CN116280026B - Marine wind power operation and maintenance wave compensation leaning ladder platform - Google Patents
Marine wind power operation and maintenance wave compensation leaning ladder platform Download PDFInfo
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- CN116280026B CN116280026B CN202310110058.0A CN202310110058A CN116280026B CN 116280026 B CN116280026 B CN 116280026B CN 202310110058 A CN202310110058 A CN 202310110058A CN 116280026 B CN116280026 B CN 116280026B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000010008 shearing Methods 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 230000007306 turnover Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 229910003460 diamond Inorganic materials 0.000 claims description 2
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- 230000033001 locomotion Effects 0.000 description 5
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- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000003028 elevating effect Effects 0.000 description 2
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- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
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Abstract
The invention discloses an offshore wind power operation and maintenance wave compensation ladder leaning platform, which comprises a mounting base, wherein the mounting base is mounted at the central position behind a bow guardrail of an operation and maintenance ship front deck, the center of the mounting base is rigidly connected with a hinged support, a shearing and lifting mechanism is mounted on the hinged support, three groups of electric cylinder driving mechanisms are arranged below the shearing and lifting mechanism, a range-increasing mechanism is mounted between the shearing and lifting mechanism and the balance guide rail mechanism, the balance guide rail mechanism is arranged above the range-increasing mechanism, the top of the balance guide rail mechanism is connected with a carrying platform, and the mounting base is provided with an inertial sensing measurement system.
Description
Technical Field
The invention relates to the technical field of wave compensation, in particular to a marine wind power operation and maintenance wave compensation ladder leaning platform.
Background
The offshore wind power operation and maintenance ship is a special ship for operation and maintenance of an offshore wind power generator set, has good motion performance in waves, has good comfort in navigation, can accurately lean against a foundation of the wind power generator set at a low speed, prevents the foundation from causing large impact, can be in continuous contact with the foundation, and can safely and conveniently transport personnel and equipment to the wind power generator set.
In the process that wind power operation and maintenance personnel ascend to a station ladder of an offshore wind power station from an operation and maintenance ship, under the influence of wind, waves and currents, the operation and maintenance ship can generate heave, pitching and rolling motions, the relative motion between the ship head of the operation and maintenance ship and the station ladder of the wind power station can seriously threaten the personal safety of the station operation and maintenance personnel, and serious casualties can be caused once the operation and maintenance personnel are careless.
Most of existing compensation platform technologies adopt the design scheme of a multi-electric-cylinder two-end hinged direct-connection driving compensation platform, the design scheme is limited and the working characteristics of electric cylinders are limited, the problems of small compensation stroke, low pushing speed and the like are unavoidable in practical application, and the ideal compensation effect is difficult to achieve by the existing wave compensation platform scheme for wind power operation and maintenance ships with light tonnage and severe shaking.
Disclosure of Invention
The invention aims to: the invention aims to solve the defects in the prior art and provides an offshore wind power operation and maintenance wave compensation ladder leaning platform.
The technical scheme is as follows: the invention relates to an offshore wind power operation and maintenance wave compensation ladder leaning platform, which comprises a mounting base, wherein the mounting base is mounted at the central position behind a bow guardrail of a front deck of an operation and maintenance ship, the bow direction at the left side is right in front, the center of the mounting base is rigidly connected with a hinged support, the front and rear ends of the top end of the hinged support are fixedly connected with a hinged support, the axial direction of the hinged support is horizontally forward, and a group of threaded holes are respectively formed in the central positions of two sides of the front end and the rear end of the mounting base;
install on the articulated support and cut elevating system, cut elevating system and include: the four short connecting rods, the central supporting connecting rod, the two end supporting connecting rods, the central shaft hole connecting rod and the pin shaft I, the central shaft hole of the central supporting connecting rod is hinged with the hinged support of the hinged support through the pin shaft I, the front end hinge holes of the short connecting rod I and the short connecting rod II are hinged on the hinged shafts on the two sides of the two end supporting connecting rods, the rear end hinge holes of the short connecting rod I and the short connecting rod II are hinged on the hinged shafts on the two sides of the central supporting connecting rod, the front end hinge holes of the short connecting rod III and the short connecting rod IV are hinged on the hinged shafts on the two sides of the central shaft hole connecting rod;
three groups of electric cylinder driving mechanisms are arranged below the shearing mechanism, each electric cylinder driving mechanism comprises a servo electric cylinder, a hook joint and a centripetal manufacturing support bearing, the upper end of the hook joint is rigidly fixed with the tail end of a cylinder body of the servo electric cylinder, the centripetal support bearing is arranged on a push rod lug plate of the servo electric cylinder, the lower end of the hook joint is rigidly arranged in a threaded hole through a bolt, the centripetal manufacturing support bearing I and the centripetal manufacturing support bearing II are hinged on hinge shafts at two sides of support connecting rods at two ends, and the centripetal manufacturing support bearing III is hinged on a central hinge shaft of a central shaft hole connecting rod;
the distance-increasing mechanism comprises four long connecting rods and three connecting rods, wherein the lower end hinge holes of the first long connecting rod and the second long connecting rod are hinged to the hinge shafts at two sides of the supporting connecting rods, the center hinge holes of the first long connecting rod and the second long connecting rod are hinged to the hinge shafts at two sides of the first connecting rod, the upper end hinge holes of the first long connecting rod and the second long connecting rod are hinged to the hinge shafts at two sides of the second connecting rod, the upper end hinge holes of the third long connecting rod and the fourth long connecting rod are hinged to the hinge shafts at two sides of the third connecting rod, the center hinge holes of the third long connecting rod and the fourth long connecting rod are hinged to the hinge shafts at two sides of the first connecting rod, and the lower end hinge holes of the third long connecting rod and the fourth long connecting rod are hinged to the hinge shafts at two sides of the connecting rod at the center shaft hole;
the balance guide rail mechanism comprises two guide rails, four guide rail wheels, four limit connecting rods and a pin shaft, the guide rail I and the guide rail II are fixedly arranged below the carrying platform, the guide rail wheel I and the guide rail wheel II are respectively hinged on hinge shafts on two sides of the connecting rod III, the guide rail wheel III and the guide rail wheel IV are respectively hinged on hinge shafts on two sides of the connecting rod II, the guide rail wheel I and the guide rail wheel III can freely roll along the guide rail I, the guide rail wheel II and the guide rail wheel IV can freely roll along the guide rail II, and the four limit connecting rods comprise a limit connecting rod I, a limit connecting rod II, a limit connecting rod III and a limit connecting rod IV;
the top of the balance guide rail mechanism is connected with a carrying platform, the carrying platform is provided with a carrying platform main body, a left end lug plate hinge hole of the carrying platform main body is hinged with a tail end lug plate hinge hole of a boarding turnover pedal through a pin roll eight, a tail end gear of the boarding turnover pedal is linked with a rotor of a positioning motor through a gear pair, and the positioning motor is fixedly arranged at the left end of the carrying platform main body;
the installation base is provided with an inertial sensing measurement system, the inertial sensing measurement system comprises two accelerometers, two double-shaft inclination gyroscopes, a filter amplifier and a collection plate, the first accelerometer and the first double-shaft inclination gyroscopes are fixedly installed at the central position of the installation base, the second accelerometer and the second double-shaft inclination gyroscopes are fixedly installed at the central position of the carrying platform, the filter amplifier and the collection plate can upload measurement results of the accelerometers and the double-shaft inclination gyroscopes to the controller, and the controller drives three groups of electric cylinder driving mechanisms to complete control of the compensation system.
The invention is further improved in that the mounting base is composed of a rectangular steel plate, the hinged support is positioned right above the center point of the rectangle, the center points of the threaded holes are distributed in an isosceles triangle shape, and the middle point of the symmetry axis of the isosceles triangle is overlapped with the mounting point of the hinged support.
The invention is further improved in that the shearing mechanism, the range extending mechanism and the balance guide rail mechanism are symmetrically arranged, the four short connecting rods have the same size, the four long connecting rods have the same size, the two guide rails have the same size, the four limit connecting rods have the same size, the four guide rail wheels of the balance guide rail mechanism have the same size, the three connecting rods have the same size, and the central support connecting rod, the two end support connecting rods, the central shaft hole connecting rod and the three connecting rods have the same length.
The invention further improves that the reaming distance of the left end and the right end of the short connecting rod is twice that of the left end and the right end of the limiting connecting rod, the reaming distance of the left end and the right end of the long connecting rod is twice that of the left end and the right end of the short connecting rod, the center reaming of the long connecting rod is positioned at the midpoint of the reaming of the left end and the right end of the long connecting rod, the 1/4 reaming position of the long connecting rod is positioned at the midpoint position of the center reaming of the long connecting rod and the reaming of the two ends, the short connecting rod and the long connecting rod are in two diamond-shaped mechanisms which are vertically arranged, and when the electric cylinder driving mechanism pushes the central supporting connecting rod and the two end supporting connecting rods to ascend or descend for a distance, the guide rail wheels can ascend or descend three times synchronously, so that the compensation stroke and the compensation speed are improved.
The invention is further improved in that the boarding and overturning pedal can rotate within the range of 0-90 degrees relative to the carrying platform, and when the boarding and overturning pedal is overturned by 90 degrees, the boarding and overturning pedal and the safety barrier can form a falling-preventing structure with surrounding barriers, so that the safety of personnel is ensured; when the boarding turnover pedal is laid down by 0 degrees, the boarding turnover pedal can be connected with a carrying platform and a boarding ladder for personnel to climb the ladder.
The invention is further improved in that the lower end hinge hole of the first limit connecting rod is hinged with the hinge hole at the 1/4 length position of the third long connecting rod through a second pin shaft, the lower end hinge hole of the second limit connecting rod is hinged with the hinge hole at the 1/4 length position of the fourth long connecting rod through a third pin shaft, the lower end hinge hole of the third limit connecting rod is hinged with the hinge hole at the 1/4 length position of the first long connecting rod through a fourth pin shaft, and the lower end hinge hole of the fourth limit connecting rod is hinged with the hinge hole at the 1/4 length position of the second long connecting rod through a fifth pin shaft.
The invention is further improved in that the carrying platform body is provided with a safety barrier, and the boarding and turning pedal is provided with a pedal.
A further improvement of the invention is that the pedal is provided with a pedal guard.
The invention is further improved in that the upper end hinge holes of the first limit connecting rod and the third limit connecting rod are hinged with the central lug plate hinge hole of the first guide rail through a pin shaft six, and the upper end hinge holes of the second limit connecting rod and the fourth limit connecting rod are hinged with the central lug plate hinge hole of the second guide rail through a pin shaft seven.
Compared with the prior art, the offshore wind power operation and maintenance wave compensation ladder leaning platform provided by the invention has the advantages that at least the following effects are realized:
the wind power operation and maintenance wave compensation leaning ladder platform is arranged on a deck in the center of the rear of a bow enclosing baffle, when a mounting base moves in three directions of heave, roll and pitch along with a ship under the action of waves, the heave displacement, the pitching inclination angle and the left-right inclination angle of the mounting base and the carrying platform are detected and calculated through an inertial sensor, the expansion and contraction quantity of a first servo electric cylinder to a third servo electric cylinder is calculated through a control system algorithm, the push rod of the first servo electric cylinder to the third servo electric cylinder is controlled to move through a servo control system, and the carrying platform is driven to move through a shearing and lifting mechanism, a stroke increasing mechanism and a balance guide rail mechanism, so that the superposition movement in the three directions of heave, roll and pitch is realized, a boarding turning plate and a standing ladder are kept relatively static, the structure is compact and reasonable, the requirements on parts and the control system are low, the use cost is reduced, and the wind power operation and maintenance wave compensation leaning ladder is safe and reliable.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a three-dimensional structure of a marine wind power operation and maintenance wave compensation ladder leaning platform;
FIG. 2 is a front view of the present invention;
FIG. 3 is a right side view of the present invention;
fig. 4 is an assembly schematic diagram of the scissor mechanism, range extending mechanism and balance guide mechanism of the present invention.
Wherein, 1-mounting the base; 101-hinging a bracket; 2-an electric cylinder driving mechanism; 201-servo electric cylinder I; 202-a second servo electric cylinder; 203-a servo electric cylinder III; 204-Hooke's joint I; 205-Hooke hinge II; 206-Hooke's joint III; 207-centripetally manufacturing a first support bearing; 208-centripetally manufacturing a second support bearing; 209-centripetally manufacturing a support bearing III; 3-a shearing and lifting mechanism; 301-short link one; 302-a second short connecting rod; 303-a short connecting rod III; 304-a short connecting rod IV; 305-a central support connection rod; 306-two ends support the connecting rod; 307-central shaft hole connecting rod; 308-pin one; 4-a range extending mechanism; 401-long link one; 402-a second long connecting rod; 403-long connecting rod III; 404-long connecting rod IV; 405-connecting rod one; 406-connecting rod two; 407-connecting rod three; 5-balancing a guide rail mechanism; 501-a first guide rail; 502-a second guide rail; 503-guide rail wheel one; 504-guide rail wheel two; 505-rail wheel three; 506-guide rail wheel four; 507-first limit connecting rod; 508-limiting a second connecting rod; 509-limit connecting rod III; 510-a limit connecting rod IV; 511-a second pin shaft; 512-pin three; 513-Pin IV; 514-pin five; 515-pin six; 516-pin seven; 6-a carrying platform; 601-a carrying platform body; 602-a safety barrier; 603-positioning a motor; 604-a pin eight; 7-stepping on a station to turn over a pedal; 701-pedal; 702-step guard rail; 8-an inertial sensing measurement system; 801-accelerometer one; 802-biaxial inclination gyroscope I; 803-accelerometer two; 804-biaxial inclination gyroscope two.
Description of the embodiments
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but, where appropriate, should be considered as part of the specification, any particular value being construed as being exemplary only and not limiting in all examples shown and discussed herein. Thus, other examples of exemplary embodiments may have different values.
Referring to the accompanying drawings 1-4 of the specification, the offshore wind power operation and maintenance wave compensation ladder leaning platform comprises a mounting base 1, wherein the mounting base 1 is mounted at the central position of a front deck of an operation and maintenance ship, which leans against the rear of a bow guardrail, the bow direction on the left side is right in front, the center of the mounting base 1 is rigidly connected with a hinged support 101, the front end and the rear end of the hinged support 101 are fixedly connected with hinged supports, the axial direction of each hinged support is horizontally forward, and a group of threaded holes are respectively formed in the central positions of two sides of the front end and the rear end of the mounting base 1;
the articulated bracket is provided with a shearing mechanism 3, and the shearing mechanism 3 comprises: the four short connecting rods, a central supporting connecting rod 305, two end supporting connecting rods 306, a central shaft hole connecting rod 307 and a pin shaft one 308, wherein the central shaft hole of the central supporting connecting rod 305 is hinged with a hinged support of the hinged support 101 through the pin shaft one 308, front end hinge holes of the short connecting rod one 301 and the short connecting rod two 302 are hinged on two side hinge shafts of the two end supporting connecting rod 306, rear end hinge holes of the short connecting rod one 301 and the short connecting rod two 302 are hinged on two side hinge shafts of the central supporting connecting rod 305, front end hinge holes of the short connecting rod three 303 and the short connecting rod four 304 are hinged on two side hinge shafts of the central supporting connecting rod 305, and rear end hinge holes of the short connecting rod three 303 and the short connecting rod four 304 are hinged on two side hinge shafts of the central shaft hole connecting rod 307;
the lower part of the shearing mechanism is provided with three groups of electric cylinder driving mechanisms 2, each electric cylinder driving mechanism 2 comprises a first servo electric cylinder 201, a second servo electric cylinder 202, a third servo electric cylinder 203, a first hook joint 204, a second hook joint 205 and a third hook joint 206, a first centripetally manufactured support bearing 207, a second centripetally manufactured support bearing 208 and a third centripetally manufactured support bearing 209, the upper end of the first hook joint 204 is rigidly fixed with the tail end of a cylinder body of the first servo electric cylinder 201, the first centripetally manufactured support bearing 207 is mounted on a push rod of the first servo electric cylinder 201, the upper end of the second hook joint 205 is rigidly fixed with the tail end of the cylinder body of the second servo electric cylinder 202, the second centripetally manufactured support bearing 208 is mounted on the push rod of the second servo electric cylinder 202, the upper end of the third hook joint 206 is rigidly fixed with the tail end of the cylinder body of the third servo electric cylinder 203, the first hook joint 204 and the lower end of the second hook joint 205 are respectively rigidly mounted on threaded holes on two sides of the front end of the first servo electric cylinder 203 through bolts, the first hook joint 204 and the second centripetally manufactured support 205 are respectively mounted on two sides of the front end of the first centripetally manufactured support 206 through the center bolts, and the lower end of the first hook joint 206 is rigidly mounted on the center mounting plate and the two sides of the center support shaft 206 are respectively mounted on the two sides of the center support shafts; the third radial support bearing 203 is hinged on a central hinge shaft of the central shaft hole connecting rod 307;
a range extending mechanism 4 is arranged between the shearing mechanism 3 and the balance guide rail mechanism 5, and the range extending mechanism 4 comprises a first long connecting rod 401, a second long connecting rod 402, a third long connecting rod 403, a fourth long connecting rod 404, a first connecting rod 405, a second connecting rod 406 and a third connecting rod 407, wherein the lower end hinge holes of the first long connecting rod 401 and the second long connecting rod 402 are hinged on two side hinge shafts of the two end supporting connecting rods 306, the center hinge holes of the first long connecting rod 401 and the second long connecting rod 403 are hinged on two side hinge shafts of the first connecting rod 405, the upper end hinge holes of the first long connecting rod 401 and the second long connecting rod 403 are hinged on two side hinge shafts of the second connecting rod 406, the upper end hinge holes of the third long connecting rod 403 and the fourth long connecting rod 404 are hinged on two side hinge shafts of the third connecting rod 407, and the center hinge holes of the third long connecting rod 403 and the fourth connecting rod 404 are hinged on two side hinge shafts of the center shaft hole connecting rod 307;
the balance guide rail mechanism 5 is arranged above the range extending mechanism 4, the balance guide rail mechanism 5 comprises a first guide rail 501, a second guide rail 502, a first guide rail wheel 503, a second guide rail wheel 504, a third guide rail wheel 505, a fourth guide rail wheel 506, a first limit connecting rod 507, a second limit connecting rod 508, a third limit connecting rod 509, a fourth limit connecting rod 510, a second pin 511, a third pin 512, a fourth pin 513, a fifth pin 514, a sixth pin 515 and a seventh pin 516, the first guide rail 501 and the second guide rail 502 are fixedly arranged below the carrying platform 6, the first guide rail wheel 503 and the second guide rail wheel 504 are respectively hinged on two hinge shafts of the third guide rail 407, the third guide rail wheel 505 and the fourth guide rail wheel 504 are respectively hinged on two hinge shafts of the second guide rail 406, the first guide rail wheel 503 and the third guide rail wheel 505 can freely roll along the first guide rail 501, and the fourth guide rail wheel 506 can freely roll along the second guide rail 502;
the top of the balance guide rail mechanism 5 is connected with a carrying platform 6, the carrying platform 6 is provided with a carrying platform main body 601, a left end lug plate hinge hole of the carrying platform main body 601 is hinged with a tail end lug plate hinge hole of the boarding turning pedal 7 through a pin roll eight 604, a tail end gear of the boarding turning pedal 7 is linked with a rotor of a positioning motor 603 through a gear pair, and the positioning motor 603 is fixedly arranged at the left end of the carrying platform main body 601;
the inertial sensing measurement system 8 is installed on the installation base 1, the inertial sensing measurement system 8 comprises an accelerometer I801, a biaxial inclination angle gyroscope I802, an accelerometer II 803, a biaxial inclination angle gyroscope II 804, a filter amplifier and an acquisition board, the accelerometer I801 and the biaxial inclination angle gyroscope I802 are fixedly installed at the central position of the installation base 1, the accelerometer II 803 and the biaxial inclination angle gyroscope II 804 are fixedly installed at the central position of the carrying platform 6, the filter amplifier and the acquisition board can upload measurement results of the accelerometer and the biaxial inclination angle gyroscope to the controller, and the controller drives three groups of electric cylinder driving mechanisms to complete the control of the compensation system.
The installation base 1 is composed of a rectangular steel plate, the hinged support 101 is located right above the rectangular center point, the center points of the threaded holes are distributed in an isosceles triangle shape, and the middle points of symmetry axes of the isosceles triangle shape coincide with the installation point positions of the hinged support 101.
The shearing and lifting mechanism 3, the range extending mechanism 4 and the balance guide rail mechanism 5 are symmetrically distributed, the four short connecting rods are identical in size, the four long connecting rods are identical in size, the two guide rails are identical in size, the four limit connecting rods are identical in size, the four guide rail wheels of the balance guide rail mechanism are identical in size, the three connecting rods are identical in size, and the central support connecting rod, the two end support connecting rods, the central shaft hole connecting rod and the three connecting rods are identical in length.
The reaming distance of the left end and the right end of the short connecting rod is twice that of the limiting connecting rod, the reaming distance of the left end and the right end of the long connecting rod is twice that of the left end and the right end of the short connecting rod, the center reaming of the long connecting rod is positioned at the midpoint of the reaming of the left end and the right end of the long connecting rod, the 1/4 reaming position of the long connecting rod is positioned at the midpoint of the center reaming of the long connecting rod and the reaming of the two ends, the short connecting rod and the long connecting rod are in two vertically arranged diamond mechanisms, and when the electric cylinder driving mechanism pushes the central supporting connecting rod and the two end supporting connecting rods to ascend or descend for a certain distance, the guide rail wheels can ascend or descend three times synchronously, so that the compensation stroke and the compensation speed are improved.
The boarding and turning pedal 7 can rotate within the range of 0-90 degrees relative to the carrying platform, and when the boarding and turning pedal 7 turns up at 90 degrees, the boarding and turning pedal 7 and the safety barrier 602 can form a falling-preventing structure with surrounding barriers, so that the safety of personnel is ensured; when the boarding turnover pedal 7 is laid down at 0 degrees, the carrying platform 6 and the boarding ladder can be connected for personnel to climb the ladder.
The lower end hinge hole of the first limit connecting rod 507 is hinged with the hinge hole of the third long connecting rod 403 at the 1/4 length position through a second pin 511, the lower end hinge hole of the second limit connecting rod 508 is hinged with the hinge hole of the fourth long connecting rod 404 at the 1/4 length position through a third pin 512, the lower end hinge hole of the third limit connecting rod 509 is hinged with the hinge hole of the first long connecting rod 401 at the 1/4 length position through a fourth pin 513, and the lower end hinge hole of the fourth limit connecting rod 510 is hinged with the hinge hole of the second long connecting rod 402 at the 1/4 length position through a fifth pin 514.
The carrying platform main body 601 is provided with a safety guardrail 602, and a landing turning pedal 7 is provided with a pedal 701; the pedal 701 is provided with the pedal guard 702, so that the pedal guard has two purposes, reduces the weight and saves the cost.
The upper end hinge holes of the first limit connecting rod 507 and the third limit connecting rod 509 are hinged with the central lug plate hinge hole of the first guide rail 501 through a pin shaft six 515, and the upper end hinge holes of the second limit connecting rod 508 and the fourth limit connecting rod 510 are hinged with the central lug plate hinge hole of the second guide rail 502 through a pin shaft seven 516.
When the wind power operation and maintenance wave compensation ladder is operated, the wind power operation and maintenance wave compensation ladder is arranged on a deck in the center of the rear of the bow enclosing shield, when the installation base moves in three directions of heave, roll and pitch along with a ship under the action of waves, the heave displacement, the pitching inclination angle and the left-right inclination angle of the installation base and the carrying platform are detected and calculated through the inertial sensor, the expansion and contraction quantity of the first servo electric cylinder to the third servo electric cylinder is calculated through a control system algorithm, the push rod of the first servo electric cylinder to the third servo electric cylinder is controlled through the servo control system to move, and the carrying platform is driven through the shearing mechanism, the range increasing mechanism and the balance guide rail mechanism in a transmission mode, so that the superposition movement in the three directions of heave, roll and pitch is realized.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (7)
1. The marine wind power operation and maintenance wave compensation ladder leaning platform is characterized by comprising a mounting base, wherein the mounting base is mounted at the central position behind a bow guardrail of a front deck of an operation and maintenance ship, the bow direction on the left side is right in front, the center of the mounting base is rigidly connected with a hinged support, the front end and the rear end of the hinged support are fixedly connected with hinged supports, the axial direction of each hinged support is horizontally forward, and a group of threaded holes are respectively formed in the central positions of two sides of the front end and the rear end of the mounting base;
install shearing mechanism on the articulated support, shearing mechanism includes: the four short connecting rods, the central supporting connecting rod, the two end supporting connecting rods, the central shaft hole connecting rod and the pin shaft I, wherein the central shaft hole of the central supporting connecting rod is hinged with the hinged support of the hinged support through the pin shaft I, the front end hinge holes of the short connecting rod I and the short connecting rod II are hinged on the hinged shafts on the two sides of the two end supporting connecting rods, the rear end hinge holes of the short connecting rod I and the short connecting rod II are hinged on the hinged shafts on the two sides of the central supporting connecting rod, the front end hinge holes of the short connecting rod III and the short connecting rod IV are hinged on the hinged shafts on the two sides of the central shaft hole connecting rod;
the lower part of the shearing and lifting mechanism is provided with three groups of electric cylinder driving mechanisms, each electric cylinder driving mechanism comprises a servo electric cylinder, a Hooke hinge and a centripetal manufacturing support bearing, the upper end of each Hooke hinge is rigidly fixed with the tail end of the cylinder body of the servo electric cylinder, each centripetal manufacturing support bearing is arranged on a push rod lug plate of the servo electric cylinder, the lower end of each Hooke hinge is rigidly arranged in the threaded hole through a bolt, the centripetal manufacturing support bearing I and the centripetal manufacturing support bearing II are hinged on hinge shafts at two sides of the support connecting rods at two ends, and the centripetal manufacturing support bearing III is hinged on a central hinge shaft of the central shaft hole connecting rod;
the device comprises a shearing mechanism, a balance guide rail mechanism, a range extending mechanism, a first long connecting rod, a second long connecting rod, a first connecting rod, a second long connecting rod, a third long connecting rod, a fourth long connecting rod, a third long connecting rod and a fourth long connecting rod, wherein the range extending mechanism is arranged between the shearing mechanism and the balance guide rail mechanism and comprises four long connecting rods and three connecting rods;
the balance guide rail mechanism comprises two guide rails, four guide rail wheels, four limit connecting rods and a pin shaft, wherein the guide rail I and the guide rail II are fixedly arranged below the carrying platform, the guide rail wheel I and the guide rail wheel II are respectively hinged on hinge shafts on two sides of a connecting rod III, the guide rail wheel III and the guide rail wheel IV are respectively hinged on hinge shafts on two sides of the connecting rod II, the guide rail wheel I and the guide rail wheel III can freely roll along the guide rail I, the guide rail wheel II and the guide rail wheel IV can freely roll along the guide rail II, and the four limit connecting rods comprise a limit connecting rod I, a limit connecting rod II, a limit connecting rod III and a limit connecting rod IV;
the top of the balance guide rail mechanism is connected with a carrying platform, the carrying platform is provided with a carrying platform main body, a left end lug plate hinge hole of the carrying platform main body is hinged with a tail end lug plate hinge hole of a boarding turnover pedal through a pin roll eight, a tail end gear of the boarding turnover pedal is linked with a rotor of a positioning motor through a gear pair, and the positioning motor is fixedly arranged at the left end of the carrying platform main body;
the installation base is provided with an inertial sensing measurement system which comprises two accelerometers, two double-shaft inclination gyroscopes, a filter amplifier and a collecting plate, wherein the first accelerometer and the first double-shaft inclination gyroscopes are fixedly arranged at the central position of the installation base, the second accelerometer and the second double-shaft inclination angle gyroscope are fixedly arranged at the central position of the carrying platform, and the filter amplifier and the acquisition board can upload measurement results of the accelerometer and the double-shaft inclination angle gyroscope to the controller and drive the three groups of electric cylinder driving mechanisms to complete control of the compensation system through the controller;
the lower end hinge hole of the first limit connecting rod is hinged with the hinge hole at the 1/4 length position of the third long connecting rod through a pin shaft II, the lower end hinge hole of the second limit connecting rod is hinged with the hinge hole at the 1/4 length position of the fourth long connecting rod through a pin shaft III, the lower end hinge hole of the third limit connecting rod is hinged with the hinge hole at the 1/4 length position of the first long connecting rod through a pin shaft IV, and the lower end hinge hole of the fourth limit connecting rod is hinged with the hinge hole at the 1/4 length position of the second long connecting rod through a pin shaft V;
the upper end hinge holes of the first limiting connecting rod and the third limiting connecting rod are hinged with the central lug plate hinge hole of the first guide rail through a pin shaft six, and the upper end hinge holes of the second limiting connecting rod and the fourth limiting connecting rod are hinged with the central lug plate hinge hole of the second guide rail through a pin shaft seven.
2. The offshore wind power operation and maintenance wave compensation leaning ladder platform of claim 1, wherein,
the installation base comprises a rectangular steel plate, the hinged support is located right above the rectangular center point, the center points of the threaded holes are distributed in an isosceles triangle shape, and the middle points of the symmetry axes of the isosceles triangle shape coincide with the installation point positions of the hinged support.
3. The offshore wind power operation and maintenance wave compensation leaning ladder platform of claim 1, wherein,
the shearing and lifting mechanism, the range extending mechanism and the balance guide rail mechanism are symmetrically distributed, the four short connecting rods are identical in size, the four long connecting rods are identical in size, the two guide rails are identical in size, the four limit connecting rods are identical in size, the four guide rail wheels of the balance guide rail mechanism are identical in size, the three connecting rods are identical in size, and the central support connecting rod, the two end support connecting rods, the central shaft hole connecting rod and the three connecting rods are identical in length.
4. The offshore wind power operation and maintenance wave compensation leaning ladder platform of claim 1, wherein,
the reaming distance of the left end and the right end of the short connecting rod is twice that of the limiting connecting rod, the reaming distance of the left end and the right end of the long connecting rod is twice that of the left end and the right end of the short connecting rod, the center reaming of the long connecting rod is positioned at the midpoint of the reaming of the left end and the right end of the long connecting rod, the 1/4 reaming position of the long connecting rod is positioned at the midpoint of the center reaming of the long connecting rod and the reaming of the two ends, the short connecting rod and the long connecting rod are in two vertically arranged diamond mechanisms, and when the electric cylinder driving mechanism pushes the central supporting connecting rod and the two end supporting connecting rods to ascend or descend for a certain distance, the guide rail wheels can ascend or descend three times synchronously, so that the compensation stroke and the compensation speed are improved.
5. The offshore wind power operation and maintenance wave compensation leaning ladder platform of claim 1, wherein,
the boarding turnover pedal can rotate within the range of 0-90 degrees relative to the carrying platform, and can form a falling-preventing structure with surrounding barriers with the safety barrier when the boarding turnover pedal is turned up by 90 degrees, so that the safety of personnel is ensured; when the boarding turnover pedal is laid down by 0 degrees, the boarding turnover pedal can be connected with a carrying platform and a boarding ladder for personnel to climb.
6. The offshore wind power operation and maintenance wave compensation ladder leaning platform according to claim 1, wherein the carrying platform body is provided with a safety barrier, and the boarding turn-over pedal is provided with a pedal.
7. An offshore wind power operation and maintenance wave compensation ladder platform according to claim 6, wherein the step is provided with a step guard.
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| CN202310110058.0A CN116280026B (en) | 2023-02-14 | 2023-02-14 | Marine wind power operation and maintenance wave compensation leaning ladder platform |
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