A rope-traction wave compensation platform

Abstract

This invention discloses a rope-traction wave compensation platform, comprising a base, which is a laboratory ship motion simulation device. A motion control platform is rigidly connected to the base and moves synchronously with the base. The motion control platform includes a truss and a hexagonal plate. The truss is equipped with three sets of lever mechanisms, including a first hydraulic cylinder, a second hydraulic cylinder, a lever, a counterweight, and a hinge pin. Three sets of rope traction mechanisms are distributed on the hexagonal plate, including a pulley, a pulley bracket, and a steel wire rope. The compensation platform surrounds the center of the three sets of rope traction mechanisms and includes a support platform, a column, and a working platform. The compensation platform is suspended above the motion control platform by the steel wire ropes of the three sets of rope traction mechanisms. The compensation platform is equipped with a displacement sensor. This invention can achieve superimposed motion compensation in three directions: heave, roll, and pitch. It has a compact and reasonable structure, low cost, and is easy to implement.

Description

Technical Field

[0001] This invention relates to the field of wave compensation technology, and in particular to a rope-traction wave compensation platform. Background Technology

[0002] With the increasing exploration of the ocean, ships are operating more and more at sea. Ocean waves affect the motion of ships, causing them to move in six degrees of freedom: heave, roll, pitch, sway, yaw, and bow. Among these, heave, roll, and pitch are the most significant influences on maritime operations. The ship motion caused by waves increases the risks for maritime workers and affects the efficiency of maritime operations. Furthermore, the changes in acceleration caused by ship heave can make it difficult for engineering machinery to meet operational requirements in terms of driving force and structural strength. Therefore, certain technical means are needed to compensate for ship motion; these techniques are collectively known as wave compensation technology.

[0003] Existing wave compensation devices or platforms are mainly divided into two types. The first is passive wave compensation, and the second is active wave compensation. Active wave compensation mostly uses six servo electric cylinders for staggered control, while passive wave compensation uses devices such as vibrators. Since the effectiveness of passive wave compensation cannot exceed 80%, it is difficult to meet current needs. Therefore, most current wave compensation technologies are based on active wave compensation.

[0004] Patent CN108150782A discloses an active wave compensation platform that achieves six degrees of freedom compensation through a series and parallel connection of electric cylinders. Due to the platform's complex structure, it is large in size and weight, uses too many parts, and increases the difficulty of mechanical installation. Moreover, the superposition of control links can also affect the effectiveness of compensation. Patent CN109625177A discloses a three-degree-of-freedom wave compensation platform that achieves wave compensation in three directions through three sets of lifting mechanisms. In order to speed up the compensation response, this platform reduces the rigidity of the structure, which makes the platform's load-bearing capacity worse. In addition, the friction between the slider and the guide rail also reduces the energy transfer efficiency. The overall center of gravity of the platform is relatively high, which is not conducive to stability.

[0005] The marine environment in which ships operate is very complex, but the most important factors are the three directions of motion: heave, roll, and pitch. Therefore, the design of the compensation platform should prioritize compensating for these three degrees of freedom. At the same time, the platform design should be lightweight, the system should respond quickly, and the mechanical structure should be reasonable in order to ensure the stability of the equipment. Summary of the Invention

[0006] Purpose of the invention: The purpose of this invention is to overcome the shortcomings of the prior art and provide a rope-traction wave compensation platform.

[0007] Technical solution: The present invention provides a rope-traction wave compensation platform, including a base, which is installed on top of a laboratory ship motion simulation device or placed on a marine platform;

[0008] The motion control platform is rigidly connected to the base and moves synchronously with the base, and includes a truss and a hexagonal plate.

[0009] The truss is equipped with a lever mechanism, which consists of three sets and includes a first hydraulic cylinder, a second hydraulic cylinder, a lever, a counterweight, and a hinge pin. The cylinder of the first hydraulic cylinder is hinged to the truss via hinge pin one, the piston rod of the first hydraulic cylinder is hinged to the lever via hinge pin two, the second hydraulic cylinder is hinged to the truss via hinge pin three, the counterweight is hinged to the center of the lever via pin four, and the fixed end of the lever is hinged to the rope traction mechanism via hinge pin five.

[0010] The hexagonal plate is equipped with three rope traction mechanisms, including pulley one, pulley two, pulley bracket, and wire rope. Pulley one is installed at the left end of the pulley bracket, and pulley two is installed at the right end of the pulley bracket. The centers of pulley one and pulley two are kept horizontal. The pulley bracket is fixed to the hexagonal plate by welding. The pulley bracket and the surface of the hexagonal plate are fixed perpendicularly. The end of the wire rope is bolted to the middle position of the lever through a hinge bolt one. Then, at the equilibrium position of the mechanism, it winds around pulley one, changes direction, winds around pulley two, and finally is bolted to the compensation platform through hinge bolt two.

[0011] The compensation platform surrounds the center of the three sets of rope traction mechanisms and includes a support platform, a column, and a working platform. The compensation platform is suspended above the motion control platform by the steel wire ropes of the three sets of rope traction mechanisms. The support platform is fixed to the end of the steel wire rope by evenly distributed hinge bolts.

[0012] The compensation platform is equipped with three sets of displacement sensors to detect the acceleration values ​​at the two joint bolts and calculate the displacement values. The hydraulic change is then input into the hydraulic control system. The hydraulic control system calculates the amount of displacement compensation required for the three steel wire ropes based on the obtained displacement change, and then controls the movement of the three hydraulic cylinders.

[0013] A further improvement of the present invention is that the main body of the motion control platform is composed of a hexagonal plate, and a truss is welded to every other edge of the hexagonal plate. The plane of the truss is lower than that of the hexagonal plate. There are three trusses, and their center lines are 120° apart. The truss support is reinforced and connected by stiffeners on both sides.

[0014] A further improvement of the present invention is that the lever mechanism adopts levers, which allows the wire rope to adapt to changes in different application scenarios. Adding a counterweight in the middle of the lever can better offset the self-weight of the compensation platform, so that the driving force of the hydraulic cylinder can be transmitted more effectively. The three sets of lever mechanisms are 120° apart from each other.

[0015] A further improvement of the present invention is that, when the primary requirement is to meet the maximum power of the actuator, a first hydraulic cylinder can be used, with the lever power arm being longer than the resistance arm, to save effort.

[0016] A further improvement of the present invention is that, when the primary requirement is to meet the compensation range, a second hydraulic cylinder can be used, with the resistance arm of the lever being longer than the power arm, in order to save distance.

[0017] A further improvement of the present invention is that the angles between each pair of the three sets of rope traction mechanisms are 120°.

[0018] A further improvement of the present invention is that the column is installed on the support platform by welding.

[0019] A further improvement of the present invention is that the working platform is installed on six sets of columns by welding.

[0020] A further improvement of the present invention is that the number of trusses is three sets and they are set to be identical in pairs; the first hydraulic cylinder and the second hydraulic cylinder and their hydraulic control system are set to be identical in pairs; the three sets of lever mechanisms are set to be identical in pairs; and the three sets of rope traction mechanisms are set to be identical in pairs.

[0021] Compared with the prior art, the rope-traction wave compensation platform provided by the present invention achieves at least the following beneficial effects:

[0022] 1. This invention can compensate for superimposed motions in the heave, roll, and pitch directions, while eliminating the sway, pitch, and yaw directions, which have minimal impact on the effect, thus improving the accuracy of the compensation effect;

[0023] 2. Steel wire ropes replace traditional rigid support rods, and motion control of the compensation platform is achieved by winding and unwinding the steel wire ropes. Since the length of the steel wire ropes is generally unlimited, the overall mechanism has a large working space; the steel wire ropes themselves also have excellent flexibility, and the tension of the ropes themselves can also play a certain compensating role in the movement of the ship during winding and unwinding.

[0024] 3. The structure of the three-group parallel rope traction mechanism is simpler, easier to modify and adjust, and results in a smaller overall platform inertia and better dynamic characteristics;

[0025] 4. Levers are used to adapt the wire rope to different application scenarios. When the primary requirement is to meet the maximum power of the actuator, the first hydraulic cylinder can be used, with the lever's power arm being longer than the resistance arm, thus saving effort. When the primary requirement is to meet the compensation range, the second hydraulic cylinder can be used, with the lever's resistance arm being longer than the power arm, thus saving distance. Adding a counterweight in the middle of the lever better offsets the weight of the compensation platform, allowing the driving force of the hydraulic cylinder to be transmitted more effectively.

[0026] 5. Placing the hydraulic cylinder on the truss of the motion control platform greatly lowers the center of gravity of the overall platform and improves stability;

[0027] 6. The overall platform mechanism does not involve complex geometric structures or use complex parts, thus requiring lower precision in the control system and parts machining, resulting in lower costs and easier implementation.

[0028] Of course, any product implementing this invention does not necessarily need to achieve all of the technical effects described above at the same time. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0030] Figure 1 This is a three-dimensional structural diagram of a rope-traction wave compensation platform according to the present invention.

[0031] Figure 2 This is a front view of the present invention;

[0032] Figure 3 This is a schematic diagram of the hydraulic control system of the present invention.

[0033] The components are as follows: 1-base; 2-motion control platform; 3-compensation platform; 4-lever mechanism; 5-rope traction mechanism; 6-sensor control system; 201-truss; 202-hexagonal plate; 301-support platform; 302-column; 303-working platform; 401-first hydraulic cylinder barrel; 402-first hydraulic cylinder piston rod; 403-second hydraulic cylinder; 404-lever; 405-counterweight; 406-hinge pin one; 407-hinge pin two; 408-hinge pin three; 409-pin four; 410-hinge pin five; 501-pulley one; 502-pulley two; 503-pulley bracket; 504-wire rope; 505-swivel bolt one; 506-swivel bolt two; 601-displacement sensor; 602-hydraulic control system. Implementation

[0034] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0035] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0036] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0037] See the attached instruction manual. Figure 1-3 A rope-traction wave compensation platform includes a base 1, a motion control platform 2, a compensation platform 3, three sets of lever mechanisms 4, three sets of rope traction mechanisms 5, and three sets of sensor control systems 6.

[0038] The base 1 is installed on top of the laboratory ship motion simulation device and serves as the base for mounting the rope-traction wave compensation platform on the ship platform or other offshore operation platform. The motion control platform 2 is welded together from three trusses 201 and hexagonal plates 202. The motion control platform 2 is mounted on the base 1. The trusses 201 are used to install three sets of lever mechanisms 4, and the hexagonal plates 202 are used to support and fix three sets of rope traction mechanisms 5. The three sets of lever mechanisms 4 and the three sets of rope traction mechanisms 5 are each at a 120° angle to each other. The compensation platform 3 is surrounded by the three sets of rope traction mechanisms 5 at the center.

[0039] Each lever mechanism 4 includes: a first hydraulic cylinder barrel 401, a first hydraulic cylinder piston rod 402, a second hydraulic cylinder 403, a lever 404, and a counterweight 405. The first hydraulic cylinder barrel 401 is hinged to the truss 201 of the motion control platform via a hinge pin 406. The first hydraulic cylinder piston rod 402 is hinged to the lever 404 via a hinge pin 407. The hinge position is at the front 1 / 4 of the lever 404. At this time, the power arm is greater than the resistance arm, which can save the instantaneous power when the hydraulic system is started. The first hydraulic cylinder barrel 401 has only a single degree of freedom of rotation and a limited rotation range. The first hydraulic cylinder piston rod 402 extends and retracts relative to the first hydraulic cylinder barrel 401. The second hydraulic cylinder 403 is hinged to the truss 201 of the motion control platform via hinge pin three 408. The second hydraulic cylinder 403 can be hinged at 3 / 4 of the lever 404. At this time, the resistance arm is greater than the power arm, which can increase the compensation range of the compensation platform 3. The counterweight 405 is hinged to the center of the lever 404 via pin four 409. The counterweight 405 can effectively offset the self-weight of the compensation platform 3, and can also reduce the instantaneous power when the hydraulic control system 602 is started. The fixed end of the lever 404 is hinged to the rope traction mechanism 5 via hinge pin five 410.

[0040] Each rope traction mechanism 5 includes: pulley one 501, pulley two 502, pulley bracket 503, and wire rope 504. Pulley one 501 is installed at the left end of pulley bracket 503, and the vertical tangent of pulley one 501 intersects the center of lever 404, ensuring that when lever mechanism 4 is in a balanced state, wire rope 504 can be vertically upward wound towards pulley one 501. Pulley two 502 is installed at the right end of pulley bracket 503, and the center lines of pulley two 502 and pulley one 501 are kept horizontal, ensuring that wire rope 504 remains horizontal when wound towards pulley two 502 after changing direction through pulley one 501. Pulley bracket 503 consists of... Two T-shaped plates are welded to the hexagonal plate 202 of the motion control platform, and are fixed perpendicularly to the surface of the hexagonal plate 202. The end of the wire rope 504 is bolted to the middle position of the lever 404 by a hinge bolt 505. The bolting point can be fixed by various methods such as a knot. Then, at the balance position of the lever mechanism 4, the wire rope 504 is wound around the pulley 501. At this time, the wire rope 504 remains vertical. After changing direction, it is wound around the pulley 502. At this time, the wire rope 504 remains horizontal. After changing direction, it is wound around the hinge bolt 506. At this time, the wire rope 504 remains vertical. Finally, it is bolted to the compensation platform 3 by the hinge bolt 506.

[0041] The compensation platform 3 includes: a support platform 301, columns 302, and a working platform 303; the compensation platform is suspended above the hexagonal plate 202 of the motion control platform by steel wire ropes 504 of three sets of rope traction mechanisms 5; the support platform 301 is connected and fixed to the tail end of the steel wire ropes 504 by three evenly distributed hinge bolts 506; the columns 302 are installed on the support platform 301 by welding; the working platform 303 is installed on the six sets of columns 302 by welding.

[0042] The three-group sensing and control system 6 includes: a displacement sensor 601 and a hydraulic control system 602.

[0043] Three sets of displacement sensors 601 are installed on the working platform 303 of the compensation platform 3 to detect the acceleration value at the hinge bolt 506 and calculate the displacement value, and then input the hydraulic change into the hydraulic control system 602. The hydraulic control system 602 calculates the displacement that the three wire ropes 504 need to compensate based on the obtained displacement change, and then controls the three first hydraulic cylinders to compensate for the superimposed motion of the working platform 303 in the three directions of heave, roll and pitch.

[0044] The hydraulic control system 602 controls the extension and retraction of the piston rod 402 of the first hydraulic cylinder. When the base 1 moves in three directions—heave, roll, and pitch—under the action of waves, the motion is transmitted to the working platform 303 through the lever mechanism 4 and the rope traction mechanism 5. The displacement sensor 601 detects the displacement of the end of the wire rope 504, and the displacement corresponds to the change in the wire rope 504. The rotation angle of the lever 404 is calculated by the control system algorithm, and the extension and retraction of the piston rod 402 of the first hydraulic cylinder is obtained by the rotation angle, which controls the hydraulic pump to supply oil. The piston rods 402 of the three first hydraulic cylinders drive the three levers 404 to rotate, causing the position of the wire rope to change, thereby keeping the compensation platform 3 absolutely horizontal and realizing the superimposed motion in the three directions of heave, roll, and pitch.

[0045] When the base moves in three directions—heave, roll, and pitch—under the action of waves, the hydraulic control system controls the extension and retraction of the hydraulic cylinder piston rods. This movement is transmitted to the working platform through the lever mechanism and the rope traction mechanism. The displacement sensor detects the displacement of the wire rope's tail end, and the displacement corresponds to the change in the wire rope's position. The control system algorithm calculates the rotation angle of the levers, and the extension and retraction of the first hydraulic cylinder piston rod is determined from the rotation angle, controlling the hydraulic pump to supply oil. The three hydraulic cylinder piston rods drive the three levers to rotate, causing the position of the wire rope to change, thus keeping the compensation platform absolutely horizontal, thereby achieving superimposed movements in the three directions of heave, roll, and pitch.

[0046] In summary, this invention can compensate for superimposed motions in the three directions of heave, roll, and pitch. The compensation mode can be switched in real time using levers according to different application scenarios. The rope-traction wave compensation platform proposed in this invention has a compact structure, reasonable design, low requirements for the control system and parts machining accuracy, low cost, and is easy to implement.

[0047] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A rope-traction wave compensation platform, characterized in that, Includes a base, which is mounted on top of the laboratory ship motion simulation device or placed on a marine platform; The motion control platform is rigidly connected to the base and moves synchronously with the base, and includes a truss and a hexagonal plate; The truss is equipped with a lever mechanism, which consists of three sets and includes a first hydraulic cylinder, a second hydraulic cylinder, a lever, a counterweight, and a hinge pin. The cylinder of the first hydraulic cylinder is hinged to the truss via hinge pin one, the piston rod of the first hydraulic cylinder is hinged to the lever via hinge pin two, the second hydraulic cylinder is hinged to the truss via hinge pin three, the counterweight is hinged to the center of the lever via pin four, and the fixed end of the lever is hinged to the rope traction mechanism via hinge pin five. The hexagonal plate is equipped with three rope traction mechanisms, each consisting of a pulley, a pulley, a pulley bracket, and a wire rope. The pulley is installed at the left end of the pulley bracket, and the pulley is installed at the right end of the pulley bracket. The centers of the pulleys are kept horizontal. The pulley bracket is fixed to the hexagonal plate by welding, and the pulley bracket is perpendicular to the surface of the hexagonal plate. The end of the wire rope is bolted to the middle of the lever by a hinge bolt, and then winds around the pulley at the equilibrium position of the mechanism, changes direction, winds around the pulley, and finally is bolted to the compensation platform by the hinge bolt. The compensation platform surrounds the center of the three sets of rope traction mechanisms and includes a support platform, a column and a working platform. The compensation platform is suspended above the motion control platform by the wire ropes of the three sets of rope traction mechanisms. The support platform is fixed to the end of the wire rope by evenly distributed hinge bolts. The compensation platform is equipped with three sets of displacement sensors to detect the acceleration values ​​at the two joint bolts and calculate the displacement values. The hydraulic change is then input into the hydraulic control system. The hydraulic control system calculates the displacement that the three wire ropes need to compensate based on the obtained displacement change, and then controls the movement of the three hydraulic cylinders.

2. The rope-traction wave compensation platform according to claim 1, characterized in that, The main body of the motion control platform is composed of hexagonal plates. A truss is welded to every other edge of the hexagonal plate. The plane of the truss is lower than that of the hexagonal plate. There are three trusses, and their center lines are at 120° to each other. The trusses are supported by reinforcing ribs on both sides.

3. The rope-traction wave compensation platform according to claim 1, characterized in that, The lever mechanism uses levers to allow the wire rope to adapt to changes in different application scenarios. Adding a counterweight in the middle of the lever can better offset the self-weight of the compensation platform, so that the driving force of the hydraulic cylinder can be transmitted more effectively. The three sets of lever mechanisms are at 120° to each other.

4. The rope-traction wave compensation platform according to claim 3, characterized in that, When the primary requirement is to meet the maximum power of the actuator, the first hydraulic cylinder is used, with the lever power arm longer than the resistance arm, to save effort.

5. A rope-traction wave compensation platform according to claim 3, characterized in that, When the primary requirement is to meet the compensation range, a second hydraulic cylinder is used, with the resistance arm of the lever longer than the power arm, to save distance.

6. The rope-traction wave compensation platform according to claim 1, characterized in that, The three sets of rope traction mechanisms are set at 120° angles to each other.

7. A rope-traction wave compensation platform according to claim 1, characterized in that, The column is installed on the support platform by welding.

8. A rope-traction wave compensation platform according to claim 1, characterized in that, The work platform is installed on six sets of columns by welding.

9. A rope-traction wave compensation platform according to any one of claims 1-8, characterized in that, The truss consists of three sets, each set being identical in pairs. The first hydraulic cylinder and the second hydraulic cylinder and their hydraulic control systems are also identical in pairs. The three sets of lever mechanisms are also identical in pairs, and the three sets of rope traction mechanisms are also identical in pairs.

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