Three-degree-of-freedom offshore wave-compensated embarkation system
By designing a three-degree-of-freedom wave-compensated boarding system, which utilizes hydraulic devices and controllers to achieve real-time compensation for ship motion, the stability and safety of the pier under severe sea conditions are solved, and the system's adaptability and reliability are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHONGQING HAIKE (BEIJING) TECHNOLOGY DEVELOPMENT CO LTD
- Filing Date
- 2025-07-04
- Publication Date
- 2026-07-14
AI Technical Summary
The piers between offshore platforms and ships are difficult to maintain balance in rough sea conditions, have low stability, cannot be adaptively adjusted in terms of splicing position, pose safety risks, and are inconvenient to use.
A three-degree-of-freedom wave-compensated boarding system for marine environments was designed, comprising a frame structure, a hydraulic device, and a control device. The system compensates for the platform's roll, pitch, and heave motions through hydraulic cylinders, and makes real-time adjustments in conjunction with attitude sensors and a controller.
It enables real-time compensation for ship motion, ensuring the safety of staff, improving the system's adaptability, reliability, and stability, and reducing costs.
Smart Images
Figure CN224491419U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of marine engineering equipment technology, and more specifically, to a three-degree-of-freedom marine wave compensation boarding system. Background Technology
[0002] Offshore platform operations require the transfer of personnel and the replenishment of supplies between ships and offshore platforms. To facilitate the movement of personnel between ships and offshore platforms, piers are usually installed on the decks of ships to connect with the offshore platforms. However, the marine environment is harsh, and the piers are difficult to maintain balance when the sea is rough, resulting in low stability and safety risks for personnel. Furthermore, the piers cannot be adjusted to adapt to the location of the offshore platform and the berthing position of the ship, making them inflexible and inconvenient to use.
[0003] Therefore, it is necessary to improve the existing technology. Utility Model Content
[0004] The purpose of this utility model is to provide a three-degree-of-freedom marine wave compensation boarding system, aiming to solve at least one of the technical problems existing in the prior art. To achieve the above objective, the technical solution adopted is as follows:
[0005] A three-degree-of-freedom wave-compensated boarding system for the sea includes a mounting base with a frame structure on the mounting base. The frame structure includes a platform base hinged to the mounting base and the platform base can rotate left and right relative to the mounting base. A main platform is mounted parallel to the platform base. A rear swing arm is hinged to the rear end of the main platform and is hinged to the platform base. A front swing arm is hinged to the front end of the main platform and is hinged to the platform base. The front swing arm is parallel to the rear swing arm. The main platform can move back and forth relative to the platform base. A gangway is hinged to the front end of the main platform and can rotate up and down about the hinge point.
[0006] The system also includes a hydraulic device, which includes a hydraulic roll cylinder, a translation cylinder, and a pitch cylinder. One end of the roll cylinder is hinged to the mounting base, and the other end is hinged to the column fixed to the platform base. The roll cylinder enables the platform base to rotate left and right. One end of the translation cylinder is hinged to the platform base, and the other end is hinged to the main platform. The translation cylinder enables the main platform to move forward and backward. One end of the pitch cylinder is hinged to the gangway, and the other end is hinged to the column fixed to the main platform. The pitch cylinder enables the gangway to rotate up and down.
[0007] The device also includes a control unit, which includes a controller to control the extension and retraction of the roll cylinder, translation cylinder, and pitch cylinder.
[0008] Preferably, the mounting base is installed on the ship's deck.
[0009] Preferably, the control device further includes an attitude sensor, which is mounted on a mounting base. The attitude sensor detects the ship's attitude data in real time and sends it to the controller. The controller controls the roll cylinder, translation cylinder, and pitch cylinder according to the received motion attitude data to perform real-time compensation for the ship.
[0010] Preferably, the system further includes a climbing device, which includes a support frame fixedly connected to a mounting base. The support frame has a first rotating shaft arranged in a front-rear direction, a pedal rotatably connected to the first rotating shaft, a second rotating shaft arranged in a front-rear direction on the pedal, a ladder rotatably connected to the second rotating shaft, a third rotating shaft arranged in a front-rear direction at the end of the ladder, a slider rotatably connected to the third rotating shaft, and a slide rail installed on the main platform in a front-rear direction, with the slider slidably connected to the slide rail.
[0011] Preferably, a crossbeam arranged in the front-to-back direction is fixedly installed in the middle of the mounting base. Two sets of hinge holes are provided on the crossbeam at intervals in the front and back. Two sets of hinge holes are provided on the bottom surface of the platform base at intervals in the front and back. The rearmost set of hinge holes on the crossbeam is connected to the rearmost set of hinge holes on the bottom surface of the platform base by a pin. The frontmost set of hinge holes on the crossbeam is connected to the frontmost set of hinge holes on the bottom surface of the platform base by a pin.
[0012] Preferably, the rear swing arm is square and includes a left rear swing arm and a right rear swing arm arranged in parallel, and the left rear swing arm and the right rear swing arm are fixedly connected by two rear connecting rods;
[0013] The left rear swing arm has a set of hinge holes at both ends, the right rear swing arm has a set of hinge holes at both ends, the platform base has two sets of hinge holes spaced apart on the left and right sides at the rear, and the main platform has two sets of hinge holes spaced apart on the left and right sides at the bottom rear.
[0014] A set of hinge holes at the bottom of the left rear swing arm is connected to a set of hinge holes on the left rear side of the platform base via a pin. A set of hinge holes at the top of the left rear swing arm is connected to a set of hinge holes on the left rear bottom side of the main platform via a pin. A set of hinge holes at the bottom of the right rear swing arm is connected to a set of hinge holes on the right rear side of the platform base via a pin. A set of hinge holes at the top of the right rear swing arm is connected to a set of hinge holes on the right rear bottom side of the main platform via a pin.
[0015] Preferably, the front swing arm is square and includes a left front swing arm and a right front swing arm arranged in parallel, and the left front swing arm and the right front swing arm are fixedly connected by two front connecting rods;
[0016] The left front swing arm has a set of hinge holes at both ends, the right front swing arm has a set of hinge holes at both ends, the platform base has two sets of hinge holes spaced apart on the left and right sides, and the main platform has two sets of hinge holes spaced apart on the left and right sides at the bottom front side.
[0017] A set of hinge holes at the bottom of the left front swing arm is connected to a set of hinge holes on the left side of the front of the platform base by a pin. A set of hinge holes at the top of the left front swing arm is connected to a set of hinge holes on the left side of the bottom front of the main platform by a pin. A set of hinge holes at the bottom of the right front swing arm is connected to a set of hinge holes on the right side of the front of the platform base by a pin. A set of hinge holes at the top of the right front swing arm is connected to a set of hinge holes on the right side of the bottom front of the main platform by a pin.
[0018] Preferably, the front top of the main platform is provided with two sets of hinge holes spaced apart on the left and right, and the rear end of the gangway is provided with two sets of hinge holes spaced apart on the left and right. The set of hinge holes on the left side of the front top of the main platform and the set of hinge holes on the left side of the rear end of the gangway are connected by a pin, and the set of hinge holes on the right side of the front top of the main platform and the set of hinge holes on the right side of the rear end of the gangway are connected by a pin.
[0019] Compared with the prior art, the present invention has the following beneficial effects:
[0020] This invention relates to a three-degree-of-freedom marine wave compensation boarding system, which can achieve real-time compensation for the ship's roll, pitch, and heave movements, effectively solving the adverse effects of ship motion on personnel and ensuring their safe execution of boarding operations. Furthermore, it can safely and efficiently perform boarding operations in harsh sea conditions, and features strong adaptability, high reliability, low cost, and good stability. Attached Figure Description
[0021] To more clearly illustrate the technical solution of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a schematic diagram of the overall structure of the system of this utility model.
[0023] Figure 2 This is a schematic diagram of the lateral rocking motion of the system of this utility model.
[0024] Figure 3 This is a schematic diagram of the translational movement of the system of this utility model.
[0025] Figure 4 This is a schematic diagram of the pitching motion of the system of this utility model.
[0026] In the diagram: 1. Mounting base; 2. Gangway; 3. Crossbeam; 4. Platform base; 5. Main platform; 6. Rear swing arm; 7. Front swing arm; 8. Left rear swing arm; 9. Right rear swing arm; 10. Rear linkage; 11. Left front swing arm; 12. Right front swing arm; 13. Front linkage; 14. Bracket; 15. Step; 16. Ladder; 17. Slider; 18. Slide rail; 19. Roll cylinder; 20. Translation cylinder; 21. Pitch cylinder; 22. Column; 23. Pole. Detailed Implementation
[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.
[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0029] like Figure 1 As shown, a preferred embodiment of this utility model provides a three-degree-of-freedom sea wave compensation boarding system, which includes a mounting base 1, a frame structure, a gangway 2, a climbing device, a hydraulic device, and a control device.
[0030] The mounting base 1 is a square structure, which is welded together by four side frames. A crossbeam 3 arranged in the front-to-back direction is fixedly installed in the middle of the mounting base. The mounting base 1 is fixedly installed in a suitable position on the ship deck by bolts.
[0031] The frame structure includes a platform base 4, a main platform 5, a rear swing arm 6, and a front swing arm 7.
[0032] The platform base 4 has a square structure and is hinged to the mounting base 1. Specifically, the crossbeam 3 in the middle of the mounting base 1 has two sets of hinge holes spaced apart front to back, and the bottom surface of the platform base 4 has two sets of hinge holes spaced apart front to back. The rearmost set of hinge holes on the crossbeam 3 is connected to the rearmost set of hinge holes on the bottom surface of the platform base 4 by a pin, and the frontmost set of hinge holes on the crossbeam 3 is connected to the frontmost set of hinge holes on the bottom surface of the platform base 4 by a pin. Based on the above configuration, the platform base 4 can rotate left and right relative to the mounting base 1 about the two pins.
[0033] The main platform 5 is a directional flat plate structure, located above and parallel to the platform base 4. The main platform 5 is connected to the platform base 4 via a rear swing arm 6 and a front swing arm 7.
[0034] The rear swing arm 6 is square in shape and includes a left rear swing arm 8 and a right rear swing arm 9 arranged in parallel. The left rear swing arm 8 and the right rear swing arm 9 are fixedly welded together by two rear connecting rods 10.
[0035] The left rear swing arm 8 has a set of hinge holes at both ends, the right rear swing arm 9 has a set of hinge holes at both ends, the platform base 4 has two sets of hinge holes spaced apart on the left and right sides at the rear, and the main platform 5 has two sets of hinge holes spaced apart on the left and right sides at the bottom rear.
[0036] A set of hinge holes at the bottom of the left rear swing arm 8 is connected to a set of hinge holes on the left rear side of the platform base 4 by a pin. A set of hinge holes at the top of the left rear swing arm 8 is connected to a set of hinge holes on the left rear bottom side of the main platform 5 by a pin. A set of hinge holes at the bottom of the right rear swing arm 9 is connected to a set of hinge holes on the right rear side of the platform base 4 by a pin. A set of hinge holes at the top of the right rear swing arm 9 is connected to a set of hinge holes on the right rear bottom side of the main platform 5 by a pin.
[0037] The front swing arm 7 is square in shape and includes a left front swing arm 11 and a right front swing arm 12 arranged in parallel. The left front swing arm 11 and the right front swing arm 12 are fixedly welded together by two front connecting rods 13. The rear swing arm 6 is arranged in parallel with the front swing arm 7.
[0038] The left front swing arm 11 has a set of hinge holes at both ends, the right front swing arm 12 has a set of hinge holes at both ends, the platform base 4 has two sets of hinge holes spaced apart on the left and right sides of the front side, and the main platform 5 has two sets of hinge holes spaced apart on the left and right sides of the bottom front side.
[0039] A set of hinge holes at the bottom of the left front swing arm 11 is connected to a set of hinge holes on the left side of the front of the platform base 4 by a pin. A set of hinge holes at the top of the left front swing arm 11 is connected to a set of hinge holes on the left side of the bottom front of the main platform 5 by a pin. A set of hinge holes at the bottom of the right front swing arm 12 is connected to a set of hinge holes on the right side of the front of the platform base 4 by a pin. A set of hinge holes at the top of the right front swing arm 12 is connected to a set of hinge holes on the right side of the bottom front of the main platform 5 by a pin.
[0040] Based on the above configuration, the frame structure allows the main platform 5 to move back and forth relative to the platform base 4.
[0041] The gangway 2 is a long corridor, hinged to the main platform 5. Specifically, the front top of the main platform 5 has two sets of hinge holes spaced apart on the left and right, and the rear end of the gangway 2 has two sets of hinge holes spaced apart on the left and right. The left-hand hinge hole on the front top of the main platform 5 is connected to the left-hand hinge hole on the rear end of the gangway 2 by a pin, and the right-hand hinge hole on the front top of the main platform 5 is connected to the right-hand hinge hole on the rear end of the gangway 2 by a pin. Based on the above configuration, the gangway 2 can rotate up and down around the two pins.
[0042] The climbing device is located on the left or right side of the mounting base 1. The climbing device includes a bracket 14, which is L-shaped. The bottom of the bracket 14 is fixedly connected to the mounting base 1. The top of the bracket 14 has a first rotating shaft arranged in the front-back direction, on which a step 15 is rotatably connected. A second rotating shaft arranged in the front-back direction is located on the step 15, on which a ladder 16 is rotatably connected. A third rotating shaft arranged in the front-back direction is located at the end of the ladder 16, on which a slider 17 is rotatably connected. A slide rail 18 is mounted on the main platform 5 in the front-back direction, and the slider 17 is slidably connected to the slide rail 18.
[0043] Based on the above configuration, when the platform base 4, i.e., the frame structure, rotates left and right, the pedal 15 and the ladder 16 will passively and adaptively rotate. When the main platform 5 moves back and forth, the slider 17 slides relative to the slide rail 18, while the pedal 15 and the ladder 16 remain stationary.
[0044] The hydraulic system includes a hydraulic rocking cylinder 19, a translation cylinder 20, and a pitching cylinder 21.
[0045] The cylinder body of the horizontal rocker cylinder 19 is hinged to the mounting base 1 via a hinge lug. A column 22 is vertically fixed on the platform base 4. The piston rod of the horizontal rocker cylinder 19 is hinged to the column 22. Specifically, the piston rod of the horizontal rocker cylinder 19 has a set of hinge holes, and the column 22 has a set of hinge holes. These two sets of hinge holes are connected by a pin. The extension and retraction of the horizontal rocker cylinder 19 can drive the platform base 4, i.e., the frame structure, to rotate left and right.
[0046] The cylinder body of the translation cylinder 20 is hinged to the platform base 4 via a hinge lug, and the piston rod of the translation cylinder 20 is hinged to the main platform 5. Specifically, the piston rod of the translation cylinder 20 has a set of hinge holes, and the bottom surface of the main platform 5 has a set of hinge holes at a suitable position. The two sets of hinge holes are connected by a pin. The extension and retraction of the translation cylinder 20 can drive the main platform 5 to move back and forth.
[0047] The cylinder body of the pitch cylinder 21 is hinged to the bottom surface of the gangway 2 via a hinge lug. A vertical support 23 is fixedly installed on the bottom surface of the main platform 5. The piston rod of the pitch cylinder 21 is hinged to the support 23. Specifically, the piston rod of the pitch cylinder 21 has a set of hinge holes, and the support 23 has a set of hinge holes. The two sets of hinge holes are connected by a pin. The extension and retraction of the pitch cylinder 21 can drive the gangway 2 to rotate up and down.
[0048] Of course, hydraulic devices also include components such as hydraulic pumps, hydraulic tanks, connecting pipelines, and valves, which will not be elaborated here and can be implemented by referring to existing technologies.
[0049] The control device (not shown in the figure) includes a controller and attitude sensors. In this embodiment, a PLC controller is used to control the extension and retraction of the roll cylinder 19, translation cylinder 20, and pitch cylinder 21. The attitude sensors are mounted on the mounting base 1 and detect the ship's attitude data in real time, sending it to the controller. Figures 2-4 As shown, when the ship rolls, the controller drives the roll cylinder 19 to rotate the platform base left and right to compensate for the ship's roll. When the ship pitches or heaves, the controller drives the translation cylinder 20 and the pitch cylinder 21 to move the main platform 5 forward and backward and rotate the gangway 2 up and down to compensate for the ship's pitch and heave.
[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.
Claims
1. A three-degree-of-freedom wave-compensated boarding system for marine environments, characterized in that, The system includes a mounting base with a frame structure, which includes a platform base hinged to the mounting base. The platform base can rotate left and right relative to the mounting base. A main platform is mounted parallel to the platform base. A rear swing arm is hinged to the rear end of the main platform and is hinged to the platform base. A front swing arm is hinged to the front end of the main platform and is hinged to the platform base. The front swing arm is parallel to the rear swing arm and can move back and forth relative to the platform base. A gangway is hinged to the front end of the main platform and can rotate up and down about the hinge point. The system also includes a hydraulic device, which includes a hydraulic roll cylinder, a translation cylinder, and a pitch cylinder. One end of the roll cylinder is hinged to the mounting base, and the other end is hinged to the column fixed to the platform base. The roll cylinder enables the platform base to rotate left and right. One end of the translation cylinder is hinged to the platform base, and the other end is hinged to the main platform. The translation cylinder enables the main platform to move forward and backward. One end of the pitch cylinder is hinged to the gangway, and the other end is hinged to the column fixed to the main platform. The pitch cylinder enables the gangway to rotate up and down. The device also includes a control unit, which includes a controller to control the extension and retraction of the roll cylinder, translation cylinder, and pitch cylinder.
2. The three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, The mounting base is installed on the ship's deck.
3. A three-degree-of-freedom marine wave compensation boarding system according to claim 2, characterized in that, The control device also includes an attitude sensor, which is mounted on a mounting base. The attitude sensor detects the ship's attitude data in real time and sends it to the controller. The controller controls the roll cylinder, translation cylinder, and pitch cylinder based on the received motion attitude data to compensate the ship in real time.
4. A three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, The system also includes a climbing device, which includes a support frame fixedly connected to a mounting base. The support frame has a first rotating shaft arranged in the front-back direction, and a step is rotatably connected to the first rotating shaft. The step has a second rotating shaft arranged in the front-back direction, and a ladder is rotatably connected to the second shaft. The end of the ladder has a third rotating shaft arranged in the front-back direction, and a slider is rotatably connected to the third rotating shaft. A slide rail is installed on the main platform in the front-back direction, and the slider is slidably connected to the slide rail.
5. A three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, A crossbeam arranged in the front-to-back direction is fixedly installed in the middle of the mounting base. Two sets of hinge holes are provided on the crossbeam at intervals in the front and back. Two sets of hinge holes are provided on the bottom surface of the platform base at intervals in the front and back. The rearmost set of hinge holes on the crossbeam is connected to the rearmost set of hinge holes on the bottom surface of the platform base by a pin. The frontmost set of hinge holes on the crossbeam is connected to the frontmost set of hinge holes on the bottom surface of the platform base by a pin.
6. A three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, The rear swing arm is square in shape and includes a left rear swing arm and a right rear swing arm arranged in parallel. The left rear swing arm and the right rear swing arm are fixedly connected by two rear connecting rods. The left rear swing arm has a set of hinge holes at both ends, the right rear swing arm has a set of hinge holes at both ends, the platform base has two sets of hinge holes spaced apart on the left and right sides at the rear, and the main platform has two sets of hinge holes spaced apart on the left and right sides at the bottom rear. A set of hinge holes at the bottom of the left rear swing arm is connected to a set of hinge holes on the left rear side of the platform base via a pin. A set of hinge holes at the top of the left rear swing arm is connected to a set of hinge holes on the left rear bottom side of the main platform via a pin. A set of hinge holes at the bottom of the right rear swing arm is connected to a set of hinge holes on the right rear side of the platform base via a pin. A set of hinge holes at the top of the right rear swing arm is connected to a set of hinge holes on the right rear bottom side of the main platform via a pin.
7. A three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, The front swing arm is square in shape and includes a left front swing arm and a right front swing arm arranged in parallel. The left front swing arm and the right front swing arm are fixedly connected by two front connecting rods. The left front swing arm has a set of hinge holes at both ends, the right front swing arm has a set of hinge holes at both ends, the platform base has two sets of hinge holes spaced apart on the left and right sides, and the main platform has two sets of hinge holes spaced apart on the left and right sides at the bottom front side. A set of hinge holes at the bottom of the left front swing arm is connected to a set of hinge holes on the left side of the front of the platform base by a pin. A set of hinge holes at the top of the left front swing arm is connected to a set of hinge holes on the left side of the bottom front of the main platform by a pin. A set of hinge holes at the bottom of the right front swing arm is connected to a set of hinge holes on the right side of the front of the platform base by a pin. A set of hinge holes at the top of the right front swing arm is connected to a set of hinge holes on the right side of the bottom front of the main platform by a pin.
8. A three-degree-of-freedom marine wave compensation boarding system according to claim 1, characterized in that, The front top of the main platform has two sets of hinge holes spaced apart on the left and right, and the rear end of the gangway has two sets of hinge holes spaced apart on the left and right. The set of hinge holes on the left side of the front top of the main platform and the set of hinge holes on the left side of the rear end of the gangway are connected by a pin, and the set of hinge holes on the right side of the front top of the main platform and the set of hinge holes on the right side of the rear end of the gangway are connected by a pin.