CN113232768A - Offshore transfer trestle with wave compensation function and working method thereof - Google Patents
Offshore transfer trestle with wave compensation function and working method thereof Download PDFInfo
- Publication number
- CN113232768A CN113232768A CN202110450040.6A CN202110450040A CN113232768A CN 113232768 A CN113232768 A CN 113232768A CN 202110450040 A CN202110450040 A CN 202110450040A CN 113232768 A CN113232768 A CN 113232768A
- Authority
- CN
- China
- Prior art keywords
- bridge body
- trestle
- base
- hydraulic motor
- heave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The invention discloses an offshore transfer trestle with a wave compensation function and a working method thereof. The invention can compensate the disturbance of the swaying motion of the two ships on the transfer trestle, and can ensure that the trestle body and the horizontal plane keep a safe angle unchanged in the personnel transfer process of the transfer trestle even if the host ship and the target ship have a freeboard difference, thereby improving the safety and comfort of personnel transfer between the two ships on the sea. After the transfer trestle is lapped, the front end of the trestle body is fixedly connected with the transfer point, and the trestle body and the horizontal plane can be kept at a safe angle unchanged only by controlling the heaving mechanism in the personnel transfer process. The front end of the trestle bridge body is fixedly connected with the transfer point by the electromagnetic landing cone without being fixed by an additional mechanical device, so that the trestle bridge body can be quickly separated from the transfer point in emergency, the emergency lifting is realized, and the safety is improved.
Description
Technical Field
The invention relates to technical equipment in the field of ships and ocean engineering, in particular to an offshore transfer trestle with a wave compensation function and a working method thereof.
Background
The oil exploration ship is used for deepwater oil exploration operation, carries equipment for drilling and the like, and has a plurality of shipborne equipment and limited cabins, so that fewer crew members can be accommodated, and personnel transfer between ships is required to be carried out by carrying a shift-changing ship and the side of the oil exploration ship at intervals. The oil exploration ship is called a host ship, a dynamic positioning system is installed on the oil exploration ship, the shift ship is called a target ship, the offshore transfer trestle is placed on the host ship, and an offshore personnel transfer channel can be established between the host ship and the target ship. In practice, due to the influence of wind, waves, currents and other marine environments, the host ship and the target ship can generate motions with six degrees of freedom including rolling, pitching, yawing, pitching and heaving, and the swinging motions can generate disturbance on the transfer trestle, so that potential safety hazards are caused to the transfer of marine personnel.
The Chinese patent invention CN106320161B discloses a six-degree-of-freedom active compensation type offshore platform boarding trestle, which comprises a trestle, a boarding platform, a six-degree-of-freedom compensation platform, a full-revolving mechanism, a pitching compensator and a telescopic compensator, wherein the six-degree-of-freedom compensation platform can provide six-degree-of-freedom motion compensation for the boarding trestle, and the full-revolving mechanism, the pitching compensator and the telescopic compensator cooperate with each other to compensate residual ship motion which is not compensated by the six-degree-of-freedom compensation platform and are used for personnel transfer between a ship and an offshore fixed platform, but the six-degree-of-freedom compensation platform has the disadvantages of large number of driving mechanisms, complex structure, high energy consumption and difficult cooperative control.
The Chinese patent CN106494577B discloses a trestle with an active wave compensation function, which comprises a lifting base, a bearing platform, a trestle and a telescopic supporting rod, wherein the lifting base and the telescopic supporting rod cooperatively move to ensure that the distance between the front end of the bearing platform and a lapped floating body is greater than a safe distance, and the change of the pitching angle of the trestle caused by the movement of the two floating bodies is counteracted, so that the trestle can be used for transferring personnel between the two floating bodies on the sea, but the trestle has no telescopic mechanism and cannot compensate the change of the distance between the floating bodies caused by sea waves, so that the end point of the trestle moves on the floating bodies, and potential safety hazards are caused when the personnel climb off the trestle.
Chinese patent CN108411766B discloses a position compensation retractable landing stage, which comprises a base, a rotary seat, a retractable landing stage, a derricking cylinder, an industrial control computer and the like, wherein a dynamic positioning system is respectively arranged on a ship where the landing stage is located and a lapped ship, MRU (multi-resolution unit) pose measuring devices are respectively arranged at the front end of the retractable landing stage and the lapped ship, the position information of the front end of the retractable landing stage and the lapping point of the ship is respectively collected, the rotary, retractable and pitching mechanisms of the landing stage cooperatively move to actively compensate the movement of the ship, so that the front end of the landing stage follows the lapping point of the ship, so as to realize safe lapping, when lapping is finished, the rotary, telescopic and pitching mechanisms all enter a passive compensation mode, the landing stage bridge can be used for transferring personnel and materials between marine ships, but cannot ensure that the landing stage bridge body always keeps a fixed angle with the horizontal plane unchanged, and the comfort of personnel transferring and the safety of cargo transferring are influenced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an offshore transfer trestle with a wave compensation function and a working method thereof, wherein the offshore transfer trestle is simple in mechanism and easy to control, so that personnel can safely transfer between two offshore side-leaning ships as on the land, the disturbance of the swaying motion of the two ships to the transfer trestle can be compensated in real time in the lap joint process of the transfer trestle, the safe lap joint is realized, and the trestle body and the horizontal plane can be kept at a fixed safe angle in the personnel transfer process.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a sea transfer trestle with a heave compensation function comprises a heave mechanism, a trestle system and an active heave compensation control system.
The heave mechanism comprises a base, three base supporting legs, an outer base, an inner base and a hydraulic cylinder. The outer base is nested outside the inner base, and a gear unit on the outer base is meshed with a rack on the inner base;
the base is fixedly arranged on a deck of the host ship; the three base supporting legs are fixedly connected with the base and are uniformly distributed along the circumferential direction of the base; the outer base is of a triangular tubular structure, the upper end and the lower end of the outer base are both open, and the lower ends of three edges of the outer base are fixedly connected with three base supporting legs respectively; two groups of gear units are arranged on each edge of the outer base, and the two groups of gear units are arranged along the up-down direction of the edge; each group of gear units comprises an upper gear, an auxiliary gear and a lower gear, wherein the auxiliary gear is positioned between the upper gear and the lower gear and is respectively meshed with the upper gear and the lower gear; the inner base is of a triangular tubular structure, the upper end of the inner base is closed, the lower end of the inner base is open, and each edge of the outer side wall of the inner base is provided with a rack; the upper gear and the lower gear are meshed with the corresponding racks on the inner base, so that the inner base moves longitudinally along the outer base; the cylinder barrel of the hydraulic cylinder is connected to the geometric center of the base through a revolute pair A, and the piston rod is connected to the geometric center of the upper end face of the inner base through a revolute pair B to drive the inner base to move longitudinally along the outer base.
The trestle system is of a rotary double-boom telescopic structure and comprises a base, a boarding platform, a first hydraulic motor, a trestle body, a connecting shaft, a pitching device, an electromagnetic landing cone and a first laser ranging sensor. The base is arranged on the upper end surface of the base in the heave mechanism and is used for supporting the boarding platform; the first hydraulic motor is arranged in the base and used for driving the base to rotate; the trestle bridge body comprises a fixed bridge body, a telescopic bridge body and a second hydraulic motor, wherein the fixed bridge body is provided with a railing, the telescopic bridge body is provided with a railing and a pulley, and the telescopic bridge body is in lap joint with the fixed bridge body through the pulley and moves along the solid bridge body; the second hydraulic motor is arranged at the bottom of the fixed bridge body and drives the telescopic bridge body to move along the fixed bridge body; the fixed bridge body is connected with the boarding platform through a connecting shaft, so that the trestle bridge body rotates around the connecting shaft; the pitching device comprises two suspension arms, a third hydraulic motor, two drums, two groups of pulleys and two steel wire slings, wherein the two suspension arms are arranged on two sides of the boarding platform, a groove is formed in each suspension arm, a fixed shaft is arranged in each groove, the third hydraulic motor is arranged on the boarding platform, the two drums are respectively arranged at two ends of an output shaft of the third hydraulic motor, the two groups of pulleys are composed of four pulleys, two pulleys in one group of pulleys are arranged in the grooves of the suspension arms on one side, and the other two pulleys are arranged at the outer ends of the bottoms of the fixed bridge bodies, which are at the same side as the suspension arms; four pulleys in the other group of pulleys are also respectively arranged in the groove of the suspension arm at the other side and the outer end of the bottom of the fixed bridge body, the steel wire slings are wound on the winding drum, after the two steel wire slings respectively and alternately wind the two pulleys on the suspension arms at the two sides and the two pulleys on the fixed bridge body, the tail ends of the two steel wire slings are respectively fixed on the fixed shafts in the grooves of the suspension arms at the two sides; the third hydraulic motor rotates to drive the winding drum to rotate and receive and release the steel wire sling, so that the landing bridge body can be pitched; the electromagnetic landing cone is arranged at the bottom of the front end of the telescopic bridge body through a spherical hinge and is used for fixing the front end of the telescopic bridge body at a transfer point on a target ship deck; the first laser ranging sensor is arranged on a topside strake on one side, close to the target ship, of the host ship and used for measuring the distance between the host ship and the side board of the target ship.
The active heave compensation control system comprises a control box, a laser radar, a main control computer, a second laser ranging sensor, a first encoder, a displacement sensor, a second encoder, an angle sensor, a third encoder, an inertia measurement unit, an inclination angle sensor, a three-degree-of-freedom compensation controller and a heave compensation controller.
The control box is arranged on the deck of the host ship; the laser radar is arranged on a deck near a side board of the host ship close to one side of the target ship and used for acquiring the position and pose of the target ship relative to the host ship; the main control computer is arranged in the control box, receives point cloud data consisting of distance and azimuth information of a target ship relative to a host ship from the laser radar, processes and calculates the point cloud data to obtain heave displacement, roll angle and pitch angle of the target ship;
the second laser ranging sensor is arranged on one side of the front end of the telescopic bridge body and used for acquiring the vertical distance from the front end of the telescopic bridge body to a target ship deck;
the first encoder is arranged on the first hydraulic motor and used for measuring the rotation quantity of the first hydraulic motor and obtaining the rotation quantity of the base;
the displacement sensor is arranged on the hydraulic cylinder and used for measuring the longitudinal displacement of the inner base relative to the outer base; the second encoder is arranged on the second hydraulic motor and used for measuring the rotation quantity of the second hydraulic motor and obtaining the expansion quantity of the trestle bridge body; the angle sensor is arranged at one end of the connecting shaft and used for measuring the longitudinal included angle of the trestle bridge body around the connecting shaft and the heave mechanism;
the third encoder is arranged on the third hydraulic motor and used for measuring the rotation quantity of the third hydraulic motor;
the inertial measurement unit is arranged on a base of the heave mechanism and is used for measuring the swaying displacement, the heave displacement and the roll angle of the base of the heave mechanism along with the ship;
the inclination angle sensor is arranged on one side of the fixed bridge body and used for measuring the included angle between the trestle bridge body and the horizontal plane;
the three-degree-of-freedom compensation controller is arranged in the control box and receives the following data: the system comprises a target ship heave displacement, a roll angle and a pitch angle which are calculated by a main control computer, a heave displacement and a roll angle of a heave mechanism base along with a ship, which are measured by an inertia measuring unit, a rotation quantity and a base rotation quantity of a first hydraulic motor, which are measured by a first encoder, a rotation quantity and a trestle bridge body expansion and contraction quantity of a second hydraulic motor, which are measured by a second encoder, and a third hydraulic motor rotation quantity, which is measured by a third encoder; the three-degree-of-freedom compensation controller outputs control signals of the first hydraulic motor, the second hydraulic motor and the third hydraulic motor, controls the three-degree-of-freedom cooperative motion of rotation, extension and pitching of the trestle bridge body, compensates disturbance of the host ship to the trestle bridge body due to rolling and heave motion, and enables the front end of the trestle bridge body to move along the rolling direction, the surging direction and the heaving direction along with a transfer point on a target ship; the working mode of the three-degree-of-freedom compensation controller is called as an active compensation mode;
the heave compensation controller is arranged in the control box and receives the following data: the included angle of the trestle bridge body around the connecting shaft and the longitudinal direction of the heave mechanism is measured by the angle sensor, the rotation quantity of the second hydraulic motor and the expansion quantity of the trestle bridge body are measured by the second encoder, the longitudinal displacement of the inner base relative to the outer base is measured by the displacement sensor, and the included angle of the trestle bridge body and the horizontal plane is measured by the inclination angle sensor; the heave compensation controller outputs a control signal of the hydraulic cylinder, actively controls the hydraulic cylinder, drives the heave mechanism, unloads the first hydraulic motor, the second hydraulic motor and the third hydraulic motor, is in a passive working mode, and cooperatively compensates the disturbance of the rolling and heave motion of the host ship and the rolling, rolling and pitching motion of the target ship on the trestle bridge body; the working mode of the heave compensation controller is called a heave compensation mode.
Furthermore, the base is fixedly arranged near the center of a side board on one side of a deck of the host ship close to the target ship.
Furthermore, the boarding platform is provided with a fence, and the fence is provided with a boarding port and fixed on the base.
Furthermore, the width of the fixed bridge body is larger than that of the telescopic bridge body, and the telescopic bridge body moves along the inner side of the fixed bridge body through pulleys.
A method for building and operating an offshore transfer trestle with a wave compensation function comprises the following steps:
A. the target ship leans against the host ship to ensure that a connecting line of a transfer point on the target ship and a geometric center of a base of the heave mechanism is vertical to a side board of a deck of the host ship;
B. an operator controls the third hydraulic motor to rotate reversely, drives the winding drum to rotate anticlockwise to retract the steel wire sling, enables the trestle bridge body to rotate anticlockwise around the connecting shaft, lifts the trestle bridge body upwards, and stops rotating until the longitudinal included angle between the trestle bridge body and the heave mechanism reaches an angle suitable for trestle lapping;
C. an operator controls the first hydraulic motor to drive the base to rotate, so that the trestle bridge body is driven to rotate to a certain position in a space above a transfer point on a target ship;
D. an operator controls a second hydraulic motor according to the distance between the host ship and the target ship to drive the trestle bridge body to stretch out and draw back, and simultaneously controls a third hydraulic motor to rotate forwards according to the vertical distance between the front end of the trestle bridge body and the deck of the target ship to drive a winding drum to rotate clockwise to release a steel wire sling so that the trestle bridge body bends downwards until the front end of the trestle bridge body is close to a transfer point on the target ship and keeps a safe distance with the transfer point;
E. an operator switches the wave compensation control system to an active compensation mode, starts a three-degree-of-freedom compensation controller, the three-degree-of-freedom compensation controller receives heave displacement, roll angle and pitch angle information of a target ship from a main control computer and roll displacement, heave displacement and roll angle information of a heave mechanism base along with the ship, which are measured by an inertia measurement unit, cooperatively controls a first hydraulic motor to rotate, drives a base to rotate, further drives a trestle bridge body to rotate, controls a third hydraulic motor to rotate, drives a winding drum to receive and release a steel wire sling, drives the trestle bridge body to pitch, controls a second hydraulic motor to rotate, drives the trestle bridge body to stretch, realizes that the front end of the trestle bridge body moves along with a transfer point on the target ship, and ensures that the relative position of the trestle bridge body and the transfer point is unchanged;
F. switching to a manual mode, operating a first hydraulic motor, a second hydraulic motor and a third hydraulic motor by an operator, erecting the front end of the trestle bridge body on a transfer point, starting an electromagnetic landing cone, fixedly connecting the front end of the trestle bridge body to the transfer point on a target ship, and finishing the erection of the boarding trestle;
G. and starting a heave compensation mode, controlling the hydraulic cylinder to stretch out and draw back by the heave compensation controller to drive the heave mechanism, and simultaneously enabling the first hydraulic motor, the second hydraulic motor and the third hydraulic motor to rotate along with the movement of the two ships so as to ensure that the safety angle between the trestle bridge body and the horizontal plane is unchanged.
Compared with the prior art, the invention has the following beneficial effects:
1. the existing offshore transfer trestle can not ensure that the safety angle between the trestle body and the horizontal plane is unchanged in the process of inter-ship transfer with poor topsides. The invention designs an offshore transfer trestle with a wave compensation function, which compensates disturbance of swaying motion of two ships to the transfer trestle, and can ensure that the trestle body and the horizontal plane of the transfer trestle keep a safe angle unchanged in the personnel transfer process even if freeboards of a host ship and a target ship are poor, thereby improving the safety and the comfort of personnel transfer between the two ships at sea.
2. After the transfer trestle is lapped, the front end of the trestle body is fixedly connected with the transfer point, and the personnel transfer process can ensure that the trestle body and the horizontal plane keep a safe angle unchanged only by controlling the heave mechanism.
3. The front end of the trestle bridge body is fixedly connected with the transfer point by the electromagnetic landing cone without being fixed by an additional mechanical device, so that the trestle bridge body can be quickly separated from the transfer point in emergency, the emergency lifting is realized, and the safety is improved.
4. The gear unit in the heaving mechanism is provided with the auxiliary gear, so that the gear unit can bear larger acting force on the gear unit by the inner base, the heaving mechanism can bear larger lateral force, the load capacity of the heaving mechanism is improved, the inner base and the outer base in the heaving mechanism are both of a triangular tubular structure, and the degrees of freedom except for the longitudinal movement of the inner base along the outer base can be better restrained.
5. The pitching device in the trestle system adopts a double-boom structure, so that the gravity of the trestle bridge body is dispersed on the two steel wire slings, and the two steel wire slings respectively and alternately bypass the two pulleys on the two side booms and the two pulleys on the fixed trestle body, so that the steel wire slings are balanced in bearing, and the load of the pitching device can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a transfer trestle according to the present invention.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a side view of fig. 1.
Fig. 4 is a sectional view taken along line a-a of fig. 3.
Fig. 5 is a schematic working diagram of the transfer trestle of the invention.
Fig. 6 is a schematic diagram of the working principle of the three-degree-of-freedom compensation controller of the transfer trestle of the present invention.
Fig. 7 is a schematic diagram of the working principle of the heave compensation controller of the transfer trestle of the invention.
In the figure: 1. a base, 2, a base supporting leg, 3, a revolute pair A, 4, an outer base, 5, a lower gear, 6, an auxiliary gear, 7, an upper gear, 8, an inner base, 9, a rack, 10, a base, 11, a first hydraulic motor, 12, a boarding platform, 13, a boarding gate, 14, a winding drum, 15, a third hydraulic motor, 16, a steel wire sling, 17, a fixed shaft, 18, a pulley, 19, a suspension arm, 20, a connecting shaft, 21, an angle sensor, 22, a fixed bridge body, 23, a second hydraulic motor, 24, a second encoder, 25, a telescopic bridge body, 26, a ball hinge, 27, an electromagnetic landing cone, 28, a second laser ranging sensor, 29, a trestle bridge body, 30, a third encoder, 31, a displacement sensor, 32, a hydraulic cylinder, 33, a first laser ranging sensor, 34, a control box, 35, a laser radar, 36, a main computer, 37 and a three-degree-of-freedom compensation controller, 38. heave compensation controller 39, transfer point 40, first encoder 41, inertia measurement unit 42, tilt sensor.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1-7, an offshore transfer trestle with heave compensation function comprises a heave mechanism, a trestle system and an active heave compensation control system.
The heave mechanism comprises a base 1, three base legs 2, an outer base 4, an inner base 8 and a hydraulic cylinder 32. The outer base 4 is nested outside the inner base 8, and a gear unit on the outer base 4 is meshed with a rack 9 on the inner base 8;
the base 1 is fixedly arranged on a deck of a host ship; the three base supporting legs 2 are fixedly connected with the base 1 and are uniformly distributed along the circumferential direction of the base 1; the outer base 4 is of a triangular tubular structure, the upper end and the lower end of the outer base are both open, and the lower ends of three edges of the outer base 4 are respectively fixedly connected with the three base supporting legs 2; two groups of gear units are arranged on each edge of the outer base 4 and are arranged along the up-down direction of the edge; each group of gear units comprises an upper gear 7, an auxiliary gear 6 and a lower gear 5, wherein the auxiliary gear 6 is positioned between the upper gear 7 and the lower gear 5 and is respectively meshed with the upper gear 7 and the lower gear 5; the inner base 8 is of a triangular tubular structure, the upper end of the inner base is closed, the lower end of the inner base is open, and a rack 9 is arranged on each edge of the outer side wall of the inner base 8; the upper gear 7 and the lower gear 5 are meshed with the corresponding racks 9 on the inner base 8, so that the inner base 8 moves longitudinally along the outer base 4; the cylinder barrel of the hydraulic cylinder 32 is connected to the geometric center of the base 1 through a revolute pair A3, and the piston rod is connected to the geometric center of the upper end surface of the inner base 8 through a revolute pair B, so that the inner base 8 is driven to move longitudinally along the outer base 4.
The trestle system is of a rotary double-boom telescopic structure and comprises a base 10, a boarding platform 12, a first hydraulic motor 11, a trestle body 29, a connecting shaft 20, a pitching device, an electromagnetic landing cone 27 and a first laser ranging sensor 33. The base 10 is arranged on the upper end surface of the inner base 8 of the heave mechanism and is used for supporting a boarding platform 12; the first hydraulic motor 11 is installed inside the base 10 and is used for driving the base 10 to rotate; the trestle bridge 29 comprises a fixed bridge 22, a telescopic bridge 25 and a second hydraulic motor 23, wherein the fixed bridge 22 is provided with a railing, the telescopic bridge 25 is provided with a railing and a pulley 18, and the telescopic bridge 25 is in lap joint with the fixed bridge 22 through the pulley 18 and moves along the fixed bridge; the second hydraulic motor 23 is installed at the bottom of the fixed bridge body 22 and drives the telescopic bridge body 25 to move along the fixed bridge body 22; the fixed bridge body 22 is connected with the boarding platform 12 through a connecting shaft 20, so that the trestle bridge body 29 rotates around the connecting shaft 20; the pitching device comprises two suspension arms 19, a third hydraulic motor 15, two winding drums 14, two groups of pulleys and two steel wire slings 16, wherein the two suspension arms 19 are arranged at two sides of the boarding platform 12, each suspension arm 19 is internally provided with a groove, a fixed shaft 17 is arranged in the groove, the third hydraulic motor 15 is arranged on the boarding platform 12, the two winding drums 14 are respectively arranged at two ends of an output shaft of the third hydraulic motor 15, the two groups of pulleys are composed of four pulleys, two pulleys in one group of pulleys are arranged in the groove of the suspension arm 19 at one side, and the other two pulleys are arranged at the outer end of the bottom of the fixed bridge body 22 at the same side with the suspension arm 19; four pulleys in the other group of pulleys are also respectively arranged in the groove of the suspension arm 19 on the other side and the outer end of the bottom of the fixed bridge body 22, the steel wire slings 16 are wound on the winding drum 14, after the two steel wire slings 16 respectively and sequentially and alternately wind the two pulleys on the suspension arms 19 on the two sides and the two pulleys on the fixed bridge body 22, the tail ends of the two steel wire slings 16 are respectively fixed on the fixed shafts 17 in the grooves of the suspension arms 19 on the two sides; the third hydraulic motor 15 rotates to drive the winding drum 14 to rotate, and the steel wire sling 16 is wound and unwound, so that the landing bridge body 29 is pitched; the electromagnetic landing cone 27 is installed at the bottom of the front end of the telescopic bridge body 25 through a spherical hinge 26 and is used for fixing the front end of the telescopic bridge body 25 at a transfer point 39 on the deck of a target ship; the first laser ranging sensor 33 is installed on a topside strake on one side of the host ship close to the target ship and used for measuring the distance between the host ship and the side of the target ship.
The active heave compensation control system comprises a control box 34, a laser radar 35, a main control computer 36, a second laser ranging sensor 28, a first encoder 40, a displacement sensor 31, a second encoder 24, an angle sensor 21, a third encoder 30, an inertia measurement unit 41, an inclination angle sensor 42, a three-degree-of-freedom compensation controller 37 and a heave compensation controller 38.
The control box 34 is arranged on the deck of the host ship; the laser radar 35 is arranged on a deck near a side board of the host ship close to one side of the target ship and used for acquiring the position and pose of the target ship relative to the host ship; the main control computer 36 is arranged in the control box 34, receives point cloud data consisting of distance and azimuth information of the target ship relative to the host ship from the laser radar 35, processes and calculates the point cloud data to obtain heave displacement, roll angle and pitch angle of the target ship;
the second laser ranging sensor 28 is installed on one side of the front end of the telescopic bridge body 25 and used for acquiring the vertical distance from the front end of the telescopic bridge body 25 to a target ship deck;
the first encoder 40 is installed on the first hydraulic motor 11 and is used for measuring the rotation amount of the first hydraulic motor 11 and obtaining the rotation amount of the base 10;
the displacement sensor 31 is arranged on the hydraulic cylinder 32 and is used for measuring the longitudinal displacement of the inner base 8 relative to the outer base 4; the second encoder 24 is mounted on the second hydraulic motor 23 and is used for measuring the rotation quantity of the second hydraulic motor 23 and obtaining the expansion and contraction quantity of the trestle bridge body 29; the angle sensor 21 is installed at one end of the connecting shaft 20 and used for measuring the longitudinal included angle between the trestle bridge 29 and the heave mechanism around the connecting shaft 20;
the third encoder 30 is mounted on the third hydraulic motor 15 and is used for measuring the rotation quantity of the third hydraulic motor 15;
the inertia measurement unit 41 is arranged on the base 1 of the heave mechanism and is used for measuring the swaying displacement, the heave displacement and the roll angle of the base 1 of the heave mechanism along with the ship;
the tilt angle sensor 42 is installed at one side of the fixed bridge body 22 and is used for measuring the included angle between the trestle bridge body 29 and the horizontal plane;
the three-degree-of-freedom compensation controller 37 is installed in the control box 34, and the three-degree-of-freedom compensation controller 37 receives the following data: the heave displacement, the roll angle and the pitch angle of the target ship calculated by the main control computer 36, the heave displacement, the roll angle and the heave displacement of the heave mechanism base 1 along with the ship measured by the inertia measurement unit 41, the rotation quantity of the first hydraulic motor 11 and the rotation quantity of the base 10 measured by the first encoder 40, the rotation quantity of the second hydraulic motor 23 and the expansion and contraction quantity of the trestle 29 measured by the second encoder 24 and the rotation quantity of the third hydraulic motor 15 measured by the third encoder 30; the three-degree-of-freedom compensation controller 37 outputs control signals of the first hydraulic motor 11, the second hydraulic motor 23 and the third hydraulic motor 15, controls the three-degree-of-freedom cooperative motion of rotation, extension and pitching of the trestle bridge body 29, compensates disturbance of the host ship to the trestle bridge body 29 due to rolling and heaving motions, and enables the front end of the trestle bridge body 29 to move along the rolling direction, the surging direction and the heaving direction along with the transfer point 39 on the target ship; the working mode of the three-degree-of-freedom compensation controller 37 is called as an active compensation mode;
Further, the base 1 is fixedly arranged near the center of a side board of a deck of the host ship close to the target ship.
Furthermore, the boarding platform 12 is provided with a fence, and the fence is provided with a boarding opening 13 and fixed on the base 10.
Further, the width of the fixed bridge 22 is larger than that of the telescopic bridge 25, and the telescopic bridge 25 moves along the inner side of the fixed bridge 22 through the pulley 18.
Note: when the host ship and the target ship are leaned against the side, the host ship and the target ship are connected through a cable and a fender, the influence of the swaying, the surging and the yawing motion of the host ship on the trestle can be ignored due to the fact that a dynamic positioning system is installed on the host ship, the influence of the surging motion of the host ship on the trestle can be ignored due to the fact that the transfer trestle is installed near the center of a side board of a deck of the host ship close to the target ship, and therefore only the disturbance of the heaving and the rolling motion of the host ship on the transfer trestle needs to be compensated, and the heaving and the rolling motion of the host ship can cause the heaving mechanism base 1 to generate the swaying, the heaving and the rolling motion; on the other hand, since the target vessel is constrained by the cables and the fender, its swaying, pitching and yawing motions can also be ignored, and its heaving, swaying and pitching motions will cause the transfer point 39 on its deck to generate displacements in the swaying, surging and heaving directions; therefore, only three-degree-of-freedom displacement of swaying, surging and heaving of the front end of the transfer trestle is controlled, so that the front end of the trestle body 29 moves along with the transfer point 39 on the target ship.
A method for building and operating an offshore transfer trestle with a wave compensation function comprises the following steps:
A. the target ship leans against the host ship to ensure that a connecting line of a transfer point 39 on the target ship and the geometric center of the base 1 of the heave mechanism is vertical to a side board of a deck of the host ship;
B. an operator controls the third hydraulic motor 15 to rotate reversely, drives the winding drum 14 to rotate anticlockwise to retract the steel wire sling 16, enables the trestle bridge body 29 to rotate anticlockwise around the connecting shaft 20, lifts the trestle bridge body 29 upwards, and stops rotating until the longitudinal included angle between the trestle bridge body 29 and the heave mechanism reaches an angle suitable for trestle lapping;
C. the operator operates the first hydraulic motor 11 to drive the base 10 to rotate, thereby driving the trestle bridge 29 to rotate to a position in the space above the transfer point 39 on the target ship;
D. an operator controls the second hydraulic motor 23 according to the distance between the host ship and the target ship to drive the trestle bridge body 29 to stretch out and draw back, and simultaneously controls the third hydraulic motor 15 to rotate forward according to the vertical distance between the front end of the trestle bridge body 29 and the deck of the target ship to drive the winding drum 14 to rotate clockwise to release the steel wire sling 16, so that the trestle bridge body 29 bends downwards until the front end of the trestle bridge body 29 is close to a transfer point 39 on the target ship and keeps a safe distance with the transfer point 39;
E. an operator switches the wave compensation control system to an active compensation mode, starts a three-degree-of-freedom compensation controller 37, the three-degree-of-freedom compensation controller 37 receives heave displacement, roll angle and pitch angle information of a target ship from a main control computer 36 and heave displacement, heave displacement and roll angle information of the heave mechanism base 1 along with the ship measured by an inertia measurement unit 41, cooperatively controls a first hydraulic motor 11 to rotate, drives a base 10 to rotate, further drives a trestle bridge body 29 to rotate, controls a third hydraulic motor 15 to rotate, drives a winding drum 14 to receive and release a steel wire sling 16, drives the trestle bridge body 29 to pitch, controls a second hydraulic motor 23 to rotate, and drives the trestle bridge body 29 to stretch, so that the front end of the trestle bridge body 29 moves along with a transfer point 39 on the target ship, and ensures that the relative positions of the two are unchanged;
F. switching to a manual mode, operating the first hydraulic motor 11, the second hydraulic motor 23 and the third hydraulic motor 15 by an operator, erecting the front end of the trestle bridge body 29 on a transfer point 39, starting the electromagnetic landing cone 27, fixedly connecting the front end of the trestle bridge body 29 to the transfer point 39 on the target ship, and completing erection of the boarding trestle;
G. and starting a heave compensation mode, controlling the hydraulic cylinder 32 to stretch and retract by the heave compensation controller 38 to drive the heave mechanism, and simultaneously enabling the first hydraulic motor 11, the second hydraulic motor 23 and the third hydraulic motor 15 to rotate along with the movement of the two ships so as to ensure that the safety angle between the trestle bridge body 29 and the horizontal plane is unchanged.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (5)
1. The utility model provides a landing stage is transferred to sea with wave compensation function which characterized in that: the system comprises a heave mechanism, a trestle system and an active heave compensation control system;
the heave mechanism comprises a base (1), three base supporting legs (2), an outer base (4), an inner base (8) and a hydraulic cylinder (32); the outer base (4) is nested at the outer side of the inner base (8), and a gear unit on the outer base (4) is meshed with a rack (9) on the inner base (8);
the base (1) is fixedly arranged on a deck of a host ship; the three base supporting legs (2) are fixedly connected with the base (1) and are uniformly distributed along the circumferential direction of the base (1); the outer base (4) is of a triangular tubular structure, the upper end and the lower end of the outer base are both open, and the lower ends of three edges of the outer base (4) are respectively fixedly connected with the three base supporting legs (2); two groups of gear units are arranged on each edge of the outer base (4), and the two groups of gear units are arranged along the up-down direction of the edge; each group of gear units comprises an upper gear (7), an auxiliary gear (6) and a lower gear (5), wherein the auxiliary gear (6) is positioned between the upper gear (7) and the lower gear (5) and is respectively meshed with the upper gear (7) and the lower gear (5); the inner base (8) is of a triangular tubular structure, the upper end of the inner base is closed, the lower end of the inner base is open, and a rack (9) is arranged on each edge of the outer side wall of the inner base (8); the upper gear (7) and the lower gear (5) are meshed with the corresponding racks (9) on the inner base (8), so that the inner base (8) moves longitudinally along the outer base (4); the cylinder barrel of the hydraulic cylinder (32) is connected to the geometric center of the base (1) through a revolute pair A (3), the piston rod is connected to the geometric center of the upper end face of the inner base (8) through a revolute pair B, and the inner base (8) is driven to move longitudinally along the outer base (4);
the trestle system is of a rotary double-boom telescopic structure and comprises a base (10), a boarding platform (12), a first hydraulic motor (11), a trestle bridge body (29), a connecting shaft (20), a pitching device, an electromagnetic landing cone (27) and a first laser ranging sensor (33); the base (10) is arranged on the upper end face of the base (8) in the heave mechanism and is used for supporting the boarding platform (12); the first hydraulic motor (11) is arranged in the base (10) and is used for driving the base (10) to rotate; the trestle bridge body (29) comprises a fixed bridge body (22), a telescopic bridge body (25) and a second hydraulic motor (23), the fixed bridge body (22) is provided with a railing, the telescopic bridge body (25) is provided with a railing and a pulley (18), and the telescopic bridge body (25) is lapped with the fixed bridge body (22) through the pulley (18) and moves along the solid bridge body; the second hydraulic motor (23) is arranged at the bottom of the fixed bridge body (22) and drives the telescopic bridge body (25) to move along the fixed bridge body (22); the fixed bridge body (22) is connected with the boarding platform (12) through a connecting shaft (20), so that the trestle bridge body (29) rotates around the connecting shaft (20); the pitching device comprises two suspension arms (19), a third hydraulic motor (15), two drums (14), two groups of pulleys and two steel wire slings (16), wherein the two suspension arms (19) are arranged on two sides of the boarding platform (12), each suspension arm (19) is internally provided with a groove, a fixed shaft (17) is arranged in each groove, the third hydraulic motor (15) is arranged on the boarding platform (12), the two drums (14) are respectively arranged at two ends of an output shaft of the third hydraulic motor (15), the two groups of pulleys are composed of four pulleys, two pulleys in one group of pulleys are arranged in the groove of the suspension arm (19) on one side, and the other two pulleys are arranged at the outer end of the bottom of the fixed bridge body (22) and on the same side as the suspension arm (19); four pulleys in the other group of pulleys are also respectively arranged in the groove of the suspension arm (19) at the other side and the outer end of the bottom of the fixed bridge body (22), the steel wire slings (16) are wound on the winding drum (14), after the two steel wire slings (16) respectively and alternately wind the two pulleys on the suspension arms (19) at the two sides and the two pulleys on the fixed bridge body (22), the tail ends of the two steel wire slings (16) are respectively fixed on the fixed shafts (17) in the grooves of the suspension arms (19) at the two sides; the third hydraulic motor (15) rotates to drive the winding drum (14) to rotate, and the steel wire sling (16) is wound and unwound, so that the trestle bridge body (29) is pitched; the electromagnetic landing cone (27) is arranged at the bottom of the front end of the telescopic bridge body (25) through a spherical hinge (26) and is used for fixing the front end of the telescopic bridge body (25) at a transfer point (39) on a target ship deck; the first laser ranging sensor (33) is arranged on a topside strake on one side, close to the target ship, of the host ship and is used for measuring the distance between the host ship and the side board of the target ship;
the active wave compensation control system comprises a control box (34), a laser radar (35), a main control computer (36), a second laser ranging sensor (28), a first encoder (40), a displacement sensor (31), a second encoder (24), an angle sensor (21), a third encoder (30), an inertia measuring unit (41), an inclination angle sensor (42), a three-degree-of-freedom compensation controller (37) and a heave compensation controller (38);
the control box (34) is arranged on the deck of the host ship; the laser radar (35) is arranged on a deck near a side board of the host ship close to one side of the target ship and used for acquiring the position and pose of the target ship relative to the host ship; the main control computer (36) is arranged in the control box (34), receives point cloud data consisting of distance and azimuth information of the target ship relative to the host ship from the laser radar (35), processes and calculates the point cloud data to obtain heave displacement, roll angle and pitch angle of the target ship;
the second laser ranging sensor (28) is arranged on one side of the front end of the telescopic bridge body (25) and is used for acquiring the vertical distance between the front end of the telescopic bridge body (25) and a target ship deck;
the first encoder (40) is arranged on the first hydraulic motor (11) and is used for measuring the rotation quantity of the first hydraulic motor (11) and obtaining the rotation quantity of the base (10);
the displacement sensor (31) is arranged on the hydraulic cylinder (32) and is used for measuring the longitudinal displacement of the inner base (8) relative to the outer base (4); the second encoder (24) is arranged on the second hydraulic motor (23) and is used for measuring the rotation quantity of the second hydraulic motor (23) and obtaining the expansion and contraction quantity of the trestle bridge body (29); the angle sensor (21) is arranged at one end of the connecting shaft (20) and is used for measuring the longitudinal included angle between the trestle bridge body (29) and the heave mechanism around the connecting shaft (20);
the third encoder (30) is arranged on the third hydraulic motor (15) and is used for measuring the rotation quantity of the third hydraulic motor (15);
the inertial measurement unit (41) is arranged on the base (1) of the heaving mechanism and is used for measuring the swaying displacement, the heaving displacement and the swaying angle of the base (1) of the heaving mechanism along with the ship;
the inclination angle sensor (42) is arranged on one side of the fixed bridge body (22) and is used for measuring the included angle between the trestle bridge body (29) and the horizontal plane;
the three-degree-of-freedom compensation controller (37) is arranged in the control box (34), and the three-degree-of-freedom compensation controller (37) receives the following data: the heave displacement, the roll angle and the pitch angle of the target ship are calculated by a main control computer (36), the heave displacement and the roll angle of a heave mechanism base (1) along with the ship are measured by an inertia measuring unit (41), the rotation quantity of a first hydraulic motor (11) and the rotation quantity of a base (10) are measured by a first encoder (40), the rotation quantity of a second hydraulic motor (23) and the expansion quantity of a trestle body (29) are measured by a second encoder (24), and the rotation quantity of a third hydraulic motor (15) is measured by a third encoder (30); the three-degree-of-freedom compensation controller (37) outputs control signals of the first hydraulic motor (11), the second hydraulic motor (23) and the third hydraulic motor (15), controls the three-degree-of-freedom coordinated motion of rotation, extension and pitching of the trestle bridge body (29), compensates disturbance of the host ship to the trestle bridge body (29) due to rolling and heaving motion, and enables the front end of the trestle bridge body (29) to move along the rolling direction, the surging direction and the heaving direction along with a transfer point (39) on a target ship; the working mode of the three-degree-of-freedom compensation controller (37) is called as an active compensation mode;
the heave compensation controller (38) is arranged in the control box (34), and the heave compensation controller (38) receives the following data: an included angle of a trestle bridge body (29) around the connecting shaft (20) and the longitudinal direction of the heave mechanism, which is measured by an angle sensor (21), a rotation amount of a second hydraulic motor (23) and a stretching amount of the trestle bridge body (29), which are measured by a second encoder (24), a longitudinal displacement of the inner base (8) relative to the outer base (4), which is measured by a displacement sensor (31), and an included angle of the trestle bridge body (29) and the horizontal plane, which is measured by an inclination angle sensor (42); the heave compensation controller (38) outputs a control signal of the hydraulic cylinder (32), actively controls the hydraulic cylinder (32) to drive the heave mechanism, and meanwhile, the first hydraulic motor (11), the second hydraulic motor (23) and the third hydraulic motor (15) are unloaded and are in a passive working mode to cooperatively compensate the disturbance of the rolling and heave motions of the host ship and the rolling, rolling and pitching motions of the target ship to the trestle bridge body (29); the operating mode of the heave compensation controller (38) is referred to as heave compensation mode.
2. The offshore transfer trestle with the heave compensation function according to claim 1, characterized in that: the base (1) is fixedly arranged near the center of a side board of a deck of the host ship close to the target ship.
3. The offshore transfer trestle with the heave compensation function according to claim 1, characterized in that: the boarding platform (12) is provided with a fence, and the fence is provided with a boarding port (13) which is fixed on the base (10).
4. The offshore transfer trestle with the heave compensation function according to claim 1, characterized in that: the width of the fixed bridge body (22) is larger than that of the telescopic bridge body (25), and the telescopic bridge body (25) moves along the inner side of the fixed bridge body (22) through a pulley (18).
5. A method for building and operating an offshore transfer trestle with a wave compensation function is characterized in that: the method comprises the following steps:
A. the target ship leans against the host ship to ensure that a connecting line of a transfer point (39) on the target ship and the geometric center of a base (1) of the heave mechanism is vertical to a side board of a deck of the host ship;
B. an operator controls the third hydraulic motor (15) to rotate reversely to drive the winding drum (14) to rotate anticlockwise to retract the steel wire sling (16), so that the trestle bridge body (29) rotates anticlockwise around the connecting shaft (20), the trestle bridge body (29) is lifted upwards, and the third hydraulic motor (15) stops rotating until the longitudinal included angle between the trestle bridge body (29) and the heave mechanism reaches an angle suitable for trestle lapping;
C. an operator operates a first hydraulic motor (11) to drive a base (10) to rotate, so that a trestle bridge body (29) is driven to rotate to a position in a space above a transfer point (39) on a target ship;
D. an operator controls a second hydraulic motor (23) according to the distance between the host ship and the target ship to drive a trestle bridge body (29) to stretch out and draw back, and simultaneously controls a third hydraulic motor (15) to rotate positively according to the vertical distance between the front end of the trestle bridge body (29) and the deck of the target ship to drive a winding drum (14) to rotate clockwise to release a steel wire sling (16), so that the trestle bridge body (29) bends downwards until the front end of the trestle bridge body (29) is close to a transfer point (39) on the target ship and keeps a safe distance with the transfer point (39);
E. an operator switches the wave compensation control system to an active compensation mode, starts the three-degree-of-freedom compensation controller (37), the three-degree-of-freedom compensation controller (37) receives heave displacement, roll angle and longitudinal angle information of a target ship from the main control computer (36) and roll displacement, heave displacement and roll angle information of the heave mechanism base (1) along with the ship, the information is detected by the inertia measuring unit (41), the first hydraulic motor (11) is cooperatively controlled to rotate, the driving base (10) rotates, further the trestle bridge body (29) is driven to rotate, the third hydraulic motor (15) is controlled to rotate, the winding drum (14) is driven to receive and release the steel wire sling (16), the trestle bridge body (29) is driven to pitch, the second hydraulic motor (23) is controlled to rotate, the trestle bridge body (29) is driven to stretch, and the front end of the trestle bridge body (29) moves along with a transfer point (39) on the target ship, ensuring the relative position of the two to be unchanged;
F. the landing platform is switched to a manual mode, an operator operates a first hydraulic motor (11), a second hydraulic motor (23) and a third hydraulic motor (15), the front end of a trestle bridge body (29) is erected on a transfer point (39), an electromagnetic landing cone (27) is started, the front end of the trestle bridge body (29) is fixedly connected to the transfer point (39) on the target ship, and the erection of the boarding trestle is completed;
G. and starting a heave compensation mode, controlling the hydraulic cylinder (32) to stretch out and draw back by the heave compensation controller (38) to drive the heave mechanism, and simultaneously enabling the first hydraulic motor (11), the second hydraulic motor (23) and the third hydraulic motor (15) to rotate along with the movement of the two ships so as to ensure that the safety angle between the trestle bridge body (29) and the horizontal plane is unchanged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450040.6A CN113232768B (en) | 2021-04-25 | 2021-04-25 | Offshore transfer trestle with wave compensation function and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110450040.6A CN113232768B (en) | 2021-04-25 | 2021-04-25 | Offshore transfer trestle with wave compensation function and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113232768A true CN113232768A (en) | 2021-08-10 |
| CN113232768B CN113232768B (en) | 2022-05-13 |
Family
ID=77129128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110450040.6A Active CN113232768B (en) | 2021-04-25 | 2021-04-25 | Offshore transfer trestle with wave compensation function and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113232768B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113753188A (en) * | 2021-08-24 | 2021-12-07 | 中国华能集团清洁能源技术研究院有限公司 | Operation and maintenance ship boarding equipment and operation and maintenance ship |
| CN113802448A (en) * | 2021-10-15 | 2021-12-17 | 北部湾大学 | Telescopic trestle attached to self-elevating drilling platform cantilever beam and application method |
| CN114525724A (en) * | 2022-01-19 | 2022-05-24 | 江苏科技大学 | Butt joint fixing device for trestle |
| CN114560057A (en) * | 2022-01-28 | 2022-05-31 | 大连海事大学 | Wave compensation offshore gallery bridge multi-mode experiment system and working method thereof |
| CN114771743A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Compensation type offshore transfer accommodation bridge |
| CN114802594A (en) * | 2022-06-02 | 2022-07-29 | 哈尔滨理工大学 | Three-degree-of-freedom shipborne stable platform with heave compensation |
| CN115214849A (en) * | 2022-06-13 | 2022-10-21 | 南通鹏瑞海工科技有限公司 | Marine transfer gangway ladder of initiative wave compensation |
| CN115503891A (en) * | 2022-09-30 | 2022-12-23 | 广东广船国际海洋科技研究院有限公司 | Conveyor and breed worker's ship |
| CN115535155A (en) * | 2022-11-03 | 2022-12-30 | 彭雪明 | Bridge-transportation type offshore transverse supply system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012003517A1 (en) * | 2012-02-24 | 2013-08-29 | FHS Förder-und Hebesysteme GmbH | Device for forming bridge between vessel and offshore installation, has unit for partial compensation of vertical movements of vessel, where compensation unit has measuring element that is moved relative to vessel by vertical movements |
| WO2018030897A1 (en) * | 2016-08-10 | 2018-02-15 | Rolls-Royce Marine As | Motion compensating crane system |
| CN108411766A (en) * | 2017-11-30 | 2018-08-17 | 中船华南船舶机械有限公司 | A kind of position compensation extension type is gone on board trestle control system and control method |
| CN108425315A (en) * | 2017-11-30 | 2018-08-21 | 中船华南船舶机械有限公司 | A kind of position compensation extension type is gone on board trestle |
| CN109553005A (en) * | 2018-11-16 | 2019-04-02 | 山东大学 | A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform |
| EP3722197A1 (en) * | 2019-04-11 | 2020-10-14 | Robert Bosch GmbH | System for motion compensation between two objects, vehicle with the system, fixed structure with the system and method using the system |
| CN112407144A (en) * | 2021-01-11 | 2021-02-26 | 九江精密测试技术研究所 | Active wave compensation control system for articulated four-degree-of-freedom boarding trestle and control method thereof |
-
2021
- 2021-04-25 CN CN202110450040.6A patent/CN113232768B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012003517A1 (en) * | 2012-02-24 | 2013-08-29 | FHS Förder-und Hebesysteme GmbH | Device for forming bridge between vessel and offshore installation, has unit for partial compensation of vertical movements of vessel, where compensation unit has measuring element that is moved relative to vessel by vertical movements |
| WO2018030897A1 (en) * | 2016-08-10 | 2018-02-15 | Rolls-Royce Marine As | Motion compensating crane system |
| CN108411766A (en) * | 2017-11-30 | 2018-08-17 | 中船华南船舶机械有限公司 | A kind of position compensation extension type is gone on board trestle control system and control method |
| CN108425315A (en) * | 2017-11-30 | 2018-08-21 | 中船华南船舶机械有限公司 | A kind of position compensation extension type is gone on board trestle |
| CN109553005A (en) * | 2018-11-16 | 2019-04-02 | 山东大学 | A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform |
| EP3722197A1 (en) * | 2019-04-11 | 2020-10-14 | Robert Bosch GmbH | System for motion compensation between two objects, vehicle with the system, fixed structure with the system and method using the system |
| CN112407144A (en) * | 2021-01-11 | 2021-02-26 | 九江精密测试技术研究所 | Active wave compensation control system for articulated four-degree-of-freedom boarding trestle and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 徐志强，李万莉，王志勇，谌志新: "深海平台人员转运栈桥力学结构与补偿特性", 《船舶工程》 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753188A (en) * | 2021-08-24 | 2021-12-07 | 中国华能集团清洁能源技术研究院有限公司 | Operation and maintenance ship boarding equipment and operation and maintenance ship |
| 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 |
| CN113802448A (en) * | 2021-10-15 | 2021-12-17 | 北部湾大学 | Telescopic trestle attached to self-elevating drilling platform cantilever beam and application method |
| CN113802448B (en) * | 2021-10-15 | 2022-05-17 | 北部湾大学 | Telescopic trestle attached to self-elevating drilling platform cantilever beam and application method |
| CN114525724A (en) * | 2022-01-19 | 2022-05-24 | 江苏科技大学 | Butt joint fixing device for trestle |
| CN114560057B (en) * | 2022-01-28 | 2023-02-17 | 大连海事大学 | Wave compensation offshore gallery bridge multi-mode experiment system and working method thereof |
| CN114560057A (en) * | 2022-01-28 | 2022-05-31 | 大连海事大学 | Wave compensation offshore gallery bridge multi-mode experiment system and working method thereof |
| CN114771743A (en) * | 2022-04-20 | 2022-07-22 | 燕山大学 | Compensation type offshore transfer accommodation bridge |
| CN114771743B (en) * | 2022-04-20 | 2024-04-26 | 燕山大学 | Compensation type offshore transfer gangway bridge |
| CN114802594A (en) * | 2022-06-02 | 2022-07-29 | 哈尔滨理工大学 | Three-degree-of-freedom shipborne stable platform with heave compensation |
| CN114802594B (en) * | 2022-06-02 | 2022-10-18 | 哈尔滨理工大学 | Three-degree-of-freedom shipborne stable platform with heave compensation |
| CN115214849A (en) * | 2022-06-13 | 2022-10-21 | 南通鹏瑞海工科技有限公司 | Marine transfer gangway ladder of initiative wave compensation |
| CN115214849B (en) * | 2022-06-13 | 2024-03-01 | 南通鹏瑞海工科技有限公司 | Active wave compensation offshore transfer gangway ladder |
| CN115503891A (en) * | 2022-09-30 | 2022-12-23 | 广东广船国际海洋科技研究院有限公司 | Conveyor and breed worker's ship |
| CN115535155A (en) * | 2022-11-03 | 2022-12-30 | 彭雪明 | Bridge-transportation type offshore transverse supply system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113232768B (en) | 2022-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113232768B (en) | Offshore transfer trestle with wave compensation function and working method thereof | |
| NL2007761C2 (en) | Vessel and crane with full dynamic compensation for vessel and wave motions. | |
| CN110719886B (en) | Motion compensated crane for use on a marine vessel | |
| CN106741662B (en) | ocean platform gangway ladder with compensation function and use method thereof | |
| CN110114298B (en) | Crane for compensating for wave-induced motions, ship and load transfer method | |
| CN107771148B (en) | Ship and boom structure | |
| EP2207713B1 (en) | Vessels with roll damping mechanism | |
| DK2855253T3 (en) | Vessel fitted with a gangway which is supported by a pillar with a charnier with 2 degrees of freedom, in particular a cardan joint | |
| CN110761172B (en) | Telescopic trestle system and control method thereof | |
| US4369538A (en) | Apparatus for transfer of persons and goods between structures offshore | |
| CN108862056B (en) | Marine A type portal base of wave compensation | |
| CN113104153B (en) | Marine transfer trestle wave compensation control system and working method thereof | |
| WO2012138227A1 (en) | Transfer system, ship and method for transferring persons and/or goods to and/or from a floating ship | |
| CN109178223A (en) | A kind of multi-functional automatic compensation gangway ladder | |
| CN113979333B (en) | Shipborne self-balancing water crane for rescue of large-scale water plane and method | |
| AU2017313626B2 (en) | System to transfer people and/or cargo during offshore operations | |
| CN114852260B (en) | Flexible marine scalable corridor bridge with compensation and jack-up function | |
| NL2023415B1 (en) | hoisting arrangement for assembly of wind turbines | |
| CN208963273U (en) | A kind of multi-functional automatic compensation gangway ladder | |
| CN116675122A (en) | Multifunctional offshore corridor bridge with hoisting compensation and landing functions | |
| KR20230145146A (en) | Marine assemblies containing motion compensation platforms and carrying objects 30 to 50 meters or more in height, the use of motion compensation platforms and marine assemblies | |
| CN219277738U (en) | Multi-degree-of-freedom active compensation stable boarding device | |
| CN116117775A (en) | Multi-degree-of-freedom wave compensation parallel platform and working method thereof | |
| CN116101431A (en) | Multi-degree-of-freedom active compensation stable boarding device and control method | |
| CN217754052U (en) | Three-freedom-degree block stabilizing device for floating and supporting installation of ocean engineering upper block |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |