CN112389599A - Four-degree-of-freedom active wave compensation operation and maintenance climbing device - Google Patents
Four-degree-of-freedom active wave compensation operation and maintenance climbing device Download PDFInfo
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- CN112389599A CN112389599A CN201910751263.9A CN201910751263A CN112389599A CN 112389599 A CN112389599 A CN 112389599A CN 201910751263 A CN201910751263 A CN 201910751263A CN 112389599 A CN112389599 A CN 112389599A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 32
- 230000009194 climbing Effects 0.000 title description 3
- 238000005096 rolling process Methods 0.000 claims abstract description 55
- 238000006073 displacement reaction Methods 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000007667 floating Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 3
- 238000010248 power generation Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
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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
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Abstract
A four-freedom active wave compensation operation and maintenance boarding device comprises a pitching compensation structure connected to a boarding trestle, wherein the pitching compensation structure is sequentially connected with a rolling compensation structure, a yawing compensation structure and a heave compensation structure, the heave compensation structure is arranged on a deck of a ship body, an attitude sensor is arranged on the deck and is connected with a control system, the attitude sensor is used for detecting and feeding back an offset value of the ship body under a world coordinate system in real time and sending the offset value to the control system, the control system calculates the compensation values of the ship body in the directions of pitching, rolling, yawing and heave freedom degrees in real time and transmits compensation value signals to the rolling compensation structure, the yawing compensation structure and the heave compensation structure to control the motions of the rolling compensation structure, the yawing compensation structure and the heave compensation structure so as to actively compensate the displacement of the ship body in the directions of the pitching, rolling, yawing and heave freedom degrees, which are generated under the influence, the boarding stability can be improved, the boarding safety is improved, the life safety of workers is maintained, and the working comfort level is improved.
Description
Technical Field
The invention relates to the technical field of marine equipment, in particular to a four-degree-of-freedom active wave compensation operation and maintenance boarding device.
Background
Offshore wind power generation is a new energy widely applied at present, a wind power generation tower needs to be maintained periodically, a maintenance and operation ship is influenced by waves on the water surface, and displacement with 6 degrees of freedom such as heaving, yawing, pitching and yawing can be generated, so that maintenance personnel can swing along with vibration of a ship body when the maintenance personnel step on the wind power generation tower from the ship body, and the working comfort level and the life safety are seriously influenced.
With the increasing energy demand in China, the offshore wind power generation industry develops rapidly, and the loading capacity of offshore wind power generators is increased greatly. And the installation site is more and more far off the shore, the power is more and more large, and the sea condition is worse. The offshore wind turbine needs regular maintenance and repair under the influence of factors such as typhoon and climate. However, under severe sea conditions, the operation and maintenance ship can generate displacement with 6 degrees of freedom such as heave, yawing, pitching, rolling, surging and surging under the influence of waves. This brings great difficulty and challenge to the maintenance personnel to step on the wind power generation tower, and meanwhile, the life safety of the maintenance personnel is threatened. Therefore, the active heave compensation device is developed, and the active compensation of the irregular motion of the operation and maintenance ship with 6 degrees of freedom is a problem to be solved urgently.
In the operation process of the operation and maintenance ship, the bow is close to the wind power generation tower, among 6 irregular degrees of freedom of the operation and maintenance ship, the swaying and surging can be compensated by a power system of the operation and maintenance ship, and the other 4 degrees of freedom need to be compensated by an active wave compensation device so as to achieve the purpose of landing and leaning stability. At present, related technical schemes appear in China. The scheme mainly drives a gear rotating base through a hydraulic motor, and a hydraulic cylinder drives a rolling base and a pitching base to compensate displacement generated by the yawing, the rolling and the pitching of a ship body. Wherein landing stage passes through the rolling pneumatic cylinder and installs on the pitching base with hinge structure, and the pitching base passes through the rolling pneumatic cylinder and installs on rotating base with hinge structure, and rotating base then drives through hydraulic motor and gear structure.
The prior art mainly has two defects, one of which is that the rotating mechanism adopts a hydraulic motor and gear structure, and the landing trestle is heavy, so that the required gear strength requirement is high, and the size is large. The gear has high manufacturing technical requirement and high cost, and is not beneficial to the popularization and industrialization of the technology. Secondly, the displacement of the hull in the direction of the heave freedom cannot be compensated by the technology, and in an area far away from the coast and with severe sea conditions, the hull has large heave under the influence of wind power, and the landing device is still greatly influenced by the heave.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a four-degree-of-freedom active wave compensation operation and maintenance boarding device which improves the boarding stability and the boarding safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
the four-degree-of-freedom active heave compensation operation and maintenance boarding device comprises a pitching compensation structure connected to a boarding trestle, wherein the pitching compensation structure is sequentially connected with a rolling compensation structure, a yawing compensation structure and a heave compensation structure, the heave compensation structure is arranged on a deck of a ship body, an attitude sensor is arranged on the deck and connected to a control system, the attitude sensor is used for detecting and feeding back an offset value of the ship body under a world coordinate system in real time and sending the offset value to the control system, and the control system calculates the compensation value of the ship body in the directions of pitching, rolling, yawing and heave freedom degrees in real time and transmits a compensation value signal to the pitching compensation structure, the rolling compensation structure, the yawing compensation structure and the heave compensation structure so as to control the motions of the pitching compensation structure, the yawing compensation structure and the heave compensation structure.
Further, the pitch compensation structure includes pitch base and pitch driver, pitch base pass through pitch hinged joint in landing the landing stage, pitch driver's both ends articulate respectively in pitch base with landing the landing stage, through pitch driver's flexible swing that realizes the pitch degree of freedom direction for initiatively compensate the displacement of hull in pitch degree of freedom direction.
Furthermore, the roll compensation structure comprises a roll base and a roll driver, the roll base is connected to the pitch base through a roll hinge, two ends of the roll driver are respectively hinged to the pitch base and the roll base, and the roll driver stretches out and draws back to realize the swing in the roll degree of freedom direction so as to actively compensate the displacement of the ship body in the roll degree of freedom direction.
Further, the yawing compensation structure comprises a rotating base and a yawing driver, the rotating base is connected to the rolling base through a bearing seat and an angular contact bearing, the yawing driver moves linearly in a stroke range, the rolling base is driven to rotate in a certain angle range by the expansion and contraction of the yawing driver by taking the center of the angular contact bearing as a rotating center, and the displacement of the ship body in the direction of the yawing freedom degree is compensated.
Further, the rolling base is provided with a connecting plate, the connecting plate is provided with a bearing follower, and the bearing follower is connected to the yawing driver through a floating joint.
Further, a linear guide rail is arranged on the rotary base, the bearing follower is limited in the linear guide rail and moves along the linear guide rail, and when the yaw driver stretches out and draws back, the bearing follower is driven to move along the linear guide rail, so that the angular contact bearing and the yaw base are driven to rotate simultaneously.
Furthermore, the heave compensation structure comprises a lifting base, a lifting driver and a scissor mechanism, the top of the scissor mechanism is connected to the rotating base, the bottom of the scissor mechanism is connected to the lifting base, two ends of the lifting driver are respectively hinged to the upper portion and the lower portion of the scissor mechanism, the lifting of the rotating base is achieved through the stretching of the lifting driver, and the displacement of the ship body in the direction of the heave degree of freedom is compensated.
Further, the top and the bottom of the scissors mechanism are respectively connected with the rotating base and the lifting base through lifting hinges.
Further, the lifting driver, the yawing driver, the rolling driver and the pitching driver are hydraulic cylinders or servo electric cylinders.
Furthermore, the control system is electrically connected to the control valves of the lifting driver, the yawing driver, the rolling driver and the pitching driver, and the control system automatically controls the stretching amount of each driver, so that the offset of the ship body is actively compensated.
The invention has the beneficial effects that:
according to the invention, the displacement of the ship body in four freedom directions of pitching, rolling, yawing and heaving, which are generated under the influence of waves, is actively compensated through the pitching compensation structure, the rolling compensation structure, the yawing compensation structure and the heaving compensation structure, so that the life safety of workers can be maintained, the working comfort is improved, and the workers can stably climb to the offshore wind power generation tower through the offshore maintenance ship. The device can save the manufacture of a high-strength large gear, reduce the processing and manufacturing cost, is beneficial to technical popularization and industrialization, can compensate the displacement of the ship body in four degrees of freedom, namely bow, pitch, roll and heave, improves the boarding stability and increases the boarding safety.
Drawings
FIG. 1 is a front view of the four-DOF active heave compensation operation and maintenance reclining device of the present invention;
FIG. 2 is a top view of the four-DOF active heave compensation operation and maintenance reclining device according to the present invention;
in the figure, 1-landing trestle, 2-pitching driver, 3-pitching hinge, 4-pitching base, 5-rolling driver, 6-rolling hinge, 7-rolling base, 8-bearing seat, 9-rotating base, 10-scissor fork mechanism, 11-lifting driver, 12-lifting hinge, 13-lifting base, 14-attitude sensor, 15-deck, 16-boarding ladder, 17-linear guide rail, 18-bearing follower, 19-floating joint, 20-heading driver and 21-control system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
Referring to fig. 1 and 2, the invention provides a four-degree-of-freedom active wave compensation operation and maintenance boarding device, which comprises a pitching compensation structure connected to a boarding trestle 1, wherein the pitching compensation structure is sequentially connected with a rolling compensation structure, a heading compensation structure and a heave compensation structure, the heave compensation structure is arranged on a deck 15 of a ship body, one side of the deck 15 is provided with an embarkation ladder 16, and a maintainer climbs the boarding device through the embarkation ladder 16 and stably ascends a wind power generation tower through the embarkation device to operate. The deck 15 is provided with an attitude sensor 14, the attitude sensor 14 is connected to a control system 21, the attitude sensor 14 is used for detecting and feeding back an offset value of the ship body under a world coordinate system in real time and sending the offset value to the control system 21, the control system 21 calculates compensation values of the ship body in the directions of the free degrees of pitching, rolling, yawing and heaving in real time, and transmits compensation value signals to a pitching compensation structure, a rolling compensation structure, a yawing compensation structure and a heaving compensation structure so as to control the motions of the ship body and the heaving compensation structure.
One end of a landing trestle 1 of the landing device abuts against the wind power generation tower, and the other end of the landing trestle is connected with the pitching compensation structure. The pitching compensation structure comprises a pitching base 4 and a pitching driver 2, wherein the pitching base 4 is connected to the landing trestle 1 through a pitching hinge 3, two ends of the pitching driver 2 are respectively hinged to the pitching base 4 and the landing trestle 1, in the embodiment, the pitching driver 2 is a hydraulic cylinder, and in other embodiments, the pitching driver 2 can also be a servo electric cylinder. One end of the pitching driver 2 is connected with the middle part of the bottom of the landing stage 1 through a hinge, and the other end of the pitching driver is connected with the pitching base 4 through a hinge. The climbing device swings in the direction of the pitching freedom degree through the stretching of the pitching driver 2, so that the displacement of the ship body in the direction of the pitching freedom degree is actively compensated, and the landing trestle and the wind power generation tower form a relative vertical angle.
The roll compensation structure comprises a roll base 7 and a roll driver 5, the roll base 7 is connected to the pitch base 4 through a roll hinge 6, two ends of the roll driver 5 are respectively hinged to the pitch base 4 and the roll base 7, in this embodiment, the roll driver 5 is a hydraulic cylinder, and in other embodiments, the pitch driver 5 may also be a servo electric cylinder. The pitching base 4 can swing around the rolling hinge 6 in the direction of the rolling freedom degree through the stretching and the contracting of the rolling driver 5, so as to actively compensate the displacement of the ship body in the direction of the rolling freedom degree.
The yawing compensation structure comprises a rotary base 9 and a yawing driver 20, wherein the rotary base 9 is connected to the rolling base 7 through a bearing seat 8 and an angular contact bearing to form a rotational degree of freedom. In this embodiment, the roll base 7 is provided with a connecting plate, the connecting plate is provided with a bearing follower 18, the bearing follower 18 is connected to the yaw drive 20 through a floating joint 19, the bearing follower 18 moves along with the movement of the yaw drive 20 through the floating joint 19, and the bearing follower 18 drives the angular contact bearing to rotate. The rotary base 9 is provided with a linear guide rail 17, the bearing follower 18 is limited in the linear guide rail 17 and moves along the linear guide rail 17, when the yawing driver 20 extends and contracts, the bearing follower is driven to move along the linear guide rail, and further the angular contact bearing and the rolling base 7 are driven to rotate simultaneously, and the angular contact bearing plays a supporting role. In this embodiment the yaw drive 20 is a hydraulic cylinder, in other embodiments the yaw drive 20 may also be a servo-electric cylinder. The yaw drive 20 moves in the direction of the linear guide 17 within a stroke range, and the roll base 7 can rotate within a certain angle range with the center of the angular contact bearing as the rotation center to compensate the displacement of the hull in the direction of the yaw freedom. The bow compensation structure converts linear motion into rotary motion, avoids manufacturing high-strength and large-size gears, effectively reduces manufacturing cost, and is convenient for technical popularization and industrialization.
Heave compensation structure includes lifting pedestal 13, lift driver 11 and scissors mechanism 10, and the top of scissors mechanism 10 is connected in rotating base 9, and the bottom is connected in lifting pedestal 13, and in this embodiment, the top and the bottom of scissors mechanism 10 are connected in rotating base 9 and lifting pedestal 13 through lift hinge 12 respectively. The two ends of the lifting actuator 11 are respectively hinged to the upper part and the lower part of the scissors mechanism 10, in this embodiment, the lifting actuator 11 is a hydraulic cylinder, and in other embodiments, the lifting actuator 11 may also be a servo electric cylinder. The lifting of the rotary base 9 is realized through the extension and contraction of the lifting driver 11 so as to compensate the displacement of the ship body in the direction of the heave freedom degree. The lifting driver 11 and the scissor mechanism 10 are adopted to form a space-saving lifting device which is applied to a wave compensation device, is beneficial to saving height space, can compensate displacement of a ship body in a heave direction and is more beneficial to stability of boarding.
The elevating base 13 is installed on a deck 15 of the bow of the vessel, and the attitude sensor 14 is installed on the deck 15 near the elevating base 13. The attitude sensor 14 feeds back the offset value of the ship body in the world coordinate system to the control system 21 in real time, the control system 21 calculates the compensation value of the ship body in the directions of the free degrees of pitching, rolling, yawing and heaving in real time, and transmits the compensation value to the control valves of the pitching driver 2, the rolling driver 5, the yawing driver 20 and the lifting driver 11 through signals to control the stretching amount of each driver, so that the offset of the ship body is actively compensated. The landing device is kept in a relatively static state with the wind power generation tower in an automatic control mode, and a maintainer climbs the landing device through the landing ladder 16 and stably ascends the wind power generation tower through the landing device to operate.
According to the invention, the displacement of the ship body in four freedom directions of pitching, rolling, yawing and heaving, which are generated under the influence of waves, is actively compensated through the pitching compensation structure, the rolling compensation structure, the yawing compensation structure and the heaving compensation structure, so that the life safety of workers can be maintained, the working comfort is improved, and the workers can stably climb to the offshore wind power generation tower through the offshore maintenance ship. The device can save the manufacture of a high-strength large gear, reduce the processing and manufacturing cost, is beneficial to technical popularization and industrialization, can compensate the displacement of the ship body in four degrees of freedom, namely bow, pitch, roll and heave, improves the boarding stability and increases the boarding safety.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A four-degree-of-freedom active heave compensation operation and maintenance boarding device is characterized by comprising: the pitching compensation structure is connected to the landing stage, the pitching compensation mechanism is sequentially connected with a rolling compensation structure, a yawing compensation structure and a heaving compensation structure, the heaving compensation structure is arranged on a deck of the ship body, an attitude sensor is arranged on the deck and connected to a control system, the attitude sensor is used for detecting and feeding back an offset value of the ship body under a world coordinate system in real time and sending the offset value to the control system, and the control system calculates the compensation value of the ship body in the directions of pitching, rolling, yawing and heaving freedom degrees in real time and transmits a compensation value signal to the rolling compensation structure, the yawing compensation structure and the heaving compensation structure so as to control the motion of the rolling compensation structure, the yawing compensation structure and the heaving compensation structure.
2. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 1, characterized in that: the pitching compensation structure comprises a pitching base and a pitching driver, the pitching base is connected to the landing trestle through a pitching hinge, two ends of the pitching driver are respectively hinged to the pitching base and the landing trestle, and the pitching driver stretches out and draws back to realize the swing in the pitching freedom direction so as to actively compensate the displacement of the ship body in the pitching freedom direction.
3. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 2, wherein: the rolling compensation structure comprises a rolling base and a rolling driver, the rolling base is connected to the pitching base through a rolling hinge, two ends of the rolling driver are respectively hinged to the pitching base and the rolling base, and the rolling driver stretches to realize the swing in the direction of the rolling degree of freedom so as to actively compensate the displacement of the ship body in the direction of the rolling degree of freedom.
4. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 3, wherein: the yawing compensation structure comprises a rotary base and a yawing driver, the rotary base is connected to the rolling base through a bearing seat and an angular contact bearing, the yawing driver moves linearly in a stroke range, the rolling base is driven to rotate in a certain angle range by the expansion and contraction of the yawing driver by taking the center of the angular contact bearing as a rotation center, and the displacement of the ship body in the yawing freedom degree direction is compensated.
5. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 4, wherein: the rolling base is provided with a connecting plate, the connecting plate is provided with a bearing follower, and the bearing follower is connected to the yawing driver through a floating joint.
6. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 5, wherein: the rotary base is provided with a linear guide rail, the bearing follower is limited in the linear guide rail and moves along the linear guide rail, and when the yaw driver stretches out and draws back, the bearing follower is driven to move along the linear guide rail, so that the angular contact bearing and the yaw base are driven to rotate simultaneously.
7. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 4, wherein: the heave compensation structure comprises a lifting base, a lifting driver and a scissor mechanism, the top of the scissor mechanism is connected to the rotating base, the bottom of the scissor mechanism is connected to the lifting base, two ends of the lifting driver are respectively hinged to the upper portion and the lower portion of the scissor mechanism, and the lifting of the rotating base is achieved through the stretching of the lifting driver so as to compensate displacement of the ship body in the direction of the heave degree of freedom.
8. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 7, wherein: the top and the bottom of the scissor fork mechanism are respectively connected with the rotating base and the lifting base through lifting hinges.
9. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 7, wherein: the lifting driver, the yawing driver, the rolling driver and the pitching driver are hydraulic cylinders or servo electric cylinders.
10. The four degree-of-freedom active heave compensation operation and maintenance reclining device according to claim 7, wherein: the control system is electrically connected with control valves of the lifting driver, the yawing driver, the rolling driver and the pitching driver, and the control system automatically controls the stretching amount of each driver so as to actively compensate the offset of the ship body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910751263.9A CN112389599A (en) | 2019-08-15 | 2019-08-15 | Four-degree-of-freedom active wave compensation operation and maintenance climbing device |
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| CN201910751263.9A CN112389599A (en) | 2019-08-15 | 2019-08-15 | Four-degree-of-freedom active wave compensation operation and maintenance climbing device |
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Cited By (5)
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| CN113608487A (en) * | 2021-08-26 | 2021-11-05 | 大连海事大学 | Control system of marine scalable shelter bridge device |
| CN113650735A (en) * | 2021-09-18 | 2021-11-16 | 贵州航天天马机电科技有限公司 | Steel-aluminum structure fused four-degree-of-freedom economical active compensation gangway ladder |
| CN114455007A (en) * | 2022-01-11 | 2022-05-10 | 江苏科技大学 | Offshore wind power operation and maintenance lifting and landing device and using method thereof |
| CN114608798A (en) * | 2022-03-07 | 2022-06-10 | 江苏科技大学 | Land test method for active wave compensation performance of marine retraction system |
| CN116280026A (en) * | 2023-02-14 | 2023-06-23 | 南通赛君海洋科技有限公司 | Marine wind power operation and maintenance wave compensation leaning ladder platform |
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