Compensation type marine embarkation gangway ladder

Abstract

The utility model discloses a compensation type marine embarkation gangway ladder which comprises a rotary base, a ladder assembly, a hoop mechanism, a rotary compensation driving device, a pitching compensation driving device and a holding compensation mechanism, the rotary compensation driving device is arranged on the rotary base and connected with a ladder embarkation end of the ladder assembly, and the rotary compensation driving device drives the ladder assembly. The extending end of the ladder assembly is adjusted to the X-axis working position from the ship deck; the pitching compensation driving device is arranged at the ladder climbing end of the ladder assembly, is used for driving the ladder assembly and is used for adjusting the ladder assembly to a horizontal working position; the enclasping compensation mechanism is arranged at the outward extending end of the ladder frame, is movably connected with the hooping mechanism and compensates X-axis, Y-axis and Z-axis actions of the hooping mechanism when the hooping mechanism clamps a workpiece. The compensation on the rotation action and the pitching action of the ladder frame and the compensation on the X-axis, Y-axis and Z-axis actions and the torsion action of the hoop mechanism are realized; and the structure is simplified, the cost is reduced, and the working safety and the working efficiency are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of ocean engineering, especially to a compensating offshore boarding gangway. BACKGROUND

[0002] The gangway usually refers to the movable ladder installed on the two sides of the ship for passengers to get on and off the ship. In addition, the gangway is also installed on the deck of the ship, and then the other end is clamped on the wind power tower drum to facilitate maintenance personnel to reach the tower drum through the gangway for maintenance work. The gangway is usually composed of a rotating base, upper and lower platforms, a ladder frame and a hoop mechanism. In the prior art, due to the influence of waves, the gangway has high safety requirements, such as basic structural stability, material strength and compensation mechanism, especially the design of the compensation mechanism of the gangway, which can make the gangway have better ability to resist waves, provide a stable and safe working environment for maintenance personnel, and improve the efficiency of maintenance personnel boarding operation.

[0003] For example, the Chinese utility model patent with the patent name of "a multi-degree-of-freedom active compensation stable boarding device" with the announcement number CN219277738U, when personnel board, the multi-degree-of-freedom active sea wave compensation system is started, the extension and retraction of the pitching electric cylinder, the rolling electric cylinder and the heaving electric cylinder, through the ship rocking, heaving and approaching motion signals collected by the control system and the sensor, the driver of the above-mentioned executing element is instructed to make a counter-compensation motion, the counter-compensation motion including longitudinal, lateral and heaving motion and the composite motion thereof is realized, a series of supplementary actions are completed to realize the relative level and stability of the system.

[0004] However, the prior art still has the following defects:

[0005] In the prior art, the base and the ladder frame of the gangway usually use electric cylinders, hydraulic rods and other driving devices for action compensation, and corresponding control systems and sensors are needed to collect related motion signals, which increases the design complexity of the compensation mechanism and the manufacturing cost. The holding mechanism or hoisting mechanism of the gangway usually does not have a corresponding compensation mechanism, which leads to insufficient stability and safety of the gangway during holding or hoisting, and low work efficiency.

[0006] In addition, the gangway is provided with too many control systems and sensors, which are easily affected by the construction environment and prone to failure, resulting in low stability and safety of the compensation mechanism. Moreover, the energy consumption of the software control system is high, which further increases the production cost of the compensation mechanism of the gangway. UTILITY MODEL CONTENTS

[0007] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a compensating offshore boarding gangway.

[0008] The utility model discloses a kind of compensation type offshore boarding gangways, including rotary pedestal, ladder stand, hoop mechanism, rotary compensation drive device, pitch compensation drive device and tight compensation mechanism, the ladder stand has boarding end and outer end;

[0009] The rotary compensation drive device is arranged on the rotary pedestal and connected with the boarding end of the ladder stand, and the rotary compensation drive device drives the ladder stand to adjust the outer end of the ladder stand to the X-axis working position from the ship deck.

[0010] The pitch compensation drive device is arranged on the boarding end of the ladder stand, and the pitch compensation drive device drives the ladder stand to adjust the ladder stand to the horizontal working position.

[0011] The tight compensation mechanism is arranged on the outer end of the ladder stand, and the tight compensation mechanism is movably connected with the hoop mechanism and compensates the XYZ three-axis movement of the hoop mechanism when clamping the workpiece.

[0012] Further, the tight compensation mechanism has a slide shaft, a slide cylinder and a first spring assembly, the slide cylinder is fixedly arranged on the outer end of the ladder stand in the X-axis direction, the slide shaft is movably arranged in the slide cylinder, one end of the slide shaft is elastically connected with the ladder stand through the first spring assembly, and the other end of the slide shaft is movably connected with the hoop mechanism, so that the slide shaft is movably connected with the hoop mechanism in the X-axis direction in the slide cylinder and compensates the X-axis movement of the hoop mechanism through the elastic action of the first spring assembly.

[0013] Further, the tight compensation mechanism further has a hinge assembly and a second spring assembly, the hinge assembly has a hinge strip, a first hinge joint and a second hinge joint hingedly connected at both ends of the hinge strip, one end of the first hinge joint is connected with the hoop mechanism connected with the slide shaft, and the second hinge joint is connected with the hoop mechanism, and the first hinge joint and the second hinge joint at both ends of the hinge strip are elastically connected with each other through the second spring assembly, so that the slide shaft is movably connected with the hoop mechanism in the YZ-axis direction through the hinge assembly and compensates the YZ-axis movement of the hoop mechanism through the elastic action of the second spring assembly.

[0014] Further, the boarding end of the ladder stand is provided with a rotary gear, the rotary compensation drive device is provided with a rotary motor, a rotary clutch and a rotary gearbox, the rotary motor is drivingly connected with the rotary gearbox, the rotary gearbox is drivingly connected with the rotary gear through an output gear, and the rotary clutch is connected with the rotary motor and the rotary gearbox and compensates the rotary transmission movement among the rotary motor, the rotary gearbox and the rotary gear.

[0015] Further, the rotation compensation driving device is arranged at least in two, and the two rotation compensation driving devices are arranged on both sides of the rotation gear, and the output gears on the two rotation gearboxes are in transmission engagement with the rotation gear.

[0016] Further, the pitch compensation driving device is arranged at least in a set of telescopic hydraulic cylinders, the ladder end of the ladder frame is connected with the rotation compensation driving device through a ladder seat, and the ladder end of the ladder frame is movably arranged on the ladder seat and can be pitch overturned, one end of the telescopic hydraulic cylinder is connected with the ladder seat, and the other end of the telescopic hydraulic cylinder is connected with the ladder frame, so that the ladder frame adjusts the pitch angle on the ladder seat under the driving of the telescopic hydraulic cylinder.

[0017] Further, the ladder seat and the rotation base are both provided with a boarding ladder leading to the ladder frame.

[0018] Further, the hoop mechanism has a clamping seat, clamping jaws and a hoop driver, the clamping jaws are arranged in two and movably connected at two ends of the clamping seat respectively, one end of the hoop driver is connected with the clamping seat, and the other end of the hoop driver is connected with the clamping jaws, so that the two clamping jaws are tightened towards the workpiece under the driving of the hoop driver.

[0019] Further, the outer end of the ladder frame and the clamping seat are both provided with a boarding platform.

[0020] Further, the ladder frame has a fixed section and a telescopic section, the two inner sides of the fixed section are provided with sliding seats, the telescopic cylinders are arranged on the sliding seats, and one end of the piston rod of the telescopic cylinder is fixedly connected with the outer end of the telescopic section, the two outer sides of the telescopic section are provided with sliding grooves, the telescopic section is slidably installed on the fixed section, and the sliding seat of the fixed section is matched with the sliding groove of the telescopic section, so that the telescopic section slides reciprocatingly on the fixed section under the driving of the telescopic cylinder.

[0021] Compared with the prior art, the beneficial effects of the utility model lie in that the rotation compensation driving device is arranged on the rotation base, the pitch compensation driving device is arranged on the ladder end of the ladder frame, and the tightening compensation mechanism is arranged on the outer end of the ladder frame, so that the rotation action and the pitch action of the ladder frame are compensated, and the XYZ three-axis action and the torsion action of the hoop mechanism are compensated; the rotation compensation driving device, the pitch compensation driving device and the tightening compensation mechanism of the embodiment of the application do not need to be provided with corresponding control systems and sensors to collect relevant action signals, the structure design is simplified, and the manufacturing and production cost is reduced.

[0022] Especially, the holding compensation mechanism completely adopts a mechanical compensation mode, saves a large amount of system energy consumption, and has high anti-interference ability to the environment. Compared with the previous holding mechanism or hoisting mechanism of the gangway without the corresponding compensation mechanism, the holding compensation mechanism can improve the stability of the gangway holding the wind power tower, and improve the safety and efficiency of the maintenance work of the workers. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0024] Figure 2 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0025] Figure 3 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model; Figure 2 It is an enlarged view of position A in the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0026] Figure 4 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0027] Figure 5 It is an enlarged view of position B in the compensation type offshore boarding gangway in the preferred embodiment of the utility model; Figure 4

[0028] It is an enlarged view of position C in the compensation type offshore boarding gangway in the preferred embodiment of the utility model; Figure 6 Figure 4 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0029] Figure 7 It is a perspective view of the compensation type offshore boarding gangway in the preferred embodiment of the utility model;

[0030] In the figure:

[0031] 10, rotary base;

[0032] 20, rotary compensation driving device; 201, rotary motor; 202, rotary clutch; 203, rotary transmission; 204, output gear;

[0033] 30, gangway; 301, fixed section; 3011, ladder end; 3012, sliding seat; 302, telescopic section; 3021, sliding groove; 3022, outer end; 303, telescopic cylinder; 304, piston rod

[0034] 40, pitch compensation driving device; 401, telescopic hydraulic cylinder;

[0035] 50, ladder seat; 501, boarding ladder; ​

[0036] 60. Rotary gear

[0037] 70. Embrace compensation mechanism; 701. Slide shaft; 702. Slide cylinder; 703. First spring assembly; 704. First hinged joint; 705. Second hinged joint; 706. Second spring assembly

[0038] 80. Embrace mechanism; 801. Clamping seat; 802. Clamping jaw; 803. Embrace driver; 804. Access platform DETAILED DESCRIPTION

[0039] The utility model will be described further below in combination with the drawings and specific embodiments, and it should be noted that the following described embodiments or technical features can be combined to form new embodiments without conflict.

[0040] As shown in the drawings, Figures 1-7 A compensation type offshore boarding gangway can be installed on both sides of a ship for passengers to get on and off the ship. In addition, one end of the gangway can be installed on the deck of the ship, and the other end of the gangway can be clamped to the wind tower drum, so that maintenance personnel can reach the tower drum through the gangway for maintenance work.

[0041] The compensation type offshore boarding gangway provided by the embodiment of the application comprises a rotary base 10, a ladder stand 30 and an embrace mechanism 80, wherein the rotary base 10 is used for fixed installation with the deck of the ship, the rotary base 10 is provided with a rotary compensation driving device 20, the ladder stand 30 has a boarding end 3011 and an outward extending end 3022, the boarding end 3011 of the ladder stand 30 is connected with the rotary compensation driving device 20, and the outward extending end 3022 of the ladder stand 30 is connected with the embrace mechanism 80, so as to drive the embrace mechanism 80 together when the rotary base 10 drives the ladder stand 30 to make a rotary motion.

[0042] More specifically, the boarding end 3011 of the ladder stand 30 is provided with a rotary gear 60 arranged in the horizontal direction, the rotary compensation driving device 20 is provided with a rotary motor 201, a rotary clutch 202 and a rotary speed changer 203, the rotary motor 201 is in transmission connection with the rotary speed changer 203, the upper end of the rotary speed changer 203 is provided with an output gear 204 and is in transmission connection with the rotary gear 60 through the output gear 204. In addition, the rotary clutch 202 is arranged between the rotary motor 201 and the rotary speed changer 203, and the rotary clutch 202 is connected with the rotary motor 201 and the rotary clutch 202.

[0043] The rotary motor 201 is a hydraulic motor, and after the rotary motor 201 is started, the power transmission between the rotary motor 201 and the speed reducer can be quickly engaged or separated through the rotary clutch 202, so as to realize the start-stop control of the rotary motion of the ladder stand 30. For example, as shown in the drawings,Figure 4 、 7 As shown in FIG. 2, by starting the rotation driving action among the rotation motor 201, the rotation clutch 202 and the rotation speed reducer 203, the outer end 3022 of the ladder frame 30 can be driven to adjust to the X-axis working position along the rotation direction from the deck of the ship.

[0044] Moreover, when the ladder frame 30 rotates against resistance or overload, the rotation clutch 202 can slip to absorb the impact when engaging and disengaging, reduce system vibration, and achieve the compensation effect of the rotation action of the ladder frame 30 and the hoop mechanism 80; of course, the rotation motor 201 can also achieve smooth starting and stopping when working, reduce impact, and the hydraulic system can automatically release pressure when the load is too large to protect the equipment; the rotation speed reducer ensures the stable operation of the ladder frame 30 when the load changes by reducing the speed and increasing the torque, avoiding shaking and reducing system wear; through the above coordination and mutual support among the rotation motor 201, the rotation clutch 202 and the rotation speed reducer, the rotation action compensation effect is achieved to prevent damage to the rotation motor 201 and the transmission system.

[0045] Preferably, the rotation compensation driving device 20 in the embodiment of the application is provided with at least two, and the two rotation compensation driving devices 20 are arranged on both sides of the rotation gear 60 of the ladder climbing end 3011 of the ladder frame 30, and the output gears 204 on the two rotation speed reducers 203 are all in driving engagement with the rotation gear 60 of the ladder climbing end 3011 of the ladder frame 30, and then the two rotation compensation driving devices 20 are synchronously engaged and driven on the symmetrically two sides of the rotation gear 60, further improving the rotation driving stability and rotation action compensation effect of the ladder frame 30, and more stably and efficiently controlling the rotation action of the ladder frame 30.

[0046] The ladder frame 30 has a fixed section 301 and an extension section 302, the ladder climbing end 3011 of the ladder frame 30 is arranged at the fixed section 301, and the outer end 3022 of the ladder frame 30 is arranged at the extension section 302, so that the fixed section 301 of the ladder frame 30 is connected with the rotation base 10, and the extension section 302 is connected with the hoop mechanism 80.

[0047] A sliding seat 3012 is arranged on the inner side of both sides of the fixed section 301, the sliding seat 3012 extends along the length direction of the fixed section 301, and the sliding seat 3012 is formed as an arc convex surface structure by the outer convex of the inner side of the fixed section 301. The sliding seat 3012 is designed as a hollow, a telescopic cylinder 303 is arranged in the sliding seat 3012, and the piston rod 304 of the telescopic cylinder 303 is fixedly connected with the outer end 3022 of the extension section 302, so that when the telescopic cylinder 303 is started, the extension section 302 of the ladder frame 30 can be driven to reciprocally slide on the fixed section 301 through the piston rod 304.

[0048] The two side outer sides of the telescopic section 302 are provided with sliding grooves 3021, which are formed as arc-shaped concave structures by the concave structures on the two side inner sides of the telescopic section 302. By arranging the arc-shaped sliding grooves 3021 on the two side outer sides of the telescopic section 302, the sliding seats 3012 on the two side outer sides of the fixed section 301 can be slidably assembled in the sliding grooves 3021 on the two side inner sides of the telescopic section 302 when the telescopic section 302 is slidably mounted on the fixed section 301. By the slidable assembly of the sliding seats 3012 and the sliding grooves 3021, the friction of the telescopic section 302 on the fixed section 301 can be reduced, and the telescopic sliding smoothness of the ladder stand 30 can be improved. Moreover, by the limiting assembly of the sliding seats 3012 and the sliding grooves 3021, the telescopic section 302 can slide more stably on the fixed section 301.

[0049] The ladder climbing end 3011 of the ladder stand 30 is connected with a ladder climbing seat 50, and the ladder climbing end 3011 is connected to the ladder climbing seat 50 through a rotating shaft structure, so that the ladder stand 30 performs a pitching and overturning action with the rotating shaft connection point of the ladder climbing end 3011 and the ladder climbing seat 50 as the center. The above-mentioned rotary gear 60 is arranged at the bottom of the ladder climbing seat 50, so that the ladder climbing seat 50 is driven to perform a rotary action and simultaneously drives the entire ladder stand 30 through the transmission connection of the rotary compensation driving device 20 and the rotary gear 60.

[0050] The ladder climbing end 3011 of the ladder stand 30 and the ladder climbing seat 50 are provided with a pitching compensation driving device 40, which is provided with at least one set of telescopic hydraulic cylinders 401. One end of the base of the telescopic hydraulic cylinder 401 is movably connected to the ladder climbing seat 50, and the other end of the telescopic hydraulic cylinder 401, which is provided with a piston rod 304, is movably connected to the ladder climbing end 3011 of the ladder stand 30 in an upwardly inclined manner, so that the telescopic hydraulic cylinder and the ladder climbing seat 50 and the ladder stand 30 form a triangular connection relationship.

[0051] Therefore, by starting the telescopic hydraulic cylinder 401, the piston rod 304 of the telescopic hydraulic cylinder 401 drives the ladder stand 30 to perform a pitching and overturning action with the rotating shaft connection point of the ladder climbing end 3011 and the ladder climbing seat 50 as the center, thereby adjusting the pitching angle of the ladder stand 30 on the ladder climbing seat 50. At this time, in addition to driving and adjusting the pitching action angle of the ladder stand 30, the telescopic hydraulic cylinder 401 itself has a specific pressure compensation valve that keeps the system pressure constant. When the load changes, the compensation valve automatically adjusts the flow or pressure according to the load change to avoid excessive high or low pressure, thereby ensuring the system stability of the ladder stand 30 during the pitching action and protecting the equipment.

[0052] When the embodiment of the application is used for the gangway, first, the ladder frame 30 is driven by the pitch compensation driving device 40 to adjust to the horizontal working position and to actively compensate the pitch action of the ladder frame 30; then the ladder frame 30 is driven by the rotation compensation driving device 20 to rotate to the X-axis working position and to actively compensate the rotation action of the ladder frame 30, so that the ladder frame 30 corresponds to the position of the offshore wind tower; finally, the telescopic section 302 of the ladder frame 30 is driven by the piston rod 304 to slide outward on the fixed section 301 and to extend about 1.5 m to reach the position of the wind tower, and when the ladder frame 30 is adjusted to embrace the wind tower, the rotation compensation driving device 20 and the pitch compensation driving device 40 are switched to the passive compensation state, and then continuously compensate the action of the ladder frame 30 and the clamp mechanism 80.

[0053] The ladder seat 50 and the rotation base 10 of the embodiment of the application are both provided with a plurality of boarding ladders 501 for the workers to step on and board the ladder frame 30. The workers can walk to the wind tower along the fixed section 301 and the telescopic section 302 of the ladder frame 30, and the outer extension end 3022 of the telescopic section 302 is provided with a plurality of boarding platforms 804 for the workers to board the wind tower.

[0054] The clamp mechanism 80 provided by the embodiment of the application has a clamp seat 801, a clamp jaw 802 and a clamp driving device 803, and the embracing compensation mechanism 70 has a sliding shaft 701, a sliding cylinder 702, a first spring assembly 703, a second spring assembly 706 and a hinged assembly. More specifically, the clamp jaw 802 of the clamp mechanism 80 is provided with two, and the two clamp jaws 802 are movably connected to the two ends of the clamp seat 801, and the clamp driving device 803 is installed on the clamp seat 801. The clamp driving device 803 of the embodiment of the application uses the telescopic cylinder 303. Therefore, one end of the clamp driving device 803 is connected with the clamp seat 801, and the other end of the clamp driving device 803 is connected with the clamp jaw 802, so that the two clamp jaws 802 move towards each other under the drive of the clamp driving device 803 to embrace the workpiece, which refers to the wind tower.

[0055] The sliding cylinder 702 is fixedly arranged on the outer extension end 3022 of the ladder frame 30 in the X-axis direction, and the X-axis mounting direction of the sliding cylinder 702 is also the telescopic direction of the telescopic section 302 of the ladder frame 30. The sliding shaft 701 is movably arranged on the sliding cylinder 702 in the X-axis direction.

[0056] The first spring assembly 703 is installed on the outer extension end 3022 of the ladder frame 30, and when the sliding shaft 701 is arranged on the sliding cylinder 702, the two ends of the sliding shaft 701 will be exposed outside the sliding cylinder 702. One end of the sliding shaft 701 is located on the outer extension end 3022 of the ladder frame 30 and is elastically connected with the first spring assembly 703, and the other end of the sliding shaft 701 extends outside the outer extension end 3022 of the ladder frame 30 and is connected with the hinged assembly.

[0057] The first spring assembly 703 has at least two tension springs, one end of the two tension springs is connected to the ladder stand 30, the other end of the two springs is oppositely arranged and connected to one end of the slide shaft 701, so that the slide shaft 701 is elastically connected to the outer end 3022 of the ladder stand 30 through the two tension springs, and X-axis action compensation can be provided for the slide shaft 701 when sliding in the X-axis direction. In addition, the two ends of the slide shaft 701 exposed from the slide cylinder 702 are also sleeved with extension springs, which further provide elastic compensation for the sliding action of the slide shaft 701 on the slide cylinder 702, so as to avoid the impact of the slide shaft 701 when sliding in the X-axis direction.

[0058] The hinged assembly has a hinge strip and first and second hinge joints 704 and 705 hinged at both ends of the hinge strip, the first hinge joint 704 is fixedly connected to one end of the outer end 3022 of the slide shaft 701 extending out of the ladder stand 30, and the second hinge joint 705 is fixedly connected to the clamping seat 801, so that the slide shaft 701 is movably connected to the clamping seat 801 through the hinged assembly.

[0059] The first hinge joint 704 and the second hinge joint 705 are also elastically connected to each other through the second spring assembly 706, and the second spring assembly 706 is composed of a plurality of tension springs arranged in parallel with each other, so that the first hinge joint 704 and the second hinge joint 705 are elastically connected to each other through the plurality of tension springs in addition to being hinged through the hinge strip.

[0060] The slide shaft 701, the hinged assembly and the clamping seat 801 are assembled along the X-axis direction, and the first hinge joint 704 is hinged on the hinge strip in the Y-axis direction, so that the first hinge joint 704 can swing in the Y-axis direction of the hinge strip, and the Y-axis swinging refers to the reciprocating swinging action between the X-axis and the Y-axis; the second hinge joint 705 is hinged on the hinge strip in the Z-axis direction, so that the second hinge joint 705 can swing in the Z-axis direction of the hinge strip. The hinge of the first hinge joint 704, the second hinge joint 705 and the hinge strip is shaft hinge.

[0061] When the clamping jaw 802 of the hoop mechanism 80 tightly clamps the wind power tower drum, the elastic connection relationship between the plurality of tension springs of the second spring assembly 706 and the first and second hinge joints 704 and 705 makes the hoop mechanism 80 capable of performing YZ-axis elastic action and YZ-axis action compensation on one end of the slide shaft 701 extending out of the ladder stand 30.

[0062] And, in combination with the sliding of the sliding shaft 701 on the sliding cylinder 702, the sliding shaft 701 can perform a torsion action within a certain angle range relative to the sliding cylinder 702, and the elastic assembly of the sliding shaft 701 and the ladder frame 30 through the first spring assembly 703, thereby making the hoop mechanism 80 installed on the end of the sliding shaft 701 extending out of the ladder frame 30 can perform a torsion action and a torsion action compensation relative to the ladder frame 30 in addition to the X-axis elastic action and the X-axis action compensation. In this way, the hoop mechanism 80 is continuously passively compensated for XYZ three-axis action and torsion action by the holding compensation mechanism 70.

[0063] Therefore, by arranging the slewing compensation driving device 20 on the slewing base 10, arranging the pitching compensation driving device 40 on the boarding end 3011 of the ladder frame 30, and arranging the holding compensation mechanism 70 on the extending end 3022 of the ladder frame 30, the slewing action and the pitching action of the ladder frame 30 are compensated, and the XYZ three-axis action and the torsion action of the hoop mechanism 80 are compensated; the slewing compensation driving device 20, the pitching compensation driving device, and the holding compensation mechanism 70 of the embodiment of the application do not need to arrange corresponding control systems and sensors to collect related action signals, simplify the structure design, and reduce the manufacturing cost.

[0064] Especially, the holding compensation mechanism 70 completely adopts a mechanical compensation mode, saves a large amount of system energy consumption, has high anti-interference ability to the environment, and compared with the previous holding mechanism or hoisting mechanism of the gangway without a corresponding compensation mechanism, the holding compensation mechanism 70 arranged in the application can improve the stability of the ladder frame 30 holding the wind tower, and improve the safety and efficiency of the maintenance work of the workers.

[0065] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application, and any non-essential changes and replacements made by those skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A compensating marine embarkation gangway, characterized in that, It includes a slewing base, a ladder frame, a clamping mechanism, a slewing compensation drive device, a pitch compensation drive device, and a clamping compensation mechanism. The ladder frame has a climbing end and an extension end. The slewing compensation drive device is mounted on the slewing base and connected to the ladder end of the ladder frame. The slewing compensation drive device drives the ladder frame so that the extended end of the ladder frame is adjusted from the ship deck to the X-axis working position. The pitch compensation drive device is installed on the climbing end of the ladder frame, and the pitch compensation drive device is used to drive the ladder frame to adjust the ladder frame to a horizontal working position; The clamping compensation mechanism is installed on the extended end of the ladder frame. The clamping compensation mechanism is movably connected to the clamping mechanism and performs XYZ three-axis motion compensation when the clamping mechanism clamps the workpiece.

2. The compensating marine embarkation gangway according to claim 1, characterized in that, The clamping compensation mechanism has a sliding shaft, a sliding cylinder, and a first spring assembly. The sliding cylinder is fixedly installed at the extended end of the ladder frame in the X-axis direction. The sliding shaft is movably inserted through the sliding cylinder, and one end of the sliding shaft is elastically connected to the ladder frame through the first spring assembly. The other end of the sliding shaft is movably connected to the clamping mechanism, so that the sliding shaft is movably connected to the clamping mechanism in the X-axis direction on the sliding cylinder and the X-axis movement of the clamping mechanism is compensated by the elastic action of the first spring assembly.

3. The compensating marine embarkation gangway of claim 2, wherein, The clamping compensation mechanism also includes a hinge assembly and a second spring assembly. The hinge assembly has a hinge bar and a first hinge joint and a second hinge joint hinged at both ends of the hinge bar. The first hinge joint is connected to one end of the sliding shaft connecting the clamping mechanism, and the second hinge joint is connected to the clamping mechanism. The first hinge joint and the second hinge joint at both ends of the hinge bar are also elastically connected to each other through the second spring assembly, so that the sliding shaft can be axially connected to the clamping mechanism through the hinge assembly and the elastic action of the second spring assembly can compensate for the axial movement of the clamping mechanism in the YZ direction.

4. The compensating marine embarkation gangway of claim 1, wherein, The ladder frame is equipped with a slewing gear at the climbing end. The slewing compensation drive device is equipped with a slewing motor, a slewing clutch, and a slewing gearbox. The slewing motor is connected to the slewing gearbox, and the slewing gearbox is connected to the slewing gear through an output gear. The slewing clutch is connected to the slewing motor and the slewing gearbox and compensates for the slewing transmission action between the slewing motor, the slewing gearbox, and the slewing gear.

5. The compensating marine embarkation gangway of claim 4, wherein, At least two rotation compensation drive devices are provided, with the two rotation compensation drive devices arranged on both sides of the rotation gear, and the output gears on the two rotation transmissions are both meshed with the rotation gear.

6. A compensating marine embarkation gangway according to any one of claims 1-5, characterized in that, The pitch compensation drive device is equipped with at least one set of telescopic hydraulic cylinders. The climbing end of the ladder is connected to the rotation compensation drive device through the climbing seat. The climbing end of the ladder is movably mounted on the climbing seat and can perform pitch and roll movements. One end of the telescopic hydraulic cylinder is connected to the climbing seat, and the other end of the telescopic hydraulic cylinder is connected to the ladder, so that the ladder can adjust its pitch angle on the climbing seat under the drive of the telescopic hydraulic cylinder.

7. The compensating marine boarding gangway as claimed in claim 6, wherein, The ladder seat and the rotary base are both provided with a boarding ladder leading to the ladder frame.

8. A compensating marine embarkation gangway according to any one of claims 1-5, characterized in that, The hoop mechanism has a clamping seat, clamping jaws and a hoop driver. The clamping jaws are movably connected to the two ends of the clamping seat respectively. One end of the hoop driver is connected to the clamping seat and the other end is connected to the clamping jaws, so that the two clamping jaws move towards each other to tightly hold the workpiece under the drive of the hoop driver.

9. The compensating marine boarding gangway of claim 8, wherein, The ladder frame is provided with a boarding platform on the outer end and the clamping seat.

10. A compensating marine embarkation gangway according to any one of claims 1-5, characterized in that, The ladder frame has a fixed section and a telescopic section. The inner sides of the two edges of the fixed section are provided with sliding seats. The telescopic cylinder is provided on the sliding seat. The piston rod of the telescopic cylinder is fixedly connected to the outer end of the telescopic section. The outer sides of the two edges of the telescopic section are provided with sliding grooves. The telescopic section is slidably installed on the fixed section. The sliding seat of the fixed section is matched with the sliding groove of the telescopic section, so that the telescopic section reciprocatingly slides on the fixed section under the drive of the telescopic cylinder.

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