Multi-degree of freedom wave-compensated embarkation pier

Abstract

This utility model belongs to the field of boarding bridge technology, specifically relating to a multi-degree-of-freedom wave-compensated boarding bridge. It includes a base, a six-degree-of-freedom platform on the base, a rotating base on top of the six-degree-of-freedom platform, and a bridge body on top of the rotating base. A connecting pipe is located on one side of the bridge body, with multiple sets of locking holes arrayed on the connecting pipe. It also includes an unloading platform, with a through groove on one side. A movable block is movably mounted inside the through groove, and the movable block has a conical guide hole and a cylindrical through hole that communicate with each other. A movable locking component is located inside the cylindrical through hole, and a contact plate is located inside the conical guide hole. This device allows for automatic guidance to the correct position during docking without extremely precise positioning, significantly reducing the technical requirements and psychological pressure on the operator. Simultaneously, the connection method is simple and reliable, achieving time and labor savings.

Description

Technical Field

[0001] This utility model belongs to the field of boarding bridge technology, specifically relating to a multi-degree-of-freedom wave-compensated boarding bridge. Background Technology

[0002] With the rapid development of marine resource development and maritime transport, the demand for personnel and cargo transfer operations between ships is increasing. Under the influence of marine environmental loads such as waves and currents, complex relative motions occur between two ships, including multiple degrees of freedom such as roll, pitch, and bow. This relative motion makes it difficult for traditional fixed or passively articulated boarding piers to achieve safe and efficient docking and connection, resulting in high operational risks and low efficiency, which seriously restricts maritime operation capabilities.

[0003] To overcome the aforementioned problems, existing technologies have developed wave compensation systems using hydraulic or electric drives. For example, some systems utilize a six-degree-of-freedom motion platform combined with a rotation mechanism to achieve active control of the pier's spatial orientation, thereby compensating for the relative motion between the hulls to some extent. However, these systems still suffer from drawbacks such as reliance on high-precision positioning during the docking process, high skill requirements for operators, and complex connection mechanisms that are susceptible to impact damage. Especially in actual operations, achieving millimeter-level docking accuracy is extremely difficult due to strong environmental interference, often requiring repeated attempts, significantly increasing operation time and risks.

[0004] Furthermore, traditional mechanical locking methods often employ rigid connection structures, which are prone to stress concentration under high-frequency wave impacts, leading to structural fatigue or even failure. Although some systems have introduced buffer elements, the challenges of integrated guidance-locking-buffering design have not been effectively solved, and the reliability and adaptability of these systems still need improvement.

[0005] To address this, we propose a multi-degree-of-freedom wave-compensated boarding bridge. This device allows for automatic guidance to the correct position during docking without requiring extremely precise positioning, significantly reducing the technical requirements and psychological stress on operators. At the same time, the connection method is simple and reliable, achieving time and labor savings. Utility Model Content

[0006] The purpose of this invention is to provide a multi-degree-of-freedom wave-compensated boarding bridge. This device allows the bridge to be automatically guided to the correct position during docking without the need for extremely precise positioning, which greatly reduces the technical requirements and psychological pressure on the operator. At the same time, the connection method is simple and reliable, achieving the effect of saving time and effort.

[0007] The specific technical solution adopted by this utility model is as follows:

[0008] A multi-degree-of-freedom wave-compensated boarding bridge includes a base, a six-degree-of-freedom platform, a rotating base on top of the six-degree-of-freedom platform, a bridge body on top of the rotating base, a connecting pipe on one side of the bridge body, and multiple sets of locking holes arrayed on the connecting pipe.

[0009] It also includes an unloading platform, on one side of which is a through groove. A movable block is movably disposed inside the through groove. The movable block has a conical guide hole and a cylindrical through hole. The conical guide hole and the cylindrical through hole are connected. A movable locking component is disposed inside the cylindrical through hole. The movable locking component has a contact plate located inside the conical guide hole. Multiple first through holes are disposed on the outside of the contact plate. An elastic component is disposed inside the first through hole. A wedge block that fits against the inner wall of the conical guide hole is disposed on the elastic component. A locking rod that matches the locking hole is disposed at the bottom of the wedge block. A buffer component is disposed on one side of the movable block.

[0010] Furthermore, the movable locking assembly includes a first spring disposed inside the cylindrical through hole and an electric telescopic rod disposed outside the movable block. A fixing rod is installed at the telescopic end of the electric telescopic rod. A first piston plate is disposed on one side of the first spring, and a first connecting rod connected to the contact plate is disposed on one side of the first piston plate. A plurality of fixing holes are opened on the first connecting rod, and the fixing rod is disposed inside the fixing holes.

[0011] Furthermore, the locking rod matches the locking hole, and the fixing rod matches the fixing hole.

[0012] Furthermore, the elastic component includes a second spring disposed inside the first through hole, a second piston disc disposed on the top of the second spring, a movable rod disposed on the top of the second piston disc, and the top of the movable rod being connected to the wedge block.

[0013] Furthermore, a limit ring is provided inside the first through hole.

[0014] Furthermore, the buffer assembly includes four dampers hinged to one side of the movable block, with the other end of each damper hinged to the inner wall of the through groove.

[0015] Furthermore, a second connecting rod is provided at the center of the movable block, and a universal ball is installed at the end of the second connecting rod away from the movable block. The universal ball is connected to the inner wall of the through groove through a telescopic rod.

[0016] The technical effects achieved by this utility model are as follows:

[0017] 1. The conical guide hole structure can automatically correct the position of the connector pipe, eliminating the need for extremely high-precision positioning and reducing the technical requirements and operational pressure on operators.

[0018] 2. During the docking process, pressure can trigger the mechanical mechanism to automatically lock, making the connection simple, reliable, and efficient.

[0019] 3. The six-degree-of-freedom platform and rotating base continue to work after locking, actively counteracting the relative motion between the ships, greatly reducing the stress at the connection points, and ensuring the stability of the trestle.

[0020] 4. The unique articulated damper and omnidirectional ball-telescopic rod structure can effectively absorb impact energy from all directions, protect the locking mechanism and structure from damage, and avoid problems caused by rigid connections. Attached Figure Description

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

[0022] Figure 2 This is a front view of the present invention;

[0023] Figure 3 This is a cross-sectional view of the unloading platform of this utility model;

[0024] Figure 4 This is a schematic diagram of the contact plate of this utility model.

[0025] The attached diagram lists the components represented by each number as follows:

[0026] 1. Base; 2. Six-DOF platform; 3. Rotating base; 4. Tractor body; 5. Connecting pipe; 6. Locking hole; 7. Unloading platform; 8. Through slot; 9. Movable block; 10. Conical guide hole; 11. Cylindrical through hole; 12. Contact plate; 13. First through hole; 14. Wedge block; 15. Locking rod; 16. First spring; 17. Electric telescopic rod; 18. Fixed rod; 19. First piston plate; 20. First connecting rod; 21. Fixed hole; 22. Second spring; 23. Second piston plate; 24. Movable rod; 25. Damper; 26. Universal ball. Detailed Implementation

[0027] 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.

[0028] like Figures 1-4As shown, a multi-degree-of-freedom wave-compensated boarding bridge includes a base 1, a six-degree-of-freedom platform 2 on the base 1, a rotating base 3 on the top of the six-degree-of-freedom platform 2, a bridge body 4 on the top of the rotating base 3, a connecting pipe 5 on one side of the bridge body 4, and multiple sets of locking holes 6 arrayed on the connecting pipe 5.

[0029] It also includes an unloading platform 7, with a through groove 8 on one side of the unloading platform 7. A movable block 9 is movably arranged inside the through groove 8. A conical guide hole 10 and a cylindrical through hole 11 are provided on the movable block 9. The conical guide hole 10 and the cylindrical through hole 11 are connected. A movable locking component is provided inside the cylindrical through hole 11. A contact plate 12 located inside the conical guide hole 10 is provided on the movable locking component. Multiple first through holes 13 are provided on the outside of the contact plate 12. An elastic component is provided inside the first through hole 13. A wedge block 14 that fits against the inner wall of the conical guide hole 10 is provided on the elastic component. A locking rod 15 that matches the locking hole 6 is provided at the bottom of the wedge block 14. A buffer component is provided on one side of the movable block 9.

[0030] Among them, the six-degree-of-freedom platform 2 usually refers to the Stewart platform, also known as a parallel robot. The six-degree-of-freedom platform 2 is a typical parallel mechanism. Its core structure consists of two platforms and six independently extendable "legs". Throughout the docking and operation process, it continuously and rapidly fine-tunes the base posture of the trestle to actively counteract the ship motion caused by waves. This allows the trestle installed on it to remain "stationary" relative to the target ship, thereby achieving safe and stable personnel passage and cargo transfer. The control system of the six-degree-of-freedom platform 2 obtains the relative motion data between the two ships in real time through the posture sensors (such as IMU, lidar or vision sensors) installed on the trestle body 4 and the unloading platform 7, and drives the six electric or hydraulic telescopic rods to move in coordination, thereby achieving active high-precision compensation of the posture of the trestle body 4. Its working principle and structure are all existing technologies, and will not be elaborated on here.

[0031] Meanwhile, the rotating base 3 has a built-in drive motor, which drives the rotation of the bridge body 4, thereby allowing for adjustment of different positions.

[0032] The movable locking assembly includes a first spring 16 disposed inside a cylindrical through hole 11 and an electric telescopic rod 17 disposed outside the movable block 9. A fixing rod 18 is installed at the telescopic end of the electric telescopic rod 17. A first piston plate 19 is disposed on one side of the first spring 16. A first connecting rod 20 connected to the contact plate 12 is disposed on one side of the first piston plate 19. A plurality of fixing holes 21 are opened on the first connecting rod 20, and the fixing rod 18 is disposed inside the fixing holes 21.

[0033] When the contact plate 12 drives the first connecting rod 20 to cause the first piston plate 19 to press the first spring 16 for locking, the electric telescopic rod 17 drives the fixing rod 18 to move into the fixing hole 21 for locking, preventing the connecting pipe 5 from falling off.

[0034] The locking rod 15 is matched with the locking hole 6, and the fixing rod 18 is matched with the fixing hole 21. This arrangement allows the locking rod 15 to be inserted into the locking hole 6 and the fixing rod 18 to be inserted into the fixing hole 21 without jamming.

[0035] The elastic component includes a second spring 22 disposed inside the first through hole 13, a second piston disc 23 disposed on the top of the second spring 22, a movable rod 24 disposed on the top of the second piston disc 23, and the top of the movable rod 24 being connected to the wedge block 14.

[0036] When the wedge block 14 is compressed, the wedge block 14 drives the movable rod 24 to cause the second piston disc 23 to compress the second spring 22 and move, thereby causing the locking rod 15 to enter the locking hole 6 for locking.

[0037] The first through hole 13 is provided with a limit ring to prevent the second piston disc 23 from exceeding its stroke.

[0038] The buffer assembly includes four dampers 25 hinged to one side of the movable block 9, with the other end of the dampers 25 hinged to the inner wall of the through slot 8. When two ships experience high-frequency, violent relative motion (such as a sudden collision or turbulence), a huge impact force is transmitted to the movable block 9 through the locked docking pipe 5. The impact force attempts to push the movable block 9 to move within the through slot 8 it is located (usually a lateral or longitudinal translation). Since the movable block 9 is hinged to the inner wall of the fixed through slot 8 by four dampers 25, any movement will immediately pull or compress these four dampers 25. The core principle of the damper 25 (usually a hydraulic damper 25) is that the internal piston forces the oil through tiny holes, irreversibly converting the kinetic energy (impact) into heat energy and dissipating it. When the movable block 9 moves, the damper 25 generates a force opposite to the direction of movement, resisting and buffering the impact. The four symmetrically arranged dampers 25 ensure that no matter which direction the impact comes from (front, back, left, right), there is a corresponding damper 25 to participate in the work, providing a uniform and stable buffering effect. After the impact energy is absorbed, the return spring inside the damper 25 (if any) or the reverse movement of the system will cause the movable block 9 to slowly return to the initial center position.

[0039] The damper 25 is preferably a hydraulic damper, with its cylinder body hinged to the inner wall of the through groove 8 and the piston rod hinged to the movable block 9, forming a universal buffer capability. The cooperation between the universal ball 26 and the telescopic rod further allows the movable block 9 to have a small clearance space when subjected to axial impact.

[0040] A second connecting rod is provided at the center of the movable block 9. A universal ball 26 is installed at the end of the second connecting rod away from the movable block 9. The universal ball 26 is connected to the inner wall of the through groove 8 through a telescopic rod.

[0041] After locking, the pier body 4 will vibrate back and forth, up and down, and left and right. The omnidirectional ball 26 solves the problem of multi-angle torque and protects the mechanism from damage. The telescopic rod solves the problem of axial impact force. The four peripheral dampers 25 (as described above) solve the problem of lateral displacement buffering. This enables the interface to cope with complex impacts in any direction in the marine environment.

[0042] The working principle of this utility model is as follows: When unloading docking with the unloading platform 7 is required, the docking pipe 5 approaches, and the inner wall of the conical guide hole 10 guides the port of the docking pipe 5 to slide in smoothly and center. When the port of the docking pipe 5 contacts the contact plate 12 and applies continuous pressure, it moves by moving the locking component. As the contact plate 12 is pushed backward, the elastic component and wedge block 14 fixed on it also move backward. Since the inclined surface of the wedge block 14 is in contact with the inclined surface of the conical guide hole 10, the backward-moving wedge block 14 will be squeezed by the inclined surface of the guide hole, causing the wedge block 14 to move downward, thereby allowing the locking rod 15 to enter the locking hole 6 for locking. Then, the moving locking component is driven to lock, thereby completing the docking. The six-degree-of-freedom platform 2 and the rotating base 3 will not stop working, but will continue to perform active compensation based on sensor data. Their movement causes the entire locked pier system to move together, thus counteracting the relative motion between the two ships and minimizing the stress at the connection point. The buffer components absorb these instantaneous high-frequency impact energies, protecting the mechanical locking mechanism from damage. Even in the locked state, it provides a slight degree of freedom, avoiding the enormous internal forces generated by a completely rigid connection. This device allows for automatic guidance to the correct position during docking without extremely precise positioning, significantly reducing the technical requirements and psychological stress on operators. Simultaneously, the connection method is simple and reliable, achieving time and labor savings.

[0043] 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 multi-degree-of-freedom wave-compensated boarding bridge, comprising a base (1), wherein the base (1) is provided with a six-degree-of-freedom platform (2), wherein a rotating base (3) is provided on the top of the six-degree-of-freedom platform (2), wherein a boarding bridge body (4) is provided on the top of the rotating base (3), wherein a connecting pipe (5) is provided on one side of the boarding bridge body (4), wherein multiple sets of locking holes (6) are arrayed on the connecting pipe (5); characterized in that It also includes an unloading platform (7), on one side of which is a through groove (8), and inside the through groove (8) is a movable block (9), on which is a conical guide hole (10) and a cylindrical through hole (11), the conical guide hole (10) and the cylindrical through hole (11) are connected, inside the cylindrical through hole (11) is a movable locking component, on which is a contact plate (12) located inside the conical guide hole (10), on the outside of the contact plate (12) are multiple first through holes (13), inside the first through hole (13) is an elastic component, on which is a wedge block (14) that fits against the inner wall of the conical guide hole (10), at the bottom of the wedge block (14) is a locking rod (15) that matches the locking hole (6), and on one side of the movable block (9) is a buffer component.

2. The multi-degree-of-freedom wave-compensated boarding bridge according to claim 1, characterized in that: The movable locking assembly includes a first spring (16) disposed inside the cylindrical through hole (11) and an electric telescopic rod (17) disposed outside the movable block (9). A fixing rod (18) is installed at the telescopic end of the electric telescopic rod (17). A first piston disc (19) is disposed on one side of the first spring (16). A first connecting rod (20) connected to the contact disc (12) is disposed on one side of the first piston disc (19). A plurality of fixing holes (21) are opened on the first connecting rod (20), and the fixing rod (18) is disposed inside the fixing holes (21).

3. A multi-degree of freedom wave-compensated embarkation pier according to claim 2, characterized in that: The locking rod (15) matches the locking hole (6), and the fixing rod (18) matches the fixing hole (21).

4. A multi-degree of freedom wave-compensated embarkation pier according to claim 1, characterized in that: The elastic component includes a second spring (22) disposed inside the first through hole (13), a second piston disc (23) disposed on the top of the second spring (22), a movable rod (24) disposed on the top of the second piston disc (23), and the top of the movable rod (24) being connected to the wedge block (14).

5. A multi-degree of freedom wave-compensated embarkation pier according to claim 1, characterized in that: A limit ring is provided inside the first through hole (13).

6. A multi-degree of freedom wave-compensated embarkation pier according to claim 1, characterized in that: The buffer assembly includes four dampers (25) hinged to one side of the movable block (9), and the other end of the dampers (25) is hinged to the inner wall of the through groove (8).

7. A multi-degree of freedom wave-compensated embarkation pier according to claim 1, characterized in that: A second connecting rod is provided at the center of the movable block (9), and a universal ball (26) is installed at the end of the second connecting rod away from the movable block (9). The universal ball (26) is connected to the inner wall of the through groove (8) through a telescopic rod.

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