Four-degree-of-freedom active wave compensation operation and maintenance embarkation device

Abstract

The invention provides a four-degree-of-freedom active wave compensation operation and maintenance embarkation device which comprises a pitching compensation structure connected to an embarkation trestle, the pitching compensation structure is sequentially connected with a rolling compensation structure, a yawing compensation structure and a heave compensation structure, the heave compensation structure is arranged on the deck of a ship body, and an attitude sensor is arranged on the deck. The attitude sensor is connected to a control system and used for detecting and feeding back deviation values of the ship body in a world coordinate system in real time and sending the deviation values to the control system, and the control system calculates compensation values of the ship body in the pitching, rolling, yawing and heaving freedom degree directions in real time, and transmits compensation value signals to the pitching compensation structure, the rolling compensation structure, the yawing compensation structure and the heave compensation structure to control the motions of the structures so that the displacement of the ship body in four freedom degree directions of pitching, rolling, yawing and heaving caused by the influence of waves is actively compensated, the stability of embarkation can be improved, and the embarkation safety is improved; the life safety of workers is maintained, and the working comfort is improved.

Description

technical field [0001] The invention relates to the technical field of marine equipment, in particular to a four-degree-of-freedom active wave compensation operation and maintenance landing device. Background technique [0002] Offshore wind power generation is a new energy widely used today. Wind power towers need regular maintenance. Operation and maintenance ships are affected by waves on the water surface, which will cause heave, yaw, pitch, roll, sway, vertical With the displacement of 6 degrees of freedom, when the maintenance personnel board the wind power tower from the hull, they will also swing with the vibration of the hull, which will seriously affect the work comfort and life safety. [0003] With the increasing demand for energy in my country, the offshore wind power industry has developed rapidly, and the installed capacity of offshore wind power generators has increased significantly. And the installation location is getting farther and farther from the shor...

AI Technical Summary

Problems solved by technology

[0005] The existing technology mainly has two disadvantages. First, the rotating mechanism adopts a hydraulic motor and a gear structure. Since the boarding bridge is relatively heavy, the required gear strength is relatively high and the size is relatively large.

This kind of gear requires high manufacturing technology and high cost, which is not conducive to the promotion and industrialization of this technology

Second, this technology cannot compensate the displacement in the direction of the degree of freedom of the heave of the hull. In areas far from the coast where the sea conditions are relatively harsh, the hull will heave greatly under the influence of wind force, and the boarding device is still greatly affected by the heave.

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