Multi-arm cooperative ship transfer wave compensation platform

Abstract

The invention discloses a multi-arm cooperative ship transfer wave compensation platform which can rotate 360 degrees in all directions, an RRS parallel mechanism comprises six sets of mechanical arm driving mechanisms, and each set of mechanical arm driving mechanism comprises a servo motor, a supporting bracket and a mechanical arm. A motor output shaft of the servo motor is rigidly locked to the bottom end of the supporting support through key connection, the top end of the supporting support is assembled to the bottom end of the mechanical arm through a spherical connecting piece, the top end of the mechanical arm is hinged to six sets of spherical joint clamps, and compensation platforms are clamped by the spherical joint clamps. The compensation platform fuses multi-source data through an inverse kinematics algorithm, X / Y / Z three-axis motion decoupling is achieved, mechanical structure design, the parallel robot technology, the inverse kinematics algorithm, servo motor control and the marine anticorrosive material technology are fused, and accurate compensation of wave shaking is achieved through collaborative design of a mechanical structure and an electric control system.

Description

Technical Field

[0001] This invention relates to the field of marine engineering vessel equipment technology, and in particular to a multi-arm cooperative vessel transfer wave compensation platform. Background Technology

[0002] In offshore operations, ship replenishment, and platform maintenance, the transfer of personnel between ships and other operational platforms is a frequent and essential operation. However, the effects of waves in the marine environment cause irregular heave, roll, and pitch movements of the hull, leading to severe shaking of traditional transfer channels (such as gangplanks and makeshift platforms), frequent accidents such as personnel losing their footing, falling, and collisions, seriously threatening the lives of workers and reducing transfer efficiency. Therefore, there is an urgent need for a compensating device that can actively counteract wave swaying and maintain platform stability to address the safety challenges of personnel transfer between ships.

[0003] Currently, most wave compensation platforms on the market employ purely physical structures such as spring buffers, counterweight balancing, and hydraulic damping. Their working principle relies on passive force cancellation, resulting in drawbacks such as low compensation accuracy, slow response speed, and limited adaptability to specific working conditions. This makes it difficult to meet the high stability requirements of personnel transfer between ships. With the development of parallel mechanism technology, multi-degree-of-freedom parallel structures such as 6RRS have been gradually applied to high-precision compensation scenarios due to their high operational accuracy and flexible movement. However, existing related equipment is mostly designed for small loads or specific working conditions, lacking an integrated solution suitable for large ship transfers that combines motor-driven active drive and personnel position detection functions. This fails to effectively address the technical bottlenecks of traditional equipment.

[0004] Chinese invention patent CN220010051U discloses a rope-traction wave compensation platform, comprising a base, a compensation platform, a rope traction mechanism, and an extension bracket. The base is rigidly fixed and installed on a ship deck or other offshore operating platform. The compensation platform is hoisted by three wire ropes (wire rope one, wire rope two, and wire rope three). Three sets of rope traction mechanisms are welded in parallel to the base. Each rope traction mechanism has four pulleys to prevent the wire ropes from colliding or tangling. The extension bracket is welded to the base and has three parallel directional pulleys and three hoisting pulleys. Wire ropes one, two, and three extend from the directional pulleys to the hoisting pulleys, and the final hoisting point is fixed to the compensation platform. This platform can accelerate the compensation speed and improve the compensation accuracy, but it cannot reduce the thrust required by the electric cylinder and is not suitable for high-load offshore operations.

[0005] Chinese invention patent CN219636761U discloses a rope-traction wave compensation platform, including a base, a pulley lever drive mechanism, an extension bracket, and a compensation platform. The base is rigidly fixed to the installation location of large marine equipment on the ship, making the rope-traction wave compensation platform and the hull rigidly fixed. The number of movable pulley drive mechanisms is set to three sets and fixed to the base by welding. The extension bracket is symmetrical along the center line of the base and welded to the base. The support arm of the extension bracket is equipped with three parallel directional pulleys and three lifting pulleys. The three parallel directional pulleys are respectively extended to the three lifting pulleys through wire rope one, wire rope two, and wire rope three. The lifting point of the wire rope is set on the compensation platform for lifting. This platform can save effort through leverage, but it results in a large overall device size, which cannot be installed on small maintenance vessels or other ships. Summary of the Invention

[0006] Purpose of the invention: The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-arm cooperative ship transfer wave compensation platform, which can solve the technical problem that during the transfer of personnel between ships, the ship's hull is affected by waves and undergoes heave, roll, and pitch movements, resulting in severe shaking of the transfer platform and easy falls and injuries to personnel.

[0007] Technical Solution: This invention discloses a multi-arm collaborative ship transfer wave compensation platform, comprising a rotating base equipped with a rotary drive motor. The output shaft of the rotary drive motor is rigidly connected to an upper mounting plate. The rotary drive motor drives the rotating base to rotate 360 ​​degrees in all directions. A 6RRS parallel mechanism is connected to the top of the rotating base. The 6RRS parallel mechanism includes six sets of robotic arm drive mechanisms. Each set of robotic arm drive mechanisms includes a servo motor, a support bracket, and a robotic arm. The servo motor is fixed to a preset interface on the upper mounting plate by high-strength bolts. The output shaft of the servo motor is rigidly locked to the bottom end of the support bracket by a key connection. The top end of the support bracket is assembled to the bottom end of the robotic arm by a spherical connector. The top end of the robotic arm is hinged to a spherical joint clamp. The spherical joint clamp includes a ball head and a ball seat. The spherical joint clamp is configured to hold the compensation platform in six parallel sets. A camera module is installed below the center of the compensation platform. The compensation platform fuses multi-source data through inverse kinematics algorithms to achieve X / Y / Z three-axis motion decoupling.

[0008] A further improvement of the present invention is that the camera module is equipped with a 2K resolution industrial-grade camera, which is fixed to a support bracket below the compensation platform. The lens of the industrial-grade camera vertically upwards to cover the entire area of ​​the platform. The industrial-grade camera is connected to the image processing unit of the control box via a waterproof cable that passes through the power supply hole of the base.

[0009] A further improvement of the present invention is that the rotating base is a square base with a length and width of 3 meters each, and the servo motor is a waterproof servo motor.

[0010] A further improvement of the present invention is that the support bracket is an aluminum alloy support bracket, which is CNC machined with hinges and connecting rods. The thickness of the anodized layer on the surface of the connecting rod is ≥15μm, and the hinges and connecting rods are an integral structure.

[0011] A further improvement of the present invention is that the compensation platform is a disc-shaped compensation platform with a diameter of 1 meter.

[0012] A further improvement of the present invention is that the compensation platform is made of tempered laminated glass with a thickness of 30mm.

[0013] A further improvement of the present invention is that the rotating base is welded from Q355 marine grade steel, and the total thickness of the two layers of fluorocarbon anti-corrosion coating sprayed on the surface is ≥80μm.

[0014] A further improvement of the present invention is that two sets of square power supply holes are provided on the side wall of the rotating base.

[0015] A further improvement of the present invention is that the robotic arm is fastened to the ball joint of the support bracket by bolts to ensure that the connection gap is <0.1mm.

[0016] Compared with the prior art, the multi-arm cooperative ship transfer wave compensation platform provided by the present invention achieves at least the following beneficial effects: A rotary drive motor is located at the center of the rotating base, enabling the base to rotate the compensation platform 360 degrees in all directions, improving the convenience of personnel transfer. Six servo motors drive a 6RRS parallel mechanism, fusing multi-source data through inverse kinematics algorithms to achieve X / Y / Z axis motion decoupling. Combined with the spherical connector between the support frame and the robotic arm, this achieves precise control of multi-dimensional motion and omnidirectional rotation, accurately compensating for wave sway. This actively counteracts wave sway, maintaining platform stability, making it suitable for large vessel transfers. It reduces the thrust required by the electric cylinders and is applicable to high-load offshore operations. Its fast response speed and reduced overall device size allow for convenient and reliable installation on small maintenance vessels. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0018] Figure 1 This is a front view of a multi-arm cooperative ship transfer wave compensation platform according to the present invention; Figure 2 This is the left view of the present invention; Figure 3 This is a top view of the present invention.

[0019] Among them, 1-rotating base; 2-robotic arm drive mechanism; 201-servo motor; 202-support bracket; 203-robotic arm; 3-spherical joint fixture; 301-ball head; 302-ball seat; 4-compensation platform; 5-camera module. Detailed Implementation

[0020] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0021] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0022] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0023] See the attached instruction manual. Figure 1-3 A multi-arm collaborative ship transfer wave compensation platform includes a rotating base 1 equipped with a rotary drive motor. The output shaft of the rotary drive motor is rigidly connected to an upper mounting plate. The rotary drive motor drives the rotating base 1 to rotate 360 ​​degrees in all directions, with the speed controlled at 0.5 r / min, a safe speed suitable for personnel transfer. A 6RRS parallel mechanism is connected to the top of the rotating base 1. The 6RRS parallel mechanism includes six sets of robotic arm drive mechanisms 2. Each set of robotic arm drive mechanisms 2 includes a servo motor 201, a support bracket 202, and a robotic arm 203. The servo motor 201 is a 2.2kW marine waterproof servo motor with IP68 protection rating. The servo motor 201 is fixed to a preset interface on the upper mounting plate by high-strength bolts. The motor output shaft of the servo motor 201 is connected to the support bracket 202 by a key. The bottom end is rigidly locked, and the top end of the support bracket 202 is assembled to the bottom end of the robotic arm 203 through a ball joint connector. The rotation angle of the connector is adjusted to ensure that the omnidirectional rotation range is ≥±30°. The top end of the robotic arm 203 is hinged to the ball joint clamp 3. The ball joint clamp 3 includes a ball head 301 and a ball seat 302. The ball joint clamp 3 is set to hold the compensation platform 4 in six groups. A camera module 5 is installed below the center of the compensation platform 4. The compensation platform 4 fuses multi-source data through inverse kinematics algorithm to achieve X / Y / Z three-axis motion decoupling.

[0024] The 6 sets of ball joint clamps 3 are aluminum alloy clamps. Their structure adopts a combination of upper and lower clamping blocks. The platform edge is clamped by M12 bolts, and the clamping blocks are connected to the end of the robotic arm 203 by a pin.

[0025] The camera module 5 is equipped with a 2K resolution industrial-grade camera. The industrial-grade camera is fixed to the support bracket 202 below the compensation platform 4. The lens of the industrial-grade camera vertically upwards to cover the entire area of ​​the platform. The industrial-grade camera is connected to the image processing unit of the control box through a waterproof cable through the power supply hole of the base.

[0026] The rotating base 1 is a square base with a length and width of 3 meters each. The servo motor 201 is a waterproof servo motor. The support bracket 202 is an aluminum alloy support bracket, which is CNC machined with hinges and connecting rods. The thickness of the anodized layer on the surface of the connecting rod is ≥15μm to improve corrosion resistance. The hinges and connecting rods are an integrated structure. The compensation platform 4 is a disc-shaped compensation platform with a diameter of 1 meter. The compensation platform 4 is made of tempered laminated glass with a thickness of 30mm. Its bending strength is ≥300MPa, light transmittance is ≥80%, and load-bearing capacity is ≥1500kg / m², balancing light transmittance and load-bearing safety. The rotating base 1 uses Q355 stainless steel. The equipment is constructed from marine-grade steel through welding, and the surface is coated with two layers of fluorocarbon anti-corrosion coating with a total thickness of ≥80μm, which improves the service life of the equipment in marine salt spray environments. The side wall of the rotating base 1 is provided with two sets of square power supply holes for powering the rotary drive motor and servo motor. The robotic arm 203 is fastened to the ball connector of the support bracket 202 by bolts to ensure that the connection gap is <0.1mm.

[0027] The operation flow of this invention is as follows: Step 1, Initialization and Debugging: Power on the system and calibrate the zero position of the 6 servo motors 201 through the control interface to ensure that the support bracket 202 and the robotic arm 203 are in the initial extended state; debug the base rotation motor and set the "one-key rotation" function to adjust the platform orientation through the control button.

[0028] Step 2, Dynamic Compensation Process: Step 2.1: Data Acquisition: The ship's attitude sensor gyroscope and accelerometer collect heave, roll, and pitch data, while the camera module 5 captures the position coordinates of personnel on the compensation platform; Step 2.2: Algorithm calculation: The control box runs the inverse kinematics algorithm, integrates the ship's attitude and personnel position data, and calculates the target rotation angle of the 6 servo motors 201; Step 2.3: Attitude adjustment: Servo motor 201 drives support bracket 202 and robotic arm 203 to move in coordination. Through the flexible rotation of spherical connector, the compensation platform 4 completes the X / Y / Z three-axis attitude adjustment to counteract the hull sway. Step 2.4: Rotation adaptation: If personnel need to adjust their orientation, start the rotation drive motor on the rotating base (1) through the control button to drive the compensation platform 4 to slowly rotate to the target angle; Step 2.5: Feedback Correction: Camera module 5 continuously collects the position information of compensation platform 4, and the algorithm corrects the motor angle in real time to ensure that the platform sway is ≤1 cm.

[0029] In summary, this invention provides a multi-arm collaborative ship transfer wave compensation platform. The compensation platform rotates 360 degrees omnidirectionally, improving the convenience of personnel transfer. It adopts a 6RRS parallel mechanism driven by 6 servo motors and integrates multi-source data through inverse kinematics algorithm to achieve decoupling of X / Y / Z three-axis motion. With the spherical connector between the support bracket and the robotic arm, it can achieve precise control of multi-dimensional motion and omnidirectional rotation, and complete the precise compensation for wave sway. This actively counteracts wave sway and keeps the platform stable. Under the condition of 10 cm ship sway, the sway of the compensation platform can be controlled within 1 cm. The platform structure is suitable for large ship scenarios, the material takes into account both stability and corrosion resistance, it is easy to install, precise to control, and easy to industrialize and promote in practical applications.

[0030] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A multi-arm cooperative ship transfer wave compensation platform, characterized in that, The system includes a rotating base (1) equipped with a rotary drive motor. The output shaft of the rotary drive motor is rigidly connected to the upper mounting plate. The rotary drive motor drives the rotating base (1) to rotate 360 ​​degrees in all directions. The top of the rotating base (1) is connected to a 6RRS parallel mechanism. The 6RRS parallel mechanism includes six sets of robotic arm drive mechanisms (2). Each set of robotic arm drive mechanisms (2) includes a servo motor (201), a support bracket (202), and a robotic arm (203). The servo motor (201) is fixed to a preset interface on the upper mounting plate by high-strength bolts. The output shaft of the motor of 201) is rigidly locked to the bottom of the support bracket (202) by a key connection. The top of the support bracket (202) is assembled to the bottom of the robotic arm (203) by a ball connector. The top of the robotic arm (203) is hinged to the ball joint clamp (3). The ball joint clamp (3) includes a ball head (301) and a ball seat (302). The ball joint clamp (3) is set to hold the compensation platform (4) in six groups. A camera module (5) is installed below the center of the compensation platform (4). The compensation platform (4) fuses multi-source data through inverse kinematics algorithm to achieve X / Y / Z three-axis motion decoupling.

2. The multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The camera module (5) is equipped with a 2K resolution industrial-grade camera. The industrial-grade camera is fixed to the support bracket (202) below the compensation platform (4). The lens of the industrial-grade camera vertically upwards to cover the entire area of ​​the platform. The industrial-grade camera is connected to the image processing unit of the control box through a waterproof cable through the power supply hole of the base.

3. The multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The rotating base (1) is a square base with a length and width of 3 meters each, and the servo motor (201) is a waterproof servo motor.

4. The multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The support bracket (202) is an aluminum alloy support bracket. The aluminum alloy support bracket is CNC machined with hinges and connecting rods. The thickness of the anodized layer on the surface of the connecting rod is ≥15μm. The hinges and connecting rods are an integrated structure.

5. A multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The compensation platform (4) is a disc-shaped compensation platform with a diameter of 1 meter.

6. A multi-arm cooperative ship transfer wave compensation platform according to claim 5, characterized in that, The compensation platform (4) is made of tempered laminated glass with a thickness of 30mm.

7. A multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The rotating base (1) is welded from Q355 marine grade steel, and the total thickness of the two layers of fluorocarbon anti-corrosion coating on the surface is ≥80μm.

8. A multi-arm cooperative ship transfer wave compensation platform according to claim 1, characterized in that, The rotating base (1) has two sets of square power supply holes on its side wall.

9. A multi-arm cooperative ship transfer wave compensation platform according to any one of claims 1-8, characterized in that, The robotic arm (203) is fastened to the ball joint of the support bracket (202) by bolts to ensure that the connection gap is <0.1mm.

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