220 results about "Gangway" patented technology

A joint simulation and operation operability evaluation method based on wind power operation and maintenance ship motion dynamic response and active compensation gangway ladder motion control comprises the steps that an operation and maintenance ship frequency domain seakeeping model is built, and a hydrodynamic coefficient library is calculated; wave exciting force is reconstructed based on a Cummins time domain motion equation, and ship motion response prediction is realized by adopting implicit generalized alpha time domain composite integral; the dynamic positioning system extracts low-frequency motion through a Kalman filter and optimizes thruster thrust distribution to stabilize the position of the ship. A gangway ladder dynamic model is established based on a Lagrange equation, real-time control over displacement, speed and acceleration of the top end of the gangway ladder is achieved through a feedforward-feedback composite control strategy, and nonlinear output of a hydraulic actuator is optimized. And realizing joint simulation of the coupling system through time domain synchronization and self-adaptive PID (Proportion Integration Differentiation) control. And checking gangway ladder movement based on a preset threshold value and a space boundary condition, and evaluating the operability of the climbing operation. According to the method, the limitation of traditional single-disciplinary analysis is broken through, and the forecasting precision of wind power operation and maintenance operation operability is effectively improved.

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

The invention discloses a transverse wave motion compensation mechanism for an offshore platform personnel embarkation gangway ladder, which comprises an offshore platform fixing frame, an embarkation ladder and a ship body, the embarkation ladder and the ship body are arranged on the front side of the offshore platform fixing frame, and the front side of the offshore platform fixing frame is fixedly connected with a plurality of traffic ship berthing rubber fenders. By arranging a series of structures, the lifting gangway ladder can be conveniently and accurately compensated left and right in a mode that friction measurement is matched with active distance control driving when a ship body swings left and right, so that the lifting gangway ladder and the ship body move left and right consistently to form a relative static effect, and the phenomenon that people fall off easily due to large inertia caused by direct movement to static is reduced; a person can conveniently and stably climb to the lifting gangway ladder, the use stability is improved, hard impact force generated by instant movement can be conveniently and elastically buffered and unloaded during movement compensation, compensation work is more flexible and stable, discomfort is reduced, the comfort of the person during initial climbing is improved, and the service life of the person is prolonged. In addition, the buffering damping force and the elastic swing amplitude balance can be adjusted accurately, and the using effect is further improved.

The invention discloses a marine gangway ladder preset time autonomous lap joint control system and a working method thereof. The system comprises an inertial measurement unit and a main control computer; the binocular camera is adopted, multi-sensor fusion is not needed, accurate lap joint point position information is directly obtained, and the method is simple and easy to implement; according to the provided preset-time autonomous lap joint control method, the system adjusting time can be set in advance, and operation and maintenance ship movement caused by waves is efficiently compensated by driving the swing mechanism, the pitching mechanism and the telescopic mechanism to cooperatively move, so that the front end of the offshore gangway ladder accurately follows the expected position of an upper lap joint point in time; the offshore accommodation ladder is lapped to the offshore wind turbine platform within the set lapping time, so that efficient and autonomous lapping of the offshore accommodation ladder and the offshore fixed or floating wind turbine platform is ensured, and the lapping efficiency is improved; the front end of the offshore gangway ladder is in non-contact lap joint with the lap joint point of the offshore wind turbine platform, no special requirement for the lap joint point exists, a landing device does not need to be built, and the maintenance and manufacturing cost of the gangway ladder is reduced.

The invention discloses a test verification platform and a test verification method for a motion compensation gangway ladder of an offshore wind power operation and maintenance ship. The platform comprises a system calculation and control center, an environment simulation vibration platform, an active motion compensation execution mechanism, a high-precision sensing and sensing module, a multi-channel data acquisition and storage system, an offshore wind turbine target platform module and an optical motion capture module. The platform reproduces six-degree-of-freedom motion of the operation and maintenance ship through integrated cooperation and high fidelity, simulates active compensation of a gangway ladder and dynamic characteristics of a hydraulic system, and accurately measures key parameters such as poses, forces / torques and the like by using multiple sensors and an optical capture technology. The method comprises the steps of motion instruction synthesis, platform motion reproduction, compensation action simulation, data synchronous acquisition and performance evaluation. According to the invention, high-precision land simulation verification of ship-gangway ladder-fan dynamic coupling is realized, the problems of high cost, high risk and poor repeatability of offshore actual measurement are effectively solved, and a reliable and efficient solution is provided for performance verification of a motion compensation system.

The invention discloses six-degree-of-freedom wave compensation embarkation equipment suitable for complex sea conditions and a control method of the six-degree-of-freedom wave compensation embarkation equipment. The six-degree-of-freedom wave compensation embarkation equipment comprises a base platform fixed to an operation ship deck; a lower platform of the Stewart parallel mechanism is connected with the base platform, and an upper platform of the Stewart parallel mechanism is connected with the lower platform through six hydraulic cylinders; the embarkation gangway ladder system is mounted on the upper platform; the hydraulic servo driving system is used for driving the six hydraulic cylinders; the intelligent sensing system is used for collecting ship motion data and relative pose data of the target platform; the intelligent control system is electrically connected with the hydraulic servo driving system and the intelligent sensing system; wherein the intelligent control system is configured to execute a compound control algorithm based on a nonlinear extended state observer and nonlinear model predictive control so as to drive the hydraulic servo driving system and compensate ship motion. The embarkation equipment provided by the invention has the advantages of high precision, high stability and strong robustness, and can realize accurate and stable compensation of complex sea conditions.

The invention relates to a gangway ladder with a wave compensation function and a flexible control method thereof, and belongs to the field of gangway ladders. The device specifically comprises a gangway ladder, a wave compensation platform system, a measuring system and a control module. The gangway ladder comprises a fixed gangway ladder, a movable gangway ladder, a gangway ladder telescopic actuator and an abutting device. The wave compensation platform system sequentially comprises a platform base, a six-rod parallel actuator, a six-degree-of-freedom platform surface, a gangway ladder rotating mechanism, a gangway ladder rotating platform and a gangway ladder pitching actuator from bottom to top. In the process of wave compensation, active heave compensation is cooperatively compensated by the pitching actuator and the six-bar parallel actuator, the efficiency of the six-bar parallel actuator and the efficiency of the pitching actuator are both considered in the cooperative compensation, and the flexibility is high. According to the cooperative compensation mode, the redundancy of heave compensation is improved, the traditional compensation mode that only six-rod parallel actuators are used for heave compensation, and the compensation range is only limited to the capacity of six-rod parallel connection is changed, and the compensation range of the system for heave is improved.

The invention belongs to the field of offshore boarding operation, and relates to a gangway ladder with a wave compensation function and an abutting control method thereof, the gangway ladder comprises a fixed gangway ladder, a gangway ladder telescopic control mechanism, a movable gangway ladder, a six-degree-of-freedom compensation platform, a gangway ladder rotation control mechanism, a gangway ladder rotation platform, a gangway ladder pitching control mechanism, a ladder end force sensor, an abutting device and a speed controller; and the speed controller sends the calculated driving instruction to the accommodation ladder telescopic control mechanism to switch the telescopic control mode of the movable accommodation ladder. The automatic compensation device is used in the automatic compensation stage after the accommodation ladder abuts against and makes contact with the accommodation ladder, so that the situation that contact points are possibly disconnected or disengaged due to the fact that the accommodation ladder is not stretched in time is avoided; when wave compensation is carried out, a speed control mode and a force control mode are adopted to cooperate with each other, the two control modes are switched under specific conditions to adapt to different conditions, and safety and stability are high.

A telescopic gangway, comprising a telescopable first and second gangway part, such as a telescoping boom and main boom. The first gangway part has a first walkboard, such as a first grating, and the second gangway part has a second walkboard, such as a second grating, that partially overlaps the first walkboard. The gangway further comprises an angled step unit providing a transition from the first walkboard to the second walkboard, such that the first walkboard, the second walkboard and the angled step unit form an assembled walkboard path. Here, the angled step unit has a first coupling unit, such as a comb plate, that is coupled to the first walkboard for allowing a movement in the longitudinal direction. The angled step unit has also a translating coupling unit that is coupled to the second walkboard, preferably for allowing a movement in a direction transverse to the longitudinal direction.

The marine embarkation gangway ladder comprises a control platform, a telescopic ladder assembly, a multi-angle compensation mechanism and a hoop, the telescopic ladder assembly comprises a fixed section and an extension section which are in telescopic connection with each other, the control platform comprises a rotation compensation mechanism and a pitching compensation mechanism, and the control platform is movably connected with the fixed section of the telescopic ladder assembly; the telescopic ladder assembly can horizontally rotate and pitch on the basis of the control platform, and the extension section of the telescopic ladder assembly is connected with the hoop through the multi-angle compensation mechanism; the multi-angle compensation mechanism comprises a connector assembly, the connector assembly comprises a hinge rod and a first spring set, the two ends of the hinge rod are directly or indirectly connected with the extension section of the telescopic ladder assembly and the hoop respectively, one end of the hinge rod is horizontally hinged, and the other end of the hinge rod is vertically hinged. The first spring sets are symmetrically and coaxially arranged on the periphery of the hinge rod so as to elastically adjust rotation of the hinge rod. The compensation performance of the gangway ladder is optimized, and the energy efficiency, stability and simplicity of the whole system are improved.

The present invention relates to the technical field of offshore transfer operation equipment, and discloses a wave vertical motion compensation mechanism for offshore platform personnel to board a gangway, comprising a ship body, a first platform and a second platform are respectively arranged on one side of the ship body, a telescopic gangway is connected between the first platform and the second platform, a wave compensation boarding and disembarking gangway is hinged on one side of the second platform through a hinge shaft, and symmetrically arranged brackets are fixed on the lower surface of the second platform. The wave vertical motion compensation mechanism for offshore platform personnel to board the gangway can monitor the distance change in real time and quickly transmit the information to the control system, so that the telescopic oil cylinder is adjusted in time to maintain a safe distance between the wave compensation boarding and disembarking gangway and the transport boat, which can significantly reduce the risk of personnel or cargo falling due to distance change during the boarding and disembarking process, and avoid serious casualties.

The deep and far sea leisure fishery platform comprises a platform body, a superstructure is arranged on the platform body, anchor gears are arranged at the four corners of the platform body respectively, the anchor gears are connected with anchoring foundations through anchor chains, and the anchoring foundations are arranged on the seabed; a gangway ladder and a cantilever telescopic crane are arranged on the platform body, harbor basins are arranged at the head and the tail of the platform body respectively, and a leisure fishing boat functional cabin is arranged on the platform body. A slideway winch for providing power is arranged on the leisure fishing boat functional cabin, an in-cabin ramp is arranged on the leisure fishing boat functional cabin, a bracket with rollers is arranged on the in-cabin ramp, a prow mooring bollard is arranged on the bracket with the rollers, and the prow mooring bollard is connected with the slideway winch through a traction mooring rope; a tourist wharf is additionally arranged in the harbor basin outside the leisure fishing boat function cabin, a middle longitudinal sliding way is arranged in the middle of the leisure fishing boat function cabin, a tray type four-way shuttle vehicle is further arranged in the leisure fishing boat function cabin, and work is stable and reliable.

The invention relates to a gangway system (1) for an offshore service vessel (N) adapted to transfer persons between said service vessel and an offshore structure (S) under sea wave motion conditions. The gangway system (1) comprises a telescopic corridor (7) having an upstream portion (71) and a downstream portion (72), the downstream portion (72) being translationally movable relative to the upstream portion (71). The gangway ladder system (1) further comprises means for actuating the gangway ladder (5), in particular a yaw actuation means (11), a pitch actuation means (12) and a translation actuation means (13). The handling means (10) cooperate with the control means (15) in order to stabilize, preferably rest, the downstream end (722) of the gangway ladder (5) on the offshore structure (S).

The present application relates to the technical field of ship and marine structure, and discloses a kind of boarding gangway energy compensation control system, boarding gangway includes pedestal, bridge and the gangway oil cylinder for driving bridge rotation, the system includes: hydraulic pump station, first reversing valve, energy storage component, second reversing valve, third reversing valve, the piston rod side and the piston rod side of oil cylinder are connected with hydraulic pump station and energy storage component respectively, hydraulic pump station controls hydraulic flow direction by first reversing valve, realizes the lifting and lowering of bridge, energy storage component stores gravitational potential energy when bridge is lowered by second reversing valve and third reversing valve, and releases high-pressure oil when bridge is lifted to carry out energy compensation, to reduce the output demand of hydraulic pump station, can reduce the consumption of electric energy, improve energy utilization efficiency.

The invention relates to the field of ships, and discloses a gangway ladder system and a ship comprising the same, a ship body of the ship is provided with an embarkation deck, the gangway ladder system comprises a gangway ladder and a first power device, a first switching part arranged at the upper end of a first ladder section of the gangway ladder is rotationally arranged relative to the embarkation deck, and the first power device is arranged below the embarkation deck; a first moving piece is not parallel to a first ladder section to extend and is movably arranged in the extending direction of the first moving piece, and the end, facing the first ladder section, of the first moving piece and the first ladder section are rotationally connected to the lower portion of a first switching part, so that the first moving piece moves towards the first ladder section to push the first ladder section to rotate outwards around the first switching part to be in a boarding state; the first moving part moves away from the first ladder section to pull the first ladder section to rotate inwards around the first switching part to the storage state, the situation that the accommodation ladder occupies the space on the embarkation deck when not used is avoided, the accommodation ladder is automatically driven to rotate outwards or inwards through the first moving part, and use is convenient.

The present invention discloses a modular boarding interface device for ship cabins, which relates to the technical field of ship boarding. It includes a shore plate, and a boarding interface assembly is installed on the upper surface of the shore plate for precisely adjusting the position of the boarding ladder of the boarding platform. The upper surface of the right end of the boarding interface assembly abuts against a gangway ladder. First, by controlling the forward and reverse rotation of the first motor, the longitudinal adjustment rod can be driven to rotate forward and reverse. When the longitudinal adjustment rod rotates forward and reverse, the upper follower column and the boarding platform can be driven to move back and forth. By controlling the back-and-forth movement of the boarding platform, the preliminary alignment with the gangway ladder can be effectively completed. Then, by controlling the forward and reverse rotation of the second motor, the upper follower column and the boarding platform can be driven to move left and right. By controlling the left-and-right movement of the boarding platform, the secondary alignment with the gangway ladder can be quickly completed. Through the two alignment adjustments, the adjustment of the docking position between the interface device and the gangway ladder can be quickly completed, greatly reducing the labor intensity of users.

The utility model relates to a compensation type offshore stable side bridge which comprises a base, an orientation rotary table, a rotary driver, a lower orientation driving rotary table bearing, a swing U-shaped frame, a lifting U-shaped frame and a swing heaving driver. The first end of the azimuth turntable is connected with the base through a lower azimuth driving turntable bearing to form a first rotating pair; the second end of the orientation rotary table is in sliding connection with the first end of the swing U-shaped frame to form a second rotating pair, and a rotary driver is arranged in the middle of the second end of the orientation rotary table. The ship swing compensation is realized through linkage of rotation of the azimuth turntable, swing lifting of the swing U-shaped frame, the lifting U-shaped frame and the door-shaped frame, pitching of the azimuth turntable and yawing and telescopic motion of the telescopic yawing integrated box bridge, and the ship swing compensation device has the characteristics of compact structure and large compensation range, and can have the functions of a ship crane and a pedestrian path; and meanwhile, offshore hoisting operation and offshore personnel transfer operation are realized.

The invention provides a boarding gangway ladder for a ro-ro passenger ship and a manufacturing method of the boarding gangway ladder, and belongs to the field of boarding gangway ladders, the boarding gangway ladder for the ro-ro passenger ship comprises a cross gantry of a gantry crane, the cross gantry comprises a supporting platform, four supporting legs are evenly arranged on the outer side of the supporting platform, and a walking mechanism is arranged at the lower end of each supporting leg; a lap joint platform is mounted at the top of the supporting platform, and at least one first-stage gangway ladder is arranged on each of the two sides of the lap joint platform; the lower ends of all the first-stage gangway ladders located on the same side are jointly connected with a first-stage buffering platform, and the two first-stage buffering platforms are fixedly installed on the outer sides of the corresponding supporting legs. The two first-stage buffer platforms are each downwards connected with a second-stage gangway ladder, the lower ends of the second-stage gangway ladders are jointly connected with a second-stage buffer platform, and the second-stage buffer platform is downwards connected with a main channel gangway ladder and an auxiliary channel gangway ladder. The method has the beneficial effects that the boarding safety and convenience can be improved, and effective recycling of waste resources can be achieved.

The compensation type butt joint structure comprises a multi-angle compensation mechanism and a hoop, the hoop comprises a clamping seat, two clamping jaws and a driver, the two clamping jaws are hinged to the two sides of the clamping seat respectively, the driver is installed on the clamping seat, and a transmission part of the driver is connected with the two clamping jaws respectively; the multi-angle compensation mechanism comprises a connector assembly, the connector assembly comprises a hinge rod, a front end plate and a rear end plate, the two ends of the hinge rod are connected with the front end plate and the rear end plate in a horizontal hinge mode and a vertical hinge mode respectively, the front end plate is connected with the clamping base, and the rear end plate is used for being connected with a gallery bridge of the marine embarkation gangway ladder. Longitudinal displacement and swing to a certain degree can be achieved, jolt caused by wave fluctuation can be passively compensated, and the stability of the boarding gangway ladder on the sea is guaranteed. The horizontal opening and closing type structure of the hoop is combined with passive compensation of the clamping jaw to adapt to different tower columns, and the safety of workers and equipment is protected to a great extent.

The invention belongs to the technical field of ship structures, and particularly relates to a floating power generation platform embarkation structure and embarkation method. The device is applied to a floating power generation platform, an internal harbor basin is arranged on the broadside of the floating power generation platform, an embarkation platform is arranged on the internal harbor basin, and a gangway is formed in the internal harbor basin. The internal harbor basin comprises a watertight cabin formed by a broadside outer plate, a harbor basin bottom plate, a harbor basin top plate and harbor basin bulkheads, the harbor basin top plate and the harbor basin bottom plate are connected to the upper side and the lower side of the broadside outer plate respectively, and the harbor basin bulkheads are arranged on the two sides and the opposite side of the broadside outer plate. The method has the beneficial effects that the embarkation is more convenient, and the safety is extremely high. During the non-berthing period, the gangway is kept watertight and is not opened, and adverse effects on the navigation performance and the like of the floating power generation platform are avoided. And the safety of the embarkation personnel can be ensured to the maximum extent through embarkation of the internal harbor basin.

A deployment method for an offshore boarding system based on a hybrid mechanism belongs to the field of marine engineering technology. It is designed to solve the problem of the shortcomings of traditional wave compensation systems. The controller of the present invention controls the gangway to the middle position so that the end of the gangway leaves the deck, constructs an RBF neural network adaptive controller model based on the electro-hydraulic servo system, collects hull attitude information data and position information data, and before the deployment state, actively compensates the hybrid mechanism to keep the end of the gangway stationary relative to the wind turbine platform; collects three-dimensional speed information data of the end of the gangway relative to the landing point of the wind turbine platform, solves the hybrid mechanism, and obtains the target speed of each joint; under the condition of ship dynamic positioning, collects ship attitude and position information data, and actively compensates the hybrid mechanism in the deployment state; determines whether the end of the gangway has reached the target point of the wind turbine platform. If it is, the deployment ends, otherwise, the deployment method is re-executed. The present invention has improved stability.

The invention discloses a Y-shaped supporting device for an exposed deck of a ship. The problem of space interference between a traditional supporting column and a gangway ladder is solved. The upper ends of the Y-shaped supporting columns are fixedly connected with the lower surface of the exposed deck, and the lower ends of the Y-shaped supporting columns are connected with supporting seats. The Y-shaped supporting column comprises a vertical supporting column, a V-shaped inclined strut and a transverse connecting plate, an annular reinforcing rib is arranged at the bottom of the vertical supporting column and welded to the upper deck, the two inclined supporting columns of the V-shaped inclined strut are symmetrically distributed, and the two ends of the transverse connecting plate extend to enlarge the supporting face. The component is integrally formed by I-shaped steel and is provided with triangular lightening holes and a fillet transition structure, and the strength and the light weight are both considered. The rescue boat crane mounting scene can be adapted by adjusting the fillet radius, the reliability is high, the construction is simplified, and the cost is reduced.

The present invention relates to the technical field of rail transit equipment, and discloses an outer protection screen device for a gangway, comprising: two groups of frames configured to be connected to a vehicle body; a folding protection screen including two groups of side frames, a plurality of groups of outer fabric frames, a plurality of groups of inner fabric frames, and a fabric; the two groups of side frames are respectively connected to the two groups of frames; the plurality of groups of outer fabric frames are located between the two groups of side frames; the inner fabric frames are arranged at intervals from the outer fabric frames, and the fabric is used to connect adjacent outer fabric frames and inner fabric frames; a mounting portion provided on the frame and configured to detachably mount the frame on the vehicle body. The present invention can achieve that the outer protection screen device can form an effective safety barrier whether the gangway is in a contracted or deployed state.

The invention relates to the technical field of ships, and particularly discloses a ship springboard structure which comprises a springboard body and a buffer roller device. The springboard body is provided with a roller end and a hook plate end which are arranged at an interval in the first direction; the buffering roller device comprises a roller framework and a limiting and locking structure; the roller framework comprises a cross brace, supporting legs and universal wheels; the transverse support extends in the second direction, and the two supporting legs are arranged on the two opposite sides of the transverse support in the second direction respectively; the universal wheels are arranged on the sides, in the third direction, of the supporting legs and are configured to be capable of making contact with a ship deck. The limiting and locking structure is arranged on the transverse support, and the hook plate end is in lap joint with the transverse support and is connected with the limiting and locking structure. The buffer roller device is mounted at the hook plate end of the springboard, so that the problems of suspension, slipping, breakage and the like of the springboard due to large height difference between a ship and a wharf can be effectively relieved, and the safety of personnel getting on and off the ship is guaranteed.

This invention provides a berthing adaptation calculation method and system based on a CAD / CAE composite model, belonging to the field of ship berthing auxiliary decision-making technology. It includes: constructing a loading stability calculation model and a three-dimensional profile model database based on the ship loading manual and an initial model containing geometric information; integrating hull geometry, stability, and hydrodynamic performance data into a unified composite model, and defining data dependencies and update triggering rules; solving heave and surge response characteristics based on a wave model, and calculating limit values ​​in conjunction with wave parameters; calculating the safe range of the air gap height at the platform outlet based on the gangway overlap geometry, combined with limit values, tides, and load changes, and dynamically quantifying the risk; and using real-world data to drive online calibration of the composite model and dynamic simulation of the berthing overlap process. This invention achieves accurate dynamic calculation and risk assessment of the air gap under multi-source data fusion, adapting to the berthing needs of multiple ships, and improving berthing safety and operational continuity.

The application discloses a ship gangway guardrail welding device, which comprises a storage structure, a welding structure and a manual welding structure fixed on the storage structure, the manual welding structure is located on the right side of the welding structure, an energy-saving structure and a moving assembly are inlaid in the storage structure, the moving assembly is located on the lower side of the energy-saving structure, a pulling assembly is fixed on the rear side of the storage structure, the moving storage assembly comprises a limiting plate, a motor box is fixed on the limiting plate, a motor in the motor box drives a first gear to rotate and drives a first baffle on a first rack to slide in a sliding groove, a first sealing cover is rotatably connected to the first baffle, the energy-saving structure comprises a third storage box, a solar energy assembly is fixed on the third storage box, and the third storage box is sealingly connected with an automatic sealing assembly, the ship gangway guardrail welding device is moved as a whole, a rotary manipulator is rotated according to needs to realize automatic welding or manual welding through a manual welding gun, harmful gas generated during welding is treated, and solar energy is converted into electric energy through the energy-saving structure when the device is not working.

The invention belongs to the technical field of wharf equipment, and particularly relates to an aluminum alloy floating wharf which comprises a main beam, a gangway ladder is connected to the upper portion of one end of the main beam in a rolling mode, a fixing column is connected to the side edge of the main beam, a buoy is connected to the lower portion of the main beam, the main beam comprises two oppositely-arranged main keels, each main keel is of a non-punching structure, and a panel is connected between the two main keels. A second secondary keel is arranged below the panel and is arranged in the length direction of the main keel, a first secondary keel is connected below the second secondary keel and is perpendicular to the second secondary keel, the buoy is arranged below the first secondary keel, and one side of the main keel sequentially comprises a first groove, a second groove and a third groove from top to bottom. A fifth clamping groove is formed in the other side of the main keel and used for being connected with a rubber fender. The all-aluminum alloy main body structure is adopted, high strength and light weight are achieved, the main keel is embedded into the bolt through the non-punching groove, section loss and welding deformation caused by traditional drilling are avoided, and structural integrity and stability are remarkably improved.

The application provides a kind of gangway door function and durability test automation device and system, belongs to helicopter gangway door function and durability test technical field, the fixed rack in the device is arranged with door opening electric servo in the middle of upper end, and the extending end of door opening electric servo is provided with force handle;Two fixed pulleys are arranged on the both sides of the upper end of fixed rack, and a motor is arranged in the middle of the lower end of fixed rack, a speed change mechanism is arranged on the motor, the speed change mechanism is connected with two sides power flywheel through transmission shaft, one end of each cable is connected with one power flywheel, two cables are respectively through the fixed pulley on the both sides of the upper end of fixed rack, and the other end of two cables are connected with test piece hatch;Switch lock electric servo is installed on the hatch of test piece, and switch lock electric servo is connected with hatch lock handle through handle connecting mechanism;It can simulate the real boundary condition and various test working conditions of gangway door function and durability test, and realize the stable operation of gangway door multiple opening and closing cycle action.

The utility model discloses a wave compensation function personnel embarkation gangway ladder capable of being installed on a fixed or floating platform. The wave compensation function personnel embarkation gangway ladder comprises a wave compensation function personnel embarkation gangway ladder body which is installed on an offshore platform and matched with a ship. Through the arrangement of a series of structures, the whole device can be fixed on the offshore platform, and a wave compensation function personnel embarkation gangway ladder body does not need to be installed on each ship, so that compared with the mode that a wave compensation function personnel embarkation gangway ladder body is installed on each ship in the prior art, the cost is obviously reduced, and the working efficiency is improved. The inclination angle, the orientation angle and the length of the telescopic embarkation gangway ladder body can be adjusted, the motion of the target ship is compensated through the controlled motion of the telescopic embarkation gangway ladder body, and therefore people can use the telescopic embarkation gangway ladder conveniently; in addition, after the orientation angle of the telescopic embarkation gangway ladder body is adjusted, the telescopic embarkation gangway ladder body can be stably fixed in a clamping and fixing mode through a plurality of clamping rods.

The invention relates to an active wave motion compensation trestle control method based on LSTM pose prediction and MPC optimization control, belongs to the technical field of ocean wave compensation control, and aims at solving the problems that an existing trestle is slow in compensation response and low in precision. According to the method, a laser displacement sensor and a gyroscope inertial navigation system are fused to obtain multi-source data, a long short-term memory (LSTM) network is utilized to predict the motion pose of a ship, a prediction result is input into a kinematics model to calculate the position of a joint target, a control strategy is optimized through model prediction control (MPC), and an execution mechanism is driven to compensate in real time. The system adopts an inner and outer ring double-layer structure, the inner ring feeds back heaving information in real time based on a laser sensor, the outer ring provides overall pose compensation based on inertial navigation, and both precision and response speed are considered. According to the method, the stability and foresight of gangway ladder attitude control under the complex sea condition are improved, the compensation effect is remarkably enhanced, and the offshore operation safety is guaranteed.