CN109250039B - Active rotary motion compensation device - Google Patents

Abstract

The invention discloses an active rotary motion compensation device, and belongs to the technical field of ships. The method comprises the following steps: the device comprises a rotary platform base 1, a rotary mechanism, a driving piece 7, a gear body 8 and a rotary support 9; the device is characterized in that the slewing mechanism is positioned on the slewing platform base 1, the slewing mechanism is provided with a slewing bracket 9, and the driving piece 7 drives the slewing bracket 9 to complete slewing motion through a gear body 8. The slewing mechanism comprises: the device comprises a roller device 2, a roller shaft 3, a central shaft 4, a central bearing 5 and a rotary motion sensor 6; the roller device 2 is arranged on a roller shaft 3, the roller shaft 3 is arranged on a central shaft 4 through a central bearing 5, and the rotary motion sensor 6 is used for measuring the rotary angle of the rotary mechanism.

Description

An active rotary motion compensation device

technical field

The invention belongs to the technical field of ships, and in particular relates to an active rotary motion compensation device.

Background technique

The traditional method for the transfer of staff between the offshore operation platform and the ship is to directly dock the ship on the operation platform, and then transfer the staff. However, due to factors such as wind and waves at sea, this method can only be carried out under low sea conditions. In high sea conditions, the transmission of staff or equipment is extremely dangerous. The generation of bridge technology and equipment has solved this problem well.

The ship and the offshore operation platform are connected by a retractable gangway, so that the ship does not need to be docked on the operation platform, and the danger of collision between the ship's swing and the operation platform is avoided. An active motion compensation platform is installed at the bottom of the gangway. The motion compensation platform is used to compensate the movement of the ship due to wind and waves. Compared with the traditional method, it improves the safety of staff and equipment transfer.

An active motion compensation platform is installed in the system, which can compensate the motion of the ship. Therefore, compared with the traditional transportation method, the bridge crossing system can work in higher sea conditions and is more universally applicable.

It is generally believed that the restoring moment of the ship moving in the yaw direction is zero or infinitely small. Therefore, the compensation of the ship's yaw motion is extremely necessary.

SUMMARY OF THE INVENTION

The object of the present invention is achieved in this way:

An active rotary motion compensation device, comprising: a rotary platform base 1, a rotary mechanism, a driving member 7, a gear body 8 and a rotary support 9; it is characterized in that the rotary mechanism is located on the rotary platform base 1, and the rotary mechanism is located on the rotary platform base 1. A revolving bracket 9 is provided, and the driving member 7 drives the revolving bracket 9 through the gear body 8 to complete the revolving motion.

The rotating mechanism includes: a roller device 2, a roller shaft 3, a central shaft 4, a central bearing 5 and a rotary motion sensor 6; the roller device 2 is installed on the roller shaft 3, and the roller shaft 3 passes through the central bearing. 5 is installed on the central shaft 4, and the rotary motion sensor 6 is used to measure the rotary angle of the rotary mechanism.

The driving member 7 is a hydraulic motor or an electric motor.

The rotating support 9 is provided with a rotating platform.

The roller device 2 includes a roller and a roller bearing, and the roller is mounted on the roller shaft 3 through the roller bearing.

Compared with the prior art, the advantages of the present invention are:

The invention can be used for compensating the yaw motion of the ship, so as to improve the control precision and work efficiency of the bridge crossing system, and can improve the safety of the system.

Description of drawings

Fig. 1 is the overall appearance model of the present invention;

Fig. 2 is the front view of the present invention;

Fig. 3 is the internal structure diagram of the present invention;

FIG. 4 is a three-dimensional model of the roller mechanism in the present invention.

Detailed ways

The present invention is described in detail below in conjunction with the accompanying drawings:

Specific embodiment one:

The invention is an active slewing motion compensation device, which can be used for the slewing motion compensation of an active motion compensating bridge system or an offshore crane, and can also be used for the slewing motion compensation of a carrier-based aircraft or an ocean working platform.

The structural features of the present invention are as follows:

1. There is a central shaft 4 and a central bearing 5 in the platform. The central shaft 4 is used to determine the middle position of the gangway. The rotation of the gangway base is limited by the central shaft 4 and the central bearing 5, and the rotary motion is stable.

2. The roller at the bottom of the platform rotates around the central axis 4, and rotates around its own central axis. Since the roller rotates, the friction force it receives is rolling friction, which is smaller than sliding friction, which can reduce the energy loss of the system and improve the work efficiency. When the roller mechanism rotates, it bears all the gravity and bending moment of the gangway. There is a swivel bracket on the roller shaft 3.

3. A motion sensor 6 is installed between the middle of the roller mechanism and the rotary shaft to detect the rotation angle of the rotary mechanism, that is, the rotation angle of the gangway.

4. The swivel bracket 9 is a tubular one-axis structure to enhance the stability of the platform.

5. On the slewing bracket 9, a gear body 8 is fixed on the upper layer of the roller mechanism, and there is a hydraulic motor or a motor. The rotary motion of the rotary support 9 is realized by the gear body 8 and the hydraulic motor or electric motor, and the movement of the platform is driven by the motion of the hydraulic motor or the electric motor. The diameter of the driven gear is large, so a large reduction ratio can be achieved.

6. The swivel bracket 9 is a tubular one-axis structure, the middle is hollow, which can pass through the steel cable or shaft in the bridge system, so that the mechanism of the movement of the gangway arm can be placed behind the gangway mechanism to increase the safety of the system.

In Figure 3: 1- Rotary platform base, 2- Roller and roller bearing, 3- Roller shaft, 4- Center shaft, 5- Center bearing, 6- Rotary motion sensor shaft encoder, 7- Hydraulic motor or motor, 8- Gear body, 9-swivel bracket and upper platform.

As shown in Figure 2, 1 is the base of the slewing platform of the present invention. In practical applications, the base of the slewing platform should be fixedly installed on a ship or a six-degree-of-freedom motion compensation platform. The roller and the roller bearing 2 are connected to the roller shaft 3. In the actual system, the roller can rotate around its own roller axis 3. There are 6 to 8 rollers in the roller mechanism. During the movement, the roller bears the slewing bracket and the upper platform. The load force, due to the symmetrical structure of the present invention, the force on the slewing support and the upper platform is evenly distributed in the rollers. The roller shaft 3 is installed on the central shaft 4 of the platform through the central bearing 5, and the slewing bracket and the upper platform 9 are fixed on the roller shaft. 6 is a rotary motion sensor shaft encoder used in the present invention, and the rotation angle of the rotary motion is measured by the motion sensor shaft encoder 6 . The rotary motion sensor can be an absolute encoder or an incremental encoder, or other types of rotary motion sensors, such as gyroscopes, can be used according to actual use requirements. The hydraulic motor or motor 7 makes corresponding movements according to the corresponding control laws, and is connected with the slewing bracket through the gear body 8 to drive the slewing bracket to make corresponding slewing movements.

FIG. 4 is an overall model of the roller mechanism in the present invention. There may be 6 or 8 rollers in the roller mechanism, which are symmetrically distributed. During the movement, the load force of the slewing bracket and the upper platform is evenly distributed in the rollers of the roller mechanism.

In the present invention, the rotary motion of the rotary motion platform is limited by the central shaft and the bearing, and the motion is stable. The slewing bracket is fixed on the roller shaft and is not directly connected to the base of the platform. Therefore, in the actual movement, the roller mechanism also bears all the gravity and bending moment of the slewing bracket, the upper platform and the load while performing the slewing motion. The upper platform of the slewing platform is installed with the gangway part of the bridge system. Due to the presence of the central motion sensor 5, the slew angle of the gangway can also be easily obtained.

In order to increase the stability of the slewing platform, the slewing support adopts a symmetrical tube and one-axis structure. Because it is a tube structure, there is space inside the mechanism, and the steel cables and hydraulic oil pipes of the bridge system can be passed through, which can reduce the space occupied by the entire bridge system.

3 is an overall appearance structure of the present invention. In actual use, the size of the hydraulic motor or motor 7 should be determined according to actual needs, and the size of the gears on the slewing bracket can be adjusted according to the actual required reduction ratio.

Specific embodiment two:

The invention is an active slewing motion compensation device, which can be used for the slewing motion compensation of an active motion compensating bridge system or an offshore crane, and can also be used for the slewing motion compensation of a carrier-based aircraft or an ocean working platform. The base 1 of the slewing platform is installed on a ship or a six-degree-of-freedom motion platform, and a slewing bracket 9 is fixed on the roller mechanism. During the movement, the roller rotates around its own axis, and also moves around the central axis, and the hydraulic motor or motor is driven by the gear body 8 to rotate The bracket 9 moves, and the rotational motion is measured by the rotational motion sensor 6 . The advantage of the present invention is that the platform is driven by the gear body 8 to move, it is easy to achieve a large reduction ratio, and the movement is stable; in addition, the slewing bracket 9 is connected to the roller mechanism instead of being directly connected to the base, so that the friction becomes rolling friction and reduces the The energy consumption of the system improves the work efficiency.

An active rotary motion compensation device, comprising a base 1, a central axis 4 and a central bearing 5, a roller and a roller axis 3, a sensor 6 for measuring the rotation angle, a rotary support 9 fixed on the roller axis 3, and the upper layer of the roller mechanism A gear body 8 is installed, and the platform is driven by a hydraulic motor or an electric motor to rotate. There is a platform above the slewing support for installing the upper device.

The rotary motion of the upper platform is limited by the central shaft 4 and the central bearing 5, and the rotary motion is stable. While the roller mechanism performs rotary motion, it also bears all the gravity and bending moment of the upper platform and the load. There is a central rotary motion sensor 6 between the middle of the roller mechanism and the central axis of rotation to detect the rotation angle of the rotary mechanism.

The rotary support 9 is a tubular structure with strong stability. The slewing drive of the slewing bracket 9 is realized by the gear body 8 and the hydraulic motor or the electric motor, and the diameter of the driven wheel is large, which is easy to realize a large reduction ratio.

The swivel bracket 9 is a tubular one-axis structure, and there is a space in the middle position, which can pass through a steel cable or a shaft.

Claims (4)

1. An active slewing motion compensation device comprising: the device comprises a rotary platform base (1), a rotary mechanism, a driving piece (7), a gear body (8) and a rotary support (9); the device is characterized in that the slewing mechanism is positioned on a slewing platform base (1), a slewing bracket (9) is arranged on the slewing mechanism, and the driving piece (7) drives the slewing bracket (9) to complete slewing motion through a gear body (8); the slewing mechanism comprises: the device comprises a roller device (2), a roller shaft (3), a central shaft (4), a central bearing (5) and a rotary motion sensor (6); the roller device (2) is arranged on the roller shaft (3), the roller shaft (3) is arranged on the central shaft (4) through the central bearing (5), and the rotary motion sensor (6) is used for measuring the rotary angle of the rotary mechanism.

2. An active slewing motion compensation device according to claim 1, in which the drive member (7) is a hydraulic motor or an electric motor.

3. An active slewing motion compensation device according to claim 1, wherein a slewing platform is provided on the slewing bracket (9).

4. An active slewing motion compensating device according to claim 1, wherein the roller means (2) comprises a roller and a roller bearing, the roller being mounted on the roller shaft (3) via the roller bearing.

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