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Series-parallel mechanism system based on passive compensation and motion decomposition method thereof

A hybrid mechanism and motion decomposition technology, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2021-02-26
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wind turbine platform often needs to be repaired and maintained. However, due to the wind and waves at sea, it is very dangerous for people to go from the ship to the platform. It is very necessary for the offshore compensation platform to safely transport personnel and equipment from the ship to the wind turbine platform.

Method used

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  • Series-parallel mechanism system based on passive compensation and motion decomposition method thereof
  • Series-parallel mechanism system based on passive compensation and motion decomposition method thereof
  • Series-parallel mechanism system based on passive compensation and motion decomposition method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0122] Implementation 1: as attached figure 1 As shown, the passive compensation system of the hybrid mechanism system consists of the hybrid mechanism, the pressure sensor array at the end of the hybrid mechanism, the wave passive compensation motion distributor, and the hydraulic system of the hybrid mechanism.

Embodiment 2

[0123] Implementation 2: as attached figure 2 As shown, the hybrid mechanism is mainly composed of a six-degree-of-freedom parallel mechanism, a three-degree-of-freedom serial mechanism, and a mounting base: the six-degree-of-freedom parallel mechanism is composed of six hydraulic cylinders and an upper platform, which mainly compensates the three-dimensional attitude of the operation and maintenance ship affected by waves (pitch, roll, heading); the three-degree-of-freedom series mechanism is composed of a slewing mechanism, a pitch mechanism and a telescopic mechanism, which can compensate the three-dimensional displacement of the operation and maintenance ship affected by waves; the installation base is used to fix the hybrid mechanism on the operation and maintenance on the deck of the ship. The three-degree-of-freedom series mechanism and the six-degree-of-freedom parallel mechanism are composed of hinge supports.

Embodiment 3

[0124] Implementation 3: As shown in Figure 3, the pressure sensor array at the end of the hybrid mechanism of the boarding system is arranged in two directions. The change of the contact force between the end forward direction and the offshore platform; the vertical direction is arranged at the lower end of the end of the hybrid mechanism, evenly distributed in a semicircle every 5°, and the force change at the lap joint between the end of the hybrid mechanism and the offshore platform is detected.

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Abstract

The invention provides a series-parallel mechanism system based on passive compensation. The series-parallel mechanism system comprises a series-parallel mechanism, a pressure sensor array at the tailend of the series-parallel mechanism, a wave passive compensation motion distributor and a series-parallel mechanism hydraulic system; the series-parallel mechanism comprises a six-degree-of-freedomparallel mechanism, a three-degree-of-freedom series mechanism and a mounting base; and the six-degree-of-freedom parallel mechanism is composed of six hydraulic cylinders and an upper platform, the three-degree-of-freedom series mechanism is composed of a swing mechanism, a pitching mechanism and a telescopic mechanism, the mounting base is used for fixing the series-parallel mechanism to a deckof an operation and maintenance ship, and the three-degree-of-freedom series mechanism and the six-degree-of-freedom parallel mechanism are composed of hinged supports. Passive compensation of the offshore operation and maintenance ship can be achieved under the high sea condition, and normal operation and maintenance work of an offshore platform in severe weather is guaranteed. Compared with an active sea wave compensation system, the series-parallel mechanism system has the advantages of being small in energy consumption and low in cost, meets the offshore short-time and rapid operation andmaintenance requirements and has high practicability.

Description

technical field [0001] The invention relates to a hybrid mechanism system and a motion decomposition method thereof, in particular to a passive compensation-based hybrid mechanism system and a motion decomposition method thereof, belonging to the technical field of marine engineering. Background technique [0002] With the concept of sustainable development deeply rooted in the hearts of the people, the current situation of high energy consumption, high pollution and high emission of traditional energy causing irreversible damage to the environment has made people pay more attention to the development and use of clean energy and green energy. Based on this, the development and use of offshore wind energy has entered the field of vision of various countries, and the number of wind turbine installations has increased significantly. Countries have regarded it as the most important part of the new energy strategy. The state pays close attention to the development of offshore win...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0072B25J9/1664
Inventor 魏延辉樊雅妮郭彤旭谢吉顺于恬付敬恒邵红王玥玥
Owner HARBIN ENG UNIV
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