Three-Degree-of-Freedom Wave Compensation Platform

Abstract

The present invention discloses a three-degree-of-freedom wave compensation platform, which relates to the technical field of ocean engineering equipment. It solves the problems that the existing solutions require quite high-precision control of four sets of telescopic oil cylinders, and cause warping of the working plane where the operation platform is located and abnormal stress states of each set of telescopic oil cylinders. The key points of its technical solution are as follows: including an operation platform; a first two-degree-of-freedom rotation mechanism, which has degrees of freedom in two rotation directions; a first lifting mechanism; a second two-degree-of-freedom rotation mechanism, which has degrees of freedom in two rotation directions; a second lifting mechanism; a third two-degree-of-freedom rotation mechanism; a third lifting mechanism. The present invention can prevent the operation platform from warping and abnormal stress of each lifting mechanism, and can minimize the damage to the operation platform and the lifting mechanism when one of the lifting mechanisms fails, ensuring that the operation platform is always in a relatively horizontal and stable state in harsh sea conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean engineering equipment, and particularly relates to a three-degree-of-freedom wave compensation platform. Background Art

[0002] The research and development in the field of wave compensation in China started relatively late. Currently, there are few developed wave compensation devices, and most of them are in the simulation test stage. The wave compensation devices are basically monopolized by several imported brand products. In recent years, the demands for offshore wind power installation and maintenance, deep-sea aquaculture, and marine scientific research activities in the South China Sea region have increased. Due to the frequent occurrence of bad weather conditions in the sea areas of the southern region, and the weak wave resistance ability of the operating platform, the operating platform at sea needs to be equipped with a wave compensation function. The existing wave compensation devices generally need to form a quadrilateral operating platform through four groups of telescopic oil cylinders.

[0003] However, when adopting this layout scheme, it is necessary to control the four groups of telescopic oil cylinders with quite high precision. However, there may also be a situation where the telescopic amounts of the four groups of telescopic oil cylinders do not cooperate well, resulting in the four groups of connecting parts above the telescopic oil cylinders being unable to accurately maintain in the same plane, thus causing the warping of the working plane where the operating platform is located and the problem that each group of telescopic oil cylinders is in an abnormal stress state. Seriously, it may even directly lead to the overall failure of the wave compensation device. Therefore, this kind of wave compensation device poses a potential threat to the lives of the personnel on the operating platform and the equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a three-degree-of-freedom wave compensation platform. The present invention can prevent the operating platform from warping and the abnormal stress of each lifting mechanism, and can minimize the damage to the operating platform and the lifting mechanism when one of the lifting mechanisms fails, ensuring that the operating platform is always in a relatively horizontal stable state in harsh sea conditions.

[0005] The above technical objective of the present invention is achieved through the following technical solutions: A three-degree-of-freedom wave compensation platform, comprising:

[0006] An operating platform;

[0007] A first double-degree-of-freedom rotating mechanism, which has two degrees of freedom of rotation directions;

[0008] A first lifting mechanism, which is connected to the operating platform through the first double-degree-of-freedom rotating mechanism;

[0009] A second double-degree-of-freedom rotating mechanism, which has two degrees of freedom of rotation directions;

[0010] A second lifting mechanism, which is connected to the operating platform through the second double-degree-of-freedom rotating mechanism;

[0011] The third rotational mechanism with two degrees of freedom has freedoms in two rotational directions;

[0012] The third lifting mechanism is connected to the working platform through the third rotational mechanism with two degrees of freedom;

[0013] The first rotational mechanism with two degrees of freedom, the second rotational mechanism with two degrees of freedom, and the third rotational mechanism with two degrees of freedom are distributed in a triangle on the working platform.

[0014] Thus, the first lifting mechanism, the second lifting mechanism, and the third lifting mechanism can form a stable force structure in a triangle for the working platform. According to the principle that three non - collinear points in space can determine any plane, even if one of the lifting mechanisms fails, the first rotational mechanism with two degrees of freedom, the second rotational mechanism with two degrees of freedom, and the third rotational mechanism with two degrees of freedom can still remain in the same plane, so that the working platform will not warp and the forces on each lifting mechanism will not be abnormal, minimizing the damage to the working platform and the lifting mechanisms when one of the lifting mechanisms fails. Moreover, each of the first lifting mechanism, the second lifting mechanism, and the third lifting mechanism in this solution has freedoms in two rotational directions at the connection with the working platform. Therefore, when the marine equipment (such as ships, offshore platforms) undergoes rolling, pitching, and heaving motions due to severe sea conditions, it can perform motion compensation for the working platform in three degrees of freedom and limit the displacement or rotation of the working platform in three degrees of freedom: horizontal transverse (such as the ship width direction, that is, the extension direction of the connection line between the second lifting mechanism and the third lifting mechanism), horizontal longitudinal (such as the ship length direction, that is, relative to the working platform, the first lifting mechanism is perpendicular to the extension direction of the connection line between the second lifting mechanism and the third lifting mechanism), and the rotational direction in the horizontal plane (such as the horizontal plane parallel to the ship's deck, that is, the rotational direction of the working platform with the axial direction of the first lifting mechanism as the rotational axis), ensuring that the working platform is always in a relatively horizontal stable state in severe sea conditions.

[0015] The working platform of this solution only needs to be connected to the ship with the help of three lifting mechanisms, which provides a larger operating space for the personnel, facilities, and equipment near the platform, has low requirements for the structural transformation and space clearance of the original marine equipment (such as ships, offshore equipment, etc.), and is convenient for modular installation and transportation, so as to reduce the production manufacturing and transportation costs.

[0016] In some specific embodiments, it further includes:

[0017] The fourth lifting mechanism, whose fixed end is rotationally connected to the fixed end of the first lifting mechanism,

[0018] The connecting rod, whose fixed end is rotationally connected to the movable end of the fourth lifting mechanism, and whose movable end is rotationally connected to the middle of the working platform.

[0019] Thus, the combination of the fourth lifting mechanism and the connecting rod can provide force support for the working platform. Moreover, since the connecting rod acts on the middle part of the working platform, the stability of the working platform during movement and force application can be improved. Secondly, the combination of the fourth lifting mechanism and the connecting rod can further limit the position offset of the working platform in the horizontal direction (specifically, the direction of the connection line between the second lifting mechanism and the third lifting mechanism) and the rotational direction (specifically, the rotational direction of the working platform with the axial direction of the first lifting mechanism as the rotation axis).

[0020] In some specific embodiments, it includes a first connecting seat. The fixed end of the first lifting mechanism is arranged on the first connecting seat. The fixed end of the fourth lifting mechanism is rotatably connected to the first connecting seat. An enhanced sleeve is sleeved outside the fixed end of the first lifting mechanism, and the enhanced sleeve is fixed to the first connecting seat.

[0021] Thus, the enhanced sleeve can limit the position offset of the first lifting mechanism in the horizontal direction and the rotational direction. The first connecting seat can be used for connecting the fixed end of the fourth lifting mechanism, and the first connecting seat can also be used to increase the contact area with the hull.

[0022] In some specific embodiments, it further includes:

[0023] A sixth upper rotating device;

[0024] A sixth lower rotating device, which is connected to the connecting rod and whose rotation direction is perpendicular to the rotation direction of the sixth upper rotating device;

[0025] One end of the sixth upper rotating device is connected to the working platform, and the other end of the sixth upper rotating device is connected to the sixth lower rotating device.

[0026] Thus, two degrees of freedom can be formed between the working platform and the connecting rod by the sixth upper rotating device and the sixth lower rotating device, which is convenient for the adjustment of the working platform.

[0027] In some specific embodiments, it further includes a connecting plate. The number of the connecting rods is at least two and they are connected side by side to the sixth lower rotating device. The sixth lower rotating device is rotatably connected to one side of the connecting plate, and the sixth upper rotating device is connected to the other side of the connecting plate.

[0028] Thus, the connecting plate can enable several connecting rods to act on the working platform simultaneously.

[0029] In some specific embodiments, it includes:

[0030] The first connecting member, the number of the fourth lifting mechanisms is at least two, and the fixed ends of two adjacent fourth lifting mechanisms are sleeved with the first connecting member;

[0031] The second connecting member, the number of the connecting rods is at least two, and the fixed ends of two adjacent connecting rods are sleeved with the second connecting member.

[0032] Thus, the first connecting member can fix the fixed ends of the fourth lifting mechanisms into one body, and the second connecting member can fix the fixed ends of the connecting rods into one body, thereby facilitating the improvement of the integrity when multiple fourth lifting mechanisms and connecting rods are arranged simultaneously.

[0033] In some specific embodiments, the first connecting member includes:

[0034] The first connecting portions, which are sleeved on the fixed ends of the fourth lifting mechanisms, and the number of the first connecting portions is several and they are arranged along the axial direction of the fourth lifting mechanisms;

[0035] The first reinforcing ribs, and two adjacent first connecting portions are connected by the first reinforcing ribs.

[0036] Thus, this solution provides a specific structural configuration of the first connecting member. The first reinforcing ribs can not only be used as a reinforcing structure for connecting two adjacent first connecting portions, but also enable multiple first connecting portions to form a whole.

[0037] In some specific embodiments, the second connecting member includes:

[0038] The second connecting portions, which are sleeved on the fixed ends of the fourth lifting mechanisms, and the number of the second connecting portions is several and they are arranged along the axial direction of the fourth lifting mechanisms;

[0039] The second reinforcing ribs, and two adjacent connecting portions are connected by the second reinforcing ribs.

[0040] Thus, this solution provides a specific structural configuration of the second connecting member. The second reinforcing ribs can not only be used as a reinforcing structure for connecting two adjacent second connecting portions, but also enable multiple second connecting portions to form a whole.

[0041] In some specific embodiments, it further includes:

[0042] The second connecting seat, which is used for installation on the ship;

[0043] The fourth two-degree-of-freedom rotating mechanism, which has freedoms in two rotating directions, one end of which is connected to the fixed end of the second lifting mechanism, and the other end of which is connected to the second connecting seat.

[0044] Thus, the fourth two-degree-of-freedom rotating mechanism can enable the connection between the fixed end of the second lifting mechanism and the ship to have two degrees of freedom, thereby further improving the adjustability of the working platform by increasing the degrees of freedom of the second lifting mechanism.

[0045] In some specific embodiments, it further includes:

[0046] A third connecting seat, which is used to be installed on the ship;

[0047] A fifth two-degree-of-freedom rotating mechanism, which has two degrees of freedom in two rotation directions, one end of which is connected to the fixed end of the third lifting mechanism, and the other end of which is connected to the third connecting seat.

[0048] Thus, the fifth two-degree-of-freedom rotating mechanism can enable the connection between the fixed end of the third lifting mechanism and the ship to have two degrees of freedom, thereby further improving the adjustability of the working platform by increasing the degrees of freedom of the third lifting mechanism.

[0049] In summary, the present invention can prevent the working platform from warping and abnormal stress on each lifting mechanism, and can minimize the damage to the working platform and the lifting mechanism when one of the lifting mechanisms fails, ensuring that the working platform is always in a relatively horizontal and stable state in severe sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a schematic structural diagram of this embodiment;

[0051] Figure 2 is a schematic structural diagram of another perspective of this embodiment;

[0052] Figure 3 is Figure 2 an enlarged view of part A in

[0053] Figure 4 is Figure 2 an enlarged view of part B in

[0054] Figure 5 is Figure 2 an enlarged view of part C in

[0055] Figure 6 is Figure 2 an enlarged view of part D in

[0056] Figure 7 is Figure 2 an enlarged view of part E in

[0057] Figure 8 is Figure 2 an enlarged view of part F in

[0058] Figure 9 isFigure 2 Enlarged view at position G in the figure.

[0059] Reference numerals: 1, first lifting mechanism; 10, first connecting seat; 11, first two-degree-of-freedom rotating mechanism; 11a, first upper rotating device; 11b, first lower rotating device; 12, reinforcing sleeve; 2, second lifting mechanism; 20, second connecting seat; 21, second two-degree-of-freedom rotating mechanism; 21a, second upper rotating device; 21b, second lower rotating device; 22, fourth two-degree-of-freedom rotating mechanism; 22a, fourth upper rotating device; 22b, fourth lower rotating device; 3, third lifting mechanism; 30, third connecting seat; 31, third two-degree-of-freedom rotating mechanism; 31a, third upper rotating device; 31b, third lower rotating device; 32, fifth two-degree-of-freedom rotating mechanism; 32a, fifth upper rotating device; 32b, fifth lower rotating device; 4, fourth lifting mechanism; 5, connecting rod; 50, connecting plate; 51, sixth two-degree-of-freedom rotating mechanism; 51a, sixth upper rotating device; 51b, sixth lower rotating device; 6, working platform; 71, first connecting member; 71a, first connecting portion; 71b, first reinforcing rib; 72, second connecting member; 72a, second connecting portion; 72b, second reinforcing rib. Detailed implementation manners

[0060] The present invention will be further described in detail below with reference to the accompanying drawings.

[0061] Embodiment

[0062] A three-degree-of-freedom wave compensation platform, as Figures 1 to 9 shown, includes: a working platform 6, a first two-degree-of-freedom rotating mechanism 11, a first lifting mechanism 1, a second two-degree-of-freedom rotating mechanism 21, a second lifting mechanism 2, a third two-degree-of-freedom rotating mechanism 31, a third lifting mechanism 3, a fourth lifting mechanism 4, and a connecting rod 5, specifically as follows:

[0063] The working platform 6 has a triangular cross-section, specifically an isosceles triangle.

[0064] The first two-degree-of-freedom rotating mechanism 11 has two degrees of freedom of rotation directions; specifically, the first two-degree-of-freedom rotating mechanism 11 includes a mutually connected first upper rotating device 11a and a first lower rotating device 11b;

[0065] As Figure 3As shown, the first lifting mechanism 1 is connected to the working platform 6 through the first two-degree-of-freedom rotation mechanism 11. The first upper rotation device 11a is connected to the bottom wall of the working platform 6 to form the first degree of freedom of the first two-degree-of-freedom rotation mechanism 11. The first lower rotation device 11b is connected to the movable end of the first lifting mechanism 1 to form the second degree of freedom of the first two-degree-of-freedom rotation mechanism 11. The rotation directions of the first upper rotation device 11a and the first lower rotation device 11b are perpendicular to each other to form two degrees of freedom.

[0066] As Figure 6 shown, the second two-degree-of-freedom rotation mechanism 21 has two degrees of freedom of rotation directions. Specifically, the second two-degree-of-freedom rotation mechanism 21 includes a second upper rotation device 21a and a second lower rotation device 21b that are connected to each other. The second lifting mechanism 2 is connected to the working platform 6 through the second two-degree-of-freedom rotation mechanism 21.

[0067] Specifically, one end of the second upper rotation device 21a is connected to the working platform 6, the other end of the second upper rotation device 21a is connected to the second lower rotation device 21b, the second lower rotation device 21b is connected to the movable end of the second lifting mechanism 2, and the rotation directions of the second upper rotation device 21a and the second lower rotation device 21b are perpendicular to each other to form two degrees of freedom.

[0068] The third two-degree-of-freedom rotation mechanism 31 has two degrees of freedom of rotation directions. Specifically, the third two-degree-of-freedom rotation mechanism 31 includes a third upper rotation device 31a and a third lower rotation device 31b that are connected to each other.

[0069] As Figure 8 shown, the third lifting mechanism 3 is connected to the working platform 6 through the third two-degree-of-freedom rotation mechanism 31. Specifically, the end of the third upper rotation device 31a away from the third lower rotation device 31b is connected to the working platform 6, the end of the third lower rotation device 31b away from the third upper rotation device 31a is connected to the third lifting mechanism 3, and the rotation directions of the third upper rotation device 31a and the third lower rotation device 31b are perpendicular to each other to form two degrees of freedom.

[0070] In this embodiment, the rotation directions of the first upper rotation device 11a, the second upper rotation device 21a, and the third upper rotation device 31a are parallel to each other.

[0071] In this embodiment, the first two-degree-of-freedom rotation mechanism 11, the second two-degree-of-freedom rotation mechanism 21, and the third two-degree-of-freedom rotation mechanism 31 are distributed in a triangular shape on the working platform 6.

[0072] The operation platform 6 of this solution only needs to be connected to the ship with the help of three lifting mechanisms. It provides a larger operating space for the personnel, facilities and equipment near the platform, has low requirements for the structural transformation and space clearance of the original marine equipment (such as ships, offshore equipment, etc.), and is convenient for modular installation and transportation, so as to reduce the production manufacturing and transportation costs.

[0073] The fourth lifting mechanism 4, whose fixed end is rotatably connected to the fixed end of the first lifting mechanism 1;

[0074] The connecting rod 5, whose fixed end is rotatably connected to the movable end of the fourth lifting mechanism 4, and whose movable end is rotatably connected to the middle part of the operation platform 6.

[0075] Thus, through the combination of the fourth lifting mechanism 4 and the connecting rod 5, force support can be provided for the operation platform 6. Moreover, since the connecting rod 5 acts on the middle part of the operation platform 6, the stability of the operation platform 6 during movement and force application can be improved. Secondly, the combination of the fourth lifting mechanism 4 and the connecting rod 5 can further limit the position deviation of the operation platform 6 in the horizontal direction (specifically, the direction of the connecting line between the second lifting mechanism 2 and the third lifting mechanism 3) and the rotation direction (specifically, the rotation direction with the axis of the first lifting mechanism 1 as the rotation axis).

[0076] Preferably, this embodiment further includes a first connecting seat 10. The fixed end of the first lifting mechanism 1 is arranged on the first connecting seat 10. The fixed end of the fourth lifting mechanism 4 is rotatably connected to the first connecting seat 10. An enhanced sleeve 12 is sleeved outside the fixed end of the first lifting mechanism 1, and the enhanced sleeve 12 is fixed to the first connecting seat 10.

[0077] Thus, the enhanced sleeve 12 can limit the position deviation of the first lifting mechanism 1 in the horizontal direction and the rotation direction. The first connecting seat 10 can be used for the connection of the fixed end of the fourth lifting mechanism 4, and the first connecting seat 10 can also be used to increase the contact area with the hull. Preferably, a number of grooves are provided on the surface of the enhanced sleeve 12, which can reduce the self-weight of the enhanced sleeve 12.

[0078] Preferably, as Figure 5 shown, this embodiment further includes: a sixth two-degree-of-freedom rotating mechanism 51, which has two degrees of freedom of rotation direction. Specifically, the sixth two-degree-of-freedom rotating mechanism 51 includes a sixth upper rotating device 51a and a sixth lower rotating device 51b that are connected to each other. One end of the sixth upper rotating device 51a is connected to the operation platform 6, the other end of the sixth upper rotating device 51a is connected to the sixth lower rotating device 51b, and the sixth lower rotating device 51b is connected to the connecting rod 5. The rotation directions of the sixth upper rotating device 51a and the sixth lower rotating device 51b are perpendicular to each other to form two degrees of freedom.

[0079] Thus, between the sixth upper rotating device 51a and the sixth lower rotating device 51b, two degrees of freedom can be formed between the working platform 6 and the connecting rod 5, so as to facilitate the adjustment of the working platform 6.

[0080] Preferably, this embodiment further includes a connecting plate 50. In this embodiment, the number of connecting rods 5 is at least two and are connected side by side to the sixth lower rotating device 51b. The sixth lower rotating device 51b is rotatably connected to one side of the connecting plate 50, and the sixth upper rotating device 51a is connected to the other side of the connecting plate 50; specifically, the number of connecting rods 5 is two. Thus, the connecting plate 50 can enable several connecting rods 5 to act on the working platform 6 simultaneously.

[0081] Preferably, this embodiment includes: a first connecting member 71 and a second connecting member 72, specifically as follows:

[0082] In this embodiment, as Figure 4 shown, the number of the fourth lifting mechanisms 4 is at least two, and the fixed ends of adjacent two fourth lifting mechanisms 4 are sleeved with the first connecting member 71; but not limited to this, the number of the fourth lifting mechanisms 4 can also be one, and at this time, the outside of the fixed end of the fourth lifting mechanism 4 does not need to be sleeved with the first connecting member 71. Among them, as Figure 4 shown, the first connecting member 71 includes: a first connecting portion 71a and a first reinforcing rib 71b, specifically as follows:

[0083] The first connecting portion 71a is sleeved on the fixed end of the fourth lifting mechanism 4, and the number of the first connecting portions 71a is several and is arranged along the axial direction of the fourth lifting mechanism 4;

[0084] The first reinforcing rib 71b is connected between adjacent two first connecting portions 71a. In this embodiment, the number of the first connecting portions 71a is three, and the number of the first reinforcing ribs 71b is two.

[0085] Thus, this solution provides a specific structural configuration of the first connecting member 71. The first reinforcing rib 71b can not only be used as a reinforcing structure for connecting adjacent two first connecting portions 71a, but also enable a plurality of first connecting portions 71a to form a whole.

[0086] In this embodiment, the number of connecting rods 5 is at least two, and the fixed ends of adjacent two connecting rods 5 are sleeved with the second connecting member 72. But not limited to this, the number of connecting rods 5 can also be one, and at this time, the outside of the fixed end of the connecting rod 5 does not need to be sleeved with the second connecting member 72.

[0087] Thus, the first connecting member 71 can fix the fixed ends of the fourth lifting mechanisms 4 into one body, and the second connecting member 72 can fix the fixed ends of the connecting rods 5 into one body, thereby facilitating the improvement of the integrity when a plurality of fourth lifting mechanisms 4 and connecting rods 5 are arranged simultaneously.

[0088] The second connecting member 72 includes: a second connecting portion 72a and a second reinforcing rib 72b, specifically as follows:

[0089] The second connecting portion 72a is sleeved on the fixed end of the fourth lifting mechanism 4, and the number thereof is several and arranged along the axial direction of the fourth lifting mechanism 4;

[0090] The second reinforcing rib 72b connects adjacent two connecting portions.

[0091] Thus, this solution provides a specific structural configuration of the second connecting member 72. The second reinforcing rib 72b can not only be used as a reinforcing structure for connecting adjacent two second connecting portions 72a, but also enable a plurality of second connecting portions 72a to form a whole.

[0092] Preferably, as Figure 7 shown, this embodiment further includes: a second connecting seat 20 and a fourth two-degree-of-freedom rotating mechanism 22, specifically as follows:

[0093] The second connecting seat 20 is used for being installed on a ship;

[0094] The fourth two-degree-of-freedom rotating mechanism 22 has freedoms in two rotating directions, one end thereof is connected to the fixed end of the second lifting mechanism 2, and the other end thereof is connected to the second connecting seat 20.

[0095] Specifically, the fourth two-degree-of-freedom rotating mechanism 22 includes a fourth upper rotating device 22a and a fourth lower rotating device 22b which are connected to each other. The end of the fourth upper rotating device 22a far from the fourth lower rotating device 22b is connected to the fixed end of the second lifting mechanism 2, and the end of the fourth lower rotating device 22b far from the fourth upper rotating device 22a is connected to the second connecting seat 20. The rotating directions of the fourth upper rotating device 22a and the fourth lower rotating device 22b are perpendicular to each other to form two freedoms.

[0096] Thus, the fourth two-degree-of-freedom rotating mechanism 22 can enable the connection portion between the fixed end of the second lifting mechanism 2 and the ship to have two freedoms, and further improve the adjustability of the operation platform 6 by increasing the freedom of the second lifting mechanism 2.

[0097] Preferably, as Figure 9 shown, this embodiment further includes:

[0098] A third connecting seat 30 is used for being installed on a ship;

[0099] The fifth two-degree-of-freedom rotating mechanism 32, which has two degrees of freedom in two rotation directions, has one end connected to the fixed end of the third lifting mechanism 3 and the other end connected to the third connecting seat 30; specifically, the fifth two-degree-of-freedom rotating mechanism 32 includes a fifth upper rotating device 32a and a fifth lower rotating device 32b that are connected to each other. Among them, the end of the fifth upper rotating device 32a far from the fifth lower rotating device 32b is connected to the fixed end of the third lifting mechanism 3, and the end of the fifth lower rotating device 32b far from the fifth upper rotating device 32a is connected to the third connecting seat 30.

[0100] Thus, the fifth two-degree-of-freedom rotating mechanism 32 can enable the connection between the fixed end of the third lifting mechanism 3 and the ship to have two degrees of freedom, and further improve the adjustability of the operation platform 6 by increasing the degrees of freedom of the third lifting mechanism 3.

[0101] In this embodiment, the first lifting mechanism 1, the second lifting mechanism 2, the third lifting mechanism 3, and the fourth lifting mechanism 4 are all linear cylinders. Therefore, the fixed ends of the above-mentioned multiple lifting mechanisms are all the cylinders of the linear cylinders, and the movable ends of the above-mentioned multiple lifting mechanisms are all the piston rods of the linear cylinders.

[0102] The first upper rotating device 11a, the first lower rotating device 11b, the second upper rotating device 21a, the second lower rotating device 21b, the third upper rotating device 31a, the third lower rotating device 31b, the fourth upper rotating device 22a, the fourth lower rotating device 22b, the sixth upper rotating device 51a, and the sixth lower rotating device 51b are all common hinge structures in the art.

[0103] Beneficial effects

[0104] The first lifting mechanism 1, the second lifting mechanism 2, and the third lifting mechanism 3 can form a stable triangular force-bearing structure for the working platform 6. According to the principle that three non-collinear points in space can determine any plane, even if one of the lifting mechanisms fails, the first two-degree-of-freedom rotation mechanism 11, the second two-degree-of-freedom rotation mechanism 21, and the third two-degree-of-freedom rotation mechanism 31 can still remain in the same plane, so that the working platform 6 will not warp and the forces on each lifting mechanism will not be abnormal, minimizing the damage to the working platform 6 and the lifting mechanisms when one of the lifting mechanisms fails. Moreover, each of the first lifting mechanism 1, the second lifting mechanism 2, and the third lifting mechanism 3 in this solution has two degrees of freedom of rotation at the connection with the working platform 6. Therefore, when the marine equipment (such as ships and offshore platforms) undergoes rolling, pitching, and heaving motions due to severe sea conditions, it can perform three-degree-of-freedom motion compensation for the working platform 6 and limit the displacement or rotation of the working platform 6 in the horizontal transverse direction (such as the ship width direction, i.e., the extension direction of the connection line between the second lifting mechanism 2 and the third lifting mechanism 3), the horizontal longitudinal direction (such as the ship length direction, i.e., relative to the working platform 6, the direction perpendicular to the extension direction of the connection line between the second lifting mechanism 2 and the third lifting mechanism 3 of the first lifting mechanism 1), and the rotation direction in the horizontal plane (such as the horizontal plane parallel to the ship's deck, i.e., the rotation direction of the working platform 6 with the axial direction of the first lifting mechanism 1 as the rotation axis), ensuring that the working platform 6 remains in a relatively horizontal stable state under severe sea conditions.

[0105] Focusing on the engineering actual needs of the safe operation of offshore equipment under severe sea conditions, aiming at the current situation that wave compensation-related technologies and products are monopolized by foreign countries, wave compensation offshore equipment is expensive, and application and promotion are difficult, the invention develops a three-degree-of-freedom wave compensation device. The modular wave compensation device can be combined with conventional marine engineering equipment through a very small amount of adaptive adjustment to achieve the wave compensation function, greatly improving the operation ability under severe sea conditions, enhancing the equipment performance, and reducing the application cost.

[0106] The invention can achieve motion compensation for the rolling, pitching, and heaving of marine equipment (such as ships and offshore equipment), providing a safe and stable working environment for the personnel, facilities, and equipment on the working platform 6, and greatly improving the operation ability under severe sea conditions;

[0107] By setting the connecting rod 5 and cooperating with the reinforcing sleeve 12, the amplitude of the position offset of the working platform 6 in the horizontal direction (specifically, the direction of the connection line between the second lifting mechanism 2 and the third lifting mechanism 3) and the rotation direction (specifically, the rotation direction of the working platform 6 with the axial direction of the first lifting mechanism 1 as the rotation axis) can be limited, ensuring that the working platform 6 maintains a horizontal pose state under severe sea conditions and guaranteeing the overall structural strength and structural stability of this solution.

[0108] This specific embodiment is only an interpretation of the present invention and does not limit the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment that do not contribute creatively as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

Claims

1. Three-degree-of-freedom wave compensation platform, characterized by: include: A working platform, the cross section of which is triangular; A first dual-freedom rotation mechanism having two degrees of freedom in two rotation directions; a first lifting mechanism, one end of which is connected to the working platform via the first two-degree-of-freedom rotation mechanism, and the other end of which is fixed to the first connecting seat; a second dual-freedom rotation mechanism having two degrees of freedom in two rotation directions; a second lifting mechanism connected to the work platform via the second dual-freedom rotation mechanism; a third dual-freedom rotation mechanism having two degrees of freedom in two rotation directions; a third lifting mechanism connected to the working platform via the third two-degree-of-freedom rotation mechanism; The first two-degree-of-freedom rotation mechanism, the second two-degree-of-freedom rotation mechanism, and the third two-degree-of-freedom rotation mechanism are distributed in a triangle on the working platform; The system further includes a fourth lifting mechanism, one end of which is rotatably connected to the first connecting seat, and the other end of which is rotatably connected to the middle portion of the work platform via a connecting rod; The first lifting mechanism, the second lifting mechanism and the third lifting mechanism are vertically arranged at the corners of the working platform.

2. The three-degree-of-freedom heave compensation platform according to claim 1, characterized in that: The first lifting mechanism comprises a reinforcement sleeve sleeved on the outer side of the fixed end, and the reinforcement sleeve is fixed on the first connecting seat.

3. The three-degree-of-freedom heave compensation platform according to claim 1, characterized in that: Also includes: Sixth upper rotating device; a sixth lower rotating device connected to the connecting rod, wherein the rotation direction of the sixth lower rotating device is perpendicular to the rotation direction of the sixth upper rotating device; One end of the sixth upper rotating device is connected to the working platform, and the other end of the sixth upper rotating device is connected to the sixth lower rotating device.

4. The three-degree-of-freedom heave compensation platform according to claim 3, characterized in that: It also includes a connecting plate, the number of the connecting rods is at least two and they are connected to the sixth lower rotating device in parallel, the sixth lower rotating device is rotatably connected to one side of the connecting plate, and the sixth upper rotating device is connected to the other side of the connecting plate.

5. The three-degree-of-freedom heave compensation platform according to claim 1, characterized in that: include: a first connecting member, wherein the number of the fourth lifting mechanisms is at least two, and the fixed ends of two adjacent fourth lifting mechanisms are sleeved with the first connecting member; The second connecting piece is at least two connecting rods, and the fixed ends of two adjacent connecting rods are sleeved with the second connecting piece.

6. The three-degree-of-freedom heave compensation platform according to claim 5, characterized in that: The first connecting member includes: a first connecting portion, which is sleeved on the fixed end of the fourth lifting mechanism, and is provided in a plurality of pieces and arranged along the axial direction of the fourth lifting mechanism; A first reinforcing rib is used to connect two adjacent first connecting parts.

7. The three-degree-of-freedom heave compensation platform according to claim 5, characterized in that: The second connecting member includes: a second connecting portion, which is sleeved on the fixed end of the fourth lifting mechanism, and is provided in a plurality of pieces and arranged along the axial direction of the fourth lifting mechanism; Second reinforcing ribs, two adjacent second connecting parts are connected by the second reinforcing ribs.

8. The three-degree-of-freedom heave compensation platform according to claim 1, characterized in that: Also includes: a second connecting socket, which is used for installation on a ship; The fourth dual-freedom rotation mechanism has two degrees of freedom in two rotation directions, one end of which is connected to the fixed end of the second lifting mechanism, and the other end of which is connected to the second connecting seat.

9. The three-degree-of-freedom heave compensation platform according to claim 1, characterized in that: Also includes: a third connecting socket, which is used for installation on a ship; The fifth dual-freedom rotation mechanism has two degrees of freedom in two rotation directions, one end of which is connected to the fixed end of the third lifting mechanism, and the other end of which is connected to the third connecting seat.

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