A platform device for simulating the movement of a single-point mooring buoy

Abstract

The present invention discloses a platform device for simulating the movement of a single-point mooring buoy, which belongs to the field of marine engineering experimental technology, and includes a device body, a frame body, a frame body including a suspension plate and a mounting plate arranged in sequence from top to bottom, and the mounting plates including a first mounting plate, a second mounting plate, a third mounting plate, a fourth mounting plate and a fifth mounting plate from top to bottom, an X-axis moving device is installed between the first mounting plate and the second mounting plate, a Y-axis moving device is installed between the second mounting plate and the third mounting plate, a Z-axis moving device is installed between the third mounting plate and the fourth mounting plate, and a rotating moving device is installed between the fourth mounting plate and the fifth mounting plate. The present invention is designed for the movement of a single-point mooring buoy. In addition to the movement in the X, Y and Z directions to simulate the longitudinal, transverse and vertical swings of the hull, a worm gear transmission mechanism is designed at the bottom layer, which has a suitable and controllable rotation speed and can truly simulate the "weather vane effect" of the single-point mooring buoy in the sea.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering experiments, and in particular relates to a platform device for simulating the movement of a single-point mooring buoy. Background Art

[0002] Offshore floating structures will produce six degrees of freedom motion responses in complex marine environments, namely surge, sway, heave, roll, pitch and bow roll. However, compared with other offshore floating structures, single-point mooring buoys will have an additional rotational motion. This is because of the "weather vane effect", that is, in a single-point mooring system, the hull will rotate around the mooring point due to the influence of environmental forces such as wind, waves and currents, so that it is in the most favorable direction to face the waves, and finally moored in the direction with the smallest environmental force, so that the single-point mooring buoy will also rotate.

[0003] In the field of marine engineering, water tank tests are often used to analyze the dynamic response of floating structures (floating platforms, offshore wind turbines, single-point mooring buoys, etc.). However, water tank tests have the characteristics of low operability, high expenditure, and long cycle. Moreover, water tank tests require a water tank with a considerable area and depth and a sufficient number of wave-making devices, and the experimental requirements are relatively high.

[0004] To address the above issues, the single-point moored buoy model is actively controlled through a mechanical structure, which is of great significance for studying the motion response of offshore structures. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a platform device with a simple and compact structure and capable of performing four-degree-of-freedom motion simulation on a single-point moored buoy.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a platform device for simulating the movement of a single-point mooring buoy, including a device body, the device body including a frame, the frame including a suspension plate and a mounting plate arranged in sequence from top to bottom, the mounting plates including a first mounting plate, a second mounting plate, a third mounting plate, a fourth mounting plate and a fifth mounting plate from top to bottom, an X-axis moving device is installed between the first mounting plate and the second mounting plate, a Y-axis moving device is installed between the second mounting plate and the third mounting plate, a Z-axis moving device is installed between the third mounting plate and the fourth mounting plate, and a rotating moving device is installed between the fourth mounting plate and the fifth mounting plate.

[0007] Furthermore, a single-point mooring buoy model is installed below the fifth mounting plate, and the single-point mooring buoy model is connected to the output end of the rotary moving device.

[0008] Furthermore, the present invention also includes a rotating cylinder, which is installed on the hanging plate and the first mounting plate, and a gear is arranged on the top of the rotating cylinder.

[0009] Furthermore, a pipe clamp is installed on the hanging plate.

[0010] Furthermore, the X-axis moving device includes an X-axis servo motor, an X-axis slider, an X-axis slide rail arranged in cooperation with the X-axis slider, an X-axis threaded rod and an X-axis push-pull nut; the Y-axis moving device includes a Y-axis servo motor, a Y-axis slider, a Y-axis slide rail arranged in cooperation with the Y-axis slider, a Y-axis threaded rod and a Y-axis push-pull nut; the Z-axis moving device includes a Z-axis servo motor, a vertical slide rail, a vertical slide rail sleeve, a Z-axis threaded rod and a Z-axis push-pull nut; the rotation moving device includes a rotation servo motor, a worm, a worm wheel, a worm and worm wheel transmission box, a model transmission shaft, a coupling and a connecting rod.

[0011] Furthermore, an X-direction slider is installed on the lower side of the first mounting plate, and an X-direction servo motor is fixed on the side; an X-direction slide rail and an X-direction push-pull nut are installed on the upper side of the second mounting plate. It can be seen that the second mounting plate relies on the X-direction servo motor, the X-direction slider and the X-direction slide rail to achieve X-direction movement. A Y-axis moving device is installed between the second mounting plate and the third mounting plate, and a Y-direction servo motor is installed on the side of the second mounting plate, and a Y-direction slider is installed on the lower side. The Y-direction slide rail and the Y-direction push-pull nut are installed on the upper side of the third mounting plate. It can be seen that the third mounting plate relies on the Y-direction servo motor, the Y-direction slider and the Y-direction slide rail to achieve Y-direction movement. A Z-axis moving device is installed between the third mounting plate and the fourth mounting plate, and a Z-direction servo motor and a vertical slide rail are installed on the lower side of the third mounting plate, and a vertical slide rail sleeve is installed on the upper side of the fourth mounting plate, so that the Z-direction servo motor drives the third mounting plate and the fourth mounting plate to move in the vertical direction, and a Z-direction push-pull nut is also installed in the middle of the fourth mounting plate. It can be seen that the fourth mounting plate relies on the Z-direction servo motor, the vertical slide rail and the vertical slide rail sleeve to achieve Z-direction movement. A rotating moving device is installed between the fourth mounting plate and the fifth mounting plate, the upper side of the fifth mounting plate is connected to the fourth mounting plate through a support, a worm gear transmission box is installed on the upper side of the fifth mounting plate, the model transmission shaft extending from the worm gear transmission box is connected to the single-point mooring buoy model through a flexible coupling, and a rotating servo motor is installed on the side of the fifth mounting plate. It can be seen that the fifth mounting plate relies on the rotating servo motor, the worm and the worm gear to realize the horizontal rotation of the single-point mooring buoy model below.

[0012] Furthermore, a limiting washer is provided at the lower portion of the vertical slide rail.

[0013] Furthermore, the worm and worm gear transmission box contains meshing worm and worm wheel, the worm is connected to the rotary servo motor through a coupling and a connecting rod, and the model transmission shaft of the worm wheel is connected to the single-point mooring buoy model through a flexible coupling.

[0014] Furthermore, the X-direction servo motor, the Y-direction servo motor, the Z-direction servo motor and the rotary servo motor are connected to a motion controller by cables, and the motion controller is controlled by a host working condition machine to achieve motion simulation with four degrees of freedom.

[0015] Furthermore, the single-point mooring buoy model is connected with ropes for simulating pipelines on all sides, and a motion sensor is installed on the upper side of the single-point mooring buoy model to receive motion signals in real time.

[0016] Furthermore, the suspension plate and the mounting plate are both arranged horizontally, the suspension plate is triangular, and the mounting plate is rectangular.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention is designed for the movement of a single-point mooring buoy. In addition to the movement in the X, Y, and Z directions to simulate the longitudinal, transverse, and vertical swings of the hull, a worm gear transmission mechanism is designed at the bottom layer with a suitable controllable rotation speed, which can truly simulate the "weather vane effect" of a single-point mooring buoy in the sea. This invention also fills the gap in China that there is no way to achieve the "weather vane effect" by controlling the rotation of the model through a mechanical device.

[0019] (2) Compared with water tank experiments, previous water tank experiments all simulated the motion of the model by simulating the forces of the external environment. The model motion was passive and had a certain hysteresis. The present invention, on the other hand, realizes active control of the buoy model by inputting the collected motion information of the buoy itself into the motion controller through the upper working condition machine. In this way, only the motion of the buoy itself is focused on, and the external influence of the environment is not paid attention to. This makes it easier to study the influence of the internal structural components of the single-point moored buoy under its own motion.

[0020] (3) The present invention adopts servo motor drive and control, slide rail mechanism to limit movement, worm gear to realize rotation, and realizes four degrees of freedom of three translations and one rotation. The whole mechanical structure is compactly designed, the height and width of the structure are moderate, and the space requirement for installation is not high. Moreover, compared with the water pool experiment, the present invention does not involve a deep water pool, which is safer for the experimental operator, and the installation of sensors and components is also simpler, and the experimental feasibility is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation methods of the present invention will become more obvious. The contents shown in the accompanying drawings are only used to explain the present invention and do not constitute any limitation to the present invention in any sense. In the accompanying drawings:

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2is a cross-sectional view of the present invention;

[0024] Figure 3 is a cross-sectional view of the rotary moving device of the present invention;

[0025] Figure 4 is a cross-sectional view of the X-axis moving device of the present invention;

[0026] Figure 5 is a cross-sectional view of the Y-axis moving device of the present invention;

[0027] Figure 6 It is a cross-sectional view of the Z-axis moving device of the present invention.

[0028] In the figure:

[0029] 1. Pipe clamp; 2. Rotating cylinder; 3. First mounting plate; 4. X-axis slider; 5. X-axis slide rail; 6. Y-axis servo motor; 7. Z-axis servo motor; 8. Pillar; 9. Fixed frame; 10. Worm and worm gear transmission box; 11. X-axis servo motor; 12. Y-axis push-pull nut; 13. Y-axis threaded rod; 14. Vertical slide rail; 15. Limit washer; 16. Rotating servo motor; 17. Connecting rod; 18. Flexible coupling; 19. Single-point mooring buoy model ; 20. Platform washer; 21. Z-axis push-pull nut; 22. Worm; 23. Worm wheel; 24. Model transmission shaft; 26. Rolling bearing; 27. Coupling; 28. X-axis push-pull nut; 29. ​​X-axis threaded rod; 30. Y-axis slider; 31. Y-axis slide rail; 32. Vertical slide rail sleeve; 33. Z-axis threaded rod; 34. Second mounting plate; 35. Third mounting plate; 36. Fourth mounting plate; 37. Fifth mounting plate; 38. Suspension plate; 39. Gear. DETAILED DESCRIPTION

[0030] like Figures 1 to 6 As shown, the present invention provides a platform device for simulating the movement of a single-point mooring buoy, comprising: a device body, the device body comprising a frame, an X-axis moving device, a Y-axis moving device, a Z-axis moving device and a rotating moving device,

[0031] The frame includes six horizontal plates, which include a triangular hanging plate 38 and five rectangular mounting plates arranged from top to bottom.

[0032] The X-axis moving device includes an X-direction servo motor 11, an X-direction slider 4, an X-direction slide rail 5 arranged in cooperation with the X-direction slider 4, an X-direction threaded rod 29 and an X-direction push-pull nut 28;

[0033] The Y-axis moving device includes a Y-direction servo motor 6, a Y-direction slider 30, a Y-direction slide rail 31 arranged in cooperation with the Y-direction slider 30, a Y-direction threaded rod 13 and a Y-direction push-pull nut 12;

[0034] The Z-axis moving device includes a Z-direction servo motor 7, a vertical slide rail 14, a vertical slide rail sleeve 32, a limit washer 15, a Z-direction threaded rod 33 and a Z-direction push-pull nut 21;

[0035] The rotary moving device includes a rotary servo motor 16 , a worm 22 , a worm wheel 23 , a worm and worm gear transmission box 10 , a model transmission shaft 24 , a coupling 27 and a connecting rod 17 .

[0036] The five rectangular mounting plates are divided into a first mounting plate 3, a second mounting plate 34, a third mounting plate 35, a fourth mounting plate 36 and a fifth mounting plate 37 from top to bottom. The five mounting plates have different functions from top to bottom.

[0037] The pipe clamp 1 is installed on the hanging plate 38, the rotating cylinder 2 is installed on the hanging plate 38 and the first mounting plate 3, and the platform gasket 20 is installed between the rotating cylinder 2 and the hanging plate 38. The top of the rotating cylinder is provided with a gear 39 for manual adjustment. By manually rotating the gear 39 above, the entire device below is driven to move, which is convenient for adjusting the angle and direction during installation. The rotating cylinder 2 bears the weight of the entire device body.

[0038] An X-axis moving device is installed between the first mounting plate 3 and the second mounting plate 34. Four X-direction sliders 4 are installed on the lower side of the first mounting plate 3, and the X-direction servo motor 11 is fixed on the side by a motor fixing frame; two rows of X-direction slide rails 5 are installed on the upper side of the second mounting plate 34, and there is also a push-pull nut fixing frame, on which the X-direction push-pull nut 28 is fixed by snap rings on both sides. It can be seen that the second mounting plate 34 relies on the X-direction servo motor 11, the X-direction slider 4 and the X-direction slide rail 5 to achieve X-direction movement.

[0039] A Y-axis moving device is installed between the second mounting plate 34 and the third mounting plate 35. A Y-direction servo motor 6 and a motor fixing frame are installed on the side of the second mounting plate 34. Four Y-direction sliders 30 are installed on the lower side of the second mounting plate 34. Two rows of Y-direction slide rails 31 and a fixing frame for the Y-direction push-pull nut 12 are installed on the upper side of the third mounting plate 35. It can be seen that the third mounting plate 35 relies on the Y-direction servo motor 6, the Y-direction slider 30 and the Y-direction slide rail 31 to achieve Y-direction movement.

[0040] A Z-axis moving device is installed between the third mounting plate 35 and the fourth mounting plate 36. A motor base is installed on the lower side of the third mounting plate 35, a Z-direction servo motor 7 is installed on the motor base, four vertical slide rails 14 are installed at the four corners, and a vertical slide rail sleeve 32 is installed on the upper side of the fourth mounting plate 36, so that the Z-direction servo motor 7 drives the third mounting plate 35 and the fourth mounting plate 36 to move in the vertical direction. A push-pull nut base and a Z-direction push-pull nut 21 are also installed in the middle of the fourth mounting plate 36. It can be seen that the fourth mounting plate 36 relies on the Z-direction servo motor 7, the vertical slide rail 14 and the vertical slide rail sleeve 32 to achieve Z-direction movement.

[0041] A rotating moving device is installed between the fourth mounting plate 36 and the fifth mounting plate 37. The upper side of the fifth mounting plate 37 is connected to the fourth mounting plate 36 through the support 8. The worm gear transmission box 10 is installed on the upper side of the fifth mounting plate 37. The model transmission shaft 24 is connected to the single-point mooring buoy model 19 through the flexible coupling 18. The rotating servo motor 16 and the motor fixing bracket are installed on the side of the fifth mounting plate 37. It can be seen that the fifth mounting plate 37 relies on the rotating servo motor 16, the worm 22 and the worm gear 23 to realize the horizontal rotation of the single-point mooring buoy model 19 below.

[0042] The sliders in each direction on the mounting plate are fastened by bolts, and the sliders in each direction are embedded in the corresponding slide rails, and reciprocate under the drive of each servo motor. The X-direction servo motor 11, the Y-direction servo motor 6, and the Z-direction servo motor 7 are respectively rotated by their respective driving threaded rods, thereby generating a push-pull force through their respective push-pull nuts, and the force acts on the mounting plate through the fixing frame of the push-pull nut, thereby pushing the mounting plate to move. Limit washers 15 are provided at the bottom of the four vertical slide rails 14. The worm 22 and the worm wheel 23 are meshed in the worm and worm gear transmission box 10. The worm 22 is connected to the rotating servo motor 16 through the coupling 27 and the connecting rod 17, and the model transmission shaft 24 of the worm wheel 23 is connected to the single-point mooring buoy model 19 through the flexible coupling 18. The shafts of the worm 22 and the worm wheel 23 are fixed in position by rolling bearings 26 on both sides. The rolling bearings 26 are radially fixed at the circular cutout of the worm and worm wheel transmission box 10 and axially fixed between the metal washer and the pillow block. The metal washer is fixed by six screws. Four servo motors are connected to the motion controller by cables. The motion controller is controlled by the upper working condition machine through application software to realize the motion simulation of four degrees of freedom of the present invention. The single-point mooring buoy model 19 includes a scaled-down single-point mooring buoy model 19 and an outer turret, as well as simulated pipelines connected around the outer turret. A motion sensor (acceleration sensor) is placed on the plane of the single-point mooring buoy model 19 and is connected to the model transmission shaft 24 through a flexible coupling 18. The simulated pipeline is connected to an anchor point set on the ground.

[0043] Here’s how it works:

[0044] like Figure 3 As shown, the worm 22, the worm wheel 23, the model transmission shaft 24 and the rolling bearing 26 are installed in the worm gear transmission box 10, the two ends of the worm 22 and the worm wheel 23 are fixed to the worm gear transmission box 10 through the rolling bearing 26, one side of the rolling bearing 26 is fixed by a metal washer, and the metal washer is fixed to the worm gear transmission box 10 by screws; the worm gear transmission box 10 is fixed to the fifth mounting plate 37 through four fixing frames 9. The worm 22 and the worm wheel 23 cooperate with each other, the worm wheel 23 and the model transmission shaft 24 are connected by a key, and the model transmission shaft 24 is connected to the single-point mooring buoy model 19 through a flexible coupling 18.

[0045] like Figure 4 As shown, the second mounting plate 34 is connected to the first mounting plate 3 through four X-direction sliders 4 and two parallel X-direction slide rails 5 and generates X-direction relative movement; the X-direction servo motor 11 is fixed to the side of the second mounting plate 34 through a motor fixing frame, and the X-direction threaded rod 29 is installed on the output shaft of the X-direction servo motor 11; the X-direction push-pull nut 28 is fixed to the top of the second mounting plate 34 by a push-pull nut fixing frame, and the X-direction push-pull nut 28 cooperates with the X-direction threaded rod 29. When the X-direction servo motor 11 rotates with the X-direction threaded rod 29, the X-direction push-pull nut 28 generates an X-direction force to the entire second mounting plate 34, so that the second mounting plate 34 reciprocates through the four X-direction sliders 4 and the two parallel X-direction slide rails 5.

[0046] like Figure 5 As shown, the mechanical mechanism on the third mounting plate 35 that moves in the Y direction is the same as that on the second mounting plate 34, except that the positions of the components are changed from the X direction to the Y direction.

[0047] like Figure 6 As shown, the Z-direction movement of the fourth mounting plate 36 is realized by four vertical slide rails 14, four vertical slide rail sleeves 32, a Z-direction servo motor 7, a Z-direction threaded rod 33 and a Z-direction push-pull nut 21; the upper end of the vertical slide rail 14 is connected to the third mounting plate 35, and a limit washer 15 is installed at the lower end to prevent the Z-direction movement from being too large and falling off. The outer side is tightly matched with the vertical slide rail sleeve 32, and the vertical slide rail sleeve 32 is fixed to the fourth mounting plate 36 by screws; the Z-direction servo motor 7 is installed on the motor platform designed in the center of the third mounting plate 35, and the Z-direction threaded rod 33 is connected to the Z-direction servo motor 7. The Z-direction servo motor 7 drives the Z-direction threaded rod 33 to rotate, and the Z-direction threaded rod 33 causes the Z-direction push-pull nut 21 to move in the Z direction, thereby causing the entire mounting plate to move.

[0048] The single-point mooring buoy model 19 is customized according to the scale ratio. The position of the inner turret or the outer turret on the single-point mooring buoy model 19 is connected to the model transmission shaft 24 on the upper side through a cylinder and a flexible coupling 18, so that the single-point mooring buoy model 19 produces three shifts and one rotation as the device body moves; the single-point mooring buoy model 19 can be connected with ropes for simulating pipelines on all sides to study the mooring force of the model in motion; a motion sensor is installed on the upper side of the single-point mooring buoy model 19 to receive motion signals in real time.

[0049] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of this patent.

Claims

1. A platform device for simulating the motion of a single-point mooring buoy, characterized in that: The device comprises a device body, the device body comprises a frame, the frame comprises a suspension plate and a mounting plate arranged in sequence from top to bottom, the mounting plates comprise a first mounting plate, a second mounting plate, a third mounting plate, a fourth mounting plate and a fifth mounting plate from top to bottom, an X-axis moving device is installed between the first mounting plate and the second mounting plate, a Y-axis moving device is installed between the second mounting plate and the third mounting plate, a Z-axis moving device is installed between the third mounting plate and the fourth mounting plate, and a rotating moving device is installed between the fourth mounting plate and the fifth mounting plate; a single-point mooring buoy model is installed below the fifth mounting plate The single-point mooring buoy model is connected to the output end of the rotating moving device; the X-axis moving device includes an X-direction servo motor, an X-direction slider, an X-direction slide rail arranged in cooperation with the X-direction slider, an X-direction threaded rod and an X-direction push-pull nut; the Y-axis moving device includes a Y-direction servo motor, a Y-direction slider, a Y-direction slide rail arranged in cooperation with the Y-direction slider, a Y-direction threaded rod and a Y-direction push-pull nut; the Z-axis moving device includes a Z-direction servo motor, a vertical slide rail, a vertical slide rail sleeve, a Z-direction threaded rod and a Z-direction push-pull nut; the rotating moving device includes a rotating servo motor, a worm, a worm wheel, a worm and worm wheel transmission box, and a model transmission shaft , couplings and connecting rods; an X-axis slider is installed on the lower side of the first mounting plate, and an X-axis servo motor is fixed on the side; an X-axis slide rail and an X-axis push-pull nut are installed on the upper side of the second mounting plate; a Y-axis moving device is installed between the second mounting plate and the third mounting plate, a Y-axis servo motor is installed on the side of the second mounting plate, a Y-axis slider is installed on the lower side, and a Y-axis slide rail and a Y-axis push-pull nut are installed on the upper side of the third mounting plate; a Z-axis moving device is installed between the third mounting plate and the fourth mounting plate, a Z-axis servo motor and a vertical slide rail are installed on the lower side of the third mounting plate, and a vertical slide rail sleeve is installed on the upper side of the fourth mounting plate, The Z-direction servo motor drives the vertical movement between the third mounting plate and the fourth mounting plate, and a Z-direction push-pull nut is also installed in the middle of the fourth mounting plate; a rotating moving device is installed between the fourth mounting plate and the fifth mounting plate, and the upper side of the fifth mounting plate is connected to the fourth mounting plate through a support, and a worm and worm gear transmission box is installed on the upper side of the fifth mounting plate, and the worm and worm gear transmission box contains a meshing worm and worm wheel, and the worm is connected to the rotating servo motor through a coupling and a connecting rod, and the model transmission shaft of the worm wheel is connected to the single-point mooring buoy model through a flexible coupling, and a rotating servo motor is installed on the side of the fifth mounting plate.

2. The platform device for simulating the motion of a single-point mooring buoy according to claim 1, characterized in that: It also includes a rotating cylinder, which is installed on the hanging plate and the first mounting plate, and a gear is arranged on the top of the rotating cylinder.

3. The platform device for simulating the motion of a single-point mooring buoy according to claim 1, characterized in that: A pipe clamp is installed on the hanging plate.

4. The platform device for simulating the motion of a single-point mooring buoy according to claim 1, characterized in that: A limiting washer is arranged at the lower part of the vertical slide rail.

5. The platform device for simulating the motion of a single-point mooring buoy according to claim 1, characterized in that: The X-direction servo motor, the Y-direction servo motor, the Z-direction servo motor and the rotary servo motor are connected to the motion controller by cables, and the motion controller is controlled by the upper working condition machine to realize motion simulation with four degrees of freedom.

6. The platform device for simulating the motion of a single-point mooring buoy according to claim 1, characterized in that: The single-point mooring buoy model is connected with ropes for simulating pipelines on all sides, and a motion sensor is installed on the upper side of the single-point mooring buoy model to receive motion signals in real time.

7. The platform device for simulating the motion of a single-point mooring buoy according to any one of claims 1 to 6, characterized in that: The hanging plate and the mounting plate are both arranged horizontally, the hanging plate is triangular, and the mounting plate is rectangular.

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