US20240417035A1

US20240417035A1 - Flexible Wave Compensation Platform Mechanism

Info

Publication number: US20240417035A1
Application number: US18/822,439
Authority: US
Inventors: Gang Tang; Haibo Zhang
Original assignee: Shanghai Maritime University
Current assignee: Shanghai Maritime University
Priority date: 2024-01-26
Filing date: 2024-09-02
Publication date: 2024-12-19
Also published as: CN117698905A

Abstract

The present invention discloses a flexible wave compensation platform mechanism. The mechanism comprises a chassis installed on a ship or offshore operation platform, a support platform movably connected to the chassis, and three compensation components arranged uniformly around the chassis between the chassis and the support platform. When the support platform undergoes displacement due to wave motion, the three compensation components apply different tension forces to the support platform to satisfy the displacement in the opposite direction to the displacement of the support platform, keeping the support platform level to compensate for its wave motion. Compared with the prior art, the present invention enables the wave motion of the support platform to be flexibly compensated, making the compensation more accurate and stable.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

The subject application claims priority on the Chinese patent application 202410112476.8 filed on Jan. 26, 2024, the contents and subject matter thereof being incorporated herein by reference.

FIELD OF INVENTION

The present invention pertains to the field of marine engineering technology, particularly concerning a flexible wave compensation platform mechanism.

BACKGROUND ART

In the operation of vessels and offshore platforms at sea, irregular fluctuations and rocking motions often occur due to the influence of waves. Because of the continuous movement of the waves, the skilled personnel accustomed to working on land and the engineering machinery designed for land operations cannot be directly applied in offshore working environments. Sea workers expend considerable physical effort to balance themselves against the swaying motion, while the fluctuating acceleration of loads on engineering machinery at sea presents significant challenges to both work efficiency and personnel safety. Such vibrations and motions not only affect the quality of work but can also lead to seasickness, fatigue, and even injury among personnel. Therefore, the urgent need to research and develop three-degree-of-freedom wave compensation platforms arises to enhance efficiency and safety in offshore operations.
The Chinese patent application CN109625177A discloses a three-degree-of-freedom wave compensation platform, which achieves compensation in three dimensions by controlling support rods to move within sliding rails via a hydraulic system. However, this system has drawbacks such as insufficient flexibility, high precision requirements for control systems and components, limited compensation accuracy, and poor dynamic response capability due to the accuracy issues of hydraulic cylinder, higher noise levels, greater friction, and higher maintenance costs. The Chinese patent application CN115520321A discloses another three-degree-of-freedom wave compensation platform, where compensation is achieved by driving the motion of the push rod using servo electric cylinders, with the assistance of a scissor arm mechanism. However, this design is complex, increasing the difficulty in design, manufacturing, and maintenance.
Given the existing deficiencies in common wave compensation platforms, such as insufficient flexibility, high precision requirements for control systems and components, limited compensation accuracy, and poor dynamic response capability, there is a need for improvement.

SUMMARY OF THE INVENTION

The objective of the present invention is to overcome the deficiencies in flexibility, complexity in structure, and insufficient precision in compensation observed in existing technologies by providing a flexible wave compensation platform mechanism. This objective can be achieved by means of the following technical solutions: Firstly, the present invention provides a flexible wave compensation platform mechanism, comprising a chassis, a support platform and three compensation components; three compensation components are positioned between the chassis and the support platform; the chassis is mounted on a vessel or offshore platform; the support platform is movably connected to the chassis; the compensation components are uniformly distributed around the chassis in a circumferential arrangement.
Furthermore, each of the three compensation components comprises a telescoping part, a rotating hinge support, a second pulley, a connecting rod, a third pulley and a steel wire rope; the telescoping part is uniformly arranged around the connecting part on the chassis; the rotating hinge supports are uniformly distributed around the connecting part on the outer circumference of the telescoping part; the second pulley is mounted at the end of rotating hinge support; the connecting rod is connected to the connecting part; the third pulley is mounted at the end of the connecting rod; the steel wire rope passes through the second pulley and the third pulley and is kept under tension; the steel wire rope forms a triangular path through the telescoping part. By adjusting the extension or retraction of the telescoping part, the shortest distance between the second pulley and the third pulley can be increased or decreased, thereby adjusting the tension applied to the support platform.
Furthermore, the telescoping part comprises a mounting part, a second hydraulic cylinder, a first telescopic rod and a first pulley; the mounting parts are uniformly arranged around the connecting part on the chassis; the second hydraulic cylinder is mounted on the mounting parts; the first telescopic rod is connected to the second hydraulic cylinder; the first pulley is located at the end of the first telescopic rod and is connected to the steel wire rope; the first pulley is driven by the second hydraulic cylinder via the first telescopic rod to extend or retract, thereby adjusting the shortest distance between the second pulley and the third pulley. This adjustment increases or decreases the tension applied to the support platform.
Furthermore, the connecting part comprises a support base, a first hydraulic cylinder and a second telescopic rod; the support base is mounted at the center of the chassis; the first hydraulic cylinder is connected to the support base; one end of the second telescopic rod is connected to the support platform, and the other end is connected to the first hydraulic cylinder. Further, the first hydraulic cylinder is integrally formed with the connecting rod. Additionally, the first hydraulic cylinder and the support base are connected by a cross hinge. Moreover, the upper surface of the chassis is equipped with several first tilt angle sensors, and the upper surface of the support platform is equipped with several second tilt angle sensors. The first tilt angle sensors and second tilt angle sensors respectively monitor the displacement of the chassis and the support platform. Further, a control component is included, which receives the displacement data from the first and second tilt angle sensors and controls the tension applied by several of the compensation components to the support platform. Additionally, the compensation components are configured as three units.
The method for using the flexible wave compensation platform mechanism is as follows:

- First, obtaining the offset data of the support platform 2, wherein the offset data comprises offset displacement, offset direction, and offset speed;
- Next, generating offset signals based on the offset data, and calculate the tension data of the compensation components 3 applied to the support platform 2 in three directions based on the offset signals;
- Finally, generating the extension amount of three first telescopic rods 307 based on the tension data, and generate extension signals based on the extension amount of the three first telescopic rods 307. Control the extension of the three first telescopic rods 307 with the extension signals to decrease or increase the shortest distance between the second pulley 310 and the third pulley 312, in order to balance the support platform 2.

Compared to existing technologies, the present invention offers the following beneficial effects:
1. the present invention achieves flexible compensation of the wave motion of the support platform by tightening the steel wires via the telescoping part, thereby enhancing the precision of compensation.
2. the second hydraulic cylinder in the telescoping part of the present invention controls the extension and retraction of the first telescopic rod by means of hydraulic control, thereby making the compensation more precise and stable.
3. the connecting part of the present invention can control the vertical height of the support platform, enabling compensation for the platform of height. This feature can be applied across various scenarios.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the working state of a flexible wave compensation platform mechanism of the present invention.

FIG. 2 is a front view of the flexible wave compensation platform mechanism of the present invention.

FIG. 3 is a simplified schematic diagram of the flexible wave compensation platform mechanism of the present invention.

FIG. 4 is a schematic diagram of the compensation component of the flexible wave compensation platform mechanism of the present invention.

FIG. 5 is a schematic diagram of the connecting part of the flexible wave compensation platform mechanism of the present invention.

FIG. 6 is a schematic diagram of the telescoping part of the flexible wave compensation platform mechanism of the present invention.

FIG. 7 is a schematic diagram of the installation component of the flexible wave compensation platform mechanism of the present invention.

FIG. 8 is a schematic diagram of the control component in flexible wave compensation platform mechanism of the present invention.

The reference signs for the Drawings are as follows:
1—chassis, 101—first tilt angle sensor, 2—support platform, 201—second tilt angle sensor, 3—compensation component, 301—connecting part, 302—telescoping part, 304 steel wire rope, 305—mounting part, 306—second hydraulic cylinder, 307—first telescopic rod, 308—first pulley, 309—rotating hinge support, 310—second pulley, 311—connecting rod, 312—third pulley, 313—second telescopic rod, 314—support base, 315—first hydraulic cylinder, 316—mounting base, 317—supporting rod.

EMBODIMENTS

The following detailed description of the present invention, in conjunction with the accompanying drawings and specific embodiments, provides a comprehensive explanation of the present invention. This embodiment is implemented based on the technical solution of the present invention, providing detailed implementation methods and specific operational procedures. However, the scope of the present invention is not limited to the following embodiments.
Any component model numbers, material names, connection structures, control methods, or other features not explicitly specified in this technical solution are considered to be commonly known technical features disclosed in the prior art.
In the description of the present invention, it is important to understand that terms such as “up”, “down”, “vertical”, “horizontal”, “top”, “bottom”, and the like indicate positional relationships based on the orientation or positioning shown in the accompanying drawings. These terms are used for the purpose of describing the invention and simplifying the description, and do not imply that the device or component must have a specific orientation, be constructed and operated in a particular orientation. Therefore, they should not be construed as limiting the scope of the invention.
In the description of the present invention, the term “multiple” means two or more, unless otherwise explicitly specified. Additionally, terms such as “installation”, “connection”, and “linkage” should be broadly interpreted. For example, they can refer to fixed connections, detachable connections, or integrated connections; they can involve bolted connections, welded connections; they can represent direct connections or indirect connections via intermediary media, and can also denote internal passages between two components. Ordinary skilled persons in this field can understand the specific meanings of these terms in the context of the invention based on the specific circumstances.
To overcome the issues of insufficient flexibility, complex structure, and inadequate compensation accuracy present in the existing technology, the present invention provides a flexible wave compensation platform mechanism. Its structure is shown in FIGS. 1 to 3 and comprising a chassis 1, a support platform 2 and three compensation components 3; the chassis 1 is mounted on a vessel or offshore platform; the support platform 2 is movably connected to the chassis 1; the compensation components 3 are uniformly distributed around the chassis 1 in a circumferential arrangement. In some specific embodiments, referring to FIGS. 2 and 3 , each of three compensation components 3 comprises a telescoping part 302, a rotating hinge support 309, a second pulley 310, a connecting rod 311, a third pulley 312 and a steel wire rope 304; the telescoping part 302 is uniformly arranged around the connecting part 301 on the chassis 1; the rotating hinge supports 309 are uniformly distributed around the connecting part 301 on the outer circumference of the telescoping part 302; the second pulley 310 is mounted at the end of the rotating hinge support 309; the connecting rod 311 is connected to the connecting part 301; the third pulley 312 is mounted at the end of the connecting rod 311; the steel wire rope 304 passes through the second pulley 310 and the third pulley 312 and is kept under tension; the steel wire rope 304 forms a triangular path through the telescoping part 302. By adjusting the extension or retraction of the telescoping part 302, the shortest distance between the second pulley 310 and the third pulley 312 can be increased or decreased, thereby adjusting the tension applied to the support platform 2.
In a more specific embodiment, please refer to FIGS. 2 and 3 . The telescoping part 302 comprises a mounting part 305, a second hydraulic cylinder 306, a first telescopic rod 307 and a first pulley 308; the mounting part 305 is uniformly arranged around the connection part 301 on the chassis 1; the second hydraulic cylinder 306 is mounted on the mounting part 305; the first telescopic rod 307 is connected to the second hydraulic cylinder 306; the first pulley 308 is located at the end of the first telescopic rod 307 and is connected to the steel wire rope 304; the first pulley 308 is driven by the second hydraulic cylinder 306 via the first telescopic rod 307 to extend or retract, thereby adjusting the shortest distance between the second pulley 310 and the third pulley 312. This adjustment increases or decreases the tension applied to the support platform 2.
In a more specific embodiment, please refer to FIGS. 2 and 3 . The connecting part 301 comprises a support base 314, a first hydraulic cylinder 315 and a second telescopic rod 313; the support base 314 is mounted at the center of the chassis 1; the first hydraulic cylinder 315 is connected to the support base 314; one end of the second telescopic rod 313 is connected to the support platform 2, and the other end is connected to the first hydraulic cylinder 315.
In a more specific embodiment, as further illustrated in FIGS. 2 and 3 , the first hydraulic cylinder 315 is integrally formed with the connecting rod 311.
In a more specific embodiment, as further illustrated in FIGS. 2 and 3 , the first hydraulic cylinder 315 and the support base 314 are connected via a cross hinge.
In some specific embodiments, as further illustrated in FIGS. 2 and 3 , the surface of the base 1 is additionally equipped with a plurality of first tilt angle sensors 101, while the surface of the support platform 2 is equipped with a plurality of second tilt angle sensors 201. The first tilt angle sensors 101 and the second tilt angle sensors 201 respectively monitor the displacement of the base 1 and the support platform 2.
In a more specific embodiment, as further illustrated in FIGS. 2 and 3 , a control component is included. The control component receives displacement data transmitted by the first tilt angle sensors 101 and the second tilt angle sensors 201 and controls the tightening force applied by three compensation components 3 to the support platform 2.
In some specific embodiments, as further illustrated in FIGS. 2 and 3 , the system also comprises a control component, and the compensation components is provided with three units.
The method for using the flexible wave compensation platform mechanism is as follows:

The above embodiments can be implemented individually or in any combination of two or more combinations. Here, a specific embodiment is provided to further explain the above implementation methods. Embodiment 1: To overcome the limitations of insufficient flexibility, complex structures, and imprecise compensation in the existing technology, this embodiment provides a flexible wave compensation platform mechanism. Please refer to FIGS. 1 to 3 for the structure, which comprises a chassis 1, a support platform 2 and three compensation components 3; the chassis 1 is mounted on a vessel or offshore platform; the support platform 2 is movably connected to the chassis 1; the compensation components 3 are uniformly distributed around the chassis 1. three compensation components 3 positioned between the chassis 1 and the support platform 2; In this embodiment, the compensation components 3 comprises a telescoping part 302, a rotating hinge support 309, a second pulley 310, a connecting rod 311, a third pulley 312, and a steel wire rope 304. The telescoping part 302 is uniformly distributed around the connecting part 301 on the chassis 1. The rotating hinge support 309 is uniformly distributed around the outer circumference of the telescoping part 302. The second pulley 310 is installed at the end of the rotating hinge support 309. The connecting rod 311 is connected to the connecting part 301. The third pulley 312 is installed at the end of the connecting rod 311.
The steel wire rope 304 passes through the second pulley 310 and the third pulley 312 and is in a tensioned state. The steel wire rope 304 passes through the telescoping part 302 in a triangular shape. By extending or retracting the telescoping part 302, the shortest distance between the second pulley 310 and the third pulley 312, i.e., one side of the triangle, decreases or increases, thereby increasing or decreasing the tension applied to the support platform 2.
Specifically, the telescoping part 302 comprises a mounting part 305, a second hydraulic cylinder 306, a first telescopic rod 307, and a first pulley 308. The mounting parts 305 is uniformly distributed around the connecting part 301 on the chassis 1. The second hydraulic cylinder 306 is installed on the mounting part 305. The first telescopic rod 307 is connected to the second hydraulic cylinder 306. The first pulley 308 is located at the end of the first telescopic rod 307 and is connected to the steel wire rope 304. The first pulley 308 is driven to extend or retract the telescoping part 302 by the second hydraulic cylinder 306, thereby decreasing or increasing the shortest distance between the second pulley 310 and the third pulley 312, i.e., one side of the triangle, and adjusting the tension applied to the support platform 2.
The working principle of this embodiment is as follows: When a ship or offshore platform encounters wave motion at sea, the wave motion refers to the time-varying nonlinear motion in heave, roll, and pitch directions of the ship or offshore platform, as well as the superimposed motion in three directions. Since this flexible wave compensation platform mechanism is installed on the ship or offshore platform, the support platform 2 of this flexible wave compensation platform mechanism is affected by the wave motion. When the support platform 2 experiences wave motion, it undergoes displacement with respect to the horizontal plane. For example, when the support platform 2 shifts to the left, the three rotating hinge support 309 extend or retract by different amounts, thereby tensioning the steel wire rope 304 in three directions. This causes the base of the triangle formed by the steel wire ropes 304 in three directions to increase or decrease, and the combined force in three directions counteracts the force causing the support platform 2 to shift to the left, thus maintaining the support platform 2 level with the horizontal plane.
In Embodiment 2, please refer again to FIGS. 1 to 4 . Compared to Embodiment 1, most of the components are the same, except that the connecting part 301 comprises a support base 314 mounted at the center of the base 1, a first hydraulic cylinder 315 connected to the support base 314, and a second telescopic rod 313 connected to one end of the support platform 2 and the other end to the first hydraulic cylinder 315. The first hydraulic cylinder 315 is integrally formed with the connecting rod 311, and the first hydraulic cylinder 315 and the support base 314 are connected by a cross hinge. On the surface of the base 1, there are a plurality of first tilt angle sensors 101, and on the surface of the support platform 2, there are a plurality of second tilt angle sensors 201. The first tilt angle sensors 101 and the second tilt angle sensors 201 respectively monitor the displacement of the base 1 and the support platform 2. The flexible wave compensation platform mechanism also comprises a control component. The control component receives displacement signals transmitted by the first tilt angle sensors 101 and the second tilt angle sensors 201 and controls the tensioning force applied by a plurality of compensation components 3 to the support platform 2 to compensate for the displacement of the support platform 2. In this embodiment, the control component is shown as in FIG. 8 . As the base 1 moves under the action of waves on a ship or offshore platform, the first tilt angle sensors 101 and the second tilt angle sensors 201 respectively monitor the displacement of the base 1 and the support platform 2 and send signals to the control component. The computer in the control component calculates the compensation displacement required for the four cylinders (cylinders A1, A2, A3, A4), controls the supply of oil to the four electric hydraulic pumps (pumps M1, M2, M3, M4), and controls the forward and reverse power supply of the four three-way four-position solenoid valves (solenoid valves V1, V2, V3, V4) and their electromagnets (electromagnets K10 and K11, electromagnets K20 and K21, electromagnets K30 and K31, electromagnets K40 and K41) to drive the movement of the four cylinders (cylinders A1, A2, A3, A4). This achieves flexible motion of the upper platform 18 under the action of waves and compensates for the flexible motion.
The working principle of this embodiment is as follows when a ship or offshore platform encounters wave motion at sea, which refers to the time-varying nonlinear motion in heave, roll, and pitch directions of the ship or offshore platform, as well as the superimposed motion in three directions, since this flexible wave compensation platform mechanism is installed on the ship or offshore platform, the support platform 2 of this flexible wave compensation platform mechanism is affected by the wave motion. When the support platform 2 experiences wave motion, it undergoes displacement with respect to the horizontal plane. For example, when the support platform 2 shifts to the left, the first tilt angle sensors 101 and the second tilt angle sensors 201 detect the displacement of the support platform 2 and send signals to the computer in the control component. The computer calculates the extension or retraction required for the three first telescopic rods 307 and one second telescopic rod 313, and sends signals to the four cylinders (cylinders A1, A2, A3, A4).
The four cylinders control the extension and retraction of the three first telescopic rods 307 and one second telescopic rod 313. By adjusting their extension and retraction, the first telescopic rods 307 press against the steel wire rope 304, causing the base of the triangle formed by the steel wire ropes 304 in three directions to increase or decrease. This base represents the shortest distance between the second pulley 310 and the third pulley 312. The combined force in three directions counteracts the force causing the support platform 2 to shift to the left, thus maintaining the support platform 2 level with the horizontal plane.
Embodiment 3: Compared to Embodiment 2, most components remain the same. However, in Embodiment 3, there are some differences. Specifically, the mounting part 305 comprises a mounting base 316 uniformly distributed along the connecting part 301 on the base 1, and a supporting rod 317 positioned on the outer periphery of the mounting base 316. Additionally, the second hydraulic cylinder 306 is connected to the mounting base 316 and supported by the supporting rod 317. This modification enhances the structural stability and support for the second hydraulic cylinder 306, ensuring its effective operation in providing the necessary extension and retraction to compensate for the motion of the platform under wave conditions.
Embodiment 4: This embodiment provides a method for using the flexible wave compensation platform mechanism is as follows:

The descriptions of the examples provided above are intended to facilitate understanding and use of the invention by those skilled in the art. It is evident that individuals familiar with the relevant technical field can easily make various modifications to these examples and apply the general principles outlined here to other embodiments without inventive effort. Therefore, the invention is not limited to the examples presented above, and improvements or modifications made by those skilled in the art within the scope of the invention as disclosed herein should be considered to fall within the scope of the invention.

Claims

What is claimed is:

1. A flexible wave compensation platform mechanism, comprising a chassis (1), a support platform (2), a connecting part (301), and three compensation components (3) between the chassis (1) and the support platform (2); wherein:

each of the three compensation components (3) comprises a telescoping part (302), a rotating hinge support (309), a second pulley (310), a connecting rod (311), a third pulley (312), and a steel wire rope (304);

the connecting part (301) comprises a support base (314), a first hydraulic cylinder (315), and a second telescopic rod (313);

the three compensation components (3) are circumferentially arranged around the chassis (1); the rotating hinge supports (309) are evenly arranged around the connecting part (301) on an outer circle of the telescoping part (302);

the second pulley (310) is mounted on an end of the rotating hinge support (309); the connecting rod (311) is connected to the connecting part (301); the third pulley (312) is mounted on an end of the connecting rod (311); the steel wire rope (304) passes through the second pulley (310) and the third pulley (312) and is kept in a tensioned state; the steel wire rope (304) passes through the telescoping part (302) in a triangular shape; the support base (314) is mounted at a center of the chassis (1); the first hydraulic cylinder (315) is connected to the support base (314); one end of the second telescopic rod (313) is connected to the support platform (2) and the other end is connected to the first hydraulic cylinder (315).

2. The flexible wave compensation platform mechanism of claim 1, wherein the telescoping part (302) comprises a mounting part (305), a second hydraulic cylinder (306), a first telescopic rod (307), a first pulley (308); the mounting parts (305) of the three compensation components (3) are evenly arranged on the chassis (1) around a circumference of the connecting part (301); the second hydraulic cylinder (306) is installed on the mounting part (305); the first telescopic rod (307) is connected to the second hydraulic cylinder (306); the first pulley (308) is set at an end of the first telescopic rod (307) and connected to the steel wire rope (304).

3. The flexible wave compensation platform mechanism of claim 1, wherein the first hydraulic cylinder (315) and the connecting rod (311) are integrally formed.

4. The flexible wave compensation platform mechanism of claim 1, wherein the first hydraulic cylinder (315) and the support base (314) are connected via a cross hinge.

5. The flexible wave compensation platform mechanism of claim 1, wherein a surface of the chassis (1) is equipped with a plurality of first tilt angle sensors (101), and the surface of the support platform (2) is equipped with a plurality of second tilt angle sensors (201); wherein the plurality of the first tilt angle sensors (101) and the plurality of the second tilt angle sensors (201) respectively monitor displacement of the chassis (1) and the support platform (2).

6. The flexible wave compensation platform mechanism of claim 5, further comprising a control component, wherein the control component receives displacement measurements from the plurality of the first tilt angle sensors (101) and the plurality of the second tilt angle sensors (201), and controls tension forces applied by the three compensation components (3) to the support platform (2).