The invention discloses a multi-degree-of-freedom active compensation stable embarkation device and a control method, and belongs to the technical field of ocean engineering operation and maintenance safety. The stable embarkation device can rotate around the X-axis and the Y-axis and heave (lift) along the Z-axis, and can also realize three-degree-of-freedom composite motion. The upper platform and the gangway ladder can achieve semi-automatic rotation movement around the Z axis, namely yawing movement, pitching movement and telescopic movement along the gangway ladder. The system is compact in structure, small in overall occupied space, good in real-time compensation stability and relatively low in cost, adopts a series-parallel series-parallel structure, meets the requirement for safe and stable embarkation under the four-level or below sea conditions, is particularly suitable for small-sized operation and maintenance ships (CTV) on the sea, and particularly can be used for upgrading and reconstruction of an intelligent stable embarkation system on the basis of an existing CTV operation and maintenance ship.

    一种多自由度主动补偿稳定登乘装置及控制方法,属于海洋工程运维安全技术领域。该稳定登乘装置可绕X,Y轴实现转动运动及沿Z轴的升沉(升降)运动,又可实现三个自由度的复合运动。上平台与舷梯可以实现半自动绕Z轴的旋转运动即艏摇运动、俯仰运动及沿舷梯的伸缩运动。该系统结构紧凑,整体占用空间小,采用串并混联式结构,实时补偿稳定性好,成本相对较低,满足4级及以下海况下安全稳定登乘需要,特别适用于海上小型运维船(CTV),尤其是可在现有CTV运维船基础上进行智能化稳定登乘系统的升级改造。


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    Title :

    Multi-degree-of-freedom active compensation stable embarkation device and control method


    Additional title:

    一种多自由度主动补偿稳定登乘装置及控制方法


    Contributors:
    ZHANG JIE (author) / SONG JIANLING (author) / YU HONGMIN (author)

    Publication date :

    2023-05-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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