Compensation mechanism of bridge span type offshore lightering platform and compensation method thereof

Abstract

The invention relates to a compensation mechanism of a bridge span type offshore lightering platform and a compensation method of the compensation mechanism, belongs to the technical field of offshore lightering operation, and solves the problem that in the prior art, a lightering platform is poor in stability due to the influence of ship movement. The compensation mechanism comprises the six connecting plates and the kinematic pairs between the connecting plates, and the compensation mechanism can conduct motion compensation on swinging of the ship so as to maintain the stability of the lightering part; the compensation method comprises the following steps that S1, the lightering platform is connected with the ship platform; s2, the ship platform is subjected to six-degree-of-freedom swaying motion under the influence of sea surface fluctuation; according to the motion type of the ship platform, carrying out corresponding motion compensation on the swaying motion of the ship platform through a motion pair of the lightering platform; and S3, after the lightering operation is completed, the connection between the lightering platform and the ship platform is relieved. According to the invention, the compensation of the lightering platform on the swaying motion of the ship is realized, and the stability of lightering operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore transfer operations, and in particular to a compensation mechanism and a compensation method of a bridge-span offshore transfer platform. Background Art

[0002] Barge operation generally refers to the process of a RoRo ship docking at a wharf, buoy, or berthing platform, or a RoRo ship loading and unloading cargo, personnel, and vehicles with a barge or other small boat at an anchorage. When a ship is anchored at sea, it will be affected by factors such as wind, waves, currents, and surges, which will produce a six-degree-of-freedom coupled oscillation motion. Therefore, barge operation is difficult to achieve under high sea conditions.

[0003] As a tool for loading, unloading and transshipping cargo at sea, the transfer platform should compensate for the six-degree-of-freedom swaying motion between the ship and the platform and ensure the safety and stability of cargo loading.

[0004] Traditional offshore transshipment mainly uses two methods: gangway platform and crane loading. The former directly sets up a gangway between the hull and the berthing platform to achieve the transshipment of cargo, personnel and vehicles. This method cannot compensate for the multi-freedom movement of the hull, so it can only be used in extremely low sea conditions and calm environments. The latter uses the crane on the berthing platform to lift and transship cargo on board, which can only compensate for the single-degree-of-freedom movement of the hull's vertical swing. Its applicability to sea conditions is also poor, and the cost of crane transshipment is high, and the conditions for implementation are limited.

[0005] In summary, the existing technical solutions have the disadvantages of poor applicability to sea conditions, low safety, and complex implementation conditions. In view of the above problems, the present invention makes a new design for the offshore transfer platform and proposes a compensation mechanism and motion compensation method for a bridge-span transfer platform that is easy to use, highly safe, and can achieve full-degree-of-freedom compensation for hull motion under high sea conditions. Summary of the invention

[0006] In view of the above analysis, the present invention aims to provide a compensation mechanism and compensation method for a bridge-span offshore transfer platform, so as to solve the problem in the prior art that the transfer platform is affected by the movement of the hull and has poor stability.

[0007] The purpose of the present invention is mainly achieved through the following technical solutions:

[0008] A compensation mechanism for a bridge-span offshore transfer platform, comprising: a first connecting plate, a second connecting plate, a third connecting plate, a fourth connecting plate, a fifth connecting plate, a sixth connecting plate and a platform base; the platform base is connected to the first connecting plate through a first bearing; the first connecting plate and the second connecting plate are connected through a first hinge shaft; the second connecting plate is slidably connected to the third connecting plate; the third connecting plate and the fourth connecting plate are hinged through a second hinge shaft; the fourth connecting plate and the fifth connecting plate are rotatably connected through a second bearing; the fifth connecting plate and the sixth connecting plate are hinged through a third hinge shaft; the sixth connecting plate is provided with a connecting bearing for connecting to a ship platform, and the connecting bearing is plug-connected to a berthing protrusion on the ship platform.

[0009] Further, the first hinge axis is parallel to the second hinge axis; the center axis of the first bearing is perpendicular to the first hinge axis; the fourth connecting plate is arranged parallel to the fifth connecting plate, and the center axis of the second bearing is perpendicular to the second hinge axis; the center axis of the connecting bearing is perpendicular to the second hinge axis and the second bearing.

[0010] A motion compensation method for a bridge-span offshore transfer platform, using the compensation mechanism of the bridge-span offshore transfer platform to perform motion compensation; the compensation method comprises the following steps:

[0011] Step S1: Connecting the transfer platform to the ship platform;

[0012] Step S2: The ship platform is affected by the sea surface fluctuations and causes a six-degree-of-freedom swaying motion; according to the motion type of the ship platform, the swaying motion of the ship platform is compensated accordingly through the kinematic pair of the transfer platform;

[0013] Step S3: After the transfer operation is completed, the connection between the transfer platform and the ship platform is released.

[0014] Furthermore, in the step S1, the connecting bearing is aligned with the berthing protrusion, and the sixth connecting plate is rotated to move the connecting bearing downward and engage with the berthing protrusion at the same time, thereby completing the connection between the transfer platform and the ship platform; after the transfer platform is connected to the ship platform, the transfer platform is located on the side of the hull and perpendicular to the bow direction of the hull.

[0015] Furthermore, in step S2, the swaying center of the ship is taken as the origin O of the coordinate system, the bow direction of the ship is taken as the X-axis, the vertical upward direction is taken as the Z-axis, and the direction pointing to the left side of the ship according to the right-hand rule is taken as the Y-axis; the swaying motion of the ship platform (13) includes: rotation around the OX axis is the rolling motion; rotation around the OY axis is the pitching motion; rotation around the OZ axis is the bow rolling motion; translation along the OY axis is the lateral swing motion; translation along the OX axis is the pitching motion; and translation along the OZ axis is the vertical swing motion.

[0016] Furthermore, in step S2, the compensation method for the roll motion and heave motion of the hull is: the heave motion and roll motion of the hull are compensated by the first hinge axis between the first connecting plate and the second connecting plate, the second hinge axis between the third connecting plate and the fourth connecting plate, and the third hinge axis between the fifth connecting plate and the sixth connecting plate; when the hull rolls and heaves, the first connecting plate and the second connecting plate, the third connecting plate and the fourth connecting plate, and the fifth connecting plate and the sixth connecting plate all rotate relative to each other to compensate for the angular displacement of the hull around the OX direction or the linear displacement along the OZ direction.

[0017] Furthermore, in step S2, the compensation method for the pitching motion of the hull is: the pitching motion of the hull is compensated by the second bearing between the fourth connecting plate and the fifth connecting plate. When the hull pitches, the fourth connecting plate and the fifth connecting plate rotate relative to each other to compensate for the angular displacement of the hull along the OY direction.

[0018] Furthermore, in step S2, the compensating method for the bow rolling motion of the hull is: compensating for the bow rolling motion of the hull through the first bearing between the first connecting plate and the platform base, and the connecting bearing between the sixth connecting plate and the mooring platform; generating horizontal circumferential rotation between the first connecting plate and the platform base, and between the sixth connecting plate and the ship platform, to compensate for the angular displacement of the hull along the OZ direction.

[0019] Furthermore, in step S2, the compensation method for the hull's swaying motion is: the hull's swaying motion is compensated by the relative sliding of the second connecting plate and the third connecting plate; when the hull sways, the relative sliding of the second connecting plate and the third connecting plate compensates for the linear displacement of the hull along the OY direction.

[0020] Furthermore, in step S2, the compensation method for the longitudinal motion of the hull is as follows: there are gaps at the hinges between the first connecting plate and the second connecting plate, and between the third connecting plate and the fourth connecting plate, and the longitudinal displacement of the hull along the OX direction is compensated by the relative sliding between the first connecting plate and the second connecting plate, and between the third connecting plate and the fourth connecting plate along the direction of the first hinge axis and the second hinge axis.

[0021] The technical solution of the present invention can achieve at least one of the following effects:

[0022] 1. The compensation mechanism of the bridge-span offshore transfer platform of the present invention utilizes a first bearing, a second bearing, an articulated shaft, a connecting bearing and other motion mechanisms to passively compensate for the six-degree-of-freedom swaying motion of the ship caused by wind, waves and currents when the ship is anchored at sea, thereby maintaining the stability of the bridge-span offshore transfer platform.

[0023] 2. The compensation mechanism of the cross-bridge type offshore transfer platform of the present invention, during the transfer operation, the second connecting plate and the third connecting plate serve as the main structure of the transfer operation. The movement of the first bearing, the second bearing, the hinge shaft and the connecting bearing can improve the stability of the transfer main structure, solve the problems of poor adaptability to sea conditions, low safety and complex implementation conditions existing in the traditional transfer method, and greatly improve the safety and convenience of the transfer operation.

[0024] 3. The compensation method of the bridge-span transfer platform of the present invention can realize compensation for the six-degree-of-freedom swaying motion of the berthed vessel through the movement between various components; it improves the adaptability and safety of the transfer operation to sea conditions, and facilitates the transfer of goods, personnel and vehicles by the operating vessel under higher sea conditions.

[0025] 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

[0026] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0027] Figure 1 This is a schematic diagram of the structure of the compensation mechanism of the bridge-type offshore transfer platform according to Example 1 of the present invention;

[0028] Figure 2 This is a schematic diagram of the connection state of the bridge-type offshore transfer platform and the ship platform according to Embodiment 1 of the present invention;

[0029] Figure 3 This is an exploded view of the connection method between the sixth connecting plate and the ship platform in Example 1 of the present invention;

[0030] Figure 4 This is a schematic structural diagram of a first connecting plate according to Embodiment 1 of the present invention;

[0031] Figure 5 This is a schematic structural diagram of a second connecting plate according to Embodiment 1 of the present invention;

[0032] Figure 6 This is a schematic structural diagram of a third connecting plate according to Embodiment 1 of the present invention;

[0033] Figure 7 is a schematic structural diagram of a fourth connecting plate according to Embodiment 1 of the present invention;

[0034] Figure 8is a schematic structural diagram of a fifth connecting plate according to Embodiment 1 of the present invention;

[0035] Fig. 9 is a schematic structural diagram of the sixth connecting plate of Embodiment 1 of the present invention;

[0036] Fig.10 This is a schematic structural diagram of a berthing platform base according to Embodiment 1 of the present invention;

[0037] Fig.11 This is a schematic diagram of the connection state between the berthing platform base and the first connecting plate according to Embodiment 1 of the present invention;

[0038] Fig.12 This is a schematic diagram of the connection state of the first connecting plate and the second connecting plate in Example 1 of the present invention;

[0039] Fig.13 This is a schematic diagram of the connection state of the third connecting plate and the fourth connecting plate of Embodiment 1 of the present invention;

[0040] Fig.14 This is a schematic diagram of the connection state of the fifth connecting plate and the sixth connecting plate of Embodiment 1 of the present invention;

[0041] Fig.15 This is a flow chart of a compensation method for a bridge-type offshore transfer platform according to Embodiment 2 of the present invention;

[0042] Fig.16 Schematic diagram of the hull coordinate system and the six-degree-of-freedom swaying state of the hull according to Embodiment 2 of the present invention;

[0043] Fig.17 This is a schematic diagram of the compensation state of the offshore transfer platform for the swaying motion (displacement along the Y axis) of the berthed vessel according to Embodiment 2 of the present invention;

[0044] Fig.18 This is a schematic diagram of the compensation state of the offshore transfer platform for the berthed vessel's longitudinal motion (displacement along the X-axis) according to Embodiment 2 of the present invention;

[0045] Fig.19 This is a schematic diagram of the state of compensation of the rolling motion (rotation around the X-axis) of a berthed vessel by the offshore transfer platform according to Embodiment 2 of the present invention;

[0046] Fig. 20 This is a schematic diagram of the compensation state of the offshore transfer platform for the pitching motion (rotation around the Y axis) of the berthed vessel according to Embodiment 2 of the present invention;

[0047] Fig.21 It is a schematic diagram of the compensation state of the offshore transfer platform of Example 2 of the present invention for the bow pitch motion (rotation around the Z axis) of the berthed vessel.

[0048] Fig. 22This is an exploded view of the compensation mechanism of the bridge-type offshore transfer platform according to Embodiment 3 of the present invention;

[0049] Fig.23 This is a schematic diagram of the connection state between the berthing platform and the berthing platform base according to Embodiment 3 of the present invention;

[0050] Fig.24 This is a schematic diagram of a locking support on a berthing platform base in a rotated-out state according to Embodiment 3 of the present invention;

[0051] Fig.25 This is a schematic diagram of a state in which the locking rod of Example 3 of the present invention supports the sixth connecting plate;

[0052] Fig.26 The limiting state of the berthing platform base and the second connecting plate of Embodiment 3 of the present invention;

[0053] Fig. 27 Schematic diagram of the state when the locking pin of embodiment 3 of the present invention is connected to the fifth connecting plate.

[0054] Reference numerals:

[0055] 1-first connecting plate; 2-second connecting plate; 3-third connecting plate; 4-fourth connecting plate; 5-fifth connecting plate; 6-sixth connecting plate; 7-berthing platform base; 8-berthing platform; 9-locking support; 10-locking pull rod; 11-locking pin; 12-connecting bearing; 13-ship platform; 14-berthing protrusion;

[0056] 101-first bearing outer ring; 102-first arc-shaped slide groove; 103-first limit block;

[0057] 201-first comb tooth structure; 202-linear slide;

[0058] 301-second comb tooth structure; 302-sliding protrusion; 303-first locking hole;

[0059] 401 - second bearing inner ring; 402 - second arc-shaped slide groove;

[0060] 501-outer ring of the second bearing; 502-ball head slider; 503-locking hole;

[0061] 601- cylindrical convex ring; 602- second locking hole; 603- supporting column;

[0062] 701-ball; 702-T-type slide rail; 703-first bearing inner ring; 704-second limit block;

[0063] 801-T type chute. DETAILED DESCRIPTION

[0064] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention 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.

[0065] Example 1

[0066] In a specific embodiment of the present invention, in order to achieve motion compensation for the swaying of a ship, a compensation mechanism for a bridge-type offshore transfer platform is provided, such as Figure 1 , Figure 2 As shown, it includes: a first connecting plate 1 , a second connecting plate 2 , a third connecting plate 3 , a fourth connecting plate 4 , a fifth connecting plate 5 , a sixth connecting plate 6 , a berthing platform base 7 and a connecting bearing 12 .

[0067] In this embodiment, Figure 1 , Figure 2 , Fig.12 , Fig.13 , Fig.14 As shown, the first connecting plate 1 is hingedly connected to one end of the second connecting plate 2; the second connecting plate 2 is slidingly connected to the third connecting plate 3; the third connecting plate 3 is rotationally connected to the sixth connecting plate 6 through a two-degree-of-freedom rotation pair composed of a fourth connecting plate 4, a fifth connecting plate 5 and a second bearing; specifically, the fourth connecting plate 4 and the third connecting plate 3 are hinged through a second hinge axis; the fourth connecting plate 4 and the fifth connecting plate 5 are parallel to each other and are rotationally connected through a second bearing; the fifth connecting plate 5 and the sixth connecting plate 6 are hinged through a third hinge axis.

[0068] like Figure 1 , Figure 2 As shown, the bottom of the first connecting plate 1 is installed with a docking platform base 7, and is connected to the docking platform 8 through the docking platform base 7. Figure 3 As shown, a connecting bearing 12 is fixedly installed on the sixth connecting plate 6, and a berthing protrusion 14 is fixedly arranged on the ship platform 13. A connecting bearing 12 is arranged on the lower surface of the sixth connecting plate 6, and the connecting bearing 12 can be plugged and connected with the berthing protrusion 14 on the ship platform 13. In this embodiment, by plugging and matching the connecting bearing 12 on the sixth connecting plate 6 with the berthing protrusion 14 on the ship platform 13, the cross-bridge type offshore transfer platform of the present invention can be overlapped between the ship platform 13 and the berthing platform 8, and then the cross-bridge type offshore transfer platform of the present invention can be used for transfer operations.

[0069] In this embodiment, by arranging the fourth connecting plate 4, the fifth connecting plate 5 and the second bearing, the second hinge axis and the third hinge axis are parallel and close to each other, so that the third connecting plate 3 and the sixth connecting plate 6 are approximately hinged, and the gap between the two is minimized, so as to achieve a good transfer effect of the transfer platform; and the sixth connecting plate 6 can perform a pitching motion around the third hinge axis and a forward and backward torsional motion around the second bearing relative to the third connecting plate 3, thereby being able to compensate for the rolling motion of the ship around the OX axis and the pitching motion around the OY axis.

[0070] Specifically, the first hinge axis is parallel to the second hinge axis; the central axis of the first bearing is perpendicular to the first hinge axis; the fourth connecting plate 4 is arranged parallel to the fifth connecting plate 5, and the central axis of the second bearing is perpendicular to the second hinge axis; the central axis of the connecting bearing 12 is perpendicular to the second hinge axis and the second bearing.

[0071] The following describes the specific connection methods of each part:

[0072] Part 1: The sixth connecting plate 6 is connected to the ship platform 13 via the connecting bearing 12:

[0073] Specifically, the outer ring of the connecting bearing 12 is fixedly connected to the cylindrical convex ring 601 fixedly arranged below the sixth connecting plate 6 through interference fit. The inner ring of the connecting bearing 12 is provided with a spline groove; when the inner ring of the connecting bearing 12 rotates relative to the outer ring, the spline groove on its inner wall surface can rotate.

[0074] Specifically, the berthing protrusion 14 is in a spline shape, which is the same as the spline groove. When the spline groove of the connecting bearing 12 is aligned with the berthing protrusion 14, the berthing protrusion 14 can be plug-connected with the spline groove of the connecting bearing 12, thereby realizing the connection between the ship platform 13 and the sixth connecting plate 6.

[0075] Part 2: The first connecting plate 1 is connected to the berthing platform base 7 through the first bearing:

[0076] like Figure 4 , Fig.10 , Fig.11 As shown, the first connecting plate 1 is rotatably connected to the docking platform base 7 via a first bearing. Figure 4 As shown, the lower surface of the first connecting plate 1 is fixedly connected to the first bearing outer ring 101 of the first bearing. Fig.10 As shown, the upper surface of the docking platform base 7 is fixedly connected to the first bearing inner ring 703 of the first bearing. The first bearing outer ring 101, the first bearing balls and the first bearing inner ring 703 form the first bearing.

[0077] In this embodiment, the first bearing outer ring 101 and the first bearing inner ring 703 are fixedly connected to the first connecting plate 1 and the berthing platform base 7 respectively, so as to realize the rotation connection between the two, and the two always keep a state of being parallel to each other. The relative rotation of the first connecting plate 1 and the berthing platform base 7 can compensate for the longitudinal motion of the ship along the OX axis.

[0078] Preferably, the first bearing is a plane bearing. The first bearing outer ring 101 and the first bearing inner ring 703 represent the fixing parts on both sides of the plane bearing, and do not represent the size of their diameters.

[0079] Furthermore, in order to limit the rotation range between the first connecting plate 1 and the berthing platform base 7, a first limiting structure is provided between the two.

[0080] Specifically, Figure 4 , Fig.10 , Fig.11 As shown, two first arc-shaped grooves 102 are arranged on the first connecting plate 1, and the two first arc-shaped grooves 102 are symmetrically arranged on both sides of the first bearing; correspondingly, balls 701 are arranged on the docking platform base 7, and the balls 701 roll and nest in the ball tubes on the docking platform base 7. When the first connecting plate 1 and the docking platform base 7 are rotatably connected through the first bearing, the balls 701 can be inserted into the first arc-shaped grooves 102, and the sliding range of the balls 701 is limited by the length of the first arc-shaped grooves 102, thereby limiting the rotation angle between the docking platform base 7 and the first connecting plate 1. Preferably, two groups of balls 701 are symmetrically arranged, with two balls in each group, such as Fig.10 shown.

[0081] Specifically, Figure 4 , Fig.10 As shown, two first limit blocks 103 are arranged on the lower surface of the first connecting plate 1, and the two first limit blocks 103 are symmetrically arranged on both sides of the first bearing; correspondingly, two groups of second limit blocks 704 are symmetrically arranged on the berthing platform base 7, with two blocks in each group; the first limit block 103 is located between the two second limit blocks 704, and when the first connecting plate 1 and the berthing platform base 7 rotate relative to each other, the second limit block 704 can limit the movement range of the first limit block 103, thereby limiting the rotation angle between the first connecting plate 1 and the berthing platform base 7.

[0082] Part 3: In this embodiment, the second connecting plate 2 and the third connecting plate 3 are slidably connected:

[0083] like Figure 2 , Figure 5 , Figure 6As shown, specifically, a first comb tooth structure 201 is provided on one side of the second connecting plate 2; a second comb tooth structure 301 is provided on the side of the third connecting plate 3 opposite to the second connecting plate 2; the first comb tooth structure 201 and the second comb tooth structure 301 are plugged into each other and slidably matched. The second connecting plate 2 and the third connecting plate 3 are slidably connected, and the overall length of the transfer platform can be adjusted when the two slide relative to each other. In this embodiment, the longitudinal displacement of the ship along the OX axis is compensated for by the telescopic movement between the second connecting plate 2 and the third connecting plate 3.

[0084] like Figure 5 , Figure 6 As shown, the first comb tooth structure 201 includes a plurality of parallel first linear protruding teeth, and the second comb tooth structure 301 includes a plurality of parallel second linear protruding teeth. When the first comb tooth structure 201 and the second comb tooth structure 301 are plugged together, the plurality of first linear protruding teeth and the plurality of second linear protruding teeth are interlaced and plugged with each other. In other words, the second linear protruding teeth are inserted between two adjacent first linear protruding teeth, such as Figure 1 , Figure 2 shown.

[0085] Furthermore, a linear slide groove 202 is provided on the side of the first comb tooth structure 201 , and a sliding protrusion 302 is provided on the second comb tooth structure 301 . When the first comb tooth structure 201 and the second comb tooth structure 301 are inserted into each other, the sliding protrusion is inserted into the linear slide groove 202 .

[0086] Furthermore, in order to prevent the first comb tooth structure 201 and the second comb tooth structure 301 from being separated from each other, after the sliding protrusion slides with the linear slide groove 202, the end opening of the linear slide groove 202 is blocked to keep the second connecting plate 2 and the third connecting plate 3 always in a connected state.

[0087] In the present invention, the second connecting plate 2 and the third connecting plate 3 are slidably connected by the first comb tooth structure 201 and the second comb tooth structure 301; the overall length of the transfer platform is adjusted by the mutual insertion degree of the first comb tooth structure 201 and the second comb tooth structure 301, so as to realize the telescopic movement of the transfer platform, thereby being able to compensate for the longitudinal swing (forward and backward displacement) movement of the ship, so that the transfer platform maintains a smooth telescopic movement, avoids large-scale twisting or pitching movement caused by the displacement of the ship, and ensures the smooth progress of the transfer operation.

[0088] Part 4: Clearance articulation at each articulation axis:

[0089] like Fig.12 , Fig.13 , Fig.14The first connecting plate 1 and the second connecting plate 2 are hinged by the first hinge axis; the third connecting plate 3 and the fourth connecting plate 4 are hinged by the second hinge axis; the fifth connecting plate 5 and the sixth connecting plate 6 are hinged by the third hinge axis. The first connecting plate 1 and the berthing platform base 7 are rotatably connected by the first bearing, the fourth connecting plate 4 and the fifth connecting plate 5 are rotatably connected by the second bearing, and the sixth connecting plate 6 and the ship platform 13 are rotatably connected by the connecting bearing 12.

[0090] Specifically, the first connecting plate 1 and the second connecting plate 2 have a gap at the first hinge axis, the third connecting plate 3 and the fourth connecting plate 4 have a gap at the second hinge axis, and the fifth connecting plate 5 and the sixth connecting plate 6 have a gap at the third hinge axis; Fig.13 As shown, by setting the gap, motion compensation can be performed when the ship undergoes surge motion along the OX axis.

[0091] Specifically, the first connecting plate 1 is provided with a first annular hinge part, the second connecting plate 2 is provided with a second annular hinge part, the first hinge part and the second hinge part are offset and their axes coincide, and the first hinge shaft passes through the first hinge part and the second hinge part to achieve hinged connection. There is a gap between the first intersection and the second hinge part along the axis direction of the first hinge shaft. Similarly, the hinge method of the third connecting plate 3 and the fourth connecting plate 4 and the hinge method of the fifth connecting plate 5 and the sixth connecting plate 6 are the same as the hinge method of the first connecting plate 1 and the second connecting plate 2.

[0092] Part 5: The fourth connecting plate 4 and the fifth connecting plate 5 are connected via a second bearing:

[0093] Specifically, Figure 7 , Figure 8 As shown, the second bearing inner ring 401 is arranged on the side of the fourth connecting plate 4, and the second bearing outer ring 501 is arranged on the side of the fifth connecting plate 5 facing the fourth connecting plate 4; the second bearing inner ring 401, the second bearing ball and the second bearing outer ring 501 constitute the second bearing. After the fourth connecting plate 4 and the fifth connecting plate 5 are connected by the second bearing, the two can rotate around the OY axis, thereby compensating for the pitching motion of the ship around the OY axis.

[0094] Preferably, the second bearing is a plane bearing. The second bearing outer ring 501 and the second bearing inner ring 401 are only used to indicate the fixing parts on both sides of the plane bearing, and do not indicate the size of its diameter.

[0095] In this embodiment, in order to limit the rotation range between the fourth connecting plate 4 and the fifth connecting plate 5 , a second limiting structure is provided between the fourth connecting plate 4 and the fifth connecting plate 5 .

[0096] like Figure 7 , Figure 8 , Fig.13, Fig.14 As shown, a second arc-shaped groove 402 is provided on the fourth connecting plate 4, and correspondingly, a ball head slider 502 is provided on the side of the fifth connecting plate 5 facing the fourth connecting plate 4; the two second arc-shaped grooves 402 and the two ball head sliders 502 are symmetrically arranged on both sides of the second bearing; the ball head slider 502 can be inserted into the second arc-shaped groove 402 and slideably cooperate with the second arc-shaped groove 402; the displacement of the ball head slider 502 is limited by the length of the second arc-shaped groove 402, thereby limiting the rotation angle between the fifth connecting plate 5 and the fourth connecting plate 4.

[0097] Compared with the prior art, the technical solution provided in this embodiment has at least the following beneficial effects:

[0098] 1. The bridge-span offshore transfer platform of the present invention utilizes the first bearing, the second bearing, the first comb tooth structure 201 and the second comb tooth structure 301, the hinge shaft, the connecting bearing 12 and other motion mechanisms to passively compensate for the six-degree-of-freedom swaying motion of the ship caused by wind, waves and currents when the ship is moored at sea, thereby maintaining the stability of the bridge-span transfer platform. The transfer platform of the present invention can solve the problems of poor adaptability to sea conditions, low safety and complex implementation conditions existing in the traditional transfer mode, and greatly improve the safety and convenience of transfer operations.

[0099] 2. The bridge-span transfer platform of the present invention can realize compensation for the swaying motion of all six degrees of freedom of the berthed vessel through the motion compensation mechanism between the various components. It improves the adaptability and safety of the transfer operation in sea conditions and facilitates the transfer of goods, personnel and vehicles by the operating vessel in higher sea conditions.

[0100] Example 2

[0101] A specific embodiment of the present invention is a compensation method for a bridge-span offshore transfer platform, which performs motion compensation based on the compensation mechanism of the bridge-span offshore transfer platform in Example 1.

[0102] like Fig.15 As shown, the compensation method comprises the following steps:

[0103] Step S1: Connecting the transfer platform to the ship platform 13;

[0104] Step S2: The ship platform 13 is affected by the sea surface fluctuations and causes a six-degree-of-freedom swaying motion; according to the motion type of the ship platform 13, the swaying motion of the ship platform 13 is compensated accordingly by the kinematic pair of the transfer platform;

[0105] Step S3: After the transfer operation is completed, the connection between the transfer platform and the ship platform 13 is released.

[0106] In the step S1 , the connection bearing 12 is aligned with the berthing protrusion 14 , and the sixth connection plate 6 is rotated to move the connection bearing 12 downward and engage with the berthing protrusion 14 , thereby completing the connection between the transfer platform and the ship platform 13 .

[0107] Specifically, the plugging method of the connecting bearing 12 and the docking protrusion 14 is:

[0108] Step S11: adjusting the position of the sixth connecting plate 6 until the connecting bearing 12 is located above the berthing protrusion 14;

[0109] Step S12: rotating the inner ring of the connecting bearing 12 so that the spline groove on the side of the inner ring is aligned with the spline-shaped docking protrusion 14;

[0110] Step S13: Press down the sixth connecting plate 6 so that the docking protrusion 14 is plugged and fixed into the spline groove on the side surface of the inner ring of the connecting bearing 12 .

[0111] In step S1, after the transfer platform is connected to the ship platform 13, the transfer platform is located on the side of the ship and perpendicular to the bow of the ship. That is, when the transfer platform of the present invention is connected to the ship, the transfer platform is arranged perpendicular to the length direction of the ship.

[0112] In step S2, the six-degree-of-freedom motion of the ship is defined as follows: Fig.16 As shown. The ship's rocking center is taken as the origin of the coordinate system O, the bow of the ship is taken as the X-axis, the vertical upward direction is taken as the Z-axis, and the Y-axis is pointed to the left side of the ship according to the right-hand rule. The six-degree-of-freedom motion of the ship is defined as follows: the rotation around the OX axis is roll; the rotation around the OY axis is pitch; the rotation around the OZ axis is bow roll; the translation along the OY axis is sway; the translation along the OX axis is pitch; and the translation along the OZ axis is heave.

[0113] That is, the swaying motion of the ship platform 13 includes: rotation around the OX axis is rolling motion; rotation around the OY axis is pitching motion; rotation around the OZ axis is bowing motion; translation along the OY axis is swaying motion; translation along the OX axis is pitching motion; translation along the OZ axis is heave motion. When a ship is docked, it will experience a six-degree-of-freedom swaying motion due to the influence of sea surface fluctuations. The transfer platform needs to compensate for the swaying of the ship so that the transfer platform will not move significantly with the swaying of the ship, thereby maintaining the overall stability of the transfer platform.

[0114] The following briefly describes several compensation methods for sports modes:

[0115] 1. Rolling and heaving motion:

[0116] In step S2, the compensation method for the roll motion and the heave motion of the hull is: the heave motion and the roll motion of the hull are compensated by the first hinge axis between the first connecting plate 1 and the second connecting plate 2, the second hinge axis between the third connecting plate 3 and the fourth connecting plate 4, and the third hinge axis between the fifth connecting plate 5 and the sixth connecting plate 6.

[0117] When the hull rolls and swings, relative rotation occurs between the first connecting plate 1 and the second connecting plate 2, between the third connecting plate 3 and the fourth connecting plate 4, and between the fifth connecting plate 5 and the sixth connecting plate 6 to compensate for the angular displacement of the hull around the OX direction or the linear displacement along the OZ direction.

[0118] That is to say, when the hull rolls (sways left and right), the sixth connecting plate 6 pitches relative to the third connecting plate 3, and the first connecting plate 1 pitches relative to the second connecting plate 2. The stability of the second connecting plate 2 and the third connecting plate 3 (the main structure of the transshipment operation) is maintained through the deflection of the first connecting plate 1 and the sixth connecting plate 6.

[0119] Specifically, Figure 1 , Figure 2 , Fig.12 , Fig.13 , Fig.14 The first hinge axis is parallel to the second hinge axis; the first hinge axis and the second hinge axis can realize the pitch deflection and up and down displacement of the sixth connecting plate 6, which is used to compensate for the rolling motion of the ship around the OX axis direction, such as Fig.19 shown.

[0120] Moreover, the transfer platform can also compensate for the heaving motion of the berthed vessel along the OZ direction by relying on the hinged shafts between the first connecting plate 1 and the second connecting plate 2, between the third connecting plate 3 and the fourth connecting plate 4, and between the fifth connecting plate 5 and the sixth connecting plate 6. The compensation method is consistent with the compensation method for the rolling motion of the vessel.

[0121] 2. Pitch motion:

[0122] In step S2, the pitching motion of the hull is compensated by compensating the pitching motion of the hull through the second bearing between the fourth connecting plate 4 and the fifth connecting plate 5. When the hull pitches, the fourth connecting plate 4 and the fifth connecting plate 5 rotate relative to each other to compensate for the angular displacement of the hull along the OY direction. The rotation axis of the second bearing is perpendicular to the second hinge axis and the third hinge axis; it is used to compensate for the pitching motion around the OY direction, such as Fig. 20 shown.

[0123] That is to say, when the hull sways back and forth, the fifth connecting plate 5 rotates around the second bearing, and the fifth connecting plate 5 performs a forward and backward pitching motion relative to the fourth connecting plate 4. Through the deflection of the fifth connecting plate 5, the stability of the second connecting plate 2 and the third connecting plate 3 (the main structure of the transshipment operation) is maintained.

[0124] Specifically, when the pitching motion of the hull is compensated by the second bearing, the ball head slider 502 on the fifth connecting plate 5 slides with the second arc-shaped groove 402 on the fourth connecting plate 4; the displacement of the ball head slider 502 is limited by the length of the second arc-shaped groove 402, thereby limiting the rotation angle between the fifth connecting plate 5 and the fourth connecting plate 4.

[0125] In a specific embodiment of the present invention, in order to ensure better compensation for the pitching motion of the berthed vessel around the OY axis and reduce its impact on the transshipment operation, the fourth connecting plate 4 and the fifth connecting plate 5 and the second bearing therebetween should always be perpendicular to the sea level. Therefore, counterweights are added under the fourth connecting plate 4 and the fifth connecting plate 5 to maintain the fourth connecting plate 4 and the fifth connecting plate 5 in a vertical state.

[0126] 3. Bow movement:

[0127] In step S2, the compensating method for the bow rolling motion of the hull is: the bow rolling motion of the hull is compensated by the first bearing between the first connecting plate 1 and the platform base 7, and the connecting bearing 12 between the sixth connecting plate 6 and the ship platform 13; the horizontal circumferential rotation is generated between the first connecting plate 1 and the platform base 7, and between the sixth connecting plate 6 and the ship platform 13, so as to compensate for the angular displacement of the hull along the OZ direction.

[0128] The transfer platform has two groups of compensation mechanisms for the bow rolling motion of the berthed ship: one is the first bearing between the first connecting plate 1 and the berthing platform base 7, which is limited by the ball 701 and the first arc-shaped slide groove 102; the other is the connecting bearing 12 between the sixth connecting plate 6 and the berthing ship platform.

[0129] Specifically, the rotation axis of the first bearing is perpendicular to the first hinge axis; and the rotation axis of the connecting bearing 12 is perpendicular to the third hinge axis.

[0130] In step S2, the first bearing and the connecting bearing can realize the circumferential rotation between the first connecting plate 1 and the berthing platform base 7, and between the sixth connecting plate and the ship platform 13 in the horizontal direction, and can be used to compensate for the bowing motion of the ship around the OZ axis. Fig.21 shown.

[0131] That is to say, when the hull sways around the OZ axis, the bow swing of the hull is compensated by the circumferential rotation of the first connecting plate 1 relative to the berthing platform base 7 and the circumferential rotation of the ship platform 13 relative to the sixth connecting plate 6, thereby maintaining the stability of the second connecting plate 2 and the third connecting plate 3.

[0132] Furthermore, when the first connecting plate 1 rotates circumferentially relative to the docking platform base 7 , the sliding range of the ball 701 is limited by the length of the first arc-shaped sliding groove 102 , thereby limiting the rotation angle between the docking platform base 7 and the first connecting plate 1 .

[0133] 4. Compensation for sway motion

[0134] In step S2, the compensation method for the hull's swaying motion is: the hull's swaying motion is compensated by the relative sliding of the second connecting plate 2 and the third connecting plate 3; when the hull sways, the relative sliding of the second connecting plate 2 and the third connecting plate 3 compensates for the linear displacement of the hull along the OY direction.

[0135] Specifically, when the hull moves left and right along the OY direction, the compensation mechanism realizes compensation for the change in the spacing between the transfer platform and the ship platform 13 through the telescopic mechanism composed of the "first comb structure 201 and the second comb structure 301" between the second connecting plate 2 and the third connecting plate 3. Fig.17 shown.

[0136] 5. Compensation for swaying motion:

[0137] In step S2, the compensation method for the longitudinal motion of the hull is as follows: there are gaps at the hinges between the first connecting plate 1 and the second connecting plate 2, and between the third connecting plate 3 and the fourth connecting plate 4, and the longitudinal displacement of the hull along the OX direction is compensated by the relative sliding between the first connecting plate 1 and the second connecting plate 2, and between the third connecting plate 3 and the fourth connecting plate 4 along the first hinge axis and the second hinge axis.

[0138] That is to say, the transfer platform compensates for the longitudinal motion of the berthed vessel through the gap between the first connecting plate 1 and the second connecting plate 2, and between the third connecting plate 3 and the fourth connecting plate 4 at the hinge axis to achieve the compensation of the longitudinal margin. The longitudinal motion of the ship along the OX direction is compensated by the relative slip between the first connecting plate 1 and the second connecting plate 2, and between the third connecting plate 3 and the fourth connecting plate 4 along the first hinge axis and the second hinge axis, such as Fig.18 shown.

[0139] Furthermore, in the step S3, the connection bearing 12 is disengaged from the berthing protrusion 14, the sixth connection plate 6 is separated from the ship platform 13, and the connection between the transfer platform and the ship is released.

[0140] Furthermore, in step S3, after the sixth connecting plate 6 is separated from the ship platform 13, the transfer platform is locked and pushed back to the berthing platform 8.

[0141] Example 3

[0142] In a specific embodiment of the present invention, based on the first embodiment, the compensation mechanism of the bridge-type offshore transfer platform is improved and designed, such as Fig. 22 As shown:

[0143] In this embodiment, a connection method between the compensation mechanism of the bridge-type offshore transfer platform in Embodiment 1 and the berthing platform 8 and a locking method of the various components of the compensation mechanism are provided.

[0144] like Fig.10 , Fig.11 , Fig.23 As shown, the docking platform base 7 is provided with a T-shaped slide rail 702; the docking platform 8 is provided with a T-shaped slide groove 801; the T-shaped slide rail 702 is slidably installed in the T-shaped slide groove 801. During implementation, the docking platform base 7 slides out from the docking platform 8, and then the transfer platform as a whole slides out synchronously.

[0145] Specifically, when the T-shaped slide rail 702 slides with the T-shaped slide groove 801, due to the shape characteristics of the T-shaped structure, the berthing platform base 7 cannot be separated from the berthing platform 8; and, in order to prevent the berthing platform base 7 from sliding out of the berthing platform 8, one end of the T-shaped slide groove 801 is connected to one side end surface of the berthing platform 8, and the T-shaped slide rail 702 can slide in therefrom; the other end of the T-shaped slide groove 801 is a blind groove, which limits the T-shaped slide rail 702 from sliding out and maintains the connection between the berthing platform base 7 and the berthing platform 8.

[0146] Furthermore, in order to facilitate the transfer and position adjustment of the entire transfer platform, a locking mechanism is provided between the connecting plates of the transfer platform; specifically, the locking mechanism includes: a locking support 9, a locking rod 10 and a locking pin 11.

[0147] I) Locking support 9:

[0148] In a specific embodiment of the present invention, a group of locking supports 9 are symmetrically arranged on the side of the docking platform base 7. Fig.23 , Fig.24 As shown, the locking support 9 is a rectangular block structure.

[0149] Specifically, the locking support 9 is hingedly mounted on the docking platform base 7, and can be perpendicular to the docking platform base 7 after being rotated out. Further, when the locking support 9 on the docking platform base 7 is engaged with the locking groove on the second connecting plate 2, the relative rotation of the first connecting plate 1 and the second connecting plate 2 can be restricted. Fig.26 shown.

[0150] Specifically, two mounting grooves are provided on the side of the docking platform base 7; the locking support 9 is hingedly installed in the mounting grooves through a rotating shaft. The locking support 9 is rotatably sleeved on the outside of the rotating shaft, and the rotating shaft is fixedly installed in the mounting groove of the docking platform base 7 by welding or bonding, so that the locking support 9 and the docking platform base 7 can be rotatably installed, and the locking support 9 can be screwed into the interior of the mounting groove.

[0151] Furthermore, a locking groove is provided at one end of the second connecting plate 2 and the third connecting plate 3; after the locking support 9 is screwed out of the berthing platform base 7, it can be stuck in the locking groove, thereby limiting the relative rotation of the first connecting plate 1 and the second connecting plate 2 and the third connecting plate 3.

[0152] Specifically, the second connecting plate 2 and the third connecting plate 3 include a second connecting plate 2 and a third connecting plate 3; and the second connecting plate 2 and the third connecting plate 3 can slide relative to each other. A locking groove is provided at the end of the second connecting plate 2, and when the locking support 9 is rotated out, it can be inserted into the locking groove of the second connecting plate 2. The first connecting plate 1 is hinged to the second connecting plate 2, and when the locking support 9 is not engaged with the locking groove, the two can rotate relative to each other; when the locking support 9 is engaged with the locking groove, the two cannot rotate relative to each other.

[0153] II) Locking the pull rod 10:

[0154] like Fig.25 As shown, in a specific embodiment of the present invention, a locking rod 10 is provided on the upper surface of the second connecting plate 2 and the third connecting plate 3; the locking rod 10 is rotatably installed on the second connecting plate 2 and the third connecting plate 3, and can support the sixth connecting plate 6.

[0155] like Fig.25 As shown, the locking rod 10 is hingedly mounted on the upper surface of the third connecting plate 3. Specifically, an arc-shaped groove is provided at the end of the locking rod 10.

[0156] Specifically, if Fig. 27 As shown, the sixth connecting plate 6 is provided with a snap-fitting groove, in which a supporting column 603 is provided; the supporting column 603 can snap-fit ​​with the arc-shaped groove.

[0157] Furthermore, if Fig.25 , Fig. 27 As shown, when the sixth connecting plate 6 is rotated upward to form an acute angle with the third connecting plate 3 , the support column 603 on the sixth connecting plate 6 engages with the arc-shaped groove at the end of the locking rod 10 , so that the locking rod 10 can support the sixth connecting plate 6 .

[0158] III) Locking pin 11:

[0159] like Fig. 9 As shown, in a specific embodiment of the present invention, a locking pin 11 is provided on the sixth connecting plate 6 .

[0160] Furthermore, one end of the locking pin 11 is rotatably mounted on the sixth connecting plate 6 and can be displaced relative to the sixth connecting plate 6 .

[0161] Specifically, the two locking pins 11 are rotatably mounted on two side surfaces of the sixth connecting plate 6 .

[0162] Specifically, if Fig. 9 As shown, the two sides of the sixth connecting plate 6 are L-shaped, with two extensions, and two mounting holes are respectively provided on the two extensions. The mounting column of the locking pin 11 penetrates into the mounting hole of the sixth connecting plate 6, and the end of the mounting column is fixedly installed with a limiting portion, so that the locking pin 11 is rotatably installed in the mounting hole of the extension of the sixth connecting plate 6.

[0163] Furthermore, a spring is installed between the limiting portion and the inner side surface of the extension portion. The locking pin 11 is pulled outward to achieve its displacement relative to the sixth connecting plate 6; when the locking pin 11 is pulled out, the spring is compressed; when the spring is reset, the locking pin 11 is pressed against the outer side surface of the extension portion.

[0164] Furthermore, a protruding locking cylinder is provided at the other end of the locking pin 11, and a second locking hole 602 matching with the locking cylinder is provided on the sixth connecting plate 6. When the locking cylinder matches with the second locking hole 602, the locking pin 11 and the sixth connecting plate 6 move synchronously, and the sixth connecting plate 6 can rotate relative to the second connecting plate 2 and the third connecting plate 3 of the third connecting plate 3.

[0165] Specifically, the second connecting plate 2 and the third connecting plate 3 are provided with a first locking hole 303 ; when the locking cylinder cooperates with the first locking hole 303 , the sixth connecting plate 6 and the second connecting plate 2 and the third connecting plate 3 cannot rotate relative to each other.

[0166] like Fig. 27 As shown, the first locking hole 303 is arranged on the side of the third connecting plate 3. When the sixth connecting plate 6 needs to be fixed relatively to the second connecting plate 2 and the third connecting plate 3, the locking pin 11 is pulled out from the second locking hole 602 on the sixth connecting plate 6, and the locking pin 11 is rotated so that the locking cylinder at the end thereof is inserted into the first locking hole 303 on the second connecting plate 2 and the third connecting plate 3.

[0167] In another specific implementation of this embodiment, a locking hole 503 is provided on the side of the fifth connecting plate 5, which can cooperate with the locking cylinder of the locking latch 11 to lock the fifth connecting plate 5 and the sixth connecting plate 6; when the transfer platform is pushed out relative to the berthing platform 8, the fifth connecting plate 5 and the sixth connecting plate 6 can be kept fixed. In this embodiment, the locking latch 11 can be plugged into the first locking hole 303 or the locking hole 503 to achieve locking of the sixth connecting plate 6.

[0168] The cross-bridge offshore transfer platform of the present invention has a first connection plate 1 that is always slidably connected to the berthing platform 8, and a sixth connection plate 6 that connects or separates the ship platform 13 by inserting or separating the connection bearing 12 and the berthing protrusion 14, thereby realizing the transfer connection or separation of the berthing ship and the berthing platform 8. When the transfer platform is connected to both the ship platform 13 and the berthing platform 8, transfer operations can be performed through the transfer platform to transport materials or personnel between the two.

[0169] In this embodiment, when the offshore transfer platform is connected to the ship platform 13 and when the offshore transfer platform is pushed back to the berthing platform 8, the offshore transfer platform is in a locked state; the locking process of the offshore transfer platform is as follows:

[0170] The first step is to lock the first connecting plate 1 and the second connecting plate 2 with the locking support 9: the locking support 9 is located on one side of the berthing platform base 7 and can be rotated 100 degrees outward. When the locking support 9 is rotated out, it supports the second connecting plate 2, keeps it level with the berthing platform base 7, and facilitates the overall launch of the transfer platform.

[0171] The second step is to lock the rod 10 to support the sixth connecting plate 6: the locking rod 10 is located on the upper surface of the third connecting plate 3. When locking, the sixth connecting plate 6 needs to be flipped up 135° along the rotation axis. The arc groove at the end of the locking rod 10 and the support column 603 of the sixth connecting plate 6 are used to engage with the third connecting plate 3 and the sixth connecting plate 6 to fix the third connecting plate 3 and the sixth connecting plate 6, thereby locking the rotational freedom between the two.

[0172] The third step is to lock the third connecting plate 3 and the sixth connecting plate 6 with the locking pin 11: the locking pin 11 is located on both sides of the sixth connecting plate 6, pull out the locking pin 11 on the sixth connecting plate 6, and rotate the locking pin 11 along the mounting column until it coincides with the first locking hole 303 on the third connecting plate 3 or the locking hole 503 on the fifth connecting plate 5; press the locking pin 11 to lock the rotational freedom between the third connecting plate 3 and the sixth connecting plate 6 to facilitate the overall launch of the platform.

[0173] Furthermore, the process of pushing out the transfer platform is as follows: the T-shaped guide rail 702 of the berthing platform base 7 is matched with the T-shaped slide groove 801 of the berthing platform 8, and the bridge-span transfer platform is pushed out horizontally through the relative sliding of the two. After being pushed into place, the berthing platform 8 is fixedly connected to the berthing platform base 7 by bolts, such as Fig.23 After the platform is pushed into place, the connection bearing 12 below the sixth connection plate 6 is inserted into the berthing protrusion 14 on the ship platform 13 to complete the installation of the transfer platform.

[0174] Specifically, during the pushing out process of the docking platform base 7 relative to the docking platform 8 , the first connecting plate 1 can rotate relative to the docking platform base 7 via the first bearing to adjust the circumferential position of the connecting bearing 12 on the sixth connecting plate 6 .

[0175] After the offshore transfer platform is connected to the ship platform 13, the locking action of the locking pin 11, the locking rod and the locking support 9 are released in sequence, so that the transfer platform can resume the motion state and perform motion compensation; the unlocking steps of the mooring platform are opposite to the locking steps.

[0176] The bridge-span transfer platform of the present invention is mainly connected by a berthing platform base 7 and a berthing platform 8, and is connected to a ship platform 13 through a berthing protrusion 14 and a connecting bearing 12, and the first connecting plate 1, the second connecting plate 2, the third connecting plate 3, and the sixth connecting plate 6 are locked through three locking mechanisms, namely, a locking support 9, a locking rod 10, and a locking pin 11, so that the first connecting plate 1, the second connecting plate 2, the third connecting plate 3, and the sixth connecting plate 6 can be switched between a fixed state and a free movement state. When the transfer operation is not performed, the transfer platform is in a locked state and placed on the berthing platform 8; when the transfer operation is performed, the transfer platform is pushed out of the berthing platform 8 in a locked state and approaches the berthing ship; after the transfer platform is connected to the berthing ship, the locking support 9, the locking rod 10, and the locking pin 11 are unlocked. After the unlocking operation is completed, the transfer platform can automatically adapt to the movement of the ship when it is in a moving state to maintain the stability of the second connecting plate 2 and the third connecting plate 3.

[0177] The transfer platform of this embodiment can be quickly locked and unlocked, and the bridge-span transfer platform can be quickly pushed out and installed by switching between the above two states. This improves the convenience and speed of the transfer platform erection and transfer operation, and solves the problem of complex conditions and overly complicated operations in traditional transfer methods.

[0178] 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 compensation mechanism for a bridge-span offshore transfer platform. It is characterized in that include: A first connecting plate (1), a second connecting plate (2), a third connecting plate (3), a fourth connecting plate (4), a fifth connecting plate (5), a sixth connecting plate (6) and a platform base (7); the platform base (7) is connected to the first connecting plate (1) via a first bearing; the first connecting plate (1) and the second connecting plate (2) are connected via a first hinge shaft; the second connecting plate (2) and the third connecting plate (3) are slidably connected; the third connecting plate (3) and the fourth connecting plate (4) are hinged via a second hinge shaft; the fourth connecting plate (4) and the fifth connecting plate (5) are rotatably connected via a second bearing; the fifth connecting plate (5) and the sixth connecting plate (6) are hinged via a third hinge shaft; the sixth connecting plate (6) is provided with a connecting bearing (12) for connecting to a ship platform (13), and the connecting bearing (12) is plugged into a berthing protrusion (14) on the ship platform (13).

2. The compensation mechanism of the bridge-span offshore transfer platform according to claim 1, It is characterized in that The first hinge axis is parallel to the second hinge axis; the central axis of the first bearing is perpendicular to the first hinge axis; the fourth connecting plate (4) is arranged parallel to the fifth connecting plate (5), and the central axis of the second bearing is perpendicular to the second hinge axis; the central axis of the connecting bearing (12) is perpendicular to the second hinge axis and the second bearing.

3. A compensation method for a bridge-span offshore transfer platform, It is characterized in that The compensation mechanism of the bridge-span offshore transfer platform according to claim 1 or 2 is used for motion compensation; the compensation method comprises the following steps: Step S1: connecting the transfer platform to the ship platform (13); Step S2: The ship platform (13) is affected by the sea surface fluctuations and causes a six-degree-of-freedom swaying motion; and according to the motion type of the ship platform (13), the swaying motion of the ship platform (13) is compensated for accordingly by the kinematic pair of the transfer platform; Step S3: After the transfer operation is completed, the connection between the transfer platform and the ship platform (13) is released.

4. The motion compensation method for the bridge-span offshore transfer platform according to claim 3, It is characterized in that In the step S1, the connection bearing (12) is aligned with the berthing protrusion (14), and the sixth connection plate (6) is rotated to move the connection bearing (12) downward and engage with the berthing protrusion (14) at the same time, thereby completing the connection between the transfer platform and the ship platform (13); after the transfer platform is connected to the ship platform (13), the transfer platform is located on the side of the hull and perpendicular to the bow direction of the hull.

5. The motion compensation method for the bridge-span offshore transfer platform according to claim 4, It is characterized in that In the step S2, the swaying center of the ship is taken as the origin O of the coordinate system, the bow direction of the ship is taken as the X-axis, the vertical upward direction is taken as the Z-axis, and the direction pointing to the left side of the ship according to the right-hand rule is taken as the Y-axis; the swaying motion of the ship platform (13) includes: rotation around the OX axis is the rolling motion; rotation around the OY axis is the pitching motion; rotation around the OZ axis is the bowing motion; translation along the OY axis is the swaying motion; translation along the OX axis is the pitching motion; and translation along the OZ axis is the heaving motion.

6. The motion compensation method for the bridge-span offshore transfer platform according to claim 5, It is characterized in that In step S2, the compensation method for the roll motion and heave motion of the hull is: the heave motion and roll motion of the hull are compensated by the first hinge axis between the first connecting plate (1) and the second connecting plate (2), the second hinge axis between the third connecting plate (3) and the fourth connecting plate (4), and the third hinge axis between the fifth connecting plate (5) and the sixth connecting plate (6); when the hull undergoes roll motion and heave motion, the first connecting plate (1) and the second connecting plate (2), the third connecting plate (3) and the fourth connecting plate (4), and the fifth connecting plate (5) and the sixth connecting plate (6) all rotate relative to each other, thereby compensating for the angular displacement of the hull around the OX direction or the linear displacement along the OZ direction.

7. The motion compensation method for the bridge-span offshore transfer platform according to claim 5, It is characterized in that In step S2, the method for compensating the pitching motion of the hull is: the pitching motion of the hull is compensated by the second bearing between the fourth connecting plate (4) and the fifth connecting plate (5); when the hull pitches, the fourth connecting plate (4) and the fifth connecting plate (5) rotate relative to each other to compensate for the angular displacement of the hull along the OY direction.

8. The motion compensation method for the bridge-span offshore transfer platform according to claim 5, It is characterized in that In step S2, the bowing motion of the ship is compensated by: compensating the bowing motion of the ship through the first bearing between the first connecting plate (1) and the platform base (7), and the connecting bearing (12) between the sixth connecting plate (6) and the ship platform (13); generating a circumferential rotation in the horizontal direction between the first connecting plate (1) and the platform base (7), and between the sixth connecting plate (6) and the ship platform (13), so as to compensate for the angular displacement of the ship along the OZ direction.

9. The motion compensation method for a bridge-span offshore transfer platform according to claim 5, It is characterized in that In step S2, the compensation method for the swaying motion of the hull is: the swaying motion of the hull is compensated by the relative sliding of the second connecting plate (2) and the third connecting plate (3); when the hull sways, the relative sliding of the second connecting plate (2) and the third connecting plate (3) compensates for the linear displacement of the hull along the OY direction.

10. The motion compensation method for a bridge-span offshore transfer platform according to claim 5, It is characterized in that In step S2, the compensation method for the longitudinal motion of the hull is as follows: there are gaps at the hinges between the first connecting plate (1) and the second connecting plate (2), and between the third connecting plate (3) and the fourth connecting plate (4), and the longitudinal displacement of the hull along the OX direction is compensated by the relative sliding between the first connecting plate (1) and the second connecting plate (2), and between the third connecting plate (3) and the fourth connecting plate (4) along the first hinge axis and the second hinge axis.

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