CN106167074A - A kind of coupling constraint for marine personnel or cargo transfer is compensation picks bridge - Google Patents
A kind of coupling constraint for marine personnel or cargo transfer is compensation picks bridge Download PDFInfo
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- CN106167074A CN106167074A CN201610644843.4A CN201610644843A CN106167074A CN 106167074 A CN106167074 A CN 106167074A CN 201610644843 A CN201610644843 A CN 201610644843A CN 106167074 A CN106167074 A CN 106167074A
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- brachium pontis
- moving sets
- slide block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
- B63B2027/141—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts telescopically extendable
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transmission Devices (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
A kind of coupling constraint for marine personnel or cargo transfer is compensation picks bridge, it includes coupling constraint freedom degree parallel connection stabilized platform and four-degree-of-freedom brachium pontis, wherein the bottom of coupling constraint freedom degree parallel connection stabilized platform is fixed on the deck of hull, and its upper end is connected with four-degree-of-freedom brachium pontis by the first revolute pair；Four-degree-of-freedom brachium pontis can realize the rotation around the first revolute pair axis, the lifting of the first brachium pontis and hang and the stretching motion of second, third brachium pontis.Ship can be produced multivariant motion by the effect of ocean current, Caulis Piperis Kadsurae and wave, affect the safe transit of ship's staff or goods, the freedom degree parallel connection stabilized platform of the present invention can compensate for the rolling of ship, pitching and heaving, make four-degree-of-freedom brachium pontis the most stable relative to ground fixed reference thing, thus ensure marine personnel or the safe transit of goods.Present configuration is compact, it is little to take up an area, rigidity big, has good application prospect.
Description
Technical field
The invention belongs to marine engineering equipment field, particularly to a kind of serial-parallel mirror mechanism, particularly a kind of for sea
Upper transhipment pick bridge.
Background technology
" made in China " 2025 " " propose greatly develop deep-sea detecting, resources development and utilization, operation on the sea Support Equipment and
Its critical system and special equipment etc., to meet socio-economic development and the national defense construction demand to major technologies and equipment.Along with
The development of China marine economy, various offshore lifting operations, search and rescue ship, and the quantity such as sea police's ship get more and more.Naval vessel Caulis Piperis Kadsurae,
Under the effect of the marine environment disturbance such as wave and ocean current, can produce multidimensional sways motion, as rolling, pitching, yawing, swaying,
Surging is swung with hanging down.Wherein, rolling, pitching and heaving are maximum on the impact of Ship Equipment.This motion is to wind tower event
The many-sides such as the safe transit of repairing, tender personnel or the goods in time of barrier bring and have a strong impact on.Particularly at wave Gao Yong
Greatly, sea situation severe time, operation on the sea is difficult to carry out.Existing sea is picked or transporter exists that heave compensation is limited, mechanism
The problems such as integral rigidity is low, bearing capacity is limited.Therefore, research and development have heave compensation is big, mechanism's rigidity is big marine personnel or
It is significant that cargo transfer compensation picks bridge.
The Chinese patent of Publication No. 102548838 B proposes a kind of adjustable length gangway ladder, can be at the dress declined
Carry and pivot between unloading position and the stowed position of rising.This gangway ladder can move along with the motion of ship, does not have stable merit
Energy.A kind of ocean platform gangway ladder that the Chinese patent of Publication No. CN 104290872 A proposes, is affixed on ocean platform
Equipment.What the Chinese patent of Publication No. CN 105408199 A proposed mends the active exercise of radial type gangway ladder for offer
Repay equipment and the method for control, can distance and bearing between Active Compensation boats and ships or between boats and ships and fixation means, but not
The roll and pitch motion of ship can be compensated.
Summary of the invention
It is an object of the invention to provide that a kind of rigidity is big, it is big to compensate stroke, compact conformation, bearing capacity are strong and occupation of land face
The long-pending little coupling constraint for marine personnel or cargo transfer is compensation picks bridge.
Technical scheme is as follows:
The present invention includes coupling constraint freedom degree parallel connection stabilized platform and four-degree-of-freedom brachium pontis two parts, wherein couples about
The bottom of bundle freedom degree parallel connection stabilized platform is fixed on the deck of hull, and the first revolute pair and four-degree-of-freedom are passed through in its upper end
Brachium pontis connects；
Described four-degree-of-freedom brachium pontis include the transferring platform driven with revolution, two the 3rd coaxial revolute pairs, two
Second straight spur unit, the first brachium pontis, three moving sets, the 3rd straight spur unit, the second brachium pontis, the 4th moving sets,
Four straight spur unit, the 3rd brachium pontis, the second ball pivot and the second ball hinged supporting seat；Wherein the bottom of first brachium pontis one end passes through two
Individual the 3rd coaxial revolute pair is connected with transferring platform, and the two ends of the second straight spur unit are respectively by ball pivot and transferring platform
Connect with the top of above-mentioned first brachium pontis one end；Second brachium pontis is connected by three moving sets and the first brachium pontis, and the 3rd straight line drives
One end of the cylinder barrel of moving cell is connected with the bottom of the first brachium pontis, and ball pivot is passed through in the expansion link end of the 3rd straight spur unit
It is connected with the bottom of above-mentioned second brachium pontis；3rd brachium pontis is connected by the 4th moving sets and the second brachium pontis, the 4th linear drives list
One end of the cylinder barrel of unit is connected with the bottom of above-mentioned second brachium pontis, and ball pivot is passed through in the expansion link end of the 4th straight spur unit
It is connected with the bottom of the 3rd brachium pontis；The end of the 3rd brachium pontis free end is provided with video camera and diastimeter, by video camera and range finding
Instrument can facilitate personnel to manipulate four-degree-of-freedom brachium pontis to dock with target platform；Second ball hinged supporting seat passes through the second ball pivot and the 3rd
The bottom of brachium pontis connects；With passing through the first revolute pair and coupling constraint freedom degree parallel connection bottom the transferring platform that revolution drives
Stabilized platform connects；
Described coupling constraint freedom degree parallel connection stabilized platform two kinds of arrangements of employing:
The first arrangement: coupling constraint freedom degree parallel connection stabilized platform include mounting seat, combination type six rib frame, six
Individual the first parallel moving sets, three slim slide blocks, three the second parallel moving sets, three one group coaxial second rotate two-by-two
Secondary, three carriages, three the first ball pivots, connecting platform, three two ends are with the first straight spur unit of ball pivot and three
Accumulator, wherein mounting seat is hollow six prisms with chassis, and the area on its chassis is more than bottom hollow six prisms
Area, this chassis is connected with deck in ship structure, and the bottom of combination type six rib frame is connected with the chassis of mounting seat；Three slim slide block structures
Identical, it is distributed in combination type six rib frame, described slim slide block is hollow-core construction, and each slim slide block is by two parallel the
One moving sets is connected with the inwall of combination type six rib frame, passes sequentially through the second moving sets and be of coupled connections between adjacent slim slide block；
The expansion link end of the first straight spur unit is connected with the external part end of slim slide block by ball pivot, this first linear drives list
The end of the cylinder barrel of unit is connected with the top of hollow six prisms of base by ball pivot, and three accumulators are located at base in uniform way
In hollow six prisms；Carriage is triangle, and the two ends of carriage bottom are respectively by the second revolute pair and slim slide block external part
End is connected, and above-mentioned two revolute pair is coaxial；The upper end of this carriage is connected with connecting platform by the first ball pivot；Above-mentioned six
First moving sets direction is parallel to each other and is all perpendicular to mounting seat plane, and three the second moving sets directions are parallel to each other and are perpendicular to
Mounting seat plane, three two-by-two the coaxial second revolute pair axis direction of a group be perpendicular to first, second moving sets direction.
The second arrangement: coupling constraint freedom degree parallel connection stabilized platform is reverse mounted in deck in ship structure, in it
Portion's composition is identical with the first arrangement with connected mode；This arrangement difference is: coupling constraint Three Degree Of Freedom
Stabilized platform in parallel is connected by the deck of connecting platform with hull, with turning round bottom the transferring platform driven by first turn
Dynamic pair is connected with the chassis of the mounting seat of coupling constraint freedom degree parallel connection stabilized platform, and the axis of the first revolute pair is perpendicular to
The plane on this mounting seat chassis.
Described first moving sets and the second moving sets three kinds of modes of employing:
First kind of way: first, second moving sets is that combination type dovetail slideway is secondary, and this guideway includes a convex swallow
Tail guide rail and an isometric combination type female dovetail groove, wherein combination type female dovetail groove includes a sliding floor and two
The long draw runner in right-angled trapezium cross section, the oblique waist symmetry of two long draw runners is located on sliding floor inwardly, and three is connected with each other with regard to structure
Become a combination type female dovetail groove；Three faces contacted at male dovetail guide rail and combination type female dovetail groove are provided with three
Anti-attrition bar；Male dovetail guide rail and combination type female dovetail groove are respectively provided at the length of above-mentioned first, second moving sets position
Slide block seamed edge and the seamed edge of combination type six rib frame, the motion that matches of two guide rails constitutes first, second moving sets.
The second implementation: first, second moving sets is double guide rail slide block guideways；This pair of guide rail slide block guideway bag
Including two parallel guide rails and two parallel slide blocks, two guide rails are respectively provided at above-mentioned first, second moving sets position
Slim slide block seamed edge and the seamed edge of combination type six rib frame, one of them slide block is connected in the upper end of a guide rail, another slide block
Being connected in the lower end of another guide rail, guide rail matches with slide block to move and just constitutes first, second moving sets.
The third implementation: the first moving sets is combined roller formula guideway；This combined roller formula guideway includes three
Individual roller and two long pressing plates, two pressing plates being parallel to each other are respectively provided at the seamed edge of the slim slide block of the first moving sets position
With the seamed edge of combination type six rib frame, two of which roller is located at the mounting groove above the long pressing plate of combinations thereof formula six rib frame seamed edge
In, another roller is located in the mounting groove below another long pressing plate, and in motor process, roller is all the time along long pressing plate elongation side
To rolling, roller and long pressing plate cooperate to move and just constitute the first moving sets.
Four-degree-of-freedom brachium pontis can realize the rotation around the first revolute pair axis, the lifting of the first brachium pontis and hang and
Two, the stretching motion of the 3rd brachium pontis.Coupling constraint freedom degree parallel connection stabilized platform has two rotational freedoms and a shifting
Dynamic degree of freedom, can compensate for the rolling of ship, pitching and heaving；It is big that coupling constraint freedom degree parallel connection stabilized platform is had
Stroke coupling constraint moving sets can not only compensate the heaving of hull, also solves the Stiffness Drop caused due to big stroke
Low problem.Four-degree-of-freedom brachium pontis frame is thus enable and to keep relative stability between this ship and target platform, it is achieved
Marine personnel or the safe transit of goods.
The present invention has a characteristic that compared with existing correlation technique
1, three slim slide blocks of coupling constraint freedom degree parallel connection stabilized platform, except passing through six with combination type six rib frame
Outside the first parallel moving sets is connected, it is of coupled connections also by the second moving sets between adjacent slim slide block, which greatly improves
The integral rigidity of coupling constraint freedom degree parallel connection stabilized platform.
2, four kinds of implementations that first, second moving sets is used, reduce the contact of guideway from actual angle
Area, this greatly reduces processing and the assembly difficulty that big stroke coupling constraint is brought, improves the feasibility of scheme.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the four-degree-of-freedom brachium pontis simplified schematic diagram of Fig. 1；
Fig. 3 is the coupling constraint freedom degree parallel connection stabilized platform simplified schematic diagram of Fig. 1；
Fig. 4 is the sectional view of Fig. 3；
Fig. 5 is the top view of Fig. 3；
Fig. 6 is the combination type dovetail slideway pair simplified schematic diagram of Fig. 5；
Fig. 7 is the sectional view of Fig. 6；
Fig. 8 is the coupling constraint freedom degree parallel connection stabilized platform top view of the embodiment of the present invention 2；
Fig. 9 is double guide rail slide block guideway simplified schematic diagram of Fig. 8；
Figure 10 is the coupling constraint freedom degree parallel connection stabilized platform top view of the embodiment of the present invention 3；
Figure 11 is the combined roller formula guideway sectional view of Figure 10；
Figure 12 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 4.
In figure: 1. coupling constraint freedom degree parallel connection stabilized platform, 1-1. mounting seat, 1-2. combination type six rib frame, 1-3.
First moving sets, 1-3-1. combination type female dovetail groove, 1-3-2. male dovetail guide rail, 1-3-1-1. sliding floor, 1-3-1-
The longest draw runner, 1-3-1-3. subtract draw runner, 1-4. slim slide block, 1-5. the second moving sets, 1-6. the second revolute pair, 1-7. carriage,
The double guide rail slide block of 1-8. the first ball pivot, 1-9. connecting platform, 1-10. the first straight spur unit, 1-11. accumulator, 1-12. is led
Rail pair, 1-12-1. slide block, 1-12-2. guide rail, 1-13. combined roller formula guideway, 1-13-1. cylindrical roller, 1-13-2. length
Pressing plate, 2. four-degree-of-freedom brachium pontis, 2-1. transferring platform, 2-2. the 3rd revolute pair, 2-3. the first brachium pontis, 2-4. the 3rd linear drives
Unit, 2-5. the second brachium pontis, 2-6. the 4th straight spur unit, 2-7. the 3rd brachium pontis, 2-8. the second ball hinged supporting seat, 2-9.
Two ball pivots, 2-10. the 4th moving sets, 2-11. three moving sets, 2-12. the second straight spur unit, 2-13. video camera and survey
Distance meter, 3. the first revolute pair, 4. deck.
Detailed description of the invention
Embodiment 1
Pick in bridge schematic diagram the coupling constraint for marine personnel or cargo transfer shown in Fig. 1 is compensation, coupling
The bottom of constraint freedom degree parallel connection stabilized platform 1 is fixed on the deck 4 of hull, and the first revolute pair 3 and four is passed through in its upper end
Degree of freedom brachium pontis 2 connects；
As in figure 2 it is shown, the bottom of one end of the first brachium pontis 2-3 is rotated by two coaxial three in four-degree-of-freedom brachium pontis
Secondary 2-2 is connected with transferring platform 2-1, and the two ends of the second straight spur unit 2-12 are respectively by ball pivot and transferring platform and above-mentioned
The top of first brachium pontis one end connects；Second brachium pontis 2-5 is connected by three moving sets 2-11 and the first brachium pontis, and the 3rd straight line drives
One end of the cylinder barrel of moving cell 2-4 is connected with the bottom of the first brachium pontis, and the expansion link end of the 3rd straight spur unit is passed through
The bottom of ball pivot and the second brachium pontis connects；3rd brachium pontis 2-7 is connected by the 4th moving sets 2-10 and the second brachium pontis, the 4th straight line
One end of the cylinder barrel of driver element 2-6 is connected with the bottom of the second brachium pontis, and the expansion link end of the 4th straight spur unit leads to
Crossing and connect bottom ball pivot and the 3rd brachium pontis, the end of the 3rd brachium pontis free end is provided with video camera and diastimeter 2-13, by shooting
Machine and diastimeter can facilitate personnel to manipulate four-degree-of-freedom brachium pontis to dock with target platform, and the second ball hinged supporting seat 2-8 is by the
The bottom of two ball pivot 2-9 and the 3rd brachium pontis connects；With passing through the first revolute pair and couple bottom the transferring platform that revolution drives
The connecting platform 1-9 of constraint freedom degree parallel connection stabilized platform connects, and the axis of the first revolute pair is perpendicular to this connecting platform
Plane；
As shown in Fig. 3, Fig. 4 and Fig. 5, mounting seat 1-1 in described coupling constraint freedom degree parallel connection stabilized platform is one
Individual hollow six prisms with chassis, the area on its chassis is more than the area bottom hollow six prisms, this chassis and deck in ship structure
Being connected, the bottom of combination type six rib frame 1-2 is connected with the chassis of mounting seat；Three slim slide block 1-4 structures are identical, are distributed on
In combination type six rib frame, described slim slide block is hollow-core construction, and each slim slide block passes through two the first parallel moving sets 1-3 and groups
The inwall of box-like six rib frames connects, and passes sequentially through the second moving sets 1-5 and be of coupled connections between adjacent slim slide block；First straight line drives
The expansion link end of moving cell 1-10 is connected with the external part end of slim slide block by ball pivot, the cylinder of this first straight spur unit
The end of cylinder is connected with the top of hollow six prisms of base by ball pivot, and three accumulator 1-11 are located at the sky of base in uniform way
In the heart six prism；Carriage is triangle 1-7, and the two ends of carriage bottom are stretched with slim slide block by the second revolute pair 1-6 respectively
Going out end to be connected, above-mentioned two revolute pair is coaxial；The upper end of this carriage is by the first ball pivot 1-8 and connecting platform 1-9 even
Connect；Above-mentioned six the first moving sets directions are parallel to each other and are all perpendicular to mounting seat plane, and three the second moving sets directions are mutual
Parallel and perpendicular to mounting seat plane, three two-by-two the coaxial second revolute pair axis direction of a group be perpendicular to first, second shifting
Dynamic auxiliary direction；
As shown in Figure 6 and Figure 7, described first, second moving sets is that combination type dovetail slideway is secondary, and this guideway is by one
Male dovetail guide rail 1-3-2 and an isometric combination type female dovetail groove 1-3-1 composition, wherein combination type female dovetail groove bag
Include a sliding floor 1-3-1-1, the long draw runner 1-3-1-2 in two right-angled trapezium cross sections and three anti-attrition bar composition 1-3-1-3,
The hypotenuse symmetry of two long draw runners is arranged on sliding floor inwardly, and three is connected with each other and just constitutes a combination type female dovetail
Groove, three faces contacted at male dovetail guide rail and combination type female dovetail groove are provided with three anti-attrition bars；Male dovetail guide rail
With slim slide block seamed edge and combination type six rib that combination type female dovetail groove is respectively provided at above-mentioned first, second moving sets position
The seamed edge of frame, and guide rail moving direction and first, second moving sets direction identical, two guide rails match motion constitute first,
Second moving sets.
Embodiment 2
As shown in Figure 8, three slim slide block 1-4 external part tops are respectively provided with three coaxial second revolute pairs 1-of a group two-by-two
The pedestal of 6, six the first moving sets are double guide rail slide block guideway 1-12, and this pair of guide rail slide block guideway is parallel to each other and the most vertical
Directly in the plane of mounting seat 1-1, three the second moving sets 1-12 are double guide rail slide block guideways, this pair of guide rail slide block guide rail parafacies
The most parallel and be all perpendicular to the plane of disk of mounting seat, the axis direction of the second coaxial revolute pair of a group is perpendicular to two-by-two
The moving direction of first, second moving sets, and three two-by-two the axis of the second revolute pair of a group be triangularly arranged.
As it is shown in figure 9, first, second moving sets is double guide rail slide block guideway 1-12；This pair of guide rail slide block guideway bag
Including two parallel guide rail 1-12-2 and two slide block 1-12-1, two guide rails are respectively provided at above-mentioned first, second moving sets institute
Slim slide block seamed edge in position and the seamed edge of combination type six rib frame, one of them slide block is connected in the upper end of a guide rail, another
Individual slide block is connected in the lower end of another guide rail, and the bearing of trend of guide rail and slide block all with first, second moving sets direction phase
With, guide rail matches with slide block to move and just constitutes first, second moving sets.
Other parts and connected mode are same as in Example 1.
Embodiment 3
As shown in Figure 10, three slim slide block 1-4 external part tops are respectively provided with three coaxial second revolute pairs of a group two-by-two
The pedestal of 1-6, six the first moving sets are that combined roller formula guideway 1-13 is parallel to each other and is perpendicular to the flat of mounting seat 1-1
Face, three the second moving sets are double guide rail slide block guideway 1-12, and this pair of guide rail slide block guideway is parallel to each other and is all perpendicular to
The plane of mounting seat 1-1, the axis direction of the second coaxial revolute pair of a group is perpendicular to the shifting of first, second moving sets two-by-two
Dynamic direction, and three two-by-two the axis of the second revolute pair of a group be triangularly arranged.
As shown in figure 11, the first moving sets is combined roller formula guideway 1-13；This combined roller formula guideway includes three
Individual cylindrical roller 1-13-1 and two long pressing plate 1-13-2, two pressing plates being parallel to each other are respectively provided at above-mentioned first moving sets institute
The seamed edge of the slim slide block in position and the seamed edge of combination type six rib frame, two of which roller is located at combinations thereof formula six rib frame seamed edge
Long pressing plate above two mounting grooves in, another roller is located in the mounting groove below another long pressing plate, motor process
Middle roller rolls along long pressing plate prolonging direction all the time, and roller and long pressing plate cooperate to move and just constitute the first moving sets.
Other parts and connected mode are same as in Example 2.
Embodiment 4
As shown in figure 12, coupling constraint freedom degree parallel connection stabilized platform is solid with the deck of hull by connecting platform 1-9
Even, by the first revolute pair 3 and coupling constraint freedom degree parallel connection stabilized platform bottom the transferring platform 2-1 with revolution driving
The chassis of mounting seat be connected, and the axis of the first revolute pair is perpendicular to the plane on this mounting seat chassis；
Other parts and connected mode are same as in Example 1.
Claims (6)
1. picking a bridge for the coupling constraint of marine personnel or cargo transfer is compensation, it includes coupling constraint Three Degree Of Freedom
Stabilized platform in parallel and four-degree-of-freedom brachium pontis two parts, wherein the bottom of coupling constraint freedom degree parallel connection stabilized platform is fixed on
On the deck of hull, its upper end is connected with four-degree-of-freedom brachium pontis by the first revolute pair；Described four-degree-of-freedom brachium pontis include with
The transferring platform that revolution drives, two the 3rd coaxial revolute pairs, two the second straight spur unit, the first brachium pontis, the 3rd shiftings
Dynamic pair, the 3rd straight spur unit, the second brachium pontis, the 4th moving sets, the 4th straight spur unit, the 3rd brachium pontis, the second ball pivot
With the second ball hinged supporting seat；Wherein the bottom of first brachium pontis one end is by two the 3rd coaxial revolute pairs with transferring platform even
Connecing, the two ends of the second straight spur unit are connected with the top of transferring platform and above-mentioned first brachium pontis one end by ball pivot respectively；
Second brachium pontis is connected by three moving sets and the first brachium pontis, one end of the cylinder barrel of the 3rd straight spur unit and the first brachium pontis
Bottom is connected, and the expansion link end of the 3rd straight spur unit is connected by the bottom of ball pivot and the second brachium pontis；3rd brachium pontis
Being connected by the 4th moving sets and the second brachium pontis, one end of the cylinder barrel of the 4th straight spur unit is solid with the bottom of the second brachium pontis
Even, the expansion link end of the 4th straight spur unit is connected by the bottom of ball pivot and the 3rd brachium pontis；Second ball hinged supporting seat
Connected by the bottom of the second ball pivot and the 3rd brachium pontis；With passing through the first revolute pair and coupling bottom the transferring platform that revolution drives
Contract bundle freedom degree parallel connection stabilized platform connects, it is characterised in that: described coupling constraint freedom degree parallel connection stabilized platform bag
Include mounting seat, combination type six rib frame, six the first parallel moving sets, three slim slide blocks, three the second parallel moving sets, three
Individual two-by-two one group coaxial second revolute pair, three carriages, three the first ball pivots, connecting platform, three two ends are with ball pivot
The first straight spur unit and three accumulators, wherein mounting seat is hollow six prisms with chassis, its chassis
Area is connected with deck in ship structure more than the area bottom hollow six prisms, this chassis, the bottom of combination type six rib frame and mounting seat
Chassis be connected；Three slim slide block structures are identical, are distributed in combination type six rib frame, and described slim slide block is hollow-core construction,
Each slim slide block is connected with the inwall of combination type six rib frame by two the first parallel moving sets, depends between adjacent slim slide block
Secondary it is of coupled connections by the second moving sets；The expansion link end of the first straight spur unit is by the external part of ball pivot with slim slide block
End connects, and the end of the cylinder barrel of this first straight spur unit is connected with the top of hollow six prisms of base by ball pivot,
Three accumulators are located in hollow six prisms of base in uniform way；Carriage is triangle, and the two ends of carriage bottom lead to respectively
Crossing the second revolute pair to be connected with slim slide block external part end, above-mentioned two revolute pair is coaxial；The upper end of this carriage passes through first
Ball pivot is connected with connecting platform；Above-mentioned six the first moving sets directions are parallel to each other and are all perpendicular to mounting seat plane, three
Two moving sets directions are parallel to each other and are perpendicular to mounting seat plane, three two-by-two the coaxial second revolute pair axis direction of a group hang down
Straight in first, second moving sets direction.
Coupling constraint for marine personnel or cargo transfer the most according to claim 1 is compensation picks bridge, its feature
It is: described coupling constraint freedom degree parallel connection stabilized platform is connected by the deck of connecting platform with hull, drives with revolution
By the chassis phase of the first revolute pair with the mounting seat of coupling constraint freedom degree parallel connection stabilized platform bottom dynamic transferring platform
Connect, and the axis of the first revolute pair is perpendicular to the plane on this mounting seat chassis.
Coupling constraint for marine personnel or cargo transfer the most according to claim 1 and 2 is compensation picks bridge, and it is special
Levy and be: described first, second moving sets is that combination type dovetail slideway is secondary；This combination type dovetail slideway pair include one convex
Shape dovetail guide and an isometric combination type female dovetail groove, wherein combination type female dovetail groove include a sliding floor and
The long draw runner in two right-angled trapezium cross sections, the oblique waist symmetry of two long draw runners is located on sliding floor inwardly, and three is connected with each other
Just constitute a combination type female dovetail groove；Three faces contacted at male dovetail guide rail and combination type female dovetail groove are provided with
Three anti-attrition bars；Male dovetail guide rail and combination type female dovetail groove are respectively provided at above-mentioned first, second moving sets position
The seamed edge of slim slide block and the seamed edge of combination type six rib frame, the motion that matches of two guide rails constitutes first, second moving sets.
Coupling constraint for marine personnel or cargo transfer the most according to claim 1 and 2 is compensation picks bridge, and it is special
Levy and be: described first, second moving sets is double guide rail slide block guideways；This pair of guide rail slide block guideway include two parallel
Guide rail and two parallel slide blocks, two guide rails are respectively provided at the slim slide block seamed edge of above-mentioned first, second moving sets position
With the seamed edge of combination type six rib frame, one of them slide block is connected in the upper end of a guide rail, and another slide block is connected in another
The lower end of guide rail, guide rail matches with slide block to move and just constitutes first, second moving sets.
Coupling constraint for marine personnel or cargo transfer the most according to claim 1 and 2 is compensation picks bridge, and it is special
Levy and be: described first moving sets is combined roller formula guideway；This combined roller formula guideway includes three rollers and two
Long pressing plate, two pressing plates being parallel to each other are respectively provided at seamed edge and the combination type of the slim slide block of above-mentioned first moving sets position
The seamed edge of six rib frames, two of which roller is located in two mounting grooves above the long pressing plate of combinations thereof formula six rib frame seamed edge,
Another roller is located in the mounting groove below another long pressing plate, and in motor process, roller rolls along long pressing plate prolonging direction all the time
Dynamic, roller and long pressing plate cooperate to move and just constitute the first moving sets.
Coupling constraint for marine personnel or cargo transfer the most according to claim 1 and 2 is compensation picks bridge, and it is special
Levy and be: be provided with video camera and diastimeter in the end of the 3rd brachium pontis free end of described four-degree-of-freedom brachium pontis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610644843.4A CN106167074B (en) | 2016-08-08 | 2016-08-08 | A kind of coupling constraint for marine personnel or cargo transfer is compensation to pick bridge |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610644843.4A CN106167074B (en) | 2016-08-08 | 2016-08-08 | A kind of coupling constraint for marine personnel or cargo transfer is compensation to pick bridge |
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| CN107226174A (en) * | 2017-05-31 | 2017-10-03 | 广船国际有限公司 | A kind of double ship moorings of harbour are excessively terraced |
| CN109250039A (en) * | 2018-07-13 | 2019-01-22 | 哈尔滨工程大学 | A kind of active rotary motion compensation device |
| CN114771743A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Compensation type offshore transfer accommodation bridge |
| CN114771744A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Marine transfer accommodation bridge comprising three-degree-of-freedom stable platform |
| CN115535155A (en) * | 2022-11-03 | 2022-12-30 | 彭雪明 | Bridge-transportation type offshore transverse supply system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107226174A (en) * | 2017-05-31 | 2017-10-03 | 广船国际有限公司 | A kind of double ship moorings of harbour are excessively terraced |
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| CN109250039A (en) * | 2018-07-13 | 2019-01-22 | 哈尔滨工程大学 | A kind of active rotary motion compensation device |
| CN114771743A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Compensation type offshore transfer accommodation bridge |
| CN114771744A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Marine transfer accommodation bridge comprising three-degree-of-freedom stable platform |
| CN114771743B (en) * | 2022-04-20 | 2024-04-26 | 燕山大学 | Compensation type offshore transfer gangway bridge |
| CN114771744B (en) * | 2022-04-20 | 2024-04-30 | 燕山大学 | Marine transport gangway bridge with three-degree-of-freedom stabilized platform |
| CN115535155A (en) * | 2022-11-03 | 2022-12-30 | 彭雪明 | Bridge-transportation type offshore transverse supply system |
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