Stay cable control method of cable-stayed springboard

Abstract

The invention relates to a stay cable control method for a cable-stayed gangplank, belongs to the technical field of ship gangplanks, and solves the problems that the posture of an existing gangplank cannot be controlled in real time, and the gangplank shakes along with a ship body. A cable-stayed gangplank can be installed on a ship body and comprises a cable-stayed support, a cable-stayed cable, a control cabinet, a steel cable winding device, a first tilt angle sensor, a second tilt angle sensor, a gangplank base and a gangplank body. The cable-stayed support is in an L shape, pulleys are fixed to the three vertexes of the L shape, and the number of the cable-stayed cables is six. According to the cable-stayed gangplank, the load capacity of the gangplank body can be enhanced under the traction of the six stay cables, and meanwhile, the stability of the gangplank body can be improved under the conditions that the gangplank body shakes by sea waves and the like by dynamically adjusting the lengths of the stay cables; through real-time control of the springboard body, the ability that the springboard body does not shake along with a ship body is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of ship gangplanks, and in particular to a method for controlling a stay cable of a stay-type gangplank. Background Art

[0002] As the main means of boarding and disembarking a ship when it is moored, a gangplank needs to be set up after the ship docks to facilitate people to get on and off the ship or to carry cargo. Gangplanks are sometimes also set up between ships as a passage between two ships. Gangplanks are generally made of wood, bamboo, or stainless steel, and are no longer than 15 meters. When a ship is moored at a shore without an artificial dock, because the draft of the ship exceeds the water depth, it can only be moored at a shallow shoal a certain distance from the shore. At this time, the length of the conventional gangplank cannot meet the requirements, and it can only be passed by ferrying or wading, with low traffic efficiency. When cargo is supplied or personnel pass between two ships at sea, a certain safety distance must be maintained to avoid collisions between ships, and conventional gangplanks also cannot meet the needs.

[0003] Therefore, how to increase the length of the springboard and realize real-time control of the springboard's posture through dynamic control of the cables so that the springboard does not sway with the hull and always remains stable is a problem to be solved. Summary of the invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide a method for controlling the stay cables of a cable-stayed gangway, so as to solve the problem that the posture of the existing gangway cannot be controlled in real time and the gangway sways with the hull.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A diagonal-stayed gangway device, which can be installed on a hull, comprises a diagonal-stayed bracket, a diagonal cable, a control cabinet, a cable winch, a first inclination sensor, a second inclination sensor, a gangway base and a gangway body; the diagonal-stayed bracket is L-shaped, and pulleys are fixed at the three vertices of the L-shape; the number of the diagonal cables is 6, and the two ends of the diagonal cables are respectively fixed on the gangway body and the cable winch; the middle part of the diagonal cable is in contact with the pulley, and the gangway body and the gangway base are connected by a ball joint structure.

[0007] Furthermore, the six inclined cables are symmetrically arranged on both sides of the springboard body, and every two symmetrical inclined cables form a group.

[0008] Furthermore, the control cabinet includes 1 inclined-stayed controller and 6 motor controllers.

[0009] The inclined-stayed controller is capable of controlling six of the motor controllers, and the motor controllers have the function of identifying the tension of the inclined-stayed cables to which they are connected.

[0010] Furthermore, the first inclination sensor is installed on the springboard body.

[0011] Furthermore, the second inclination sensor is installed on the inclined support.

[0012] Furthermore, the control cabinet can individually control each of the wire rope winches.

[0013] Furthermore, it also includes a handheld controller, which can transmit instructions to the control cabinet.

[0014] Furthermore, the springboard body is an integrated plate-like structure.

[0015] Furthermore, the springboard body is a telescopic plate-like structure.

[0016] Furthermore, the springboard body is a foldable plate-like structure.

[0017] Furthermore, the diagonal support is a folding structure.

[0018] A method for controlling a stay cable of a stay-type springboard, the specific steps comprising:

[0019] Step 1, connecting the inclined cable and the springboard body;

[0020] Control the cable to be released to the specified length and lock the length of the cable, and install the six cables obliquely to the six connection points of the springboard body;

[0021] Step 2, fix the gangway base and the hull, and connect the gangway base and the gangway body;

[0022] Step 3, controlling the extension length of the inclined cable to realize the deployment and posture control of the springboard body;

[0023] Define the various points of the inclined springboard:

[0024] a- The force bearing point of the inclined cable at the pulley at the middle vertex of the L-shaped inclined support;

[0025] b- The force point of the cable at the top pulley of the L-shaped inclined bracket away from the hull;

[0026] c-the force point where the springboard body rotates relative to the springboard base;

[0027] d- The L-shaped stay bracket is fixed to the force bearing point of the stay cable at the top pulley of the hull;

[0028] e-intersection point of the extension line of the springboard body and ad;

[0029] f, g, h - represent the connection points of the three inclined cables from far to near the hull and the main body of the gangway;

[0030] z- is the center of gravity of the springboard;

[0031] j, k, l, m - represent the four points of the springboard body;

[0032] j, n, p, m - represent the projections of the four points of the springboard body on the YZ plane;

[0033] A X -The inclination angle of the diagonal support in the X direction;

[0034] A Y -The inclination angle of the inclined support in the Y direction;

[0035] B X -The inclination angle of the diagonal support in the X direction;

[0036] B Y -The inclination angle of the inclined support in the Y direction;

[0037] L1, L2, L3, R1, R2, R3-the lengths that each cable needs to extend;

[0038] L1 and R1 are the first group of cables where the bh section is located; L2 and R2 are the second group of cables where the bg section is located; L3 and R3 are the third group of cables where the bf section is located;

[0039] F1, F2, F3-the magnitude of the force that each group of inclined cables should be subjected to.

[0040] Step 3.1, control the extension length of the inclined cable. According to the spatial relationship between the target posture of the bridge body and the current angle of the portal frame, calculate the length of each cable that should be released in order to achieve the control target. As the posture or length of the springboard changes, calculate the theoretical length of the cable in real time, and calculate the current theoretical length and the theoretical length at the previous moment. When the length difference ΔL exceeds 40mm, start the adjustment, and the adjustment length is ΔL;

[0041] Control the extension lengths of each stay cable: L1, L2, L3, R1, R2, R3;

[0042] The first inclination sensor is used to obtain the pitch angle and lateral inclination angle of the springboard body; the second inclination sensor is used to obtain the posture of the inclined support; the extended length of the springboard body is obtained from the unfolded state of the springboard body; the motor controller is used to obtain the force of each cable;

[0043] The XY plane is parallel to the sea level. The X direction represents the extension direction of the springboard body, and the Y direction represents the extension direction perpendicular to the springboard body. Since the hull structure is fixed, ∠eab, ∠edc, dc, and ad can be measured; the inclination angle A of the inclined bracket in the X direction can be obtained by the second inclination sensor. X and the inclination angle A in the Y direction Y The first inclination sensor can be used to obtain the inclination angle B of the springboard body in the X direction. X and the inclination angle B in the Y direction Y ;

[0044] According to the unfolding state of the springboard body, hc, hg, and gf can be known;

[0045] When the springboard body does not tilt, the lengths of the three groups of cables are bh, bg, and bf respectively;

[0046] When the main body of the springboard tilts, adjust the retraction and extension of the inclined cable;

[0047] The length of the cable after retraction and extension is calculated by the following method:

[0048] ∠ecd=A X -B X

[0049] ec=(dc*sin∠edc) / sin∠ced

[0050] ed=(dc*sin∠ecd) / sin∠ced

[0051] ea=ad-ed

[0052] eb 2 =ea 2 +ab 2 -2ab*ea*cos∠eab

[0053] sin∠aeb=(ab*sin∠eab) / eb

[0054] sin∠dec=(ec*sin∠ecd) / dc

[0055] ∠bec=180°-∠aeb-∠dec

[0056] bc 2 =eb 2 +ec 2 -2eb*ec*cos∠bec

[0057] Sin∠bce=(eb*sin∠bec) / bc

[0058] ∠bch=180°-∠bce

[0059] bh 2 =bc 2 +ch 2 -2bc*ch*cos∠bch

[0060] bg 2 =bh 2 +hg 2 -2bh*hg*cos∠bhg

[0061] bf 2 =bg 2 +gf 2 -2bg*gf*cos∠bgf

[0062] lp=jk*sinA Y

[0063] Δx1=lp / sin(B X +∠bhc)

[0064] Δx2=lp / sin(B X +∠bgc)

[0065] Δx2=lp / sin(B X +∠bfc)

[0066] L1=bh

[0067] L2=bg

[0068] L3=bf

[0069] R1=bh+Δx1

[0070] R2=bg+Δx2

[0071] R3=bf+Δx3;

[0072] Step 3.2, controlling the length of the inclined cable and monitoring the force of the inclined cable;

[0073] The springboard base only generates friction with the springboard body during the swinging process of the springboard body, which can be ignored. Therefore, only the tension of the inclined cable and the gravity of the springboard body are considered in the calculation.

[0074] Step 3.3, when the force on the inclined cable exceeds the preset force range, the inclined cable is controlled by taking the force on the inclined cable as the control amount;

[0075] In order to keep the cable taut, the tension of each cable cannot be less than the minimum force to keep the cable taut; at the same time, for safety and to prevent the bridge from tilting, it is necessary to ensure that the tension of each cable is less than 0.8 times the force that the cable group should have, otherwise the cables will be released; in order to ensure that the force of a group of cables does not exceed the range, it is necessary to ensure that the tension of each group of cables is less than 1.5 times the force that the cable group should have, otherwise the cables will be released until the total force of the cable group is less than or equal to the force value;

[0076] θ 1 ,θ 2 ,θ 3 are the angles between the first group of inclined cables, the second group of inclined cables, the third group of inclined cables and the gravity direction of the springboard body;

[0077] β 1 , β 2 , β 3 are the angles between the first group of inclined cables, the second group of inclined cables, the third group of inclined cables and the normal direction of the springboard body;

[0078] β g is the angle between gravity and the normal of the springboard;

[0079] The force on the cable is calculated using the following equation:

[0080] θ 1 =∠bhc+A X

[0081] θ 2 =∠bgc+A X

[0082] θ 3 =∠bfc+A X

[0083] β 2 =θ 2 +90°

[0084] β 3 =θ 3 +90°

[0085] β g =A X +90°

[0086] F1cosθ 1 +F2cosθ 2 +F3cosθ 3 =G

[0087] F1sinθ 1 +F2sinθ 2 +F3sinθ 3 =0;

[0088] F2*hg*cosβ 2 +F3*hf*cosβ 3 +G*hz*cosβ g =0.

[0089] Step 4, controlling the posture of the springboard body after deployment;

[0090] After the main body of the springboard is built, it is also necessary to maintain its posture during the passage of personnel or the transportation of goods. The force distribution after the completion of the construction is that 30% of the force of the third group of inclined cables in the unfinished state is borne by the docked supply ship or the shore, and the rest remains unchanged. At the same time, unlike the attitude control in step 3, the control target of the pitch direction of the springboard body is "follow-up" control. The "follow-up" method is: real-time monitoring of the force of the third group of inclined cables. When it is less than 20% of the preset force of the third group of inclined cables (the calculation method is shown in the calculation of cable force), according to the flexural characteristics of the springboard, the end of the springboard is lifted by 50mm, corresponding to the pitch angle arctg (0.05 / L), where L is the extension length of the springboard body.

[0091] The beneficial effects of the above technical solution are as follows:

[0092] 1. The springboard body can enhance its load capacity under the traction of 6 inclined cables. At the same time, by dynamically adjusting the length of the inclined cables, the springboard body can increase its stability in the face of wave shaking, and the springboard body can be controlled in real time to prevent it from shaking with the hull.

[0093] 2. In the face of special situations such as strong winds, the load of the inclined cable varies greatly. The present application analyzes the force of the inclined cable in real time. When the force of the inclined cable is greater than the preset force range, dynamic adjustment is performed to ensure that the force of the inclined cable is always within a safe range. Therefore, the springboard body of the present application can bear a larger load.

[0094] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0096] Figure 1It is a schematic diagram of using the inclined-stayed gangway of the present invention during replenishment at sea.

[0097] Figure 2 It is a schematic diagram of the inclined-stayed gangway of the present invention when berthing without a dock.

[0098] Figure 3 It is a schematic diagram of the positions of the inclined-stayed springboard of the present invention.

[0099] Figure 4 It is a top view of the springboard body of the present invention in the YZ plane.

[0100] Figure 5 It is a top view of the inclined-stayed springboard of the present invention.

[0101] Figure 6 Flow chart of the cable-stayed cable control method.

[0102] Reference numerals

[0103] 1. Inclined support, 2. Inclined cable, 3. Control cabinet, 4. Cable winch, 5. First inclination sensor, 6. Second inclination sensor, 7. Springboard base, 8. Springboard body. DETAILED DESCRIPTION

[0104] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0105] Example 1

[0106] A specific embodiment of the present invention discloses a diagonal gangway, which can be installed on a ship, such as Figure 1 and Figure 2 As shown, it includes an inclined bracket 1, an inclined cable 2, a control cabinet 3, a cable hoisting device 4, a first inclination sensor 5, a second inclination sensor 6, a springboard base 7 and a springboard body 8; the inclined bracket 1 is L-shaped, and pulleys are fixed at the three vertices of the L-shape. The number of the inclined cables 2 is 6, and the two ends of the inclined cables 2 are respectively fixed on the springboard body 8 and the cable hoisting device 4, the middle part of the inclined cable 2 is in contact with the pulley, and the springboard body 8 is connected to the springboard base 7 by a ball joint structure.

[0107] Inclined support 1: There are two L-shaped inclined support 1, and each inclined support 1 has fixed pulleys at three vertices. The main function of the inclined support 1 is to provide support and force diversion for the inclined cable 2.

[0108] Cable 2: There are six cables 2, which are respectively fixed on the springboard body 8 and the separate cable winch 4. The middle of the cable 2 is in contact with the pulley. By tightening or loosening the cable 2, the inclination angle and posture of the springboard body 8 can be adjusted.

[0109] The gangway body 8 is connected to the gangway base 7 via a ball joint structure. The ball joint structure can provide a certain degree of freedom so that the gangway body 8 can maintain balance when the hull is tilted.

[0110] Preferably, Figure 5 As shown, the six inclined cables 2 are symmetrically arranged on both sides of the springboard body 8, and every two symmetrical inclined cables 2 form a group.

[0111] Preferably, the control cabinet 3 includes 1 inclined-stayed controller and 6 motor controllers.

[0112] The inclined-stayed controller can control the six motor controllers, and the motor controller has the function of identifying the tension of the inclined-stayed cable 2 to which it is connected.

[0113] Preferably, the first inclination sensor 5 is mounted on the springboard body 8 .

[0114] Preferably, the second inclination sensor 6 is mounted on the diagonal support 1 .

[0115] Preferably, the control cabinet 3 can control each of the wire rope winches 4 individually.

[0116] Preferably, a handheld controller is also included, and the handheld controller can transmit instructions to the control cabinet 3.

[0117] Preferably, the springboard body 8 is an integrated plate-like structure.

[0118] Preferably, the springboard body 8 is a telescopic plate-like structure.

[0119] Preferably, the springboard body 8 is a foldable plate-like structure.

[0120] The springboard body 8 can bear the transport load when it has different structures.

[0121] Preferably, the diagonal support 1 is a folding structure.

[0122] When the inclined-stayed bracket 1 is of a folding structure, the inclined-stayed bracket 1 of the folding structure can reduce the space occupied by the hull when the inclined-stayed gangway is not in use.

[0123] Example 2

[0124] Another specific embodiment of the present invention discloses a method for controlling the cable of an inclined-stayed springboard, using the inclined-stayed springboard of the first embodiment, such as Figure 6 As shown, the specific steps include:

[0125] Step 1, connecting the stay cable 2 and the springboard body 8;

[0126] Control the inclined cables 2 to release to a specified length and lock the length of the inclined cables 2, and obliquely install the six inclined cables 2 on the six connection points of the springboard body 8;

[0127] Step 2, fix the gangway base 7 and the hull, and connect the gangway base 7 and the gangway body 8;

[0128] Step 3, controlling the extension length of the inclined cable 2 to realize the deployment and posture control of the springboard body 8;

[0129] like Figure 3 and Figure 4 As shown in the figure, define the various points of the inclined springboard:

[0130] a-the stress point of the inclined cable 2 at the pulley at the middle vertex of the L-shaped inclined bracket 1;

[0131] b- The force point of the inclined cable 2 at the top pulley of the L-shaped inclined bracket 1 away from the hull;

[0132] c-the force point at which the springboard body 8 rotates relative to the springboard base 7;

[0133] d- the force bearing point of the inclined cable 2 of the L-shaped inclined bracket 1 fixed to the top pulley of the hull;

[0134] e-intersection point of the extension line of the springboard body 8 and ad;

[0135] f, g, h-represent the connection points of the three inclined cables 2 with the gangway body 8 from far to near the hull respectively;

[0136] z- is the center of gravity of the springboard;

[0137] j, k, l, m-represent four points of the springboard body 8;

[0138] j, n, p, m-represent the projections of four points of the springboard body 8 on the YZ plane;

[0139] AX-inclination angle of the inclined support 1 in the X direction;

[0140] AY-inclination angle of the inclined support 1 in the Y direction;

[0141] BX-inclination angle of the inclined support 1 in the X direction;

[0142] BY-inclination angle of the inclined support 1 in the Y direction;

[0143] L1, L2, L3, R1, R2, R3-the lengths that each stay cable 2 needs to extend;

[0144] L1 and R1 are the first group of inclined cables 2 where the bh section is located; L2 and R2 are the second group of inclined cables 2 where the bg section is located; L3 and R3 are the third group of inclined cables 2 where the bf section is located;

[0145] F1, F2, F3-the magnitude of the force that each group of inclined cables 2 should be subjected to.

[0146] Step 3.1, control the extension length of the inclined cable. According to the spatial relationship between the target posture of the bridge body and the current angle of the portal frame, calculate the length of each cable that should be released in order to achieve the control target. As the posture or length of the springboard changes, calculate the theoretical length of the cable in real time, and calculate the current theoretical length and the theoretical length at the previous moment. When the length difference ΔL exceeds 40mm, start the adjustment, and the adjustment length is ΔL;

[0147] Control the extension lengths of each stay cable: L1, L2, L3, R1, R2, R3;

[0148] The first inclination sensor is used to obtain the pitch angle and lateral inclination angle of the springboard body; the second inclination sensor is used to obtain the posture of the inclined support; the extended length of the springboard body is obtained from the unfolded state of the springboard body; the motor controller is used to obtain the force of each cable;

[0149] The XY plane is parallel to the sea level. The X direction represents the extension direction of the springboard body, and the Y direction represents the extension direction perpendicular to the springboard body. Since the hull structure is fixed, ∠eab, ∠edc, dc, and ad can be measured; the inclination angle A of the inclined bracket in the X direction can be obtained by the second inclination sensor. X and the inclination angle A in the Y direction Y The first inclination sensor can be used to obtain the inclination angle B of the springboard body in the X direction. X and the inclination angle B in the Y direction Y ;

[0150] According to the unfolding state of the springboard body, hc, hg, and gf can be known;

[0151] When the springboard body does not tilt, the lengths of the three groups of cables are bh, bg, and bf respectively; when the springboard body tilts, the retraction and extension of the inclined cables are adjusted;

[0152] The length of the cable after retraction and extension is calculated by the following method:

[0153] ∠ecd=A X -B X

[0154] ec=(dc*sin∠edc) / sin∠ced

[0155] ed=(dc*sin∠ecd) / sin∠ced

[0156] ea=ad-ed

[0157] eb 2 =ea 2 +ab 2 -2ab*ea*cos∠eab

[0158] sin∠aeb=(ab*sin∠eab) / eb

[0159] sin∠dec=(ec*sin∠ecd) / dc

[0160] ∠bec=180°-∠aeb-∠dec

[0161] bc 2 =eb 2 +ec 2 -2eb*ec*cos∠bec

[0162] Sin∠bce=(eb*sin∠bec) / bc

[0163] ∠bch=180°-∠bce

[0164] bh 2 =bc 2 +ch 2 -2bc*ch*cos∠bch

[0165] bg 2 =bh 2 +hg 2 -2bh*hg*cos∠bhg

[0166] bf 2 =bg 2 +gf 2 -2bg*gf*cos∠bgf

[0167] lp=jk*sinA Y

[0168] Δx1=lp / sin(B X +∠bhc)

[0169] Δx2=lp / sin(B X +∠bgc)

[0170] Δx2=lp / sin(B X +∠bfc)

[0171] L1=bh

[0172] L2=bg

[0173] L3=bf

[0174] R1=bh+Δx1

[0175] R2=bg+Δx2

[0176] R3=bf+Δx3;

[0177] Step 3.2, controlling the length of the inclined cable and monitoring the force of the inclined cable;

[0178] The springboard base only generates friction with the springboard body during the swinging process of the springboard body, which can be ignored. Therefore, only the tension of the inclined cable and the gravity of the springboard body are considered in the calculation.

[0179] Step 3.3, when the force on the inclined cable exceeds the preset force range, the inclined cable is controlled by taking the force on the inclined cable as the control amount;

[0180] In order to keep the cable taut, the tension of each cable cannot be less than the minimum force to keep the cable taut; at the same time, for safety and to prevent the bridge from tilting, it is necessary to ensure that the tension of each cable is less than 0.8 times the force that the cable group should have, otherwise the cables will be released; in order to ensure that the force of a group of cables does not exceed the range, it is necessary to ensure that the tension of each group of cables is less than 1.5 times the force that the cable group should have, otherwise the cables will be released until the total force of the cable group is less than or equal to the force value;

[0181] θ 1 ,θ 2 ,θ 3 are the angles between the first group of inclined cables, the second group of inclined cables, the third group of inclined cables and the gravity direction of the springboard body;

[0182] β 1 , β 2 , β 3 are the angles between the first group of inclined cables, the second group of inclined cables, the third group of inclined cables and the normal direction of the springboard body;

[0183] β g is the angle between gravity and the normal of the springboard;

[0184] The force on the cable is calculated using the following equation:

[0185] θ 1 =∠bhc+A X

[0186] θ 2 =∠bgc+A X

[0187] θ3 =∠bfc+A X

[0188] β 2 =θ 2 +90°

[0189] β 3 =θ 3 +90°

[0190] β g =A X +90°

[0191] F1cosθ 1 +F2cosθ 2 +F3cosθ 3 =G

[0192] F1sinθ 1 +F2sinθ 2 +F3sinθ 3 =0;

[0193] F2*hg*cosβ 2 +F3*hf*cosβ 3 +G*hz*cosβ g =0.

[0194] Step 4, controlling the posture of the springboard body after deployment;

[0195] After the main body of the springboard is built, it is also necessary to maintain the posture during the passage of personnel or the transportation of goods. The force distribution after the completion of the construction is that 30% of the force of the third group of inclined cables in the unfinished state is borne by the docked supply ship or the shore, and the rest remains unchanged. At the same time, different from step 3, the control target of the pitch direction of the springboard body is "follow-up" control. The "follow-up" method is: real-time monitoring of the force of the third group of inclined cables. When it is less than 20% of the preset force of the third group of inclined cables (the calculation method sees the calculation of cable force), according to the flexural characteristics of the springboard, the end of the springboard is lifted by 50mm, corresponding to the pitch angle arctg (0.05 / L), where L is the extension length of the springboard body.

[0196] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A diagonal gangway, which can be installed on a ship hull, characterized in that: The invention comprises an inclined bracket (1), an inclined cable (2), a control cabinet (3), a steel cable hoisting device (4), a first inclination sensor (5), a second inclination sensor (6), a springboard base (7) and a springboard body (8); the inclined bracket (1) is L-shaped, pulleys are fixed at the three vertices of the L-shape, the number of the inclined cables (2) is 6, and the two ends of the inclined cables (2) are respectively fixed on the springboard body (8) and the steel cable hoisting device (4), the middle part of the inclined cable (2) is in contact with the pulley, and the springboard body (8) and the springboard base (7) are connected by a ball joint structure.

2. The inclined springboard according to claim 1, characterized in that: The six inclined cables (2) are symmetrically arranged on both sides of the springboard body (8), and every two symmetrical inclined cables (2) form a group.

3. The inclined springboard according to claim 1, characterized in that: The control cabinet (3) comprises one inclined-stayed controller and six motor controllers.

4. The inclined springboard according to claim 1, characterized in that: The first inclination sensor (5) is mounted on the springboard body (8).

5. The inclined springboard according to claim 1, characterized in that: The second inclination sensor (6) is mounted on the diagonal support (1).

6. The inclined springboard according to claim 1, characterized in that: The control cabinet (3) is capable of individually controlling each of the steel cable hoisting devices (4).

7. The inclined springboard according to claim 1, characterized in that: It also comprises a handheld controller, which can transmit instructions to the control cabinet (3).

8. The inclined springboard according to claim 1, characterized in that: The springboard body (8) is an integrated plate-shaped structure.

9. The inclined springboard according to claim 1, characterized in that: The springboard body (8) is a telescopic plate-shaped structure.

10. A method for controlling the stay cables of a stay-type gangway according to any one of claims 1 to 9, characterized in that: The specific steps include: Step 1, connecting the inclined cable (2) and the springboard body (8); Step 2, fixing the gangway base (7) and the hull, and connecting the gangway base (7) and the gangway body (8); Step 3, controlling the extension length of the inclined cable (2) to achieve the deployment and posture control of the springboard body; Step 4, controlling the posture of the springboard body (8) after being unfolded.

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