Compensation type marine stable side bridge

Abstract

The utility model relates to a compensation type offshore stable side bridge which comprises a base, an orientation rotary table, a rotary driver, a lower orientation driving rotary table bearing, a swing U-shaped frame, a lifting U-shaped frame and a swing heaving driver. The first end of the azimuth turntable is connected with the base through a lower azimuth driving turntable bearing to form a first rotating pair; the second end of the orientation rotary table is in sliding connection with the first end of the swing U-shaped frame to form a second rotating pair, and a rotary driver is arranged in the middle of the second end of the orientation rotary table. The ship swing compensation is realized through linkage of rotation of the azimuth turntable, swing lifting of the swing U-shaped frame, the lifting U-shaped frame and the door-shaped frame, pitching of the azimuth turntable and yawing and telescopic motion of the telescopic yawing integrated box bridge, and the ship swing compensation device has the characteristics of compact structure and large compensation range, and can have the functions of a ship crane and a pedestrian path; and meanwhile, offshore hoisting operation and offshore personnel transfer operation are realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of compensating gangways for offshore operations, and particularly relates to a compensated offshore stable gangway. Background Technique

[0002] When a ship or an offshore floating body is operating offshore, it will be affected by sea winds, waves, ocean currents, etc., causing the ship to move in six degrees of freedom: roll, pitch, yaw, sway, surge, and heave. This leads to relative movement between the hull and the operating platform, not only increasing the operation difficulty, but also reducing the operation efficiency and safety during the operation.

[0003] Most of the existing offshore personnel transfer gangways adopt a scheme of connecting a parallel platform in series with the gangway for motion compensation, some adopt a scheme of connecting a lifting column in series with the gangway for compensation, and some also adopt underactuated passive compensation, only compensating for the heave motion of the hull. However, when the gangway is relatively long, the existing schemes have serious problems of heavy partial load, resulting in too large driving power for the stable gangway driver; and the motion compensation range is relatively small; when a large range of heave motion needs to be compensated, in the existing schemes, it is necessary to increase the volume and weight of the mechanism, increasing the load on the hull. Therefore, it is of great significance to develop a compensated personnel and cargo transfer gangway that can compensate for the rolling motion of the ship. Content of the Utility Model

[0004] Aiming at the problems existing in the prior art, the utility model aims to design an active compensation type offshore transfer gangway that solves the problem of heavy partial load, has high driving efficiency, is structurally compact, has high safety, and has a large compensation range. The utility model provides a compensated offshore stable gangway, which compensates for the rolling of the ship through the rotation of the azimuth turntable, the swing of the swing U-shaped frame, the lifting of the lifting U-shaped frame and the gantry frame, and the pitching of the pitching turntable, and the yaw and telescopic movements of the telescopic yaw integrated box bridge. While compensating for the hull greatly, it can ensure a low initial height and the safety during the personnel boarding process, keep the gangway bridge deck always relatively stationary with the operation target, improve the offshore operation efficiency and safety, and has the advantages of small volume, light self-weight, large compensation range, and convenient installation and debugging.

[0005] The technical solution adopted by the present utility model is a compensating type offshore stabilizing gangway, which comprises a base, an azimuth turntable, a slewing drive, a lower azimuth drive turntable bearing, a swinging U-shaped frame, a lifting U-shaped frame and a swinging heave drive; the first end of the azimuth turntable is connected to the base through the lower azimuth drive turntable bearing, forming a first rotating pair; the second end of the azimuth turntable is slidably connected to the first end of the swinging U-shaped frame, forming a second rotating pair, and a middle part of the second end of the azimuth turntable is provided with the slewing drive, a motor is arranged on the slewing drive, an output end of the motor is provided with a motor gear, and external teeth of the motor gear are engaged with external teeth of the lower azimuth drive turntable bearing; an inner side wall of the second end of the swinging U-shaped frame is slidably connected to an outer side wall of the lifting U-shaped frame, forming a first moving pair, an axis of the first moving pair is perpendicular to an axis of the first rotating pair, swinging heave drives are respectively arranged on two sides of the lifting U-shaped frame away from the second end of the swinging U-shaped frame, a first end of the swinging heave drive is hinged to the second end of the azimuth turntable, forming a third rotating pair, and a second end of the swinging heave drive is rotatably connected to the second end of the lifting U-shaped frame, forming a fourth rotating pair; a plurality of pulleys are respectively arranged at two ends of the lifting U-shaped frame, the plurality of pulleys include upper pulleys and lower pulleys, the lower pulleys are located at the first end of the lifting U-shaped frame, and the upper pulleys are located at the second end of the lifting U-shaped frame; it further comprises a gantry frame, an ascending drive flexible cable, a descending drive flexible cable, a pitching turntable, a telescopic bow sway integrated box girder, a bow sway turntable bearing, and a pitching bow sway drive; the telescopic bow sway integrated box girder is connected to the pitching turntable through the bow sway turntable bearing, forming a sixth rotating pair; first hinge members or second hinge members are respectively arranged on two side surfaces of the gantry frame, and a first end of the pitching bow sway drive is hinged to the first hinge member through a ball pair; a second end of the pitching bow sway drive is rotatably connected to an outer layer widened connecting frame of the telescopic bow sway integrated box girder through a U pair to form a universal hinge, and an included angle between an axis of the pitching bow sway drive and an axis of the telescopic bow sway integrated box girder is an acute angle.

[0006] Furthermore, it further comprises a heave assist spring group, the heave assist gas spring group comprises two heave assist gas springs, and the two heave assist gas springs are symmetrically arranged on two sides of the lifting U-shaped frame respectively, a first end of the heave assist gas spring is movably connected to an upper end of the lifting U-shaped frame, and a second end of the heave assist gas spring is movably connected to a middle part of a side frame of the swinging U-shaped frame.

[0007] Further, it further includes a pitching assist gas spring group, the pitching assist gas spring group includes two pitching assist gas springs, and both of the two pitching assist gas springs are arranged on one side of the gantry frame. The first end of the pitching assist gas spring is hinged to the second hinge of the gantry frame to form a spherical pair, and the second end of the pitching assist gas spring is movably connected to the rear frame of the telescopic bow rocker integrated box girder to form a spherical pair.

[0008] Further, the pitching bow rocker driver includes a pitching bow rocker drive cylinder, a rod end piston, a rod end sleeve, a pitching bow rocker buffer spring and a rod end spherical bearing. The first end of the pitching bow rocker drive cylinder is hinged to the gantry frame, the second end of the pitching bow rocker drive cylinder is fixedly connected to the first end of the rod end piston. The rod end piston is arranged inside the first end of the rod end sleeve, and the second end of the rod end piston contacts the first end of the pitching bow rocker buffer spring. The second end of the rod end sleeve is connected to the first end of the rod end spherical bearing, and the second end of the rod end spherical bearing is rotatably connected to the outer widened connecting frame of the telescopic bow rocker integrated box girder. The pitching bow rocker buffer spring is arranged inside the rod end sleeve, and the second end of the pitching bow rocker buffer spring contacts the first end of the rod end spherical bearing.

[0009] Further, the telescopic bow rocker integrated box girder includes an upper bridge body, a lower bridge body, transverse pressing wheels and longitudinal pressing wheels. The upper bridge body is clamped on the lower bridge body, and the contact surface between the upper bridge body and the side surface of the lower bridge body is slidably connected through a slideway to form a third moving pair; L-shaped longitudinal beams are symmetrically arranged at the lower parts on both sides of the upper bridge body, L-shaped steel guide rails are arranged at the lower parts outside the L-shaped longitudinal beams, and the L-shaped steel guide rails and the L-shaped longitudinal beams are connected by bolts to form a side groove-shaped longitudinal beam. The transverse pressing wheels press on the vertical plates of the L-shaped steel guide rails, and the longitudinal pressing wheels press on the upper surface and the lower surface of the cross plates of the L-shaped steel guide rails. Both the transverse pressing wheels and the longitudinal pressing wheels are eccentric sleeve type pressing wheels; Two C-shaped pressing wheel mounting plates are symmetrically arranged on the outer bottom wall of the lower bridge body, the transverse pressing wheels are symmetrically arranged on the upper surface and the lower surface of the C-shaped pressing wheel mounting plates, and the longitudinal pressing wheels are symmetrically arranged on the middle vertical surfaces of the C-shaped pressing wheel mounting plates.

[0010] Further, a driving winch is further arranged on the outer bottom wall of the lower bridge body. Four flexible cables extend from the driving winch, two of the flexible cables are bridge extending flexible cables, and two of the flexible cables are bridge retracting flexible cables. The extending ends of the bridge extending flexible cables are fixedly connected to the lower rear end of the upper bridge body through deflecting pulleys; After the bridge retracting flexible cables extend, they pass through under the lower bridge body through deflecting pulleys and are fixedly connected to the lower front end of the upper bridge body.

[0011] Further, the portal frame is slidably connected to the inner side of the lifting U-shaped frame through two parallel linear guide rails to form a second moving pair, and the axis of the second moving pair is parallel to the axis of the first moving pair; and two ascending driving flexible cables and two descending driving flexible cables are respectively arranged between the portal frame and the left and right rectangular frames of the lifting U-shaped frame. The first end of each ascending driving flexible cable is fixedly connected to the upper end of the side frame of the swinging U-shaped frame. The second end of the ascending driving flexible cable passes through the through hole on the lower cross beam of the rectangular installation frame and bypasses the upper pulley and is fixedly connected to the lower end outside the portal frame. The first end of each descending driving flexible cable is fixedly connected to the upper end of the side frame of the swinging U-shaped frame. The second end of the descending driving flexible cable bypasses the lower pulley and passes through the through hole on the upper cross beam of the rectangular installation frame and is fixedly connected to the lower end outside the portal frame.

[0012] Compared with the prior art, the features and beneficial effects of the present utility model are as follows:

[0013] 1. A compensating type marine stabilizing gangway provided by the present utility model uses a symmetrical pitching assist gas spring group for assistance, balances the torque generated by the end of the long bridge on the rotation center, and effectively reduces the driving power.

[0014] 2. A compensating type marine stabilizing gangway provided by the present utility model uses a heaving assist gas spring group for heaving assistance, realizes static load balance for loads such as the portal frame, pitching turntable, and telescopic bow sway integrated box bridge, and reduces the driving power.

[0015] 3. A compensating type marine stabilizing gangway provided by the present utility model is provided with buffer springs and buffer gas springs on the pitching bow sway driver and the telescopic driver, effectively reducing the damage to the gangway during the impact on the gangway.

[0016] 4. A compensating type marine stabilizing gangway provided by the present utility model is provided with two turntable bearings, one for azimuth rotation and one for compensating the bow sway movement of the hull, improving the motion compensation efficiency. Description of the Drawings

[0017] Figure 1 is the overall structure schematic diagram of the compensating type marine stabilizing gangway of the utility model;

[0018] Figure 2 is the overall kinematic pair connection diagram of the compensating type marine stabilizing gangway of the utility model;

[0019] <l Figure 3 is the detailed structure connection schematic diagram of the base and the azimuth turntable of the utility model;

[0020] Figure 4 is the schematic diagram of the lifting flexible cable structure of the utility model;

[0021] Figure 5 It is a schematic structural diagram of the lifting door frame structure of the utility model;

[0022] Figure 6 It is a schematic structural diagram of the door frame and the pitching turntable of the utility model;

[0023] Figure 7 It is a schematic structural diagram of the telescopic bow swing integrated box bridge of the utility model;

[0024] Figure 8 It is a schematic installation diagram of the horizontal and vertical pressure wheel groups of the utility model;

[0025] Figure 9 It is a schematic structural diagram of the pitching bow swing driver of the utility model.

[0026] Main reference numerals:

[0027] 1 - Base; 101 - Motor gear; 2 - Azimuth turntable; 3 - Slewing drive; 4 - Swing U-shaped frame; 5 - Swing heave drive; 6 - Lifting U-shaped frame; 601 - Left and right rectangular frames; 602 - Linear guide rail of the lifting U-shaped frame; 603 - Upper pulley; 604 - Lower pulley; 7 - Pitching turntable; 8 - Pitching bow swing driver; 801 - Pitching bow swing drive cylinder; 802 - Rod end piston; 803 - Rod end sleeve; 804 - Pitching bow swing buffer spring; 805 - Rod end spherical plain bearing; 9 - Telescopic bow swing integrated box bridge; 901 - Upper bridge body; 902 - Lower bridge body; 903 - Driving winch; 904 - Deflecting pulley; 905 - L-shaped steel guide rail; 906 - C-shaped pressure wheel mounting plate; 907 - Horizontal pressure wheel; 908 - Vertical pressure wheel; 909 - L-shaped longitudinal beam; 10 - Pitching assist gas spring group; 11 - Heave assist gas spring group; 12 - Door frame; 1201 - Linear guide rail of the door frame; 1202 - Bottom hinge seat of the door frame; 13 - Lower azimuth drive turntable bearing; 14 - Bow swing turntable bearing; 15 - Upward drive flexible cable; 16 - Downward drive flexible cable; 17 - First universal hinge; 18 - Second universal hinge; 19 - First spherical pair; 20 - Second spherical pair; 21 - Third spherical pair; 22 - Fourth spherical pair; 23 - First rotational pair; 24 - Second rotational pair; 25 - Third rotational pair; 26 - Fourth rotational pair; 27 - Fifth rotational pair; 28 - Sixth rotational pair; 29 - First translational pair; 30 - Second translational pair; 31 - Third translational pair. Detailed implementation manners

[0028] To elaborate on the technical content, structural features, achieved objectives, and effects of the present utility model, the following will be described in detail with reference to the accompanying drawings of the specification.

[0029] The present utility model relates to a compensated marine stabilizing side bridge, as Figure 1As shown in the figure, it includes a base 1, a slewing drive 3, a lower azimuth drive turntable bearing 13, an azimuth turntable 2, a swing U-shaped frame 4, a lifting U-shaped frame 6, and two swing heave drives 5. The base 1 is connected to the azimuth turntable 2 through the lower azimuth drive turntable bearing 13 to form a first rotating pair 23, and the axis of the first rotating pair 23 is perpendicular to the bottom surface. The slewing drive 3 is driven and installed on the azimuth turntable 2, and drives the azimuth turntable 2 to rotate by meshing the motor gear 101 with the external teeth of the turntable bearing 13. The middle of the bottom of the swing U-shaped frame 4 is provided on the azimuth turntable 2 through a second rotating pair 24, and the axis of the second rotating pair 24 is perpendicular to and intersects with the axis of the first rotating pair 23. The lifting U-shaped frame 6 is symmetrically slidably connected to the inner sides of both sides of the swing U-shaped frame 4 through four parallel linear guide rails 602 to form a first moving pair 29, and the axis of the first moving pair 29 is perpendicular to the axis of the second rotating pair 24. The swing heave drives 5 are symmetrically arranged on the outer sides of the lifting U-shaped frame 6, and the first end of the swing heave drive 5 is rotationally connected to the azimuth turntable 2 through a third rotating pair 25, and the second end of the swing heave drive 5 is rotationally connected to the upper end of the lifting U-shaped frame 6 through a fourth rotating pair 26, and the central axis of the third rotating pair 25 and the central axis of the fourth rotating pair 26 are parallel to the central axis of the second rotating pair 24. Four pulleys with parallel axes are provided on both sides of the lifting U-shaped frame 6, of which the two upper pulleys are upper pulleys 603 and the two lower pulleys are lower pulleys 604. It further includes a gantry frame 12, four upward drive flexible cables 15, four downward drive flexible cables 16, a pitch turntable 7, a telescopic bow sway integrated box bridge 9, a bow sway turntable bearing 14, two pitch bow sway drives 8, a pitch assist gas spring group 10, and a heave assist gas spring group 11.

[0030] The gantry frame 12 is slidably connected to the inner side of the lifting U-shaped frame 6 through two parallel linear guide rails 1201 to form a second moving pair 30. The axis of the second moving pair 30 is parallel to the axis of the first moving pair 29, and two upward drive flexible cables 15 and two downward drive flexible cables 16 are respectively provided between the gantry frame 12 and the left and right rectangular frames 601 of the lifting U-shaped frame 6. The first end of each upward drive flexible cable 15 is fixedly connected to the upper end of the side frame of the swing U-shaped frame 4, and the second end of the upward drive flexible cable 15 passes through the through hole on the lower cross beam of the rectangular frame 601 and bypasses the upper pulley 603 and is fixedly connected to the lower end outside the gantry frame. The first end of each downward drive flexible cable 16 is fixedly connected to the upper end of the side frame of the swing U-shaped frame 4, and the second end of the downward drive flexible cable 16 bypasses the lower pulley 604 and passes through the through hole on the upper cross beam of the rectangular frame 601 and is fixedly connected to the lower end outside the gantry frame 12.

[0031] As Figure 2 and Figure 6 shown in the figure, the pitch turntable 7 is rotationally connected to the hinge seat 1202 in the middle of the bottom of the gantry frame through a fifth rotating pair 27.

[0032] As Figure 1As shown in the figure, between the middle section of the telescopic yaw integrated box bridge 9 and the pitching turntable 7, a yaw turntable bearing 14 is used as the sixth rotating pair 28 for connection, and the central axes of the sixth rotating pair 28 and the fifth rotating pair 27 are perpendicular. The pitching yaw drive 8 is symmetrically arranged on both sides in front of the gantry frame 12. The first ends of the two pitching yaw drives 8 are respectively rotationally connected to the upper part in front of the gantry frame 12 through a first spherical pair 19 and a second spherical pair 20, and the second ends of the pitching yaw drives 8 are rotationally connected to the outer widened connecting frame of the telescopic yaw integrated box bridge through a first U-joint 17 and a second U-joint 18.

[0033] As Figure 2 shown, the heave assist gas spring group 11 is arranged symmetrically left and right on both sides of the lifting U-shaped frame 6, with the upper end connected to both sides of the upper end of the lifting U-shaped frame 6 and the lower end connected to the middle part of the side frame of the rocking U-shaped frame 4.

[0034] As Figure 2 shown, the two pitching assist gas springs of the pitching assist gas spring group 10 are arranged symmetrically left and right on both sides behind the gantry frame 12. The two pitching assist gas springs of the pitching assist gas spring group 10 and the pitching yaw drive 8 are arranged symmetrically before and after the gantry frame 12. The upper ends of the pitching assist gas springs are rotationally connected to the upper part of the gantry frame 12 through a third spherical pair 21, and the lower ends are rotationally connected to the rear end frame of the telescopic yaw integrated box bridge 9 through a fourth spherical pair 22.

[0035] As Figure 9 shown, the pitching yaw drive includes a pitching yaw drive cylinder 801, a rod-end piston 802, a rod-end sleeve 803, a pitching yaw buffer spring 804 and a rod-end spherical bearing 805. The front end of the pitching yaw drive cylinder 801 is fixedly connected to the rod-end piston 802. The first end of the rod-end piston 802 is slidably connected to the inner wall of the rod-end sleeve 803. The pitching yaw buffer spring 804 is arranged inside the rod-end sleeve 803. The first end of the pitching buffer spring 804 is fixedly connected to the second end of the rod-end piston 802, and the second end of the pitching buffer spring 804 is fixedly connected to the inner top end of the rod-end sleeve 803. The rod-end spherical bearing 805 is fixedly connected to the outer top end of the rod-end sleeve 803.

[0036] As Figure 7As shown in the figure, the telescopic yaw integrated box bridge 9 is a multi-stage telescopic yaw integrated box bridge, including an upper bridge body 901, a lower bridge body 902, a transverse pressure wheel 907 and a longitudinal pressure wheel 908. The upper bridge body is slidably arranged on the inner side of the upper surface of the lower bridge body through a third moving pair 31. The main bodies of the upper bridge body 901 and the lower bridge body 902 are made of aluminum alloy. Symmetrically arranged on both lower sides of the upper bridge body 901 are L-shaped longitudinal beams 909. The lower part of the outer side of the longitudinal beam is provided with an L-shaped steel guide rail 905. The L-shaped steel guide rail 905 and the L-shaped longitudinal beam 909 are bolted together to form a lateral trough-shaped longitudinal beam. The transverse pressure wheel 907 presses on the vertical plate of the L-shaped steel guide rail 905, and the longitudinal pressure wheel 908 presses on the upper and lower surfaces of the horizontal plate of the L-shaped steel guide rail 905. Both the transverse pressure wheel 907 and the longitudinal pressure wheel 908 are eccentric sleeve type pressure wheels. Symmetrically arranged on both sides of the lower bridge body are C-shaped pressure wheel mounting plates 906. The transverse pressure wheels 907 are symmetrically arranged on the upper and lower surfaces of the C-shaped pressure wheel mounting plates 906, and the longitudinal pressure wheels 908 are symmetrically arranged on the middle vertical surface of the C-shaped pressure wheel mounting plates 906.

[0037] As Figure 7 shown in the figure, the telescopic yaw integrated box bridge 9 is driven to expand and contract by a driving winch 903. The driving winch 903 is arranged at the tail below the lower bridge body 902. Four flexible cables extend from the driving winch 903. Two of them are the flexible cables for the bridge body to extend, and two are the flexible cables for the bridge body to retract. The extending ends of the flexible cables for the bridge body to extend are fixedly connected to the lower side rear end of the upper bridge body 901 through a deflecting pulley 904. After the flexible cables for the bridge body to retract extend, they pass through the lower part of the lower bridge body 902 through the deflecting pulley 904 and are fixedly connected to the lower front end of the upper bridge body 901.

[0038] The specific operation steps of the present utility model are as follows:

[0039] As Figures 1-9 shown in the figure, when the ship is affected by waves and generates rolling, pitching, yawing, swaying, heaving and surging motions, the base of the side bridge fixed on the ship's deck will also move accordingly. Through the active compensation of the rocking U-shaped frame 4 and the lifting U-shaped frame 6 on the base 1, the position of the end of the side bridge is always fixed relative to the working object.

[0040] Compensation for various motions on a ship by a marine stabilized gangway: The ship's roll is compensated by the swing heave actuator 5 driving the lifting U-shaped frame 6 to rotate around the second rotating pair 24. The ship's pitch and yaw are compensated by the pitch yaw actuator 8 driving the telescopic yaw integrated box bridge 9 to rotate around the fifth rotating pair 27 and the sixth rotating pair 28. The ship's surge is compensated by driving the winch 903 to drive the upper bridge body 901 to move along the third moving pair 31. The azimuth rotation is compensated by the azimuth turntable 2 rotating around the first rotating pair 23. The ship's heave motion is compensated by the swing heave actuator 5 driving the lifting U-shaped frame 6. The combined motion of the ship is finally compensated by the coordinated action of each drive. The compensation is achieved as follows: when the ship is tilted and displaced in a certain direction under the combined influence of wave motions, each drive of the mechanism will drive a certain stroke respectively, causing the pose of the telescopic yaw integrated box bridge 9 to change, so that the end effector overcomes the ship's tilt and displacement. The compensation finally manifests as the end effector of the gangway always remaining stationary relative to the operation target.

[0041] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A compensating offshore stabilizing gangway, which comprises a base, an azimuth turntable, a slewing drive, a lower azimuth drive turntable bearing, a rocking U-shaped frame, a lifting U-shaped frame and a rocking heave drive; The first end of the azimuth turntable is connected to the base through the lower azimuth drive turntable bearing and forms a first rotating pair; the second end of the azimuth turntable is slidably connected to the first end of the rocking U-shaped frame and forms a second rotating pair, and a middle part of the second end of the azimuth turntable is provided with the slewing drive, a motor is arranged on the slewing drive, an output end of the motor is provided with a motor gear, and external teeth of the motor gear are meshed with external teeth of the lower azimuth drive turntable bearing; An inner side wall of the second end of the rocking U-shaped frame is slidably connected to an outer side wall of the lifting U-shaped frame and forms a first moving pair, an axis of the first moving pair is perpendicular to an axis of the first rotating pair, the rocking heave drives are respectively arranged on two sides of the second end of the lifting U-shaped frame far away from the rocking U-shaped frame, a first end of the rocking heave drive is hinged to the second end of the azimuth turntable and forms a third rotating pair, and a second end of the rocking heave drive is rotatably connected to the second end of the lifting U-shaped frame and forms a fourth rotating pair; A plurality of pulleys are respectively arranged at two ends of the lifting U-shaped frame, the plurality of pulleys include upper pulleys and lower pulleys, the lower pulleys are located at the first end of the lifting U-shaped frame, and the upper pulleys are located at the second end of the lifting U-shaped frame; It is characterized in that It further comprises a gantry frame, a lifting drive flexible cable, a lowering drive flexible cable, a pitching turntable, a telescopic bow sway integrated box girder, a bow sway turntable bearing, a pitching bow sway drive; The telescopic bow sway integrated box girder is connected to the pitching turntable through the bow sway turntable bearing and forms a sixth rotating pair; First hinge members or second hinge members are respectively arranged on two side surfaces of the gantry frame, a first end of the pitching bow sway drive is hinged to the first hinge member through a ball pair; a second end of the pitching bow sway drive is rotationally connected to an outer layer widened connecting frame of the telescopic bow sway integrated box girder through a U pair to form a universal hinge, and an included angle between an axis of the pitching bow sway drive and an axis of the telescopic bow sway integrated box girder is an acute angle.

2. The compensated marine stabilizing gangway according to claim 1, characterized in that, It further comprises a heave assist gas spring group, the heave assist gas spring group comprises two heave assist gas springs, and the two heave assist gas springs are symmetrically arranged on two sides of the lifting U-shaped frame respectively, a first end of the heave assist gas spring is movably connected to an upper end of the lifting U-shaped frame, and a second end of the heave assist gas spring is movably connected to a middle part of a side frame of the rocking U-shaped frame.

3. The compensated marine stabilizing gangway according to claim 1, wherein, It further comprises a pitching assist gas spring group, the pitching assist gas spring group comprises two pitching assist gas springs, and the two pitching assist gas springs are both arranged on one side of the gantry frame, a first end of the pitching assist gas spring is hinged to the second hinge member of the gantry frame and forms a ball pair, and a second end of the pitching assist gas spring is movably connected to a rear end frame of the telescopic bow sway integrated box girder and forms a ball pair.

4. The compensated marine stabilizing gangway according to claim 1, wherein, The pitch and yaw drive includes a pitch and yaw drive cylinder, a rod-end piston, a rod-end sleeve, a pitch and yaw buffer spring, and a rod-end spherical plain bearing. The first end of the pitch and yaw drive cylinder is hinged to the gantry frame, the second end of the pitch and yaw drive cylinder is fixedly connected to the first end of the rod-end piston. The rod-end piston is arranged inside the first end of the rod-end sleeve, and the second end of the rod-end piston contacts the first end of the pitch and yaw buffer spring. The second end of the rod-end sleeve is connected to the first end of the rod-end spherical plain bearing, and the second end of the rod-end spherical plain bearing is rotatably connected to the widened outer connecting frame of the telescopic yaw integrated bogie. The pitch and yaw buffer spring is arranged inside the rod-end sleeve, and the second end of the pitch and yaw buffer spring contacts the first end of the rod-end spherical plain bearing.

5. The compensated marine stabilizing gangway according to claim 1, wherein The telescopic yaw integrated bogie includes an upper bogie body, a lower bogie body, transverse pressing wheels, and longitudinal pressing wheels. The upper bogie body is clamped on the lower bogie body, and the contact surface between the upper bogie body and the side surface of the lower bogie body is slidably connected through a slideway to form a third moving pair. Symmetrically arranged on the lower parts of both sides of the upper bogie body are L-shaped longitudinal beams. On the lower part of the outside of the L-shaped longitudinal beams are L-shaped steel guide rails. The L-shaped steel guide rails and the L-shaped longitudinal beams are connected by bolts to form side groove-shaped longitudinal beams. The transverse pressing wheels press on the vertical plates of the L-shaped steel guide rails, and the longitudinal pressing wheels press on the upper surface and the lower surface of the horizontal plates of the L-shaped steel guide rails. Both the transverse pressing wheels and the longitudinal pressing wheels are eccentric sleeve type pressing wheels. Symmetrically arranged on the upper surface and the lower surface of the outside bottom wall of the lower bogie body are two C-shaped pressing wheel mounting plates. The transverse pressing wheels are symmetrically arranged on the upper surface and the lower surface of the C-shaped pressing wheel mounting plates, and the longitudinal pressing wheels are symmetrically arranged on the middle vertical plane of the C-shaped pressing wheel mounting plates.

6. The compensated marine stabilizing gangway according to claim 5, wherein A driving winch is further arranged on the outside bottom wall of the lower bogie body. Four flexible cables extend from the driving winch. Two of the flexible cables are bogie extending flexible cables, and two are bogie retracting flexible cables. The extending ends of the bogie extending flexible cables are fixedly connected to the lower rear end of the upper bogie body through deflecting pulleys. After the bogie retracting flexible cables extend, they pass under the lower bogie body through deflecting pulleys and are fixedly connected to the lower front end of the upper bogie body.

7. The compensated marine stabilizing gangway according to claim 1, characterized in that, The gantry frame is slidably connected to the inside of the lifting U-shaped frame through two parallel linear guide rails to form a second moving pair, and the axis of the second moving pair is parallel to the axis of the first moving pair. Between the left and right rectangular frames of the gantry frame and the lifting U-shaped frame, there are respectively two upward driving flexible cables and two downward driving flexible cables. The first end of each upward driving flexible cable is fixedly connected to the upper end of the side frame of the swinging U-shaped frame. The second end of the upward driving flexible cable passes through the through holes in the lower cross beam of the left and right rectangular frames and bypasses the upper pulley to be fixedly connected to the lower end outside the gantry frame. The first end of each downward driving flexible cable is fixedly connected to the upper end of the side frame of the swinging U-shaped frame. The second end of the downward driving flexible cable bypasses the lower pulley and passes through the through holes in the upper cross beam of the left and right rectangular frames to be fixedly connected to the lower end outside the gantry frame.

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