CN113699867A - Three-degree-of-freedom offshore gallery bridge device with motion compensation capability - Google Patents

Three-degree-of-freedom offshore gallery bridge device with motion compensation capability Download PDF

Info

Publication number
CN113699867A
CN113699867A CN202110989824.6A CN202110989824A CN113699867A CN 113699867 A CN113699867 A CN 113699867A CN 202110989824 A CN202110989824 A CN 202110989824A CN 113699867 A CN113699867 A CN 113699867A
Authority
CN
China
Prior art keywords
platform
stable platform
freedom
degree
gangway
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
Application number
CN202110989824.6A
Other languages
Chinese (zh)
Inventor
王生海
邱建超
韩广冬
仇伟晗
陈海泉
李建
牛安琪
孙茂凱
孙玉清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Maritime University
Original Assignee
Dalian Maritime University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Dalian Maritime University filed Critical Dalian Maritime University
Priority to CN202110989824.6A priority Critical patent/CN113699867A/en
Publication of CN113699867A publication Critical patent/CN113699867A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D15/00Movable or portable bridges; Floating bridges
    • E01D15/24Bridges or similar structures, based on land or on a fixed structure and designed to give access to ships or other floating structures
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D15/00Movable or portable bridges; Floating bridges
    • E01D15/005Movable bridges in general ; Constructional elements peculiar to movable bridges
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01DCONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D19/00Structural or constructional details of bridges
    • E01D19/005Piers, trestles, bearings, expansion joints or parapets specially adapted for portable or sectional bridges

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Bridges Or Land Bridges (AREA)

Abstract

The invention discloses a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which comprises a telescopic gangway ladder and a three-degree-of-freedom stable platform, wherein the three-degree-of-freedom stable platform is movably connected below the telescopic gangway ladder. The device adopts three servo electric cylinders to control the pose of an upper stabilizing platform of the three-degree-of-freedom stabilizing platform in real time, when a ship is subjected to complex disturbance generated by the action of wind, wave and flow loads, the three servo electric cylinders are controlled in real time, main motion compensation control is carried out on the offshore gallery bridge device, the upper stabilizing platform is always kept in a horizontal state, and a gangway ladder is also kept in the horizontal state, so that the pose control of the offshore gallery bridge is realized, meanwhile, a telescopic upright post is added on the three-degree-of-freedom stabilizing platform to limit the torsion of the stabilizing platform, and rolling bearings are respectively arranged on eight surfaces of a telescopic outer post and a telescopic inner post and used for overcoming the friction force generated in the platform moving process so as to enable the platform to operate quickly and stably.

Description

Three-degree-of-freedom offshore gallery bridge device with motion compensation capability
Technical Field
The invention relates to the technical field of marine gallery bridge devices, in particular to a three-degree-of-freedom marine gallery bridge device with motion compensation capability.
Background
The ocean platform can not be opened for ocean engineering development, the ocean drilling platform can mine and store oil gas, and the ocean wind power platform can provide a large amount of wind energy. The offshore platform needs to be maintained by personnel and replaced by personnel regularly, workers climb on the offshore platform to operate by taking ships as transportation tools, the offshore condition is more complex and more variable than the land, and harm caused by severe weather cannot be avoided. In the process of transporting personnel and materials, wind, wave and current disturbance is generated under high sea conditions, and collision accidents are easy to happen between a ship and an ocean platform. In severe cases, even the equipment is damaged, and the life safety of personnel is seriously threatened. The traditional transfer modes mainly comprise rope swing transfer, board leaning transfer, gangway ladder transfer and hanging basket transfer, and all the transfer modes have common defects, the safety is not guaranteed, the transfer modes are not suitable for high sea condition operation, passive compensation is adopted or no compensation is adopted, and the personnel transfer operation is inconvenient.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which comprises: the three-degree-of-freedom stable platform is movably connected below the telescopic gangway ladder;
the telescopic gangway ladder comprises a lower gangway ladder, a directional wheel, a sliding table and an upper gangway ladder, wherein the lower gangway ladder is fixedly connected with a support, the directional wheel is connected to the support, the sliding table is connected to the lower gangway ladder, and a sliding block is arranged on the sliding table;
the three-degree-of-freedom stable platform comprises an upper stable platform, three first electric cylinders, three second electric cylinders, three third electric cylinders, a telescopic strut, a variable amplitude electric cylinder and a lower stable platform, wherein the first electric cylinders, the second electric cylinders, the third electric cylinders, the telescopic strut, the variable amplitude electric cylinder and the lower stable platform are of the same structure; one end of the first electric cylinder is connected to the upper stabilizing platform through a first hook hinge, the other end of the first electric cylinder is connected to the lower stabilizing platform through a first hook hinge, the second electric cylinder and the third electric cylinder are installed on the upper stabilizing platform and the lower stabilizing platform in the same setting mode as the first electric cylinder, one end of the telescopic strut is connected to the upper stabilizing platform, the other end of the telescopic strut is connected to the lower stabilizing platform, one end of the variable-amplitude electric cylinder is connected to the upper stabilizing platform, and the other end of the variable-amplitude electric cylinder is connected to the bottom of the lower gangway ladder.
The telescopic strut comprises a telescopic outer column and a telescopic inner column, the bottom end of the telescopic outer column is connected with the lower stable platform, the top end of the telescopic inner column is connected with a hook hinge, and the hook hinge is connected with the upper stable platform; the telescopic outer column is connected with a rolling bearing, the rolling bearing is connected with the telescopic outer column through a bearing support, the telescopic inner column is connected with a rolling bearing II, the rolling bearing II is connected with the telescopic inner column through a screw rod, the rolling bearing and the rolling bearing II are arranged on the same plane, and the telescopic inner column moves in the vertical direction under the driving of the upper stabilizing platform.
Go up to be connected with the gangway ladder support on the stable platform, the gangway ladder is connected with the davit down through the angle bar, the davit is connected through the plug buckle with the gangway ladder support.
The upper stabilizing platform comprises an upper stabilizing platform I and an upper stabilizing platform II, the upper stabilizing platform I and the upper stabilizing platform II are fixedly connected together through bolts to form the upper stabilizing platform, the upper stabilizing platform I is used for fixing a first hook hinge, and the upper stabilizing platform II is used for fixing a gangway support.
The first hook joint comprises an upper supporting flange frame, a transverse shaft, a longitudinal shaft and a lower supporting flange frame, a first end cover bearing is arranged in a shaft hole of the lower supporting flange frame, and the transverse shaft is arranged on the end cover bearing; the middle of the cross shaft is provided with a through hole, the upper end of the through hole is provided with a threaded hole, the through hole of the longitudinal shaft penetrating through the cross shaft is installed on a second end cover bearing of the upper supporting flange frame, and the cross shaft and the bolt hole of the longitudinal shaft penetrating through the upper end of the middle through hole of the cross shaft are fixedly connected through a limiting bolt.
The second hook joint comprises a fixing frame and a cross shaft, and the cross shaft is installed on an end cover bearing of a through hole of the fixing frame and is kept on the same horizontal plane with the mass center of the upper stabilizing platform.
By adopting the technical scheme, the three-degree-of-freedom offshore gallery bridge device with the motion compensation capability provided by the invention adopts the three servo electric cylinders to control the pose of the upper stabilizing platform of the three-degree-of-freedom stabilizing platform in real time, when a ship is subjected to complex disturbance generated by the action of wind, wave and flow loads, the three servo electric cylinders are controlled in real time to perform main motion compensation control on the offshore gallery bridge device, so that the upper stabilizing platform is always kept in a horizontal state, and the gangway ladder is also kept in a horizontal state, thereby realizing the pose control on the offshore gallery bridge, meanwhile, the three-degree-of-freedom stabilizing platform is provided with the telescopic upright posts to limit the torsion of the stabilizing platform, and eight surfaces of the telescopic outer posts and the telescopic inner posts are respectively provided with the rolling bearings for overcoming the friction force generated in the motion process of the platform so as to enable the platform to operate quickly and stably.
In addition, an amplitude-variable electric cylinder is arranged between the stabilizing platform and the gangway ladder, the height of the marine corridor bridge can be adjusted, the generated heave motion can be compensated, a sliding table is arranged between the upper gangway ladder and the lower gangway ladder to enable the gangway ladder to stretch and retract, the length of the gangway ladder can be adjusted, the longitudinal motion generated by the ship can be compensated, the pose of the marine corridor bridge is subjected to auxiliary control by the aid of the two methods, the length and the height of the marine corridor bridge can be adjusted to adapt to different working environments, and the three-degree-of-freedom marine corridor bridge device is used for safely and stably conveying personnel and goods.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an overall structure diagram of a three-degree-of-freedom marine corridor bridge apparatus with motion compensation capability according to the present invention;
FIG. 2 is a schematic structural diagram of a three-degree-of-freedom stabilized platform according to an embodiment of the present invention;
fig. 3 and 4 are schematic structural views of a hooke joint according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a cross-axis structure of a hook joint according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a telescopic column according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a retractable gangway ladder according to an embodiment of the invention.
In the figure: 1. the telescopic gangway ladder comprises a telescopic gangway ladder, 2, hinge lugs, 3, lifting lugs, 4, an amplitude-variable electric cylinder, 5, lifting lugs, 6, hinge lugs, 7, a bolt buckle, 8, a three-degree-of-freedom stable platform, 9, a suspension arm, 10, angle iron, 11, a bolt buckle, 12, a gangway support, 1.1, an upper gangway ladder, 1.2, a directional wheel support, 1.3, a sliding block, 1.4, a sliding table, 1.5, a directional wheel, 1.6, a lower gangway ladder, 8.0, an upper stable platform, 8.3, a first upper stable platform, 8.4, a second upper stable platform, 8.1, a first hook hinge, 8.2, a first electric cylinder, 8.5, a second hook hinge, 8.6, a telescopic support, 8.7, a second electric cylinder, 8.8.8, a third electric cylinder, 8.9, a lower stable platform, 8.1.1, an upper flange support frame, 8.1.2, a first end bearing bolt hole, a longitudinal shaft, a transverse shaft, A transverse shaft fixing frame, 8.5.2 bearings, 8.5.3 through holes, 8.6.1 telescopic inner columns, 8.6.2 bearings, 8.6.3 telescopic outer columns, 8.6.4 bearings, 8.6.5 bearing supports, 8.6.6 and screws.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following describes the technical solutions in the embodiments of the present invention clearly and completely with reference to the drawings in the embodiments of the present invention:
fig. 1 shows a three-degree-of-freedom offshore gallery bridge device with motion compensation capability, which includes a three-degree-of-freedom stabilized platform 8 and a telescopic gangway ladder 1, wherein the three-degree-of-freedom stabilized platform is movably connected below the telescopic gangway ladder 1.
The three-degree-of-freedom stable platform 8 comprises an upper stable platform 8.0, three first electric cylinders 8.2, second electric cylinders 8.7, third electric cylinders 8.8, telescopic struts 8.6, variable amplitude electric cylinders 4 and a lower stable platform 8.9 which are of the same structure; one end of the first electric cylinder 8.2 is connected with the upper stable platform 8.0 through a first hooke joint 8.1, the other end of the first electric cylinder is connected with the lower stable platform 8.9 through a first hooke joint 8.1, the second electric cylinder 8.7 and the third electric cylinder 8.8 are arranged on the upper stable platform 8.0 and the lower stable platform 8.9 in the same arrangement mode as the first electric cylinder 8.2, one end of the telescopic strut 8.6 is connected with the upper stable platform 8.0, and the other end of the telescopic strut is connected with the lower stable platform 8.9, because the designed hooke joint can rotate 360 degrees in all directions, the stable platform adopting three servo electric cylinders can be twisted, the design mode of adding the telescopic strut in the middle can limit the twisting of the three-degree-of-freedom stable platform and does not obstruct the movement of the stable platform, one end of the variable amplitude electric cylinder 4 is connected with the upper stable platform 8.0 through a hinge lug 2 and a lifting lug 3, The other end is connected with the bottom of the lower gangway ladder 1.6 through a lifting lug 5 and a hinge lug 6. The hinge lug 2, the lifting lug 3 and the hinge lug 6, the lifting lug 5 are connected through the plug buckle 7, the height of the gangway ladder can be adjusted through the design mode of adding the amplitude-variable electric cylinder, the operation range of the device is expanded, when a ship is disturbed in a complex mode, the device can compensate the heave disturbance of the ship again through the design except for the motion compensation of three servo electric cylinders of the three-degree-of-freedom stable platform, the motion compensation assisting effect is achieved, and the motion compensation capability of the device is further improved.
The telescopic gangway ladder 1 comprises a lower gangway ladder 1.6, a directional wheel 1.5, a sliding table 1.4 and an upper gangway ladder 1.1; lower gangway 1.6 is connected with both sides davit 9 through angle bar 10, davit 9 passes through plug buckle 11 with last stabilizer blade 8.3, 8.4's gangway support 12 and is connected, directional wheel 1.5 is connected under on gangway 1.6 through support 1.2, be provided with slider 1.3 on the slip table 1.4, it is connected with gangway 1.6 down through slip table 1.4 and directional wheel 1.5 to go up gangway 1.1. Motor drive lead screw drives the slip table motion and then drives upper end gangway ladder motion messenger gangway ladder has flexible function, the height that enlarges the device's the directional wheel of operation scope and the height of slider are on the coplanar, make the more steady effectual operation of gangway ladder, when boats and ships receive complicated disturbance, except that three servo electronic jar of three degree of freedom stabilized platform carries out motion compensation, such design can also compensate once more to the pitching disturbance that boats and ships received, play the effect of supplementary motion compensation, further promote the motion compensation ability of the device.
Further, go up stable platform 8.0 and include upper stable platform 8.3 and upper stable platform two 8.4, upper stable platform 8.3 and upper stable platform two 8.4 constitute stable platform 8.0 together through bolt fixed connection, upper stable platform 8.3 is used for fixed first hook hinge 8.1, upper stable platform two 8.4 is used for fixing accommodation ladder support 12. The design mode makes the device easy dismounting, and the transportation installation of being convenient for tears down the gangway ladder device on upper portion and also can be used as the use of stable platform in some specific occasion.
Further, the telescopic strut 8.6 comprises a telescopic outer column 8.6.3 and a telescopic inner column 8.6.1, the bottom end of the telescopic outer column 8.6.3 is connected with a lower stable platform 8.9, the top end of the telescopic inner column 8.6.1 is connected with a hooke joint 8.5, and the hooke joint 8.5 is connected with an upper stable platform 8.0; be connected with antifriction bearing 8.6.2 on the flexible outer post 8.6.3, antifriction bearing 8.6.2 is connected with flexible outer post 8.6.3 through bearing bracket 8.6.5, be connected with two 8.6.4 of antifriction bearing on the flexible inner post 8.6.1, two 8.6.4 of antifriction bearing are connected with flexible inner post 8.6.1 through screw 8.6.6, antifriction bearing 8.6.2 and two 8.6.4 of antifriction bearing set up at the coplanar, flexible inner post 8.6.1 moves in vertical direction under last stable platform 8.0's drive. The design mode can prevent the three-degree-of-freedom stable platform from twisting and does not limit the motion of the stable platform, and rolling bearings are arranged on eight surfaces of the telescopic outer column and the telescopic inner column, so that the problem that the telescopic upright column is possibly rubbed and even blocked is solved, and the upper part and the lower part of the telescopic inner column can run on the same horizontal plane.
Furthermore, a through hole is formed in the upper stabilizing platform 8.0, a second hook hinge 8.5, connected with the upper stabilizing platform 8.0, of the telescopic outer column 8.6.3 penetrates through the through hole, the second hook hinge 8.5, connected with the upper stabilizing platform 8.0, of the telescopic outer column 8.6.3 further comprises fixing frames 8.5.1 on two sides, and the cross shaft 8.1.5 is installed on a bearing 8.5.2 in the through hole 8.5.3 of the fixing frames 8.5.1 on two sides and is kept on the same horizontal plane with the mass center of the upper stabilizing platform. The design mode solves the problem of precision of platform control, so that the platform control is more accurate.
Further, the first hooke's hinge includes upper support flange frame 8.1.1, cross axle 8.1.5, axis of ordinates 8.1.3 and lower support flange frame 8.1.4, cross axle 8.1.5 is installed on end cover bearing 8.1.6 in the shaft hole of lower support flange frame 8.1.4, cross axle 8.1.5 centre is equipped with through-hole 8.1.8, and the through-hole 8.1.8 upper end is equipped with screw hole 8.1.7, axis of ordinates 8.1.3 passes through-hole 8.1.8 of cross axle 8.1.5 and installs in the shaft hole of upper support flange frame 8.1.1, uses the stop bolt to link firmly cross axle 8.1.6 and axis of ordinates 8.1.3 through screw hole 8.1.7 of cross axle middle through-hole 8.1.8 upper end. By the design mode, the Hooke joint can move in 360 degrees in all directions, three-degree-of-freedom motion of the stable platform can be realized, and the problems of occlusion and blocking cannot occur.
The three-degree-of-freedom offshore corridor bridge device with the motion compensation function disclosed by the invention has the advantages that the three-degree-of-freedom stable platform is adopted to carry out main motion compensation on the complex disturbance of a ship, the telescopic upright posts are adopted to solve the torsion problem of the three-degree-of-freedom stable platform, the Hooke's joint is adopted to realize the motion compensation action of the stable platform, and the amplitude-variable electric cylinder and the telescopic gangway ladder are adopted to enlarge the working range of the device so as to adapt to various complex working environments and carry out auxiliary motion compensation on the disturbance of the ship. The motion compensation capability of the device is realized through the cooperation of the modes, and the working efficiency and the safety are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (6)

1.一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于包括:可伸缩舷梯(1)和三自由度稳定平台(8),所述三自由度稳定平台活动连接在可伸缩舷梯的下方;1. A three-degree-of-freedom offshore covered bridge device with motion compensation capability is characterized in that comprising: a retractable gangway (1) and a three-degree-of-freedom stable platform (8), the three-degree-of-freedom stable platform is movably connected to the retractable gangway. below the gangway; 所述可伸缩舷梯(1)包括下舷梯(1.6)、定向轮(1.5)、滑台(1.4)以及上舷梯(1.1),所述下舷梯(1.6)上固定连接有支架(1.2),所述定向轮(1.5)连接在支架(1.2)上,所述滑台(1.4)连接在下舷梯(1.6)上,所述滑台(1.4)上设置有滑块(1.3);The retractable gangway (1) includes a lower gangway (1.6), a directional wheel (1.5), a sliding table (1.4) and an upper gangway (1.1), and a bracket (1.2) is fixedly connected to the lower gangway (1.6), so that the The directional wheel (1.5) is connected to the bracket (1.2), the sliding platform (1.4) is connected to the lower gangway (1.6), and the sliding platform (1.4) is provided with a sliding block (1.3); 所述三自由度稳定平台(8)包括上稳定平台(8.0)、三个结构相同的一号电动缸(8.2)、二号电动缸(8.7)、三号电动缸(8.8)、可伸缩支柱(8.6)、变幅电动缸(4)和下稳定平台(8.9);所述一号电动缸(8.2)的一端通过第一虎克铰(8.1)连接在上稳定平台(8.0)上、另一端通过第一虎克铰(8.1)连接在下稳定平台(8.9)上,所述二号电动缸(8.7)和三号电动缸(8.8)采用与一号电动缸(8.2)相同的设置方式安装在上稳定平台(8.0)和下稳定平台(8.9)上,所述可伸缩支柱(8.6)的一端连接在上稳定平台(8.0)上、另一端连接在下稳定平台(8.9)上,所述变幅电动缸(4)的一端与上稳定平台(8.0)相连接、另一端与下舷梯(1.6)的底部相连接。The three-degree-of-freedom stable platform (8) includes an upper stable platform (8.0), three No. 1 electric cylinders (8.2), No. 2 electric cylinders (8.7), No. 3 electric cylinders (8.8), and retractable struts with the same structure (8.6), a luffing electric cylinder (4) and a lower stable platform (8.9); one end of the No. 1 electric cylinder (8.2) is connected to the upper stable platform (8.0) through the first Hooke hinge (8.1), and the other One end is connected to the lower stable platform (8.9) through the first Hook hinge (8.1), and the No. 2 electric cylinder (8.7) and the No. 3 electric cylinder (8.8) are installed in the same way as the No. 1 electric cylinder (8.2). On the upper stable platform (8.0) and the lower stable platform (8.9), one end of the telescopic strut (8.6) is connected to the upper stable platform (8.0), and the other end is connected to the lower stable platform (8.9). One end of the electric cylinder (4) is connected with the upper stable platform (8.0), and the other end is connected with the bottom of the lower gangway (1.6). 2.根据权利要求1所述的一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于:所述可伸缩支柱(8.6)包括伸缩外柱(8.6.3)和伸缩内柱(8.6.1),所述伸缩外柱(8.6.3)的底端与下稳定平台(8.9)相连接,所述伸缩内柱(8.6.1)的顶端与虎克铰(8.5)相连接,所述虎克铰(8.5)与上稳定平台(8.0)相连接;所述伸缩外柱(8.6.3)上连接有滚动轴承(8.6.2),所述滚动轴承(8.6.2)通过轴承支架(8.6.5)与伸缩外柱(8.6.3)相连接,所述伸缩内柱(8.6.1)上连接有滚动轴承二(8.6.4),所述滚动轴承二(8.6.4)通过螺杆(8.6.6)与伸缩内柱(8.6.1)相连接,所述滚动轴承(8.6.2)和滚动轴承二(8.6.4)在同一平面设置,所述伸缩内柱(8.6.1)在上稳定平台(8.0)的带动下在竖直方向上运动。2. A three-degree-of-freedom marine covered bridge device with motion compensation capability according to claim 1, characterized in that: the telescopic column (8.6) comprises a telescopic outer column (8.6.3) and a telescopic inner column ( 8.6.1), the bottom end of the telescopic outer column (8.6.3) is connected with the lower stable platform (8.9), and the top end of the telescopic inner column (8.6.1) is connected with the Hooke hinge (8.5), The Hooke hinge (8.5) is connected with the upper stable platform (8.0); the telescopic outer column (8.6.3) is connected with a rolling bearing (8.6.2), and the rolling bearing (8.6.2) passes through the bearing bracket (8.6.2). 8.6.5) is connected with the telescopic outer column (8.6.3), and the telescopic inner column (8.6.1) is connected with the second rolling bearing (8.6.4), and the second rolling bearing (8.6.4) passes through the screw (8.6.6). .6) Connected to the telescopic inner column (8.6.1), the rolling bearing (8.6.2) and the second rolling bearing (8.6.4) are arranged on the same plane, and the telescopic inner column (8.6.1) stabilizes the platform above (8.0) moves in the vertical direction. 3.根据权利要求1所述的一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于:所述上稳定平台(8.0)上连接有舷梯支座(12),所述下舷梯(1.6)通过角铁(10)与吊臂(9)相连接,所述吊臂(9)与舷梯支座(12)通过插栓卡扣(11)相连接。3. A three-degree-of-freedom marine covered bridge device with motion compensation capability according to claim 1, characterized in that: the upper stable platform (8.0) is connected with a gangway support (12), and the lower gangway is connected with a gangway support (12). (1.6) The boom (9) is connected with the boom (9) through the angle iron (10), and the boom (9) is connected with the gangway support (12) through the latch (11). 4.根据权利要求3所述的一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于:所述上稳定平台(8.0)包括上层稳定平台一(8.3)和上层稳定平台二(8.4),所述上层稳定平台一(8.3)和上层稳定平台二(8.4)通过螺栓固定连接在一起构成上稳定平台(8.0),所述上层稳定平台一(8.3)用于固定第一虎克铰(8.1),所述上层稳定平台二(8.4)用于固定舷梯支座(12)。4. A three-degree-of-freedom marine covered bridge device with motion compensation capability according to claim 3, characterized in that: the upper stable platform (8.0) comprises an upper stable platform one (8.3) and an upper stable platform two ( 8.4), the upper stable platform one (8.3) and the upper stable platform two (8.4) are connected together by bolts to form an upper stable platform (8.0), and the upper stable platform one (8.3) is used to fix the first Hooke The hinge (8.1), the upper stable platform II (8.4) is used to fix the gangway support (12). 5.根据权利要求2所述的一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于:所述第一虎克铰(8.1)包括上支撑法兰架(8.1.1)、横轴(8.1.6)、纵轴(8.1.3)、以及下支撑法兰架(8.1.4),所述下支撑法兰架(8.1.4)的轴孔中设置有第一端盖轴承(8.1.2),所述横轴(8.1.6)安装在端盖轴承(8.1.2)上;所述横轴(8.1.6)中间设有通孔(8.1.8),通孔(8.1.8)上端设有螺纹孔(8.1.7),所述纵轴(8.1.3)穿过横轴(8.1.6)的通孔(8.1.8)安装在上支撑法兰架(8.1.1)的第二端盖轴承(8.1.6)上,所述横轴(8.1.6)与纵轴(8.1.3)通过横轴(8.1.6)中间通孔(8.1.8)上端的螺栓孔(8.1.7)使用限位螺栓固定连接。5. A three-degree-of-freedom marine covered bridge device with motion compensation capability according to claim 2, characterized in that: the first Hooke hinge (8.1) comprises an upper support flange frame (8.1.1), The horizontal axis (8.1.6), the longitudinal axis (8.1.3), and the lower support flange frame (8.1.4), the shaft hole of the lower support flange frame (8.1.4) is provided with a first end cover Bearing (8.1.2), the horizontal shaft (8.1.6) is installed on the end cover bearing (8.1.2); the horizontal shaft (8.1.6) is provided with a through hole (8.1.8) in the middle, and the through hole (8.1.8) The upper end is provided with a threaded hole (8.1.7), and the longitudinal shaft (8.1.3) passes through the through hole (8.1.8) of the horizontal shaft (8.1.6) and is installed on the upper support flange (8.1.8). 8.1.1) on the second end cover bearing (8.1.6), the transverse axis (8.1.6) and the longitudinal axis (8.1.3) pass through the middle through hole (8.1.8) of the transverse axis (8.1.6) Bolt holes (8.1.7) at the upper end are fixed with limit bolts. 6.根据权利要求2所述的一种具有运动补偿能力的三自由度海上廊桥装置,其特征在于:所述第二虎克铰(8.5)包括固定架(8.5.1)和横轴(8.1.5),所述横轴(8.1.5)安装在固定架(8.5.1)的通孔(8.5.2)的端盖轴承(8.5.3)上并与上稳定平台(8.0)的质心保持在同一水平面上。6. A three-degree-of-freedom marine covered bridge device with motion compensation capability according to claim 2, characterized in that: the second Hooke hinge (8.5) comprises a fixing frame (8.5.1) and a horizontal axis ( 8.1.5), the transverse shaft (8.1.5) is installed on the end cover bearing (8.5.3) of the through hole (8.5.2) of the fixing frame (8.5.1) and is connected with the upper stabilization platform (8.0). The centroid remains on the same level.
CN202110989824.6A 2021-08-26 2021-08-26 Three-degree-of-freedom offshore gallery bridge device with motion compensation capability Pending CN113699867A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110989824.6A CN113699867A (en) 2021-08-26 2021-08-26 Three-degree-of-freedom offshore gallery bridge device with motion compensation capability

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110989824.6A CN113699867A (en) 2021-08-26 2021-08-26 Three-degree-of-freedom offshore gallery bridge device with motion compensation capability

Publications (1)

Publication Number Publication Date
CN113699867A true CN113699867A (en) 2021-11-26

Family

ID=78655372

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110989824.6A Pending CN113699867A (en) 2021-08-26 2021-08-26 Three-degree-of-freedom offshore gallery bridge device with motion compensation capability

Country Status (1)

Country Link
CN (1) CN113699867A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114771744A (en) * 2022-04-20 2022-07-22 燕山大学 Marine transfer accommodation bridge comprising three-degree-of-freedom stable platform
CN114834598A (en) * 2022-05-30 2022-08-02 江苏航运职业技术学院 Marine wind power maintenance ship gangway ladder with built-in compensation
CN114852260A (en) * 2022-04-06 2022-08-05 大连海事大学 A flexible offshore retractable covered bridge with compensation and lifting functions
CN115520321A (en) * 2022-11-04 2022-12-27 南通赛君海洋科技有限公司 Three-degree-of-freedom wave compensation platform
CN115743443A (en) * 2022-11-18 2023-03-07 广东智能无人系统研究院 Three-degree-of-freedom wave compensation platform

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004004986A2 (en) * 2002-07-09 2004-01-15 Amir Khajepour Light weight parallel manipulators using active/passive cables
CN1644312A (en) * 2005-02-06 2005-07-27 燕山大学 Four freedom parallel robot mechanism with passive bound branch
CN102034375A (en) * 2010-12-08 2011-04-27 大连理工大学 Series-parallel seven-degree-of-freedom tank simulator
CN204019539U (en) * 2014-09-12 2014-12-17 江苏南方雄狮建设工程有限公司 Construction robot parallel connection platform travel mechanism installed by curtain wall
CN105539744A (en) * 2016-02-26 2016-05-04 福建省新能海上风电研发中心有限公司 Active compensation type offshore platform ascending and inshore device and using method thereof
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
CN107675607A (en) * 2016-10-28 2018-02-09 福建省新能海上风电研发中心有限公司 A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle
CN108748093A (en) * 2018-05-31 2018-11-06 北京空间飞行器总体设计部 A kind of single branch of four branch driving it is servo-actuated and go here and there synchronous hybrid device
CN109664329A (en) * 2019-01-24 2019-04-23 中国科学院长春光学精密机械与物理研究所 A kind of compact high rigidity Hooke's hinge
CN109938933A (en) * 2019-03-27 2019-06-28 上海工程技术大学 A self-balancing mobile transfer platform
CN110700073A (en) * 2019-09-17 2020-01-17 贵州航天天马机电科技有限公司 Large-scale multi-functional marine structures personnel step on and lean on step bridge
CN213168493U (en) * 2020-09-30 2021-05-11 西咸新区双玉智能科技有限公司 Sea wave ship simulator

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004004986A2 (en) * 2002-07-09 2004-01-15 Amir Khajepour Light weight parallel manipulators using active/passive cables
CN1644312A (en) * 2005-02-06 2005-07-27 燕山大学 Four freedom parallel robot mechanism with passive bound branch
CN102034375A (en) * 2010-12-08 2011-04-27 大连理工大学 Series-parallel seven-degree-of-freedom tank simulator
CN204019539U (en) * 2014-09-12 2014-12-17 江苏南方雄狮建设工程有限公司 Construction robot parallel connection platform travel mechanism installed by curtain wall
CN105539744A (en) * 2016-02-26 2016-05-04 福建省新能海上风电研发中心有限公司 Active compensation type offshore platform ascending and inshore device and using method thereof
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
CN107675607A (en) * 2016-10-28 2018-02-09 福建省新能海上风电研发中心有限公司 A kind of six degree of freedom Active Compensation formula offshore platform steps on the application method for multiplying trestle
CN108748093A (en) * 2018-05-31 2018-11-06 北京空间飞行器总体设计部 A kind of single branch of four branch driving it is servo-actuated and go here and there synchronous hybrid device
CN109664329A (en) * 2019-01-24 2019-04-23 中国科学院长春光学精密机械与物理研究所 A kind of compact high rigidity Hooke's hinge
CN109938933A (en) * 2019-03-27 2019-06-28 上海工程技术大学 A self-balancing mobile transfer platform
CN110700073A (en) * 2019-09-17 2020-01-17 贵州航天天马机电科技有限公司 Large-scale multi-functional marine structures personnel step on and lean on step bridge
CN213168493U (en) * 2020-09-30 2021-05-11 西咸新区双玉智能科技有限公司 Sea wave ship simulator

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114852260A (en) * 2022-04-06 2022-08-05 大连海事大学 A flexible offshore retractable covered bridge with compensation and lifting functions
CN114771744A (en) * 2022-04-20 2022-07-22 燕山大学 Marine transfer accommodation bridge comprising three-degree-of-freedom stable platform
CN114771744B (en) * 2022-04-20 2024-04-30 燕山大学 Marine transport gangway bridge with three-degree-of-freedom stabilized platform
CN114834598A (en) * 2022-05-30 2022-08-02 江苏航运职业技术学院 Marine wind power maintenance ship gangway ladder with built-in compensation
CN115520321A (en) * 2022-11-04 2022-12-27 南通赛君海洋科技有限公司 Three-degree-of-freedom wave compensation platform
CN115520321B (en) * 2022-11-04 2024-05-14 南通赛君海洋科技有限公司 Three-degree-of-freedom wave compensation platform
CN115743443A (en) * 2022-11-18 2023-03-07 广东智能无人系统研究院 Three-degree-of-freedom wave compensation platform

Similar Documents

Publication Publication Date Title
CN113699867A (en) Three-degree-of-freedom offshore gallery bridge device with motion compensation capability
CN110719886B (en) Motion compensated crane for use on a marine vessel
CN110114298B (en) Crane, ship and load transfer method for compensation of wave-induced motion for use on ships at sea
CN109534188B (en) A rigid-flexible hybrid wave motion compensation device for an offshore floating hoisting platform
EP2952426B1 (en) Twin hull vessel with roll and pitch damping devices
CN106044585B (en) A kind of offshore wind turbine integral hoisting device for rapid of multiple degrees of freedom compensation
CN108839758B (en) Survey equipment retraction device and retraction method for offshore engineering shipborne platform
CA2873686C (en) Handling loads in offshore environments
CN108862056B (en) A wave compensation marine A-type mast base
CN206049991U (en) A kind of new marine self-balancing changes to device
CN115812066A (en) Ships with cranes for raising and lowering offshore wind turbines or their components
CN114852260B (en) Flexible marine scalable corridor bridge with compensation and jack-up function
CN116902830A (en) Active-passive shipborne crane heave compensation device based on gear-rack mechanism
CN114803898B (en) A marine knuckle-arm crane capable of compensating the multi-degree-of-freedom motion of the hull
CN113005877A (en) Marine corridor bridge
CN105858507B (en) Folding rocker arm type anti-rolling device for marine crane
CN211618000U (en) Retraction device on seabed mining vehicle ship
EP2895419B1 (en) System for reducing the counterweight of a crane
CN113120172A (en) Retracting device for underwater equipment
CN116675122A (en) Multifunctional offshore corridor bridge with hoisting compensation and landing functions
CN105829203A (en) Saddle and hook system
CN205892567U (en) Marine fan integral hoisting device of multi freedom compensation
CN115557387A (en) Longitudinal cantilever type yacht crane with beam suspension arm
LU508029B1 (en) A multifunctional offshore gangway with integrated lifting compensation and landing capabilities
CN117087818B (en) A-shaped frame submersible vehicle cloth-laying, recycling and swing-reducing device and working method thereof

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: 20211126