CN219710039U - Trestle bridge - Google Patents

Abstract

The utility model relates to a trestle, comprising: the device comprises a bridge body, an identification device and a driving device; the landing stage makes first bridge ladder with the rotatable connection of second bridge ladder, recognition device with drive arrangement electricity is connected, realizes carrying out discernment to the fluctuation state on boats and ships deck the back through drive arrangement drives first bridge ladder removes, makes first bridge ladder produce for the every single move swing of second bridge ladder, first bridge ladder is according to after deck fluctuation state swings, makes first bridge ladder's footboard with form relative stationary positional relationship between the deck, so that be convenient for the operating personnel on the deck is stepped on first bridge ladder has improved the security of upper and lower platform under the unrestrained condition of wind.

Description

Trestle bridge

Technical Field

The utility model relates to the field of water operation equipment, in particular to a trestle.

Background

Offshore oil recovery is a technique for exploiting, treating and transporting marine reservoirs. The oil extraction platform provides an operation place for engineering technicians to carry out offshore oil extraction.

There are a large number of oil production platforms in the sea area of China, and operators have the need of frequently lifting the platform. Currently, traffic boats are often relied upon to provide commute between the platform and land for the operators.

However, after the transportation ship moves to the oil production platform, the transportation ship still needs to climb up and down the oil production platform in a climbing manner under the condition that the ship mooring rope is tied to the platform, so that the transportation ship has high risk. Moreover, in some special sea areas, the wave process of the sea water is larger and the duration is longer, which causes great safety challenges for personnel climbing.

Therefore, there is a need to develop a new trestle to ameliorate some of the above problems in the prior art.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide a trestle, which can reduce the influence of deck fluctuation on the upper and lower platforms of operators under the condition of stormy waves.

The aim of the utility model can be achieved by the following technical scheme:

the trestle provided by the utility model comprises: a bridge body, an identification device and a driving device; the bridge body is used for passing work of personnel, articles or transportation devices on the ship; the bridge body comprises a base, a first bridge ladder and a second bridge ladder; the second bridge ladder is connected with the base, and the first bridge ladder is arranged on a deck of the ship; the identification device is used for acquiring the fluctuation state of the deck; the driving device is arranged on the first bridge ladder and is electrically connected with the identification device, and is used for driving the first bridge ladder to move according to the fluctuation state; when the ship is acted by waves, the driving device drives the first bridge ladder to generate pitching swinging relative to the second bridge ladder according to the fluctuation state of a deck of the ship, so that personnel can get on and off the bridge in a wave environment.

Compared with the prior art, the trestle provided by the utility model has the advantages that the first bridge ladder and the second bridge ladder can be rotatably connected, the identification device is electrically connected with the driving device, the first bridge ladder is driven to move through the driving device after the fluctuation state of a ship deck is identified, the first bridge ladder is enabled to swing relative to the second bridge ladder, and after the first bridge ladder swings according to the fluctuation state of the deck, a relative static position relationship is formed between the pedals of the first bridge ladder and the deck, so that operators on the deck can conveniently climb on the first bridge ladder, and the safety of the upper platform and the lower platform under the condition of stormy waves is improved.

Optionally, the driving device comprises a telescopic device and a third bridge ladder; the third bridge ladder is connected with the second bridge ladder and the base; the telescopic device comprises a guide rail and a first hydraulic cylinder, the guide rail is arranged in the third bridge ladder, and the first hydraulic cylinder is connected with the third bridge ladder and the second bridge ladder and used for driving the second bridge ladder to move along the arrangement direction of the guide rail so as to generate telescopic movement relative to the third bridge ladder. The telescopic device has the beneficial effects that the telescopic device drives the second bridge ladder to linearly move along the setting direction of the guide rail, so that an operator can safely pass through the trestle under the condition that the ship is far away from the oil extraction platform.

Optionally, the driving device comprises a luffing device; the amplitude changing device comprises a stand column and a second hydraulic cylinder, wherein the stand column is arranged on the pedal of the base and is used for generating a height difference of the pedal relative to the base; the second hydraulic cylinder is connected with the upright post and the third bridge ladder and is used for enabling the third bridge ladder to generate pitching swinging relative to the base. The device has the beneficial effects that the amplitude changing device drives the third bridge ladder to swing relative to the base in the vertical direction, so that an operator can safely pass through the trestle under the condition that a large height difference exists between a ship deck and an oil production platform.

Optionally, the driving device comprises a turning device, and the turning device is connected with the base and is used for driving the base to swing horizontally. The device has the beneficial effects that the base is driven to horizontally swing, so that the first bridge ladder is driven to horizontally swing, the second bridge ladder is driven to horizontally swing and the third bridge ladder is driven to horizontally swing, so that the first bridge ladder can be placed on ships berthed in a plurality of angle directions of the oil production platform, and operators on ships at different positions can go up and down the platform.

Optionally, the recognition device comprises a binocular stereo camera, the binocular stereo camera is arranged above the bridge body, and the binocular stereo camera is electrically connected with the amplitude changing device and is used for capturing the relative position of the ship and the bridge body so as to control the pitching and swinging of the third bridge ladder. The utility model has the advantages that the binocular three-dimensional camera can detect the gesture of the bridge body and the position of the deck, for example, the position of the first bridge ladder, the position of the second bridge ladder, the position of the third bridge ladder, the vertical distance between the tail end of the first bridge ladder and the deck, the depth distance between the tail end of the first bridge ladder and the base, and the like, so as to facilitate the gesture adjustment of the bridge body.

Optionally, the binocular stereo camera is electrically connected with the telescopic device and is used for capturing the relative position of the ship and the bridge body so as to control the telescopic movement of the second bridge ladder.

Optionally, the identification device includes ultrasonic radar, ultrasonic radar set up in with the footboard of first bridge ladder is on the side opposite to each other on the first bridge ladder, ultrasonic radar with drive arrangement electricity is connected, is used for acquireing the first bridge ladder with the distance change speed between the deck, in order to according to distance change speed control the swing speed of first bridge ladder. The ultrasonic radar has the beneficial effects that when the fluctuation state of the ship in rough weather is complex, the ultrasonic radar can quickly react to the distance change between the first bridge ladder and the deck, and when the distance between the first bridge ladder and the deck is quickly changed, the driving device increases the swinging speed of the first bridge ladder.

Optionally, the first bridge ladder is hinged with the second bridge ladder through a pin shaft.

Optionally, the end of the first bridge ladder is provided with a universal wheel for rolling on the deck when the first bridge ladder swings. The deck has the beneficial effects that when the deck is in undulating contact with the tail end of the first bridge ladder, the universal wheels are abutted to the deck and rotate, so that the first bridge ladder swings relative to the second bridge ladder, and the deck is rapidly undulating, and the driving device is used for passively compensating the height change when the position of the first bridge ladder is not adjusted.

Drawings

FIG. 1 is a schematic diagram of a trestle according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of the principle of the heat flow of the hot fluid channel injection in the embodiment of the utility model;

FIG. 3 is a schematic structural view of a third bridge deck, a second bridge deck, a first bridge deck, and a heat flow channel according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of an apparatus for removing ice and snow in accordance with an embodiment of the present utility model;

FIG. 5 is a schematic structural view of a flow guiding member according to an embodiment of the present utility model;

FIG. 6 is a schematic view of the location of the identification device, bridge and deck in an embodiment of the utility model.

Reference numerals:

1. a bridge body; 11. a first bridge ladder; 12. a second bridge ladder; 13. a third bridge ladder; 14. a base; 121. a second surface; 2. a driving device; 201. a column; 202. a first hydraulic cylinder; 203. a second hydraulic cylinder; 204. a first connection post; 205. a second connection post; 3. a slewing device; 41. an air compressor; 42. a filter; 43. a heat source; 44. a heat flow channel; 45. a pressure reducing valve; 46. an oil mist device; 5. a flow guide; 51. an inclined plane; 6. a universal wheel; 7. a deck; 8. an identification device; 9. and (5) ultrasonic radar.

Detailed Description

The utility model will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present utility model, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present utility model is not limited to the following examples.

An embodiment of the present utility model provides a trestle, referring to fig. 1 and 6, including: a bridge body 1, a recognition device 8 and a driving device 2; the bridge body 1 is used for passing work of personnel, articles or transportation devices on the ship; the bridge body 1 comprises a base 14, a first bridge ladder 11 and a second bridge ladder 12; the second bridge ladder 12 is connected with the base 14, and the first bridge ladder 11 is arranged on the deck 7 of the ship; the identification means 8 are used for acquiring the heave state of the deck 7; the driving device 2 is arranged on the first bridge ladder 11 and is electrically connected with the identification device 8, and is used for driving the first bridge ladder 11 to move according to the fluctuation state; when the ship is acted by waves, the driving device 2 drives the first bridge ladder 11 to generate pitching swinging relative to the second bridge ladder 12 according to the fluctuation state of the deck 7 of the ship, namely swinging along the gamma direction in the illustration, so that people can get on and off the bridge in the wave environment.

Illustratively, when the deck 7 is elevated under the influence of a wind wave, the first bridge ladder 11 swings upward, so that the distance between the end of the first bridge ladder 11 and the deck 7 remains unchanged.

Illustratively, when the deck 7 is lowered by the influence of the wind and waves, the first bridge deck 11 is swung down so that the distance between the end of the first bridge deck 11 and the deck 7 remains unchanged.

In some embodiments of the present utility model, the driving device 2 may be a power element including an electric cylinder, an air cylinder, and a hydraulic cylinder, and as a power source for moving the first bridge ladder 11, the driving device 2 may drive the first bridge ladder 11 to swing in a pitching manner, which is known to those skilled in the art, and thus will not be described herein.

In some embodiments of the present utility model, the pitching swinging means that the first bridge ladder 11 swings in a direction perpendicular to the sea level, so as to increase or decrease the distance between the end of the first bridge ladder 11 and the sea level, when the ship deck 7 approaches the first bridge ladder 11, the driving device 2 drives the first bridge ladder 11, so that the distance between the end of the first bridge ladder 11 and the sea level is reduced, and further the end of the first bridge ladder 11 contacts the deck 7, so that an operator can ascend the trestle.

In some embodiments of the utility model, the drive means 2 comprise telescopic means and a third bridge ladder 13; the third bridge ladder 13 connects the second bridge ladder 12 and the base 14; the telescopic device comprises a guide rail and a first hydraulic cylinder 202, the guide rail is arranged on the third bridge ladder 13, the first hydraulic cylinder 202 is connected with the third bridge ladder 13 and the second bridge ladder 12 and is used for driving the second bridge ladder 12 to move along the arrangement direction of the guide rail so as to generate telescopic movement relative to the third bridge ladder 13.

In some embodiments, referring to fig. 1, the telescopic device comprises a guide rail arranged along the length direction of the third bridge ladder 13 tread, i.e. the direction a or the opposite direction thereof; in particular, the guide rail may be provided on the surface of the tread of the third bridge ladder 13.

In some embodiments, referring to fig. 1, the first hydraulic cylinder 202 is connected to the top ends of the first connecting column 204 and the second connecting column 205, where the first connecting column 204 is disposed on a side of the third bridge ladder 13 pedal near the base 14, the second connecting column 205 is disposed on a side of the second bridge ladder 12 pedal near the first bridge ladder 11, and when the first hydraulic cylinder 202 stretches, the first connecting column 204 and the second connecting column 205 drive the third bridge ladder 13 and the second bridge ladder 12 to produce a stretching movement, that is, a linear movement along the direction a or the opposite direction of the drawing.

In some embodiments, the length and width of the second bridge ladder 12 are smaller than those of the third bridge ladder 13, the length refers to the linear distance between two ends of the second bridge ladder 12 or the third bridge ladder 13 in the extending direction, the width refers to the distance between two side escalators of the second bridge ladder 12 or the third bridge ladder 13, and the second bridge ladder 12 is nested in the space surrounded by the steps and handrails of the third bridge ladder 13.

In some embodiments, the arrangement direction of the guide rail is the same as the length direction of the pedal of the third bridge step 13, so that when the second bridge step 12 moves along the arrangement direction of the guide rail, the distance between the end point of the third bridge step 13 near the base 14 and the end point of the second bridge step 12 far from the base 14 is approximately equal to the length added value of the second bridge step 12 and the third bridge step 13.

In some embodiments of the utility model, referring to fig. 1, the drive means 2 comprises a horn; the amplitude variation device comprises a stand column 201 and a second hydraulic cylinder 203, wherein the stand column 201 is arranged on the pedal of the base 14 and is used for generating a height difference of the pedal relative to the base 14; the second hydraulic cylinder 203 connects the upright 201 and the third bridge step 13 for causing the third bridge step 13 to oscillate in pitch, i.e. in the direction alpha as shown or in the opposite direction with respect to the base 14.

In some embodiments, referring to fig. 1, the third bridge deck 13 and the base 14 are hinged by a pin, the axis of which is parallel to the plane of the tread of the third bridge deck 13 and perpendicular to the length direction of the tread of the third bridge deck 13; the stand 201 is disposed on the base 14, one end of the second hydraulic cylinder 203 is connected to the top end of the stand 201, the other end of the second hydraulic cylinder 203 is connected to the third bridge ladder 13, and two ends of the second hydraulic cylinder 203 are hinged to the stand 201 and the third bridge ladder 13 respectively, so that the second hydraulic cylinder 203 drives the third bridge ladder 13 to perform pitching motion when working.

In some embodiments, referring to fig. 1, one end of the second hydraulic cylinder 203 is connected to the upright 201, and the other end is connected to a middle area of the body of the third bridge ladder 13, specifically, the middle area may be in a middle third area of the body length of the third bridge ladder 13, so as to obtain good mechanical performance and transmission efficiency.

In some embodiments of the present utility model, the base 14 is disposed on an oil production platform, and the first bridge deck 11, the second bridge deck 12, and the third bridge deck 13 are sequentially connected to the base 14.

In some embodiments of the present utility model, referring to fig. 1, the driving device 2 includes a turning device 3, where the turning device 3 is connected to the base 14, and is used to drive the base 14 to swing horizontally, so as to drive the third bridge step 13, the second bridge step 12, and the first bridge step 11 to swing in a direction parallel to the sea level.

In some embodiments of the present utility model, the identifying device 8 includes a binocular stereo camera, the binocular stereo camera is disposed above the bridge body 1, and the binocular stereo camera is electrically connected to the amplitude changing device, and is used for capturing the relative positions of the ship and the bridge body 1, so as to control the pitching and swinging of the third bridge ladder 13.

In some embodiments, the relative position of the vessel and the bridge 1 may be the vertical distance from the end of the first bridge deck 11 to the deck 7.

In some embodiments, referring to fig. 6, the binocular stereo camera is disposed at a height sufficient to cover a scanning range of a range area centered on the base 14 and having a radius of the sum of the lengths of the third bridge step 13, the second bridge step 12 and the first bridge step 11.

Specifically, the binocular stereo camera determines the angular pose of the bridge body 1 in a plane parallel to the sea level by using the angles between the base 14, the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13 and other objects in the length direction.

Specifically, the binocular stereo camera judges the angular posture of the bridge body 1 in the plane perpendicular to the sea level by the vertical distance between the first bridge ladder 11, the second bridge ladder 12 or the third bridge ladder 13 and the deck 7.

In some embodiments of the present utility model, the binocular stereo camera is electrically connected to the telescopic device, for capturing the relative position of the ship and the bridge body 1, so as to control the telescopic movement of the second bridge ladder 12.

Specifically, the binocular stereo camera judges the real-time feasible working distance of the trestle for the operator to go up and down through the horizontal distance between the tail end of the first bridge ladder 11 and the front end of the third bridge ladder 13, so as to control the telescopic movement of the second bridge ladder 12.

In some embodiments of the present utility model, referring to fig. 1 and 6, the identifying device 8 includes an ultrasonic radar 9, where the ultrasonic radar 9 is disposed on a side of the first bridge ladder 11 opposite to a pedal of the first bridge ladder 11, and the ultrasonic radar 9 is electrically connected to the driving device 2, and is configured to obtain a distance change speed between the first bridge ladder 11 and the deck 7, so as to control the swing speed of the first bridge ladder 11 according to the distance change speed.

Specifically, when the speed of change of the distance between the first bridge deck 11 and the deck 7 increases, the driving device 2 increases the swing speed of the first bridge deck 11.

Specifically, when the speed of change of the distance between the first bridge deck 11 and the deck 7 decreases, the driving device 2 decreases the swing speed of the first bridge deck 11.

In some embodiments, the speed of change of the distance between the first bridge deck 11 and the deck 7 is the acceleration of the deck 7 toward or away from the end of the first bridge deck 11.

In some embodiments, the speed of change of the distance between the first bridge ladder 11 and the deck 7 may be indirectly obtained by detecting the acceleration of the deck 7 raised or lowered relative to the sea level by the action of the wind and waves.

In some embodiments, the ultrasonic radar 9 may be disposed on two sides of the first bridge ladder 11, the second bridge ladder 12, or the third bridge ladder 13 in the length direction of the step, and the driving device 2 stops working when the distance between the driving device and the person, the obstacle, or other objects is smaller than a preset safety distance.

In some embodiments of the present utility model, the first bridge ladder 11 is hinged to the second bridge ladder 12 through a pin shaft.

In some embodiments of the utility model, referring to fig. 1, the first bridge ladder 11 is provided with a castor 6 at its end for rolling on the deck 7 when the first bridge ladder 11 swings.

In some embodiments of the present utility model, the base 14, the first bridge ladder 11, the second bridge ladder 12, or the third bridge ladder 13 includes a pedal, where the pedal faces away from the deck, and the pedal may be a metal plate, so that an operator steps on the platform when stepping on the platform.

In some embodiments of the present utility model, the extending direction of the first bridge 11, the second bridge 12 or the third bridge 13 may be the same as the length direction of the steps of the first bridge 11, the second bridge 12 or the third bridge 13.

In some embodiments of the present utility model, the trestle further comprises an ice and snow removing device for spraying heat flow to remove ice and snow accumulated on the bridge body 1.

In some embodiments of the present utility model, referring to fig. 2 and 3, the second bridge step 12 may be telescopically moved above the third bridge step 13, the first bridge step 11 may be swingably moved above the second bridge step 12, and the ice and snow removing device is disposed on the third bridge step 13, and is configured to remove ice and snow from the second bridge step 12 and the first bridge step 11 by spraying heat flow.

It should be noted that, when the trestle is in the non-working state, the first bridge ladder 11 is located above the second bridge ladder 12, the second bridge ladder 12 is located above the third bridge ladder 13, at this time, if there is rain water icing or snow accumulation, the ice and snow accumulation on the first bridge ladder 11 and the second bridge ladder 12 is greater than that on the third bridge ladder 13, i.e. more ice and snow need to be removed, and the ice and snow removing device sprays heat flow to the first bridge ladder 11 and the second bridge ladder 12 to remove ice and snow, so that higher ice and snow removing efficiency can be obtained.

In some embodiments of the present utility model, referring to fig. 2 and 3, the steps of the second bridge step 12 are provided with a plurality of through holes, so that the heat flow ejected from the ice and snow removing device flows through the second bridge step 12 to the first bridge step 11.

In some embodiments of the present utility model, referring to fig. 4, the ice and snow removing apparatus includes an air compressor 41, a filter 42, and a heat source 43, wherein the air compressor 41 sucks air and forms positive pressure, so that compressed air is filtered by the filter 42, heated by the heat source 43, enters the heat flow channel 44, and is sprayed from the nozzle to the first bridge step 11 and the second bridge step 12.

In some embodiments, referring to fig. 4, the ice and snow removing apparatus further includes a pressure reducing valve 45 and an oil atomizer 46, and the filter 42, the pressure reducing valve 45, the oil atomizer 46 and the heat source 43 are sequentially connected.

In some embodiments, the compressed air pressure provided by the air compressor 41 is greater than or equal to 1 and less than or equal to 12bar.

In particular, the pressure of the compressed air may be 1, 3, 5, 7, 8, 9, 10, 11 or 12bar.

In some embodiments of the present utility model, the heat source 43 includes a temperature regulating unit for varying the temperature of the heat flow emitted from the heat flow channel 44.

In some embodiments of the utility model, referring to fig. 1 and 3, the deicing device comprises a heat flow channel 44, said heat flow channel 44 being arranged along the extension direction of the third bridge ladder 13, i.e. in the direction of illustration a or in the opposite direction thereof, said heat flow channel 44 having a spout, which spouts the heat flow towards the first position, i.e. in the direction of illustration B.

In some embodiments of the present utility model, referring to fig. 3, the third bridge step 13 includes a step, where the step includes a first surface and a second surface 121 facing away from each other, the first surface faces the first bridge step 11 and the second bridge step 12, the heat flow channel 44 is disposed on a side of the second surface 121, and the nozzle is directed to a side of the first surface.

In some embodiments of the present utility model, referring to fig. 2, a flow guiding member 5 is provided at the nozzle, and the flow guiding member 5 has a first end and a second end in the direction of the heat flow injection, and the second end has a cross-sectional area larger than that of the first end.

In some embodiments, referring to fig. 2, the cross-sectional area of the baffle 5 increases gradually during the extension from the first end to the second end.

In some embodiments, referring to fig. 2, the flow guide 5 is conical, the first end is an apex of the conical shape, and the second end is a conical bottom surface.

In some embodiments, referring to fig. 5, the conical hypotenuse is rounded.

In some embodiments, the flow guide member 5 is disposed at the nozzle, and may be disposed in the heat flow channel 44, that is, disposed inside the port of the heat flow channel 44.

In other embodiments, the flow guide member 5 is disposed at the nozzle, and may be disposed outside the heat flow channel 44, that is, outside the port of the heat flow channel 44.

In some embodiments of the present utility model, a check valve is disposed in the heat flow channel 44 near the nozzle, so that the heat flow channel 44 is in unidirectional conduction in the heat flow direction.

The embodiment of the utility model also provides a control method of the trestle, which can be realized through the trestle.

The utility model provides a control method of a trestle, referring to fig. 1, applied to the trestle, the trestle comprises a first bridge ladder 11 and a second bridge ladder 12, the first bridge ladder 11 and the second bridge ladder 12 are rotatably connected, and the control method of the trestle comprises the following steps:

s10: acquiring the heave state of the deck 7 of the ship;

s20: when the ship is acted by waves, the position of the bridge body 1 is adjusted according to the fluctuation state of the deck 7;

wherein the adjusting the position of the bridge body 1 comprises controlling the first bridge ladder 11 to generate pitching swinging relative to the second bridge ladder 12, so that people can get on and off the bridge in the wave environment.

In some embodiments of the present utility model, before the adjusting the position of the bridge body 1 in step S20, the method further includes:

s11: identifying the shape of the bow and the shape of the cockpit of the ship, and obtaining a shape matching result;

s12: and adjusting the posture of the bridge body 1 according to the shape matching result.

In some specific embodiments, the identifying the bow shape and the cockpit shape of the ship may be performed by the binocular stereo camera, and the image obtained by the identifying may be matched with a preset image.

In some embodiments, the shape matching result may include a match success or a match failure.

Specifically, when the matching is successful, the driving device 2 controls the first bridge ladder 11 and/or the second bridge ladder 12 according to the preset posture data of the bridge body 1, so as to adjust the posture of the bridge body 1.

Specifically, when the matching fails, the driving device 2 does not adjust the posture of the bridge body 1.

In some embodiments, the successful matching includes matching different types of vessels and performing the posture adjustment of the adapted bridge body 1.

In some embodiments of the present utility model, before the adjusting the position of the bridge body 1 in step S20, the method further includes:

s13: acquiring the distance change speed between the first bridge ladder 11 and the deck 7;

s14: and adjusting the speed of the bridge body 1 according to the distance change speed.

In some embodiments, the acquiring the speed of the distance change between the first bridge ladder 11 and the deck 7 may be achieved by the binocular stereo camera or the ultrasonic radar 9.

Specifically, when the speed of change of the distance between the first bridge deck 11 and the deck 7 increases, the swing speed of the first bridge deck 11 increases.

Specifically, when the speed of change of the distance between the first bridge deck 11 and the deck 7 decreases, the swing speed of the first bridge deck 11 decreases.

In some embodiments, the speed of change of the distance between the first bridge deck 11 and the deck 7 is the acceleration of the deck 7 toward or away from the end of the first bridge deck 11.

In some embodiments, the speed of change of the distance between the first bridge ladder 11 and the deck 7 may be indirectly obtained by detecting the acceleration of the deck 7 raised or lowered relative to the sea level by the action of the wind and waves.

The steps and principles of the method for controlling the trestle provided by the embodiment of the utility model correspond to the structures and principles of the trestle and can be implemented by the trestle, so that the steps and principles are not repeated herein.

The foregoing describes in detail preferred embodiments of the present utility model. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the utility model by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (9)

1. A trestle, comprising:

a bridge body (1);

the bridge body (1) comprises a base (14), a first bridge ladder (11) and a second bridge ladder (12);

the second bridge ladder (12) is connected with the base (14), and the first bridge ladder (11) is arranged on the deck (7) of the ship;

-identification means (8) for acquiring the heave state of the deck (7);

the driving device (2) is arranged on the first bridge ladder (11) and is electrically connected with the identification device (8) and is used for driving the first bridge ladder (11) to move according to the fluctuation state;

the first bridge ladder (11) and the second bridge ladder (12) are rotatably connected, and when the ship is acted by waves, the driving device (2) drives the first bridge ladder (11) to generate pitching swinging relative to the second bridge ladder (12) according to the fluctuation state of the deck (7) of the ship.

2. Trestle according to claim 1, characterized in that the driving means comprise telescopic means and a third bridge ladder (13);

the third bridge ladder (13) connects the second bridge ladder (12) and the base (14);

the telescopic device comprises a guide rail and a first hydraulic cylinder (202), the guide rail is arranged on the third bridge ladder (13), the first hydraulic cylinder (202) is connected with the third bridge ladder (13) and the second bridge ladder (12) and is used for driving the second bridge ladder (12) to move along the arrangement direction of the guide rail so as to generate telescopic movement relative to the third bridge ladder (13).

3. Trestle according to claim 2, characterized in that the driving means (2) comprise amplitude variation means;

the amplitude changing device comprises a stand column (201) and a second hydraulic cylinder (203), wherein the stand column (201) is arranged on a pedal of the base (14) and is used for generating a height difference of the pedal relative to the base (14);

the second hydraulic cylinder (203) is respectively connected with the upright post (201) and the third bridge ladder (13) and is used for enabling the third bridge ladder (13) to generate pitching swinging relative to the base (14).

4. A trestle according to claim 3, characterized in that said driving means (2) comprise swivel means (3), said swivel means (3) being connected to said base (14) for driving said base (14) to oscillate horizontally.

5. Trestle according to claim 4, characterized in that the recognition means (8) comprise a binocular stereo camera arranged above the bridge (1), which is electrically connected to the luffing means for capturing the relative position of the vessel and the bridge (1) for controlling the pitching of the third bridge ladder (13).

6. Trestle according to claim 5, characterized in that said binocular stereo camera is electrically connected to said telescopic means for capturing the relative position of said vessel and said bridge body (1) for controlling the telescopic movement of said second bridge ladder (12).

7. Trestle according to claim 1, characterized in that said identification means (8) comprise an ultrasonic radar (9), said ultrasonic radar (9) being arranged on said first bridge ladder (11) on the side opposite to the pedals of said first bridge ladder (11), said ultrasonic radar (9) being electrically connected to said driving means (2) for obtaining the speed of variation of the distance between said first bridge ladder (11) and said deck (7), so as to control the speed of oscillation of said first bridge ladder (11) according to said speed of variation of the distance.

8. Trestle according to claim 1, characterized in that the first bridge ladder (11) is hinged to the second bridge ladder (12) by means of a pin.

9. Trestle according to any of claims 1 to 8, characterized in that the end of the first bridge ladder (11) is provided with a castor (6) for rolling on the deck (7) when the first bridge ladder (11) is swung.