A retractable staircase for shipboard personnel access with six degrees of freedom compensation function

Abstract

This utility model belongs to the field of marine equipment technology, specifically relating to a retractable staircase for marine personnel passage with six degrees of freedom compensation function. It includes a six-bar parallel platform, a turntable, a walkway, and a top-mounting device. The six-bar parallel platform uses six actuators in conjunction with a base and a top seat to achieve dynamic compensation for multiple degrees of freedom movements of the hull, such as heave, pitch, and roll, ensuring the turntable remains horizontal. The walkway consists of a fixed bridge and a sliding bridge. The sliding bridge's length is adjusted via a rack and pinion mechanism, while the fixed bridge's angle is adjusted by a first motor driving a gear ring, aligning the walkway with the target platform. A top-mounting device is installed at one end of the sliding bridge. This device includes a connecting frame, a fixed sleeve, a movable sleeve, a top-mounting rubber, diagonal braces, and shock-absorbing springs. The top-mounting device uses a force sensor to monitor contact pressure in real time and provides a buffer function, preventing damage to the sliding bridge or platform due to excessive pressure.

Description

Technical Field

[0001] This utility model belongs to the field of marine equipment technology, specifically relating to a retractable staircase for marine personnel passage with six degrees of freedom compensation function. Background Technology

[0002] The rapid development of the global economy and society has driven the continuous growth of energy demand. However, the long-term and large-scale use of traditional fossil fuels such as coal and oil not only leads to environmental degradation but also hinders sustainable development. Therefore, developing clean, low-carbon, and renewable energy has become an inevitable trend for the future. Among various renewable energy sources, wind energy has been widely utilized due to its abundant resources, wide distribution, and relatively mature development technology. In particular, offshore wind power has experienced rapid development in recent years due to its high and stable wind speeds, lack of land-based resource occupation, and suitability for large-scale development. China and Europe are already among the world's leaders in offshore wind power development. However, compared with onshore wind power, offshore wind power development still faces many challenges.

[0003] Offshore wind power development is limited not only by high construction costs and immature technology, but also by the difficulties and high costs of offshore wind turbine operation and maintenance (O&M). Affected by complex marine weather and environmental conditions, the O&M difficulty and risks of offshore wind farms are far greater than those of onshore wind farms. With the advancement of large-scale offshore wind power development, O&M tasks are becoming increasingly heavy, necessitating efficient and safe access methods. Currently, domestic and international offshore wind farm O&M mainly relies on O&M vessels for transporting materials and personnel. Because O&M vessels experience heave, pitch, and roll under the influence of marine environmental factors such as wind, waves, and currents, achieving the safe and rapid transfer of O&M personnel and materials between the vessel and the wind turbine has become a pressing issue.

[0004] To address these needs, some marine passage systems are designed for docking between maintenance vessels and platforms or wind turbines. However, existing technologies still have shortcomings in handling the dynamic swaying of maintenance vessels, adjusting the angle of the jet bridge, and providing cushioning and protection during docking with platforms. For example:

[0005] 1. Insufficient dynamic compensation: Traditional staircase equipment can only compensate for single or a few degrees of freedom of motion, which is difficult to effectively counteract complex movements such as heave, pitch, roll and roll of the ship. This makes it difficult to keep the top of the staircase level, increasing the difficulty and safety risks for people to pass through.

[0006] 2. Inaccurate alignment of the walkway: The existing equipment has low accuracy in adjusting the angle of the walkway to align with the target platform, which affects the passage efficiency and stability.

[0007] 3. Inadequate equipment protection: During the docking process between the corridor bridge and the platform, there is a lack of effective buffering and protection mechanisms, which may cause damage to the equipment or platform due to excessive displacement or impact, increasing equipment maintenance costs and usage risks. Utility Model Content

[0008] To address the problems existing in the prior art, the purpose of this utility model is to provide a retractable staircase for ship personnel access with a six-degree-of-freedom compensation function. This retractable staircase can achieve multi-degree-of-freedom dynamic compensation, precise adjustment of the corridor angle, and has a buffer protection function. It can not only effectively improve the efficiency of transferring maintenance personnel and materials, but also significantly reduce the wear and tear on equipment and platforms, and adapt to the needs of complex operation and maintenance scenarios such as offshore wind farms.

[0009] To achieve the above objectives, this utility model provides the following technical solution:

[0010] A retractable staircase for personnel passage on a ship with six degrees of freedom compensation function includes a six-bar parallel platform, a turntable rotatably connected to the top of the six-bar parallel platform, and a corridor bridge provided on the upper end surface of the turntable;

[0011] The corridor bridge includes a fixed bridge that is fixedly connected to the top of the turntable, and a sliding bridge that is slidably connected to one end of the fixed bridge;

[0012] A top-supporting device is provided at the bottom of one end of the sliding bridge;

[0013] The top support device includes a connecting frame connected to the sliding bridge. A fixed sleeve is fixedly connected to the side of the connecting frame. A movable sleeve is fitted on the fixed sleeve. One end of the movable sleeve is connected to a top support rubber. A force sensor and a shock-absorbing spring are installed inside the fixed sleeve.

[0014] Furthermore, the top rubber is arc-shaped, and diagonal bracing rods are symmetrically arranged between the top rubber and the movable sleeve.

[0015] Furthermore, the six-bar parallel platform includes a base and a top seat, both of which are triangular in shape and staggered from each other. An actuator is provided between the base and the top seat, and the number of actuators is set to six.

[0016] Furthermore, a toothed ring is fixedly connected to the inner top of the top seat;

[0017] The top of the turntable is fixedly connected to a first motor, and the output end of the first motor is provided with a gear that cooperates with the gear ring.

[0018] Furthermore, a rack is fixedly connected to the upper end face of the sliding bridge;

[0019] A second motor is fixedly connected to the outside of the fixed bridge, and the output end of the second motor is provided with a gear that cooperates with the rack.

[0020] Furthermore, a first limiting wheel is symmetrically provided at one end of the fixed bridge, and the first limiting wheel abuts against the sliding bridge;

[0021] A second limiting wheel is symmetrically arranged at one end of the sliding bridge, and the second limiting wheel abuts against the fixed bridge.

[0022] Furthermore, the actuator is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder.

[0023] Compared with the prior art, the beneficial effects of this utility model are:

[0024] This utility model provides a retractable staircase for personnel passage on a ship with six degrees of freedom compensation. Through the coordinated use of a six-bar parallel platform and actuators, it can effectively counteract the multi-degree-of-freedom movements of the maintenance vessel on the sea surface, such as heave, pitch, and roll, caused by environmental factors such as wind, waves, and currents. This ensures that the top seat of the staircase remains horizontal, guaranteeing the safety and stability of personnel and materials passing between the maintenance vessel and the platform. Furthermore, the base and top seat of the six-bar parallel platform are designed in a triangular and staggered configuration, enhancing the overall structural stability.

[0025] The walkway bridge achieves length adjustment through a combination of fixed and sliding bridges, while angle adjustment is achieved through the cooperation of a first motor and a gear ring. This allows the walkway bridge to precisely align with the target platform, solving the problem of insufficient angle adjustment accuracy in traditional passageway equipment. One end of the sliding bridge is equipped with a backing device. When the sliding bridge docks with the platform, the backing rubber and shock-absorbing spring of the backing device provide cushioning, preventing damage to the sliding bridge or the target platform due to excessive contact pressure.

[0026] This utility model adopts an arc-shaped top rubber and a symmetrically arranged diagonal brace design, which makes the top support device more stable when in contact with the platform, and at the same time, it works with a force sensor to monitor the contact pressure in real time.

[0027] After the boarding bridge docks with the platform, due to wave action, the ship may approach or move away from the target platform. To prevent damage to the boarding bridge and ensure personnel safety, the system sets the boarding bridge to a floating state, meaning the second motor automatically operates to ensure a seamless connection between the boarding bridge and the platform. The boarding bridge's support device constantly holds the target platform with a certain force. When the ship approaches the target platform, the boarding bridge automatically retracts; when the ship moves away from the target platform, the boarding bridge automatically extends. Shock-absorbing springs provide additional cushioning, reducing the impact of shocks on the equipment and platform, and extending the equipment's service life.

[0028] The sliding mechanism of the sliding bridge is achieved through the cooperation of a rack and pinion. The rack is located on the upper end face of the sliding bridge, and a second motor mounted on the outside of the fixed bridge drives the gear to move, realizing precise displacement adjustment of the sliding bridge. At the same time, a first limit wheel and a second limit wheel are respectively set at both ends of the sliding bridge and the fixed bridge, which effectively limits the lateral swaying and excessive reverse movement of the sliding bridge, ensuring the stability and safety of the equipment operation, and solving the problem of swaying or positional deviation that easily occurs during the sliding process in traditional devices.

[0029] Through its overall design, this utility model can meet the needs for efficient and safe passage in complex environments such as offshore wind power operation and maintenance. It effectively solves the problems of insufficient dynamic compensation, inaccurate bridge docking, and inadequate equipment protection in existing technologies, thereby improving the safety and reliability of offshore operations and having significant practical value. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of this utility model;

[0031] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0032] Figure 3 This is a schematic diagram of the structure of the six-bar parallel platform of this utility model;

[0033] Figure 4 This is a schematic diagram of the structure of the turntable of this utility model;

[0034] Figure 5 This is a schematic diagram of the structure of the support device of this utility model. Figure 1 ;

[0035] Figure 6 This is a schematic diagram of the structure of the support device of this utility model. Figure 2 .

[0036] The attached diagram lists the components represented by each number as follows:

[0037] 1. Six-bar parallel platform;

[0038] 11. Base; 12. Top mount; 121. Gear ring; 13. Actuator;

[0039] 2. Turntable; 21. First motor;

[0040] 3. Covered bridge;

[0041] 31. Fixed bridge; 311. First limiting wheel; 312. Second motor; 32. Sliding bridge; 321. Rack; 322. Second limiting wheel;

[0042] 4. Support device;

[0043] 41. Connecting frame; 42. Fixing sleeve; 421. Force sensor; 43. Movable sleeve; 44. Top rubber; 441. Diagonal brace; 45. Shock-absorbing spring. Detailed Implementation

[0044] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0045] See Figure 1-6 A retractable staircase for personnel passage on a ship with six degrees of freedom compensation function includes a six-bar parallel platform 1, with a turntable 2 rotatably connected to the top of the six-bar parallel platform 1; the turntable 2 achieves multi-degree-of-freedom compensation function through the six-bar parallel platform 1, which can counteract the heave, pitch, and roll movements of the maintenance vessel on the sea surface caused by factors such as wind, waves, and currents, so that the turntable 2 always remains in a horizontal state; a corridor bridge 3 is set on the upper end of the turntable 2, and the corridor bridge 3 connects to the target platform; the corridor bridge 3 is used to realize the safe passage of personnel and materials between the ship and the platform; the structure and angle of the corridor bridge 3 are adjustable to adapt to the height and angle requirements of different docking platforms.

[0046] See Figure 1 The corridor bridge 3 includes a fixed bridge 31 fixedly connected to the top of the turntable 2; the fixed bridge 31 is stably connected to the turntable 2 through a fixed structure, thereby maintaining the stability of the fixed bridge 31 during movement; a sliding bridge 32 is slidably connected to one end of the fixed bridge 31; the sliding bridge 32 moves parallel to the direction of the fixed bridge 31 to adjust the docking distance; the sliding bridge 32 is driven by a second motor 312 to slide on a rack 321; a top support device 4 is provided at the bottom of one end of the sliding bridge 32 to provide buffering and protection when the sliding bridge 32 docks with the platform, so as to avoid damage to the equipment or platform.

[0047] See Figure 1-6 The top support device 4 includes a connecting frame 41 connected to the sliding bridge 32; a fixed sleeve 42 is fixedly connected to the side of the connecting frame 41; a movable sleeve 43 is fitted on the fixed sleeve 42; a top support rubber 44 is connected to one end of the movable sleeve 43, and the top support rubber 44 is made of a flexible material to provide a buffering effect when the sliding bridge 32 contacts the target platform; a force sensor 421 and a shock-absorbing spring 45 are installed inside the fixed sleeve 42. The force sensor 421 is used to monitor the contact pressure between the top support device 4 and the platform in real time. When the contact pressure reaches a set value, the drive of the second motor 312 is stopped to prevent the sliding bridge 32 from continuing to move and causing damage; the shock-absorbing spring 45 provides additional buffering capacity to further reduce the impact force on the equipment and platform.

[0048] See Figure 5 The top rubber 44 is designed to be arc-shaped; the arc design facilitates close contact with the platform surface and enhances the stability of the docking; diagonal bracing rods 441 are symmetrically arranged between the top rubber 44 and the movable sleeve 43; the diagonal bracing rods 441 are used to enhance the structural strength of the top support device 4 and ensure that the top rubber 44 will not deform due to uneven pressure when it contacts the platform.

[0049] See Figure 3 The six-bar parallel platform 1 includes a base 11 and a top seat 12. Both the base 11 and the top seat 12 are triangular in shape and are staggered to form a stable support structure. An actuator 13 is provided between the base 11 and the top seat 12, and the number of actuators 13 is set to six. The six actuators 13 are connected in parallel, and the attitude adjustment of the top seat 12 is realized by the extension and retraction movement of the actuators 13, thereby performing multi-degree-of-freedom compensation for the turntable 2.

[0050] See Figure 3-4 A gear ring 121 is fixedly connected to the inner side of the top of the top seat 12; the gear ring 121 is used to cooperate with the angle adjustment mechanism of the turntable 2 to realize the rotation adjustment of the turntable 2; a first motor 21 is fixedly connected to the top of the turntable 2, and a gear that cooperates with the gear ring 121 is provided at the output end of the first motor 21; the first motor 21 drives the gear to rotate on the gear ring 121 to realize the angle adjustment of the turntable 2, so that the corridor bridge 3 can be precisely aligned with the target platform.

[0051] See Figure 1-2 A rack 321 is fixedly connected to the upper end face of the sliding bridge 32. The rack 321 is arranged along the length direction of the sliding bridge 32 and is used to cooperate with the output gear of the second motor 312. The second motor 312 is fixedly connected to the outer side of the fixed bridge 31. The second motor 312 drives the rack 321 through the gear at the output end to realize the parallel movement of the sliding bridge 32, thereby adjusting the docking distance of the sliding bridge 32.

[0052] See Figure 1-2 A first limiting wheel 311 is symmetrically arranged at one end of the fixed bridge 31; the first limiting wheel 311 abuts against the sliding bridge 32 to limit the lateral sway of the sliding bridge 32 and ensure that the sliding bridge 32 moves smoothly along the predetermined trajectory; a second limiting wheel 322 is symmetrically arranged at one end of the sliding bridge 32; the second limiting wheel 322 abuts against the fixed bridge 31 to limit the reverse movement range of the sliding bridge 32, further improving the stability and safety of the equipment operation.

[0053] The actuator 13 is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder. In this invention, a hydraulic cylinder is preferred.

[0054] In some embodiments, the turntable 2 and the corridor bridge 3 are further equipped with two pitch cylinders, which are hydraulic cylinders, electric cylinders, or pneumatic cylinders. The function of the pitch cylinders is:

[0055] 1. Primarily used to compensate for the residual heave motion after compensation of a six-bar parallel platform 1.

[0056] 2. Due to the changes in sea level caused by tides, there will be a difference in the docking height between the corridor bridge 3 and the platform. The pitch cylinder can also be used to adjust the height of this part.

[0057] The working principle of this utility model is as follows:

[0058] The hull of the maintenance vessel will undergo multi-degree-of-freedom movements such as heave, pitching, and rolling under the influence of environmental factors such as wind, waves, and currents; and the swaying of the vessel on the water surface is counteracted by the cooperation of six actuators 13, so that the top of the top seat 12 can always be kept in a horizontal state.

[0059] By adjusting the angle of the walkway 3 to align it with the platform to be logged into, the gear at the output end of the first motor 21 rotates on the gear ring 121 while the angle of the walkway 3 is being adjusted, thereby driving the turntable 2 to adjust its angle relative to the six-bar parallel platform 1, thus adjusting the angle of the walkway 3.

[0060] Once the walkway 3 is aligned with the platform, the second motor 312 drives the gear at its output end to move on the rack 321, thereby moving the sliding bridge 32. When the top-supporting device 4 at one end of the sliding bridge 32 touches the platform, the second motor 312 stops working, thus preventing the sliding bridge 32 from being damaged as it approaches the platform.

[0061] When the top support device 4 contacts the platform, the top support rubber 44 will first contact the platform and drive the movable sleeve 43 to move closer to the fixed sleeve 42. As the movable sleeve 43 moves closer to the fixed sleeve 42, it will compress the shock-absorbing spring 45. At this time, the pressure on the force sensor 42 will also gradually increase. When the pressure on the force sensor 4 reaches the predetermined value, the second motor 312 will stop working.

[0062] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A marine personnel access telescopic stair with six degree of freedom compensation function, characterized in that: It includes a six-bar parallel platform (1), the top of which is rotatably connected to a turntable (2), and the upper surface of the turntable (2) is provided with a corridor bridge (3); The corridor bridge (3) includes a fixed bridge (31) fixedly connected to the top of the turntable (2), and a sliding bridge (32) is slidably connected to one end of the fixed bridge (31); A bottom support device (4) is provided at one end of the sliding bridge (32); The top support device (4) includes a connecting frame (41) connected to the sliding bridge (32). A fixed sleeve (42) is fixedly connected to the side of the connecting frame (41). A movable sleeve (43) is fitted on the fixed sleeve (42). One end of the movable sleeve (43) is connected to a top support rubber (44). A force sensor (421) and a shock-absorbing spring (45) are installed inside the fixed sleeve (42).

2. The personnel access telescopic stair with six degrees of freedom compensation function for marine use according to claim 1, characterized in that: The top rubber (44) is arc-shaped, and diagonal bracing rods (441) are symmetrically arranged between the top rubber (44) and the movable sleeve (43).

3. The personnel access telescopic stair with six degrees of freedom compensation function for marine use according to claim 1, characterized in that: The six-bar parallel platform (1) includes a base (11) and a top seat (12). The base (11) and the top seat (12) are both triangular in shape and are staggered from each other. An actuator (13) is provided between the base (11) and the top seat (12), and the number of actuators (13) is set to six.

4. A shipboard retractable ladder with six degrees of freedom compensation function according to claim 3, characterized in that: A toothed ring (121) is fixedly connected to the inner side of the top of the top seat (12); The top of the turntable (2) is fixedly connected to a first motor (21), and the output end of the first motor (21) is provided with a gear that cooperates with the gear ring (121).

5. The personnel access telescopic stair with six degree of freedom compensation function for ship as claimed in claim 1, wherein: A rack (321) is fixedly connected to the upper end face of the sliding bridge (32); A second motor (312) is fixedly connected to the outside of the fixed bridge (31), and the output end of the second motor (312) is provided with a gear that cooperates with the rack (321).

6. The personnel access telescopic stair with six degree of freedom compensation function for ship as claimed in claim 5, wherein: One end of the fixed bridge (31) is symmetrically provided with a first limiting wheel (311), which abuts against the sliding bridge (32); A second limiting wheel (322) is symmetrically provided at one end of the sliding bridge (32), and the second limiting wheel (322) abuts against the fixed bridge (31).

7. The personnel access telescopic stair with six degree of freedom compensation function for ship as claimed in claim 3, wherein: The actuator (13) is a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder.

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