CN113650738A - Wave compensation boarding system for deep sea net cage - Google Patents

Abstract

The invention provides a wave compensation boarding system for a deep sea net cage, which comprises a guide rail, a boarding platform, a driving unit, a distance measuring sensor, a main controller, a servo proportional valve and a servo valve driving module. The initial distance between the boarding platform and the deck of the boarding ship is measured through the distance measuring sensor, the telescopic distance of the driving arm can be controlled in a targeted mode by combining the main controller, the servo proportional valve and the servo valve driving module, the influence of stormy waves on boarding operation is compensated, the integral stability of the system is guaranteed, and therefore the distance between the ship deck and the boarding platform is kept constant. Compare the tradition and directly utilize the crane to transfer the fixed ladder to the scheme of riding the boats and ships from the box with a net, this wave compensation rides the platform of riding in the system and rides the boats and ships and do not have mechanical contact, can avoid the weight effect of the platform of riding on and ride the boats and ships and cause the condition of deck damage, guarantee effectively that personnel step on the security of riding.

Description

Wave compensation boarding system for deep sea net cage

Technical Field

The invention relates to the technical field of deep sea net cages, in particular to a wave compensation boarding system for a deep sea net cage.

Background

For deep sea aquaculture net cages, boarding ships are generally made of yachts or glass fiber reinforced plastics. When the sea condition is severe, the net cage is fixed, the sea waves cause the boarding ship to fluctuate, and personnel can be dangerous when boarding. In addition, transfer the mode that the inclined ladder went on to wait to board the ship from the box with a net, owing to board the ship volume less and deck intensity lower, the inclined ladder of transferring causes the destruction on deck easily, influences personnel's personal safety.

Disclosure of Invention

The invention aims to solve the technical problems that when a deep sea aquaculture net cage is used for boarding, a boarding ship cannot resist sea sickness, and a boarding ship deck is easily damaged by an inclined ladder which is placed on and off the net cage, so that the personal safety of boarding personnel is influenced in the prior art.

In order to solve the technical problems, the invention provides a wave compensation boarding system for a deep-sea net cage, which comprises a guide rail, a boarding platform, a driving unit, a distance measuring sensor, a main controller, a servo proportional valve and a servo driving module, wherein one end of the guide rail is vertically connected to an upper ring at the top of the net cage, and the other end of the guide rail extends towards the sea level; the boarding platform is connected to the guide rail in a sliding manner; the boarding platform comprises a platform main body and a step ladder connected to the platform main body; the driving unit is fixed on the upper ring and is positioned in the guide rail; the driving unit comprises a driving arm which can linearly extend and retract along the vertical direction, and the end part of the driving arm is connected with the platform main body so as to drive the boarding platform to slide along the guide rail; the distance measuring sensor is arranged at the bottom of the step ladder and used for measuring the distance between the boarding platform and a deck of a boarding ship; the main controller is electrically connected with the ranging sensor to receive the distance data transmitted by the ranging sensor and obtain an analog quantity signal according to the distance data; the servo proportional valve is arranged on the driving unit and used for controlling the telescopic distance of the driving arm; the servo valve driving module is electrically connected with the main controller and the servo proportional valve respectively; the servo valve driving module receives the analog quantity signal and controls the servo proportional valve according to the analog quantity signal, so that the servo proportional valve controls the telescopic distance of the driving arm.

Optionally, the wave compensation boarding system further comprises an upper computer, and the upper computer is electrically connected with the main controller and used for inputting the target value to the main controller.

Optionally, the main controller includes a PID control module, and the PID control module is configured to derive the analog quantity signal according to the target value and the distance data.

Optionally, the driving unit is a hydraulic cylinder, the hydraulic cylinder includes a cylinder body and the driving arm connected to the cylinder body, and the cylinder body is fixed on the upper ring.

Optionally, the boarding platform further comprises a roller assembly, the roller assembly comprising a plurality of roller assemblies; the plurality of roller members are distributed on two sides of the platform main body, and the roller members are rotatably connected to the side wall of the platform main body.

Optionally, the plurality of roller members include a transverse roller and a vertical roller, and an axial direction of the transverse roller is perpendicular to an axial direction of the vertical roller; the transverse rollers are distributed on two sides of the platform main body, and the axial direction of the transverse rollers is vertical to the end face of the platform main body; the vertical rollers are distributed on two sides of the platform main body, and the axial direction of the vertical rollers is perpendicular to the side wall of the platform main body.

Optionally, the wave compensation boarding system further comprises a fixing seat, the fixing seat is fixed on the upper ring, the end of the guide rail is hinged to the fixing seat, and the driving unit is hinged to the fixing seat.

Optionally, the wave compensation boarding system further comprises a middle platform and a transition ladder, wherein the middle platform is arranged on one side of the guide rail and is fixed on the inclined strut of the net cage; the transition ladder can stretch out and draw back along the length direction of the transition ladder, one end of the transition ladder is connected to the platform main body, and the other end of the transition ladder is connected to the middle platform.

Optionally, the position of the middle platform in the vertical direction is higher than the bottom end of the guide rail, and both ends of the transition ladder are hinged to the platform main body and the middle platform.

Optionally, the wave compensation boarding system further comprises a fixed ladder, one end of the fixed ladder is fixed on the middle platform, and the other end of the fixed ladder is fixed on the living platform of the net cage.

Optionally, the boarding platform further comprises a buffer member rotatably connected to the bottom end of the step ladder.

According to the technical scheme, the beneficial effects of the invention are as follows: according to the wave compensation boarding system for the deep sea net cage, the initial distance between the boarding platform and the deck of the boarding ship is measured through the distance measuring sensor, and the telescopic distance of the driving arm can be controlled in a targeted manner by combining the main controller, the servo proportional valve and the servo valve driving module, so that the influence of wind waves on boarding operation is compensated, the integral stability of the system is ensured, and the distance between the deck of the ship and the boarding platform is kept constant. Compare the tradition and directly utilize the crane to transfer the fixed ladder to the scheme of riding the boats and ships from the box with a net, this wave compensation rides the platform of riding in the system and rides the boats and ships and do not have mechanical contact, can avoid the weight effect of the platform of riding on and ride the boats and ships and cause the condition of deck damage, guarantee effectively that personnel step on the security of riding. In addition, for carrying on compensation system on boarding scheme, the wave compensation system of boarding of this application is installed on being fixed in the box with a net on whole, to not having the requirement such as the size of boarding boats and ships, more is fit for small-size and sightseeing boats and ships etc. and boards, and the suitability is wider, need not to be equipped with special boarding boats and ships for the box with a net, when guaranteeing the operation security of boarding, can also simplify the operation procedure of boarding, the personnel of being convenient for operate.

Drawings

Fig. 1 is a schematic configuration diagram of a heave compensation boarding system for a deep sea net cage of the present invention.

Fig. 2 is a flowchart of the operation control of the heave compensation embarkation system shown in fig. 1.

Fig. 3 is a side view of the heave compensation ride system shown in fig. 1.

Fig. 4 is a schematic structural view of a boarding platform in the heave compensation boarding system shown in fig. 1.

The reference numerals are explained below: 100. a heave compensation embarkation system; 10. a guide rail; 11. a track; 20. an intermediate platform; 30. boarding a platform; 31. a platform body; 32. a step ladder is stepped; 33. a transverse roller; 34. a vertical roller; 35. a connecting shaft; 36. a buffer member; 37. a protective net; 40. a drive unit; 41. a drive arm; 50. a transition ladder; 60. a fixed seat; 70. fixing the ladder; 81. a ranging sensor; 82. a main controller; 821. a PID control module; 83. a servo proportional valve; 84. a servo valve drive module; 85. an upper computer; 201. a column; 202. ring fitting; 203. bracing; 204. provided is a living platform.

Detailed Description

Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.

For further explanation of the principles and construction of the present invention, reference will now be made in detail to the preferred embodiments of the present invention, which are illustrated in the accompanying drawings.

Referring to fig. 1 to 3, an embodiment of the present application provides a wave compensation boarding system 100 for a deep sea cage, which implements transition between boarding a ship and the deep sea cage, and ensures the safety of boarding personnel.

Before describing the wave compensating embarkation system 100 of the present application, the structure of the deep sea cage will be briefly described.

The net cage comprises a box body in a box-shaped structure and a netting arranged on the box body. The box includes many stands 201, and the bottom of stand 201 is equipped with the base. The bottom end of the column 201 is inserted into the sea floor through a base, which is seated on the sea floor. Typically, the case also includes an upper ring 202, a lower ring, and braces 203. The upper ring 202 is connected with the tops of the plurality of upright posts 201, the lower ring is connected with the bottoms of the plurality of upright posts 201, and the inclined strut 203 is connected between the upper ring 202 and the lower ring.

In the present embodiment, the heave compensation embarkation system 100 includes a guide rail 10, an embarkation platform 30, a driving unit 40, a ranging sensor 81, a main controller 82, a servo proportional valve 83 and a servo valve driving module 84.

Wherein one end of the guide rail 10 is connected to the upper ring 202 and the other end extends towards the sea level. A boarding platform 30 is slidably attached to the guide rail 10, and the boarding platform 30 includes a platform body 31 and a step ladder 32 attached to the platform body 31.

The drive unit 40 is fixed to the upper ring 202 and is located in the guide rail 10. The driving unit 40 includes a driving arm 41 linearly extendable and retractable in a vertical direction, and an end of the driving arm 41 is connected to the platform main body 31 to drive the boarding platform 30 to slide along the guide rail 10.

A distance measuring sensor 81 is provided at the bottom of the stairway 32, and the distance measuring sensor 81 is used to measure the distance between the boarding platform 30 and the deck of the boarding ship. The main controller 82 is electrically connected to the distance measuring sensor 81, and the main controller 82 receives the distance data transmitted by the distance measuring sensor 81 and obtains an analog signal according to the distance data.

A servo proportional valve 83 is provided on the driving unit 40 for controlling the extension and contraction distance of the driving arm 41. The servo valve drive module 84 is electrically connected to the main controller 82 and the servo proportional valve 83, respectively. The servo valve driving module 84 receives the analog signal transmitted by the main controller 82, and controls the servo proportional valve 83 according to the analog signal, so that the servo proportional valve 83 controls the extension and contraction distance of the driving arm 41.

The wave compensation boarding system 100 of the embodiment further includes a fixing seat 60, and the fixing seat 60 is fixed on the upper ring 202 and used for realizing the installation of the guide rail 10 and the driving unit 40 on the net cage and ensuring the connection stability of the guide rail 10 and the driving unit 40 on the net cage.

Wherein, the guide rail 10 is hinged with the fixing base 60, and the driving unit 40 is hinged with the fixing base 60. The arrangement is used for compensating the shaking of the guide rail 10 and the boarding platform 30 under severe sea conditions, so that the guide rail 10 and the driving unit 40 are prevented from being damaged in wind and waves, and the overall structural stability of the wave compensation boarding system 100 is ensured.

The guide rail 10 of this embodiment includes a pair of relative just track 11 that the interval set up, and the top of two track 11 all is articulated with fixing base 60, and the bottom of two track 11 all extends towards the sea level, and all is located the top of sea level. The boarding platform 30 is provided between the two rails 11 and is slidable in the longitudinal direction of the rails 11.

In the present embodiment, the boarding platform 30 includes a platform main body 31 and a step ladder 32 connected to the platform main body 31. Wherein the platform body 31 is a box-shaped structure. The bottom of platform main part 31 is connected with step ladder 32, when stepping on platform 30 and transferring to the deck top of stepping on the boats and ships, steps on personnel and can get into platform main part 31 through step ladder 32.

The boarding platform 30 is made of light alloy material to reduce the overall weight and reduce the influence of the motion inertia. The upper surface and the lower surface of the platform main body 31 and the side surface of the joint part corresponding to the transition ladder 50 are respectively provided with a protective net 37 so as to realize enclosure at the peripheral side of the platform main body 31 and ensure the safety of boarding personnel.

The boarding platform 30 of the present embodiment further includes a roller assembly by which the platform main body 31 is slid with respect to the guide rail 10. Fixing pins can be arranged on two sides of the platform main body 31, fixing holes are formed in corresponding positions of the guide rail 10, and the fixing pins and the fixing holes are matched to enable the boarding platform 30 to be fixed on the guide rail 10. When the boarding platform 30 needs to slide, the connection between the fixing pin and the fixing hole is released.

Referring to fig. 4, in the present embodiment, the roller assembly includes a plurality of roller assemblies, and the plurality of roller assemblies are distributed on both sides of the platform main body 31. Each of the roller members is rotatably coupled to a side wall of the platform main body 31 so that the platform main body 31 can slide along the both side rails 11.

The plurality of roller members include lateral rollers 33 and vertical rollers 34, the plurality of lateral rollers 33 are distributed on both sides of the platform main body 31, and the lateral rollers 33 on both sides of the platform main body 31 are oppositely disposed. The plurality of vertical rollers 34 are distributed on two sides of the platform main body 31, and the vertical rollers 34 on the two sides of the platform main body 31 are oppositely arranged.

The lateral rollers 33 of the present embodiment are provided near both ends of the platform main body 31, and the vertical rollers 34 are disposed inside the lateral rollers 33. The vertical rollers 34 are axially perpendicular to the side walls of the platform body 31, and the horizontal rollers 33 are axially perpendicular to the end surface of the platform body 31.

In the view direction of fig. 4, the axial direction of the lateral roller 33 is a direction perpendicular to the paper surface. The lateral rollers 33 are fixed to the side walls of the platform main body 31 by connecting shafts 35. The connecting shaft 35 is vertically connected to a side wall of the platform body 31, the lateral roller 33 is connected to an end of the connecting shaft 35, and an axis of the lateral roller 33 is perpendicular to an axis of the connecting shaft 35.

Through setting up horizontal gyro wheel 33 and vertical gyro wheel, can be used for the restriction to step on the displacement of platform 30, avoid the stormy waves to step on rocking of platform 30 and cause overall structure's damage, ensure that the holistic security of wave compensation system 100 of stepping on. The horizontal roller 33 is used for limiting the displacement of the boarding platform 30 in the horizontal direction, and the vertical roller 34 is used for limiting the displacement of the boarding platform 30 in the front-back direction.

In addition, the boarding platform 30 of the present embodiment further includes a bumper 36, and the bumper 36 is rotatably attached to the bottom end of the step ladder 32. The damper 36 may be a gimbal or may be made of a flexible material.

When the boarding ship moves to the lower part of the boarding platform 30, the buffer 36 can conform to the movement of the boarding ship in the front-back direction and the left-right direction, so that the boarding ship is prevented from directly touching the stepping ladder 32, and the deck of the boarding ship is prevented from being damaged.

Further, the boarding platform 30 is slid on the guide rail 10 by the drive unit 40. In the present embodiment, the driving unit 40 is hingedly fixed to the fixing base 60. The driving unit 40 is a hydraulic cylinder including a cylinder body and a driving arm 41 provided on the cylinder body.

The driving unit 40 is arranged between the two rails 11, and the top end of the cylinder body is hinged with the fixed seat 60, so that the driving unit 40 and the upper ring 202 are fixed. The driving arm 41 is provided at the bottom end of the cylinder body and is capable of linearly extending and contracting in the vertical direction with respect to the cylinder body.

The top end of the platform main body 31 is connected with the end of the driving arm 41, when the driving arm 41 extends and retracts along the linear direction, the platform main body 31 can move along the guide rail 10 under the driving of the driving arm 41, and at the moment, the transverse rollers 33 and the vertical rollers 34 on the two sides of the platform main body 31 slide along the rail 11.

It is understood that the driving unit 40 may be other power devices, such as a pneumatic cylinder, an electric driving device, etc., besides the hydraulic cylinder shown in the present embodiment, as long as the driving of the boarding platform 30 can be realized to make the boarding platform 30 slide along the guide rail 10.

In this embodiment, the heave compensation ride system 100 further comprises an intermediate platform 20 and a transition ramp 50. The intermediate platform 20 is disposed at one side of the guide rail 10 and fixed to the sprags 203. The transition ladder 50 is extendable and retractable in its own longitudinal direction, and one end of the transition ladder 50 is connected to the platform main body 31 and the other end is connected to the intermediate platform 20.

The transition ladder 50 is connected to one side of the boarding platform 30, and the transition ladder 50 is used for transition between the boarding platform 30 and the middle platform 20. The transition ladder 50 is made of light alloy material to reduce the weight of the system and reduce the inertia of the motion. In this embodiment, the transition ladder 50 is extendable and retractable along its own length for compensating for a vertical distance change when the boarding platform 30 slides up and down.

In this embodiment, the middle platform 20 is fixed on the inclined strut 203, and the middle platform 20 and the inclined strut 203 are welded and fixed to ensure the connection stability of the two. The intermediate platform 20 is positioned higher in the vertical direction than the bottom end of the guide rail 10 with respect to the sea level.

The two ends of the transition ladder 50 are hinged with the platform main body 31 and the middle platform 20. The arrangement can compensate the shaking of the boarding platform 30 under severe sea conditions, avoid the damage of the boarding platform 30, the guide rail 10 and the transition ladder 50 in wind waves, and ensure the integrity of the integral structure of the wave compensation boarding system 100.

In addition, the wave compensation boarding system 100 of the present embodiment further includes a fixed ladder 70. One end of the fixed ladder 70 is fixed on the intermediate platform 20, and the other end is fixed on the living platform 204 of the net cage. The fixed ladder 70 is connected with the middle platform 20 and the living platform 204 in a welding way.

After entering the intermediate platform 20, the boarding personnel can directly enter the living platform 204 of the net cage through the fixed ladder 70 to enter a living area, so that the boarding personnel can stop and have a rest after boarding.

Further, as shown in fig. 2 and 3, the waviness compensation boarding system 100 of the present embodiment further includes a distance measuring sensor 81, a main controller 82, a servo proportional valve 83, and a servo valve driving module 84.

Among them, a distance measuring sensor 81 is provided at the bottom of the step ladder 32, and the distance measuring sensor 81 is used to measure the distance between the boarding platform 30 and the deck of the boarding ship. The main controller 82 is electrically connected to the distance measuring sensor 81, and the main controller 82 receives the distance data transmitted by the distance measuring sensor 81 and obtains an analog signal according to the distance data.

The servo proportional valve 83 is provided in the hydraulic cylinder and controls the distance by which the drive arm 41 of the hydraulic cylinder extends and contracts. The servo proportional valve 83 controls the extension and retraction distance of the driving arm 41 by controlling the flow rate of hydraulic oil in the hydraulic cylinder. The servo valve drive module 84 is electrically connected to the main controller 82 and the servo proportional valve 83, respectively. The servo valve driving module 84 receives the analog signal transmitted by the main controller 82, and controls the servo proportional valve 83 according to the analog signal, so that the servo proportional valve 83 controls the extension and contraction distance of the driving arm 41.

In this embodiment, the waviness compensation embarking system 100 further includes an upper computer 85. Through host computer 85, operating personnel can control the wave compensation system of riding 100 at the back platform, perhaps connects wireless remote control unit and controls the wave compensation system of riding 100.

The upper computer 85 is electrically connected to the main controller 82, and is configured to input a target value to the main controller 82, where the target value is a safe distance between the boarding platform 30 and the deck of the boarding ship. The main controller 82 includes a PID control module 821 that derives an analog signal from the target value and the distance data 821.

When an unmanned person rides on the sea, the riding platform 30 is lifted to a higher position under the action of the hydraulic cylinder and is far away from the sea level, and the riding platform 30 is locked on the guide rail 10 by utilizing the matching of the fixing pins and the fixing holes, so that the phenomenon that sea waves flap the riding platform 30 is avoided, and the damage to the riding platform 30 is prevented.

When the boarding ship needs to be parked, after the boarding ship is parked, the boarding personnel firstly tie the mooring rope to the mooring rope with the mooring rope piles to limit the position between the boarding ship and the net cage, so that the boarding ship and the net cage are horizontally opposite. Then the boarding personnel operate through a wireless remote control device, or background personnel control through the upper computer 85, so that the hydraulic cylinder works to lower the boarding platform 30. This process is a manual control mode.

When the boarding platform 30 approaches the deck of the boarding ship, the manual control mode of the waviness compensation boarding system 100 is switched to the automatic control mode, and the distance sensor 81 measures the distance between the boarding platform 30 and the deck of the boarding ship. The main controller 82 receives the distance data transmitted from the distance measuring sensor 81 and the target value input by the upper computer 85 as the safety distance, and the PID control module 821 obtains an analog signal according to the target value and the distance data.

The servo valve driving module 84 receives the analog signal transmitted by the main controller 82 and controls the servo proportional valve 83 according to the analog signal. The servo proportional valve 83 adjusts the hydraulic oil flow, flow rate and direction of the hydraulic cylinder according to the analog quantity signal, so as to realize the adjustment of the telescopic distance and telescopic direction of the driving arm 41 of the hydraulic cylinder, ensure the constant safety distance between the boarding platform 30 and the deck of the boarding ship, and ensure the safety of boarding personnel.

After the person finishes boarding, the boarding platform 30 can be lifted by manual control, and the wave compensation boarding system 100 exits from the automatic control mode. When the platform 30 rises to a predetermined height, the platform 30 is fixed to the rail 10 by the fixing pins.

To the wave compensation system of riding for the deep sea net cage of this embodiment, survey through range finding sensor and ride the platform and the initial distance of riding between the deck of boats and ships, combine main control unit, servo proportional valve and servo valve drive module can make pointed references to control the flexible distance of actuating arm, compensate the influence that the stormy waves brought to the operation of riding on the ground, guarantee the holistic stability of system to keep the distance between boats and ships deck and the platform of riding on the ground certain. Compare the tradition and directly utilize the crane to transfer the fixed ladder to the scheme of riding the boats and ships from the box with a net, this wave compensation rides the platform of riding in the system and rides the boats and ships and do not have mechanical contact, can avoid the weight effect of the platform of riding on and ride the boats and ships and cause the condition of deck damage, guarantee effectively that personnel step on the security of riding. In addition, for carrying on compensation system on boarding scheme, the wave compensation system of boarding of this application is installed on being fixed in the box with a net on whole, to not having the requirement such as the size of boarding boats and ships, more is fit for small-size and sightseeing boats and ships etc. and boards, and the suitability is wider, need not to be equipped with special boarding boats and ships for the box with a net, when guaranteeing the operation security of boarding, can also simplify the operation procedure of boarding, the personnel of being convenient for operate.

While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims (11)

1. A heave compensation ride system for a deep sea netbox, comprising:

one end of the guide rail is vertically connected to the upper ring at the top of the net cage, and the other end of the guide rail extends towards the sea level;

the boarding platform is connected to the guide rail in a sliding manner; the boarding platform comprises a platform main body and a step ladder connected to the platform main body;

the driving unit is fixed on the upper ring and is positioned in the guide rail; the driving unit comprises a driving arm which can linearly extend and retract along the vertical direction, and the end part of the driving arm is connected with the platform main body so as to drive the boarding platform to slide along the guide rail;

the distance measuring sensor is arranged at the bottom of the step ladder and used for measuring the distance between the boarding platform and a deck of a boarding ship;

the main controller is electrically connected with the ranging sensor to receive the distance data transmitted by the ranging sensor and obtain an analog quantity signal according to the distance data;

the servo proportional valve is arranged on the driving unit and used for controlling the telescopic distance of the driving arm;

the servo valve driving module is electrically connected with the main controller and the servo proportional valve respectively; the servo valve driving module receives the analog quantity signal and controls the servo proportional valve according to the analog quantity signal, so that the servo proportional valve controls the telescopic distance of the driving arm.

2. The heave compensation ride system for a deep sea cage according to claim 1, further comprising an upper computer electrically connected with the main controller for inputting a target value to the main controller.

3. The wave compensating embarkation system for deep sea cages according to claim 2, wherein the main controller comprises a PID control module for deriving the analog quantity signal from the target value and the distance data.

4. The wave compensating boarding system for deep sea cages according to claim 1, characterized in that the driving unit is a hydraulic cylinder comprising a cylinder body and the driving arm connected to the cylinder body, the cylinder body being fixed to the upper ring.

5. The wave compensating ride system for deep sea cages of claim 1, wherein the ride platform further comprises a roller assembly comprising a plurality of roller assemblies; the plurality of roller members are distributed on two sides of the platform main body, and the roller members are rotatably connected to the side wall of the platform main body.

6. The wave compensating boarding system for deep sea cages according to claim 5, wherein the plurality of roller members comprise a lateral roller and a vertical roller, the axial direction of the lateral roller being perpendicular to the axial direction of the vertical roller; the transverse rollers are distributed on two sides of the platform main body, and the axial direction of the transverse rollers is vertical to the end face of the platform main body; the vertical rollers are distributed on two sides of the platform main body, and the axial direction of the vertical rollers is perpendicular to the side wall of the platform main body.

7. The heave compensation system for a deep sea cage according to claim 1, further comprising a fixed base fixed to the upper ring, the end of the guide rail being hinged to the fixed base, and the drive unit being hinged to the fixed base.

8. The wave compensating ride system for deep sea cages of claim 1, further comprising an intermediate platform and a transition ladder, the intermediate platform being arranged on one side of the rails and fixed on the diagonal braces of the cage; the transition ladder can stretch out and draw back along the length direction of the transition ladder, one end of the transition ladder is connected to the platform main body, and the other end of the transition ladder is connected to the middle platform.

9. The wave compensating boarding system for deep sea cages according to claim 8, wherein the position of the intermediate platform in the vertical direction is higher than the bottom end of the guide rail, and both ends of the transition ladder are hinged to both the platform body and the intermediate platform.

10. The wave compensating embarkation system for deep sea cages according to claim 8, further comprising a fixed ladder, one end of which is fixed on the intermediate platform and the other end of which is fixed on the living platform of the cage.

11. The wave compensating embarkation system for deep sea cages according to claim 1, wherein the embarkation platform further comprises a buffer rotatably connected to the bottom end of the step ladder.

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