Six-degree-of-freedom active-passive combined wave compensation trestle structure

Abstract

The utility model relates to the field of ocean engineering equipment provides a six degrees of freedom active and passive combined wave compensation trestle structure, including slewing seat, drive portion, trestle portion, trestle telescopic part and butt joint part, the proximal end of trestle portion is hinged with slewing seat, the proximal end of trestle telescopic part cooperates with the distal end of trestle portion, butt joint part is configured at the distal end of trestle telescopic part, the both ends of drive portion are rotatable configuration in slewing seat one side, trestle portion bottom, and drive portion includes initiative control assembly and torque compensation assembly. The utility model through torque compensation assembly to the trestle bridge body gravity torque is offset, has reduced initiative control assembly required power specification and drive control difficulty, butt joint part can absorb the instability brought by the ship roll motion on one hand, on the other hand, through the relative rolling of the roller and target docking platform, avoids the direct contact of the trestle in telescopic direction and target docking platform, reduces the compensation control difficulty.

Description

Technical Field

[0001] This utility model relates to the field of marine engineering equipment, specifically to a six-degree-of-freedom combined active and passive wave compensation trestle structure. Background Technology

[0002] When replenishment vessels operate at sea, they are subject to significant swaying due to wind, waves, and tides, constantly experiencing heave and swaying, which poses a great risk to personnel during operations and transfers. Therefore, achieving safe and stable docking between replenishment vessels and platforms is of paramount importance.

[0003] In existing technologies, active wave compensation can be achieved by using trestle docks with wave compensation features. However, since there is often a significant height difference between the supply vessel and the location where the supply needs to be made, the wave compensation trestle can only achieve docking by increasing the pitch angle of the trestle. However, the pitching motion of long-distance wave compensation trestles leads to excessive load on the active control joints. At the same time, the vessel experiences rolling motion, and the end of the wave compensation trestle often experiences structural instability due to the rolling motion of the vessel after contact with it, resulting in low docking efficiency and poor docking quality. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a six-degree-of-freedom combined active and passive wave compensation trestle structure.

[0005] According to the present invention, a six-degree-of-freedom active-passive combined wave compensation trestle structure includes a slewing base, a driving part, a trestle part, a trestle telescopic part, and a docking part.

[0006] The proximal end of the trestle section is hinged to one side of the top of the swivel seat, and the proximal end of the telescopic section of the trestle is movably engaged with the distal end of the trestle section so that the overall length of the trestle section and the telescopic section of the trestle can be adjusted to the target length. The docking part is disposed at the bottom of the distal end of the telescopic section of the trestle.

[0007] One end of the drive unit is rotatably disposed on one side of the rotary seat, and the other end of the drive unit is rotatably disposed at the bottom of the trestle section, so that the drive unit can drive the trestle section to rotate around one side of the top of the rotary seat, thereby adjusting the pitch angle of the trestle section. The drive unit includes an active control component and a torque compensation component. The active control component is used to provide power for the pitch movement of the trestle section, and the torque compensation component is used to counteract part of the gravitational torque generated by the trestle section.

[0008] Preferably, the active control component includes a drive motor and a telescopic electric cylinder. The drive motor is disposed on one side of the bottom of the rotary seat, one end of the telescopic electric cylinder is driven and connected to the drive motor, and the other end of the telescopic electric cylinder is hinged to the bottom of the trestle section.

[0009] Preferably, the torque compensation assembly includes a hydraulic cylinder and an accumulator. One end of the hydraulic cylinder is hinged to the middle of one side of the rotary seat, and the other end of the hydraulic cylinder is hinged to the bottom of the trestle section. The hydraulic cylinder is connected to the accumulator.

[0010] Preferably, the hydraulic cylinder and the telescopic electric cylinder are arranged in parallel;

[0011] The distance from the hydraulic cylinder hinge point to the pitch joint is half the distance from the telescopic electric cylinder hinge point to the pitch joint.

[0012] Preferably, there are two hydraulic cylinders arranged in parallel, and two telescopic electric cylinders arranged in parallel.

[0013] Preferably, the hydraulic cylinder has a built-in temperature sensor and a pressure sensor.

[0014] Preferably, the rotary seat has a rotary function.

[0015] Preferably, the docking portion includes an elastic element, a rotating joint, a moving platform, a first roller, and a second roller. The upper middle part of the moving platform is rotatably engaged with the bottom of the distal end of the telescopic portion of the trestle via the rotating joint. The two elastic elements are arranged between the telescopic portion of the trestle and the moving platform and are respectively configured on both sides of the rotating joint. The first roller and the second roller are respectively configured at both ends of the moving platform.

[0016] Preferably, the elastic element is an air spring.

[0017] Preferably, the moving platform is provided with a relative position measuring mechanism, which is an encoder mounted on the shafts of two rollers or a laser rangefinder mounted on the moving platform.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This invention solves the problem of excessive load on the pitch control joints of long-distance wave-compensated trestle by designing the drive unit as a structure combining passive adaptation and active control. The torque compensation component effectively counteracts the gravitational torque of the trestle body, thus addressing the issue of excessive load on the pitch control joints. Furthermore, the torque compensation component increases the structural strength of the trestle to a certain extent. The combination of the active control component and the torque compensation component achieves the effects of reducing the power requirements of the active control component, simplifying drive control, and increasing structural strength. Simultaneously, the docking section absorbs the swaying caused by the ship's rolling motion, stabilizing the structure and improving docking efficiency and quality. Moreover, the relative rolling between the rollers and the target docking platform avoids direct contact between the trestle and the target docking platform in the extension / retraction direction, reducing the difficulty of compensation control. Attached Figure Description

[0020] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the drive section.

[0023] Figure 3 This is a structural diagram of the docking section;

[0024] Figure 4 This is a schematic diagram of the six degrees of freedom of motion in this utility model.

[0025] The diagram shows:

[0026] Rotary seat 1;

[0027] Rotational motion 11;

[0028] Pitch motion 12;

[0029] 13. Extension and contraction movements;

[0030] Rotating joint motion 14;

[0031] The first roller rotates 15 degrees;

[0032] The second roller rotates 16;

[0033] Connecting base 17;

[0034] Slewing platform 18;

[0035] Drive section 2;

[0036] Drive motor 21;

[0037] Telescopic electric cylinder 22;

[0038] Hydraulic cylinder 23;

[0039] Section 3 of the pier;

[0040] 4. Telescopic section of the trestle;

[0041] Part 5;

[0042] Elastic element 51;

[0043] Rotary joint 52;

[0044] Dynamic platform 53;

[0045] First roller 54;

[0046] Second roller 55. Detailed Implementation

[0047] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0048] This utility model provides a six-degree-of-freedom combined active and passive wave compensation trestle structure, such as... Figure 1 As shown, the device includes a swivel base 1, a drive unit 2, a bridge section 3, a bridge telescopic section 4, and a docking section 5. The proximal end of the bridge section 3 is hinged to one side of the top of the swivel base 1. The proximal end of the bridge telescopic section 4 is movably engaged with the distal end of the bridge section 3, allowing the overall length of the bridge section 3 and the bridge telescopic section 4 to be adjusted to a target length. The docking section 5 is located at the bottom of the distal end of the bridge telescopic section 4. One end of the drive unit 2 is rotatably disposed on one side of the swivel base 1, and the other end of the drive unit 2 is rotatably disposed at the bottom of the bridge section 3, enabling the drive unit 2 to drive the bridge section 3 to rotate around one side of the top of the swivel base 1, thereby adjusting the pitch angle of the bridge section 3. The drive unit 2 includes an active control component and a torque compensation component. The active control component provides power for the pitch movement of the bridge section 3, and the torque compensation component is used to counteract part of the gravitational torque generated by the bridge section 3.

[0049] Specifically, the slewing base 1 has a slewing function and includes a slewing platform 18, a connecting base 17, a slewing bearing, a slewing motor, and gears, such as... Figure 4As shown, the lower end of the slewing bearing is rotatably connected to the connecting base 17 via a bearing, and the upper end of the slewing bearing is fixedly connected to the slewing platform 18. A gear is fitted in the middle of the slewing bearing, and a slewing motor is mounted on the connecting base 17 and connected to the gear drive. When the slewing motor runs, it drives the gear to rotate, thereby causing the slewing bearing and the slewing platform 18 to rotate synchronously to achieve slewing. This utility model, through the slewing base 1, enables the adjustment of the wave-compensated trestle structure to different orientations, greatly improving its practicality and versatility.

[0050] like Figure 2 As shown, the active control component includes a drive motor 21 and a telescopic cylinder 22. The drive motor 21 is located on one side of the bottom of the rotary base 1. One end of the telescopic cylinder 22 is driven and connected to the drive motor 21, and the other end of the telescopic cylinder 22 is hinged to the bottom of the bridge section 3. The torque compensation component includes a hydraulic cylinder 23 and an accumulator. One end of the hydraulic cylinder 23 is hinged to the middle of one side of the rotary base 1, and the other end of the hydraulic cylinder 23 is hinged to the bottom of the bridge section 3. The hydraulic cylinder 23 is connected to the accumulator. The hydraulic cylinder 23 and the telescopic cylinder 22 are arranged in parallel, and the distance from the hinge point of the hydraulic cylinder 23 to the pitch joint is half the distance from the hinge point of the telescopic cylinder 22 to the pitch joint. This ensures that under the same driving force, the effect of the driving force of the hydraulic cylinder 23 on the pitch joint is approximately half the effect of the driving force of the telescopic cylinder 22 on the pitch joint.

[0051] Furthermore, the hydraulic cylinder 23 is pre-charged with compressed nitrogen at a set pressure, which can provide thrust within the pitch joint movement stroke of the trestle section 3, thereby offsetting most of the influence of the trestle's gravitational torque on the drive of the active control components. The hydraulic cylinder 23 system has built-in temperature and pressure sensors, which can be used to calculate the output force of the hydraulic cylinder 23 system. The hydraulic cylinder 23 and the telescopic electric cylinder 22 are arranged in parallel, and the distance from the hinge point of the hydraulic cylinder 23 to the pitch joint is half the distance from the hinge point of the telescopic electric cylinder 22 to the pitch joint. This ensures that, under the same driving force, the effect of the hydraulic cylinder 23's driving force on the pitch joint is approximately half the effect of the telescopic electric cylinder 22's driving force on the pitch joint, facilitating subsequent control of the telescopic electric cylinder 22's driving force.

[0052] like Figure 3As shown, the docking section 5 includes an elastic element 51, a rotating joint 52, a moving platform 53, a first roller 54, and a second roller 55. The upper middle part of the moving platform 53 is rotatably engaged with the bottom of the distal end of the trestle extension section 4 via the rotating joint 52. Two elastic elements 51 are arranged between the trestle extension section 4 and the moving platform 53 and are respectively positioned on both sides of the rotating joint 52. The elastic elements 51 are preferably air springs. The first roller 54 and the second roller 55 are respectively arranged at both ends of the moving platform 53. This utility model, by adopting a wave-compensating trestle end docking structure combining the rotating joint 52 and the elastic element 51, allows the part of the trestle end that contacts the target docking platform to rotate around the rotating joint 52, thereby adapting to the rolling motion of the ship. This solves the problem that traditional three-degree-of-freedom wave-compensating trestles are difficult to adapt to the rolling motion of ships and achieves the effect of reducing the torsional load on the trestle structure.

[0053] Furthermore, inside the moving platform 53, the shafts of the two rollers are connected by a differential gear structure, so that when the end of the trestle and the target docking platform rotate relative to each other in the yaw direction, the two rollers can generate different rotation speeds, thereby reducing roller friction and wear.

[0054] This invention employs 6 degrees of freedom of motion, such as Figure 4 As shown, three degrees of freedom of motion—rotation 11 of the swivel seat 1, pitch 12 of the trestle section 3, and extension 13 of the trestle extension section 4 relative to the trestle section 3—are actively controlled by wave compensation. The other three degrees of freedom of motion—rotation 14 of the docking section, rotation 15 of the first roller, and rotation 16 of the second roller—are passively adapted by following the wave motion. A relative position measuring mechanism installed on the end docking section 5 senses the relative position information with the target docking platform, thereby compensating for the relative position of the trestle and the target docking platform. This wave-compensated trestle structure can adapt well to the wave motion of a six-degree-of-freedom ship.

[0055] The working principle of this utility model is as follows:

[0056] The six-degree-of-freedom wave-compensated trestle, combining active and passive motion, is connected to the hull via a connecting base 17. The connecting base 17 is connected to the slewing platform 18 via a slewing bearing, which is connected to the slewing motor via gears. This allows the slewing platform 18 and the connecting base 17 to rotate relative to each other, thus achieving the trestle's rotational motion. The slewing platform 18 is directly connected to the trestle section 3 via a hinge, enabling relative rotation. The slewing platform 18 and the trestle section 3 are also connected via a drive unit 2, which is fixed by hinges on both the slewing platform 18 and the trestle section 3. This drive unit 2's extension and retraction movement causes the trestle section 3 to pitch.

[0057] Specifically, the torque compensation component is fixed by hinges on the slewing platform 18 and the trestle section 3, which can counteract the gravitational torque of the trestle. The hydraulic cylinder 23 on the torque compensation component is connected to an accumulator and pre-charged with compressed nitrogen at a set pressure. It can provide thrust within the pitch joint movement stroke of the trestle, thereby counteracting most of the gravitational torque of the trestle body on the pitch joint drive. The hydraulic cylinder 23 system has built-in temperature and pressure sensors, which can be used to calculate the output force of the hydraulic cylinder 23. The hydraulic cylinder 23 is arranged in parallel with the telescopic electric cylinder 22, and the distance from the hinge point of the hydraulic cylinder 23 to the pitch joint is half the distance from the hinge point of the telescopic electric cylinder 22 to the pitch joint. This makes the effect of the driving force of the hydraulic cylinder 23 on the pitch joint approximately half that of the driving force of the telescopic electric cylinder 22 under the same driving force, which facilitates the subsequent control of the driving force of the telescopic electric cylinder 22. The trestle section 3 and the telescopic trestle section 4 are connected by a guide rail pulley mechanism, allowing for relative translation. A telescopic motor is installed at the bottom of the trestle section 3, and a rack and pinion structure is installed at the bottom of the telescopic trestle section 4. The telescopic motor achieves the telescopic movement of the telescopic trestle section 4 through the rack and pinion mechanism. A docking section 5 is installed at the end of the telescopic trestle section 4, featuring a passive compensation structure designed using a rotating joint 52 and an elastic element 51. The moving platform 53 and the rollers can rotate around the rotating joint 52, adapting to the ship's rolling motion. The symmetrically arranged elastic elements 51 apply a certain thrust to the moving platform 53 and the rollers, ensuring that the rollers on both sides are always simultaneously in contact with the target docking platform surface. Two rollers of the same diameter and a relative position measuring mechanism are installed on the moving platform 53. The relative position measuring mechanism can be an encoder mounted on the roller shaft or a laser rangefinder mounted on the moving platform 53, enabling the acquisition of relative position information with the docking platform. Specifically, if a combination of rollers and encoders is used, encoders are installed on the two roller shafts located inside the moving platform 53. The rotation angle information of the rollers is obtained through the encoders. Combined with the roller diameter, the relative displacement between the end of the trestle and the target docking platform can be calculated, and finally used for relative position compensation control.

[0058] This invention employs a wave-compensated trestle end docking structure that combines rollers with a relative position measuring mechanism. The roller structure avoids direct contact between the trestle and the target docking platform in the extension / retraction direction, thus eliminating the need for high-precision contact force control in this direction. Furthermore, the combination of rollers and the relative position measuring mechanism allows for low-cost sensing of the relative position information between the trestle and the target docking platform. Therefore, this wave-compensated trestle end docking structure, combining rollers and a relative position measuring mechanism, effectively reduces the need for contact force control and lowers the cost of sensing the relative position information between the trestle and the target docking platform.

[0059] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A six-degree-of-freedom combined active and passive wave compensation trestle structure, characterized in that, It includes a rotary seat (1), a drive unit (2), a bridge unit (3), a bridge telescopic unit (4), and a docking unit (5); The proximal end of the trestle section (3) is hinged to one side of the top of the swivel seat (1), and the proximal end of the trestle telescopic section (4) is movablely engaged with the distal end of the trestle section (3) so that the overall length of the trestle section (3) and the trestle telescopic section (4) can be adjusted to the target length. The docking part (5) is disposed at the bottom of the distal end of the trestle telescopic section (4). One end of the drive part (2) is rotatably disposed on one side of the rotary seat (1), and the other end of the drive part (2) is rotatably disposed at the bottom of the bridge part (3) so that the drive part (2) can drive the bridge part (3) to rotate around one side of the top of the rotary seat (1) and thereby adjust the pitch angle of the bridge part (3). The drive part (2) includes an active control component and a torque compensation component. The active control component is used to provide power for the pitch movement of the bridge part (3), and the torque compensation component is used to counteract part of the gravitational torque generated by the bridge part (3).

2. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 1, characterized in that, The active control component includes a drive motor (21) and a telescopic electric cylinder (22). The drive motor (21) is located on one side of the bottom of the rotary seat (1). One end of the telescopic electric cylinder (22) is driven and connected to the drive motor (21), and the other end of the telescopic electric cylinder (22) is hinged to the bottom of the trestle section (3).

3. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 2, characterized in that, The torque compensation assembly includes a hydraulic cylinder (23) and an accumulator. One end of the hydraulic cylinder (23) is hinged to the middle of one side of the rotary seat (1), and the other end of the hydraulic cylinder (23) is hinged to the bottom of the trestle section (3). The hydraulic cylinder (23) is connected to the accumulator.

4. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 3, characterized in that, The hydraulic cylinder (23) and the telescopic electric cylinder (22) are arranged in parallel; The distance from the hinge point of the hydraulic cylinder (23) to the pitch joint is half the distance from the hinge point of the telescopic electric cylinder (22) to the pitch joint.

5. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 3, characterized in that, The hydraulic cylinders (23) are arranged in parallel in two units, and the telescopic electric cylinders (22) are arranged in parallel in two units.

6. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 3, characterized in that, The hydraulic cylinder (23) has a built-in temperature sensor and a pressure sensor.

7. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 1, characterized in that, The rotary seat (1) has a rotary function.

8. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 1, characterized in that, The docking part (5) includes an elastic element (51), a rotating joint (52), a moving platform (53), a first roller (54), and a second roller (55). The middle part of the upper part of the moving platform (53) is rotatably engaged with the bottom of the far end of the telescopic part (4) of the bridge through the rotating joint (52). The two elastic elements (51) are arranged between the telescopic part (4) of the bridge and the moving platform (53) and are respectively arranged on both sides of the rotating joint (52). The first roller (54) and the second roller (55) are respectively arranged at both ends of the moving platform (53).

9. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 8, characterized in that, The elastic element (51) is an air spring.

10. The six-degree-of-freedom active-passive combined wave compensation trestle structure according to claim 8, characterized in that, The moving platform (53) is equipped with a relative position measuring mechanism, which can be achieved by installing an encoder on the shaft of each of the two rollers or by installing a laser rangefinder on the moving platform (53).

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