CN108622322A - Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation - Google Patents
Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation Download PDFInfo
- Publication number
- CN108622322A CN108622322A CN201810344969.9A CN201810344969A CN108622322A CN 108622322 A CN108622322 A CN 108622322A CN 201810344969 A CN201810344969 A CN 201810344969A CN 108622322 A CN108622322 A CN 108622322A
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- compensation
- gangway ladder
- pitching
- undulation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Ladders (AREA)
Abstract
The present invention relates to a kind of compensation of undulation accommodation ladder systems for marine redundant labor transfer operation, setting support universal joint between in the middle part of the top surface of its substrate and in the middle part of gate seat bottom surface, first compensating hydraulic cylinder and the second compensating hydraulic cylinder are set between substrate and gate seat, lower flange is fixed at the top of gate seat, upper flange is fixed in the bottom surface of body frame part, disk gear is coaxially fixed on upper flange, disk gear connects lower flange by bearing, motor is mounted on gate seat, the shaft installation driving gear of motor, driving gear are engaged with disk gear；Body frame part top is provided with transmission deck, it transmits deck and the bottom of telescopic gangway ladder fixing end joins, it is respectively articulated with the cylinder body of the first pitching hydraulic cylinder and the second pitching hydraulic cylinder at the top of body frame part, the piston rod of the first pitching hydraulic cylinder and the second pitching hydraulic cylinder is respectively articulated at the top of telescopic gangway ladder fixing end.The present invention can make the carry out transfer tasks of the steady safety of staff.
Description
Technical field
The present invention relates to marinized mechanical equipment technical fields, and in particular to a kind of wave for marine redundant labor transfer operation
Compensate accommodation ladder system and control method.
Background technology
21 century is the epoch of Sustainable Development of Marine Economy, and ocean is the treasure-house of natural resources.More and more ships
It is put into use with offshore work platform.Such as marine large-scale petroleum, construction of natural gas fields platform, wind power plant and maritime transformer station, float
Formula harbour and life afloat platform etc..However maritime environment is severe, accesibility is poor.Deep ocean work ship by deep-sea stormy waves and
The influence of wave, be inevitably generated significantly heave, wave, translational motion, to ship to offshore installations personnel and equipment
Transfer brings huge challenge.
Domestic fewer to the research of this respect at present, practitioner goes straight up to the maintenance generally use of deep-sea offshore installations
The mode of machine transhipment.However, the feasibility of helicopter favourable turn and safety are constantly present dispute, set as offshore using helicopter
It applies the mode of logining and only shifts limited staff and equipment, and its operating cost is high, each offshore installations are required for one
Lifting platform.The flight of safety may be hindered by limited visibility and high wind speed.In case of accident, personnel are caused
The possibility of injures and deaths is very high.
Invention content
The purpose of the present invention is to provide a kind of compensation of undulation accommodation ladder system based on for marine redundant labor transfer operation and
Control method, the device are used for these three subsystems by control system, mechanical system and hydraulic system and carry out compensation of undulation, with
The gangway ladder being connected between ship and offshore installations is set to keep stablizing as possible so that the steady safety of staff carries out transfer work
Industry.
In order to solve the above technical problems, a kind of compensation of undulation gangway ladder for marine redundant labor transfer operation disclosed by the invention
Device, it is characterised in that：It includes compensation mount part, body frame part and telescopic gangway ladder, slewing equipment, wherein compensation mount
Part includes that substrate, support universal joint, the first compensating hydraulic cylinder, the second compensating hydraulic cylinder and gate seat, the slewing equipment include
Upper flange, disk gear, driving gear, motor and lower flange are set between the top surface middle part and gate seat bottom surface middle part of the substrate
Support universal joint is set, the first compensating hydraulic cylinder, the top surface of substrate are set between the top surface side of substrate and the bottom surface side of gate seat
Second compensating hydraulic cylinder is set between the other side and the bottom surface other side of gate seat, and lower flange, body frame part are fixed in the top of gate seat
Bottom surface fix upper flange, disk gear is coaxially fixed on upper flange, and disk gear passes through bearing and connects lower flange, motor peace
On gate seat, the shaft installation driving gear of motor, driving gear is engaged with disk gear；
Body frame part top is provided with transmission deck, and transmission deck and the bottom of telescopic gangway ladder fixing end join, body frame portion
The top divided is respectively articulated with the cylinder body of the first pitching hydraulic cylinder and the second pitching hydraulic cylinder, the top difference of telescopic gangway ladder fixing end
The piston rod of hinged first pitching hydraulic cylinder and the second pitching hydraulic cylinder；
Towed rack elevator is installed, towed rack elevator can lead to transmission deck on the body frame part.
Hydraulic system controls hydraulic rotary motor by electrohydraulic servo valve and drives the driving gear positive and negative rotation, so that main
Frame carries out 360 ° of rotary motion.Driving gear engaged with gear turntable, gear turntable be bolted the upper flange and
Body frame, outside are protected by the gear cover, internal to provide lubrication by the bearing and lower flange.Institute is bolted in lower flange
State gate seat.
A kind of control method of above-mentioned apparatus, it includes the following steps：
Step 1：Master controller acquires the six-degree-of-freedom posture numerical value of dynamic positioning ship by attitude measurement system, obtains
The real time kinematics status data of dynamic positioning ship is influenced to offset ship by the irregular movement that extraneous wave generates,
The attitude parameter of real-time ship 6 degree of freedom and initially set ideal rolling pitching attitude parameter are compared, in wave
Attitude Calculation and inverse kinematic are carried out in compensating controller, calculate the wave of the first compensating hydraulic cylinder, the second compensating hydraulic cylinder
Unrestrained offset, master controller make the first benefit by flow, direction and the pressure of electrohydraulic servo valve on control compensating hydraulic cylinder pipeline
The displacement for repaying hydraulic cylinder, the second compensating hydraulic cylinder piston motion to compensation of undulation value reaches ideal rolling pitching state, with real-time
So that ship rolling, pitching is obtained the compensation of active；
Step 2：Master controller by attitude measurement system acquire dynamic positioning ship real-time heave parameter and with it is initial
The ideal heave attitude parameter of setting is compared, and carries out Attitude Calculation and inverse kinematic in the host controller, calculates the
The compensation of undulation value of one pitching hydraulic cylinder and the second pitching hydraulic cylinder, master controller are electro-hydraulic on pitching hydraulic cylinder pipeline by controlling
Flow, direction and the pressure of servo valve make the first pitching hydraulic cylinder and the second pitching hydraulic cylinder piston move to compensation of undulation value
Displacement, reach ideal heave state, to make ship heave to obtain the compensation of active in real time；
Step 3：Main controller controls hydraulically extensible motor rotates, and hydraulically extensible motor engages extended part by gear
Bottom gangway ladder rack guide rail come drive the extended frame of telescopic gangway ladder forward extend out to step on by target dock, in compensation of undulation, stretch
The extended frame of contracting gangway ladder is only constantly pushed out by the promotion of gear mesh force, i.e. the extended frame head end of telescopic gangway ladder is in structure
On introduce a constant strength, if dynamic positioning ship is removed by the effect of wave, the extended frame of telescopic gangway ladder will be at this
Extend automatically under the action of a power, the head end of the extended frame of telescopic gangway ladder is remained from facility and contacted with stepping on.
Step 4：After telescopic gangway ladder steadily compensates the irregular movement of ship, carry out logining operation, when being logined, work
Make personnel and enter car through boat deck, by controlling elevator, rises to behind transmission deck and enter transmission deck through elevator door, transmitting
It after deck observation telescopic gangway ladder is working properly, walks through telescopic gangway ladder and enters offshore installations, it is opposite to step on action when from operation.
The present invention is used to place the ship with dynamic positioning, can be to ship based on the ship with dynamic positioning
Swaying, surging and yawing compensate, thus the present invention only to rolling, pitching and heave three degree of freedom carry out active benefit
It repays.The present invention includes mainly compensation mount, body frame and telescopic gangway ladder three parts.Under compensation of undulation pattern, by compensating bottom
The effect of two hydraulic cylinders of seat and the extended part of gangway ladder inwardly or outwardly translate, and can carry out roll and pitch compensation；Pass through
The movement of two compensation pitching hydraulic cylinders makes telescopic current gangway ladder move up and down, can carry out heave compensation.So that
It is connected to the gangway ladder between ship and offshore installations and keeps stablizing the carry out transfer tasks so that the steady safety of staff as possible.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the compensation mount schematic diagram of the present invention；
Fig. 3 is the body frame partial schematic diagram of the present invention；
Fig. 4 is the telescopic gangway ladder partial schematic diagram of the present invention；
Fig. 5 is the control structure figure of the present invention；
Fig. 6 is the operating diagram of the present invention.
Wherein, 1-compensation mount part, 1.1-substrates, 1.2-support universal joints, the 1.3-the first compensating hydraulic cylinder,
1.4-the second compensating hydraulic cylinder, 1.5-gate seats, 1.6-gear covers, 1.7-upper flanges, 1.8-disk gears, 1.9-drivings
Gear, 1.10-motors, 1.11-lower flanges, 2-body frame parts, 2.1-towed rack elevators, the 2.2-the first pitching liquid
Cylinder pressure, the 2.3-the second pitching hydraulic cylinder, 2.4-transmission decks, 3-telescopic gangway ladders, 3.1-telescopic gangway ladder fixed frames, 3.2-
Gangway ladder rack guide rail, 3.3-flexible power units, the extended frame of 3.4-telescopic gangway ladders, 4-master controllers.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
A kind of compensation of undulation accommodation ladder system for marine redundant labor transfer operation of the present invention, such as Fig. 1~6, it includes mending
Repay base portion 1, body frame part 2 and telescopic gangway ladder 3, slewing equipment, wherein compensation mount part 1 includes substrate 1.1, support
Universal joint 1.2, the first compensating hydraulic cylinder 1.3, the second compensating hydraulic cylinder 1.4 and gate seat 1.5, the slewing equipment include upper flange
1.7, disk gear 1.8, driving gear 1.9, motor 1.10 and lower flange 1.11, the top surface middle part of the substrate 1.1 and gate seat
Setting support universal joint 1.2, is arranged between the top surface side of substrate 1.1 and the bottom surface side of gate seat 1.5 between in the middle part of 1.5 bottom surfaces
The second compensation liquid is arranged in first compensating hydraulic cylinder 1.3 between the top surface other side of substrate 1.1 and the bottom surface other side of gate seat 1.5
Lower flange 1.11 is fixed at the top of cylinder pressure 1.4, gate seat 1.5, and upper flange 1.7, disk gear 1.8 are fixed in the bottom surface of body frame part 2
It is coaxially fixed on upper flange 1.7, disk gear 1.8 connects lower flange 1.11 by bearing, and motor 1.10 is mounted on gate seat 1.5
On, the shaft installation driving gear 1.9 of motor 1.10, driving gear 1.9 is engaged with disk gear 1.8；
2 top of body frame part is provided with transmission deck 2.4, and transmission deck 2.4 and the bottom of 3 fixing end of telescopic gangway ladder are handed over
It connects, the top of body frame part 2 is respectively articulated with the cylinder body of the first pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder 2.3, telescopic gangway ladder
The piston rod of the first pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder 2.3 is respectively articulated at the top of 3 fixing ends；
(the German Alimak Hek companies ALIMAK SE of towed rack elevator 2.1 are installed on the body frame part 2
The towed rack elevator of 2000FC models), towed rack elevator 2.1 can lead to transmission deck 2.4.
In above-mentioned technical proposal, the outside of disk gear 1.8 is protected by the gear cover 1.6.
In above-mentioned technical proposal, the telescopic gangway ladder part 3 includes telescopic gangway ladder fixed frame 3.1, gangway ladder rack guide rail
3.2, stretch power unit 3.3 and the extended frame 3.4 of telescopic gangway ladder, and the extended frame 3.4 of telescopic gangway ladder is being stretched by pulley setting
The inside of contracting gangway ladder fixed frame 3.1, the bottom installation gangway ladder rack guide rail 3.2 of the extended frame of telescopic gangway ladder 3.4, stretch power list
Member 3.3 installs the head end with telescopic gangway ladder fixed frame 3.1, and gear, tooth are equipped on the power output shaft of flexible power unit 3.3
Wheel is engaged with the rack in the gangway ladder rack guide rail 3.2.
In above-mentioned technical proposal, the flexible power unit 3.3 includes hydraulically extensible motor, hydraulic system and electro-hydraulic servo
Valve, hydraulic system are installed on the power output shaft of hydraulically extensible motor by electro-hydraulic servo valve regulation hydraulically extensible motor action
There is gear, drives the extended frame 3.4 of telescopic gangway ladder by pulley in the flexible side of a ship by wheel and rack guide rail gear motion
The internal translation of terraced fixed frame 3.1.
In above-mentioned technical proposal, the bottom surface of the substrate 1.1 is used to be fixed on the deck of dynamic positioning ship.
In above-mentioned technical proposal, the first pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder 2.3 drive telescopic gangway ladder 3
Pitching movement is carried out, the angular range of pitching movement is at -40 °~30 °.
In above-mentioned technical proposal, it further includes master controller 4, and the master controller 4 is for receiving dynamic positioning ship
Attitude measurement system conveying attitude signal, and to the first compensating hydraulic cylinder 1.3, the second compensating hydraulic cylinder 1.4, motor 1.10,
First pitching hydraulic cylinder 2.2, the second pitching hydraulic cylinder 2.3 and hydraulically extensible motor are controlled.
In above-mentioned technical proposal, master controller 4 acquires the six degree of freedom appearance of dynamic positioning ship by attitude measurement system
State numerical value, obtains the real time kinematics status data of dynamic positioning ship, generates to offset ship by extraneous wave irregular
The influence of movement carries out the attitude parameter of real-time ship 6 degree of freedom and initially set ideal rolling pitching attitude parameter
Comparison carries out Attitude Calculation and inverse kinematic in compensation of undulation controller, calculates the first compensating hydraulic cylinder 1.3, second
The compensation of undulation value of compensating hydraulic cylinder 1.4, master controller 4 by control compensating hydraulic cylinder pipeline on electrohydraulic servo valve flow,
Direction and pressure make the first compensating hydraulic cylinder 1.3,1.4 piston motion of the second compensating hydraulic cylinder to the displacement of compensation of undulation value, reach
To ideal rolling pitching state, to make ship rolling, pitching obtain the compensation of active in real time.
In above-mentioned technical proposal, the real-time heave that master controller 4 acquires dynamic positioning ship by attitude measurement system is joined
Number is simultaneously compared with initially set ideal heave attitude parameter, carries out Attitude Calculation in master controller 4 and kinematics is anti-
Solution, calculates the compensation of undulation value of the first pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder 2.3, and master controller 4 is bowed by control
The flow of electrohydraulic servo valve, direction and pressure on hydraulic cylinder pipeline are faced upward, the first pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder are made
2.3 piston motions reach ideal heave state to the displacement of compensation of undulation value, to make ship heave to obtain the benefit of active in real time
It repays.
In above-mentioned technical proposal, flow, direction and pressure control that master controller 4 passes through control gangway ladder part electrohydraulic servo valve
Hydraulically extensible motor rotation processed, hydraulically extensible motor engage extended section bottom gangway ladder rack guide rail by gear and are stretched to drive
The extended frame of contracting gangway ladder 3.4 is forward extended out to stepping on and is docked by target, and in compensation of undulation, the extended frame of telescopic gangway ladder 3.4 receives
The promotion of gear mesh force only constantly pushes out, i.e. extended 3.4 head end of frame of telescopic gangway ladder introduces a perseverance in structure
Determine strength, if dynamic positioning ship is slowly removed by the effect of wave, the extended frame of telescopic gangway ladder 3.4 will be in this power
Effect is lower automatic to be extended, and the head end of the extended frame of telescopic gangway ladder 3.4 is remained from facility and contacted with stepping on.When ship is by wave
It acts on when being moved to structure, the power that the extended frame of telescopic gangway ladder 3.4 receives is more than the power of extrapolation, and overflow valve is opened, telescopic gangway ladder
Extended frame 3.4 will be pushed into, and then allow telescopic gangway ladder automatic retracted.
In above-mentioned technical proposal, the head end of the extended frame of the telescopic gangway ladder 3.4 can be stepped on logins mouth by offshore installations.Institute
Gangway ladder fixed part long 20m, the extended long 20m in part are stated, the telescopic gangway ladder overall work range surpasses in 20m~36m
Crossing 36m control systems can then alarm.
The telescopic current gangway ladder of the present invention is designed to three motion modes：Flexible, pitching and revolution pass through these three fortune
Flowing mode is come the movement for heave, rolling and pitching these three degree of freedom for compensating that ship is generated due to wave motion.The present invention
It carries out before logining operation, operation ship first is by dynamic positioning technology, a certain target that is secured to around offshore installations
Position, then each device powered by Ship Power Station, start compensation of undulation accommodation ladder system, the attitude measurement system of gangway ladder passes through top
Spiral shell instrument, displacement sensor, acceleration transducer etc. acquire the posture numerical value of ship 6 degree of freedom, pass through appearance after being amplified filtering
State processor sends compensation of undulation controller to, judges whether current wave needs to carry out active wave in compensation of undulation controller
Wave compensation.When meeting job requirements, staff sends out control command in workboat bridge control terminal, starts active wave and mends
Function is repaid, master controller is acted.
Gangway ladder starts to act, and drives disk gear positive and negative rotation by rotary motor, body frame is made to turn with telescopic gangway ladder part
It is dynamic.Then pitching movement is carried out by pitching hydraulic cylinder, the mouth of logining of telescopic gangway ladder head end and offshore installations is made to be in same water
In plane.At this point, device is switched to compensation of undulation pattern.
Compensation of undulation controller has feedforward and feedback function, and the kinematic parameter of ship is acquired by Attitude Measuring Unit,
The real time kinematics status data of acquisition ship high-precision, high precision.The Attitude Measuring Unit based on Newton mechanics law,
Using multigroup gyroscope and acceleration transducer.Gyroscope can export reflection ship movement angle information, just by attitude algorithm
The data of pitching and the rolling of ship can be obtained.Acceleration transducer measures ship instantaneous acceleration, then carries out two to acceleration
Secondary integral obtains the displacement data of ship heave.
Under compensation of undulation pattern, by the extended part of the effect of two hydraulic cylinder of compensation mount and gangway ladder inwardly and to
Outer translation can carry out roll and pitch compensation；By two compensation pitching hydraulic cylinders movement make telescopic current gangway ladder to
It above and moves downward, heave compensation can be carried out.
A kind of control method of above-mentioned apparatus, which is characterized in that it includes the following steps：
Step 1：Master controller 4 acquires the six-degree-of-freedom posture numerical value of dynamic positioning ship by attitude measurement system, obtains
The real time kinematics status data for taking dynamic positioning ship, in order to offset the shadow for the irregular movement that ship is generated by extraneous wave
It rings, the attitude parameter of real-time ship 6 degree of freedom and initially set ideal rolling pitching attitude parameter is compared,
Attitude Calculation and inverse kinematic are carried out in compensation of undulation controller, calculate the first compensating hydraulic cylinder 1.3, second compensation hydraulic pressure
The compensation of undulation value of cylinder 1.4, flow, direction and the pressure that master controller 4 passes through electrohydraulic servo valve on control compensating hydraulic cylinder pipeline
Power makes the displacement of the first compensating hydraulic cylinder 1.3,1.4 piston motion of the second compensating hydraulic cylinder to compensation of undulation value, reaches ideal horizontal
Pitching state is shaken, to make ship rolling, pitching obtain the compensation of active in real time；
Step 2：Master controller 4 by attitude measurement system acquire dynamic positioning ship real-time heave parameter and with it is initial
The ideal heave attitude parameter of setting is compared, and Attitude Calculation and inverse kinematic are carried out in master controller 4, calculates the
The compensation of undulation value of one pitching hydraulic cylinder 2.2 and the second pitching hydraulic cylinder 2.3, master controller 4 is by controlling pitching hydraulic pressure earthen pipe
Flow, direction and the pressure of road electrohydraulic servo valve make the first pitching hydraulic cylinder 2.2 and 2.3 piston of the second pitching hydraulic cylinder transport
The displacement for moving compensation of undulation value reaches ideal heave state, to make ship heave to obtain the compensation of active in real time；
Step 3：Master controller 4 is stretched by controlling flow, direction and the force control hydraulic pressure of gangway ladder part electrohydraulic servo valve
Contracting motor rotates, and hydraulically extensible motor engages extended section bottom gangway ladder rack guide rail to drive telescopic gangway ladder can by gear
It stretches out frame 3.4 and forward extends out to stepping on and docked by target, in compensation of undulation, the extended frame of telescopic gangway ladder 3.4 receives gear engagement
The promotion of power only constantly pushes out, i.e. extended 3.4 head end of frame of telescopic gangway ladder introduces a constant strength in structure, such as
Fruit dynamic positioning ship is slowly removed by the effect of wave, the extended frame of telescopic gangway ladder 3.4 will under the action of this power from
Dynamic to extend, the head end of the extended frame of telescopic gangway ladder 3.4 is remained from facility and is contacted with stepping on；
Step 4：After telescopic gangway ladder steadily compensates the irregular movement of ship, carry out logining operation, when being logined, work
Make personnel and enter car through boat deck, by controlling elevator, rises to enter through elevator door after transmitting deck and transmit deck 2.4,
It after observation telescopic gangway ladder in transmission deck 2.4 is working properly, walks through telescopic gangway ladder and enters offshore installations, acted when stepping on from operation
On the contrary.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of compensation of undulation accommodation ladder system for marine redundant labor transfer operation, it is characterised in that：It includes compensation mount portion
Divide (1), body frame part (2) and telescopic gangway ladder (3), slewing equipment, wherein compensation mount part (1) includes substrate (1.1), branch
Support universal joint (1.2), the first compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder (1.4) and gate seat (1.5), the slewing equipment
Including upper flange (1.7), disk gear (1.8), driving gear (1.9), motor (1.10) and lower flange (1.11), the substrate
(1.1) setting support universal joint (1.2) between in the middle part of top surface and in the middle part of gate seat (1.5) bottom surface, the top surface side of substrate (1.1)
First compensating hydraulic cylinder (1.3), the top surface other side of substrate (1.1) and gate seat are set between the bottom surface side of gate seat (1.5)
(1.5) the second compensating hydraulic cylinder (1.4) is set between the bottom surface other side, lower flange (1.11) is fixed at the top of gate seat (1.5),
Upper flange (1.7) is fixed in the bottom surface of body frame part (2), and disk gear (1.8) is coaxially fixed on upper flange (1.7), turntable tooth
It takes turns (1.8) and lower flange (1.11) is connected by bearing, motor (1.10) is mounted on gate seat (1.5), the shaft of motor (1.10)
Installation driving gear (1.9), driving gear (1.9) are engaged with disk gear (1.8)；
Body frame part (2) top is provided with transmission deck (2.4), transmits the bottom of deck (2.4) and telescopic gangway ladder (3) fixing end
Handing-over, is respectively articulated with the cylinder body of the first pitching hydraulic cylinder (2.2) and the second pitching hydraulic cylinder (2.3) at the top of body frame part (2),
The piston of the first pitching hydraulic cylinder (2.2) and the second pitching hydraulic cylinder (2.3) is respectively articulated at the top of telescopic gangway ladder (3) fixing end
Bar；
Towed rack elevator (2.1) is installed, towed rack elevator (2.1) can lead to transmission on the body frame part (2)
Deck (2.4).
2. the compensation of undulation accommodation ladder system according to claim 1 for marine redundant labor transfer operation, it is characterised in that：Institute
It includes telescopic gangway ladder fixed frame (3.1), gangway ladder rack guide rail (3.2), flexible power unit (3.3) to state telescopic gangway ladder part (3)
With the extended frame of telescopic gangway ladder (3.4), the extended frame of telescopic gangway ladder (3.4) is arranged by pulley in telescopic gangway ladder fixed frame
(3.1) inside, the bottom installation gangway ladder rack guide rail (3.2) of the extended frame of telescopic gangway ladder (3.4), stretch power unit
(3.3) head end with telescopic gangway ladder fixed frame (3.1) is installed, is installed on the power output shaft of flexible power unit (3.3) with teeth
Wheel, gear are engaged with the rack in the gangway ladder rack guide rail (3.2).
3. the compensation of undulation accommodation ladder system according to claim 2 for marine redundant labor transfer operation, it is characterised in that：Institute
It includes hydraulically extensible motor, hydraulic system and electrohydraulic servo valve to state flexible power unit (3.3), and hydraulic system passes through electro-hydraulic servo
Valve regulation hydraulically extensible motor action is equipped with gear on the power output shaft of hydraulically extensible motor, is led by wheel and rack
Rail gear motion drives the extended frame of telescopic gangway ladder (3.4) flat in the inside of telescopic gangway ladder fixed frame (3.1) by pulley
It moves.
4. the compensation of undulation accommodation ladder system according to claim 1 for marine redundant labor transfer operation, it is characterised in that：Institute
The bottom surface for stating substrate (1.1) is used to be fixed on the deck of dynamic positioning ship.
5. the compensation of undulation accommodation ladder system according to claim 4 for marine redundant labor transfer operation, it is characterised in that：Institute
It states the first pitching hydraulic cylinder (2.2) and the second pitching hydraulic cylinder (2.3) driving telescopic gangway ladder (3) carries out pitching movement, pitching fortune
Dynamic angular range is at -40 °~30 °.
6. the compensation of undulation accommodation ladder system according to claim 1 for marine redundant labor transfer operation, it is characterised in that：It
Further include master controller (4), the master controller (4) is used to receive the posture of the attitude measurement system conveying of dynamic positioning ship
Signal, and to the first compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder (1.4), motor (1.10), the first pitching hydraulic cylinder
(2.2), the second pitching hydraulic cylinder (2.3) and hydraulically extensible motor are controlled.
7. the compensation of undulation accommodation ladder system according to claim 6 for marine redundant labor transfer operation, it is characterised in that：It is main
Controller (4) acquires the six-degree-of-freedom posture numerical value of dynamic positioning ship by attitude measurement system, obtains dynamic positioning ship
Real time kinematics status data, influenced by the irregular movement that extraneous wave generates to offset ship, by real-time ship
The attitude parameter of six degree of freedom is compared with initially set ideal rolling pitching attitude parameter, in compensation of undulation controller
Attitude Calculation and inverse kinematic are carried out, the wave of the first compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder (1.4) is calculated
Offset, master controller (4) make first by flow, direction and the pressure of electrohydraulic servo valve on control compensating hydraulic cylinder pipeline
It is vertical to reach ideal rolling for the displacement of compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder (1.4) piston motion to compensation of undulation value
State is shaken, to make ship rolling, pitching obtain the compensation of active in real time.
8. the compensation of undulation accommodation ladder system according to claim 6 for marine redundant labor transfer operation, it is characterised in that：It is main
Controller (4) acquires the real-time heave parameter of dynamic positioning ship by attitude measurement system and is heaved with initially set ideal
Attitude parameter is compared, and Attitude Calculation and inverse kinematic are carried out in master controller (4), calculates the first pitching hydraulic cylinder
(2.2) it is powered on the compensation of undulation value of the second pitching hydraulic cylinder (2.3), master controller (4) by controlling pitching hydraulic cylinder pipeline
Flow, direction and the pressure of hydraulic servo make the first pitching hydraulic cylinder (2.2) and second pitching hydraulic cylinder (2.3) piston motion
To the displacement of compensation of undulation value, reach ideal heave state, to make ship heave to obtain the compensation of active in real time.
9. the compensation of undulation accommodation ladder system according to claim 6 for marine redundant labor transfer operation, it is characterised in that：It is main
Controller (4) controls the rotation of hydraulically extensible motor, and hydraulically extensible motor engages extended section bottom gangway ladder rack by gear
Guide rail come drive the extended frame of telescopic gangway ladder (3.4) forward extend out to step on by target dock, in compensation of undulation, telescopic gangway ladder can
The promotion that stretching frame (3.4) receives gear mesh force only constantly pushes out, i.e., the extended frame of telescopic gangway ladder (3.4) head end is being tied
A constant strength is introduced on structure, if dynamic positioning ship is removed by the effect of wave, the extended frame of telescopic gangway ladder (3.4)
To automatically it extend under the action of this power, the head end of the extended frame of telescopic gangway ladder (3.4) is remained from facility and contacted with stepping on.
10. a kind of control method of claim 1 described device, which is characterized in that it includes the following steps：
Step 1：Master controller (4) acquires the six-degree-of-freedom posture numerical value of dynamic positioning ship by attitude measurement system, obtains
The real time kinematics status data of dynamic positioning ship is influenced to offset ship by the irregular movement that extraneous wave generates,
The attitude parameter of real-time ship 6 degree of freedom and initially set ideal rolling pitching attitude parameter are compared, in wave
Attitude Calculation and inverse kinematic are carried out in compensating controller, calculate the first compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder
(1.4) compensation of undulation value, master controller (4) by control the flow of electrohydraulic servo valve on compensating hydraulic cylinder pipeline, direction with
Pressure makes the first compensating hydraulic cylinder (1.3), the second compensating hydraulic cylinder (1.4) piston motion to the displacement of compensation of undulation value, reaches
Ideal rolling pitching state, to make ship rolling, pitching obtain the compensation of active in real time；
Step 2：Master controller (4) by attitude measurement system acquire dynamic positioning ship real-time heave parameter and with initially set
Fixed ideal heave attitude parameter is compared, and Attitude Calculation and inverse kinematic are carried out in master controller (4), calculates the
The compensation of undulation value of one pitching hydraulic cylinder (2.2) and the second pitching hydraulic cylinder (2.3), master controller (4) is by controlling pitching liquid
The flow of electrohydraulic servo valve, direction and pressure on cylinder pressure pipeline make the first pitching hydraulic cylinder (2.2) and the second pitching hydraulic cylinder
(2.3) piston motion reaches ideal heave state to the displacement of compensation of undulation value, to make ship heave to obtain active in real time
Compensation；
Step 3：Master controller (4) controls the rotation of hydraulically extensible motor, and hydraulically extensible motor engages extended part by gear
Bottom gangway ladder rack guide rail come drive the extended frame of telescopic gangway ladder (3.4) forward extend out to step on by target dock, in compensation of undulation
When, the promotion that the extended frame of telescopic gangway ladder (3.4) receives gear mesh force only constantly pushes out, i.e. the extended frame of telescopic gangway ladder
(3.4) head end introduces a constant strength in structure, if dynamic positioning ship is removed by the effect of wave, telescopic gangway ladder
Extended frame (3.4) will automatically extend under the action of this power, the head end of the extended frame of telescopic gangway ladder (3.4) and step on from facility
Remain contact；
Step 4：It after telescopic gangway ladder steadily compensates the irregular movement of ship, carries out logining operation, when being logined, work people
Member enters car through boat deck, by controlling elevator, rises to behind transmission deck and enters transmission deck (2.4) through elevator door, passing
After sending deck (2.4) observation telescopic gangway ladder working properly, walks through telescopic gangway ladder and enter offshore installations, acted when stepping on from operation
On the contrary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344969.9A CN108622322A (en) | 2018-04-17 | 2018-04-17 | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810344969.9A CN108622322A (en) | 2018-04-17 | 2018-04-17 | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108622322A true CN108622322A (en) | 2018-10-09 |
Family
ID=63705276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810344969.9A Pending CN108622322A (en) | 2018-04-17 | 2018-04-17 | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108622322A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674511A (en) * | 2020-06-09 | 2020-09-18 | 山东省科学院海洋仪器仪表研究所 | Self-stabilizing ship gangway ladder system and control method |
| CN112407144A (en) * | 2021-01-11 | 2021-02-26 | 九江精密测试技术研究所 | Active wave compensation control system for articulated four-degree-of-freedom boarding trestle and control method thereof |
| CN112937773A (en) * | 2021-03-15 | 2021-06-11 | 江苏弘竣海洋科技有限公司 | Become wave compensation gangway ladder of width of cloth hydro-cylinder independent control |
| WO2021191152A1 (en) * | 2020-03-24 | 2021-09-30 | Macgregor Norway As | Walk-to-work system and method thereof |
| CN113562123A (en) * | 2021-08-17 | 2021-10-29 | 九江精密测试技术研究所 | Multi freedom wind-powered electricity generation tower steps on and carries landing stage |
| CN113608487A (en) * | 2021-08-26 | 2021-11-05 | 大连海事大学 | Control system of marine scalable shelter bridge device |
| CN113650735A (en) * | 2021-09-18 | 2021-11-16 | 贵州航天天马机电科技有限公司 | Steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder |
| CN114150995A (en) * | 2021-12-07 | 2022-03-08 | 浙江海洋大学 | Multi-angle-rotatable marine extension ladder with pressure sensing function and adjusting method |
| WO2022071804A1 (en) * | 2020-10-01 | 2022-04-07 | Ampelmann Holding B.V. | A gangway, vessel, offshore structure and methods |
| CN115214849A (en) * | 2022-06-13 | 2022-10-21 | 南通鹏瑞海工科技有限公司 | Marine transfer gangway ladder of initiative wave compensation |
| WO2023136733A1 (en) * | 2022-01-17 | 2023-07-20 | Ulmatec Handling Systems As | A marine gangway and a marine structure comprising such a marine gangway. |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923110A (en) * | 2016-04-27 | 2016-09-07 | 武昌船舶重工集团有限公司 | Wave compensation intelligent embarkation device |
| CN105966559A (en) * | 2016-06-07 | 2016-09-28 | 江苏科技大学 | Landing device and method with wave compensation function |
| CN206049991U (en) * | 2016-08-03 | 2017-03-29 | 丁立斌 | A kind of new marine self-balancing changes to device |
| CN106741662A (en) * | 2017-02-15 | 2017-05-31 | 广东精铟海洋工程股份有限公司 | A kind of ocean platform gangway ladder and its application method with compensation function |
| CN206327537U (en) * | 2016-12-13 | 2017-07-14 | 九江精密测试技术研究所 | A kind of stepping on compensation of undulation multiplies trestle |
| CN107188048A (en) * | 2017-06-29 | 2017-09-22 | 无锡德林船舶设备有限公司 | Multi-functional Overbridge device |
-
2018
- 2018-04-17 CN CN201810344969.9A patent/CN108622322A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923110A (en) * | 2016-04-27 | 2016-09-07 | 武昌船舶重工集团有限公司 | Wave compensation intelligent embarkation device |
| CN105966559A (en) * | 2016-06-07 | 2016-09-28 | 江苏科技大学 | Landing device and method with wave compensation function |
| CN206049991U (en) * | 2016-08-03 | 2017-03-29 | 丁立斌 | A kind of new marine self-balancing changes to device |
| CN206327537U (en) * | 2016-12-13 | 2017-07-14 | 九江精密测试技术研究所 | A kind of stepping on compensation of undulation multiplies trestle |
| CN106741662A (en) * | 2017-02-15 | 2017-05-31 | 广东精铟海洋工程股份有限公司 | A kind of ocean platform gangway ladder and its application method with compensation function |
| CN107188048A (en) * | 2017-06-29 | 2017-09-22 | 无锡德林船舶设备有限公司 | Multi-functional Overbridge device |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115397729A (en) * | 2020-03-24 | 2022-11-25 | 麦基嘉挪威公司 | Walking work system and method thereof |
| WO2021191152A1 (en) * | 2020-03-24 | 2021-09-30 | Macgregor Norway As | Walk-to-work system and method thereof |
| CN111674511B (en) * | 2020-06-09 | 2021-12-10 | 山东省科学院海洋仪器仪表研究所 | Self-stabilizing ship gangway ladder system and control method |
| CN111674511A (en) * | 2020-06-09 | 2020-09-18 | 山东省科学院海洋仪器仪表研究所 | Self-stabilizing ship gangway ladder system and control method |
| WO2022071804A1 (en) * | 2020-10-01 | 2022-04-07 | Ampelmann Holding B.V. | A gangway, vessel, offshore structure and methods |
| NL2026600B1 (en) * | 2020-10-01 | 2022-06-02 | Ampelmann Holding B V | A Gangway, vessel, offshore structure and methods |
| CN112407144A (en) * | 2021-01-11 | 2021-02-26 | 九江精密测试技术研究所 | Active wave compensation control system for articulated four-degree-of-freedom boarding trestle and control method thereof |
| CN112937773A (en) * | 2021-03-15 | 2021-06-11 | 江苏弘竣海洋科技有限公司 | Become wave compensation gangway ladder of width of cloth hydro-cylinder independent control |
| CN113562123A (en) * | 2021-08-17 | 2021-10-29 | 九江精密测试技术研究所 | Multi freedom wind-powered electricity generation tower steps on and carries landing stage |
| CN113608487A (en) * | 2021-08-26 | 2021-11-05 | 大连海事大学 | Control system of marine scalable shelter bridge device |
| CN113650735A (en) * | 2021-09-18 | 2021-11-16 | 贵州航天天马机电科技有限公司 | Steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder |
| CN114150995A (en) * | 2021-12-07 | 2022-03-08 | 浙江海洋大学 | Multi-angle-rotatable marine extension ladder with pressure sensing function and adjusting method |
| WO2023136733A1 (en) * | 2022-01-17 | 2023-07-20 | Ulmatec Handling Systems As | A marine gangway and a marine structure comprising such a marine gangway. |
| CN115214849A (en) * | 2022-06-13 | 2022-10-21 | 南通鹏瑞海工科技有限公司 | Marine transfer gangway ladder of initiative wave compensation |
| CN115214849B (en) * | 2022-06-13 | 2024-03-01 | 南通鹏瑞海工科技有限公司 | Active wave compensation offshore transfer gangway ladder |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108622322A (en) | Compensation of undulation accommodation ladder system and control method for marine redundant labor transfer operation | |
| CN110761172B (en) | Telescopic trestle system and control method thereof | |
| US10843904B2 (en) | Offshore crane heave compensation control system and method using visual ranging | |
| KR101533392B1 (en) | Vessels with roll damping mechanism | |
| CN105923110A (en) | Wave compensation intelligent embarkation device | |
| CN113104153B (en) | Marine transfer trestle wave compensation control system and working method thereof | |
| CN105408199B (en) | Apparatus and method for providing the active motion compensation control to radial type gangway ladder | |
| MX2014005663A (en) | Vessel and crane with full dynamic compensation for vessel and wave motions and a control method thereof. | |
| CN105966559A (en) | Landing device and method with wave compensation function | |
| SG185244A1 (en) | Apparatus and method of positioning a subsea object | |
| CN102288420A (en) | Test device for deep water vertical pipe lifting system | |
| CN106829755A (en) | A kind of new Active Compensation loop wheel machine system | |
| CN112389599A (en) | Four-degree-of-freedom active wave compensation operation and maintenance climbing device | |
| CN114408137A (en) | Electro-hydraulic hybrid crawler-type multifunctional operation-level underwater robot and system | |
| CN108862056A (en) | A kind of compensation of undulation A type Gate Foundation peculiar to vessel | |
| CN208683061U (en) | Offshore service ship comprehensive tower ladder system | |
| CN110568814A (en) | Wave signal simulation device suitable for active heave compensation | |
| CN109052193B (en) | Special lifting joint for wave compensation A-type portal frame | |
| CN110546064B (en) | Berthing device ship | |
| CN113895595A (en) | Hybrid-driven anchor chain cleaning and detecting robot and operation method thereof | |
| CN210864401U (en) | Wave signal simulation device suitable for active heave compensation | |
| CN205150175U (en) | Marine personnel transmission device | |
| CN212990391U (en) | Hanging type underwater test platform | |
| CN112977745A (en) | Wave compensation ship and wave compensation method thereof | |
| Salzmann et al. | Development of the access system for offshore wind turbines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |