9-dof wave compensation platform and operation method

Abstract

The present application provides a 9-DOF wave compensation platform and operation method in marine engineering technology, comprising a 6-DOF parallel stabilization platform and a 3-DOF tandem boarding bridge. The 6-DOF parallel stabilization platform comprises a mounting base and a movable platform. Motion branch chains are arranged between the mounting base and the movable platform. The motion branch chain moves actively driven by a driving element, and a balancing cylinder system is further connected to the motion branch chain to offset the deadweight of the equipment. The 3-DOF tandem boarding bridge is installed on the movable platform. Through the balancing cylinder system, the driving load generated by component weight in the 9-DOF wave compensation platform is counterbalanced in advance, so that the driving load of the compensation platform during operation is significantly reduced, with lower total energy consumption of the system, and wider range of selectable driving elements.

1 . A 9-DOF wave compensation platform, characterized by comprising
 a 6-DOF parallel stabilization platform ( 1 ) and a 3-DOF tandem boarding bridge ( 2 ); wherein   the 6-DOF parallel stabilization platform ( 1 ) comprises a mounting base ( 11 ) and a movable platform ( 14 ), and motion branch chains are provided between the mounting base ( 11 ) and the movable platform ( 14 ), and the motion branch chain moves actively driven by a driving element, and a balancing cylinder system ( 12 ) is further connected to the motion branch chain to counterbalance an equipment deadweight; and   the 3-DOF tandem boarding bridge ( 2 ) is installed on the movable platform ( 14 ).   
     
     
         2 . The 9-DOF wave compensation platform according to  claim 1 , characterized in that
 the motion branch chain comprises a connecting rod ( 13 ), a ball joint ( 15 ), a Hooke's joint ( 16 ) and a slider ( 17 ), and the mounting base ( 11 ) is provided with slide rails ( 18 ), and the slider ( 17 ) is slidably arranged on one of the slide rails ( 18 ); and   one end of the connecting rod ( 13 ) is connected to the slider ( 17 ) via the Hooke's joint ( 16 ), and another end of the connecting rod ( 13 ) is connected to the movable platform ( 14 ) via the ball joint ( 15 ).   
     
     
         3 . The 9-DOF wave compensation platform according to  claim 2 , characterized in that
 the balancing cylinder system ( 12 ) comprises a piston rod ( 121 ), an oil cylinder ( 122 ) and an accumulator ( 123 ); and   the piston rod ( 121 ) is fixedly mounted on the slider ( 17 ), and an oil delivery pipe of the accumulator ( 123 ) is connected to the oil cylinder ( 122 ), and a gas bladder in the accumulator ( 123 ) expands outward under air pressure, pressing hydraulic oil in the accumulator ( 123 ) toward the oil cylinder ( 122 ) through the oil delivery pipe, so that the oil cylinder ( 122 ) lifts the piston rod ( 121 ) to counterbalance the equipment deadweight.   
     
     
         4 . The 9-DOF wave compensation platform according to  claim 2 , characterized in that
 six groups of the motion branch chains are arranged between the mounting base ( 11 ) and the movable platform ( 14 ).   
     
     
         5 . The 9-DOF wave compensation platform according to  claim 1 , characterized in that
 the 3-DOF tandem boarding bridge ( 2 ) comprises a connecting base ( 21 ), a rotary platform ( 22 ), a fixed-pitching part ( 24 ) and a telescoping part ( 25 ); wherein   the connecting base ( 21 ) is mounted on the movable platform ( 14 ); and the connecting base ( 21 ) and the rotary platform ( 22 ) are connected via a rotary bearing; and one end of the fixed-pitching part ( 24 ) is connected to the rotary platform ( 22 ) via a hinge; and a driving device capable of driving the fixed-pitching part ( 24 ) to perform a pitching motion around a central axis of the hinge is provided between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ); and   the telescoping part ( 25 ) is arranged at an end of the fixed-pitching part ( 24 ) away from the rotary platform ( 22 ).   
     
     
         6 . The 9-DOF wave compensation platform according to  claim 5 , characterized in that
 a connection position between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ) is located at a lower part of the fixed-pitching part ( 24 ); and   the driving device comprises an electric cylinder ( 23 ), with a housing of the electric cylinder ( 23 ) being pivotally connected to the rotary platform ( 22 ), and a telescoping rod of the electric cylinder ( 23 ) being pivotally connected to an upper part of the fixed-pitching part ( 24 ); and   a pivoting point between the electric cylinder ( 23 ) and the fixed-pitching part ( 24 ), and a pivoting point between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ) are both located at a same end along a length direction of the fixed-pitching part ( 24 ).   
     
     
         7 . The 9-DOF wave compensation platform according to  claim 5 , characterized in that
 a guide rail is arranged inside the fixed-pitching part ( 24 ) along a length direction of the fixed-pitching part ( 24 ), wherein the telescoping part ( 25 ) is arranged inside the fixed-pitching part ( 24 ), and the telescoping part ( 25 ) moves along a direction of the guide rail.   
     
     
         8 . The 9-DOF wave compensation platform according to  claim 1 , characterized in that
 the fixed-pitching part ( 24 ) and the telescoping part ( 25 ) are both provided with skeletonized structures.   
     
     
         9 . The 9-DOF wave compensation platform according to  claim 1 , characterized in that
 the mounting base ( 11 ) is mounted on a ship.   
     
     
         10 . An operation method of a 9-DOF wave compensation platform, characterized by
 being applicable to the 9-DOF wave compensation platform according to  claim 1 , and including following steps:   measuring ship motion information by a motion attitude sensor, and inputting measured information into a high-pass filter and a low-pass filter respectively, wherein the high-pass filter extracts a high-frequency part of the ship motion information, and the low-pass filter extracts a low-frequency part of the ship motion information; and   receiving high-frequency motion information by the 6-DOF parallel stabilization platform ( 1 ), and, through active control, controlling the movable platform ( 14 ) to generate opposite motion to counterbalance high-frequency ship motion; and receiving low-frequency motion information by the 3-DOF tandem boarding bridge ( 2 ), and, through active control, controlling a distal end of the telescoping part ( 25 ) to contact a bridged object so that the bridge generates opposite motion to counterbalance low-frequency ship motion, consequently achieving a full counterbalance of ship motion and keeping a bridging end of the bridge stationary relative to an inertial reference system.   
     
     
         11 . The operation method according to  claim 10 , characterized in that
 the motion branch chain comprises a connecting rod ( 13 ), a ball joint ( 15 ), a Hooke's joint ( 16 ) and a slider ( 17 ), and the mounting base ( 11 ) is provided with slide rails ( 18 ), and the slider is slidably arranged on one of the slide rails ( 18 ); and   one end of the connecting rod ( 13 ) is connected to the slider ( 17 ) via the Hooke's joint ( 16 ), and another end of the connecting rod ( 13 ) is connected to the movable platform ( 14 ) via the ball joint ( 15 ).   
     
     
         12 . The operation method according to  claim 11 , characterized in that
 the balancing cylinder system ( 12 ) comprises a piston rod ( 121 ), an oil cylinder ( 122 ) and an accumulator ( 123 ); and   the piston rod ( 121 ) is fixedly mounted on the slider ( 17 ), and an oil delivery pipe of the accumulator ( 123 ) is connected to the oil cylinder ( 122 ), and a gas bladder in the accumulator ( 123 ) expands outward under air pressure, pressing hydraulic oil in the accumulator ( 123 ) toward the oil cylinder ( 122 ) through the oil delivery pipe, so that the oil cylinder ( 122 ) lifts the piston rod ( 121 ) to counterbalance the equipment deadweight.   
     
     
         13 . The operation method according to  claim 11 , characterized in that
 six groups of the motion branch chains are arranged between the mounting base ( 11 ) and the movable platform ( 14 ).   
     
     
         14 . The operation method according to  claim 10 , characterized in that
 the 3-DOF tandem boarding bridge ( 2 ) comprises a connecting base ( 21 ), a rotary platform ( 22 ), a fixed-pitching part ( 24 ) and a telescoping part ( 25 ); wherein   the connecting base ( 21 ) is mounted on the movable platform ( 14 ); and the connecting base ( 21 ) and the rotary platform ( 22 ) are connected via a rotary bearing; and one end of the fixed-pitching part ( 24 ) is connected to the rotary platform ( 22 ) via a hinge; and a driving device capable of driving the fixed-pitching part ( 24 ) to perform a pitching motion around a central axis of the hinge is provided between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ); and   the telescoping part ( 25 ) is arranged at an end of the fixed-pitching part ( 24 ) away from the rotary platform ( 22 ).   
     
     
         15 . The operation method according to  claim 14 , characterized in that
 a connection position between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ) is located at a lower part of the fixed-pitching part ( 24 ); and   the driving device comprises an electric cylinder ( 23 ), with a housing of the electric cylinder ( 23 ) being pivotally connected to the rotary platform ( 22 ), and a telescoping rod of the electric cylinder ( 23 ) being pivotally connected to an upper part of the fixed-pitching part ( 24 ); and   a pivoting point between the electric cylinder ( 23 ) and the fixed-pitching part ( 24 ), and a pivoting point between the fixed-pitching part ( 24 ) and the rotary platform ( 22 ) are both located at a same end along a length direction of the fixed-pitching part ( 24 ).   
     
     
         16 . The operation method according to  claim 14 , characterized in that
 a guide rail is arranged inside the fixed-pitching part ( 24 ) along a length direction of the fixed-pitching part ( 24 ), wherein the telescoping part ( 25 ) is arranged inside the fixed-pitching part ( 24 ), and the telescoping part ( 25 ) moves along a direction of the guide rail.   
     
     
         17 . The operation method according to  claim 10 , characterized in that
 the fixed-pitching part ( 24 ) and the telescoping part ( 25 ) are both provided with skeletonized structures.   
     
     
         18 . The operation method according to  claim 10 , characterized in that
 the mounting base ( 11 ) is mounted on a ship.   
     
     
         19 . The operation method according to  claim 18 , characterized in that
 the mounting base ( 11 ) is mounted on a deck of the ship.   
     
     
         20 . The 9-DOF wave compensation platform according to  claim 9 , characterized in that
 the mounting base ( 11 ) is mounted on a deck of the ship.