CN114368452B - Marine wave active compensation device - Google Patents
Marine wave active compensation device Download PDFInfo
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- CN114368452B CN114368452B CN202111555032.4A CN202111555032A CN114368452B CN 114368452 B CN114368452 B CN 114368452B CN 202111555032 A CN202111555032 A CN 202111555032A CN 114368452 B CN114368452 B CN 114368452B
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- connecting portion
- branched chain
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a marine wave active compensation device which comprises a bottom plate, a first movable platform, a passive restraint assembly, four branched chains, a second movable platform, a driving assembly, a control device and a gyroscope, wherein the bottom plate is connected with a ship body, the first movable platform is positioned above the bottom plate, the passive restraint assembly and the four branched chains are connected between the bottom plate and the first movable platform, the passive restraint assembly is positioned under the first movable platform, the four branched chains are arranged at intervals in the circumferential direction of the first movable platform, the branched chains and the passive restraint assembly can stretch, the second movable platform and the driving assembly are connected to the first movable platform, the driving assembly can drive the second movable platform to move in the horizontal direction relative to the first movable platform, the gyroscope is arranged on the second movable platform, and the control device controls the branched chains to stretch and controls the second movable platform to move. The active wave compensation device for the ship has the advantages of large working space, larger compensation range and wide application prospect.
Description
Technical Field
The invention relates to the technical field of shipborne equipment, in particular to a marine wave active compensation device.
Background
Abundant resources are stored in deep sea, offshore wind power and oil drilling are important means for ocean resource utilization, but due to the fact that large fluctuation exists on ships relative to the land caused by waves, erection and maintenance of wind power equipment and drilling equipment are difficult. The compensation platform can compensate the jolt of the ship and ensure the stability of the movable platform so as to facilitate the operation of equipment positioned on the movable platform. The compensation platform in the related art is mainly divided into a series platform and a parallel platform, the series platform is difficult to realize complete compensation with six degrees of freedom, and the parallel platform in the related art has relatively small working space and insufficient compensation capability.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the embodiment of the invention provides a marine active wave compensation device which is large in working space, large in compensation range and wide in application prospect.
The marine wave active compensation device of the embodiment of the invention comprises: a base plate adapted to be connected to a hull; the movable support comprises a first movable platform, a passive restraint assembly and four branched chains, wherein the first movable platform is positioned above the bottom plate, the passive restraint assembly and the four branched chains are connected between the bottom plate and the first movable platform, the passive restraint assembly is positioned under the first movable platform and vertically extends, the four branched chains are arranged at intervals in the circumferential direction of the first movable platform, the branched chains obliquely extend outwards from top to bottom, and both the branched chains and the passive restraint assembly can stretch and retract; the second movable platform and the driving component are connected to the first movable platform, and the driving component can drive the second movable platform to move in the horizontal direction relative to the first movable platform; the control device is connected with the gyroscope, the control device can control the branched chain to extend or retract according to the detection information of the gyroscope, and the control device can control the driving assembly to drive the second moving platform to move in the horizontal direction according to the detection information of the gyroscope.
According to the active compensation device for the marine waves, the passive constraint component and the four branched chains are connected between the bottom plate and the first movable platform and can stretch out and draw back, the second movable platform is connected with the first movable platform and can move in the horizontal direction relative to the first movable platform, the passive constraint component and the four branched chains can compensate the movement of four degrees of freedom, and the second movable platform can compensate the movement of two degrees of freedom.
In some embodiments, the driving assembly includes a driving motor, a screw rod, a slider and a connecting rod, the driving motor is disposed on the first movable platform, an output end of the driving motor is connected to the screw rod to drive the screw rod to rotate, the slider is sleeved on the screw rod and forms a screw-nut pair with the screw rod, one end of the connecting rod is rotatably connected to the slider, and the other end of the connecting rod is rotatably connected to the second movable platform.
In some embodiments, the upper end surface of the first movable platform is provided with a guide rail, the guide rail extends along the length direction of the screw, and the sliding block is matched on the guide rail and can move relative to the guide rail.
In some embodiments, the connecting rod includes a first connecting rod and a second connecting rod, the slider has a first connecting portion and a second connecting portion, the second movable platform has a third connecting portion and a fourth connecting portion, the first connecting rod is connected between the first connecting portion and the third connecting portion, the second connecting rod is connected between the second connecting portion and the fourth connecting portion, and the first connecting portion, the second connecting portion, the third connecting portion, the fourth connecting portion and the first connecting portion are connected in sequence to form a parallelogram.
In some embodiments, the driving assembly includes a first driving assembly and a second driving assembly, the extending direction of the screw of the first driving assembly is perpendicular to the extending direction of the screw of the second driving assembly, the connecting rod of the first driving assembly is connected with one side of the second movable platform, and the connecting rod of the second driving assembly is connected with the other side of the second movable platform.
In some embodiments, the second movable platform includes a connecting platform and a support platform connected above the connecting platform and spaced apart in an up-down direction, and the link is connected to a top surface of the connecting platform.
In some embodiments, the passive restraint assembly includes a barrel and a telescopic rod, the barrel is connected to the bottom plate, a lower end of the telescopic rod extends into the barrel and is movable relative to the barrel, and an upper end of the telescopic rod is connected to the first movable platform through the ball hinge.
In some embodiments, the branched chain comprises a hydraulic cylinder, a hook joint and a ball hinge, a cylinder body of the hydraulic cylinder is connected with the bottom plate through the hook joint, and a piston rod of the hydraulic cylinder is connected with the first movable platform through the ball hinge.
In some embodiments, the four branched chains include a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, a joint of the first branched chain and the second movable platform is adjacent to a joint of the second branched chain and the second movable platform, a joint of the third branched chain and the second movable platform is adjacent to a joint of the fourth branched chain and the second movable platform, and joints of the four branched chains and the bottom plate are uniformly and alternately arranged in the circumferential direction of the bottom plate.
Drawings
Fig. 1 is a schematic structural diagram of an active wave compensating device for a ship according to an embodiment of the invention.
Fig. 2 is a partial structural schematic diagram of the active wave compensating device for a ship according to an embodiment of the invention.
Reference numerals are as follows:
the device comprises a base plate 1, a passive restraint assembly 2, a first branch chain 3, a second branch chain 4, a third branch chain 5, a fourth branch chain 6, a first movable platform 7, a second movable platform 8, a connecting platform 81, a supporting platform 82, a gyroscope 9, a driving assembly 10, a driving motor 101, a screw rod 102, a sliding block 103, a first connecting rod 104, a second connecting rod 105 and a guide rail 106.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
As shown in fig. 1 and 2, the active wave compensating device for a ship according to the embodiment of the present invention includes a base plate 1, a first movable platform 7, a passive restraint assembly 2, four branched chains, a second movable platform 8, a driving assembly 10, a gyroscope 9, and a control assembly (not shown). The active compensation device for the marine waves can compensate the motion of the ship body in six degrees of freedom so as to keep the platform stable.
Specifically, as shown in fig. 1, the bottom plate 1 is suitable for being connected with a ship body, the first movable platform 7 is located above the bottom plate 1, the passive restraint assemblies 2 and four branched chains are connected between the bottom plate 1 and the first movable platform 7, the passive restraint assemblies 2 are located under the first movable platform 7 and vertically extend, the four branched chains are arranged at intervals in the circumferential direction of the first movable platform 7, the branched chains extend obliquely outwards from top to bottom, and the branched chains and the passive restraint assemblies 2 can stretch and retract.
Thus, the passive restraint assembly 2 can prevent the first mobile platform 7 from moving in the horizontal direction, i.e. the first mobile platform 7 has a motion with four degrees of freedom, and when the base plate 1 moves upwards with the hull in the z-direction, the passive restraint assembly 2 can retract to compensate for the movement of the base plate 1 in the z-direction, whereas when the base plate 1 moves downwards with the hull, the passive restraint assembly 2 can extend to compensate for the sinking movement of the base plate 1.
Further, four branches may be telescopic including full extension or retraction of four branches and extension or retraction of a portion of four branches. For example, when the base plate 1 is moved in the z direction, all four branches may extend or retract, whereas when the base plate 1 is deflected about the x-axis or y-axis, the corresponding branch on the rising side of the base plate 1 may retract and/or the corresponding branch on the falling side of the base plate 1 may extend to compensate for the movement of the base plate 1.
Further, the second movable platform 8 and the driving assembly 10 are both connected to the first movable platform 7, and the driving assembly 10 can drive the second movable platform 8 to move in the horizontal direction relative to the first movable platform 7. In other words, the second movable platform 8 is movable in the x and y directions relative to the first movable platform 7, that is, the second movable platform 8 has two degrees of freedom of movement.
It will be appreciated that when the base plate 1 is moved in the z direction and rotated about the x, y and z axes, the passive restraint assembly 2 and the four branches can be selectively extended or retracted to compensate for the four degrees of freedom of movement, and when the base plate 1 is moved in the x and y directions, the second movable platform 8 can be moved in the reverse direction to compensate for the movement of the base plate 1, so that the passive restraint assembly 2, the four branches and the second movable platform 8 can compensate for the six degrees of freedom of movement, and finally, the second movable platform 8 can be kept stable.
Specifically, the gyroscope 9 is connected to the second movable platform 8 to detect pose information of the second movable platform 8, the control device is connected to the gyroscope 9, the control device can control the branched chain to extend or retract according to the detection information of the gyroscope 9, and the control device can control the driving assembly 10 to drive the second movable platform 8 to move in the horizontal direction according to the detection information of the gyroscope 9.
The inventor finds that the Stewart platform parallel mechanism has larger constraint due to the self structure, relatively smaller working space and limited compensation capability. In the application, the second movable platform 8 can compensate two degrees of freedom, so that the number of branched chains can be reduced, the constraint between the branched chains is reduced, and the compensation capacity of the device is increased.
According to the active compensation device for the marine waves, the passive constraint component and the four branched chains are connected between the bottom plate and the first movable platform and can stretch out and draw back, the second movable platform is connected with the first movable platform and can move in the horizontal direction relative to the first movable platform, the passive constraint component and the four branched chains can compensate the movement of four degrees of freedom, and the second movable platform can compensate the movement of two degrees of freedom.
Further, as shown in fig. 2, the driving assembly 10 includes a driving motor 101, a screw 102, a slider 103 and a connecting rod, the driving motor 101 is disposed on the first movable platform 7, an output end of the driving motor 101 is connected to the screw 102 to drive the screw 102 to rotate, the slider 103 is sleeved on the screw 102 and forms a screw-nut pair with the screw 102, one end of the connecting rod is rotatably connected to the slider 103, and the other end of the connecting rod is rotatably connected to the second movable platform 8. Therefore, the driving motor 101 drives the screw 102 to rotate, which can drive the slider 103 to move along the length direction of the screw 102, thereby driving the connecting rod to move to drag the second movable platform 8 to move.
Further, as shown in fig. 2, the upper end surface of the first movable platform 7 is provided with a guide rail 106, the guide rail 106 extends along the length direction of the screw 102, and the slider 103 is fitted on the guide rail 106 and is movable relative to the guide rail 106. Thereby, the guide rail 106 can guide and restrict the moving locus of the slider 103.
Further, as shown in fig. 2, the connecting rod includes a first connecting rod 104 and a second connecting rod 105, the slider 103 has a first connecting portion and a second connecting portion, the second movable platform 8 has a third connecting portion and a fourth connecting portion, the first connecting rod 104 is connected between the first connecting portion and the third connecting portion, the second connecting rod 105 is connected between the second connecting portion and the fourth connecting portion, and the first connecting portion, the second connecting portion, the third connecting portion, the fourth connecting portion and the first connecting portion are connected in sequence to form a parallelogram. Therefore, the first link 104 and the second link 105 are always kept parallel, so that the movement directions of the first link 104 and the second link 105 can be ensured to be consistent, and in addition, the third connecting part and the fourth connecting part are respectively connected with the first link 104 and the second link 105, so that the second moving platform 8 can be prevented from rotating around the z-axis, and the second moving platform 8 is limited to move in two degrees of freedom.
Further, as shown in fig. 2, the driving assembly 10 includes a first driving assembly and a second driving assembly, an extending direction of the screw rod 102 of the first driving assembly is perpendicular to an extending direction of the screw rod 102 of the second driving assembly, a link of the first driving assembly is connected to one side of the second movable platform 8, and a link of the second driving assembly is connected to the other side of the second movable platform 8.
Therefore, the two driving assemblies 10 are positioned at different sides of the second movable platform 8, so that the matching stability of the second movable platform 8 and the first movable platform 7 can be improved, and the screws 102 of the two driving assemblies 10 are vertical in the horizontal plane, so that the connecting rods of the two driving assemblies 10 can drag the second movable platform 8 towards any direction in the horizontal plane.
Further, as shown in fig. 1 and 2, the second movable platform 8 includes a connection platform 81 and a support platform 82, the support platform 82 is connected above the connection platform 81 and spaced apart in the up-down direction, and the link is connected to the top surface of the connection platform 81.
In some embodiments, as shown in fig. 1, the passive restraint assembly 2 comprises a barrel connected to the base plate 1 and a telescopic rod having a lower end extending into the barrel and being movable relative to the barrel, and an upper end connected to the first movable platform 7 by a ball hinge. It can be understood that the ball hinge has a large twisting angle and can flexibly bear the pressure from different surfaces.
Furthermore, the branched chain comprises a hydraulic cylinder, a Hooke's joint and a spherical hinge, a cylinder body of the hydraulic cylinder is connected with the bottom plate 1 through the Hooke's joint, and a piston rod of the hydraulic cylinder is connected with the first movable platform 7 through the spherical hinge.
Further, as shown in fig. 1, the four branched chains include a first branched chain 3, a second branched chain 4, a third branched chain 5 and a fourth branched chain 6, a joint of the first branched chain 3 and the second movable platform 8 is adjacent to a joint of the second branched chain 4 and the second movable platform 8, a joint of the third branched chain 5 and the second movable platform 8 is adjacent to a joint of the fourth branched chain 6 and the second movable platform 8, and joints of the four branched chains and the bottom plate 1 are uniformly and alternately arranged in the circumferential direction of the bottom plate 1.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. Active wave compensating device for ships, characterized by comprising:
a base plate adapted to be connected to a hull;
the movable support comprises a first movable platform, a passive restraint assembly and four branched chains, wherein the first movable platform is positioned above the bottom plate, the passive restraint assembly and the four branched chains are connected between the bottom plate and the first movable platform, the passive restraint assembly is positioned under the first movable platform and vertically extends, the four branched chains are arranged at intervals in the circumferential direction of the first movable platform, the branched chains obliquely extend outwards from top to bottom, and both the branched chains and the passive restraint assembly can stretch and retract;
the second movable platform and the driving component are connected to the first movable platform, and the driving component can drive the second movable platform to move in the horizontal direction relative to the first movable platform;
the control device is connected with the gyroscope, the control device can control the branched chain to extend or retract according to the detection information of the gyroscope, and the control device can control the driving assembly to drive the second movable platform to move in the horizontal direction according to the detection information of the gyroscope;
the four branched chains comprise a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, the joint of the first branched chain and the first movable platform is adjacent to the joint of the second branched chain and the first movable platform, the joint of the third branched chain and the first movable platform is adjacent to the joint of the fourth branched chain and the first movable platform, and the joints of the four branched chains and the bottom plate are uniformly and alternately arranged in the circumferential direction of the bottom plate;
the driving assembly comprises a driving motor, a screw rod, a sliding block and a connecting rod, the driving motor is arranged on the first movable platform, the output end of the driving motor is connected with the screw rod to drive the screw rod to rotate, the sliding block is sleeved on the screw rod and forms screw-nut pair fit with the screw rod, one end of the connecting rod is rotatably connected with the sliding block, and the other end of the connecting rod is rotatably connected with the second movable platform;
the upper end face of the first movable platform is provided with a guide rail, the guide rail extends along the length direction of the screw rod, and the sliding block is matched on the guide rail and can move relative to the guide rail;
the connecting rod includes first connecting rod and second connecting rod, first connecting portion and second connecting portion have on the slider, third connecting portion and fourth connecting portion have on the second moves the platform, first connecting rod is connected first connecting portion with between the third connecting portion, the second connecting rod is connected the second connecting portion with between the fourth connecting portion, first connecting portion the second connecting portion third connecting portion fourth connecting portion with first connecting portion connect gradually can constitute parallelogram.
2. The active marine wave compensating device of claim 1, wherein the driving assembly comprises a first driving assembly and a second driving assembly, the extension direction of the screw of the first driving assembly is perpendicular to the extension direction of the screw of the second driving assembly, the connecting rod of the first driving assembly is connected with one side of the second movable platform, and the connecting rod of the second driving assembly is connected with the other side of the second movable platform.
3. The active marine wave compensating device of claim 1, wherein the second moving platform comprises a connecting platform and a support platform connected above the connecting platform and spaced apart in an up-down direction, the link being connected to a top surface of the connecting platform.
4. The active marine wave compensator according to claim 1, wherein the passive restraint assembly comprises a cylinder and a telescopic rod, the cylinder is connected to the bottom plate, the telescopic rod has a lower end extending into the cylinder and is movable relative to the cylinder, and an upper end connected to the first movable platform through a ball hinge.
5. The active marine wave compensating device of claim 1, wherein the branched chain comprises a hydraulic cylinder, a Hooke's joint and a spherical hinge, a cylinder body of the hydraulic cylinder is connected with the bottom plate through the Hooke's joint, and a piston rod of the hydraulic cylinder is connected with the first movable platform through the spherical hinge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111555032.4A CN114368452B (en) | 2021-12-17 | 2021-12-17 | Marine wave active compensation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111555032.4A CN114368452B (en) | 2021-12-17 | 2021-12-17 | Marine wave active compensation device |
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| CN114368452A CN114368452A (en) | 2022-04-19 |
| CN114368452B true CN114368452B (en) | 2023-03-14 |
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| CN117622380B (en) * | 2023-11-29 | 2024-05-03 | 哈尔滨工业大学（威海） | Unmanned ship-borne equipment shaking compensation structure and method |
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