CN107675607A - A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle - Google Patents

A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle Download PDF

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Publication number
CN107675607A
CN107675607A CN201711044216.8A CN201711044216A CN107675607A CN 107675607 A CN107675607 A CN 107675607A CN 201711044216 A CN201711044216 A CN 201711044216A CN 107675607 A CN107675607 A CN 107675607A
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China
Prior art keywords
platform
trestle
degree
freedom
multiply
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CN201711044216.8A
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Chinese (zh)
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CN107675607B (en
Inventor
黄兴
袁成建
李达
吕浩
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Fujian Xinneng Offshore Wind Power R & D Center Co Ltd
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Fujian Xinneng Offshore Wind Power R & D Center Co Ltd
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D15/00Movable or portable bridges; Floating bridges
    • E01D15/24Bridges or similar structures, based on land or on a fixed structure and designed to give access to ships or other floating structures
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00Structural or constructional details of bridges

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The present invention, which provides a kind of six degree of freedom Active Compensation formula offshore platform and stepped on, multiplies trestle, it is characterised in that:Including controller, six degree of freedom compensating platform, step on and multiply platform and trestle, described step on multiplies platform and be connected with trestle, and the six degree of freedom compensating platform, which is arranged on to step on, to be multiplied below platform and multiply platform with stepping on and be connected;The controller electrically connects with six degree of freedom compensating platform.The beneficial effects of the present invention are:Multiply mesa base setting six degree of freedom compensating platform stepping on, six degree of freedom compensating platform is controlled by controller, can for step on multiply trestle provide six-freedom motion compensation, realize the quick response to ship motion, fixed platform need not be leaned, influence of the wave to ship 6 degree of freedom is eliminated by six degree of freedom Active Compensation platform, ship can be directly realized by and docked safely with offshore platform, have free passage, offshore work platform accessibility is greatly improved.

Description

A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle
This case is using the applying date as 2016-10-28, and Application No. 201610965454.1 is entitled《A kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle》Patent application be female case divisional application.
Technical field
Stepped on the present invention relates to a kind of six degree of freedom Active Compensation formula offshore platform and multiply trestle, for for ocean engineering ship with Fixed offshore platform operating personnel, which comes and goes commuting offer and stepped on, multiplies guarantee, suitable for offshore wind power platform, offshore platform operation Etc. ocean engineering field.
Background technology
It is usually floating state during ocean engineering ship operation at sea, is had a great influence by tide and stormy waves stream.Work as ocean When engineering ship serves marine fixed platform, height between by platform base Anti-bumping protection and ship upper deck and platform The influence of difference, ship can not abut platform completely, and logging in operation to operation on the sea personnel climbing brings greater risk.Therefore, ship Oceangoing ship is to ensure that operation on the sea smoothly completes with safe efficient dock of platform, safeguards the important of operation on the sea human life safety Ensure.
Multiply operation to ensure that sea is stepped on and smoothly complete, ocean engineering operation ship, which need to be equipped with to step on, multiplies trestle equipment.Conventional Embarkation facilities include common winding stair peculiar to vessel and stepping on by trestle with wave compensation function.Common winding stair peculiar to vessel is applied to ship Personnel commute during the operation of port, and the usual sea conditions of operation on the sea are bad, huge using common winding stair danger.
It is more reliable scheme that selection stepping on wave compensation function, which multiplies trestle, common are elastic support compensation and steps on Multiply trestle, the passive compensation form such as trestle and Active Compensation trestle.Elastic support compensation, which is stepped on, multiplies that trestle its stability is poor, and sea situation is not Compensation effect is poor when preferable;Passive compensation trestle can not realize the real-time response to ship motion, and sensitivity is relatively low;It is main Dynamic compensation trestle can be achieved to the quick corresponding of ship motion, compensation effect is ideal by the control technology of complexity.Mesh Before, some stepping on Active Compensation function, which multiply trestle, to require higher to ocean engineering ship equipment performance, generally only two It is poor for severe sea condition adaptability to the compensation function of three degree of freedom.Stepping on compensation function, which multiplies trestle, above to mend It is less to repay the free degree, it is necessary to which leaning fixed offshore platform by ocean engineering ship could use, and security is poor and for stormy waves Larger situation can not use.
The content of the invention
The technical problems to be solved by the invention are:A kind of six degree of freedom Active Compensation formula offshore platform is provided and stepped on and multiplies stack Bridge.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is:A kind of six degree of freedom Active Compensation formula sea Upper mounting plate, which is stepped on, multiplies trestle, including controller, six degree of freedom compensating platform, steps on and multiply platform and trestle, and described step on multiplies platform and trestle Connection, the six degree of freedom compensating platform, which is arranged on to step on, to be multiplied below platform and multiplies platform with stepping on and be connected;The controller and six is certainly Electrically connected by degree compensating platform.
Further, the six degree of freedom compensating platform and stepping on is provided with supporting construction, the supporting construction between multiplying platform Pitch compensation device is provided between trestle, the both ends of the pitch compensation device are hingedly connected to trestle and supporting construction, the control Device processed electrically connects with pitch compensation device.
Further, the six degree of freedom compensating platform includes bearing, six degree of freedom compensator and full circle swinging mechanism, described The both ends of six degree of freedom compensator are hingedly connected to bearing and full circle swinging mechanism, and the full circle swinging mechanism is connected with supporting construction.
Further, the trestle includes fixed trestle, flexible trestle and telescopic compensator, described step on and multiplies platform and fixation Trestle is connected, and the flexible trestle is scalable to be arranged on fixed trestle, and the telescopic compensator is arranged on fixed trestle with stretching Between contracting trestle, the controller electrically connects with telescopic compensator, and one end of the pitch compensation device is articulated with fixed trestle.
Further, the trestle is provided with alarm and video monitoring apparatus, the alarm and video monitoring apparatus It is electrically connected with the controller.
Further, it is described step on to multiply be equipped with skid resistant course on platform and trestle.
Further, described step on multiplies the both sides of platform and trestle and is equipped with guardrail.
Further, the trestle is provided with anticollision device, collision-prevention device and range unit, the anticollision device, collision-prevention device and range unit and control Device electrical connection processed.
The beneficial effects of the present invention are:Multiply mesa base setting six degree of freedom compensating platform stepping on, pass through controller control Six degree of freedom compensating platform processed, can for step on multiply trestle provide six-freedom motion compensation, realize to ship motion quick response, Fixed platform need not be leaned, influence of the wave to ship 6 degree of freedom is eliminated by six degree of freedom Active Compensation platform, can be straight Connect and realize that ship docks safely with offshore platform, have free passage, offshore work platform accessibility is greatly improved.
Brief description of the drawings
Fig. 1 is that the six degree of freedom Active Compensation formula offshore platform of the embodiment of the present invention 1 and 2 is stepped on and multiplies trestle front view.
Fig. 2 is that the six degree of freedom Active Compensation formula offshore platform of the embodiment of the present invention 1 and 2 is stepped on and multiplies trestle top view.
Fig. 3 is that the six degree of freedom Active Compensation formula offshore platform of the embodiment of the present invention 1 and 2 is stepped on and multiplies trestle side view.
Fig. 4 is that the six degree of freedom Active Compensation formula offshore platform of the embodiment of the present invention 1 and 2 is stepped on and multiplies trestle work sheet.
Label declaration:
1st, bearing;2nd, six degree of freedom compensator;3rd, full circle swinging mechanism;4th, pitch compensation device;5th, telescopic compensator;6th, anticollision Device and range unit;7th, video monitoring apparatus;8th, alarm;9th, guardrail;10th, stretch trestle;11st, fixed trestle;12nd, control Device;13rd, step on and multiply platform;14th, supporting construction;15th, skid resistant course;16th, fixed offshore platform;17th, ocean engineering ship.
Embodiment
To describe the technology contents of the present invention, the objects and the effects in detail, below in conjunction with embodiment and coordinate attached Figure is explained.
The design of most critical of the present invention is:Multiply mesa base setting six degree of freedom compensating platform stepping on, pass through controller Control six degree of freedom compensating platform, can for step on multiply trestle provides six-freedom motion compensation, realize to ship move quick sound Should.
Fig. 1 to Fig. 4 is refer to, a kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle, including controller 12, six Free degree compensating platform, step on and multiply platform 13 and trestle, described step on multiplies platform and be connected with trestle, and the six degree of freedom compensating platform is set Put and multiply stepping on below platform and multiply platform with stepping on and be connected;The controller electrically connects with six degree of freedom compensating platform.
When six degree of freedom Active Compensation formula equipped with said structure steps on 17 operation of ocean engineering ship for multiplying trestle, by ship Side is rested against around fixed offshore platform 16, is docked by trestle with the steady of fixed offshore platform top, you can is realized marine Operating personnel's safety, steadily logs in fixed offshore platform.
It was found from foregoing description, the beneficial effects of the present invention are:Multiply mesa base stepping on to set six degree of freedom to compensate flat Platform, by controller control six degree of freedom compensating platform, can for step on multiply trestle provides six-freedom motion compensate, realize to ship The quick response of motion, without leaning fixed platform, by six degree of freedom Active Compensation platform eliminate wave to ship six from By the influence spent, ship can be directly realized by and docked safely with offshore platform, had free passage, be greatly improved offshore work platform can and Property.
Further, the six degree of freedom compensating platform and stepping on is provided with supporting construction 14, the support knot between multiplying platform Pitch compensation device 4 is provided between structure and trestle, the both ends of the pitch compensation device are hingedly connected to trestle and supporting construction, described Controller electrically connects with pitch compensation device.Wherein, supporting construction can be support column.
Further, the six degree of freedom compensating platform includes bearing 1, six degree of freedom compensator 2 and full circle swinging mechanism 3, The both ends of the six degree of freedom compensator are hingedly connected to bearing and full circle swinging mechanism, and the full circle swinging mechanism connects with supporting construction Connect.
Seen from the above description, bearing is used to support trestle agent structure, and keeps and ocean engineering ship deck rigidity Connection, full circle swinging mechanism can realize trestle ladder and supporting construction around the 360 degree of rotations of six degree of freedom compensating platform, six degree of freedom compensation Platform is compensated by six-freedom motion and detection technique, realizes that platform upper structure is steady.
Further, the trestle includes fixed trestle 11, flexible trestle 10 and telescopic compensator 5, described step on and multiplies platform Connect with fixed stack bridging, the flexible trestle is scalable to be arranged on fixed trestle, and the telescopic compensator is arranged on fixed stack Between bridge and flexible trestle, the controller electrically connects with telescopic compensator, and one end of the pitch compensation device is articulated with fixation Trestle.
Seen from the above description, the position of pitch compensation device and telescopic compensator can be adjusted with quantity, pitch compensation Device and telescopic compensator can be used for the supplement to six degree of freedom compensating platform compensation effect, lifting can working condition pass through six freely Compensating platform and pitch compensation device, telescopic compensator collective effect are spent, motion benefit can be carried out to ocean engineering ship six degree of freedom Repay.
Further, the trestle is provided with alarm 8 and video monitoring apparatus 7, alarm and the video monitoring dress Put and be electrically connected with the controller, video monitoring apparatus and alarm are respectively positioned on flexible trestle end.
Further, it is described step on to multiply skid resistant course 15 is equipped with platform and trestle.
Further, described step on multiplies the both sides of platform and trestle and is equipped with guardrail 9.
Further, the trestle is provided with anticollision device, collision-prevention device and range unit 6, the anticollision device, collision-prevention device and range unit and control Device electrical connection processed, anticollision device, collision-prevention device are arranged on flexible trestle end with range unit.
Further, the controller is arranged on to step on and multiplied on platform, is easy to field operation to use.
Embodiment 1
Fig. 1 to Fig. 3 is refer to, a kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle, including controller, six are certainly By degree compensating platform, step on and multiply platform and trestle, described step on multiplies platform and be connected with trestle, and the six degree of freedom compensating platform is arranged on Step on and multiply below platform and multiply platform with stepping on and be connected;The controller electrically connects with six degree of freedom compensating platform.The six degree of freedom Compensating platform and stepping on is provided with supporting construction between multiplying platform, and pitch compensation device is provided between the supporting construction and trestle, described The both ends of pitch compensation device are hingedly connected to trestle and supporting construction, and the controller electrically connects with pitch compensation device.Described six Free degree compensating platform includes bearing, six degree of freedom compensator and full circle swinging mechanism, the both ends point of the six degree of freedom compensator Bearing and full circle swinging mechanism are not articulated with, and the full circle swinging mechanism is connected with supporting construction.The trestle includes fixed trestle, stretched Contracting trestle and telescopic compensator, described step on multiply platform and connect with fixed stack bridging, and the flexible trestle is scalable to be arranged at fixed stack On bridge, the telescopic compensator is arranged between fixed trestle and flexible trestle, and the controller electrically connects with telescopic compensator, One end of the pitch compensation device is articulated with fixed trestle.The trestle is provided with alarm and video monitoring apparatus, the report Alert device and video monitoring apparatus are electrically connected with the controller.It is described step on to multiply be equipped with skid resistant course on platform and trestle.On the trestle Provided with anticollision device, collision-prevention device and range unit, the anticollision device, collision-prevention device and range unit are electrically connected with the controller.
Embodiment 2
It refer to Fig. 1 to Fig. 4, the six degree of freedom Active Compensation formula offshore platform in embodiment 1 steps on the user for multiplying trestle Six degree of freedom compensator 2 is rigidly secured on ship deck by method, bearing 1, and can be rotated around bearing;Full circle swinging mechanism 3 is located at On six degree of freedom compensator 2, and six degree of freedom compensator 2 can rotate around bearing;Pitch compensation device 4 is with supporting mechanism 14 and admittedly It is be hinged to determine trestle 11;Telescopic compensator 5 is used to realize the translational compensation between flexible trestle 10 and fixed trestle 11;Anticollision device, collision-prevention device and Range unit 6, video monitoring apparatus 7, alarm 8 are located at the flexible end of trestle 10;Flexible trestle 10 and step on and multiply platform 13 and all pacify Fill guardrail 9 and skid resistant course 15;Controller 12 is located to step on and multiplied in platform 13;Supporting construction 14 multiplies platform and pitch compensation device 4 to step on Rigid support is provided.
When ocean engineering ship 17 is close to fixed offshore platform 16 (by taking offshore wind turbine High-Rise Pile Cap Foundation as an example), ocean Engineering ship 17 can be stopped at the side of fixed platform 16, can pass through six degree of freedom compensating platform 2 and pitch compensation device 4, flexible benefit Repay the collective effect of device 5 compensation ocean engineering ship six-freedom motion, by the manipulation of control system 12 realize flexible trestle 10 and Fixed trestle 11 steadily docks with fixed platform 16, it is ensured that operation on the sea personal security, smoothly travels to and fro between fixed platform Between 16 Yu Haiyang engineering ships 17.
In summary, six degree of freedom Active Compensation formula offshore platform provided by the invention, which is stepped on, multiplies the beneficial effect of trestle and exists In:Multiply mesa base setting six degree of freedom compensating platform stepping on, six degree of freedom compensating platform is controlled by controller, can be to step on to multiply Trestle provides six-freedom motion compensation, realizes the quick response to ship motion, without leaning fixed platform, by six certainly Influence of the wave to ship 6 degree of freedom is eliminated by degree Active Compensation platform, it is right safely with offshore platform that ship can be directly realized by Connect, have free passage, offshore work platform accessibility is greatly improved.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair The equivalents that bright specification and accompanying drawing content are made, or the technical field of correlation is directly or indirectly used in, similarly include In the scope of patent protection of the present invention.

Claims (1)

1. a kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle, it is characterised in that:Described six freely Degree Active Compensation formula offshore platform, which is stepped on, to be multiplied trestle and includes controller, six degree of freedom compensating platform, steps on and multiply platform and trestle, described to step on Multiply platform to be connected with trestle, the six degree of freedom compensating platform, which is arranged on to step on, to be multiplied below platform and multiply platform with stepping on and be connected;It is described Controller electrically connects with six degree of freedom compensating platform;The six degree of freedom compensating platform and stepping on is provided with support knot between multiplying platform Structure, is provided with pitch compensation device between the supporting construction and trestle, the both ends of the pitch compensation device be hingedly connected to trestle and Supporting construction, the controller electrically connect with pitch compensation device;The six degree of freedom compensating platform includes bearing, six degree of freedom is mended Device and full circle swinging mechanism are repaid, the both ends of the six degree of freedom compensator are hingedly connected to bearing and full circle swinging mechanism, described to return entirely Rotation mechanism is connected with supporting construction;The trestle includes fixed trestle, flexible trestle and telescopic compensator, it is described step on multiply platform with Fixed stack bridging is connect, and the flexible trestle is scalable to be arranged on fixed trestle, and the telescopic compensator is arranged on fixed trestle Between flexible trestle, the controller electrically connects with telescopic compensator, and one end of the pitch compensation device is articulated with fixed stack Bridge;The trestle is provided with alarm and video monitoring apparatus, and the alarm and video monitoring apparatus are electrically connected with the controller; The trestle is provided with anticollision device, collision-prevention device and range unit, and the anticollision device, collision-prevention device and range unit are electrically connected with the controller;It is described to step on Multiply and be equipped with skid resistant course on platform and trestle;Described step on multiplies the both sides of platform and trestle and is equipped with guardrail;
The six degree of freedom Active Compensation formula offshore platform, which is stepped on, to be multiplied the application method of trestle and comprises the following steps:
Six degree of freedom compensator is rigidly secured on ship deck using bearing, and six degree of freedom compensator is rotatable around bearing Set;
Full circle swinging mechanism is arranged on six degree of freedom compensator;
Pitch compensation device and supporting mechanism and fixed trestle are hinged;The telescopic compensator is used to realize flexible trestle and fixation Translational compensation between trestle;
Anticollision device, collision-prevention device, range unit, video monitoring apparatus, alarm be may be contained within into flexible trestle end;
Trestle and step on stretching and multiply platform and be mounted on guardrail and skid resistant course;The supporting construction multiplies platform and pitch compensation to step on Device provides rigid support;
When ocean engineering ship is close to fixed offshore platform, ocean engineering ship is stopped at fixed platform side, by six certainly By degree compensating platform and pitch compensation device, telescopic compensator collective effect compensation ocean engineering ship six-freedom motion, pass through Manipulation realizes that flexible trestle and fixed trestle steadily dock with fixed platform, it is ensured that operation on the sea personal security, stable past Return between fixed platform Yu Haiyang engineering ship.
CN201711044216.8A 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle Active CN107675607B (en)

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CN201711044216.8A CN107675607B (en) 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle
CN201610965454.1A CN106320161B (en) 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle

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CN201711044216.8A Active CN107675607B (en) 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle
CN201711045654.6A Pending CN107815958A (en) 2016-10-28 2016-10-28 One kind, which is stepped on, multiplies trestle
CN201711044237.XA Active CN107794836B (en) 2016-10-28 2016-10-28 Landing stage is stepped on to offshore platform
CN201610965454.1A Active CN106320161B (en) 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle

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CN201711044237.XA Active CN107794836B (en) 2016-10-28 2016-10-28 Landing stage is stepped on to offshore platform
CN201610965454.1A Active CN106320161B (en) 2016-10-28 2016-10-28 A kind of six degree of freedom Active Compensation formula offshore platform, which is stepped on, multiplies trestle

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