CN117552314A - Novel multi-degree-of-freedom motion compensation serial-parallel connection offshore gallery bridge and working method thereof - Google Patents

Abstract

The invention provides a novel multi-degree-of-freedom motion compensation serial-parallel connection offshore gallery bridge and a working method thereof. The three-degree-of-freedom compensation stabilizing platform is provided with a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary mixing device, the three-degree-of-freedom parallel platform can compensate the roll, the pitch and the heave of the ship, the novel three-degree-of-freedom reciprocating rotary mixing device can compensate the roll, the pitch and the yaw of the ship, and the stability of the gangway ladder in the landing process is ensured; the tandem motion compensation gangway ladder consists of two telescopic bridge bodies and performs passive compensation on the sway and the surge of the ship, so that the transfer function of personnel is ensured; the tail end flexible connecting device plays a role in buffering the tail end of the gangway ladder, and stable login is guaranteed. The invention effectively compensates the influence of loads such as wind, waves, gushes and the like on offshore operation, and improves the safety and the working efficiency of offshore transfer operation.

Description

Novel multi-degree-of-freedom motion compensation serial-parallel connection offshore gallery bridge and working method thereof

Technical Field

The invention relates to the technical field of ocean engineering, in particular to a novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge and a working method thereof.

Background

Along with the gradual development of landing land resources, the dead office of resource exhaustion is slowly trapped, and the vast sea area is owned in China, and the resources such as abundant energy sources, mineral products and the like are available in the sea, so the development of ocean engineering equipment is imperative. In many marine engineering facilities, the offshore gallery bridge is mainly used for the actions of personnel movement, material and equipment transfer and the like between offshore platforms and vessels and between vessels. The main component stabilization platform of the offshore gallery bridge has many advantages compared with a serial mechanism, such as no accumulated error, high rigidity, high precision, quick response speed and the like, and is widely paid attention in the industrial field.

The stable corridor bridge produced by the current foreign mainstream manufacturer mostly adopts six-degree-of-freedom parallel platforms to compensate ship motion, even on a ship equipped with a dynamic positioning system, the existing six-degree-of-freedom stable corridor bridge still needs to compensate rolling, pitching and heave motion, the problems of high power consumption and high cost exist, the stable platform has limited height, the large-amplitude heave of the ship cannot be compensated when the surge height is large, the stable platform has six parallel driving branched chains, a complex position constraint relationship exists between the stable platform and the stable platform, a stable control algorithm is complex, the precision requirement is high, and the mechanical structure is easy to damage when the algorithm fails.

Therefore, it is necessary to provide a novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge.

Disclosure of Invention

According to the technical problems, the novel multi-degree-of-freedom motion compensation serial-parallel connection offshore gallery bridge and the working method thereof are provided, so that the influence of loads such as wind, waves and surge on offshore operation is effectively compensated, and the safety and the working efficiency of offshore transfer operation are improved.

The invention adopts the following technical means:

novel multi freedom motion compensation series-parallel connection sea corridor bridge includes: the device comprises a multi-degree-of-freedom compensation stabilizing platform, a serial motion compensation gangway ladder and a tail end flexible connecting device which are sequentially connected, wherein the multi-degree-of-freedom compensation stabilizing platform comprises a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary mixing device, the three-degree-of-freedom parallel platform is used for compensating rolling, pitching and heave of a ship, and the novel three-degree-of-freedom reciprocating rotary mixing device is arranged on the three-degree-of-freedom parallel platform and is connected with a rotary table of the serial motion compensation gangway ladder and used for compensating rolling, pitching and pitching of the ship; the serial motion compensation gangway ladder performs pitching motion and telescopic motion and performs passive compensation on the sway and the surge of the ship; the tail end flexible connecting device is connected to the tail ends of the serial motion compensation gangways and used for buffering the tail ends.

Further, the three-degree-of-freedom parallel platform comprises a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, an upper platform, a lower platform and a telescopic upright post, wherein the upper ends of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are connected with the upper platform through Hooke hinges, and the lower ends of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are connected with the lower platform through Hooke hinges and are arranged around the telescopic upright post; the telescopic inner column of the telescopic upright column is connected with the upper platform through a Hooke hinge, and the cylinder sleeve of the telescopic upright column is fixed on the lower platform.

Further, angle sensors are arranged on the rotary table and the lower platform and used for detecting the angle of the platform.

Further, the novel three-degree-of-freedom reciprocating rotary mixing device comprises a transverse movement mechanism, a longitudinal movement mechanism and a rotary movement mechanism, wherein the transverse movement mechanism is arranged on an upper platform of the three-degree-of-freedom parallel platform, the longitudinal movement mechanism is connected to the transverse movement mechanism, and the rotary movement mechanism is connected between the longitudinal movement mechanism and the rotary table; the transverse movement mechanism is used for driving the longitudinal movement mechanism to do transverse reciprocating movement so as to compensate the transverse swinging movement of the ship; the longitudinal movement mechanism is used for driving the rotary table to do longitudinal reciprocating movement so as to compensate the pitching movement of the ship; the rotary motion mechanism is used for driving the rotary table to do rotary motion and compensating the motion of ship bow.

Further, the transverse movement mechanism comprises a transverse hydraulic driving cylinder and two transverse sliding rails, one side of the transverse hydraulic driving cylinder is connected with the upper platform, and a hydraulic rod on the other side is connected with a bottom side platform of the longitudinal movement mechanism; the two transverse sliding rails are arranged in parallel and side by side and fixedly connected with the upper platform; the transverse sliding rail is connected with a transverse sliding block in a sliding manner, and the transverse sliding block is connected with a bottom side platform of the longitudinal movement mechanism; the expansion and contraction direction of the hydraulic rod of the transverse hydraulic driving cylinder is parallel to the two transverse sliding rails; the reciprocating motion of the hydraulic rod of the transverse hydraulic driving cylinder drives the two transverse sliding blocks to reciprocate along the two transverse sliding rails, so that the longitudinal motion mechanism is driven to transversely reciprocate, and the transverse swinging motion of the ship is compensated;

the longitudinal movement mechanism comprises a bottom side platform, a longitudinal hydraulic driving cylinder and two longitudinal sliding rails, one side of the longitudinal hydraulic driving cylinder is connected with the bottom side platform, and a hydraulic rod on the other side is connected with a base of the rotary movement mechanism; the two longitudinal sliding rails are arranged in parallel and side by side and fixedly connected with the bottom side platform; the longitudinal sliding rail is connected with a longitudinal sliding block in a sliding manner, and the longitudinal sliding block is connected with a base of the rotary motion mechanism; the telescopic direction of the hydraulic rod of the longitudinal hydraulic driving cylinder is parallel to the two longitudinal sliding rails; the reciprocating motion of the hydraulic rod of the longitudinal hydraulic driving cylinder drives the two longitudinal sliding blocks to reciprocate along the two longitudinal sliding rails, so that the rotary table is driven to longitudinally reciprocate, and the heave motion compensation of the ship is performed;

the rotary motion mechanism is arranged above the longitudinal motion mechanism and comprises a base, a rotary gear and a hydraulic drive motor, wherein the rotary gear and the hydraulic drive motor are connected with each other, the rotary gear is arranged above the base, and the hydraulic drive motor is arranged below the rotary table and drives the rotary gear through the hydraulic drive motor so as to drive the rotary table to rotate.

Further, the rotary table and the lower platform are provided with pose sensors, and telescopic motions of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are controlled according to the poses measured by the pose sensors, so that compensation of ship rolling, pitching and swaying motions is achieved, and the transverse motion mechanism, the longitudinal motion mechanism and the rotary motion mechanism are controlled to move, so that compensation of ship rolling, swaying and swaying motions is achieved.

Further, the serial motion compensation gangway ladder comprises a rotating table, a first pitching hydraulic driving cylinder, a second pitching hydraulic driving cylinder, a main arm and a telescopic arm, wherein one sides of the first pitching hydraulic driving cylinder, the second pitching hydraulic driving cylinder and the main arm are connected to the rotating table, and the other sides of the first pitching hydraulic driving cylinder and the second pitching hydraulic driving cylinder are connected with the main arm and used for driving the main arm to perform pitching motion; the main arm is connected with the telescopic arm through a telescopic mechanism, and the telescopic mechanism is used for realizing telescopic movement between the telescopic arm and the main arm.

Further, the telescopic mechanism comprises a rope hydraulic driving motor, a wire guide wheel and a rope, wherein the rope hydraulic driving motor is arranged below the main arm, the output end of the rope hydraulic driving motor is connected with the wire guide wheel, the telescopic arm is provided with a wire guide hook and a nylon roller, one side of the rope is wound on the wire guide wheel, and the other side of the rope bypasses the nylon roller to be connected with the wire guide hook; the telescopic arm is nested with the main arm and moves through the retraction and the release of the rope.

Further, the tail end flexible connecting device comprises a first hydraulic buffer cylinder, a second hydraulic buffer cylinder, a third hydraulic buffer cylinder, a fourth hydraulic buffer cylinder, a telescopic upright post, a tail end buffer upper platform and a tail end buffer lower platform, wherein the four hydraulic buffer cylinders are distributed around the telescopic upright post, the upper end of the four hydraulic buffer cylinders is connected with the tail end buffer upper platform, and the lower end of the four hydraulic buffer cylinders is connected with the tail end buffer lower platform; the lower end of the telescopic upright post is connected with the tail end buffering lower platform through a Hooke hinge, and an outer cylinder above the telescopic upright post is connected with the lower part of the tail end buffering upper platform; the top of terminal buffering upper platform is connected with the flexible arm of series connection motion compensation gangway through the link, the front end of terminal buffering upper platform sets up the multilayer ladder, the multilayer ladder is connected through nested mode.

The invention also provides a working method of the novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge, which comprises the following steps:

when the middle ship works on the offshore platform, telescopic movement of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder is performed according to pose data measured by pose sensors in the rotary table and the lower platform, so that rolling, pitching and heave movements of the ship are compensated;

step two, the transverse movement mechanism drives the sliding blocks in the two transverse sliding rails to reciprocate along the track by taking the reciprocation of the transverse hydraulic driving cylinder as power, so as to drive the longitudinal movement mechanism to transversely reciprocate and compensate the transverse swinging movement of the ship; the longitudinal movement mechanism drives the sliding blocks in the two longitudinal sliding rails to reciprocate along the track by taking the reciprocation of the hydraulic rod of the longitudinal hydraulic driving cylinder as power, so as to drive the rotary table to longitudinally reciprocate and compensate the pitching movement of the ship; the rotary gear above the longitudinal movement mechanism is driven by the hydraulic drive motor below the rotary table, so that a rotary function is realized, and further, the movement of the ship bow is compensated;

driving the first pitching hydraulic driving cylinder and the second pitching hydraulic driving cylinder to perform pitching motion when the rotating platform keeps stable, stopping the first pitching hydraulic driving cylinder and the second pitching hydraulic driving cylinder from moving when the required height is reached, and simultaneously driving a rope hydraulic driving motor arranged below the main arm, so as to control the length of a rope connecting the main arm and the telescopic arm, and finally enabling the serial motion compensation gangway to perform telescopic motion;

when the tail end of the tandem motion compensation gangway reaches the offshore platform, placing a tail end buffer lower platform of the tail end flexible connecting device on the offshore platform, reducing impact of impact load on the tandem motion compensation gangway, and starting to transport the offshore stable corridor bridge with the multi-degree-of-freedom compensation stable platform;

and fifthly, when the offshore stable corridor bridge with the multi-degree-of-freedom compensation stable platform finishes working, all the equipment is restored to the initial state.

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

1. according to the invention, the three-degree-of-freedom parallel platform and the novel three-degree-of-freedom reciprocating rotary mixing device are used for coordinated movement, so that six degrees of freedom of movement of rolling, pitching, bowing, swaying, pitching and heaving of the ship due to the influence of loads such as wind wave current can be compensated.

2. The multi-degree-of-freedom compensation stable platform designed by the design of the serial-parallel-serial platform has the advantages of small volume, stable working space, large bearing capacity and the like.

3. The upper platform of the three-degree-of-freedom parallel platform designed by the invention has smaller interference to the lower platform, and is easier to control.

4. According to the invention, through the terminal flexible connecting device, the impact load born by the tail end of the gangway ladder is reduced, the stability of the tail end during landing is ensured, and the landing is safer and more stable.

Based on the reasons, the invention can be widely popularized in the fields of ocean engineering and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic diagram of a multi-degree-of-freedom compensation stabilization platform.

Fig. 3 is a schematic diagram of a tandem motion compensation gangway ladder configuration.

Fig. 4 is a schematic view of the structure of the terminal flexible connection unit.

Fig. 5 is a partial schematic view of a tandem motion compensation gangway configuration.

FIG. 6 is a schematic diagram of a novel three degree of freedom reciprocating rotary mixing device.

In the figure: 1. a multi-degree-of-freedom compensation stabilization platform; 2. a serial motion compensation gangway ladder; 3. a distal flexible connection means; 1.1, a first hydraulic cylinder; 1.2, a second hydraulic cylinder; 1.3, a third hydraulic cylinder; 1.4, a telescopic upright post; 1.5, lower platform; 1.6, upper platform; 1.7, a transverse hydraulic driving cylinder; 1.8, a transverse sliding rail; 1.9, a longitudinal hydraulic driving cylinder; 1.10, longitudinal slide rails; 1.11, a rotary gear; 2.1, a rotary table; 2.2, a hydraulic drive motor; 2.3, a first pitching hydraulic drive cylinder; 2.4, a second pitching hydraulic driving cylinder; 2.5, a main arm; 2.6, telescopic arms; 2.7, a rope hydraulic drive motor; 3.1, a first hydraulic buffer cylinder; 3.2, a second hydraulic buffer cylinder; 3.3 a third hydraulic buffer cylinder; 3.4, a fourth hydraulic buffer cylinder; 3.5, steps; 3.6, telescopic stand columns; 3.7, buffering the lower platform at the tail end; 3.8, buffering an upper platform at the tail end; 3.9, a connecting frame; 4.1, a wire guide wheel; 4.2, a wire hook; 4.3, nylon roller.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. 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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

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. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

As shown in FIG. 1, the invention provides a novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge, which comprises: the multi-degree-of-freedom compensation stabilizing platform 1, the serial motion compensation gangway ladder 2 and the tail end flexible connecting device 3.

The multi-degree-of-freedom compensation stabilizing platform 1 consists of a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary mixing device, wherein the three-degree-of-freedom parallel platform can compensate rolling, pitching and swaying of a ship, and the novel three-degree-of-freedom reciprocating rotary mixing device can compensate the rolling, swaying and swaying of the ship. Therefore, the multi-degree-of-freedom compensation stable platform 1 compensates six degrees of freedom motions of heave, sway, surge, rolling, pitching and bow generated by loads such as stormy waves and the like of the ship, thereby ensuring the stability of the tandem motion compensation gangway ladder 2 in the landing process and further ensuring the safety of personnel in the transportation process. The tandem motion compensation gangway ladder 2 consists of two telescopic bridge bodies and performs passive compensation on the transverse oscillation and the longitudinal oscillation of the ship, so that the transfer function of personnel is ensured; the tail end flexible connecting device 3 plays a role in buffering the tail end of the gangway ladder, and ensures stable landing.

As shown in fig. 2, the three-degree-of-freedom parallel platform is composed of a first hydraulic cylinder 1.1, a second hydraulic cylinder 1.2, a third hydraulic cylinder 1.3, an upper platform 1.6, a lower platform 1.5 and a telescopic upright post 1.4. The upper ends of the first hydraulic cylinder 1.1, the second hydraulic cylinder 1.2 and the third hydraulic cylinder 1.3 are connected with the upper platform 1.6 through Hooke hinges, and the lower ends are connected with the lower platform 1.5 through Hooke hinges and are arranged around the telescopic upright posts 1.4; the telescopic inner column of the telescopic upright column 1.4 is connected with the upper platform 1.6 through a hook hinge, and a cylinder sleeve of the telescopic upright column 1.4 is fixed on the lower platform 1.5. The rotating platform 2.1 and the lower platform 1.5 of the tandem motion compensation gangway ladder 2 are provided with angle sensors for detecting the angles of the platforms, so that the motion of the multi-degree-of-freedom compensation stable platform 1 is controlled based on the angle sensors, and finally, the compensation effect of six-degree-of-freedom motion of heave, sway, surge, roll, pitching and bow of the ship due to loads such as wind, wave and current is achieved. The hook hinge of the telescopic upright column 1.4 in the three-degree-of-freedom parallel platform designed by the invention is at the upper end, so that the deflection moment generated by the components in the upper platform 1.6 is reduced in interference on the lower platform 1.5, and the device is easier to control.

As shown in fig. 2 and 6, the novel three-degree-of-freedom reciprocating rotary mixing device is composed of a transverse motion mechanism, a longitudinal motion mechanism and a rotary motion mechanism, wherein the transverse motion mechanism is arranged on an upper platform 1.6 of a three-degree-of-freedom parallel platform, the longitudinal motion mechanism is connected to the transverse motion mechanism, and the rotary motion mechanism is connected between the longitudinal motion mechanism and a rotary table 2.1. The transverse movement mechanism consists of two transverse sliding rails 1.8 and a transverse hydraulic driving cylinder 1.7, and the two transverse sliding rails 1.8 are arranged in parallel and side by side and fixedly connected with the upper platform 1.6; one side of the transverse hydraulic driving cylinder 1.7 is connected with the upper platform 1.6, and the hydraulic rod on the other side is connected with the bottom side platform of the longitudinal movement mechanism; the telescopic direction of the hydraulic rod of the transverse hydraulic driving cylinder 1.7 is parallel to the two transverse sliding rails 1.8; a transverse sliding block is connected to the transverse sliding rail 1.8 in a sliding manner and is connected with a bottom side platform of the longitudinal movement mechanism; the transverse movement mechanism drives the sliding blocks in the two transverse sliding rails 1.8 to reciprocate along the track by taking the reciprocation of the hydraulic rod of the transverse hydraulic driving cylinder 1.7 as power, so as to drive the longitudinal movement mechanism to reciprocate transversely and compensate the transverse swinging movement of the ship. The longitudinal movement mechanism consists of a bottom side platform, two longitudinal sliding rails 1.10 and a longitudinal hydraulic driving cylinder 1.9, wherein the two longitudinal sliding rails 1.10 are arranged in parallel and side by side and are fixedly connected with the bottom side platform; one side of the longitudinal hydraulic driving cylinder 1.9 is connected with the bottom side platform, and the hydraulic rod on the other side is connected with the base of the rotary motion mechanism; the telescopic direction of the hydraulic rod of the longitudinal hydraulic driving cylinder 1.9 is parallel to the two longitudinal sliding rails 1.10 and is perpendicular to the two transverse sliding rails 1.8; a longitudinal sliding block is connected on the longitudinal sliding rail 1.10 in a sliding way and is connected with a base of the rotary motion mechanism; the longitudinal movement mechanism drives the sliding blocks in the two longitudinal sliding rails 1.10 to reciprocate along the track by taking the reciprocating movement of the hydraulic rod of the longitudinal hydraulic driving cylinder 1.9 as power, so as to drive the rotary table 2.1 of the tandem movement compensation gangway ladder 2 to longitudinally reciprocate, and compensate the pitching movement of the ship. The rotary motion mechanism is arranged above the longitudinal motion mechanism and consists of a base, a rotary gear 1.11 arranged above the longitudinal motion mechanism and a hydraulic drive motor 2.2 arranged below the rotary table 2.1, and the rotary gear 1.11 above the longitudinal motion mechanism is driven by the hydraulic drive motor 2.2, so that the rotary function is realized. The novel three-degree-of-freedom reciprocating rotary mixing device realizes the motion of ship swaying, pitching and bowing through a transverse motion mechanism, a longitudinal motion mechanism and a rotary motion mechanism.

Further, according to the positions measured by the position sensors in the rotary table 2.1 and the lower platform 1.5, the telescopic movement of the first hydraulic cylinder 1.1, the second hydraulic cylinder 1.2 and the third hydraulic cylinder 1.3 is controlled so as to compensate the rolling, pitching and heaving movement of the ship, and the transverse movement mechanism, the longitudinal movement mechanism and the rotary movement mechanism are controlled to move so as to compensate the rolling, pitching and swaying movement of the ship.

As shown in fig. 3, the tandem motion compensation gangway ladder 2 comprises a rotating platform 2.1, a first pitching hydraulic drive cylinder 2.3, a second pitching hydraulic drive cylinder 2.4, a main arm 2.5 and a telescopic arm 2.6; the main arm 2.5 is connected with the rotary table 2.1 and the first pitching hydraulic driving cylinder 2.3 and the upper end of the second pitching hydraulic driving cylinder 2.4, namely one side of the first pitching hydraulic driving cylinder 2.3, one side of the second pitching hydraulic driving cylinder 2.4 and one side of the main arm 2.5 are connected to the rotary table 2.1, and the other side of the first pitching hydraulic driving cylinder 2.3 and the other side of the second pitching hydraulic driving cylinder 2.4 are connected with the main arm 2.5 and are used for driving the main arm 2.5 to perform pitching motion. The main arm 2.5 is connected with the telescopic arm 2.6 through a telescopic mechanism, and the telescopic mechanism is used for realizing telescopic movement between the telescopic arm 2.6 and the main arm 2.5. The telescopic mechanism comprises a rope hydraulic driving motor 2.7, a wire guide wheel 4.1 and a rope, as shown in fig. 5, the rope hydraulic driving motor 2.7 is arranged below the main arm 2.5, the rope is connected with the nylon roller 4.3 through the wire guide wheel 4.1 and the wire guide hooks 4.2 on the main arm 2.5 and the telescopic arm 2.6, namely the output end of the rope hydraulic driving motor 2.7 is connected with the wire guide wheel 4.1, one side of the rope is wound on the wire guide wheel 4.1, and the other side of the rope bypasses the nylon roller 4.3 to be connected with the wire guide hooks 4.2. The telescopic arm 2.6 is nested with the main arm 2.5 and moved by a rope.

As shown in fig. 4, the terminal flexible connection device 3 includes a first hydraulic buffer cylinder 3.1, a second hydraulic buffer cylinder 3.2, a third hydraulic buffer cylinder 3.3, a fourth hydraulic buffer cylinder 3.4, a telescopic upright post 3.6, a terminal buffer upper platform 3.8 and a terminal buffer lower platform 3.7; four hydraulic buffer cylinders are distributed around the telescopic upright post 3.6, the upper end of the four hydraulic buffer cylinders is connected with the tail end buffer upper platform 3.8, and the lower end of the four hydraulic buffer cylinders is connected with the tail end buffer lower platform 3.7; the tail end buffer upper platform 3.8 is connected with the telescopic arm 2.6 of the serial motion compensation gangway ladder 2 through a connecting frame 3.9, an outer cylinder of the telescopic upright post 3.6 is arranged below the tail end buffer upper platform, the front end of the tail end buffer upper platform is provided with a step 3.5, and the steps 3.5 are connected in a nested mode; the lower end of the telescopic upright post 3.6 is connected with the tail end buffering lower platform 3.7 through a hook hinge.

The invention also provides an operation scheme of the novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge in actual work.

The operation scheme is exemplified by the operation process of the ship to the offshore platform in the actual operation process. When the middle ship works on the offshore platform, the telescopic movement of the first hydraulic cylinder 1.1, the second hydraulic cylinder 1.2 and the third hydraulic cylinder 1.3 is performed according to the pose data measured by the pose sensors in the rotary table 2.1 and the lower platform 1.5, so that the compensation of the rolling, pitching and heaving movement of the ship is achieved; the transverse movement mechanism drives the sliding blocks in the two transverse sliding rails 1.8 to reciprocate along the track by taking the reciprocation of the transverse hydraulic driving cylinder 1.7 as power, so as to drive the longitudinal movement mechanism to transversely reciprocate and compensate the transverse swinging movement of the ship; the longitudinal movement mechanism drives sliding blocks in the two longitudinal sliding rails 1.10 to reciprocate along the track by taking the reciprocation of the hydraulic rod of the longitudinal hydraulic driving cylinder 1.9 as power, so as to drive the rotary table 2.1 to longitudinally reciprocate, and further compensate the pitching movement of the ship; the rotary gear 1.11 above the longitudinal movement mechanism is driven by the hydraulic driving motor 2.2 below the rotary table 2.1, so that the rotary function is realized, and the movement of the ship bow is compensated; when the turntable 2.1 keeps stable, the first pitching hydraulic driving cylinder 2.3 and the second pitching hydraulic driving cylinder 2.4 are driven to enable the serial motion compensation gangway ladder 2 to perform pitching motion, when the required height is reached, the first pitching hydraulic driving cylinder 2.3 and the second pitching hydraulic driving cylinder 2.4 stop moving and keep unchanged, and meanwhile, the rope hydraulic driving motor 2.7 arranged below the main arm 2.5 is driven, so that the length of a rope connecting the main arm 2.5 and the telescopic arm 2.6 is controlled, and finally the serial motion compensation gangway ladder 2 performs telescopic motion; when the tail end of the tandem motion compensation gangway 2 reaches the offshore platform, the tail end buffer lower platform 3.7 of the tail end flexible connecting device 3 is placed on the offshore platform, so that impact of impact load on the tandem motion compensation gangway 2 is reduced, and the offshore stable corridor bridge with the multi-degree-of-freedom compensation stable platform starts to be transported. When the offshore stability corridor bridge with the multi-degree of freedom compensating stabilization platform is finished, the process is contrary to the above, and will not be described herein.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. Novel multi freedom motion compensation series-parallel connection sea gallery bridge, characterized by comprising: the ship comprises a multi-degree-of-freedom compensation stabilizing platform (1), a serial motion compensation gangway ladder (2) and a tail end flexible connecting device (3) which are sequentially connected, wherein the multi-degree-of-freedom compensation stabilizing platform (1) comprises a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary mixing device, the three-degree-of-freedom parallel platform is used for compensating rolling, pitching and heave of a ship, and the novel three-degree-of-freedom reciprocating rotary mixing device is arranged on the three-degree-of-freedom parallel platform and is connected with a rotary table (2.1) of the serial motion compensation gangway ladder (2) and used for compensating rolling, pitching and bow of the ship; the serial motion compensation gangway ladder (2) performs pitching motion and telescopic motion and performs passive compensation on the sway and the surge of the ship; the tail end flexible connecting device (3) is connected to the tail end of the serial motion compensation gangway (2) to buffer the tail end.

2. The novel multi-degree-of-freedom motion compensation serial-parallel marine corridor bridge according to claim 1, wherein the three-degree-of-freedom parallel platform comprises a first hydraulic cylinder (1.1), a second hydraulic cylinder (1.2), a third hydraulic cylinder (1.3), an upper platform (1.6), a lower platform (1.5) and a telescopic upright post (1.4), the upper ends of the first hydraulic cylinder (1.1), the second hydraulic cylinder (1.2) and the third hydraulic cylinder (1.3) are connected with the upper platform (1.6) through hook hinges, and the lower ends are connected with the lower platform (1.5) through hook hinges and are arranged around the telescopic upright post (1.4); the telescopic inner column of the telescopic upright column (1.4) is connected with the upper platform (1.6) through a hook hinge, and a cylinder sleeve of the telescopic upright column (1.4) is fixed on the lower platform (1.5).

3. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge of claim 2, wherein the rotary table (2.1) and the lower platform (1.5) are provided with angle sensors for detecting the platform angle.

4. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge of claim 2, wherein the novel three-degree-of-freedom reciprocating rotary mixing device comprises a transverse motion mechanism, a longitudinal motion mechanism and a rotary motion mechanism, wherein the transverse motion mechanism is arranged on an upper platform (1.6) of a three-degree-of-freedom parallel platform, the longitudinal motion mechanism is connected to the transverse motion mechanism, and the rotary motion mechanism is connected between the longitudinal motion mechanism and a rotary table (2.1); the transverse movement mechanism is used for driving the longitudinal movement mechanism to do transverse reciprocating movement so as to compensate the transverse swinging movement of the ship; the longitudinal movement mechanism is used for driving the rotary table (2.1) to do longitudinal reciprocating movement so as to compensate the pitching movement of the ship; the rotary motion mechanism is used for driving the rotary table (2.1) to do rotary motion and compensating the motion of ship bow.

5. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge of claim 4, wherein the transverse motion mechanism comprises a transverse hydraulic driving cylinder (1.7) and two transverse sliding rails (1.8), one side of the transverse hydraulic driving cylinder (1.7) is connected with an upper platform (1.6), and a hydraulic rod on the other side is connected with a bottom side platform of the longitudinal motion mechanism; the two transverse sliding rails (1.8) are arranged in parallel and side by side and fixedly connected with the upper platform (1.6); a transverse sliding block is connected to the transverse sliding rail (1.8) in a sliding manner, and is connected with a bottom side platform of the longitudinal movement mechanism; the extending and contracting direction of the hydraulic rod of the transverse hydraulic driving cylinder (1.7) is parallel to the two transverse sliding rails (1.8); the reciprocating motion of the hydraulic rod of the transverse hydraulic driving cylinder (1.7) drives the two transverse sliding blocks to reciprocate along the two transverse sliding rails (1.8), so that the longitudinal motion mechanism is driven to transversely reciprocate to compensate the transverse swinging motion of the ship;

the longitudinal movement mechanism comprises a bottom side platform, a longitudinal hydraulic driving cylinder (1.9) and two longitudinal sliding rails (1.10), one side of the longitudinal hydraulic driving cylinder (1.9) is connected with the bottom side platform, and a hydraulic rod at the other side is connected with a base of the rotary movement mechanism; the two longitudinal sliding rails (1.10) are arranged in parallel and side by side and fixedly connected with the bottom side platform; a longitudinal sliding block is connected to the longitudinal sliding rail (1.10) in a sliding manner, and the longitudinal sliding block is connected with a base of the rotary motion mechanism; the telescopic direction of the hydraulic rod of the longitudinal hydraulic driving cylinder (1.9) is parallel to the two longitudinal sliding rails (1.10); the reciprocating motion of the hydraulic rod of the longitudinal hydraulic driving cylinder (1.9) drives the two longitudinal sliding blocks to reciprocate along the two longitudinal sliding rails (1.10), so that the rotary table (2.1) is driven to longitudinally reciprocate, and the heave motion compensation of the ship is performed;

the rotary motion mechanism is arranged above the longitudinal motion mechanism and comprises a base, a rotary gear (1.11) and a hydraulic driving motor (2.2) which are connected, the rotary gear (1.11) is arranged above the base, the hydraulic driving motor (2.2) is arranged below the rotary table (2.1), and the rotary gear (1.11) is driven by the hydraulic driving motor (2.2) so as to drive the rotary table (2.1) to rotate.

6. The novel multi-degree-of-freedom motion compensation serial-parallel marine gallery bridge of claim 4, wherein pose sensors are arranged on the rotary table (2.1) and the lower platform (1.5), and telescopic motions of the first hydraulic cylinder (1.1), the second hydraulic cylinder (1.2) and the third hydraulic cylinder (1.3) are controlled according to the poses measured by the pose sensors, so that compensation for ship rolling, pitching and heave motions is achieved, and a transverse motion mechanism, a longitudinal motion mechanism and a rotary motion mechanism are controlled to perform motions, so that motions of ship rolling, pitching and bowing are compensated.

7. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge according to claim 1, wherein the serial motion compensation gangway ladder (2) comprises a rotary table (2.1), a first pitch hydraulic driving cylinder (2.3), a second pitch hydraulic driving cylinder (2.4), a main arm (2.5) and a telescopic arm (2.6), one side of the first pitch hydraulic driving cylinder (2.3), one side of the second pitch hydraulic driving cylinder (2.4) and one side of the main arm (2.5) are connected to the rotary table (2.1), and the other side of the first pitch hydraulic driving cylinder (2.3) and the other side of the second pitch hydraulic driving cylinder (2.4) are connected to the main arm (2.5) and are used for driving the main arm (2.5) to perform pitching motion; the main arm (2.5) is connected with the telescopic arm (2.6) through a telescopic mechanism, and the telescopic mechanism is used for realizing telescopic movement between the telescopic arm (2.6) and the main arm (2.5).

8. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge of claim 7, wherein the telescopic mechanism comprises a rope hydraulic driving motor (2.7), a wire guide wheel (4.1) and a rope, the rope hydraulic driving motor (2.7) is arranged below a main arm (2.5), the output end of the rope hydraulic driving motor is connected with the wire guide wheel (4.1), a wire guide hook (4.2) and a nylon roller (4.3) are arranged on the telescopic arm (2.6), one side of the rope is wound on the wire guide wheel (4.1), and the other side of the rope bypasses the nylon roller (4.3) to be connected with the wire guide hook (4.2); the telescopic arm (2.6) is nested with the main arm (2.5) and moves through the retraction and release of the rope.

9. The novel multi-degree-of-freedom motion compensation serial-parallel offshore gallery bridge of claim 1, wherein the tail end flexible connecting device (3) comprises a first hydraulic buffer cylinder (3.1), a second hydraulic buffer cylinder (3.2), a third hydraulic buffer cylinder (3.3), a fourth hydraulic buffer cylinder (3.4), a telescopic upright post (3.6), a tail end buffer upper platform (3.8) and a tail end buffer lower platform (3.7), the four hydraulic buffer cylinders are distributed around the telescopic upright post (3.6), the upper end of the four hydraulic buffer cylinders is connected with the tail end buffer upper platform (3.8), and the lower end of the four hydraulic buffer cylinders is connected with the tail end buffer lower platform (3.7); the lower end of the telescopic upright post (3.6) is connected with the tail end buffering lower platform (3.7) through a hook hinge, and an outer cylinder above the telescopic upright post is connected with the lower part of the tail end buffering upper platform (3.8); the top of terminal buffering upper platform (3.8) is connected with flexible arm (2.6) of series motion compensation gangway (2) through link (3.9), the front end of terminal buffering upper platform (3.8) sets up multilayer ladder (3.5), multilayer ladder (3.5) are connected through nested mode.

10. A method of operating a novel multi-degree of freedom motion compensated serial-parallel connection offshore gallery as claimed in any one of claims 1 to 9, comprising the steps of:

when the middle ship works on the offshore platform, telescopic motions of a first hydraulic cylinder (1.1), a second hydraulic cylinder (1.2) and a third hydraulic cylinder (1.3) are performed according to pose data measured by pose sensors in a rotary table (2.1) and a lower platform (1.5), so that compensation for ship rolling, pitching and heave motions is achieved;

step two, the transverse movement mechanism drives sliding blocks in two transverse sliding rails (1.8) to reciprocate along the track by taking the reciprocation of a transverse hydraulic driving cylinder (1.7) as power, so as to drive the longitudinal movement mechanism to transversely reciprocate and compensate the transverse swinging movement of the ship; the longitudinal movement mechanism drives sliding blocks in the two longitudinal sliding rails (1.10) to reciprocate along the track by taking the reciprocation of a hydraulic rod of the longitudinal hydraulic driving cylinder (1.9) as power, so as to drive the rotary table (2.1) to longitudinally reciprocate and compensate the pitching movement of the ship; the rotary gear (1.11) above the longitudinal movement mechanism is driven by a hydraulic driving motor (2.2) below the rotary table (2.1), so that a rotary function is realized, and further, the movement of the ship bow is compensated;

driving a first pitching hydraulic driving cylinder (2.3) and a second pitching hydraulic driving cylinder (2.4) to perform pitching motion on the serial motion compensation gangway ladder (2) when the rotating table (2.1) keeps stable, stopping the first pitching hydraulic driving cylinder (2.3) and the second pitching hydraulic driving cylinder (2.4) from moving when the required height is reached, and driving a rope hydraulic driving motor (2.7) arranged below a main arm (2.5) at the same time, so as to control the length of a rope connecting the main arm (2.5) and a telescopic arm (2.6), and finally enabling the serial motion compensation gangway ladder (2) to perform telescopic motion;

when the tail end of the serial motion compensation gangway ladder (2) reaches an offshore platform, placing a tail end buffer lower platform (3.7) of a tail end flexible connecting device (3) on the offshore platform, reducing impact of impact load on the serial motion compensation gangway ladder (2), and starting to transport an offshore stable corridor bridge with a multi-degree-of-freedom compensation stable platform;

and fifthly, when the offshore stable corridor bridge with the multi-degree-of-freedom compensation stable platform finishes working, all the equipment is restored to the initial state.