阅读说明：本技术 一种具有运动补偿能力的三自由度海上廊桥装置 (Three-degree-of-freedom offshore gallery bridge device with motion compensation capability ) 是由 王生海 邱建超 韩广冬 仇伟晗 陈海泉 李建 牛安琪 孙茂凱 孙玉清 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种具有运动补偿能力的三自由度海上廊桥装置,包括可伸缩舷梯和三自由度稳定平台,所述三自由度稳定平台活动连接在可伸缩舷梯的下方。该装置采用三个伺服电动缸对三自由度稳定平台的上稳定平台的位姿进行实时控制,当船舶受到风、浪、流载荷作用产生的复杂扰动时通过对三个伺服电动缸的实时控制,对海上廊桥装置进行主要的运动补偿控制,使上稳定平台一直保持在水平状态进而使舷梯也保持在水平状态,从而实现对海上廊桥的位姿控制,同时在三自由度稳定平台上加有伸缩立柱限制稳定平台的扭转,伸缩外柱和伸缩内柱的八个面上均装有滚动轴承用以克服平台运动过程中产生的摩擦力使平台快速稳定的运行。(The invention discloses a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which comprises a telescopic gangway ladder and a three-degree-of-freedom stable platform, wherein the three-degree-of-freedom stable platform is movably connected below the telescopic gangway ladder. The device adopts three servo electric cylinders to control the pose of an upper stabilizing platform of the three-degree-of-freedom stabilizing platform in real time, when a ship is subjected to complex disturbance generated by the action of wind, wave and flow loads, the three servo electric cylinders are controlled in real time, main motion compensation control is carried out on the offshore gallery bridge device, the upper stabilizing platform is always kept in a horizontal state, and a gangway ladder is also kept in the horizontal state, so that the pose control of the offshore gallery bridge is realized, meanwhile, a telescopic upright post is added on the three-degree-of-freedom stabilizing platform to limit the torsion of the stabilizing platform, and rolling bearings are respectively arranged on eight surfaces of a telescopic outer post and a telescopic inner post and used for overcoming the friction force generated in the platform moving process so as to enable the platform to operate quickly and stably.)

1. A three-degree-of-freedom offshore gallery bridge device with motion compensation capability is characterized by comprising: the three-degree-of-freedom stable gangway ladder comprises a telescopic gangway ladder (1) and a three-degree-of-freedom stable platform (8), wherein the three-degree-of-freedom stable platform is movably connected below the telescopic gangway ladder;

the telescopic gangway ladder (1) comprises a lower gangway ladder (1.6), a directional wheel (1.5), a sliding table (1.4) and an upper gangway ladder (1.1), wherein a support (1.2) is fixedly connected to the lower gangway ladder (1.6), the directional wheel (1.5) is connected to the support (1.2), the sliding table (1.4) is connected to the lower gangway ladder (1.6), and a sliding block (1.3) is arranged on the sliding table (1.4);

the three-degree-of-freedom stable platform (8) comprises an upper stable platform (8.0), three first electric cylinders (8.2), a second electric cylinder (8.7), a third electric cylinder (8.8), a telescopic strut (8.6), a variable-amplitude electric cylinder (4) and a lower stable platform (8.9), wherein the first electric cylinders, the second electric cylinders, the third electric cylinders and the telescopic strut are the same in structure; one end of the first electric cylinder (8.2) is connected to the upper stabilizing platform (8.0) through a first hook hinge (8.1), the other end of the first electric cylinder is connected to the lower stabilizing platform (8.9) through a first hook hinge (8.1), the second electric cylinder (8.7) and the third electric cylinder (8.8) are installed on the upper stabilizing platform (8.0) and the lower stabilizing platform (8.9) in the same arrangement mode as the first electric cylinder (8.2), one end of the telescopic strut (8.6) is connected to the upper stabilizing platform (8.0), the other end of the telescopic strut is connected to the lower stabilizing platform (8.9), one end of the variable-amplitude electric cylinder (4) is connected to the upper stabilizing platform (8.0), and the other end of the variable-amplitude electric cylinder is connected to the bottom of the lower gangway (1.6).

2. The three-degree-of-freedom offshore gallery bridge device with motion compensation capability of claim 1, wherein: the telescopic strut (8.6) comprises a telescopic outer column (8.6.3) and a telescopic inner column (8.6.1), the bottom end of the telescopic outer column (8.6.3) is connected with the lower stable platform (8.9), the top end of the telescopic inner column (8.6.1) is connected with a Hooke hinge (8.5), and the Hooke hinge (8.5) is connected with the upper stable platform (8.0); be connected with antifriction bearing (8.6.2) on flexible outer post (8.6.3), antifriction bearing (8.6.2) are connected with flexible outer post (8.6.3) through bearing bracket (8.6.5), be connected with antifriction bearing two (8.6.4) on flexible inner post (8.6.1), antifriction bearing two (8.6.4) are connected with flexible inner post (8.6.1) through screw rod (8.6.6), antifriction bearing (8.6.2) and antifriction bearing two (8.6.4) set up at the coplanar, flexible inner post (8.6.1) move in vertical direction under the drive of last stable platform (8.0).

3. The three-degree-of-freedom offshore gallery bridge device with motion compensation capability of claim 1, wherein: go up stable platform (8.0) and be connected with gangway ladder support (12), gangway ladder (1.6) are connected with davit (9) through angle bar (10) down, davit (9) are connected through plug buckle (11) with gangway ladder support (12).

4. The three-degree-of-freedom offshore gallery bridge device with motion compensation capability of claim 3, wherein: go up stable platform (8.0) including upper stable platform one (8.3) and upper stable platform two (8.4), upper stable platform one (8.3) and upper stable platform two (8.4) constitute stable platform (8.0) through bolt fixed connection together, upper stable platform one (8.3) are used for fixed first hook hinge (8.1), upper stable platform two (8.4) are used for fixing gangway ladder support (12).

5. The three-degree-of-freedom offshore gallery bridge device with motion compensation capability of claim 2, wherein: the first Hooke joint (8.1) comprises an upper supporting flange frame (8.1.1), a transverse shaft (8.1.6), a longitudinal shaft (8.1.3) and a lower supporting flange frame (8.1.4), a first end cover bearing (8.1.2) is arranged in a shaft hole of the lower supporting flange frame (8.1.4), and the transverse shaft (8.1.6) is installed on the end cover bearing (8.1.2); the middle of cross axle (8.1.6) is equipped with through-hole (8.1.8), and through-hole (8.1.8) upper end is equipped with screw hole (8.1.7), through-hole (8.1.8) that axis of ordinates (8.1.3) passed cross axle (8.1.6) is installed on the second end cover bearing (8.1.6) of upper support flange frame (8.1.1), bolt hole (8.1.7) that axis of ordinates (8.1.6) and axis of ordinates (8.1.3) pass through cross axle (8.1.6) middle through-hole (8.1.8) upper end use spacing bolt fixed connection.

6. The three-degree-of-freedom offshore gallery bridge device with motion compensation capability of claim 2, wherein: the second hook joint (8.5) comprises a fixed frame (8.5.1) and a transverse shaft (8.1.5), wherein the transverse shaft (8.1.5) is installed on an end cover bearing (8.5.3) of a through hole (8.5.2) of the fixed frame (8.5.1) and is kept on the same horizontal plane with the mass center of the upper stable platform (8.0).

Technical Field

The invention relates to the technical field of marine gallery bridge devices, in particular to a three-degree-of-freedom marine gallery bridge device with motion compensation capability.

Background

The ocean platform can not be opened for ocean engineering development, the ocean drilling platform can mine and store oil gas, and the ocean wind power platform can provide a large amount of wind energy. The offshore platform needs to be maintained by personnel and replaced by personnel regularly, workers climb on the offshore platform to operate by taking ships as transportation tools, the offshore condition is more complex and more variable than the land, and harm caused by severe weather cannot be avoided. In the process of transporting personnel and materials, wind, wave and current disturbance is generated under high sea conditions, and collision accidents are easy to happen between a ship and an ocean platform. In severe cases, even the equipment is damaged, and the life safety of personnel is seriously threatened. The traditional transfer modes mainly comprise rope swing transfer, board leaning transfer, gangway ladder transfer and hanging basket transfer, and all the transfer modes have common defects, the safety is not guaranteed, the transfer modes are not suitable for high sea condition operation, passive compensation is adopted or no compensation is adopted, and the personnel transfer operation is inconvenient.

Disclosure of Invention

According to the problems existing in the prior art, the invention discloses a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which comprises: the three-degree-of-freedom stable platform is movably connected below the telescopic gangway ladder;

the telescopic gangway ladder comprises a lower gangway ladder, a directional wheel, a sliding table and an upper gangway ladder, wherein the lower gangway ladder is fixedly connected with a support, the directional wheel is connected to the support, the sliding table is connected to the lower gangway ladder, and a sliding block is arranged on the sliding table;

the three-degree-of-freedom stable platform comprises an upper stable platform, three first electric cylinders, three second electric cylinders, three third electric cylinders, a telescopic strut, a variable amplitude electric cylinder and a lower stable platform, wherein the first electric cylinders, the second electric cylinders, the third electric cylinders, the telescopic strut, the variable amplitude electric cylinder and the lower stable platform are of the same structure; one end of the first electric cylinder is connected to the upper stabilizing platform through a first hook hinge, the other end of the first electric cylinder is connected to the lower stabilizing platform through a first hook hinge, the second electric cylinder and the third electric cylinder are installed on the upper stabilizing platform and the lower stabilizing platform in the same setting mode as the first electric cylinder, one end of the telescopic strut is connected to the upper stabilizing platform, the other end of the telescopic strut is connected to the lower stabilizing platform, one end of the variable-amplitude electric cylinder is connected to the upper stabilizing platform, and the other end of the variable-amplitude electric cylinder is connected to the bottom of the lower gangway ladder.

The telescopic strut comprises a telescopic outer column and a telescopic inner column, the bottom end of the telescopic outer column is connected with the lower stable platform, the top end of the telescopic inner column is connected with a hook hinge, and the hook hinge is connected with the upper stable platform; the telescopic outer column is connected with a rolling bearing, the rolling bearing is connected with the telescopic outer column through a bearing support, the telescopic inner column is connected with a rolling bearing II, the rolling bearing II is connected with the telescopic inner column through a screw rod, the rolling bearing and the rolling bearing II are arranged on the same plane, and the telescopic inner column moves in the vertical direction under the driving of the upper stabilizing platform.

Go up to be connected with the gangway ladder support on the stable platform, the gangway ladder is connected with the davit down through the angle bar, the davit is connected through the plug buckle with the gangway ladder support.

The upper stabilizing platform comprises an upper stabilizing platform I and an upper stabilizing platform II, the upper stabilizing platform I and the upper stabilizing platform II are fixedly connected together through bolts to form the upper stabilizing platform, the upper stabilizing platform I is used for fixing a first hook hinge, and the upper stabilizing platform II is used for fixing a gangway support.

The first hook joint comprises an upper supporting flange frame, a transverse shaft, a longitudinal shaft and a lower supporting flange frame, a first end cover bearing is arranged in a shaft hole of the lower supporting flange frame, and the transverse shaft is arranged on the end cover bearing; the middle of the cross shaft is provided with a through hole, the upper end of the through hole is provided with a threaded hole, the through hole of the longitudinal shaft penetrating through the cross shaft is installed on a second end cover bearing of the upper supporting flange frame, and the cross shaft and the bolt hole of the longitudinal shaft penetrating through the upper end of the middle through hole of the cross shaft are fixedly connected through a limiting bolt.

The second hook joint comprises a fixing frame and a cross shaft, and the cross shaft is installed on an end cover bearing of a through hole of the fixing frame and is kept on the same horizontal plane with the mass center of the upper stabilizing platform.

By adopting the technical scheme, the three-degree-of-freedom offshore gallery bridge device with the motion compensation capability provided by the invention adopts the three servo electric cylinders to control the pose of the upper stabilizing platform of the three-degree-of-freedom stabilizing platform in real time, when a ship is subjected to complex disturbance generated by the action of wind, wave and flow loads, the three servo electric cylinders are controlled in real time to perform main motion compensation control on the offshore gallery bridge device, so that the upper stabilizing platform is always kept in a horizontal state, and the gangway ladder is also kept in a horizontal state, thereby realizing the pose control on the offshore gallery bridge, meanwhile, the three-degree-of-freedom stabilizing platform is provided with the telescopic upright posts to limit the torsion of the stabilizing platform, and eight surfaces of the telescopic outer posts and the telescopic inner posts are respectively provided with the rolling bearings for overcoming the friction force generated in the motion process of the platform so as to enable the platform to operate quickly and stably.

In addition, an amplitude-variable electric cylinder is arranged between the stabilizing platform and the gangway ladder, the height of the marine corridor bridge can be adjusted, the generated heave motion can be compensated, a sliding table is arranged between the upper gangway ladder and the lower gangway ladder to enable the gangway ladder to stretch and retract, the length of the gangway ladder can be adjusted, the longitudinal motion generated by the ship can be compensated, the pose of the marine corridor bridge is subjected to auxiliary control by the aid of the two methods, the length and the height of the marine corridor bridge can be adjusted to adapt to different working environments, and the three-degree-of-freedom marine corridor bridge device is used for safely and stably conveying personnel and goods.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is an overall structure diagram of a three-degree-of-freedom marine corridor bridge apparatus with motion compensation capability according to the present invention;

FIG. 2 is a schematic structural diagram of a three-degree-of-freedom stabilized platform according to an embodiment of the present invention;

fig. 3 and 4 are schematic structural views of a hooke joint according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a cross-axis structure of a hook joint according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a telescopic column according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a retractable gangway ladder according to an embodiment of the invention.

In the figure: 1. the telescopic gangway ladder comprises a telescopic gangway ladder, 2, hinge lugs, 3, lifting lugs, 4, an amplitude-variable electric cylinder, 5, lifting lugs, 6, hinge lugs, 7, a bolt buckle, 8, a three-degree-of-freedom stable platform, 9, a suspension arm, 10, angle iron, 11, a bolt buckle, 12, a gangway support, 1.1, an upper gangway ladder, 1.2, a directional wheel support, 1.3, a sliding block, 1.4, a sliding table, 1.5, a directional wheel, 1.6, a lower gangway ladder, 8.0, an upper stable platform, 8.3, a first upper stable platform, 8.4, a second upper stable platform, 8.1, a first hook hinge, 8.2, a first electric cylinder, 8.5, a second hook hinge, 8.6, a telescopic support, 8.7, a second electric cylinder, 8.8.8, a third electric cylinder, 8.9, a lower stable platform, 8.1.1, an upper flange support frame, 8.1.2, a first end bearing bolt hole, a longitudinal shaft, a transverse shaft, A transverse shaft fixing frame, 8.5.2 bearings, 8.5.3 through holes, 8.6.1 telescopic inner columns, 8.6.2 bearings, 8.6.3 telescopic outer columns, 8.6.4 bearings, 8.6.5 bearing supports, 8.6.6 and screws.

Detailed Description

In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:

fig. 1 shows a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which includes a three-degree-of-freedom stabilized platform 8 and a telescopic gangway ladder 1, wherein the three-degree-of-freedom stabilized platform is movably connected below the telescopic gangway ladder 1.

The three-degree-of-freedom stable platform 8 comprises an upper stable platform 8.0, three first electric cylinders 8.2, second electric cylinders 8.7, third electric cylinders 8.8, telescopic struts 8.6, variable amplitude electric cylinders 4 and a lower stable platform 8.9 which are of the same structure; one end of the first electric cylinder 8.2 is connected with the upper stable platform 8.0 through a first hooke joint 8.1, the other end of the first electric cylinder is connected with the lower stable platform 8.9 through a first hooke joint 8.1, the second electric cylinder 8.7 and the third electric cylinder 8.8 are arranged on the upper stable platform 8.0 and the lower stable platform 8.9 in the same arrangement mode as the first electric cylinder 8.2, one end of the telescopic strut 8.6 is connected with the upper stable platform 8.0, and the other end of the telescopic strut is connected with the lower stable platform 8.9, because the designed hooke joint can rotate 360 degrees in all directions, the stable platform adopting three servo electric cylinders can be twisted, the design mode of adding the telescopic strut in the middle can limit the twisting of the three-degree-of-freedom stable platform and does not obstruct the movement of the stable platform, one end of the variable amplitude electric cylinder 4 is connected with the upper stable platform 8.0 through a hinge lug 2 and a lifting lug 3, The other end is connected with the bottom of the lower gangway ladder 1.6 through a lifting lug 5 and a hinge lug 6. The hinge lug 2, the lifting lug 3 and the hinge lug 6, the lifting lug 5 are connected through the plug buckle 7, the height of the gangway ladder can be adjusted through the design mode of adding the amplitude-variable electric cylinder, the operation range of the device is expanded, when a ship is disturbed in a complex mode, the device can compensate the heave disturbance of the ship again through the design except for the motion compensation of three servo electric cylinders of the three-degree-of-freedom stable platform, the motion compensation assisting effect is achieved, and the motion compensation capability of the device is further improved.

The telescopic gangway ladder 1 comprises a lower gangway ladder 1.6, a directional wheel 1.5, a sliding table 1.4 and an upper gangway ladder 1.1; lower gangway 1.6 is connected with both sides davit 9 through angle bar 10, davit 9 passes through plug buckle 11 with last stabilizer blade 8.3, 8.4's gangway support 12 and is connected, directional wheel 1.5 is connected under on gangway 1.6 through support 1.2, be provided with slider 1.3 on the slip table 1.4, it is connected with gangway 1.6 down through slip table 1.4 and directional wheel 1.5 to go up gangway 1.1. Motor drive lead screw drives the slip table motion and then drives upper end gangway ladder motion messenger gangway ladder has flexible function, the height that enlarges the device's the directional wheel of operation scope and the height of slider are on the coplanar, make the more steady effectual operation of gangway ladder, when boats and ships receive complicated disturbance, except that three servo electronic jar of three degree of freedom stabilized platform carries out motion compensation, such design can also compensate once more to the pitching disturbance that boats and ships received, play the effect of supplementary motion compensation, further promote the motion compensation ability of the device.

Further, go up stable platform 8.0 and include upper stable platform 8.3 and upper stable platform two 8.4, upper stable platform 8.3 and upper stable platform two 8.4 constitute stable platform 8.0 together through bolt fixed connection, upper stable platform 8.3 is used for fixed first hook hinge 8.1, upper stable platform two 8.4 is used for fixing accommodation ladder support 12. The design mode makes the device easy dismounting, and the transportation installation of being convenient for tears down the gangway ladder device on upper portion and also can be used as the use of stable platform in some specific occasion.

Further, the telescopic strut 8.6 comprises a telescopic outer column 8.6.3 and a telescopic inner column 8.6.1, the bottom end of the telescopic outer column 8.6.3 is connected with a lower stable platform 8.9, the top end of the telescopic inner column 8.6.1 is connected with a hooke joint 8.5, and the hooke joint 8.5 is connected with an upper stable platform 8.0; be connected with antifriction bearing 8.6.2 on the flexible outer post 8.6.3, antifriction bearing 8.6.2 is connected with flexible outer post 8.6.3 through bearing bracket 8.6.5, be connected with two 8.6.4 of antifriction bearing on the flexible inner post 8.6.1, two 8.6.4 of antifriction bearing are connected with flexible inner post 8.6.1 through screw 8.6.6, antifriction bearing 8.6.2 and two 8.6.4 of antifriction bearing set up at the coplanar, flexible inner post 8.6.1 moves in vertical direction under last stable platform 8.0's drive. The design mode can prevent the three-degree-of-freedom stable platform from twisting and does not limit the motion of the stable platform, and rolling bearings are arranged on eight surfaces of the telescopic outer column and the telescopic inner column, so that the problem that the telescopic upright column is possibly rubbed and even blocked is solved, and the upper part and the lower part of the telescopic inner column can run on the same horizontal plane.

Furthermore, a through hole is formed in the upper stabilizing platform 8.0, a second hook hinge 8.5, connected with the upper stabilizing platform 8.0, of the telescopic outer column 8.6.3 penetrates through the through hole, the second hook hinge 8.5, connected with the upper stabilizing platform 8.0, of the telescopic outer column 8.6.3 further comprises fixing frames 8.5.1 on two sides, and the cross shaft 8.1.5 is installed on a bearing 8.5.2 in the through hole 8.5.3 of the fixing frames 8.5.1 on two sides and is kept on the same horizontal plane with the mass center of the upper stabilizing platform. The design mode solves the problem of precision of platform control, so that the platform control is more accurate.

Further, the first hooke's hinge includes upper support flange frame 8.1.1, cross axle 8.1.5, axis of ordinates 8.1.3 and lower support flange frame 8.1.4, cross axle 8.1.5 is installed on end cover bearing 8.1.6 in the shaft hole of lower support flange frame 8.1.4, cross axle 8.1.5 centre is equipped with through-hole 8.1.8, and the through-hole 8.1.8 upper end is equipped with screw hole 8.1.7, axis of ordinates 8.1.3 passes through-hole 8.1.8 of cross axle 8.1.5 and installs in the shaft hole of upper support flange frame 8.1.1, uses the stop bolt to link firmly cross axle 8.1.6 and axis of ordinates 8.1.3 through screw hole 8.1.7 of cross axle middle through-hole 8.1.8 upper end. By the design mode, the Hooke joint can move in 360 degrees in all directions, three-degree-of-freedom motion of the stable platform can be realized, and the problems of occlusion and blocking cannot occur.

The three-degree-of-freedom offshore corridor bridge device with the motion compensation function disclosed by the invention has the advantages that the three-degree-of-freedom stable platform is adopted to carry out main motion compensation on the complex disturbance of a ship, the telescopic upright posts are adopted to solve the torsion problem of the three-degree-of-freedom stable platform, the Hooke's joint is adopted to realize the motion compensation action of the stable platform, and the amplitude-variable electric cylinder and the telescopic gangway ladder are adopted to enlarge the working range of the device so as to adapt to various complex working environments and carry out auxiliary motion compensation on the disturbance of the ship. The motion compensation capability of the device is realized through the cooperation of the modes, and the working efficiency and the safety are improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.