A novel multi-degree-of-freedom motion compensation series-parallel hybrid offshore promenade bridge and a working method thereof

Abstract

The application provides a novel multi-degree-of-freedom motion compensation series-parallel hybrid offshore promenade bridge and a working method thereof, comprising a multi-degree-of-freedom compensation stable platform, a series motion compensation gangway and a terminal flexible connecting device. The multi-degree-of-freedom compensation stable platform is provided with a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary hybrid device. The three-degree-of-freedom parallel platform can compensate the roll, pitch and heave of a ship, and the novel three-degree-of-freedom reciprocating rotary hybrid device can compensate the sway, surge and yaw of the ship, thereby ensuring the stability of the gangway during landing. The series motion compensation gangway is composed of two telescopic bridge bodies and can passively compensate the sway and surge of the ship, thereby ensuring the personnel transfer function. The terminal flexible connecting device can buffer the terminal end of the gangway, thereby ensuring the stable landing. The application can effectively compensate the influence of wind, wave, swell and other loads on offshore operations, thereby improving the safety and working efficiency of offshore transfer operations.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and more particularly to a novel multi-degree-of-freedom motion-compensated series-parallel hybrid marine corridor bridge and its working method. Background Technology

[0002] With the gradual exploitation of land resources, a stalemate of resource depletion is slowly emerging. Furthermore, my country possesses vast territorial waters rich in energy and mineral resources, making the development of marine engineering equipment imperative. Among the various marine engineering equipment, offshore corridor bridges are primarily used for the movement of personnel, materials, and equipment between offshore platforms and ships, and between ships. The stabilizing platform, a key component of offshore corridor bridges, offers many advantages over tandem mechanisms, such as no cumulative error, high rigidity, high precision, and rapid response speed, attracting widespread attention in the industrial sector.

[0003] Currently, most of the stabilization bridges produced by major foreign manufacturers use a six-degree-of-freedom parallel platform to compensate for ship motion. Even on ships equipped with dynamic positioning systems, existing six-degree-of-freedom stabilization bridges still need to compensate for roll, pitch, and heave motions, resulting in high power consumption and high cost. Furthermore, due to the limited height of the stabilization platform, it cannot compensate for large heaves of the ship when waves are high and swells are large. In addition, this stabilization platform has six parallel drive chains with complex positional constraints between them. The stabilization control algorithm is complex, requires high precision, and is prone to mechanical damage when the algorithm fails.

[0004] Therefore, it is necessary to propose a new type of multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge. Summary of the Invention

[0005] To address the aforementioned technical issues, a novel multi-degree-of-freedom motion-compensated series-parallel hybrid offshore corridor bridge and its working method are provided. This method effectively compensates for the impact of loads such as wind, waves, and swells on offshore operations, thereby improving the safety and efficiency of offshore transfer operations.

[0006] The technical means employed in this invention are as follows: A novel multi-degree-of-freedom motion-compensating series-parallel hybrid offshore corridor bridge includes: a multi-degree-of-freedom compensation stabilization platform, a series motion-compensating gangway, and an end flexible connection device connected in sequence. The multi-degree-of-freedom compensation stabilization platform includes a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary hybrid device. The three-degree-of-freedom parallel platform is used to compensate for the ship's roll, pitch, and heave. The novel three-degree-of-freedom reciprocating rotary hybrid device is installed on the three-degree-of-freedom parallel platform and connected to the rotary table of the series motion-compensating gangway, and is used to compensate for the ship's sway, pitch, and bow roll. The series motion-compensating gangway performs pitch and telescopic movements to passively compensate for the ship's sway and pitch. The end flexible connection device is connected to the end of the series motion-compensating gangway to buffer the end.

[0007] Furthermore, the three-degree-of-freedom parallel platform includes a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, an upper platform, a lower platform, and a telescopic column one. The upper ends of the first, second, and third hydraulic cylinders are connected to the upper platform via Hooke joints, and the lower ends are connected to the lower platform via Hooke joints, and are arranged around the telescopic column one. The telescopic inner column of the telescopic column one is connected to the upper platform via a Hooke joint, and the cylinder liner of the telescopic column one is fixed on the lower platform.

[0008] Furthermore, both the rotary table and the lower platform are equipped with angle sensors to detect the platform angle.

[0009] Furthermore, the novel three-degree-of-freedom reciprocating rotary hybrid device includes a lateral motion mechanism, a longitudinal motion mechanism, and a rotary motion mechanism. The lateral motion mechanism is mounted on the upper platform of the three-degree-of-freedom parallel platform, the longitudinal motion mechanism is connected to the lateral motion mechanism, and the rotary motion mechanism is connected between the longitudinal motion mechanism and the rotary table. The lateral motion mechanism drives the longitudinal motion mechanism to perform lateral reciprocating motion to compensate for the ship's sway motion; the longitudinal motion mechanism drives the rotary table to perform longitudinal reciprocating motion to compensate for the ship's pitch motion; and the rotary motion mechanism drives the rotary table to perform rotary motion to compensate for the ship's bow roll motion.

[0010] Furthermore, the lateral motion mechanism includes a lateral hydraulic drive cylinder and two lateral slide rails. One side of the lateral hydraulic drive cylinder is connected to the upper platform, and the hydraulic rod on the other side is connected to the bottom platform of the longitudinal motion mechanism. The two lateral slide rails are placed parallel to each other and fixedly connected to the upper platform. A lateral slider is slidably connected to the lateral slide rail, and the lateral slider is connected to the bottom platform of the longitudinal motion mechanism. The extension and retraction direction of the hydraulic rod of the lateral hydraulic drive cylinder is parallel to the two lateral slide rails. The reciprocating motion of the hydraulic rod of the lateral hydraulic drive cylinder drives the two lateral sliders to reciprocate along the two lateral slide rails, thereby driving the longitudinal motion mechanism to perform lateral reciprocating motion and compensating for the ship's swaying motion. The longitudinal motion mechanism includes a bottom platform, a longitudinal hydraulic drive cylinder, and two longitudinal slide rails. One side of the longitudinal hydraulic drive cylinder is connected to the bottom platform, and the hydraulic rod on the other side is connected to the base of the rotary motion mechanism. The two longitudinal slide rails are placed parallel to each other and are fixedly connected to the bottom platform. A longitudinal slider is slidably connected to the longitudinal slide rail, and the longitudinal slider is connected to the base of the rotary motion mechanism. The extension and retraction direction of the hydraulic rod of the longitudinal hydraulic drive cylinder is parallel to the two longitudinal slide rails. The reciprocating motion of the hydraulic rod of the longitudinal hydraulic drive cylinder drives the two longitudinal sliders to reciprocate along the two longitudinal slide rails, thereby driving the rotary table to perform longitudinal reciprocating motion, thus compensating for the ship's pitching motion. The rotary motion mechanism is installed above the longitudinal motion mechanism and includes a base and a rotary gear and a hydraulic drive motor connected to it. The rotary gear is installed above the base and the hydraulic drive motor is installed below the rotary table. The rotary gear is driven by the hydraulic drive motor, thereby driving the rotary table to rotate.

[0011] Furthermore, the rotary table and the lower platform are equipped with posture sensors. Based on the posture measured by the posture sensors, the extension and retraction movements of hydraulic cylinders No. 1, No. 2, and No. 3 are controlled to compensate for the ship's roll, pitch, and heave movements. The transverse motion mechanism, longitudinal motion mechanism, and slewing motion mechanism are also controlled to compensate for the ship's sway, pitch, and bow movements.

[0012] Furthermore, the tandem motion compensation gangway includes a rotary table, a first pitch hydraulic drive cylinder, a second pitch hydraulic drive cylinder, a main boom, and a telescopic boom. The first and second pitch hydraulic drive cylinders and one side of the main boom are connected to the rotary table, and the other side of the first and second pitch hydraulic drive cylinders are connected to the main boom for driving the main boom to perform pitch motion. The main boom and the telescopic boom are connected through a telescopic mechanism, which is used to realize telescopic motion between the telescopic boom and the main boom.

[0013] Furthermore, the telescopic mechanism includes a rope hydraulic drive motor, a guide pulley, and a rope. The rope hydraulic drive motor is mounted below the main arm, and its output end is connected to the guide pulley. The telescopic arm is equipped with a guide hook and a nylon roller. One side of the rope is wound around the guide pulley, and the other side passes around the nylon roller and is connected to the guide hook. The telescopic arm is nested with the main arm and moves by the extension and retraction of the rope.

[0014] Furthermore, the flexible end connection device includes a first hydraulic buffer cylinder, a second hydraulic buffer cylinder, a third hydraulic buffer cylinder, a fourth hydraulic buffer cylinder, a second telescopic column, an upper end buffer platform, and a lower end buffer platform. The four hydraulic buffer cylinders are arranged around the second telescopic column, with their upper ends connected to the upper end buffer platform and their lower ends connected to the lower end buffer platform. The lower end of the second telescopic column is connected to the lower end buffer platform via a Hooke's hinge, and its upper outer cylinder is connected to the lower part of the upper end buffer platform. The upper part of the upper end buffer platform is connected to the telescopic arm of the tandem motion compensation gangway via a connecting frame. The front end of the upper end buffer platform is provided with multiple layers of steps, which are connected in a nested manner.

[0015] This invention also provides a novel method for operating a multi-degree-of-freedom motion-compensated series-parallel hybrid marine corridor bridge, comprising the following steps: Step 1: When the ship is working on the offshore platform, the first step is to use the position and posture data measured by the position and posture sensors in the rotary table and the lower platform to perform the extension and retraction movements of hydraulic cylinders No. 1, No. 2 and No. 3, so as to compensate for the ship's roll, pitch and heave movements. Step 2: The lateral motion mechanism uses the reciprocating motion of the lateral hydraulic drive cylinder to drive the sliders in the two lateral slide rails to reciprocate along the track, thereby driving the longitudinal motion mechanism to perform lateral reciprocating motion to compensate for the ship's sway motion; the longitudinal motion mechanism uses the reciprocating motion of the hydraulic rod of the longitudinal hydraulic drive cylinder to drive the sliders in the two longitudinal slide rails to reciprocate along the track, thereby driving the rotary table to perform longitudinal reciprocating motion to compensate for the ship's pitch motion; the hydraulic drive motor below the rotary table drives the rotary gear above the longitudinal motion mechanism to achieve the rotation function, thereby compensating for the ship's bow roll motion; Step 3: When the turntable remains stable, drive the No. 1 and No. 2 pitch hydraulic drive cylinders to make the tandem motion compensation gangway pitch. When the required height is reached, the No. 1 and No. 2 pitch hydraulic drive cylinders stop moving and remain unchanged. At the same time, drive the rope hydraulic drive motor installed under the main arm to control the length of the rope connecting the main arm and the telescopic arm, and finally make the tandem motion compensation gangway telescopic. Step 4: When the end of the tandem motion compensation gangway reaches the offshore platform, place the end buffer lower platform of the end flexible connection device on the offshore platform to reduce the impact of the impact load on the tandem motion compensation gangway. At this point, the offshore stable bridge with a multi-degree-of-freedom compensation and stabilization platform begins to be transferred. Step 5: When the offshore stabilization corridor with a multi-degree-of-freedom compensation stabilization platform finishes its work, all equipment is restored to its initial state.

[0016] Compared with the prior art, the present invention has the following advantages: 1. This invention coordinates the motion of a three-degree-of-freedom parallel platform with a novel three-degree-of-freedom reciprocating rotary hybrid device, which can compensate for the six-degree-of-freedom motion of a ship caused by the loads of wind, waves and currents.

[0017] 2. The multi-degree-of-freedom compensation and stabilization platform designed by this invention through the design of a series-parallel hybrid platform has the advantages of small size, stable working space, and large load-bearing capacity.

[0018] 3. In the three-degree-of-freedom parallel platform designed in this invention, the upper platform has less interference with the lower platform, making it easier to control.

[0019] 4. The present invention reduces the impact load on the end of the gangway by using a flexible end connection device, ensuring the stability of the end during landing and making landing safer and more stable.

[0020] Based on the above reasons, this invention can be widely applied in fields such as marine engineering. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 This is a schematic diagram of a multi-degree-of-freedom compensated stable platform structure.

[0024] Figure 3 This is a schematic diagram of a series motion compensation gangway structure.

[0025] Figure 4 This is a schematic diagram of the end-flexible connection device.

[0026] Figure 5 A partial schematic diagram of the gangway structure for cascade motion compensation.

[0027] Figure 6 This is a schematic diagram of a novel three-degree-of-freedom reciprocating rotary mixing device.

[0028] In the diagram: 1. Multi-degree-of-freedom compensated stabilizing platform; 2. Serial motion compensated gangway; 3. End flexible connection device; 1.1 Hydraulic cylinder No. 1; 1.2 Hydraulic cylinder No. 2; 1.3 Hydraulic cylinder No. 3; 1.4 Telescopic column one; 1.5 Lower platform; 1.6 Upper platform; 1.7 Lateral hydraulic drive cylinder; 1.8 Lateral slide rail; 1.9 Longitudinal hydraulic drive cylinder; 1.10 Longitudinal slide rail; 1.11 Rotary gear; 2.1 Rotary table; 2.2 Hydraulic drive motor; 2.3 One 2.4 No. 2 pitch hydraulic drive cylinder; 2.5 Main boom; 2.6 Telescopic boom; 2.7 Rope hydraulic drive motor; 3.1 No. 1 hydraulic buffer cylinder; 3.2 No. 2 hydraulic buffer cylinder; 3.3 No. 3 hydraulic buffer cylinder; 3.4 No. 4 hydraulic buffer cylinder; 3.5 Step; 3.6 Telescopic column II; 3.7 Lower end buffer platform; 3.8 Upper end buffer platform; 3.9 Connecting frame; 4.1 Guide wheel; 4.2 Guide hook; 4.3 Nylon roller. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] 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. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices 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. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] like Figure 1As shown, the present invention provides a novel multi-degree-of-freedom motion-compensated series-parallel hybrid marine corridor bridge, comprising: a multi-degree-of-freedom compensation stabilization platform 1, a series motion-compensated gangway 2, and an end flexible connection device 3.

[0037] The multi-degree-of-freedom compensation stabilization platform 1 consists of a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary hybrid device. The three-degree-of-freedom parallel platform compensates for the ship's roll, pitch, and heave, while the novel three-degree-of-freedom reciprocating rotary hybrid device compensates for the ship's sway, pitch, and bow roll. Therefore, the multi-degree-of-freedom compensation stabilization platform 1 compensates for the six degrees of freedom motion of the ship caused by wind, waves, and currents, thus ensuring the stability of the tandem motion compensation gangway 2 during landing and providing safety for personnel transfer. The tandem motion compensation gangway 2 consists of two telescopic bridges and passively compensates for the ship's sway and pitch, ensuring the personnel transfer function; the flexible end connection device 3 acts as a buffer at the end of the gangway, ensuring a smooth landing.

[0038] like Figure 2 The three-degree-of-freedom parallel platform consists of hydraulic cylinder 1.1, hydraulic cylinder 1.2, hydraulic cylinder 1.3, upper platform 1.6, lower platform 1.5, and telescopic column 1.4. The upper ends of hydraulic cylinders 1.1, 1.2, and 1.3 are connected to the upper platform 1.6 via Hooke hinges, and their lower ends are connected to the lower platform 1.5 via Hooke hinges, all surrounding the telescopic column 1.4. The telescopic inner column of the telescopic column 1.4 is connected to the upper platform 1.6 via a Hooke hinge, and the cylinder sleeve of the telescopic column 1.4 is fixed to the lower platform 1.5. The rotary table 2.1 and lower platform 1.5 of the series motion compensation gangway 2 are equipped with angle sensors to detect the platform angles, thereby controlling the motion of the multi-degree-of-freedom compensation stabilization platform 1 based on these angles, ultimately achieving compensation for the six-degree-of-freedom motions (heave, sway, pitch, roll, pitch, and bow) caused by wind, waves, and currents. In the three-degree-of-freedom parallel platform designed in this invention, the Hooke hinge of the telescopic column 1.4 is at the upper end, which reduces the interference of the deflection torque generated by the components in the upper platform 1.6 on the lower platform 1.5, making the device easier to control.

[0039] like Figure 2 and Figure 6As shown, the novel three-degree-of-freedom reciprocating rotary hybrid device consists of a transverse motion mechanism, a longitudinal motion mechanism, and a rotary motion mechanism. The transverse motion mechanism is installed on the upper platform 1.6 of the three-degree-of-freedom parallel platform. The longitudinal motion mechanism is connected to the transverse motion mechanism, and the rotary motion mechanism is connected between the longitudinal motion mechanism and the rotary table 2.1. The lateral motion mechanism consists of two lateral slide rails 1.8 and a lateral hydraulic drive cylinder 1.7. The two lateral slide rails 1.8 are placed parallel to each other and fixedly connected to the upper platform 1.6. One side of the lateral hydraulic drive cylinder 1.7 is connected to the upper platform 1.6, and the hydraulic rod on the other side is connected to the bottom platform of the longitudinal motion mechanism. The extension and retraction direction of the hydraulic rod of the lateral hydraulic drive cylinder 1.7 is parallel to the two lateral slide rails 1.8. A lateral slider is slidably connected to the lateral slide rail 1.8, and the lateral slider is connected to the bottom platform of the longitudinal motion mechanism. The lateral motion mechanism uses the reciprocating motion of the hydraulic rod of the lateral hydraulic drive cylinder 1.7 as power to drive the slider in the two lateral slide rails 1.8 to reciprocate along the rails, thereby driving the longitudinal motion mechanism to perform lateral reciprocating motion and compensating for the ship's swaying motion. The longitudinal motion mechanism consists of a bottom platform, two longitudinal slide rails 1.10, and a longitudinal hydraulic drive cylinder 1.9. The two longitudinal slide rails 1.10 are placed parallel to each other and fixed to the bottom platform. One side of the longitudinal hydraulic drive cylinder 1.9 is connected to the bottom platform, and the hydraulic rod on the other side is connected to the base of the rotary motion mechanism. The extension and retraction direction of the hydraulic rod of the longitudinal hydraulic drive cylinder 1.9 is parallel to the two longitudinal slide rails 1.10 and perpendicular to the two transverse slide rails 1.8. A longitudinal slider is slidably connected to the longitudinal slide rail 1.10, and the longitudinal slider is connected to the base of the rotary motion mechanism. The longitudinal motion mechanism uses the reciprocating motion of the hydraulic rod of the longitudinal hydraulic drive cylinder 1.9 as power to drive the slider in the two longitudinal slide rails 1.10 to reciprocate along the rails, thereby driving the rotary table 2.1 of the series motion compensation gangway 2 to perform longitudinal reciprocating motion to compensate for the ship's pitching motion. A rotary motion mechanism is installed above the longitudinal motion mechanism. The rotary motion mechanism consists of a base, a rotary gear 1.11 mounted above the longitudinal motion mechanism, and a hydraulic drive motor 2.2 mounted below the rotary table 2.1. The hydraulic drive motor 2.2 drives the rotary gear 1.11 above the longitudinal motion mechanism, thereby achieving the rotary function. This novel three-degree-of-freedom reciprocating rotary hybrid device achieves the sway, pitch, and bow movements of the ship through the lateral motion mechanism, longitudinal motion mechanism, and rotary motion mechanism.

[0040] Furthermore, based on the pose measured by the pose sensors in the rotary table 2.1 and the lower platform 1.5, the extension and retraction movements of hydraulic cylinder 1.1, hydraulic cylinder 1.2, and hydraulic cylinder 1.3 are controlled to compensate for the ship's roll, pitch, and heave movements. The transverse motion mechanism, longitudinal motion mechanism, and slewing motion mechanism are also controlled to compensate for the ship's sway, pitch, and bow movements.

[0041] like Figure 3 As shown, the tandem motion compensation gangway 2 includes a rotary table 2.1, a first pitch hydraulic drive cylinder 2.3, a second pitch hydraulic drive cylinder 2.4, a main boom 2.5, and a telescopic boom 2.6. The main boom 2.5 is connected to the upper ends of the rotary table 2.1 and the first and second pitch hydraulic drive cylinders 2.3 and 2.4, respectively. Specifically, one side of the first and second pitch hydraulic drive cylinders 2.3 and 2.4, and the main boom 2.5 are connected to the rotary table 2.1, while the other side of the first and second pitch hydraulic drive cylinders 2.3 and 2.4 is connected to the main boom 2.5, driving the main boom 2.5 to perform pitch motion. The main boom 2.5 is connected to the telescopic boom 2.6 via a telescopic mechanism, which enables telescopic motion between the telescopic boom 2.6 and the main boom 2.5. The telescopic mechanism includes a rope hydraulic drive motor 2.7, a guide wheel 4.1, and ropes, as shown... Figure 5 As shown, the rope hydraulic drive motor 2.7 is mounted below the main boom 2.5, and the rope is connected to the guide hook 4.2 on the main boom 2.5 and the telescopic boom 2.6 via a guide pulley 4.1 and a nylon roller 4.3. That is, the output end of the rope hydraulic drive motor 2.7 is connected to the guide pulley 4.1, one side of the rope is wound around the guide pulley 4.1, and the other side passes around the nylon roller 4.3 and connects to the guide hook 4.2. The telescopic boom 2.6 is nested within the main boom 2.5 and moves via the rope.

[0042] like Figure 4 As shown, the flexible end connection device 3 includes a first hydraulic buffer cylinder 3.1, a second hydraulic buffer cylinder 3.2, a third hydraulic buffer cylinder 3.3, a fourth hydraulic buffer cylinder 3.4, a second telescopic column 3.6, an upper end buffer platform 3.8, and a lower end buffer platform 3.7. The four hydraulic buffer cylinders are arranged around the second telescopic column 3.6, with the upper end connected to the upper end buffer platform 3.8 and the lower end connected to the lower end buffer platform 3.7. The upper end buffer platform 3.8 is connected to the telescopic arm 2.6 of the tandem motion compensation gangway 2 via a connecting frame 3.9, and has an outer cylinder of the second telescopic column 3.6 below it. A step 3.5 is set at the front end, and the steps 3.5 are connected in a nested manner. The lower end of the second telescopic column 3.6 is connected to the lower end buffer platform 3.7 via a Hooke's hinge.

[0043] This invention also provides a novel operational scheme for a multi-degree-of-freedom motion-compensated series-parallel hybrid marine corridor bridge in practical work.

[0044] The operational plan is based on the ship-to-offshore platform operation process in actual work. During ship-to-offshore platform operation, the posture data measured by the posture sensors in the rotary table 2.1 and lower platform 1.5 is used to perform the extension and retraction movements of hydraulic cylinders 1.1, 1.2, and 1.3, thereby compensating for the ship's roll, pitch, and heave movements. The lateral motion mechanism, powered by the reciprocating motion of the lateral hydraulic drive cylinder 1.7, drives the sliders in the two lateral slide rails 1.8 to reciprocate along the tracks, thus driving the longitudinal motion mechanism to perform lateral reciprocating motion to compensate for the ship's roll motion. The longitudinal motion mechanism, powered by the reciprocating motion of the hydraulic rod in the longitudinal hydraulic drive cylinder 1.9, drives the sliders in the two longitudinal slide rails 1.10 to reciprocate along the tracks, thus driving the rotary table 2.1 to perform longitudinal reciprocating motion to compensate for the ship's pitch motion. The hydraulic drive motor 2.2 below the rotary table 2.1 drives the upper part of the longitudinal motion mechanism... The slewing gear 1.11 enables rotation, thereby compensating for the ship's bow roll. When the turntable 2.1 remains stable, the first and second pitch hydraulic drive cylinders 2.3 and 2.4 are driven to cause the tandem motion compensation gangway 2 to pitch. When the desired height is reached, the first and second pitch hydraulic drive cylinders 2.3 and 2.4 stop moving and remain unchanged. Simultaneously, the rope hydraulic drive motor 2.7, located below the main arm 2.5, is driven to control the length of the rope connecting the main arm 2.5 and the telescopic arm 2.6, ultimately causing the tandem motion compensation gangway 2 to telescopically extend. When the end of the tandem motion compensation gangway 2 reaches the offshore platform, the end buffer lower platform 3.7 of the end flexible connection device 3 is placed on the offshore platform to reduce the impact load on the tandem motion compensation gangway 2. At this point, the offshore stabilizing bridge with a multi-degree-of-freedom compensation stabilizing platform begins its transfer. When the offshore stabilizing bridge with a multi-degree-of-freedom compensation stabilizing platform finishes its work, the process is reversed, which will not be elaborated here.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A novel multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge, characterized in that, include: A multi-degree-of-freedom compensation stabilization platform (1), a series motion compensation gangway (2), and an end flexible connection device (3) are connected in sequence. The multi-degree-of-freedom compensation stabilization platform (1) includes a three-degree-of-freedom parallel platform and a novel three-degree-of-freedom reciprocating rotary hybrid device. The three-degree-of-freedom parallel platform is used to compensate for the ship's roll, pitch, and heave. The novel three-degree-of-freedom reciprocating rotary hybrid device is installed on the three-degree-of-freedom parallel platform and connected to the rotary table (2.1) of the series motion compensation gangway (2). It is used to compensate for the ship's sway, pitch, and bow roll. The series motion compensation gangway (2) performs pitch and telescopic movements to passively compensate for the ship's sway and pitch. The end flexible connection device (3) is connected to the end of the series motion compensation gangway (2) to buffer the end. The three-degree-of-freedom parallel platform includes a first hydraulic cylinder (1.1), a second hydraulic cylinder (1.2), a third hydraulic cylinder (1.3), an upper platform (1.6), a lower platform (1.5), and a telescopic column (1.4). The upper ends of the first hydraulic cylinder (1.1), the second hydraulic cylinder (1.2), and the third hydraulic cylinder (1.3) are connected to the upper platform (1.6) via Hooke joints, and the lower ends are connected to the lower platform (1.5) via Hooke joints, and are arranged around the telescopic column (1.4). The telescopic inner column of the telescopic column (1.4) is connected to the upper platform (1.6) via Hooke joints, and the cylinder liner of the telescopic column (1.4) is fixed on the lower platform (1.5). The novel three-degree-of-freedom reciprocating rotary hybrid device includes a lateral motion mechanism, a longitudinal motion mechanism, and a rotary motion mechanism. The lateral motion mechanism is installed on the upper platform (1.6) of the three-degree-of-freedom parallel platform. The longitudinal motion mechanism is connected to the lateral motion mechanism, and the rotary motion mechanism is connected between the longitudinal motion mechanism and the rotary table (2.1). The lateral motion mechanism is used to drive the longitudinal motion mechanism to perform lateral reciprocating motion to compensate for the ship's sway motion. The longitudinal motion mechanism is used to drive the rotary table (2.1) to perform longitudinal reciprocating motion to compensate for the ship's pitch motion. The rotary motion mechanism is used to drive the rotary table (2.1) to perform rotary motion to compensate for the ship's bow roll motion. The lateral motion mechanism includes a lateral hydraulic drive cylinder (1.7) and two lateral slide rails (1.8). One side of the lateral hydraulic drive cylinder (1.7) is connected to the upper platform (1.6), and the hydraulic rod on the other side is connected to the bottom platform of the longitudinal motion mechanism. The two lateral slide rails (1.8) are placed parallel to each other and are fixedly connected to the upper platform (1.6). A lateral slider is slidably connected to the lateral slide rail (1.8), and the lateral slider is connected to the bottom platform of the longitudinal motion mechanism. The extension and retraction direction of the hydraulic rod of the lateral hydraulic drive cylinder (1.7) is parallel to the two lateral slide rails (1.8). The reciprocating motion of the hydraulic rod of the lateral hydraulic drive cylinder (1.7) drives the two lateral sliders to reciprocate along the two lateral slide rails (1.8), thereby driving the longitudinal motion mechanism to perform lateral reciprocating motion and compensating for the ship's swaying motion. The longitudinal motion mechanism includes a bottom platform, a longitudinal hydraulic drive cylinder (1.9), and two longitudinal slide rails (1.10). One side of the longitudinal hydraulic drive cylinder (1.9) is connected to the bottom platform, and the hydraulic rod on the other side is connected to the base of the rotary motion mechanism. The two longitudinal slide rails (1.10) are placed parallel to each other and are fixedly connected to the bottom platform. A longitudinal slider is slidably connected to the longitudinal slide rail (1.10), and the longitudinal slider is connected to the base of the rotary motion mechanism. The extension and retraction direction of the hydraulic rod of the longitudinal hydraulic drive cylinder (1.9) is parallel to the two longitudinal slide rails (1.10). The reciprocating motion of the hydraulic rod of the longitudinal hydraulic drive cylinder (1.9) drives the two longitudinal sliders to reciprocate along the two longitudinal slide rails (1.10), thereby driving the rotary table (2.1) to perform longitudinal reciprocating motion, thereby compensating for the ship's pitching motion. The rotary motion mechanism is installed above the longitudinal motion mechanism and includes a base and a rotary gear (1.11) and a hydraulic drive motor (2.2) connected to it. The rotary gear (1.11) is installed above the base, and the hydraulic drive motor (2.2) is installed below the rotary table (2.1). The rotary gear (1.11) is driven by the hydraulic drive motor (2.2), thereby driving the rotary table (2.1) to rotate. The rotary table (2.1) and the lower platform (1.5) are equipped with posture sensors. Based on the posture measured by the posture sensors, the extension and retraction movements of hydraulic cylinders No. 1 (1.1), No. 2 (1.2), and No. 3 (1.3) are controlled to compensate for the ship's roll, pitch, and heave movements. The transverse motion mechanism, longitudinal motion mechanism, and slewing motion mechanism are also controlled to compensate for the ship's sway, pitch, and bow movements.

2. The novel multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge according to claim 1, characterized in that, Angle sensors are provided on both the rotary table (2.1) and the lower platform (1.5) to detect the platform angle.

3. The novel multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge according to claim 1, characterized in that, The series motion compensation gangway (2) includes a rotary table (2.1), a first pitch hydraulic drive cylinder (2.3), a second pitch hydraulic drive cylinder (2.4), a main boom (2.5), and a telescopic boom (2.6). One side of the first pitch hydraulic drive cylinder (2.3), the second pitch hydraulic drive cylinder (2.4), and the main boom (2.5) is connected to the rotary table (2.1), and the other side of the first pitch hydraulic drive cylinder (2.3) and the second pitch hydraulic drive cylinder (2.4) is connected to the main boom (2.5) to drive the main boom (2.5) to perform pitch motion. The main boom (2.5) and the telescopic boom (2.6) are connected by a telescopic mechanism, which is used to realize the telescopic movement between the telescopic boom (2.6) and the main boom (2.5).

4. The novel multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge according to claim 3, characterized in that, The telescopic mechanism includes a rope hydraulic drive motor (2.7), a guide pulley (4.1), and a rope. The rope hydraulic drive motor (2.7) is placed below the main arm (2.5), and its output end is connected to the guide pulley (4.1). The telescopic arm (2.6) is equipped with a guide hook (4.2) and a nylon roller (4.3). One side of the rope is wound around the guide pulley (4.1), and the other side passes around the nylon roller (4.3) and is connected to the guide hook (4.2). The telescopic arm (2.6) is nested with the main arm (2.5) and moves by the extension and retraction of the rope.

5. The novel multi-degree-of-freedom motion-compensated series-parallel hybrid sea corridor bridge according to claim 1, characterized in that, The end flexible connection device (3) includes a first hydraulic buffer cylinder (3.1), a second hydraulic buffer cylinder (3.2), a third hydraulic buffer cylinder (3.3), a fourth hydraulic buffer cylinder (3.4), a telescopic column two (3.6), an end buffer upper platform (3.8), and an end buffer lower platform (3.7). The four hydraulic buffer cylinders are arranged around the telescopic column two (3.6), with the upper end connected to the end buffer upper platform (3.8) and the lower end connected to the end buffer lower platform (3.7). The lower end of the telescopic column two (3.6) is connected to the end buffer lower platform (3.7) through a Hooke hinge, and the upper outer cylinder is connected to the lower part of the end buffer upper platform (3.8). The upper part of the end buffer upper platform (3.8) is connected to the telescopic arm (2.6) of the tandem motion compensation gangway (2) through a connecting frame (3.9). The front end of the end buffer upper platform (3.8) is provided with multiple layers of steps (3.5), which are connected in a nested manner.

6. A working method for a novel multi-degree-of-freedom motion-compensated series-parallel hybrid marine corridor bridge as described in any one of claims 1-5, characterized in that, Includes the following steps: Step 1: When the ship is working on the offshore platform, the posture data measured by the posture sensors in the rotary table (2.1) and the lower platform (1.5) are used to perform the extension and retraction movements of hydraulic cylinders No. 1 (1.1), No. 2 (1.2), and No. 3 (1.3) to compensate for the ship's roll, pitch, and heave movements. Step 2: The lateral motion mechanism uses the reciprocating motion of the lateral hydraulic drive cylinder (1.7) as power to drive the sliders in the two lateral slide rails (1.8) to reciprocate along the track, thereby driving the longitudinal motion mechanism to perform lateral reciprocating motion to compensate for the ship's sway motion; the longitudinal motion mechanism uses the reciprocating motion of the hydraulic rod of the longitudinal hydraulic drive cylinder (1.9) as power to drive the sliders in the two longitudinal slide rails (1.10) to reciprocate along the track, thereby driving the rotary table (2.1) to perform longitudinal reciprocating motion to compensate for the ship's pitch motion; the hydraulic drive motor (2.2) below the rotary table (2.1) drives the rotary gear (1.11) above the longitudinal motion mechanism to achieve the rotation function, thereby compensating for the ship's bow roll motion; Step 3: When the turntable (2.1) remains stable, drive the first pitch hydraulic drive cylinder (2.3) and the second pitch hydraulic drive cylinder (2.4) to make the series motion compensation gangway (2) pitch. When the required height is reached, the first pitch hydraulic drive cylinder (2.3) and the second pitch hydraulic drive cylinder (2.4) stop moving and remain unchanged. At the same time, drive the rope hydraulic drive motor (2.7) installed below the main boom (2.5) to control the length of the rope connecting the main boom (2.5) and the telescopic boom (2.6), and finally make the series motion compensation gangway (2) telescopic. Step 4: When the end of the tandem motion compensation gangway (2) reaches the offshore platform, place the end buffer lower platform (3.7) of the end flexible connection device (3) on the offshore platform to reduce the impact of the impact load on the tandem motion compensation gangway (2). At this point, the offshore stable bridge with a multi-degree-of-freedom compensation stable platform begins to be transferred. Step 5: When the offshore stabilization corridor with a multi-degree-of-freedom compensation stabilization platform finishes its work, all equipment is restored to its initial state.

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