9-DOF WAVE COMPENSATION PLATFORM AND OPERATION METHOD

Abstract

The present application provides a 9-DOF wave compensation platform and operation method in marine engineering technology, comprising a 6-DOF parallel stabilization platform and a 3-DOF tandem boarding bridge. The 6-DOF parallel stabilization platform comprises a mounting base and a movable platform. Motion branch chains are arranged between the mounting base and the movable platform. The motion branch chain moves actively driven by a driving element, and a balancing cylinder system is further connected to the motion branch chain to offset the deadweight of the equipment. The 3-DOF tandem boarding bridge is installed on the movable platform. Through the balancing cylinder system, the driving load generated by component weight in the 9-DOF wave compensation platform is counterbalanced in advance, so that the driving load of the compensation platform during operation is significantly reduced, with lower total energy consumption of the system, and wider range of selectable driving elements.

Claims

1. A 9-DOF wave compensation platform, characterized by comprising a 6-DOF parallel stabilization platform (1) and a 3-DOF tandem boarding bridge (2); wherein the 6-DOF parallel stabilization platform (1) comprises a mounting base (11) and a movable platform (14), and motion branch chains are provided between the mounting base (11) and the movable platform (14), and the motion branch chain moves actively driven by a driving element, and a balancing cylinder system (12) is further connected to the motion branch chain to counterbalance an equipment deadweight; and the 3-DOF tandem boarding bridge (2) is installed on the movable platform (14).

2. The 9-DOF wave compensation platform according to claim 1, characterized in that the motion branch chain comprises a connecting rod (13), a ball joint (15), a Hooke's joint (16) and a slider (17), and the mounting base (11) is provided with slide rails (18), and the slider (17) is slidably arranged on one of the slide rails (18); and one end of the connecting rod (13) is connected to the slider (17) via the Hooke's joint (16), and another end of the connecting rod (13) is connected to the movable platform (14) via the ball joint (15).

3. The 9-DOF wave compensation platform according to claim 2, characterized in that the balancing cylinder system (12) comprises a piston rod (121), an oil cylinder (122) and an accumulator (123); and the piston rod (121) is fixedly mounted on the slider (17), and an oil delivery pipe of the accumulator (123) is connected to the oil cylinder (122), and a gas bladder in the accumulator (123) expands outward under air pressure, pressing hydraulic oil in the accumulator (123) toward the oil cylinder (122) through the oil delivery pipe, so that the oil cylinder (122) lifts the piston rod (121) to counterbalance the equipment deadweight.

4. The 9-DOF wave compensation platform according to claim 2, characterized in that six groups of the motion branch chains are arranged between the mounting base (11) and the movable platform (14).

5. The 9-DOF wave compensation platform according to claim 1, characterized in that the 3-DOF tandem boarding bridge (2) comprises a connecting base (21), a rotary platform (22), a fixed-pitching part (24) and a telescoping part (25); wherein the connecting base (21) is mounted on the movable platform (14); and the connecting base (21) and the rotary platform (22) are connected via a rotary bearing; and one end of the fixed-pitching part (24) is connected to the rotary platform (22) via a hinge; and a driving device capable of driving the fixed-pitching part (24) to perform a pitching motion around a central axis of the hinge is provided between the fixed-pitching part (24) and the rotary platform (22); and the telescoping part (25) is arranged at an end of the fixed-pitching part (24) away from the rotary platform (22).

6. The 9-DOF wave compensation platform according to claim 5, characterized in that a connection position between the fixed-pitching part (24) and the rotary platform (22) is located at a lower part of the fixed-pitching part (24); and the driving device comprises an electric cylinder (23), with a housing of the electric cylinder (23) being pivotally connected to the rotary platform (22), and a telescoping rod of the electric cylinder (23) being pivotally connected to an upper part of the fixed-pitching part (24); and a pivoting point between the electric cylinder (23) and the fixed-pitching part (24), and a pivoting point between the fixed-pitching part (24) and the rotary platform (22) are both located at a same end along a length direction of the fixed-pitching part (24).

7. The 9-DOF wave compensation platform according to claim 5, characterized in that a guide rail is arranged inside the fixed-pitching part (24) along a length direction of the fixed-pitching part (24), wherein the telescoping part (25) is arranged inside the fixed-pitching part (24), and the telescoping part (25) moves along a direction of the guide rail.

8. The 9-DOF wave compensation platform according to claim 1, characterized in that the fixed-pitching part (24) and the telescoping part (25) are both provided with skeletonized structures.

9. The 9-DOF wave compensation platform according to claim 1, characterized in that the mounting base (11) is mounted on a ship.

10. An operation method of a 9-DOF wave compensation platform, characterized by being applicable to the 9-DOF wave compensation platform according to claim 1, and including following steps: measuring ship motion information by a motion attitude sensor, and inputting measured information into a high-pass filter and a low-pass filter respectively, wherein the high-pass filter extracts a high-frequency part of the ship motion information, and the low-pass filter extracts a low-frequency part of the ship motion information; and receiving high-frequency motion information by the 6-DOF parallel stabilization platform (1), and, through active control, controlling the movable platform (14) to generate opposite motion to counterbalance high-frequency ship motion; and receiving low-frequency motion information by the 3-DOF tandem boarding bridge (2), and, through active control, controlling a distal end of the telescoping part (25) to contact a bridged object so that the bridge generates opposite motion to counterbalance low-frequency ship motion, consequently achieving a full counterbalance of ship motion and keeping a bridging end of the bridge stationary relative to an inertial reference system.

11. The operation method according to claim 10, characterized in that the motion branch chain comprises a connecting rod (13), a ball joint (15), a Hooke's joint (16) and a slider (17), and the mounting base (11) is provided with slide rails (18), and the slider is slidably arranged on one of the slide rails (18); and one end of the connecting rod (13) is connected to the slider (17) via the Hooke's joint (16), and another end of the connecting rod (13) is connected to the movable platform (14) via the ball joint (15).

12. The operation method according to claim 11, characterized in that the balancing cylinder system (12) comprises a piston rod (121), an oil cylinder (122) and an accumulator (123); and the piston rod (121) is fixedly mounted on the slider (17), and an oil delivery pipe of the accumulator (123) is connected to the oil cylinder (122), and a gas bladder in the accumulator (123) expands outward under air pressure, pressing hydraulic oil in the accumulator (123) toward the oil cylinder (122) through the oil delivery pipe, so that the oil cylinder (122) lifts the piston rod (121) to counterbalance the equipment deadweight.

13. The operation method according to claim 11, characterized in that six groups of the motion branch chains are arranged between the mounting base (11) and the movable platform (14).

14. The operation method according to claim 10, characterized in that the 3-DOF tandem boarding bridge (2) comprises a connecting base (21), a rotary platform (22), a fixed-pitching part (24) and a telescoping part (25); wherein the connecting base (21) is mounted on the movable platform (14); and the connecting base (21) and the rotary platform (22) are connected via a rotary bearing; and one end of the fixed-pitching part (24) is connected to the rotary platform (22) via a hinge; and a driving device capable of driving the fixed-pitching part (24) to perform a pitching motion around a central axis of the hinge is provided between the fixed-pitching part (24) and the rotary platform (22); and the telescoping part (25) is arranged at an end of the fixed-pitching part (24) away from the rotary platform (22).

15. The operation method according to claim 14, characterized in that a connection position between the fixed-pitching part (24) and the rotary platform (22) is located at a lower part of the fixed-pitching part (24); and the driving device comprises an electric cylinder (23), with a housing of the electric cylinder (23) being pivotally connected to the rotary platform (22), and a telescoping rod of the electric cylinder (23) being pivotally connected to an upper part of the fixed-pitching part (24); and a pivoting point between the electric cylinder (23) and the fixed-pitching part (24), and a pivoting point between the fixed-pitching part (24) and the rotary platform (22) are both located at a same end along a length direction of the fixed-pitching part (24).

16. The operation method according to claim 14, characterized in that a guide rail is arranged inside the fixed-pitching part (24) along a length direction of the fixed-pitching part (24), wherein the telescoping part (25) is arranged inside the fixed-pitching part (24), and the telescoping part (25) moves along a direction of the guide rail.

17. The operation method according to claim 10, characterized in that the fixed-pitching part (24) and the telescoping part (25) are both provided with skeletonized structures.

18. The operation method according to claim 10, characterized in that the mounting base (11) is mounted on a ship.

19. The operation method according to claim 18, characterized in that the mounting base (11) is mounted on a deck of the ship.

20. The 9-DOF wave compensation platform according to claim 9, characterized in that the mounting base (11) is mounted on a deck of the ship.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments with reference to the following drawings:

[0024] FIG. 1 is a schematic diagram mainly presenting the overall structure of a 9-DOF wave compensation platform in the present application;

[0025] FIG. 2 is a schematic diagram mainly presenting the overall structure of a 6-DOF parallel stabilization platform in the present application;

[0026] FIG. 3 is a schematic diagram mainly presenting the overall structure of the balancing cylinder system in the present application;

[0027] FIG. 4 is a schematic diagram mainly presenting the overall structure of a 3-DOF tandem boarding bridge in the present application.

[0028] As shown in the figure: [0029] 6-DOF parallel stabilization platform 1 [0030] Mounting base 11 [0031] Balancing cylinder system 12 [0032] Piston rod 121 [0033] Cylinder 122 [0034] Accumulator 123 [0035] Connecting rod 13 [0036] Movable platform 14 [0037] Ball joint 15 [0038] Hooke's joint 16 [0039] Slider 17 [0040] Slide rail 18 [0041] 3-DOF tandem boarding bridge 2 [0042] Connecting base 21 [0043] Rotary platform 22 [0044] Electric cylinder 23 [0045] Fixed-pitching part 24

TELESCOPING PART 25 DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

[0046] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0047] As shown in FIG. 1, a 9-DOF wave compensation platform provided according to the present application comprises a 6-DOF parallel stabilization platform 1 and a 3-DOF tandem boarding bridge 2. The 6-DOF parallel stabilization platform 1 comprises a mounting base 11 and a movable platform 14, and motion branch chains are arranged between the mounting base 11 and the movable platform 14. The motion branch chain moves actively when driven by a driving element, and a balancing cylinder system 12 is further connected to the motion branch chain to counterbalance the deadweight of the equipment. The 3-DOF tandem boarding bridge 2 is installed on the movable platform 14.

[0048] The 6-DOF parallel stabilization platform 1 of the present application is used to compensate for the high-frequency part of wave motion, and the 3-DOF tandem boarding bridge 2 is used to compensate for the low-frequency part of wave motion and drift motion, and the balancing cylinder system 12 is used to counterbalance the load generated by the equipment's own weight on the driving components.

[0049] As shown in FIG. 1 to FIG. 3, specifically, each motion branch chain comprises a connecting rod 13, a ball joint 15, a Hook's joint 16 and a slider 17. Slide rails 18 are provided on the mounting base 11, and the slider 17 is slidably arranged on one of the slide rails 18, constituting a P pair. One end of the connecting rod 13 is connected to the slider 17 through the Hook's joint 16, constituting a U pair, and the other end of the connecting rod 13 is connected to the movable platform 14 through the ball joint 15, constituting an S pair, wherein the three motion pairs constitute a PUS single open chain to transmit force and motion. Six groups of motion branch chains are provided between the mounting base 11 and the movable platform 14. The balancing cylinder system 12 comprises a piston rod 121, an oil cylinder 122 and an accumulator 123. The piston rod 121 is fixedly installed with the slider, and an oil pipe of the accumulator 123 is connected with the oil cylinder 122. A gas bladder in the accumulator 123 expands outward under air pressure, so that hydraulic oil in the accumulator 123 is pressed toward the oil cylinder 122 through the oil pipe, and the oil cylinder 122 lifts the piston rod 121 to counterbalance the equipment deadweight.

[0050] Furthermore, between the movable platform 14 and the mounting base 11 of the 6-DOF parallel stabilization platform 1, six identical motion branch chains are provided. The slide rail and the mounting base 11 are fixedly mounted, and the slider is configured to move along the length direction of the slide rail. The slider and the connecting rod 13 are connected by a Hooke's joint 16, which is configured to generate rotational movement in two directions. The connecting rod 13 and the movable platform 14 are connected by a ball joint 15, which is configured to generate rotation in three directions. The movable platform 14 is configured to generate 6-DOF movement relative to the mounting base 11. The slider is actively driven by a driving element. For example: a motor drives a ball screw or a hydraulic cylinder pushes.

[0051] By adjusting the position of the sliders on the slide rails in the six motion branch chains, the position and posture of the movable platform 14 can be changed. The piston rod 121 of the balancing cylinder system 12 is fixedly installed with the slider, and the oil pipe of the accumulator 123 is connected to the oil cylinder 122. The gas bladder in the accumulator 123 expands outward under the action of air pressure, so that the hydraulic oil in the accumulator 123 is pressed toward the oil cylinder 122 through the oil pipe, and the oil cylinder 122 lifts the piston rod 121. By adjusting the pressure of the gas bladder in the accumulator 123, the thrust of the piston rod 121 and the gravity of the equipment can be counterbalanced, reducing the driving load of the slider driving element.

[0052] As shown in FIG. 1 and FIG. 4, more specifically, the 3-DOF tandem boarding bridge 2 comprises a connecting base 21, a rotary platform 22, a fixed-pitching part 24 and a telescoping part 25. The connecting base 21 is installed on the movable platform 14. The connecting base 21 and the rotary platform 22 are connected by a rotary bearing. One end of the fixed-pitching part 24 is connected to the rotary platform 22 by a hinge, and a driving device that can drive the fixed-pitching part 24 to perform a pitching motion around the central axis of the hinge is also provided between the fixed-pitching part 24 and the rotary platform 22. The telescoping part 25 is provided at one end of the fixed-pitching part 24 away from the rotary platform 22.

[0053] The connection position between the fixed-pitching part 24 and the rotary platform 22 is located at the lower part of the fixed-pitching part 24. The driving device comprises an electric cylinder 23. The housing of the electric cylinder 23 is pivotally connected to the rotary platform 22, and the telescoping rod of the electric cylinder 23 is pivotally connected to the upper part of the fixed-pitching part 24. The hinge point between the electric cylinder 23 and the fixed-pitching part 24, and the hinge point between the fixed-pitching part 24 and the rotary platform 22 are both located at the same end along the length direction of the fixed-pitching part 24. A guide rail is arranged inside the fixed-pitching part 24 along the length direction of the fixed-pitching part 24, and the telescoping part 25 is arranged inside the fixed-pitching part 24, and the telescoping part 25 moves along the direction of the guide rail.

[0054] Preferably, as shown in FIG. 4, the fixed-pitching part 24 and the telescoping part 25 are both provided with skeletonized structures.

[0055] Furthermore, the 3-DOF tandem boarding bridge 2 is connected to the movable platform 14 of the 6-DOF parallel stabilization platform 1 through the connecting base 21. The connecting base 21 and the rotary platform 22 are connected through a rotary bearing, so that the rotary platform 22 and the connecting base 21 can rotate relative to each other to realize the rotation movement of the bridge. The rotary platform 22 and the fixed-pitching part 24 are directly connected through a hinge to generate relative rotation. In addition, the rotary platform 22 and the fixed-pitching part 24 are also connected through an electric cylinder 23. The electric cylinder 23 is mounted through hinges provided on the rotary platform 22 and on the fixed-pitching part 24, and acts as a driving unit to perform telescoping movement, so that the bridge performs a pitch movement. The fixed-pitching part 24 and the telescoping part 25 are connected through the guide rail and can translate relative to each other to realize the telescoping movement of the bridge.

[0056] It should be noted that the mounting base 11 of the present application is installed on a ship, for example on the deck of the ship.

[0057] The present application also provides an operation method of a 9-DOF wave compensation platform, which is used to operate the above-mentioned 9-DOF wave compensation platform and includes the following steps: the ship motion information is measured by a motion attitude sensor, and the measured information is input into a high-pass filter and a low-pass filter respectively, wherein the high-pass filter extracts the high-frequency part of the ship motion information, and the low-pass filter extracts the low-frequency part of the ship motion information.

[0058] The 6-DOF parallel stabilization platform 1 receives the high-frequency motion information, and through active control, the movable platform 14 generates opposite motion to counterbalance the high-frequency motion of the ship. The 3-DOF tandem boarding bridge 2 receives low-frequency motion information, and through active control, the distal end of the telescoping part 25 contacts the bridged object to control the bridge to generate opposite motion to counterbalance the low-frequency ship motion, consequently achieving full compensation of the ship motion and keeping the bridging end of the bridge stationary relative to an inertial reference system.

[0059] The technical solution of the present application combines a 6-DOF parallel stabilization platform 1 and a 3-DOF tandem boarding bridge 2, utilizing the advantages of the parallel mechanism's fast response and suitability for compensating high-frequency motion, as well as the advantages of the tandem mechanism's large working space, to achieve targeted compensation for the low-frequency parts and the high-frequency parts of the ship motion.

[0060] The present application adopts a balanced hydraulic cylinder to counterbalance the driving load generated by the gravity of the components in the compensation platform in advance, so that the driving load of the compensation platform during operation is significantly reduced, and the total energy consumption of the system is lower, and the range of selectable driving elements is wider.

[0061] The 3-DOF tandem boarding bridge 2 of the present application controls the contact force between the bridge and the bridged object on the basis of receiving low-frequency motion information, further realizing stable contact between the bridge and the bridged object, and consequently realizing full compensation of the ship motion.

[0062] In the description of the present application, it should be understood that the terms up, down, front, back, left, right, vertical, horizontal, top, bottom, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0063] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present application. When there is no conflict, the embodiments of the present application and the features in the embodiments can be freely combined with each other.