A motion-compensated maintenance ship for safeguarding rocket launches

Abstract

This invention provides a motion compensation maintenance vessel for rocket launch support, relating to the technical field of rocket launch maintenance vessels. The vessel includes a command ship and further comprises: a motion compensation gangway mounted on the deck of the command ship, extending from the command ship to the target location to construct a personnel and material transfer channel; and several digitally reconfigurable motion compensation devices, including a base support frame, power equipment, and a steel cable winding drum. This invention employs a rigid-flexible hybrid structure, which can simultaneously accommodate the rigid and flexible motion compensation functions of the gangway, ensuring motion compensation performance and structural stability. It solves the problems of swaying, deformation, and poor positioning of traditional gangways. The equipment supports reconfigurable deployment, adapting to different deck spaces and load conditions, exhibiting strong adaptability. Furthermore, relying on redundant constraint parallel mechanisms and segmented adjustable gangways, it boasts strong load-bearing capacity, a wide operating space, and convenient assembly and disassembly.

Description

Technical Field

[0001] This invention relates to the field of rocket launch maintenance vessel technology, specifically to a motion compensation maintenance vessel used to ensure rocket launches. Background Technology

[0002] In marine operations such as offshore rocket launch support and offshore wind power platform operation and maintenance, personnel, equipment, and materials need to be transferred and landed between ships and offshore platforms using landing gangways. The complex marine environment with its wind and waves causes ships, offshore wind power platforms, and offshore rocket launch support platforms to continuously experience six degrees of freedom of random swaying motion (roll, pitch, heave, bow roll, sway, pitch). The relative position and attitude between the ship and the target operational platform change in real time. Traditional landing gangways and their associated motion compensation equipment reveal many intractable drawbacks in actual operations at high sea states.

[0003] Currently, mainstream motion-compensated landing equipment can be divided into two categories: one is rigid connection hydraulic transmission rigid gangway, with the Dutch Ampelamann six-degree-of-freedom motion-compensated gangway and CIMC Offshore Engineering three-degree-of-freedom motion-compensated trestle as typical representatives. The gangway is rigidly connected to the hull and generates six-degree-of-freedom swaying motion completely in sync with the hull. Although this type of rigid parallel mechanism has high position and attitude control accuracy, the overall configuration is fixed, the longitudinal operation expansion capability is weak, it relies on a large tonnage base structure, has poor compatibility with the decks of small and medium-sized maintenance vessels, and the gangway sways violently with the ship in high sea states, which greatly increases the safety risks of personnel passage and material transfer. The rigid cantilever structure has a low load-bearing capacity and cannot complete the transfer of heavy equipment. At the same time, the freedom of extension, steering and adjustment is limited, resulting in insufficient operational flexibility. The supporting hydraulic drive system has a lag in response and low efficiency in handling emergencies. The displacement compensation method of rigid chain requires a large amount of extension space to be reserved between the gangway and the ship deck, which further occupies the deck operation area, and the cantilever structure cannot bear the transfer of heavy materials.

[0004] The second type is purely flexible rope traction compensation equipment, with representative products including the German Bosch Rexroth heave compensation device and the Dutch SMST three-degree-of-freedom motion compensation crane. This type of rope traction parallel mechanism relies on the flexible deformation of the rope to adapt to the small swaying of the hull and has a certain ability to follow and adapt to motion. However, it has insufficient inherent rigidity: the rope is prone to elastic deformation and large swing deviation when subjected to continuous impact from waves and sea winds, resulting in poor landing docking positioning accuracy and difficulty in accurately aligning with the platform landing port; under high sea states, the rope is very prone to slack and swing, posing high safety hazards such as falling from heights and ladder instability. The flexible rope structure has weak load-bearing capacity and is completely unsuitable for heavy-load material transfer conditions.

[0005] In addition to the inherent structural defects of the two types of equipment, existing motion compensation gangways also have shortcomings in versatility and deck adaptability: existing compensation equipment is a fixed assembly structure, which cannot flexibly adjust the layout, number of equipment and overall configuration according to the different deck areas and layout differences of different ships; if multiple compensation mechanisms are added to improve compensation capabilities, it will occupy a large amount of deck working space, interfere with the original operation process of the ship, and significantly increase the difficulty of equipment layout, manufacturing cost and operation and maintenance cost, and cannot achieve modular and reconfigurable layout.

[0006] To address the performance limitations of single rigid or purely flexible mechanisms, the industry has developed hybrid rigid-flexible motion compensation mechanisms. These mechanisms combine the high-precision position control of rigid branches with the wide-range stroke adjustment of flexible ropes through the synergistic action of rigid branches and flexible ropes. This expands the mechanism's operational freedom and workspace, while enhancing overall load-bearing stiffness. However, some hybrid mechanisms designed to expand space fail to constrain the rigid branches' interference with the flexible ropes' motion, while others focused on increasing degrees of freedom neglect the impact of the dynamic output displacement of the rigid branches on rope deformation and tension. Ultimately, this results in limited effective workspace, low overall stiffness, and weak six-degree-of-freedom motion compensation capabilities, failing to meet the demands of complex and unpredictable extreme sea conditions in the deep ocean.

[0007] In summary, existing rigid gangways, purely flexible compensation equipment, and traditional rigid-flexible hybrid compensation mechanisms all have their own performance shortcomings. They cannot simultaneously meet the comprehensive operational requirements of high sea state six-degree-of-freedom motion compensation, heavy-load cargo transfer, modular adaptation of multi-size ship decks, and high-precision stable docking. This restricts the safety and operational efficiency of marine engineering operations such as offshore wind power operation and maintenance and offshore rocket launch support. Therefore, it is urgent to design a new type of reconfigurable rigid-flexible hybrid composite compensation mechanism to solve the various pain points of existing technologies. Summary of the Invention

[0008] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a motion compensation maintenance vessel for ensuring rocket launches. Employing a rigid-flexible hybrid structure, it combines the rigid and flexible motion compensation functions of the gangway, improving motion compensation performance and structural stability, and solving the problems of swaying, deformation, and poor positioning associated with traditional gangways. The equipment supports reconfigurable deployment, adapting to different deck spaces and load conditions, demonstrating strong adaptability. Furthermore, relying on redundant constraint parallel mechanisms and segmented adjustable gangways, it boasts high load-bearing capacity, a wide operating space, and convenient assembly and disassembly. Technical solution

[0009] To achieve the above objectives, the present invention provides the following technical solution: a motion compensation maintenance vessel for ensuring rocket launches, comprising a command vessel, and further comprising: Motion-compensated gangways, mounted on the deck of the command ship, extend from the command ship to the target location, creating a transfer channel for personnel and supplies; Several digitally reconfigurable motion compensation devices include a base support frame, a power unit, and a steel cable winding drum. The base support frame is a frame structure formed by welding several sheet metal parts, and several reinforcing ribs are provided inside the frame to improve the overall strength. The steel cable winding drum is rotatably mounted on the base support frame through a support and bearing assembly, and is used to wind up and unwind the steel cable connected to the motion compensation gangway. The power unit includes a drive motor and a reducer box. The output shaft of the reducer box is driven by the steel cable winding drum to drive the steel cable winding drum to rotate and realize the winding and unwinding actions of the steel cable. The motion compensation gangway and the hull are completely connected through the digitally reconfigurable motion compensation devices and steel cables to realize flexible and rigid motion compensation functions. The lifting mechanism has a base at its end for mounting the digital reconfigurable motion compensation device, and is driven by the lifting mechanism to slide up and down in the vertical direction to realize the height compensation adjustment of the digital reconfigurable motion compensation device. A positioning mechanism is used to install the digitally reconfigurable motion compensation device or lifting mechanism on the deck of the command ship, so that several sets of digitally reconfigurable motion compensation devices can be arranged around the motion compensation gangway.

[0010] Preferably, the motion-compensated gangway includes a first gangway section, a telescopic gangway section, a rotating gangway section, a telescopic drive structure, and a rotating drive structure; The front end of the first gangway section is provided with a personnel and cargo entry and exit structure to enable personnel and cargo to enter the ladder surface. The straight section of the first gangway section is a hollow, retractable ladder body with a guide cavity inside for the telescopic gangway section to be stored. The telescopic gangway section is provided in at least one set. The telescopic gangway section, the first gangway section, and the adjacent telescopic gangway sections are all nested sliding fits. Each set of telescopic gangway sections can be linearly extended and retracted along the length of the ladder body. In the retracted state, they can be sequentially stored in the guide cavity of the previous ladder section. The telescopic drive structure is configured according to the number of telescopic gangway sections. Some of the telescopic drive structures are mounted on the bottom of the first gangway section. When there are multiple sets of telescopic gangway sections, the remaining telescopic drive structures are mounted on the bottom of each of the other sets of telescopic gangway sections except for the end telescopic gangway section. The telescopic drive structure is connected to the corresponding gangway section for driving each set of telescopic gangway sections to achieve linear telescopic movement. The rotating gangway section is installed on the telescopic gangway section at the end position. The rotating gangway section is connected to the end telescopic gangway section through a rotating drive structure, which can realize the angle adjustment of the end rotating gangway section relative to the telescopic gangway section.

[0011] Preferably, the motion-compensating gangway is provided with lugs that can slide freely between each gangway section, and the lugs are used to fix and connect to the steel rope of the digitally reconfigurable motion compensation device.

[0012] Preferably, a walking assembly is installed below the lifting mechanism to drive the lifting mechanism to move on the deck of the command ship.

[0013] Preferably, the positioning mechanism includes a perforated deck laid on the command ship and a locking member installed on the walking component or digital reconfigurable motion compensation device. By engaging the locking member into the holes of the perforated deck, the walking component or digital reconfigurable motion compensation device is limited and fixed.

[0014] Preferably, the digital reconfigurable motion compensation device is configured in five sets; three sets of digital reconfigurable motion compensation devices are installed on the lifting mechanism and are respectively arranged on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices located on the left and right sides of the first gangway section are connected to the lifting lugs on the telescopic gangway section by steel cables, and the digital reconfigurable motion compensation device located on the rear side is connected to the last lifting lug; the other two sets of digital reconfigurable motion compensation devices are fixed to the perforated deck by locking components, and the two sets of digital reconfigurable motion compensation devices are connected to the same lifting lug below the first gangway section.

[0015] Preferably, the digital reconfigurable motion compensation device is configured in six sets. Four sets of digital reconfigurable motion compensation devices are arranged on the lifting mechanism and respectively set on the left and right sides of the forward and rear sections of the first gangway. The two sets of digital reconfigurable motion compensation devices located at the forward end are connected to the lifting lugs on both sides of the front end of the telescopic gangway, and the two sets of digital reconfigurable motion compensation devices located at the rear end are connected to the lifting lugs on both sides of the rear end of the telescopic gangway. The other two sets of digital reconfigurable motion compensation devices are fixed to the perforated deck by locking components and are connected together to the same lifting lug below the first gangway.

[0016] Preferably, the digital reconfigurable motion compensation device is configured in five sets; three sets of digital reconfigurable motion compensation devices are arranged on the lifting mechanism and respectively set on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices located on the left and right sides of the first gangway section are connected to the lifting lugs on the telescopic gangway section through steel cables, and the digital reconfigurable motion compensation device located on the rear side is connected to the last lifting lug; the other two sets of digital reconfigurable motion compensation devices are fixed to the perforated deck through locking components and are respectively connected to the front and rear lifting lugs below the first gangway section.

[0017] This invention provides a motion compensation maintenance vessel for ensuring rocket launches. It possesses the following technical features and beneficial effects: Adopting a combined rigid-flexible structure, relying on a digitally reconfigurable motion compensation device, steel cables, and a rigid motion compensation gangway, it can simultaneously perform both flexible and rigid motion compensation functions. In the flexible motion compensation section, the cable-driven parallel mechanism composed of steel cables actively controls the gangway's posture to adapt to ship swaying. In the rigid motion compensation section, the gangway actively extends and shortens to compensate for errors in the flexible steel cables and assembly, improving the overall structural rigidity and reliability. It balances motion compensation capability and structural stability, solving the problems of traditional pure rigid gangways swaying significantly with the hull, and pure flexible gangways having large deformation and insufficient positioning accuracy.

[0018] It supports digitally reconfigurable deployment, and can flexibly adjust the number and spatial orientation of digitally reconfigurable motion compensation devices according to the size of the command ship's deck space and the actual load-bearing weight of the gangway, forming a variety of operating configurations such as five degrees of freedom and six degrees of freedom. Different configurations are adapted to different working conditions such as narrow decks, ample space, and heavy-load transfer, greatly improving versatility and scenario adaptability, and avoiding the drawbacks of fixed compensation equipment that cannot be flexibly arranged and occupy too much deck space.

[0019] The anchor bolts and anchor positions form a redundant constraint rope traction parallel mechanism, which has strong load-bearing capacity and ample longitudinal working space. Combined with a rigid gangway with a multi-segment telescopic and rotating structure, it effectively overcomes the defects of rope flexibility and deformation, and expands the lateral working range. The segmented nested design of the gangway, combined with the telescopic and rotating drive structure, can complete multi-level telescopic and angle adjustment. Combined with sliding lugs, it can achieve quick connection and disassembly of steel cables, making it highly convenient to assemble and use. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention mounted on a maintenance vessel; Figure 2 This is a schematic diagram of the structure of the traveling trolley fixed by the perforated deck in this invention; Figure 3 This is a schematic diagram of the motion-compensating gangway in this invention; Figure 4 This is a schematic diagram of the structure of the digitally reconfigurable motion compensation device in this invention; Figure 5 This is a schematic diagram of the front structure of the digitally reconfigurable motion compensation device in the first configuration of the motion compensation gangway in this invention; Figure 6 This is a schematic diagram of the lower structure of the digitally reconfigurable motion compensation device in the first configuration of the motion compensation gangway in this invention. Figure 7This is a schematic diagram of the second configuration of the digitally reconfigurable motion compensation device for motion compensation gangway in this invention; Figure 8 This is a schematic diagram of the third configuration of the digitally reconfigurable motion compensation device for motion compensation gangway in this invention; Figure 9 This is a schematic diagram of the structure of the present invention extended to a wind power generation platform; Figure 10 This is a schematic diagram of the structure of the present invention extended to a rocket launcher.

[0021] The components include: 1. Command ship; 2. Perforated deck; 3. Motion-compensated gangway; 4. Lifting mechanism; 5. Digitally reconfigurable motion compensation device; 6. Traveling trolley; 7. Locking components. 32. First gangway section; 33. Telescopic gangway section; 34. Rotating gangway section; 35. Telescopic drive structure; 36. Rotating drive structure; 51. Base support frame; 52. Power equipment; 53. Steel rope winding drum. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example, reference Figure 1 and Figure 4 As shown, this embodiment of the invention provides a motion compensation maintenance vessel for ensuring rocket launches. The vessel includes a command ship 1, characterized by further comprising: a motion compensation gangway 3, mounted on the deck of the command ship 1, extending from the command ship 1 to the target location to construct a personnel and material transfer channel; and several digitally reconfigurable motion compensation devices 5, including a base support frame 51, a power unit 52, and a steel cable winding drum 53. The base support frame 51 is a frame structure formed by welding several sheet metal parts, with several reinforcing ribs inside to improve overall strength. The steel cable winding drum 53 is rotatably mounted on the base support frame 51 via supports and bearing assemblies, used for winding and unwinding the steel cable connected to the motion compensation gangway. The power unit 52 includes a drive motor and a reducer box, with the output shaft of the reducer box connected to the steel cable winding drum 53 to drive the drum to rotate and achieve the winding and unwinding of the steel cable. The motion compensation gangway 3 and the hull are completely connected via the digitally reconfigurable motion compensation devices 5 and steel cables, thereby achieving both flexible and rigid motion compensation functions.

[0024] By arranging multiple sets of digitally reconfigurable motion compensation devices 5, the overall configuration of the motion compensation equipment can be flexibly adjusted according to the deck space dimensions and the actual load-bearing weight of the motion compensation gangway 3. This allows for corresponding changes in the spatial orientation and number of anchor bolts and anchor positions, enabling the device to complete gangway load-bearing and transfer operations under different operating environments. The anchor bolts and anchor positions together form a redundant constraint rope traction parallel mechanism, which has strong load-bearing capacity and a large longitudinal working space. The motion compensation gangway 3 adopts a rigid structural design, effectively avoiding the problem of flexible deformation caused by ropes, while significantly increasing the overall lateral working space. The lifting mechanism 4 and the digitally reconfigurable motion compensation device 5 form a cable-driven parallel mechanism, enabling the entire motion-compensated gangway 3 to possess both flexible and rigid motion compensation functions. The rigid motion compensation function originates from the lifting mechanism 4 and the motion-compensated gangway 3. The lifting mechanism 4 can adaptively adjust its height according to different sea conditions and the size of the launch and command vessels, while the motion-compensated gangway 3 compensates for motion errors caused by the deformation of the flexible steel cables. The flexible motion compensation function originates from the cable-driven parallel mechanism composed of steel cables, which performs multi-degree-of-freedom attitude control on the motion-compensated gangway 3. During the entire operation, the rigid motion compensation function is activated first. After the lifting mechanism 4 extends to the working height, the motion-compensated gangway 3 moves closer to the target position of the launch vessel. Then, the rigid and flexible motion compensation functions work simultaneously, with the cable-driven parallel mechanism responsible for the main attitude compensation of the gangway, and the motion-compensated gangway 3 making minor adjustments based on the attitude error between its end and the target position of the launch vessel.

[0025] During the equipment configuration process, the following deployment requirements must be met: at least one set of digitally reconfigurable motion compensation devices 5 is connected to the front end of the motion compensation gangway 3 to provide a rearward pulling force for the gangway; at least one set of digitally reconfigurable motion compensation devices 5 is pulled to the rear side of the motion compensation gangway 3; and at least one set of digitally reconfigurable motion compensation devices 5 is pulled to the bottom of the motion compensation gangway 3.

[0026] In some embodiments, reference Figure 2 As shown, the lifting mechanism 4 has a base at its end for installing the digital reconfigurable motion compensation device 5, and is driven by the lifting mechanism 4 to slide up and down in the vertical direction to realize the height compensation adjustment of the digital reconfigurable motion compensation device 5; the positioning mechanism is used to install the digital reconfigurable motion compensation device 5 or the lifting mechanism 4 on the deck of the command ship 1, so that several sets of digital reconfigurable motion compensation devices 5 can be arranged around the motion compensation gangway 3.

[0027] The positioning device is mainly responsible for fixing the anchor bolt to the deck to prevent the gangway from swinging back and forth during the suspension or transport of the gangway.

[0028] In some embodiments, reference Figure 3 As shown, the motion-compensated gangway 3 includes a first gangway section 31, a telescopic gangway section 32, a rotating gangway section 33, a telescopic drive structure 34, and a rotating drive structure 35. The front end of the first gangway section 31 is provided with a personnel and cargo entry and exit structure to enable personnel and cargo to enter the ladder surface. The straight section of the first gangway section 31 is a hollow, retractable ladder body with a guide cavity inside for the telescopic gangway section 32 to be stored. At least one set of telescopic gangway sections 32 is provided. The telescopic gangway sections 32, the first gangway section 31, and the adjacent telescopic gangway sections 32 are all nested and slidingly fitted. Each set of telescopic gangway sections 32 can extend and retract linearly along the length of the ladder body, and in the retracted state, they can be stored in the guide cavity of the previous stage of the ladder section. The telescopic drive structure 34 is configured according to the number of telescopic gangway sections 32. Some telescopic drive structures 34 are mounted on the bottom of the first gangway section 31. When there are multiple sets of telescopic gangway sections 32, the remaining telescopic drive structures 34 are mounted on the bottom of each set of telescopic gangway sections 32 except for the end telescopic gangway section. The telescopic drive structure 34 is connected to the corresponding gangway section to drive each set of telescopic gangway sections 32 to achieve linear telescopic movement. The rotating gangway section 33 is installed on the telescopic gangway section 32 at the end position. The rotating gangway section 33 is connected to the end telescopic gangway section 32 through the rotating drive structure 35. The rotating drive structure 35 can realize the angle adjustment of the end rotating gangway section 33 relative to the telescopic gangway section 32.

[0029] In some embodiments, the motion-compensating gangway 3 is provided with lugs that can slide freely between each gangway section. The lugs are used to fix and connect to the steel rope of the digitally reconfigurable motion compensation device 5.

[0030] The lifting lugs allow for quick assembly and disassembly of the gangway and steel cables. It should be noted that the lifting lugs also have a quick-fixing function on the gangway, using corresponding fixing structures to achieve the fixing function and provide stability when suspending the gangway.

[0031] In some embodiments, a walking assembly 6 is installed below the lifting mechanism 4 to drive the lifting mechanism 4 to move and walk on the deck of the command ship 1.

[0032] In some embodiments, reference Figure 2 As shown, the positioning mechanism includes a perforated deck 2 laid on the command ship 1 and a locking member 7 installed on the walking component 6 or the digital reconfigurable motion compensation device 5. By inserting the locking member 7 into the holes of the perforated deck 2, the walking component 6 or the digital reconfigurable motion compensation device 5 is limited and fixed.

[0033] In some embodiments, reference Figure 5 and Figure 6As shown, a total of five sets of digital reconfigurable motion compensation devices 5 are configured; three sets of digital reconfigurable motion compensation devices 5 are installed on the lifting mechanism 4 and are respectively arranged on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices 5 located on the left and right sides of the first gangway section are connected to the lifting lugs on the telescopic gangway section 32 by steel cables, and the digital reconfigurable motion compensation device 5 located on the rear side is connected to the lifting lug at the very end; the other two sets of digital reconfigurable motion compensation devices 5 are fixed to the perforated deck 2 by locking parts 7, and the two sets of digital reconfigurable motion compensation devices 5 are connected to the same lifting lug below the first gangway section 31.

[0034] The configuration has five degrees of freedom, including the extension and retraction of the gangway and the rotation of the gangway end. The cable-driven parallel mechanism has three degrees of freedom, including the lifting motion along the Z-axis, the rotational motion around the Y-axis, and the rotational motion along the X-axis. Taking the rotational motion as an example, the steel cables connected to the two reconfigurable motion compensation devices 5 on the front side extend on the left and shorten on the right. The length of the reconfigurable motion compensation device 5 on the rear side remains unchanged. The steel cables connected to the two reconfigurable motion compensation devices 5 fixed on the deck shorten on the left and extend on the right.

[0035] The advantage of this configuration is that the motion-compensated gangway 3 can be placed on the ship's deck, allowing personnel and supplies to be smoothly transferred onto the gangway. Then, the gangway rises and rocks synchronously with the launch ship, achieving the goal of getting personnel and supplies to the launch ship.

[0036] In some embodiments, reference Figure 7 As shown, a total of six sets of digitally reconfigurable motion compensation devices 5 are configured. Four sets of digitally reconfigurable motion compensation devices 5 are arranged on the lifting mechanism 4 and are respectively set on the left and right sides of the forward and rear sections of the first gangway section. The two sets of digitally reconfigurable motion compensation devices 5 located at the forward end are connected to the lifting lugs on both sides of the front end of the telescopic gangway section 32, and the two sets of digitally reconfigurable motion compensation devices 5 located at the rear end are connected to the lifting lugs on both sides of the rear end of the telescopic gangway section 32. The other two sets of digitally reconfigurable motion compensation devices 5 are fixed to the perforated deck 2 by locking members 7 and are connected together to the same lifting lug below the first gangway section 31.

[0037] The following different configurations all use the command ship coordinate system as the reference. The X-axis is parallel to the centerline of the command ship's bow and stern, with the positive direction of the X-axis pointing from the stern to the bow. Along the direction of docking between the two ships, it corresponds to the direction of the gangway extension and retraction. The Y-axis is parallel to the horizontal plane of the command ship's deck and perpendicular to the X-axis, with the positive direction of the Y-axis pointing from the starboard side to the port side. It spans the deck to the left and right, corresponding to the direction of gangway sway and roll compensation. The Z-axis is perpendicular to the deck and vertically upward, with the positive direction of the Z-axis. It is perpendicular to the deck and upward, corresponding to the lifting mechanism's lifting and lowering, and the ship's heave compensation.

[0038] This configuration has six degrees of freedom, including the extension and retraction of the gangway and the rotation of the gangway end. The cable-driven parallel mechanism has four degrees of freedom, including the lifting motion along the Z-axis, the rotational motion around the Y-axis, the forward and backward motion along the X-axis, and the rotational motion around the X-axis. Compared with the first configuration, this configuration provides a gangway suspension solution with a stronger load-bearing capacity when there is ample deck space.

[0039] In some embodiments, reference Figures 8 to 10 As shown, a total of five sets of digital reconfigurable motion compensation devices 5 are configured; three sets of digital reconfigurable motion compensation devices 5 are arranged on the lifting mechanism 4 and are respectively set on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices 5 located on the left and right sides of the first gangway section are connected to the lifting lugs on the telescopic gangway section 32 through steel cables, and the digital reconfigurable motion compensation device 5 located on the rear side is connected to the last lifting lug; the other two sets of digital reconfigurable motion compensation devices 5 are fixed to the perforated deck 2 through locking parts 7 and are respectively connected to the front and rear lifting lugs below the first gangway section 31.

[0040] The configuration has five degrees of freedom, including the extension and retraction of the gangway and the rotation of the gangway end. The cable-driven parallel mechanism has three degrees of freedom, including the lifting motion along the Z-axis, the rotational motion around the Y-axis, and the rotational motion around the X-axis. This configuration provides a gangway suspension solution when the deck space of the command ship is relatively tight and the motion compensation anchor position is difficult to be located on both sides of the motion compensation gangway.

[0041] This configuration is often used in scenarios involving extended personnel landing. Taking landing on wind power platforms and launch sites as an example, when using this device, the digital reconfigurable motion compensation device 5 is moved and fixed at a designated position on the perforated deck, and then the steel cable is connected to the lifting lug of the first gangway section 31. Then, the lifting mechanism 4 is raised to the working height, so that the gangway swings synchronously with the command ship. Then, the telescopic gangway section 32 and the rotating gangway section 33 are extended in sequence to form an eccentric state. First, the gangway moves synchronously with the command ship, and then the six degrees of freedom sway of the command ship is compensated to keep the gangway stationary relative to the earth coordinate system. After that, each section of the gangway is fully extended and the rotating gangway section 33 is deflected to leave a motion margin. It is then brought close to the launch ship, and the gangway is driven to move synchronously with the launch ship by relying on the digital reconfigurable motion compensation device 5. At the same time, the six degrees of freedom sway of the two ships are compensated in both directions to keep the gangway and the launch ship relatively stationary. During the transfer of personnel and materials, the stationary state of the gangway relative to the earth, the command ship, or the launch ship is repeatedly switched according to the operational requirements. After all operations are completed, the reverse operation is performed to complete the recovery of the entire set of equipment.

[0042] Among them, the gangway's synchronous movement following the launch ship is an active control mechanism, which mainly relies on the launch ship's built-in gyroscope and control mechanism to achieve motion matching between the two. The built-in inertial gyroscope continuously collects the launch ship's real-time motion parameters at high frequency, including core data such as the ship's three-axis angular velocity, attitude tilt angle, vertical displacement, and horizontal offset. At the same time, it is combined with attitude sensors and position encoders to assist in collecting environmental compensation parameters, calibrating the ship's motion data in real time, avoiding data deviations caused by sea wave interference and slight equipment errors, and finally converting the collected full-dimensional motion simulation signals into digital signals and transmitting them to the core control unit in real time. After receiving real-time motion data from the gyroscope, the core processor of the control system quickly compares the difference between the current attitude and position of the gangway and the real-time motion state of the launch ship. It accurately calculates the correction parameters such as the angle, displacement, speed, and acceleration that the gangway needs to be adjusted. Combining the inertia of motion at sea and the response delay characteristics of the equipment, the parameters are dynamically compensated and optimized to eliminate control lag and overshoot problems. Finally, it generates precise multi-channel collaborative control commands, which are synchronously sent to each power actuator of the gangway, thereby adjusting the gangway to achieve synchronization with the launch ship.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A motion compensation maintenance vessel for ensuring rocket launch, comprising a command vessel (1), characterized in that, Also includes: The motion compensation gangway (3) is mounted on the deck of the command ship (1) and extends from the command ship (1) to the target location to construct a transfer channel for personnel and materials; Several digitally reconfigurable motion compensation devices (5) include a base support frame (51), a power unit (52), and a steel rope winding drum (53). The base support frame (51) is formed by welding several sheet metal parts to form a frame structure. Several reinforcing ribs are provided in the frame to improve the overall strength. The steel rope winding drum (53) is rotatably mounted on the base support frame (51) through a support and bearing assembly, and is used to wind up and unwind the steel rope connected to the motion compensation gangway. The power unit (52) includes a drive motor and a reducer box. The output shaft of the reducer box is connected to the steel rope winding drum (53) to drive the steel rope winding drum (53) to rotate and realize the winding and unwinding action of the steel rope. The motion compensation gangway (3) is connected to the hull through the digitally reconfigurable motion compensation devices (5) and steel cables. The lifting mechanism (4) has a base at its end for mounting the digital reconfigurable motion compensation device (5), and is driven by the lifting mechanism (4) to slide up and down in the vertical direction to realize the height compensation adjustment of the digital reconfigurable motion compensation device (5). Among them, the motion compensation gangway (3) relies on its own rigidity and the lifting mechanism (4) and the digital reconfigurable motion compensation device (5) and the flexibility of the steel rope to realize the motion compensation function of flexible and rigid parallel connection; A positioning mechanism is used to install the digitally reconfigurable motion compensation device (5) or the lifting mechanism (4) on the deck of the command ship (1), so that several sets of digitally reconfigurable motion compensation devices (5) can be arranged around the motion compensation gangway (3).

2. The motion compensation maintenance vessel for ensuring rocket launch as described in claim 1, characterized in that, The motion-compensated gangway (3) includes a first gangway section (31), a telescopic gangway section (32), a rotating gangway section (33), a telescopic drive structure (34), and a rotating drive structure (35). The first gangway section (31) is provided with a personnel and cargo entry and exit structure at its front end, which is used to enable personnel and cargo to enter the ladder surface. The straight section of the first gangway section (31) is a hollow storage ladder body, and a guide cavity is formed inside for the telescopic gangway section (32) to be stored. The telescopic gangway section (32) is provided in at least one set. The telescopic gangway section (32), the first gangway section (31), and the adjacent telescopic gangway section (32) are all nested sliding fits. Each set of telescopic gangway sections (32) can be linearly extended and retracted along the length of the ladder body. In the retracted state, they can be stored in the guide cavity of the previous ladder section in sequence. The telescopic drive structure (34) is configured according to the number of telescopic gangway sections (32). Some of the telescopic drive structures (34) are mounted on the bottom of the first gangway section (31). When there are multiple sets of telescopic gangway sections (32), the remaining telescopic drive structures (34) are mounted on the bottom of each of the other sets of telescopic gangway sections (32) except for the end telescopic gangway section. The telescopic drive structure (34) is connected to the corresponding gangway section for driving each set of telescopic gangway sections (32) to achieve linear telescopic movement. The rotating gangway section (33) is installed on the telescopic gangway section (32) at the end position. The rotating gangway section (33) is connected to the telescopic gangway section (32) at the end through a rotating drive structure (35). The rotating drive structure (35) can realize the angle adjustment of the rotating gangway section (33) at the end relative to the telescopic gangway section (32).

3. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 1, characterized in that, The motion compensation gangway (3) is equipped with lugs that can slide freely between each gangway section. The lugs are used to fix the connection with the steel rope of the digital reconfigurable motion compensation device (5).

4. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 1, characterized in that, A walking assembly (6) is installed below the lifting mechanism (4) to drive the lifting mechanism (4) to move on the deck of the command ship (1).

5. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 4, characterized in that, The positioning mechanism includes a perforated deck (2) laid on the command ship (1) and a locking element (7) installed on the walking component (6) or the digital reconfigurable motion compensation device (5). By inserting the locking element (7) into the hole of the perforated deck (2), the walking component (6) or the digital reconfigurable motion compensation device (5) is limited and fixed.

6. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 2, characterized in that, The digital reconfigurable motion compensation device (5) is configured in five sets; three sets of digital reconfigurable motion compensation devices (5) are installed on the lifting mechanism (4) and are respectively arranged on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices (5) located on the left and right sides of the first gangway section are connected to the lifting lugs on the telescopic gangway section (32) by steel cables, and the digital reconfigurable motion compensation device (5) located on the rear side is connected to the lifting lug at the very end; the other two sets of digital reconfigurable motion compensation devices (5) are fixed on the perforated deck (2) by locking parts (7), and the two sets of digital reconfigurable motion compensation devices (5) are connected to the same lifting lug below the first gangway section (31).

7. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 2, characterized in that, The digital reconfigurable motion compensation device (5) is configured in six sets. Four sets of digital reconfigurable motion compensation devices (5) are arranged on the lifting mechanism (4) and respectively set on the left and right sides of the front and rear sections of the first gangway section. The two sets of digital reconfigurable motion compensation devices (5) located at the front end are connected to the lugs on both sides of the front end of the telescopic gangway section (32), and the two sets of digital reconfigurable motion compensation devices (5) located at the rear end are connected to the lugs on both sides of the rear end of the telescopic gangway section (32). The other two sets of digital reconfigurable motion compensation devices (5) are fixed to the perforated deck (2) by locking parts (7) and are connected to the same lug below the first gangway section (31).

8. A motion compensation maintenance vessel for ensuring rocket launch as described in claim 2, characterized in that, The digital reconfigurable motion compensation device (5) is configured in five sets; three sets of digital reconfigurable motion compensation devices (5) are arranged on the lifting mechanism (4) and respectively set on the left, right and rear sides of the first gangway section. The digital reconfigurable motion compensation devices (5) located on the left and right sides of the first gangway section are connected to the lugs on the telescopic gangway section (32) by steel cables, and the digital reconfigurable motion compensation device (5) located on the rear side is connected to the last lug; the other two sets of digital reconfigurable motion compensation devices (5) are fixed on the perforated deck (2) by locking parts (7) and respectively connected to the front and rear lugs below the first gangway section (31).

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