CN109250039B

CN109250039B - Active rotary motion compensation device

Info

Publication number: CN109250039B
Application number: CN201810776542.6A
Authority: CN
Inventors: 梁利华; 乐志文; 史洪宇; 李福义; 张松涛; 李剑峰; 王经甫; 吉明; 宋吉广
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2018-07-13
Filing date: 2018-07-13
Publication date: 2020-09-11
Anticipated expiration: 2038-07-13
Also published as: CN109250039A

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

Active rotary motion compensation device

Technical Field

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

Background

The conventional mode is that a ship directly stops on the operation platform, and then the workers are transferred. However, this method can be performed only in low sea conditions due to factors such as sea waves, and in high sea conditions, the transportation of workers or equipment is extremely dangerous. The creation of bridge technology and equipment has solved this problem well.

The ship is connected with the offshore operation platform through the telescopic gangway ladder, so that the ship does not need to stop on the operation platform, and the danger of collision between the ship swing and the operation platform is avoided. Active motion compensation platform is installed to the bottom of gangway ladder, and motion compensation platform is used for compensating the motion that boats and ships caused because stormy waves, compares with traditional mode, has improved the security of staff and equipment conveying.

The active motion compensation platform is arranged in the system and can compensate the motion of the ship, so that compared with the traditional transportation mode, the bridge crossing system can work under a higher sea condition and has more universal applicability.

It is generally considered that the restoring moment of the ship moving in the heading direction is zero or infinitely small, and therefore, the compensation of the heading motion of the ship is extremely necessary.

Disclosure of Invention

The purpose of the invention is realized as follows:

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 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.

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

And a rotary platform is arranged on the rotary support 9.

The roller device 2 comprises a roller and a roller bearing, and the roller is arranged on a roller shaft 3 through the roller bearing.

Compared with the prior art, the invention has the advantages that:

the invention can be used for compensating the bow motion of the ship, thereby improving the control precision and the working efficiency of the bridge system and improving the safety of the system.

Drawings

FIG. 1 is an overall appearance model of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is an internal structural view of the present invention;

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

Detailed Description

The invention is described in detail below with reference to the attached drawing figures:

the first embodiment is as follows:

the invention relates to an active rotary motion compensation device which can be used for rotary motion compensation of an active motion compensation gap bridge system or an ocean crane and can also be used for rotary motion compensation of a carrier-based aircraft or an ocean operation platform.

The structural characteristics of the invention are as follows:

1. the platform is provided with a central shaft 4 and a central bearing 5, the central position of the gangway ladder is determined through the central shaft 4, the rotation of the gangway ladder base is limited by the central shaft 4 and the central bearing 5, and the rotation motion is stable.

2. The rollers at the bottom of the platform rotate around the central shaft 4 and rotate around the central shaft of the platform. Because the roller rotates, the friction force is rolling friction, which is smaller than sliding friction, thereby reducing the energy loss of the system and improving the working efficiency. When the roller mechanism does rotary motion, the roller mechanism bears all gravity and bending moment of the gangway ladder. The roller shaft 3 is provided with a rotary bracket.

3. And a motion sensor 6 is arranged between the middle of the roller mechanism and the middle rotating shaft and is used for detecting the rotating angle of the rotating mechanism, namely the rotating angle of the gangway ladder.

4. The rotary support 9 is a pipe barrel type 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 a hydraulic motor or an electric motor is arranged. The rotary motion of the rotary support 9 is realized by the gear body 8 and a hydraulic motor or an electric motor, and the platform is driven to move by the motion of the hydraulic motor or the electric motor. The diameter of the driven gear is large, and therefore a large reduction ratio can be achieved.

6. The rotary support 9 is of a pipe barrel one-shaft structure, the middle of the rotary support is hollow, a steel cable or a shaft and the like in a bridge crossing system can penetrate through the rotary support, a mechanism for moving the gangway arm can be placed behind the gangway mechanism, and the safety of the system is improved.

In fig. 3: 1-a rotary platform base, 2-a roller and a roller bearing, 3-a roller shaft, 4-a central shaft, 5-a central bearing, 6-a rotary motion sensor shaft encoder, 7-a hydraulic motor or an electric motor, 8-a gear body, 9-a rotary support and an upper platform.

As shown in fig. 2, 1 is a base of the revolving platform of the present invention, and in practical application, the base of the revolving 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 on the roller shaft 3, in an actual system, the roller can do rotary motion around the

roller shaft

3, 6 to 8 rollers are arranged in the roller mechanism, and the roller bears the force loaded on the rotary support and the upper platform in the motion process. The roller shaft 3 is arranged on a central shaft 4 of the platform through a central bearing 5, a rotary support and an upper platform 9 are fixed on the roller shaft, and the roller mechanism rotates around the central shaft 4 while the rotary support rotates. Reference numeral 6 denotes a rotary motion sensor shaft encoder used in the present invention, and the rotary 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 a gyroscope, etc., can be used according to the actual use requirement. The hydraulic motor or the motor 7 makes corresponding movement according to a corresponding control rule, and is connected with the rotary support through the gear body 8 to drive the rotary support to make corresponding rotary movement.

Fig. 4 is an overall model of the roller mechanism of the present invention, which may have 6 or 8 rollers symmetrically distributed. In the movement process, the force loaded by the rotary support and the upper platform is uniformly distributed in the rollers of the roller mechanism.

The rotary motion of the rotary motion platform is limited by the central shaft and the bearing, and the motion is stable. The rotary support is fixed on the roller shaft and is not directly connected with the base of the platform, so that the roller mechanism bears all gravity and bending moment of the rotary support, the upper platform and the load while doing rotary motion in actual motion. The upper platform of the rotary platform is provided with the gangway ladder part of the gap bridge system, and the rotary angle of the gangway ladder can be easily obtained due to the existence of the central motion sensor 5.

In order to increase the stability of the rotary platform, the rotary support adopts a symmetrical pipe barrel one-axis structure. Due to the pipe barrel structure, the mechanism is internally provided with a space which can pass through a steel cable, a hydraulic oil pipe and the like of the bridge crossing system, and the space occupied by the whole bridge crossing system can be reduced.

Fig. 3 is an overall appearance structure of the present invention, in practical use, the size of the hydraulic motor or the electric motor 7 should be determined according to actual needs, and the size of the gear on the rotating bracket can be adjusted according to the actual needed reduction ratio.

The second embodiment is as follows:

the invention relates to an active rotary motion compensation device which can be used for rotary motion compensation of an active motion compensation gap bridge system or an ocean crane and can also be used for rotary motion compensation of a carrier-based aircraft or an ocean operation platform. The rotary platform base 1 is arranged on a ship or a six-degree-of-freedom motion platform, a rotary support 9 is fixed on a roller mechanism, in the motion process, a roller rotates around a self shaft and also moves around a central shaft, a hydraulic motor or a motor drives the rotary support 9 to move through a gear body 8, and the rotary motion is measured by a rotary motion sensor 6. The invention has the advantages that the gear body 8 drives the platform to move, thereby easily realizing large reduction ratio and stably moving; in addition, the rotary support 9 is connected to the roller mechanism instead of being directly connected with the base, so that friction is changed into rolling friction, energy consumption of the system is reduced, and working efficiency is improved.

An active rotary motion compensation device comprises a base 1, a central shaft 4, a central bearing 5, a roller shaft 3, a sensor 6 for measuring a rotary angle, a rotary support 9 fixed on the roller shaft 3, a gear body 8 arranged on the upper layer of a roller mechanism, and a hydraulic motor or a motor driving platform. A platform is arranged above the rotary support and used for installing an upper-layer device.

The rotary motion of the upper platform is limited by a central shaft 4 and a central bearing 5, and the rotary motion is stable. The roller mechanism is required to bear all gravity and bending moment of the upper platform and the load while performing rotary motion. A central rotary motion sensor 6 is arranged between the middle of the roller mechanism and the rotary middle shaft and is used for detecting the rotary angle of the rotary mechanism.

The rotary support 9 is of a tubular structure and has strong stability. The rotary driving of the rotary support 9 is realized by the gear body 8 and the hydraulic motor or the motor, and the diameter of the driven wheel is larger, so that a large reduction ratio is easy to realize.

The rotary bracket 9 is a pipe-shaft structure, and a space is arranged in the middle and can pass through a steel cable or a shaft and the like.

Claims

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.