A multi-degree-of-freedom active compensation stable boarding device

Abstract

The present application relates to the field of ship boarding technology, and specifically discloses a multi-degree-of-freedom active compensation stable boarding device, which is installed on a rescue ship, including a boarding platform and an active compensation mechanism. A fixed seat is installed on the rescue ship, and an emergency compensation mechanism is also installed on the fixed seat for adjusting the level of the boarding platform when the active compensation mechanism fails. The emergency compensation mechanism is provided with a switching mechanism for making the active compensation mechanism and the emergency compensation mechanism work separately and without interfering with each other. When the rescue ship encounters extreme weather changes during the rescue process, causing the active compensation mechanism on the boarding platform to fail or be completely paralyzed, the switching mechanism quickly unlocks the emergency compensation mechanism, so that the emergency compensation mechanism can temporarily replace the active compensation mechanism to adjust the level of the boarding platform, so that the boarding platform has an additional layer of safety protection when encountering extreme environments, and the safety factor of the rescue operation is higher.

Description

Technical Field

[0001] The present application relates to the field of ship boarding technology, and in particular to a multi-degree-of-freedom active compensation stable boarding device. Background Art

[0002] The active compensation boarding platform on the rescue ship is an efficient rescue equipment used in complex marine environments. Its main purpose is to provide a stable and safe way to board the ship when the rescue ship approaches the distressed ship. Through this platform, rescuers can smoothly transfer from the rescue ship to the distressed ship on the turbulent sea surface, or transfer the rescued from the distressed ship to the rescue ship. The active compensation boarding platform can automatically adjust its position and angle to offset the impact of waves and maintain the stability and horizontal state of the platform, thereby ensuring the safety and efficiency of the rescue operation.

[0003] In actual use, the active compensation system of the rescue platform plays an important role, especially in complex marine environments. Through the real-time adjustment of the telescopic cylinder and mechanical structure, the platform can quickly respond and adapt to the changing sea conditions and remain stable and level. For example, under conditions of high wind speed and large waves, the active compensation system can adjust the position of the platform in time to prevent shaking from interfering with rescue operations.

[0004] However, although the system design can cope with complex marine environments, such as lightning protection systems, electromagnetic interference systems, redundant systems and fault-safe designs equipped for lightning weather and magnetic field interference environments, which can protect the active compensation system to a certain extent, the normal operation of the platform may still be significantly affected under certain extreme weather conditions.

[0005] Under extreme environmental conditions, active compensation systems face serious challenges. For example, under the interference of strong lightning and strong magnetic fields, the sensors and electrical components in the system may be seriously affected, causing the system to fail to work properly. Strong lightning weather and strong magnetic fields may not only cause sensor failures through electromagnetic interference, but may also directly cause power outages. Although the probability of encountering such extreme environments is small, once such extreme conditions are encountered, rescue operations will be fatally affected.

[0006] When the sensor fails, the system cannot accurately sense the angle and position of the platform, and therefore cannot adjust the angle of the platform, making it difficult for the rescue platform to remain stable, greatly increasing the difficulty of rescue. Power outages will paralyze the entire system. At this time, the telescopic cylinder will automatically lock, preventing the platform from directly capsizing when threatened by power outages. However, the platform also loses its corresponding rescue function.

[0007] When the active compensation system fails, the rescue platform will lose stability and horizontality and sway violently with the shaking of the hull. This will not only make the rescuers unstable on the platform, increasing the risk of falling into the sea, but may also cause damage or fall off of the rescue equipment, seriously affecting the safety and efficiency of the rescue operation. In this case, the rescue operation may be forced to be interrupted or delayed, greatly reducing the possibility of successful rescue and posing a threat to the life safety of the rescued.

[0008] Therefore, it is necessary to improve the active compensation system to ensure the normal implementation of rescue missions under extreme conditions. Summary of the invention

[0009] In order to be able to carry out rescue work normally in extreme environments, the present application provides a multi-degree-of-freedom active compensation stable boarding device.

[0010] The present application provides a multi-degree-of-freedom active compensation stable boarding device, which adopts the following technical solution:

[0011] A multi-degree-of-freedom active compensation stable boarding device is installed on a rescue ship, comprising a boarding platform and an active compensation mechanism arranged below the boarding platform, a fixing seat is installed on the rescue ship, and the active compensation mechanism is installed on the fixing seat and is used to adjust the level of the boarding platform;

[0012] The fixing seat is also provided with an emergency compensation mechanism for adjusting the level of the boarding platform when the active compensation mechanism fails, and the emergency compensation mechanism is provided with a switching mechanism for making the active compensation mechanism and the emergency compensation mechanism work independently without interfering with each other;

[0013] The emergency compensation mechanism includes a plurality of support columns for supporting the bottom of the embarkation platform, a plurality of slides slidably mounted on the fixed seat corresponding to the support columns, a lifting mechanism for driving the slides to lift or pull down the corresponding support columns during the sliding process, and a sliding mechanism for driving the slides to slide along a fixed direction when the rescue boat shakes;

[0014] The support column, lifting mechanism, slide seat and sliding mechanism are correspondingly arranged in multiple groups, the connecting lines between the slide seats form a regular polygon, and each slide seat can slide along the connecting line between the vertex and the center of the regular polygon.

[0015] By adopting the above technical solution, when the rescue ship encounters extreme weather changes during the rescue process, causing the active compensation mechanism on the embarkation platform to malfunction or become completely paralyzed, the active compensation mechanism in this application adopts a telescopic cylinder that does not self-lock when the power is off. At this time, the switching mechanism quickly unlocks the emergency compensation mechanism, so that the emergency compensation mechanism can temporarily replace the active compensation mechanism to adjust the horizontality of the embarkation platform. The emergency compensation mechanism completely realizes its function by a mechanical structure, and is completely unaffected by electromagnetic and electrical damage under extreme weather.

[0016] When the rescue boat is shaken by waves or wind, the corresponding sliding mechanism can be displaced, driving the sliding seat to slide on the fixed seat, and driving the supporting column to rise and fall through the lifting mechanism, thereby making emergency adjustments to the horizontality of the boarding platform.

[0017] Although the accuracy of this adjustment level is not as good as that of the active compensation mechanism, it can be used as an emergency adjustment for the active compensation mechanism under extreme conditions. It can provide an extra layer of safety for the boarding platform when encountering extreme environments, making the safety factor of the rescue operation higher.

[0018] Optionally, the lifting mechanism comprises a rotating rod, a pulling rod and a limiting rod, one end of the rotating rod is rotatably connected to the sliding seat, and one end of the pulling rod and one end of the limiting rod are rotatably mounted on the fixed seat respectively;

[0019] One end of the pulling rod away from the fixed seat is rotatably connected to the middle part of the rotating rod, one end of the limiting rod away from the fixed seat is rotatably connected to one end of the rotating rod away from the sliding seat, and one end of the supporting column away from the boarding platform is rotatably installed at the connection between the rotating rod and the limiting rod;

[0020] When the sliding mechanism drives the slide seat to move away from the inner center of the regular polygon, the rotating rod drives the support column to lift up; when the sliding mechanism drives the slide seat to move close to the inner center of the regular polygon, the rotating rod drives the support column to pull down.

[0021] By adopting the above technical solution, when the rescue boat is shaken by seawater or wind, one or more sets of sliding mechanisms will slide accordingly, and the sliding sliding mechanisms will drive the corresponding sliding seats to move, wherein the sliding seat sliding in the direction away from the inner center of the polygon will drive the rotating rod to rotate toward a vertical state, and the pulling rod and the limit rod limit the rotation of the rotating rod. At this time, the end of the rotating rod away from the sliding seat moves upward, so that the end of the boarding platform that tends to rotate downward is lifted upward;

[0022] Among them, the slide seat sliding toward the center of the polygon will drive the rotating rod to rotate toward a horizontal state, and the pulling rod and the limit rod limit the rotation of the rotating rod. At this time, the end of the rotating rod away from the slide seat moves downward, causing the end of the boarding platform that tends to rotate upward to move downward.

[0023] By combining the two movements, the end that tends to go down is raised, while the end that tends to go up is lowered, so that the boarding platform can be quickly adjusted to a horizontal state.

[0024] Optionally, the sliding mechanism includes a positioning plate, a connecting rod and a gravity ball, a plurality of accommodating cavities are provided in the fixing seat corresponding to each of the sliding mechanisms, the positioning plate is fixed on the inner wall of the accommodating cavity, and the gravity ball is movably arranged in the accommodating cavity below the positioning plate;

[0025] The positioning plate is provided with a limiting groove parallel to the line connecting the vertex and the incenter of the regular polygon. The two ends of the connecting rod pass through the limiting groove and are fixedly connected to the bottom of the sliding seat and the gravity ball respectively.

[0026] By adopting the above technical solution, when the rescue boat tips over, the gravity ball slides due to the action of gravity, and the limit groove can limit the movement of the gravity ball, so that the gravity ball can move in the direction of the extension line of the line between the vertex and the center of the regular polygon, thereby driving the slide seat to move, and driving the support column to rise through the turning rod, so as to achieve the lifting of the tipping side and make the boarding platform tend to be horizontal.

[0027] Optionally, a damper is further provided in the accommodating cavity for buffering the movement of the gravity ball away from the inner center of the regular polygon.

[0028] By adopting the above technical solution, the damper can cushion the movement of the gravity ball with gravity, so that the gravity ball drives the support rod to rise from fast to slow, thereby making the adjustment of the boarding platform more relaxed.

[0029] Optionally, the switching mechanism includes a locking component for locking the position of the gravity ball when the active compensation mechanism is working, and an adjusting component for freely adjusting the length of the support column when the active compensation mechanism is working;

[0030] When the active compensation mechanism is paralyzed, the locking assembly unlocks the gravity ball, and the adjusting assembly fixes the length of the support column.

[0031] By adopting the above technical solution, when the active compensation mechanism is not paralyzed, the locking component locks the position of the gravity ball, so that the gravity ball will not move with the shaking of the rescue boat, and the emergency compensation mechanism will not work. At the same time, the adjustment component freely adjusts the length of the support column, so that the active compensation mechanism is not affected by the interference of the support column when adjusting the level of the embarkation platform;

[0032] When the active compensation mechanism is paralyzed, the locking assembly unlocks the gravity ball, allowing the gravity ball to move with the shaking of the rescue boat. At this time, the emergency compensation mechanism works. At the same time, the adjustment assembly fixes the length of the support column so that the emergency compensation mechanism can adjust the boarding platform horizontally, so that the rescue operation can still proceed normally when the active compensation mechanism is paralyzed.

[0033] Optionally, the adjustment components are provided in multiple groups corresponding to different heights of the support column, each group of the adjustment components includes a clamp, a magnetic plate, a connecting rod, an elastic member, a small electromagnet and a mounting tube, the support column includes a telescopic column and a fixed tube, the telescopic column is slidably installed in the fixed tube, and the end extending out of the fixed tube is hinged to the bottom of the boarding platform, and the bottom of the fixed tube is movably connected to the end connected to the rotating rod and the pulling rod;

[0034] The side wall of the telescopic column is provided with a plurality of slots adapted to the clamping member at intervals along the length direction, the mounting tube is fixedly mounted on the side wall of the fixing tube, the clamping member is slidably mounted in the side wall of the fixing tube, the magnetic plate is slidably mounted in the mounting tube, the two ends of the connecting rod are respectively connected and fixed to the clamping member and the magnetic plate, the elastic member is arranged in the mounting tube, and is used to drive the clamping member to move into the slot, the small electromagnet is installed in the mounting tube, and is located on the side of the magnetic plate away from the connecting rod.

[0035] By adopting the above technical solution, when the active compensation mechanism is not paralyzed, the small electromagnet attracts the magnetic plate, so that the magnetic plate drives the clamp to extend out of the slot through the connecting rod. At this time, the clamp no longer restricts the extension and retraction of the telescopic column. Therefore, the active compensation mechanism adjusts the boarding platform to a horizontal state, so that the rescue operation can be unaffected by the shaking of the rescue ship.

[0036] When the active compensation mechanism is paralyzed, the small electromagnet is powered off, and the magnetic suction plate is reset under the action of the elastic part, so that the clamp returns to the slot, thereby limiting the extension and retraction of the telescopic column, making the telescopic column fixing tube a whole, so that the rotating rod can drive the integrated support column to realize the jacking and pulling down of the boarding platform, thereby realizing the adjustment of the horizontality of the boarding platform when the active compensation mechanism is paralyzed, so that the rescue operation can still be carried out in extreme environments without interrupting the progress of the rescue operation, which greatly improves the stability and safety of the boarding platform.

[0037] Optionally, the locking assembly includes large electromagnets installed on both sides of the gravity ball, the large electromagnets are capable of adsorbing the gravity ball, and the length direction of the large electromagnets extends along the moving direction of the gravity ball.

[0038] By adopting the above technical solution, when the active compensation mechanism is not paralyzed, the large electromagnet is in an electrically connected state, so the large electromagnet will adsorb the gravity ball, so that the gravity ball cannot move with the shaking of the rescue ship. At this time, the emergency compensation mechanism will not work, so it will not interfere with the active compensation mechanism;

[0039] When the active compensation mechanism is paralyzed, the large electromagnet is in a power-off state. At this time, the movement of the gravity ball is unrestricted. The gravity ball can shake with the shaking of the rescue ship, so that the emergency compensation mechanism can take over the active compensation mechanism and continue to work, so that the rescue operation will not be interrupted by extreme weather, which greatly improves the reliability and safety of the rescue operation.

[0040] Optionally, a pulling mechanism for pulling each other is provided between the gravity balls. When one of the gravity balls moves away from the inner direction of the regular polygon, the gravity ball can drive the other gravity balls to move toward the inner direction of the regular polygon under the action of the pulling mechanism. The pulling mechanism is provided with an obstruction mechanism for obstructing the movement of the gravity balls toward the inner direction of the regular polygon.

[0041] By adopting the above technical solution, when the rescue ship is tilted by the waves and wind, one of the gravity balls drives the tilted side of the embarkation platform to be lifted, so that the embarkation platform is adjusted to a horizontal angle. The pulling mechanism can pull the other gravity balls, so that the other gravity balls can assist in pressing the lifted side of the embarkation platform, so that the lifted side of the embarkation platform is adjusted to a horizontal angle. The two work together to enable the embarkation platform to be adjusted to a horizontal angle more quickly before the rescue ship changes its shaking direction.

[0042] Optionally, the pulling mechanism includes a pulling rope and a first guide member, the pulling rope includes multiple pulling parts, one end of each pulling part is fixedly connected to the corresponding gravity ball, and the other end is fixed to each other, and the first guide member is provided with multiple groups corresponding to each pulling part, each of the first guide members is located close to the mutually fixed end of the pulling part, and can pull and guide each pulling part.

[0043] By adopting the above technical solution, when one of the gravity balls moves, it can drive the pulling rope to move through the first guide member, thereby causing the other gravity balls to move, and the other gravity balls can also be pulled and moved accordingly. When the gravity balls drive the boarding platform on the tilting side to rise, the other gravity balls can drive the lifting side to lower, so that the boarding platform can quickly become horizontal.

[0044] Optionally, the obstruction mechanism includes a fixed rod, a second guide member and a torsion spring for limiting the rotation of the second guide member, and the fixed rod, the second guide member and the torsion spring are arranged in multiple groups corresponding to each of the gravity balls, each of the fixed rods is fixed on the corresponding gravity ball, the second guide member can guide the fixed rod, and the torsion spring can obstruct the movement of the pulling part when the pulling part moves toward the direction close to the center of the regular polygon.

[0045] By adopting the above technical solution, when one of the gravity balls moves to the tilting side, it will drive the other gravity balls to move towards the center of the regular polygon. At this time, the torsion spring will hinder the movement of the fixed rod close to the center of the regular polygon through the second guide member, so that the other gravity balls can assist in adjusting the boarding platform, so that the boarding platform can be adjusted to a horizontal level before the rescue boat shakes to a different direction, and the torsion spring can slow down the effect of the other gravity balls so that the adjustment amount will not be too large and exceed the horizontal position.

[0046] In summary, the present application includes at least one of the following beneficial technical effects:

[0047] 1. When the rescue ship encounters extreme weather changes during the rescue process, causing the active compensation mechanism on the embarkation platform to malfunction or become completely paralyzed, the switching mechanism quickly unlocks the emergency compensation mechanism, allowing the emergency compensation mechanism to temporarily replace the active compensation mechanism to adjust the levelness of the embarkation platform. The emergency compensation mechanism is completely mechanically structured to achieve its function and is completely immune to electromagnetic and electrical damage under extreme weather conditions.

[0048] 2. Although the adjustment accuracy of the horizontal adjustment is not as good as that of the active compensation mechanism, it can be used as an emergency adjustment of the active compensation mechanism under extreme conditions, which can provide an additional layer of safety protection for the boarding platform in sudden extreme environments and increase the safety factor of the rescue operation;

[0049] 3. When the rescue boat is tilted by the waves and wind, one of the gravity balls drives the tilted side of the boarding platform to be lifted, so that the boarding platform is adjusted to a horizontal angle, and the pulling mechanism can pull the other gravity balls so that the other gravity balls can assist in pressing the lifted side of the boarding platform, so that the lifted side of the boarding platform is adjusted to a horizontal angle. The two work together to enable the boarding platform to be adjusted to a horizontal angle more quickly before the rescue boat changes the shaking direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 It is a schematic diagram of the overall structure of a stable boarding device in an embodiment of the present application;

[0052] Figure 2 yes Figure 1 Schematic diagram of part of the internal structure of the medium stable boarding device;

[0053] Figure 3 It is a schematic diagram of the internal structure of the support column;

[0054] Figure 4 yes Figure 1 A schematic diagram of the structure of the emergency compensation agency;

[0055] Figure 5 yes Figure 2 Structural schematic diagram of the middle pulling mechanism and the obstruction mechanism;

[0056] Figure 6 yes Figure 5 Enlarged view of point A in the middle.

[0057] 1. The boarding platform; 11. The active compensation mechanism; 2. The fixed seat; 3. The emergency compensation mechanism; 31. The support column; 311. The telescopic column; 3111. The slot; 312. The fixed cylinder; 32. The sliding seat; 33. The lifting mechanism; 331. The rotating rod; 332. The pulling rod; 333. The limiting rod; 34. The sliding mechanism; 341. The positioning plate; 3411. The limiting slot; 342. The connecting rod; 343. The gravity ball; 4. The damper; 5. The adjustment component; 51. The clamp; 52. The magnetic plate; 53. The connecting rod; 54. The elastic component; 55. The small electromagnet; 56. The mounting cylinder; 6. The locking component; 61. The large electromagnet; 7. The pulling mechanism; 71. The pulling rope; 711. The pulling part; 72. The first guide member; 8. The blocking mechanism; 81. The fixed rod; 82. The second guide member. DETAILED DESCRIPTION

[0058] The following is combined with Figure 1-6 , further details of this application are given.

[0059] The embodiment of the present application discloses a multi-degree-of-freedom active compensation stable boarding device.

[0060] A multi-degree-of-freedom active compensation stable boarding device, referring to Figure 1 and Figure 2 , installed on a rescue ship, includes a boarding platform 1 and an active compensation mechanism 11 arranged below the boarding platform 1, a fixed seat 2 is installed on the rescue ship, the active compensation mechanism 11 is installed on the fixed seat 2 and is used to adjust the level of the boarding platform 1.

[0061] The active compensation mechanism 11 can monitor the angle of the embarkation platform 1 according to various sensors and level meters, and then control the multiple telescopic cylinders at the bottom of the embarkation platform 1 to achieve real-time adjustment of the level of the embarkation platform 1. Based on this, in order to prevent the embarkation platform 1 from tipping over due to power failure, the telescopic cylinders usually adopt a power-off self-locking or a telescopic cylinder equipped with a self-locking device. The telescopic cylinder with a self-locking device can maintain the telescopic length before the power failure in the event of a power failure, so that the special scenario of power failure will not cause the embarkation platform 1 to tip over.

[0062] Although the active compensation mechanism 11 is equipped with, for example, a lightning protection system, an electromagnetic interference system, a redundant system, and a fault-safe design for lightning weather and magnetic field interference environments in order to cope with complex marine environments, and can protect the active compensation system to a certain extent, the normal operation of the platform may still be significantly affected under certain extreme weather conditions.

[0063] Under the interference of strong lightning and strong magnetic fields, the sensors and electrical components in the system may be seriously affected, causing the system to fail to work properly. Strong lightning weather and strong magnetic field environments may not only cause sensor failures through electromagnetic interference, but may also directly cause power outages. Although the probability of encountering such extreme environments is small, once such extreme conditions are encountered, rescue operations will be fatally affected.

[0064] When the sensor fails, the system cannot accurately sense the angle and position of the platform, and therefore cannot adjust the angle of the platform, making it difficult for the rescue platform to remain stable, greatly increasing the difficulty of rescue. Power outages will paralyze the entire system. At this time, the telescopic cylinder will automatically lock, preventing the platform from directly capsizing when threatened by power outages. However, the platform also loses its corresponding rescue function.

[0065] When the active compensation system fails, the rescue platform will lose stability and horizontality and sway violently with the shaking of the hull. This will not only make the rescuers unstable on the platform, increasing the risk of falling into the sea, but may also cause damage or fall off of the rescue equipment, seriously affecting the safety and efficiency of the rescue operation. In this case, the rescue operation may be forced to be interrupted or delayed, greatly reducing the possibility of successful rescue and posing a threat to the life safety of the rescued.

[0066] Therefore, refer to Figure 1 and Figure 2 An emergency compensation mechanism 3 is also installed on the fixed seat 2 for adjusting the level of the embarkation platform 1 when the active compensation mechanism 11 fails. The emergency compensation mechanism 3 is provided with a switching mechanism for enabling the active compensation mechanism 11 and the emergency compensation mechanism 3 to work independently without interfering with each other. In the present application, the telescopic cylinder used by the active compensation mechanism 11 does not have a self-locking function. When a short power outage occurs due to a special environment, the emergency compensation mechanism 3 will take over the active compensation mechanism 11 to make emergency adjustments to the embarkation platform 1, so that the embarkation platform 1 can still maintain the initial level and the rescue process can continue without a sudden power outage causing the embarkation platform 1 to shake with the rescue ship. In this case, more fatal problems may often occur in the rescue operation, seriously affecting the reliability of the rescue.

[0067] The emergency compensation mechanism 3 in the present application includes a plurality of support columns 31 for supporting the bottom of the boarding platform 1, a plurality of slides 32 slidably installed on the fixed seat 2 corresponding to each support column 31, a lifting mechanism 33 for driving the slide 32 to lift or pull down the corresponding support column 31 during the sliding process, and a sliding mechanism 34 for driving the slide 32 to slide along a fixed direction when the rescue boat shakes.

[0068] There are multiple groups of support columns 31, lifting mechanisms 33, slides 32 and sliding mechanisms 34, and three groups are provided in the present application. The connecting lines between the three groups of slides 32 form an equilateral triangle, and each slide 32 can slide along the connecting line between the vertex and the center of the equilateral triangle.

[0069] The basic principle involved in this application is: when the rescue ship encounters extreme weather changes during the rescue process, causing the active compensation mechanism 11 on the embarkation platform 1 to malfunction or become completely paralyzed, the active compensation mechanism 11 in this application uses a telescopic cylinder that is not self-locking when the power is off. At this time, the switching mechanism quickly unlocks the emergency compensation mechanism 3, so that the emergency compensation mechanism 3 can temporarily replace the active compensation mechanism 11 to adjust the horizontality of the embarkation platform 1, and the emergency compensation mechanism 3 completely realizes its function by mechanical structure, and is completely unaffected by electromagnetic damage and electrical damage under extreme weather.

[0070] When the rescue boat is shaken by waves or wind, the corresponding sliding mechanism 34 can be displaced, and the sliding mechanism 34 drives the slide seat 32 to slide on the fixed seat 2, and drives the support column 31 to rise and fall through the lifting mechanism 33, so as to make emergency adjustments to the horizontality of the boarding platform 1.

[0071] Although the accuracy of this adjustment level is not as good as the adjustment accuracy of the active compensation mechanism 11, it can be used as an emergency adjustment of the active compensation mechanism 11 under extreme conditions, and can provide an extra layer of safety for the boarding platform 1 when encountering extreme environments, thereby increasing the safety factor of the rescue operation.

[0072] Next, the specific structure of each part is explained in detail:

[0073] Reference Figure 2 , Figure 3 and Figure 4 The lifting mechanism 33 includes a rotating rod 331, a pulling rod 332 and a limiting rod 333. One end of the rotating rod 331 is rotatably connected to the sliding seat 32, and one end of the pulling rod 332 and one end of the limiting rod 333 are rotatably installed on the fixed seat 2 respectively.

[0074] One end of the pulling rod 332 away from the fixed seat 2 is rotatably connected to the middle part of the rotating rod 331, one end of the limiting rod 333 away from the fixed seat 2 is rotatably connected to one end of the rotating rod 331 away from the sliding seat 32, and one end of the support column 31 away from the boarding platform 1 is rotatably installed at the connection between the rotating rod 331 and the limiting rod 333.

[0075] When the sliding mechanism 34 drives the slide 32 to move away from the inner center of the equilateral triangle, the rotating rod 331 drives the support column 31 to lift up; when the sliding mechanism 34 drives the slide 32 to move closer to the inner center of the equilateral triangle, the rotating rod 331 drives the support column 31 to pull down.

[0076] Reference Figure 2 , Figure 4 and Figure 5 The sliding mechanism 34 includes a positioning plate 341, a connecting rod 342 and a gravity ball 343. A plurality of accommodating cavities are provided in the fixed seat 2 corresponding to each sliding mechanism 34. The positioning plate 341 is fixed on the inner wall of the accommodating cavity, and the gravity ball 343 is movably arranged in the accommodating cavity below the positioning plate 341.

[0077] The positioning plate 341 is provided with a limiting groove 3411 which is parallel to the line connecting the vertex and the center of the regular triangle. The two ends of the connecting rod 342 pass through the limiting groove 3411 and are fixedly connected to the bottom of the sliding seat 32 and the gravity ball 343 respectively.

[0078] In order to make the gravity ball 343 drive the support rod to rise from fast to slow and make the adjustment of the boarding platform 1 not particularly rapid, a damper 4 is also provided in the accommodating cavity to buffer the movement of the gravity ball 343 away from the inner center of the equilateral triangle.

[0079] Reference Figure 2 and Figure 3 The switching mechanism includes a locking component 6 for locking the position of the gravity ball 343 when the active compensation mechanism 11 is working, and an adjusting component 5 for freely adjusting the length of the support column 31 when the active compensation mechanism 11 is working;

[0080] When the active compensation mechanism 11 is paralyzed, the locking assembly 6 unlocks the gravity ball 343, and the adjusting assembly 5 fixes the length of the support column 31.

[0081] There are multiple groups of adjustment components 5 corresponding to different heights of the support column 31, and two groups of adjustment components 5 are provided on each support column 31. Figure 2 and Figure 3 Each set of adjustment components 5 includes a clamp 51, a magnetic plate 52, a connecting rod 53, an elastic member 54, a small electromagnet 55 and a mounting tube 56. The support column 31 includes a telescopic column 311 and a fixed tube 312. The telescopic column 311 is slidably installed in the fixed tube 312, and the end extending out of the fixed tube 312 is hinged to the bottom of the boarding platform 1. The bottom of the fixed tube 312 is movably connected to the end connected to the rotating rod 331 and the pulling rod 332.

[0082] A plurality of slots 3111 adapted to the clamping member 51 are provided on the side wall of the telescopic column 311 at intervals along the length direction. The mounting tube 56 is fixedly mounted on the side wall of the fixing tube 312. The clamping member 51 adopts a clamping plate. The clamping member 51 is slidably mounted in the side wall of the fixing tube 312. The magnetic plate 52 is slidably mounted in the mounting tube 56. Both ends of the connecting rod 53 are respectively connected and fixed to the clamping member 51 and the magnetic plate 52.

[0083] The elastic member 54 is a spring, which is disposed in the mounting tube 56 and is used to drive the clamp member 51 to move into the slot 3111 . The small electromagnet 55 is installed in the mounting tube 56 and is located on the side of the magnetic plate 52 away from the connecting rod 53 .

[0084] The locking assembly 6 includes large electromagnets 61 installed on both sides of the gravity ball 343 . The length direction of the large electromagnets 61 extends along the moving direction of the gravity ball 343 .

[0085] Reference Figure 5 and Figure 6 In order to enable the gravity ball 343 on the lifting side to assist the gravity ball 343 on the tilting side in adjusting the horizontality, a pulling mechanism 7 for pulling each other is provided between the gravity balls 343. When one of the gravity balls 343 moves away from the inner direction of the equilateral triangle, the gravity ball 343 can drive the other gravity balls 343 to move toward the inner direction of the equilateral triangle under the action of the pulling mechanism 7. The pulling mechanism 7 is provided with an obstruction mechanism 8 for obstructing the movement of the gravity ball 343 toward the inner direction of the equilateral triangle.

[0086] Reference Figure 5 and Figure 6 The pulling mechanism 7 includes a pulling rope 71 and a first guide member 72. The pulling rope 71 is an elastic rope with a certain elasticity. The pulling rope 71 includes a plurality of pulling parts 711. One end of each pulling part 711 is fixedly connected to the corresponding gravity ball 343, and the other end is fixed to each other.

[0087] The first guide member 72 includes a guide seat and a guide wheel rotatably installed on the guide seat. The first guide member 72 is symmetrically installed with two groups. The two guide wheels can guide the guide part. The first guide member 72 is provided with multiple groups corresponding to each pulling part 711. Each first guide member 72 is located near the mutually fixed end of the pulling part 711 and can pull and guide each pulling part 711.

[0088] Reference Figure 5 and Figure 6 The obstruction mechanism 8 includes a fixed rod 81, a second guide member 82 and a torsion spring for limiting the rotation of the second guide member 82. The fixed rod 81, the second guide member 82 and the torsion spring are provided in multiple groups corresponding to each gravity ball 343. Each fixed rod 81 is fixed on the corresponding gravity ball 343. The second guide member 82 can guide the fixed rod 81. The torsion spring can obstruct the movement of the pulling part 711 when the pulling part 711 moves toward the direction close to the center of the regular polygon.

[0089] When one of the gravity balls 343 moves toward the tilting side, it will drive the other gravity balls 343 to move toward the center of the equilateral triangle. At this time, the torsion spring will hinder the movement of the fixing rod 81 toward the center of the equilateral triangle through the second guide member 82, so that the other gravity balls 343 can assist in adjusting the embarkation platform 1, so that the embarkation platform 1 can be adjusted to a horizontal level before the rescue boat shakes to a different direction. The torsion spring can slow down the effect of the other gravity balls 343 so that the adjustment amount will not be too large and exceed the horizontal position.

[0090] The implementation principle of a multi-degree-of-freedom active compensation stable boarding device in an embodiment of the present application is as follows: when the rescue ship encounters extreme weather changes during the rescue process, the active compensation mechanism 11 on the boarding platform 1 fails or is completely paralyzed. In the present application, the active compensation mechanism 11 adopts a telescopic cylinder that is not self-locking when the power is off. At this time, the switching mechanism quickly unlocks the emergency compensation mechanism 3, so that the emergency compensation mechanism 3 can temporarily replace the active compensation mechanism 11 to adjust the horizontality of the boarding platform 1, and the emergency compensation mechanism 3 completely realizes its function by a mechanical structure, and is completely unaffected by electromagnetic damage and electrical damage under extreme weather.

[0091] Although the accuracy of this adjustment level is not as good as the adjustment accuracy of the active compensation mechanism 11, it can be used as an emergency adjustment of the active compensation mechanism 11 under extreme conditions, and can provide an extra layer of safety for the boarding platform 1 when encountering extreme environments, thereby increasing the safety factor of the rescue operation.

[0092] The above are all optional embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A multi-degree-of-freedom active compensation stable boarding device installed on a rescue ship, characterized in that: It comprises a embarkation platform (1) and an active compensation mechanism (11) arranged below the embarkation platform (1); a fixing seat (2) is installed on the rescue ship; the active compensation mechanism (11) is installed on the fixing seat (2) and is used to adjust the level of the embarkation platform (1); The fixing seat (2) is also provided with an emergency compensation mechanism (3) for adjusting the level of the boarding platform (1) when the active compensation mechanism (11) fails, and the emergency compensation mechanism (3) is provided with a switching mechanism for enabling the active compensation mechanism (11) and the emergency compensation mechanism (3) to work independently without interfering with each other; The emergency compensation mechanism (3) comprises a plurality of support columns (31) for supporting the bottom of the embarkation platform (1), a plurality of slide seats (32) slidably mounted on the fixing seat (2) corresponding to each of the support columns (31), a lifting mechanism (33) for causing the slide seats (32) to drive the corresponding support columns (31) to be lifted or pulled down during the sliding process, and a sliding mechanism (34) for driving the slide seats (32) to slide along a fixed direction when the rescue boat is shaken; The support column (31), the lifting mechanism (33), the slide seat (32) and the sliding mechanism (34) are correspondingly arranged in multiple groups, the connecting lines between the slide seats (32) form a regular polygon, and each slide seat (32) can slide along the connecting line between the vertex and the center of the regular polygon.

2. A multi-degree-of-freedom active compensation stable boarding device according to claim 1, characterized in that: The lifting mechanism (33) comprises a rotating rod (331), a pulling rod (332) and a limiting rod (333); one end of the rotating rod (331) is rotatably connected to the sliding seat (32); one end of the pulling rod (332) and one end of the limiting rod (333) are rotatably mounted on the fixed seat (2) respectively; One end of the pulling rod (332) away from the fixed seat (2) is rotatably connected to the middle of the rotating rod (331), one end of the limiting rod (333) away from the fixed seat (2) is rotatably connected to one end of the rotating rod (331) away from the sliding seat (32), and one end of the supporting column (31) away from the boarding platform (1) is rotatably installed at the connection between the rotating rod (331) and the pulling rod (332); When the sliding mechanism (34) drives the sliding seat (32) to move away from the inner center of the regular polygon, the rotating rod (331) drives the supporting column (31) to be lifted; when the sliding mechanism (34) drives the sliding seat (32) to move closer to the inner center of the regular polygon, the rotating rod (331) drives the supporting column (31) to be pulled down.

3. A multi-degree-of-freedom active compensation stable boarding device according to claim 2, characterized in that: The sliding mechanism (34) comprises a positioning plate (341), a connecting rod (342) and a gravity ball (343); a plurality of accommodating cavities are provided in the fixing seat (2) corresponding to each of the sliding mechanisms (34); the positioning plate (341) is fixed on the inner wall of the accommodating cavity; and the gravity ball (343) is movably arranged in the accommodating cavity below the positioning plate (341); The positioning plate (341) is provided with a limiting groove (3411) parallel to the line connecting the vertex and the center of the regular polygon. The two ends of the connecting rod (342) pass through the limiting groove (3411) and are fixedly connected to the bottom of the sliding seat (32) and the gravity ball (343) respectively.

4. The multi-degree-of-freedom active compensation stable boarding device according to claim 3, characterized in that: A damper (4) is also provided in the accommodating cavity for buffering the movement of the gravity ball (343) away from the inner center of the regular polygon.

5. The multi-degree-of-freedom active compensation stable boarding device according to claim 3, characterized in that: The switching mechanism comprises a locking component (6) for locking the position of the gravity ball (343) when the active compensation mechanism (11) is working, and an adjusting component (5) for freely adjusting the length of the support column (31) when the active compensation mechanism (11) is working; When the active compensation mechanism (11) is paralyzed, the locking component (6) unlocks the gravity ball (343), and the adjustment component (5) fixes the length of the support column (31).

6. The multi-degree-of-freedom active compensation stable boarding device according to claim 5, characterized in that: The adjustment components (5) are provided in multiple groups corresponding to different heights of the support column (31), and each group of the adjustment components (5) includes a clamp (51), a magnetic attraction plate (52), a connecting rod (53), an elastic member (54), a small electromagnet (55) and a mounting tube (56). The support column (31) includes a telescopic column (311) and a fixed tube (312). The telescopic column (311) is slidably installed in the fixed tube (312), and the end extending out of the fixed tube (312) is hinged to the bottom of the boarding platform (1), and the bottom of the fixed tube (312) is movably connected to the end connected to the rotating rod (331) and the pulling rod (332); A plurality of slots (3111) adapted to the clamp (51) are provided on the side wall of the telescopic column (311) at intervals along the length direction; the mounting tube (56) is fixedly mounted on the side wall of the fixing tube (312); the clamp (51) is slidably mounted in the side wall of the fixing tube (312); the magnetic plate (52) is slidably mounted in the mounting tube (56); the two ends of the connecting rod (53) are respectively connected and fixed to the clamp (51) and the magnetic plate (52); the elastic member (54) is arranged in the mounting tube (56) and is used to drive the clamp (51) to move into the slot (3111); the small electromagnet (55) is installed in the mounting tube (56) and is located on the side of the magnetic plate (52) away from the connecting rod (53).

7. The multi-degree-of-freedom active compensation stable boarding device according to claim 5, characterized in that: The locking assembly (6) comprises large electromagnets (61) installed on both sides of the gravity ball (343). The large electromagnets (61) are capable of adsorbing the gravity ball (343). The length direction of the large electromagnets (61) is extended along the moving direction of the gravity ball (343).

8. The multi-degree-of-freedom active compensation stable boarding device according to claim 3, characterized in that: A pulling mechanism (7) for pulling each other is also provided between the gravity balls (343). When one of the gravity balls (343) moves away from the inner direction of the regular polygon, the gravity ball (343) can drive the other gravity balls (343) to move towards the inner direction of the regular polygon under the action of the pulling mechanism (7). The pulling mechanism (7) is provided with an obstruction mechanism (8) for obstructing the movement of the gravity ball (343) towards the inner direction of the regular polygon.

9. The multi-degree-of-freedom active compensation stable boarding device according to claim 8, characterized in that: The pulling mechanism (7) comprises a pulling rope (71) and a first guide member (72), wherein the pulling rope (71) comprises a plurality of pulling parts (711), wherein one end of each pulling part (711) is fixedly connected to the corresponding gravity ball (343), and the other end is fixed to each other, and a plurality of groups of the first guide members (72) are provided corresponding to each pulling part (711), and each of the first guide members (72) is located near the mutually fixed end of the pulling part (711) and can pull and guide each of the pulling parts (711).

10. The multi-degree-of-freedom active compensation stable boarding device according to claim 9, characterized in that: The obstruction mechanism (8) comprises a fixed rod (81), a second guide member (82) and a torsion spring for limiting the rotation of the second guide member (82); the fixed rod (81), the second guide member (82) and the torsion spring are provided in multiple groups corresponding to each of the gravity balls (343); each of the fixed rods (81) is fixed on the corresponding gravity ball (343); the second guide member (82) can guide the fixed rod (81); and the torsion spring can obstruct the movement of the pulling part (711) when the pulling part (711) moves in a direction close to the center of the regular polygon.

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