Active wave-compensated gangway

Abstract

The utility model relates to a kind of active wave compensation trestle, comprising: tower, bridge body, sensing device and driving device;Driving device is electrically connected with sensing device;Wherein, driving device includes rack mechanism and digital hydraulic mechanism;Rack mechanism connects bridge body;Digital hydraulic mechanism is connected respectively the bottom of tower and bridge body.This active wave compensation trestle provided by the utility model obtains the relative position data between the front end of bridge body and marine structure by sensing device setting on bridge body, controls the extension distance and pitch height of bridge body according to relative position data, and then adjusts the attitude of bridge body, since position sensing and attitude adjustment are all actively completed by trestle itself, without human eye discernment and manual operation, effectively improve response speed;And, the extension distance and pitch height of bridge body are controlled by rack mechanism and digital hydraulic mechanism, so that the attitude adjustment of trestle has higher precision, is conducive to improving the safety and efficiency of operation.

Description

Technical Field

[0001] This utility model relates to the field of bridge structure technology, and in particular to an active wave-compensated trestle bridge. Background Technology

[0002] Offshore wind power, as a clean energy source, is one of the important development directions for energy structure adjustment. As nearshore resources approach saturation, the focus of development is shifting to deep-sea areas.

[0003] The trestle systems used in related technologies suffer from low precision in attitude adjustment and slow response speed. Under the combined influence of multiple factors such as tidal fluctuations, changes in ship draft, wave disturbances, and structural deformation, the connection process between the trestle and the berthing platform fails to meet the requirements of safety, reliability, and efficiency. These defects not only lead to trestle swaying and cable tension overload, thus increasing the risk of structural fatigue cracks and limiting the transfer window, but also shorten the average daily operating time. These problems are particularly pronounced in the harsh operating conditions of deep-sea areas.

[0004] Therefore, it is necessary to develop a new type of active wave-compensated trestle to improve some of the problems existing in related technologies. Utility Model Content

[0005] The purpose of this invention is to provide an active wave-compensated trestle that has high attitude adjustment accuracy and adjustment response speed, thereby improving the safety and efficiency of operations.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] This utility model provides an active wave-compensated trestle, comprising: a tower, a bridge body, a sensing device, and a driving device; the bridge body is disposed on the tower; the sensing device is disposed on the bridge body and is used to acquire relative position data between the front end of the bridge body and a marine structure; the driving device is electrically connected to the sensing device and is used to adjust the attitude of the bridge body according to the relative position data; wherein, the driving device includes a rack mechanism and a digital hydraulic mechanism; the rack mechanism is connected to the bridge body to adjust the extension distance of the bridge body; the digital hydraulic mechanism is connected to the bottom of the tower and the bridge body respectively to adjust the pitch height of the bridge body.

[0008] Furthermore, the sensing device is located at the front end of the bridge body; the sensing device includes a 3D lidar, a binocular vision camera, and a 2D ranging radar arranged sequentially along the vertical direction.

[0009] Furthermore, the bridge body includes a fixed arm and a telescopic arm, the fixed arm being connected to the tower, and the telescopic arm being movably mounted on the fixed arm via rollers; the rack mechanism includes a motor, a reducer, and a rack that are interconnected, the motor and reducer being mounted on the fixed arm, and the rack being mounted on the telescopic arm.

[0010] Furthermore, the bridge body includes a fixed arm, a telescopic arm, and an inclined ladder connected in sequence, and the sensing device is disposed at the connection between the telescopic arm and the inclined ladder.

[0011] Furthermore, the digital hydraulic mechanism includes a digital hydraulic cylinder and a passive cylinder; the digital hydraulic cylinder is connected to an oil pump and electrically connected to the sensing device, and the passive cylinder is connected to an accumulator.

[0012] Furthermore, at least two passive cylinders are arranged in parallel on both sides of the digital hydraulic cylinder.

[0013] Furthermore, the digital hydraulic cylinder includes a piston rod, a feedback nut, a feedback screw, and a bevel gear pair; the feedback nut is fixedly connected to the piston rod, the feedback screw is helically driven to the feedback nut, and the bevel gear pair is connected to the feedback screw and the control valve of the digital hydraulic cylinder respectively, for closing the valve port of the control valve and stopping the piston rod from moving.

[0014] Furthermore, the active wave-compensated trestle also includes a base, which is movably mounted on the tower in a vertical direction, and the drive device and the bridge body are mounted on the base.

[0015] Furthermore, the active wave-compensated trestle also includes a base drive device, which includes a winch and a wire pulley assembly. The winch and the base are connected through the wire pulley assembly, and the winch is mounted on the ship's deck.

[0016] Furthermore, a rotating device is provided between the base and the bridge body, and the rotating device is electrically connected to the sensing device to drive the bridge body to rotate according to the relative position data.

[0017] Compared with the prior art, the active wave compensation trestle provided by this utility model has the following beneficial effects:

[0018] 1. The active wave-compensated trestle provided by this utility model acquires relative position data between the front end of the trestle and the marine structure through a sensing device installed on the trestle body. Then, through a drive device electrically connected to the sensing device, the extension distance and pitch height of the trestle body are controlled according to the relative position data, thereby adjusting the attitude of the trestle body. Since both position sensing and attitude adjustment are actively completed by the trestle itself, no human eye identification or manual operation is required, which effectively improves the response speed. Furthermore, by controlling the extension distance and pitch height of the trestle body through a rack and pinion mechanism and a digital hydraulic mechanism, the attitude adjustment of the trestle has higher precision than related technologies, which is beneficial to improving the safety and efficiency of the operation.

[0019] 2. This utility model acquires relative position data through three sensing devices: 3D LiDAR, binocular vision camera, and 2D ranging radar. It includes at least acquiring structural features between the pier front end and the offshore structure using 3D LiDAR, acquiring depth-based image features using binocular vision camera, and acquiring mutual distance using 2D ranging radar. The three complement each other, enabling not only automatic identification of the docking target area and dynamic monitoring of the connection process, but also uninterrupted operation in rain, snow, and darkness, achieving reliable, safe, and efficient active connection between the pier and the boarding platform of the offshore structure.

[0020] 3. This utility model uses a motor, a reducer, and a rack respectively mounted on the fixed arm and the telescopic arm. The rigid meshing and geometrically deterministic transmission characteristics of the rack mechanism drive the telescopic arm to extend and retract, achieving high-precision control in linear displacement. The power mode of the motor and reducer is conducive to improving response speed and control accuracy under active compensation.

[0021] 4. By placing the sensing device at the connection between the inclined ladder and the telescopic arm, this utility model can simultaneously identify the posture of the inclined ladder, providing reliability and safety for boarding marine structures.

[0022] 5. This utility model uses a digital hydraulic mechanism to connect the bridge body for bridge pitch adjustment, avoiding zero-position drift and oil contamination sensitivity in related technologies, and reducing equipment and debugging costs while maintaining accuracy.

[0023] 6. This utility model achieves buffering and vibration reduction and emergency holding by combining digital hydraulic cylinders and passive cylinders, which is beneficial to improving the safety and reliability of boarding operations under high load and high frequency conditions; at the same time, adding a nitrogen accumulator to the passive cylinder can realize energy storage, reduce the oil pump flow requirement of the digital hydraulic cylinder, and take into account energy saving and redundancy. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the active wave compensation trestle in an embodiment of this utility model;

[0025] Figure 2 for Figure 1 The diagram shows the structure of the tower.

[0026] Figure 3 for Figure 1 A schematic diagram of the rack structure shown;

[0027] Figure 4 for Figure 3 The diagram shows the assembly of the rack mechanism and the bridge body.

[0028] Figure 5 for Figure 1 The front view of the digital hydraulic mechanism shown;

[0029] Figure 6 for Figure 1 A top view of the digital hydraulic mechanism shown;

[0030] Figure 7 for Figure 6 The diagram shown is a structural schematic of a digital hydraulic cylinder.

[0031] Figure 8 for Figure 6 The diagram shows the assembly of the digital hydraulic cylinder and the digital valve.

[0032] Figure 9 for Figure 1 The diagram shows the structure of the sensing device.

[0033] Figure label:

[0034] 1. Tower; 11. Ladder; 12. Base; 2. Fixed boom; 21. Operator's cab; 3. Telescopic boom; 4. Sensing device; 41. 3D LiDAR; 42. Binocular vision camera; 43. 2D ranging radar; 44. Transmission unit; 45. Receiving and processing unit; 5. Rack and pinion mechanism; 51. Motor; 52. Reducer; 53. Rack; 54. Roller; 55. Encoder; 6. Digital hydraulic mechanism; 61. Digital hydraulic cylinder; 611. Piston rod; 612. Feedback nut; 613. Feedback screw; 614. Bevel gear pair; 615. Cylinder; 62. Passive cylinder; 63. Accumulator; 64. Digital valve; 7. Winch; 8. Rotation device; 9. Inclined ladder. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. This embodiment is based on the technical solution of the present invention and provides detailed implementation methods and specific operating procedures; however, the scope of protection of the present invention is not limited to the following embodiments.

[0036] This utility model embodiment provides an active wave-compensated trestle, such as Figure 1As shown, the active wave-compensated trestle includes a tower 1, a bridge body, a sensing device 4, and a drive device. The bridge body is mounted on the tower 1. The sensing device 4 is mounted on the bridge body and is used to acquire relative position data between the front end of the bridge body and the marine structure. The drive device is electrically connected to the sensing device 4 and is used to adjust the attitude of the bridge body according to the relative position data. The drive device includes a rack mechanism 5 and a digital hydraulic mechanism 6. The rack mechanism 5 is connected to the tail end of the bridge body to adjust the extension distance of the bridge body. The digital hydraulic mechanism 6 is connected to the tower 1 and the bottom of the bridge body to adjust the pitch height of the bridge body.

[0037] In some specific embodiments, reference is made to Figure 2 Tower 1 is a truss structure. Tower 1 is set vertically on the deck of the ship. A ladder 11 is installed inside tower 1 to allow workers to climb tower 1.

[0038] In some embodiments of this utility model, reference is made to... Figure 1 The active wave-compensated trestle also includes a base 12, which is movably mounted on the tower 1 in the vertical direction. The drive unit and the bridge body are mounted on the base 12.

[0039] In some specific embodiments, reference is made to Figure 1 The base 12 is located on the side of the tower 1. The base 12 and the side of the tower 1 are limited by a slider, so that the base 12 can move along the height direction of the tower 1. The bridge body, the sensing device 4 and the driving device are all located on the base 12, and rise or fall as the base 12 moves.

[0040] In some embodiments of this utility model, reference is made to... Figure 1 The trestle also includes a base drive device, which includes a winch 7 and a wire pulley assembly. The winch 7 and the base 12 are connected by the wire pulley assembly. The winch 7 is located on the ship's deck.

[0041] In some specific embodiments, reference is made to Figure 1 The tower 1 and the winch 7 are separate structures, and are independently installed on the ship deck. The winch 7 and the base 12 are located on the two sides of the tower 1, respectively. For example, the winch 7 is located on the left side of the tower 1 in the figure, and the base 12 is located on the right side of the tower 1 in the figure. At least two fixed pulleys are provided on both sides of the top area of ​​the tower 1, so that the steel wire released by the winch 7 passes through the two fixed pulleys in sequence and connects to the base 12 on the other side. The base 12 is moved in the height direction of the tower 1 by the steel wire driven by the winch 7.

[0042] In some embodiments of this utility model, reference is made to... Figure 1 A rotating device 8 is provided between the base 12 and the bridge body. The rotating device 8 is electrically connected to the sensing device 4 and is used to drive the bridge body to rotate according to the relative position data.

[0043] In some specific embodiments, reference is made to Figure 1 The slewing device 8 includes a slewing steel structure, which is rotatably mounted on the top of the base 12. One end of the bridge body is mounted on the top of the slewing steel structure, so that the slewing steel structure can drive the bridge body to rotate when it rotates.

[0044] In some embodiments of this utility model, reference is made to... Figure 1 , Figure 3 and Figure 4 The bridge body includes a fixed arm 2 and a telescopic arm 3. The fixed arm 2 is connected to the tower 1, and the telescopic arm 3 is movably mounted on the fixed arm 2 via rollers 54. The rack mechanism 5 includes a motor 51, a reducer 52 and a rack 53 that are connected to each other. The motor 51 and the reducer 52 are mounted on the fixed arm 2, and the rack 53 is mounted on the telescopic arm 3.

[0045] In some specific embodiments, reference is made to Figure 1 , Figure 3 and Figure 4 The tail end of the fixed arm 2 is set on the top of the rotating steel structure, and the telescopic arm 3 is set on the front end of the fixed arm 2 via the roller 54. The rack mechanism 5 is set on the front end of the fixed arm 2. When the encoder 55 controls the motor 51 to drive the reducer 52 to drive the rack 53 to move, the telescopic arm 3 will move in a telescopic motion.

[0046] In some embodiments of this utility model, reference is made to... Figure 1 The bridge body includes a fixed arm 2, a telescopic arm 3 and an inclined ladder 9 connected in sequence, and a sensing device 4 is set at the connection between the telescopic arm 3 and the inclined ladder 9.

[0047] In some specific embodiments, reference is made to Figure 1 The inclined ladder 9 and the front end of the telescopic arm 3 are hinged together. The inclined ladder 9 can be driven by a cylinder to achieve pitching motion. The pitching motion of the inclined ladder 9 and the pitching motion of the fixed arm 2 cooperate with each other, so that the telescopic motion of the bridge body is not interfered with by the railings of the offshore platform.

[0048] In other embodiments, the inclined ladder 9 at the front end of the telescopic boom 3 is replaced with a support device, so that the front end of the telescopic boom 3 is safely and stably anchored to the boarding platform of the marine structure.

[0049] In some embodiments of this utility model, reference is made to... Figure 5 and Figure 6 The digital hydraulic mechanism 6 includes a digital hydraulic cylinder 61 and a passive cylinder 62; the digital hydraulic cylinder 61 is connected to an oil pump and electrically connected to a sensing device 4, and the passive cylinder 62 is connected to an accumulator 63.

[0050] In some embodiments of this utility model, reference is made to... Figure 6 At least two passive cylinders 62 are arranged in parallel on both sides of the digital hydraulic cylinder 61.

[0051] In some specific embodiments, reference is made to Figure 6 The digital hydraulic cylinder 61 and the passive cylinder 62 are arranged in parallel, with both ends connected to the bottom of the rotating steel structure and the fixed arm 2, respectively. The end of the fixed arm 2 is hinged to the rotating steel structure, so that the digital hydraulic cylinder 61 can drive the bridge to make pitching motion.

[0052] In some specific embodiments, the accumulator 63 is a nitrogen accumulator.

[0053] In some embodiments of this utility model, reference is made to... Figure 7 The digital hydraulic cylinder 61 includes a piston rod 611, a feedback nut 612, a feedback screw 613, and a bevel gear pair 614. The feedback nut 612 is fixedly connected to the piston rod 611, and the feedback screw 613 is screwed to the feedback nut 612. The bevel gear pair 614 is connected to the feedback screw 613 and the control valve of the digital hydraulic cylinder 61, respectively, and is used to close the valve port of the control valve so that the piston rod 611 stops moving.

[0054] In some specific embodiments, reference is made to Figure 7 and Figure 8 The piston rod 611 has its tail end inside the cylinder 615 of the digital hydraulic cylinder 61, with the other end extending out of the cylinder 615. A feedback nut 612 is fixedly mounted on the tail end of the piston rod 611, and the two are fixedly connected. A feedback screw 613 is mounted inside the cylinder 615 and on the feedback nut 612, and the two are connected by threads. When the piston rod 611 extends or retracts, it drives the feedback nut 612 to move linearly in the axial direction, thereby driving the feedback screw 613 to rotate circumferentially. One gear in the bevel gear pair 614 is fixedly connected circumferentially to the feedback screw 613, and the other gear is connected to the control valve core of the digital hydraulic cylinder 61. The control valve is a digital valve 64.

[0055] In some specific embodiments, reference is made to Figure 7 The bevel gear pair 614 is connected to the valve core of the digital valve 64 through a mechanism such as rack 53 or lead screw nut, which converts the rotational motion of the bevel gear pair 614 into the linear motion of the valve core of the digital valve 64, thereby shutting off the oil pump's oil supply to the digital hydraulic cylinder 61.

[0056] In some specific embodiments, the digital hydraulic cylinder 61 is controlled by two digital valves 64 to control its oil supply and return, thereby realizing bidirectional extension and retraction movements. The bevel gear pair 614 is connected to the valve cores of the two digital valves 64 at the same time.

[0057] In other embodiments, the bridge body, sensing device 4 and driving device may also be directly installed at a fixed height on the tower 1, with the digital hydraulic mechanism 6 connected to the side of the tower 1 and the bottom of the bridge body respectively.

[0058] In some embodiments of this utility model, reference is made to... Figure 9 The sensing device 4 is located at the front end of the bridge body; the sensing device 4 includes a 3D lidar 41, a binocular vision camera 42 and a 2D ranging radar 43 arranged in sequence along the vertical direction.

[0059] In some specific embodiments, reference is made to Figure 9 The 3D LiDAR 41, binocular vision camera 42, 2D ranging radar 43, and power supply and transmission unit 44 are all located at the front end of the telescopic arm 3. The receiving and processing unit 45 is located near the driver's cab 21 at the tail end of the fixed arm 2. The transmission unit 44 and the receiving and processing unit 45 are connected by a cable at the bottom of the bridge body to transmit image data and point cloud data between the two.

[0060] In some specific embodiments, the rack mechanism 5, digital hydraulic mechanism 6, and rotary device 8 in the drive device are all electrically controlled after intelligent sensing and MRU data fusion.

[0061] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0063] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0064] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0066] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An active wave-compensated trestle, characterized in that, include: Tower (1); The bridge body is installed on the tower (1). Sensing device (4) is installed on the bridge body to acquire relative position data between the front end of the bridge body and the marine structure; A driving device, electrically connected to the sensing device (4), is used to adjust the attitude of the bridge body according to the relative position data; The drive device includes a rack mechanism (5) and a digital hydraulic mechanism (6); the rack mechanism (5) is connected to the bridge body to adjust the extension distance of the bridge body; the digital hydraulic mechanism (6) is connected to the tower (1) and the bottom of the bridge body respectively to adjust the pitch height of the bridge body.

2. The active wave-compensated trestle according to claim 1, characterized in that, The sensing device (4) is located at the front end of the bridge body; the sensing device (4) includes a 3D laser radar (41), a binocular vision camera (42) and a 2D ranging radar (43) arranged in sequence along the vertical direction.

3. The active wave-compensated trestle according to claim 1, characterized in that, The bridge body includes a fixed arm (2) and a telescopic arm (3). The fixed arm (2) is connected to the tower (1), and the telescopic arm (3) is movably mounted on the fixed arm (2) via rollers (54). The rack mechanism (5) includes a motor (51), a reducer (52), and a rack (53) that are connected to each other. The motor (51) and the reducer (52) are mounted on the fixed arm (2), and the rack (53) is mounted on the telescopic arm (3).

4. The active wave-compensated trestle according to claim 1, characterized in that, The bridge body includes a fixed arm (2), a telescopic arm (3) and an inclined ladder (9) connected in sequence, and the sensing device (4) is located at the connection between the telescopic arm (3) and the inclined ladder (9).

5. The active wave-compensated trestle according to claim 1, characterized in that, The digital hydraulic mechanism (6) includes a digital hydraulic cylinder (61) and a passive cylinder (62); the digital hydraulic cylinder (61) is connected to an oil pump and electrically connected to the sensing device (4), and the passive cylinder (62) is connected to an accumulator (63).

6. The active wave-compensated trestle according to claim 5, characterized in that, At least two passive cylinders (62) are arranged in parallel on both sides of the digital hydraulic cylinder (61).

7. The active wave-compensated trestle according to claim 5, characterized in that, The digital hydraulic cylinder (61) includes a piston rod (611), a feedback nut (612), a feedback screw (613), and a bevel gear pair (614). The feedback nut (612) is fixedly connected to the piston rod (611), and the feedback screw (613) is helically driven to the feedback nut (612). The bevel gear pair (614) is connected to the control valve of the feedback screw (613) and the digital hydraulic cylinder (61) respectively, and is used to close the valve port of the control valve so that the piston rod (611) stops moving.

8. The active wave-compensated trestle according to any one of claims 1 to 7, characterized in that, It also includes a base (12), which is movably disposed on the tower (1) in the vertical direction, and the driving device and the bridge body are disposed on the base (12).

9. The active wave-compensated trestle according to claim 8, characterized in that, It also includes a base (12) drive device, which includes a winch (7) and a wire pulley assembly, the winch (7) and the base (12) being connected by the wire pulley assembly, the winch (7) being mounted on the ship deck.

10. The active wave-compensated trestle according to claim 8, characterized in that, A rotating device (8) is provided between the base (12) and the bridge body. The rotating device (8) is electrically connected to the sensing device (4) and is used to drive the bridge body to rotate according to the relative position data.

Images