation (± 2.54 tonnes, or 0.54% of the load ) is reached with a main accumulator volume of 6 m 3 , and a secondary accumulator volume of 0.4 m 3 , with maximum pressures of 210 and 167 bars respectively.
    Alternatively, the secondary cylinders can be piloted, hydraulic, pneumatic or electric cylinders. Thus, it is possible to have a partially active compensation system.
    According to a characteristic of the invention, the compensation system may include two main cylinders arranged symmetrically between the mobile installation and the fixed block (or the gantry supporting the fixed block).
    Figure 1 illustrates, schematically and without limitation, a motion compensator according to an embodiment of the invention. In this figure, the load is not shown. A load is suspended on a movable block 4, connected by a cable 5 to a fixed block 3. The fixed block 3 is mounted on a gantry, which is connected to the mobile installation 1 by two articulated arms 2. Each articulated arm comprises a lower link 10 articulated (that is to say in rotation about a substantially horizontal axis) relative to the mobile installation 1, and an upper link 12, articulated (that is to say in rotation around on a horizontal axis) on the one hand with respect to the fixed block 3, and on the other hand with respect to the lower link 10. The articulation between the upper link 12 and the lower link 10 further comprises a pulley 11. Pulleys are also provided at the ends of the connecting rods 10 and 12. The cable 5 passes through all the pulleys of the articulated arms and through the two mittens. The compensation system comprises a main cylinder 6 and two secondary cylinders 7. The main cylinder 6 is a hydraulic cylinder, one end of which is fixed to the mobile installation 1, and the other end of which is fixed to the gantry, on which is mounted the fixed muffle 3. The main cylinder 6 is powered by an oleopneumatic accumulator 8. The compensation system further comprises two secondary cylinders distributed symmetrically on either side of the load. The secondary cylinders 7 are arranged between the mobile installation 1 and an articulation of the articulated arm 2, at the level of the pulley 11. The two secondary cylinders 7 are pneumatic cylinders supplied by a pneumatic accumulator 9.
    Figures 2a to 2d illustrate schematically and without limitation the operation of the compensation system according to the invention for four different positions. In these figures, the jacks are represented schematically by springs. In addition, in these figures, the mobile installation, the mittens, the pulleys, and the cable are not shown. The figures illustrate two articulated arms with a lower link 10 and an upper link 12, which connect the mobile installation to the first block, as well as the main cylinder 6 and two secondary cylinders 7 connecting the mobile installation and the articulation of the articulated arm . In the upper part of the figure, the forces exerted on the fixed block are shown. Fp corresponds to the force exerted by the main cylinder on the first block, Fs represents the forces exerted by the secondary cylinders on the fixed block through the connecting rod, and P is the result of these three forces. Note that thanks to the configuration chosen, the result of the forces on the fixed block remains vertical and of identical value for any position of the first block, which allows compensation for the movement of the load.
    Figure 2a illustrates the lowest position of the first muffle. In this position, the main cylinder 6 is compressed and exerts a maximum force Fp on the first block. In addition, in this position, the upper rod 12 is inclined downward, therefore, the forces Fs exerted by the secondary cylinders 7 on the fixed block are forces directed downwards. The vertical component of the forces Fs of the secondary cylinders is therefore cut off from the force Fp of the main cylinder.
    FIG. 2b illustrates an intermediate position of the first muffle, in which the upper connecting rods 12 are substantially horizontal, that is to say substantially orthogonal to the movement of the first muffle. In this position, the forces Fs of the secondary cylinders on the fixed block therefore have no vertical component (the forces Fs cancel each other out). The result of the forces on the fixed block therefore corresponds only to the force Fp exerted by the main cylinder.
    FIG. 2c illustrates an intermediate position of the first muffle, for which the fixed muffle is in a higher position relative to FIG. 2b. In this position, the main cylinder 6 is weakly compressed and exerts a low force Fb on the first block. In addition, in this position, the upper rod is inclined upward, therefore, the forces Fs exerted by the secondary cylinders 7 on the fixed block are forces directed upwards. The vertical component of the forces Fs of the secondary cylinders is therefore added to the force Fp of the main cylinder.
    Figure 2d illustrates the highest position of the first muffle. In this position, the main cylinder 6 is weakly compressed and exerts a minimum force Fb on the first block. In addition, in this position, the upper rod is strongly inclined upward, therefore, the forces Fs exerted by the secondary cylinders 7 on the fixed block are forces directed upwards. The vertical component of the forces Fs of the secondary cylinders is therefore added to the force Fp of the main cylinder.
    FIG. 3 illustrates, diagrammatically and in a nonlimiting manner, a motion compensator according to an alternative embodiment of the invention. This figure is a partial view illustrating a single articulated arm 2. A load (not shown) is suspended on a movable block (not shown), connected by a cable 5 to a fixed block 3. The fixed block 3 is mounted on a gantry , which is connected to the mobile installation 1 by two articulated arms 2. The articulated arm comprises a lower connecting rod 10 articulated (that is to say in rotation about a horizontal axis) relative to the mobile installation 1 , and an upper rod 12, articulated (that is to say in rotation about a horizontal axis) on the one hand with respect to the fixed block 3, and on the other hand with respect to the lower rod 10. The articulation between the upper rod 12 and the lower rod 10 further comprises a pulley 11. Pulleys are also provided at the ends of the rods 10 and 12. The cable 5 passes through all the pulleys of the articulated arms and by the two mittens. The compensation system comprises a main cylinder 6 and secondary cylinders 7. The main cylinder 6 is a hydraulic cylinder, one end of which is fixed to the mobile installation 1, and the other end of which is fixed to the gantry, on which is mounted the fixed muffle 3. The main cylinder 6 is supplied by an oleopneumatic accumulator (not shown). For each articulated arm, the compensation system further comprises two secondary cylinders arranged between the mobile installation 1 and the articulation of the articulated arm 2, at the level of the pulley 11. The secondary cylinders 7 are positioned on either side of the pulley 11 for balancing the forces. The two secondary cylinders 7 are pneumatic cylinders supplied by a pneumatic accumulator (not shown).
    The compensation system according to the invention can be used in particular to compensate for the heaving of an offshore installation (ship, platform ...) during drilling operations at sea, during the installation of a riser (in English "Riser"), for a tool for installing a pressure shutter block at sea, or the recovery of the bottom to restart drilling. In this case, the mobile installation is a floating installation, in particular a vessel and the hooked element is a drill string or a riser or a tool for setting up equipment at sea.
    Example:
    A heave compensation system according to the invention is tested in order to show the interest of the compensation system.
    The example used is a compensation system comprising two hydropneumatic main cylinders linked to an oleopneumatic accumulator, two articulated arms, and four pneumatic secondary cylinders (two per articulated arm) linked to a pneumatic accumulator.
    Figure 4 illustrates a configuration of such a compensation system (only part of the compensation system is illustrated). The compensation system comprises a hydropneumatic cylinder 6 supplied by a hydropneumatic accumulator 8 of volume V1 and pressure P1. The compensation system comprises an articulated arm with a lower link 10 and an upper link 12. The compensation system further comprises a pneumatic secondary cylinder 7 and supplied by a pneumatic accumulator 9 of volume V2 and pressure P2. Figure 4 illustrates the different dimensions of this system noted in particular, s, e, x, y, g, I, m.
    Table 1 specifies the dimensioning of the compensation system, the dimensions s, e, x and y being able to be dimensioned to have a substantially constant cable length, independently of the dimensioning of the main and secondary cylinders:
    Table 1 - dimension of the compensation system
    Settings Values Charge 454 t Fixed muffle stroke s 7.6 m P1 209 bars P2 166 bars V1 6 m 3 V2 0.4 m 3 L 6.5 m M 4.85 m
    Figure 5 is a graph illustrating several curves:
    - the CON set point in tonnes for a load of 454 tonnes,
    the force of the main cylinders only Vp as a function of the lift P in t, the stroke of the main cylinders C in m, and the elevation of the mobile installation h in m,
    the vertical force of the secondary cylinders Eb as a function of the lift P in t, the stroke of the main cylinders C in m, and the elevation of the mobile installation h in m, and
    - the resulting vertical lift POR which is the sum of the force of the main cylinders alone and the vertical force of the secondary cylinders.
    The maximum absolute deviation of the resulting POR lift from the CON weight hanger setpoint is less than 4.54 tonnes, i.e. 1% of the load. The device is therefore efficient when compared to the prior art, for which the best results are rather of the order of 2% or more.
    The main interest of the device lies in the reduction of the total volume of high pressure air required. The best previous embodiments, as described in patent application FR 2575452 (US 5520369), require 15 to 20 m 3 of high pressure air (210 bars), while the present example is content with 6 m 3 of volume main (V1) and 400 liters for the auxiliary circuit (V2), with pressures of the same order.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    Claims
    1) motion compensation system for a load attached to a mobile installation (1), comprising a fixed block (3), a movable block (4) for hanging said charge, at least one articulated arm (2) for binding said block fixed (3) to said mobile installation (1), each articulated arm (2) comprising at least one pulley (11), a cable (5) passing through said pulleys (11) of each articulated arm (2) and through said first and second mittens (3, 4), and at least a first main cylinder (6) fixed on said mobile installation (1) and on said fixed muffle (3), characterized in that said compensation system comprises at least one secondary cylinder (7) rotatably mounted on said mobile installation (1) and on a joint of said articulated arm (2).
    [2" id="c-fr-0002]
    2) System according to claim 1, wherein said main cylinder (6) is a hydropneumatic cylinder linked to an oleopneumatic accumulator (8).
    [3" id="c-fr-0003]
    3) System according to one of the preceding claims, wherein said secondary cylinder (7) is a pneumatic cylinder connected to a pneumatic accumulator (9).
    [4" id="c-fr-0004]
    4) System according to one of the preceding claims, wherein said articulated arm (2) comprises at least two connecting rods (10, 11) articulated relative to each other, a pulley (11) being arranged at the articulation of said connecting rods (10, 11) on which said secondary cylinder (7) is rotatably mounted.
    [5" id="c-fr-0005]
    5) System according to claim 4, wherein each end of said connecting rods (10, 11) comprises a pulley for the passage of said cable.
    [6" id="c-fr-0006]
    6) System according to one of the preceding claims, wherein said compensation system comprises at least two articulated arms (2) arranged symmetrically with respect to the axis formed by said first and second mittens (3, 4).
    [7" id="c-fr-0007]
    7) System according to one of the preceding claims, wherein said compensation system comprises at least two secondary cylinders (7) arranged symmetrically with respect to the axis of said main cylinder (6), so that the components of the actions (Fs) of said secondary cylinders (7) orthogonal to the direction of movement of said fixed block (3) cancel each other for any position of said fixed block (3).
    [8" id="c-fr-0008]
    8) System according to one of the preceding claims, wherein said motion compensation system comprises two main cylinders (6).
    [9" id="c-fr-0009]
    9) System according to one of the preceding claims, wherein said compensation system comprises two secondary cylinders (7) for each articulated arm (2).
    5
    [0010]
    10) Use of a motion compensation system according to one of the preceding claims, for heave compensation for the support of drilling tools and / or for the deposition of loads at sea.
    1/3
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    FR2867446A1|2005-09-16|Platform movement controlling device for e.g. cruise catamaran, has hydraulic jack including rod having one end which is pushed backwards and another end moved forward
    FR2931448A1|2009-11-27|Load i.e. small craft, platform vertically moving device for cruise catamaran ship, has cylinder including rod that drives displacement of attachment point of metallic push rod on vertical structure causing inclination of arm
    FR2595086A1|1987-09-04|METHOD AND APPARATUS FOR INCREASING THE HANDLING CAPACITY OF LOADS OF SUPPORT AND HANDLING EQUIPMENT
    EP1233108B1|2003-09-24|Lifting and lowering mechanism for a ballast tamping unit
    FR3062644A1|2018-08-10|LIFTING POTENCY, DEVICE FOR INSTALLING SUCH A POTENCY ON A CONTAINER, CAMPAIGN WORKSHOP AND METHOD FOR INSTALLING A CAMPAIGN WORKSHOP INCORPORATING SUCH A POTENCY
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    同族专利:
    公开号 | 公开日
    CN108204209A|2018-06-26|
    US20180171727A1|2018-06-21|
    EP3336041A1|2018-06-20|
    US10253579B2|2019-04-09|
    EP3336041B1|2019-07-31|
    BR102017026844A2|2018-10-30|
    FR3060549B1|2018-12-07|
    引用文献:
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    NL7310417A|1972-07-26|1974-01-29|
    WO2004001193A2|2002-06-21|2003-12-31|Hydralift Asa|Compensation device|
    KR20120035432A|2010-10-05|2012-04-16|주식회사 칸|Heave compensator|
    FR3025787A1|2014-09-16|2016-03-18|IFP Energies Nouvelles|SYSTEM FOR MONITORING THE MOVEMENT OF A LOAD|
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    FR2159169B1|1971-11-08|1974-05-31|Inst Francais Du Petrole|
    FR2575452B1|1984-12-28|1987-11-13|Inst Francais Du Petrole|METHOD AND DEVICE FOR REMOVING AN ELEMENT HANGING FROM A MOBILE INSTALLATION TO THE MOVEMENTS OF THIS INSTALLATION|
    US5520369A|1984-12-28|1996-05-28|Institut Francais Du Petrole|Method and device for withdrawing an element fastened to a mobile installation from the influence of the movements of this installation|
    KR20100072246A|2007-09-14|2010-06-30|굿크레인 코퍼레이션|Motion compensation system|
    CN101798909B|2010-04-01|2012-02-22|中国石油大学|Drilling column heave compensation device of marine floating type drilling platform|
    NO335499B1|2011-11-25|2014-12-22|Aker Mh As|A motion compensation system|
    CN102606088B|2012-04-01|2014-04-09|西南石油大学|Gear-rack displacement multiplication type drill string heave compensator for floating drilling platform|
    NO342856B1|2012-12-12|2018-08-20|Castor Drilling Solution As|Device for connecting and disconnecting an active HIV compensation actuator|
    NO341753B1|2013-07-03|2018-01-15|Cameron Int Corp|Motion Compensation System|
    CN203476248U|2013-09-30|2014-03-12|四川宏华石油设备有限公司|Semi-active type crown block heave compensation device|
    CN205154067U|2015-11-06|2016-04-13|宝鸡石油机械有限责任公司|A overhead traveling crane compensation arrangement for reducing gas pitcher pressure oscillation|US10161200B2|2017-01-31|2018-12-25|Cameron International Corporation|Heave compensation system|
    CN109399469B|2018-11-09|2020-05-22|中船华南船舶机械有限公司|Folding arm type hoisting equipment based on damping oil cylinder|
    EP3653561A1|2018-11-13|2020-05-20|NHLO Holding B.V.| balancing device, hoisting system, method for hoisting and kit of parts for spring balancing a hoisting system|
    法律状态:
    2017-12-14| PLFP| Fee payment|Year of fee payment: 2 |
    2018-06-22| PLSC| Search report ready|Effective date: 20180622 |
    2019-12-24| PLFP| Fee payment|Year of fee payment: 4 |
    2021-09-10| ST| Notification of lapse|Effective date: 20210806 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1662761|2016-12-19|
    FR1662761A|FR3060549B1|2016-12-19|2016-12-19|SYSTEM FOR MOTION COMPENSATION OF A LOAD ATTACHED TO A MOBILE INSTALLATION WITH MAIN VERSION AND SECONDARY VERIN|FR1662761A| FR3060549B1|2016-12-19|2016-12-19|SYSTEM FOR MOTION COMPENSATION OF A LOAD ATTACHED TO A MOBILE INSTALLATION WITH MAIN VERSION AND SECONDARY VERIN|
    EP17306643.2A| EP3336041B1|2016-12-19|2017-11-27|System to compensate the motion of a load attached to a mobile installation with a main cylinder and a secondary cylinder|
    BR102017026844A| BR102017026844A2|2016-12-19|2017-12-13|motion compensation system for a suspended load of a mobile unit with one main and one secondary cylinder|
    CN201711348827.1A| CN108204209A|2016-12-19|2017-12-15|For mobile unit it is suspended load, there is the motion compensating system of master cylinder and countercylinder|
    US15/847,578| US10253579B2|2016-12-19|2017-12-19|Motion compensation system for a load hanging from a mobile unit with a main cylinder and a secondary cylinder|
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