CN103663330A - Parallel-type offshore refueling docking mechanism - Google Patents

Parallel-type offshore refueling docking mechanism Download PDF

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Publication number
CN103663330A
CN103663330A CN201210363261.0A CN201210363261A CN103663330A CN 103663330 A CN103663330 A CN 103663330A CN 201210363261 A CN201210363261 A CN 201210363261A CN 103663330 A CN103663330 A CN 103663330A
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CN
China
Prior art keywords
base
slide block
motion platform
sliding block
pedestal
Prior art date
Application number
CN201210363261.0A
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Chinese (zh)
Other versions
CN103663330B (en
Inventor
殷宝麟
于影
刘桂珍
李宪芝
于波
田雪萍
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佳木斯大学
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Application filed by 佳木斯大学 filed Critical 佳木斯大学
Priority to CN201210363261.0A priority Critical patent/CN103663330B/en
Publication of CN103663330A publication Critical patent/CN103663330A/en
Application granted granted Critical
Publication of CN103663330B publication Critical patent/CN103663330B/en

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Abstract

The invention relates to a parallel-type offshore refueling docking mechanism which is formed by a base, hooke hinges, branched chain guide rails, branched chain sliding blocks, guide rods, spherical pairs, a motion platform, a butt joint horn mouth, a fulcrum bar, a first base sliding block, a second base sliding block, a first base guide rail and a second base guide rail. The branched chain guide rails are arranged on the base. The branched chain sliding blocks are arranged on the branched chain guide rails. One end of each guide rod is arranged on the corresponding branched chain sliding block, and the other end of the guide rod is connected with the motion platform. The first base guide rail is arranged on the base. The first base sliding block is arranged on the first base guide rail. The second base guide rail is arranged on the first base sliding block. The second base sliding block is arranged on the second base guide rail. One end of the fulcrum bar is arranged on the second base sliding block, and the other end of the fulcrum bar is connected with the motion platform. The butt joint horn mouth is arranged on the motion platform. By the adoption of a two-UPS and one-PPU type parallel mechanism, two-dimensional movement and two-dimensional rotation are achieved, the parallel-type offshore refueling docking mechanism has motion decoupling performance in position control, enables refueling to achieve automatic docking, and is large in load/self-weight ratio and high in bearing capacity.

Description

Parallel marine POL supply docking mechanism
 
Technical field: the present invention relates to a kind of parallel marine POL supply docking mechanism.
Background technology: at present, in marine longitudinally POL supply, the butt junction that pulled on buoyancy aid by oil carrier need to be connected to form to connecting pipeline with the exit skirt that docks that delivery ship pulls on buoyancy aid, adopt of this process is rigidly connected more, and docking time is long, and cannot complete under high sea situation, in addition, in POL supply automatic butt, need to control that the diametric bidimensional of vertical oil pipe moves and bidimensional rotates, be moving direction and pivot center conllinear, the parallel institution of this type of degree of freedom character rarely has and relates at present.
Summary of the invention: the object of the invention is to overcome above-mentioned shortcoming, a kind of parallel marine POL supply docking mechanism is provided, it has mainly solved and in marine longitudinal POL supply, has been subject to the connecting pipeline that exit skirt is connected to form of docking of oil carrier butt junction and delivery ship to adopt and be rigidly connected, docking time is long, under high sea situation, cannot complete and POL supply automatic butt in, need to control that the diametric bidimensional of vertical oil pipe moves and the problem such as bidimensional rotation, the object of the present invention is achieved like this, parallel marine POL supply docking mechanism it by pedestal, Hooke's hinge, prop up chain guide, side chain slide block, guide rod, spherical pair, motion platform, docking exit skirt, pole, the second pedestal slide block, the second base rail, the first pedestal slide block, the first base rail forms, two symmetrical chain guides are arranged on pedestal by Hooke's hinge, side chain slide block is arranged on a chain guide, guide rod one end is contained on side chain slide block, the other end is connected with motion platform by spherical pair, the first base rail is arranged on pedestal, the first pedestal slide block is contained in the first base rail, the second base rail is arranged on the first pedestal slide block, the second base rail is vertical with the first base rail guiding, the second pedestal slide block is arranged in the second base rail, pole one end is contained on the second pedestal slide block, the other end is connected with motion platform by Hooke's hinge, docking exit skirt is contained on motion platform.This invention adopts 2UPS+PPU type parallel institution, realized that bidimensional moves and bidimensional rotates, and position control has mobile decoupling, make POL supply reach automatic butt, degree of freedom is 4, irredundant degree of freedom, parallel institution is compact, load/large from anharmonic ratio, being lower pair connects, load-carrying capacity is high, is easy to manufacture and low cost of manufacture is installed.
Accompanying drawing explanation:
Accompanying drawing 1 is the structural representation of the parallel marine POL supply docking mechanism of the present invention.
1-pedestal, 2-Hooke's hinge 3-chain guide 4-side chain slide block
5-guide rod, 6-spherical pair, 7-motion platform 8-docking exit skirt
9-pole, 10-the second pedestal slide block the 11-the second base rail
12-the first pedestal slide block the 13-the first base rail
The specific embodiment: below in conjunction with accompanying drawing, describe most preferred embodiment of the present invention in detail, parallel marine POL supply docking mechanism it by pedestal 1, Hooke's hinge 2, prop up chain guide 3, side chain slide block 4, guide rod 5, spherical pair 6, motion platform 7, docking exit skirt 8, pole 9, the second pedestal slide block 10, the second base rail 11, the first pedestal slide block 12, the first base rail 13 forms, two symmetrical chain guides 3 are arranged on pedestal 1 by Hooke's hinge 2, side chain slide block 4 is arranged on a chain guide 3, guide rod 5 one end are contained on side chain slide block 4, the other end is connected with motion platform 7 by spherical pair 6, the first base rail 13 is arranged on pedestal 1, the first pedestal slide block 12 is contained in the first base rail 13, the second base rail 11 is arranged on the first pedestal slide block 12, the second base rail 11 is vertical with the first base rail 13 guiding, the second pedestal slide block 10 is arranged in the second base rail 11, pole 9 one end are contained on the second pedestal slide block 10, the other end is connected with motion platform 7 by Hooke's hinge, docking exit skirt 8 is contained on motion platform 7.The pedestal 1 of this mechanism forms parallel institution with motion platform 7 by 3 movement branched chain, two symmetrical movement branched chain are UPS type, there is identical version, the structure of the 3rd movement branched chain is PPU type, mechanism is 2UPS+PPU type parallel institution, article one, the degree of freedom of movement branched chain and second movement branched chain (i.e. two symmetrical movement branched chain) is 6, article three, the degree of freedom of side chain is 4, the degree of freedom character of motion platform 7 relative pedestals 1 is identical with side chain 3, if the normal direction of definition base plane is Z-direction, the guide passage direction of the first base rail 13 and the second base rail 11 is respectively X-direction and Y-direction, motion platform can move along X-direction and Y-direction, and rotate around X-direction and Y-direction, motor drives the first pedestal slide block 12 and the second pedestal slide block 10 in the first base rail 13 and the second base rail 11 to move, change the position of pole 9, the position of realizing motion platform 7 changes, motor drives the side chain slide block 4 on a chain guide 3 to make two symmetrical guide rods 5 flexible, can change motion platform turning to around X-direction and Y-direction according to diverse location, realize the adjustment of motion platform attitude under given position, on controlled motion platform 7, dock bell-mouthed position and attitude in real time, meet the space requirement of docking, thereby realize the automatic butt in POL supply.

Claims (1)

1. a parallel marine POL supply docking mechanism, it is by pedestal 1, Hooke's hinge 2, prop up chain guide 3, side chain slide block 4, guide rod 5, spherical pair 6, motion platform 7, docking exit skirt 8, pole 9, the second pedestal slide block 10, the second base rail 11, the first pedestal slide block 12, the first base rail 13 forms, it is characterized in that: two symmetrical chain guides (3) are arranged on pedestal (1) by Hooke's hinge (2), side chain slide block (4) is arranged on a chain guide (3), guide rod 5 one end are contained on side chain slide block (4), the other end is connected with motion platform (7) by spherical pair (6), the first base rail (13) is arranged on pedestal (1), the first pedestal slide block (12) is contained in the first base rail (13), the second base rail (11) is arranged on the first pedestal slide block (12), the second base rail (11) is vertical with the first base rail (13) guiding, the second pedestal slide block (10) is arranged in the second base rail (11), pole (9) one end is contained on the second pedestal slide block (10), the other end is connected with motion platform (7) by Hooke's hinge, docking exit skirt (8) is contained on motion platform (7).
CN201210363261.0A 2012-09-26 2012-09-26 Parallel marine POL supply docking mechanism CN103663330B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210363261.0A CN103663330B (en) 2012-09-26 2012-09-26 Parallel marine POL supply docking mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210363261.0A CN103663330B (en) 2012-09-26 2012-09-26 Parallel marine POL supply docking mechanism

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CN103663330A true CN103663330A (en) 2014-03-26
CN103663330B CN103663330B (en) 2016-03-23

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism
CN104445035A (en) * 2014-11-24 2015-03-25 杭州开源电脑技术有限公司 One-to-many automatic docking system
CN104942800A (en) * 2015-07-02 2015-09-30 上海交通大学 Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism
CN107416136A (en) * 2017-06-29 2017-12-01 武汉船用机械有限责任公司 A kind of oil hose connection method suitable for longitudinal replenishment
CN107498541A (en) * 2017-09-20 2017-12-22 北京航空航天大学 A kind of two translations one rotate 3-freedom parallel mechanism
CN108194790A (en) * 2016-06-23 2018-06-22 泉州台商投资区铭源机械设备有限公司 A kind of waters Work machine
CN108266615A (en) * 2016-06-23 2018-07-10 泉州台商投资区铭源机械设备有限公司 A kind of waters Work machine

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CN1586806A (en) * 2004-07-22 2005-03-02 北京航空航天大学 Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool
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CN200951497Y (en) * 2005-11-15 2007-09-26 哈尔滨工业大学深圳研究生院 Two-D moving and two-D rotation parallel platform mechanism
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism
CN104124914B (en) * 2014-07-04 2016-08-17 清华大学 A kind of two axle solar concentrator parallel connection followers rotating decoupling
CN104445035A (en) * 2014-11-24 2015-03-25 杭州开源电脑技术有限公司 One-to-many automatic docking system
CN104942800A (en) * 2015-07-02 2015-09-30 上海交通大学 Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism
CN108194790A (en) * 2016-06-23 2018-06-22 泉州台商投资区铭源机械设备有限公司 A kind of waters Work machine
CN108266615A (en) * 2016-06-23 2018-07-10 泉州台商投资区铭源机械设备有限公司 A kind of waters Work machine
CN108194790B (en) * 2016-06-23 2020-04-17 长乐致远技术开发有限公司 Water area operation machine
CN108266615B (en) * 2016-06-23 2020-04-17 长乐致远技术开发有限公司 Water area operation machine
CN107416136A (en) * 2017-06-29 2017-12-01 武汉船用机械有限责任公司 A kind of oil hose connection method suitable for longitudinal replenishment
CN107498541A (en) * 2017-09-20 2017-12-22 北京航空航天大学 A kind of two translations one rotate 3-freedom parallel mechanism
CN107498541B (en) * 2017-09-20 2020-06-05 北京航空航天大学 Two-translation-one-rotation three-freedom-degree parallel mechanism

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