阅读说明：本技术 一种钢铝结构融合四自由度经济型主动补偿舷梯 (Steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder ) 是由 朱会昆 黄伟 严鹏 马晓钢 廉琦 梁力 穆迪 张巍 康文波 于 2021-09-18 设计创作，主要内容包括：本发明提供了一种钢铝结构融合四自由度经济型主动补偿舷梯,包括构成伸缩结构的前端的活动梯和后端的固定梯；所述固定梯安装在操作台上,操作台安装在回转台上,回转台安装在单自由度支撑机构上。本发明利用单自由度支撑机构替代了六自由度补偿平台,达到更好的经济性、适应性；有效避免了大跨度情况下整机重量、强度以及刚度对系统功能的影响；利用双缸替代传统的钢丝绳绞盘,有效的提高了精度测量误差。(The invention provides an economical active compensation gangway ladder with a steel-aluminum structure fused with four degrees of freedom, which comprises a movable ladder at the front end and a fixed ladder at the rear end, wherein the movable ladder and the fixed ladder form a telescopic structure; the fixed ladder is arranged on the operating platform, the operating platform is arranged on the rotary table, and the rotary table is arranged on the single-degree-of-freedom supporting mechanism. The invention uses the single-degree-of-freedom supporting mechanism to replace a six-degree-of-freedom compensation platform, thereby achieving better economy and adaptability; the influence of the weight, the strength and the rigidity of the whole machine on the system function under the condition of large span is effectively avoided; the double cylinders are used for replacing the traditional steel wire rope winch, and the precision measurement error is effectively improved.)

1. The utility model provides a four degree of freedom economical initiative compensation gangway ladders are fused to steel aluminium structure, includes movable ladder (2) and the fixed ladder (3) of rear end that constitute extending structure's front end, its characterized in that: the fixed ladder (3) is arranged on the operating platform (4), the operating platform (4) is arranged on the rotary table (6), and the rotary table (6) is arranged on the single-degree-of-freedom supporting mechanism (9).

2. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: a telescopic oil cylinder (12) is arranged between the movable ladder (2) and the fixed ladder (3).

3. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: a pitching oil cylinder (11) is arranged between the fixed ladder (3) and the single-degree-of-freedom supporting mechanism (9).

4. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: the rotary table (6) is driven by a rotary motor (10) to rotate horizontally.

5. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: and a counterweight combination (7) is fixed on the side surface of the rotary table (6).

6. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 5, characterized in that: the installation positions of the counterweight combination (7) and the fixed ladder (3) on the rotary table (6) are front-back symmetrical by the geometric center of the rotary table (6), and the weight of the counterweight combination (7) is equivalent to that of the fixed ladder (3) and the movable ladder (2).

7. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: and a monitoring system (1) is arranged on the movable ladder (2) close to the front end.

8. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: the bottom of the front end of the movable ladder (2) is provided with a ladder end combination (13).

9. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 1, characterized in that: the operating platform (4) is also provided with a control system (5).

10. The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder according to claim 4, characterized in that: and a rotary support (8) is arranged on the rotary motor (10).

Technical Field

The invention relates to an economical active compensation gangway ladder with a steel-aluminum structure fused with four degrees of freedom.

Background

With the continuous development of the domestic offshore wind power industry, the requirements on the aspects of functionality, reliability, safety and economic practicability of operation and maintenance equipment are higher and higher. Especially, safety and economic applicability are important development and consideration targets in the whole operation and maintenance field. In the field of marine operation and maintenance, the following defects exist when people are transported and leaned on: 1. the current advanced six-degree-of-freedom is used as a compensation platform, and the situations of low technology maturity, poor application safety, high application risk and the like exist. 2. Based on the consideration of large-scale operation and maintenance ships, the larger the ship, the better the stability of the ship, and the smaller the interference of sea waves to the ship. If the six-degree-of-freedom compensation platform is adopted for compensation, the cost is high, the control is complex, and the later maintenance is relatively difficult. 3. Adopt traditional wire rope capstan winch to control the extension ladder, be difficult to satisfy the requirement to the precision among the initiative compensation process, this is because wire rope self has elastic deformation, and the error is great when signal transmission, signal acquisition output, is difficult to satisfy the closed loop requirement of system. 4. From the safety point of view, all the actuating elements (including oil cylinder and motor) and the control elements (attitude and heading instrument and controller) should be designed to be used in double sets. If a single element is still used, system redundancy is difficult to perform, and a large safety error exists.

Disclosure of Invention

In order to solve the technical problems, the invention provides the steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder which can effectively solve the control problem in the prior art and has the characteristics of good economy, reliable movement, low failure rate, high safety, good maintainability and the like.

The invention is realized by the following technical scheme.

The invention provides a steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder, which comprises a movable ladder at the front end and a fixed ladder at the rear end, wherein the movable ladder and the fixed ladder form a telescopic structure; the fixed ladder is arranged on the operating platform, the operating platform is arranged on the rotary table, and the rotary table is arranged on the single-degree-of-freedom supporting mechanism.

And a telescopic oil cylinder is arranged between the movable ladder and the fixed ladder.

And a pitching oil cylinder is arranged between the fixed ladder and the single-degree-of-freedom supporting mechanism.

The rotary table is driven by a rotary motor to rotate horizontally.

And a counterweight combination is fixed on the side surface of the rotary table.

The installation positions of the counterweight combination and the fixed ladder on the rotary table are front-back symmetrical by the geometric center of the rotary table, and the weight of the counterweight combination is equivalent to that of the fixed ladder and the movable ladder.

And a monitoring system is arranged on the movable ladder close to the front end.

The bottom of the front end of the movable ladder is provided with a ladder end combination.

The operating platform is also provided with a control system.

And a rotary support is arranged on the rotary motor.

The invention has the beneficial effects that: the single-degree-of-freedom supporting mechanism is used for replacing a six-degree-of-freedom compensation platform, so that better economy and adaptability are achieved; the influence of the weight, the strength and the rigidity of the whole machine on the system function under the condition of large span is effectively avoided; the double cylinders are used for replacing the traditional steel wire rope winch, and the precision measurement error is effectively improved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

In the figure: 1-a monitoring system, 2-a movable ladder, 3-a fixed ladder, 4-an operation table, 5-a control system, 6-a rotary table, 7-a counterweight combination, 8-a rotary bearing, 9-a single-degree-of-freedom supporting mechanism, 10-a rotary motor, 11-a pitching oil cylinder, 12-a telescopic oil cylinder and 13-a ladder end combination.

Detailed Description

The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.

Example 1

The steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder shown in fig. 1 comprises a movable ladder 2 at the front end and a fixed ladder 3 at the rear end, which form a telescopic structure; the fixed ladder 3 is arranged on an operation platform 4, the operation platform 4 is arranged on a rotary table 6, and the rotary table 6 is arranged on a single-degree-of-freedom supporting mechanism 9.

Example 2

Based on embodiment 1, a telescopic oil cylinder 12 is installed between the movable ladder 2 and the fixed ladder 3.

Example 3

Based on the embodiment 1, a pitch cylinder 11 is installed between the fixed ladder 3 and the single-degree-of-freedom support mechanism 9.

Example 4

According to embodiment 1, the turn table 6 is horizontally rotated by the turn motor 10.

Example 5

According to embodiment 1, a counterweight combination 7 is fixed on the side surface of the rotary table 6.

Example 6

Based on the embodiment 5, the installation positions of the counterweight combination 7 and the fixed ladder 3 on the revolving platform 6 are symmetrical front and back with the geometric center of the revolving platform 6, and the weight of the counterweight combination 7 is equivalent to the weight of the fixed ladder 3 and the movable ladder 2.

Example 7

Based on embodiment 1, a monitoring system 1 is installed on the movable ladder 2 near the front end.

Example 8

Based on the embodiment 1, the bottom of the front end of the movable ladder 2 is provided with a ladder end combination 13.

Example 9

The control system 5 is also provided on the operation table 4 according to embodiment 1.

Example 10

According to embodiment 4, the slewing motor 10 is provided with the slewing bearing 8.

Example 11

Based on the above embodiment, the system mainly comprises a monitoring system 1, a movable ladder 2, a fixed ladder 3, an operation platform 4, a control system 5, a rotary platform 6, a counterweight combination 7, a rotary bearing 8, a single-degree-of-freedom supporting mechanism 9, a rotary motor 10, a pitching oil cylinder 11, a telescopic oil cylinder 12, a ladder end combination 13 and the like. The single-degree-of-freedom supporting mechanism 9 is installed on a ship, the upper end of the single-degree-of-freedom supporting mechanism is connected with one end of a rotary support 8 through a bolt, the other end of the rotary support is connected with a rotary table 6 through a bolt, a rotary motor 10, a counterweight combination 7, an operating table 4 and a control system 5 are installed and integrated on the rotary table 6, a fixed ladder 3 is connected with the rotary table 6 through a rotating shaft, and a movable ladder 2 is installed in an inner cavity of the fixed ladder 3.

The single-degree-of-freedom supporting mechanism 9 mainly realizes functional movement by an oil cylinder integrated in the single-degree-of-freedom supporting mechanism, the rotary table 6 mainly drives the rotary table to rotate by a rotary motor 10, the fixed ladder 3 mainly realizes pitching movement by a pitching oil cylinder 11, the movable ladder 2 mainly realizes telescopic movement by a telescopic oil cylinder 12, the ladder end combination 13 is lapped on a ship board, functional adjustment of all movement is mainly effectively controlled by the control system 5, eccentric adjustment is carried out by the counterweight combination 7, safe real-time monitoring is carried out by the monitoring system, finally, compensation functions of the system for six directions of ship heaving, swaying, surging, rolling, pitching and yawing are jointly completed, and a relatively stable conveying platform is jointly built.

The invention is particularly configured for large operation and maintenance vessels. The single-degree-of-freedom supporting mechanism 9 replaces a six-degree-of-freedom compensation platform in the current operation and maintenance berthing equipment, and compensates the rest of motions of the ship through the rest three degrees of freedom after compensating most of the ship heave motions through the single degree of freedom by utilizing the self stability of the large ship. The heave compensation of the ship is mainly combined and compensated by a single-degree-of-freedom supporting mechanism and the gangway ladder, and the sway of the ship is mainly compensated by the extension and contraction of the gangway ladder; the surging of the bridge ladder is mainly compensated by synchronous coupling of rotation and expansion; the bow of the ship is mainly compensated by the rotation of the bridge ladder; the rolling of the ship is mainly compensated by the pitching of the bridge ladder; the pitching of the ship is mainly freely compensated by the ladder end top connection type point contact pressure sensor. Compared with a six-degree-of-freedom compensation platform, the cost can be saved by about 80% under the same condition, the whole gangway ladder equipment is better in economy, and the adaptability is stronger.

In order to reasonably match the weight and the eccentricity of the whole machine, the movable ladder 2 in the structure is made of aluminum, the fixed ladder 3 is made of steel, structural integration design is carried out by utilizing various characteristics of the steel and the aluminum, the structural strength and the rigidity are guaranteed, and conditions are provided for actively compensating closed-loop control deviation. The balance weight combination 7 is adopted to carry out balance weight and eccentric control on the whole machine, and the purpose of the balance weight combination is to prevent acceleration impact and excessive starting moment caused by excessive eccentric force.

The two telescopic oil cylinders 12 are used for replacing a traditional wire rope winch, and the purpose of the winch is to reduce the influence of the elastic deformation of a wire rope on a system error closed loop and enhance the response precision of the system. The double-cylinder vertical lifting, double-cylinder stretching and double-motor rotating are adopted, and the redundant design of machinery, hydraulic pressure and control is reasonably carried out, so that the safety of the system is guaranteed.

The electromagnetic interference prevention design of the control system 5 is designed to avoid system measurement deviation, conversion deviation and output control deviation caused by external interference. The invention introduces a fuzzy self-adaptive PID decoupling control algorithm, aiming at automatically adjusting PID parameters and solving the problems of lag deviation caused by gain and the coupling problem of yaw and yawing.

Thus, the present invention:

a) the single-degree-of-freedom supporting mechanism is used for replacing a six-degree-of-freedom compensation platform, and better economical efficiency and adaptability are achieved.

By utilizing the self stability of the large ship, after most of ship heave motions are compensated through the single degree of freedom, the rest motions of the ship are compensated through the rest three degrees of freedom. Compared with a six-degree-of-freedom compensation platform, the cost can be saved by about 80% under the same condition, the whole gangway ladder equipment is better in economy, and the adaptability is stronger.

b) The steel-aluminum structure is adopted to be fused, so that the influence of the weight, strength and rigidity of the whole machine on the system function under the condition of large span is effectively avoided.

In order to reasonably match the weight and the eccentric distance of the whole machine, the movable ladder in the structure is made of aluminum materials, and the fixed ladder is made of steel materials. The structural integration design is carried out by utilizing various characteristics of steel and aluminum, and the structural strength and rigidity are ensured, so that conditions are provided for actively compensating closed-loop control deviation. Adopt the counter weight combination to carry out counter weight and eccentric control to the complete machine, its aim at prevents acceleration impact and too big starting moment that the eccentric force is too big and arouse.

c) The double cylinders are used for replacing the traditional steel wire rope winch, and the precision measurement error is effectively improved.

Because the steel wire rope has elastic deformation and the deformation is in direct proportion to the connection length, the deformation has great influence on the system error closed loop when signal acquisition, transmission and output are carried out. In addition, double cylinders are adopted for erecting, stretching and retracting and rotating, and system redundancy design is reasonably carried out, so that the system safety is greatly improved.