CN106167074B - A kind of coupling constraint for marine personnel or cargo transfer is compensation to pick bridge - Google Patents

Abstract

A kind of coupling constraint for marine personnel or cargo transfer is compensation to pick bridge, it includes coupling constraint freedom degree parallel connection stabilized platform and four-degree-of-freedom bridge arm, the bottom of wherein coupling constraint freedom degree parallel connection stabilized platform is fixed on the deck of hull, and its upper end is connected by the first revolute pair with four-degree-of-freedom bridge arm；Four-degree-of-freedom bridge arm can be realized around the rotation of the first revolute pair axis, the lifting of the first bridge arm and hang and the stretching motion of second, third bridge arm.Ship can be produced multivariant motion by the effect of ocean current, sea wind and wave, influence the safe transit of ship's staff or goods, the freedom degree parallel connection stabilized platform of the present invention can compensate for the rolling, pitching and heaving of ship, so that four-degree-of-freedom bridge arm is relatively stable relative to ground fixed reference thing, so as to ensure the safe transit of marine personnel or goods.The present invention is compact-sized, occupation of land is small, rigidity is big, has good application prospect.

Description

A coupling-constraint-compensated pick-up bridge for personnel or cargo transfer at sea

technical field

The invention belongs to the field of marine engineering equipment, and in particular relates to a series-parallel hybrid mechanism, in particular to a pick-up bridge for sea transfer.

Background technique

"Made in China "2025"" proposes to vigorously develop deep-sea exploration, resource development and utilization, offshore operation support equipment and its key systems and special equipment, etc., to meet the needs of economic and social development and national defense construction for major technical equipment. With the development of my country's marine economy, there are more and more various offshore hoisting operations, search and rescue ships, and coast guard ships. Under the influence of ocean environment disturbances such as sea wind, waves and currents, ships will produce multi-dimensional swaying motions, such as roll, pitch, yaw, sway, surge and heave. Among them, rolling, pitching and heaving motions have the greatest impact on ship equipment. This movement has seriously affected many aspects such as the timely repair of wind power tower failures, the safe transfer of supply ship personnel or cargo, and many other aspects. Especially when the waves are high and the sea conditions are bad, it is difficult to carry out offshore operations. The existing sea pick-up or transfer devices have problems such as limited heave compensation, low overall rigidity of the mechanism, and limited carrying capacity. Therefore, it is of great significance to develop a compensating pick-up bridge with large heave compensation and high structural rigidity for the transfer of personnel or cargo at sea.

Chinese Patent Publication No. 102548838 B proposes a variable-length gangway that can pivot between a lowered loading and unloading position and an elevated stowage position. This gangway will move with the movement of the boat and has no stabilizing function. The Chinese patent with the publication number CN 104290872 A proposes a gangway for an ocean platform, which is a device fixed on an ocean platform. The Chinese patent with the publication number CN 105408199 A proposes a device and method for providing active motion compensation control of an articulated gangway, which can actively compensate for the distance and orientation between ships or between ships and fixed facilities, but cannot compensate for the distance and orientation of ships. Roll and pitch motion.

Contents of the invention

The object of the present invention is to provide a coupling restraint compensating pick-up bridge for the transfer of personnel or goods at sea, which has a large rigidity, a large compensation stroke, a compact structure, a strong bearing capacity and a small footprint.

Technical scheme of the present invention is as follows:

The present invention includes two parts, a coupling-constrained three-degree-of-freedom parallel stable platform and a four-degree-of-freedom bridge arm, wherein the bottom of the coupled-constrained three-degree-of-freedom parallel stable platform is fixed on the deck of the hull, and its upper end passes through the first rotating pair and the four-degree-of-freedom bridge. arm connection;

The four-degree-of-freedom bridge arm includes a transfer platform with a rotary drive, two coaxial third rotating pairs, two second linear drive units, a first bridge arm, a third moving pair, a third linear drive unit, The second bridge arm, the fourth moving pair, the fourth linear drive unit, the third bridge arm, the second spherical joint and the second spherical joint support base; wherein the lower part of one end of the first bridge arm passes two coaxial third rotations The pair is connected to the transfer platform, and the two ends of the second linear drive unit are respectively connected to the transfer platform and the upper part of one end of the first bridge arm through ball joints; the second bridge arm is connected to the first bridge arm through the third moving pair, and the third bridge arm One end of the cylinder of the linear drive unit is fixedly connected to the bottom of the first bridge arm, and the end of the telescopic rod of the third linear drive unit is connected to the bottom of the second bridge arm through a ball joint; the third bridge arm moves through the fourth The pair is connected to the second bridge arm, one end of the cylinder of the fourth linear drive unit is fixedly connected to the bottom of the second bridge arm, and the end of the telescopic rod of the fourth linear drive unit is connected to the bottom of the third bridge arm through a ball joint. connection; the end of the free end of the third bridge arm is provided with a camera and a rangefinder, which can facilitate personnel to control the four-degree-of-freedom bridge arm to dock with the target platform; the second spherical joint support seat is connected to the The bottom of the third bridge arm is connected; the bottom of the transfer platform with slewing drive is connected with the coupling-constrained three-degree-of-freedom parallel stable platform through the first rotating pair;

The coupling-constrained three-degree-of-freedom parallel stable platform adopts two arrangements:

The first layout method: coupling constraint three-degree-of-freedom parallel stable platform includes mounting base, combined hexagonal frame, six parallel first moving pairs, three long sliders, three parallel second moving pairs, three A coaxial second revolving pair in groups of two, three support frames, three first spherical joints, a connecting platform, three first linear drive units with spherical joints at both ends, and three accumulators, among which The mounting base is a hollow hexagonal prism with a chassis, the area of which is larger than the area of the bottom of the hollow hexagonal prism, the chassis is fixedly connected with the hull deck, and the bottom of the combined hexagonal frame is fixedly connected with the chassis of the mounting base; three long The sliders have the same structure and are evenly distributed in the combined hexagonal frame. The long sliders are hollow structures, and each long slider is connected to the inner wall of the combined hexagonal frame through two parallel first moving pairs. The adjacent long sliders are sequentially coupled and connected by the second moving pair; the end of the telescopic rod of the first linear drive unit is connected with the extended end of the long slider through a ball joint, and the end of the first linear drive unit The end of the cylinder is connected to the top of the hollow hexagonal prism of the base through a ball joint, and the three accumulators are evenly arranged in the hollow hexagonal prism of the base; The pair is connected to the extended end of the long slider, and the two rotating pairs are coaxial; the upper end of the support frame is connected to the connecting platform through the first spherical joint; the directions of the six first moving pairs are parallel to each other and perpendicular to the installation On the seat plane, the directions of the three second moving pairs are parallel to each other and perpendicular to the plane of the mounting seat, and the axis directions of the three coaxial second rotating pairs in groups of two are perpendicular to the directions of the first and second moving pairs.

The second arrangement: the coupling-constrained three-degree-of-freedom parallel stable platform is installed upside down on the hull deck, and its internal composition and connection method are the same as the first arrangement; the difference of this arrangement is: the coupling-constrained three-degree-of-freedom parallel stabilize The platform is fixedly connected to the deck of the hull through the connecting platform, and the bottom of the transfer platform with slewing drive is connected to the chassis of the mounting seat of the coupling-constrained three-degree-of-freedom parallel stable platform through the first rotating pair, and the axis of the first rotating pair is perpendicular to the The flat surface of the mount chassis.

The first mobile pair and the second mobile pair adopt three methods:

The first method: the first and second moving pairs are combined dovetail guide rail pairs, which include a convex dovetail guide rail and a combined concave dovetail groove of equal length, wherein the combined concave dovetail groove includes a The sliding bottom plate and two long sliders with a right-angled trapezoidal cross-section, the oblique waists of the two long sliders are arranged symmetrically inward on the sliding bottom plate, and the three are connected to each other to form a combined concave dovetail groove; in the convex dovetail guide rail and The three contacting surfaces of the combined concave dovetail groove are provided with three wear-reducing strips; the convex dovetail guide rail and the combined concave dovetail groove are respectively set on the long slider edge and the The edges of the combined hexagonal frame and the two guide rails move together to form the first and second moving pairs.

The second way of realization: the first and second moving pairs are double guide rail slider guide rail pair; the double guide rail slider guide rail pair includes two parallel guide rails and two parallel sliders, and the two guide rails are respectively arranged on the above-mentioned first 1. The edge of the long slider where the second moving pair is located and the edge of the combined hexagonal frame, one of the sliders is fixed to the upper end of one guide rail, and the other slider is fixed to the lower end of the other guide rail. Cooperating with the slide block to move constitutes the first and second moving pairs.

The third implementation method: the first moving pair is a combined rolling guide rail pair; the combined rolling type guide rail pair includes three rollers and two long pressing plates, and the two parallel pressing plates are respectively set at the position of the first moving pair The edge of the long slider and the edge of the combined hexagonal frame, two of the rollers are set in the installation groove above the long pressure plate on the edge of the combined hexagonal frame, and the other roller is set under the other long pressure plate In the installation groove of the roller, the roller always rolls along the elongation direction of the long pressure plate during the movement, and the roller and the long pressure plate cooperate with each other to form the first moving pair.

The four-degree-of-freedom bridge arm can realize the rotation around the axis of the first rotating pair, the lifting and lowering of the first bridge arm, and the telescopic movement of the second and third bridge arms. The coupling-constrained three-degree-of-freedom parallel stabilized platform has two rotational degrees of freedom and one moving degree of freedom, which can compensate the ship's roll, pitch and heave motion; The sub can not only compensate the heave motion of the hull, but also solve the problem of reduced stiffness due to large strokes. In this way, the four-degree-of-freedom bridge arm can be erected between the ship and the target platform and kept relatively stable, thereby realizing the safe transfer of people or goods at sea.

Compared with existing related technologies, the present invention has the following characteristics:

1. Coupling constraints The three long sliders of the three-degree-of-freedom parallel stable platform are connected to the combined hexagonal frame through six parallel first moving pairs, and the adjacent long sliders are also coupled through the second moving pair connection, which greatly improves the overall stiffness of the coupled-constrained three-degree-of-freedom parallel stabilized platform.

2. The four implementation methods adopted by the first and second moving pairs reduce the contact area of the guide rail pair from a practical point of view, which greatly reduces the difficulty of processing and assembly caused by the coupling constraints of large strokes, and improves the feasibility of the scheme sex.

Description of drawings

Fig. 1 is the three-dimensional sketch map of embodiment 1 of the present invention;

Fig. 2 is a schematic diagram of the four-degree-of-freedom bridge arm of Fig. 1;

Fig. 3 is a schematic diagram of the coupling-constrained three-degree-of-freedom parallel stable platform of Fig. 1;

Fig. 4 is the sectional view of Fig. 3;

Fig. 5 is the top view of Fig. 3;

Fig. 6 is a schematic diagram of the combined dovetail guide rail pair in Fig. 5;

Fig. 7 is a sectional view of Fig. 6;

Fig. 8 is a top view of a coupling-constrained three-degree-of-freedom parallel stabilized platform according to Embodiment 2 of the present invention;

Fig. 9 is a schematic diagram of the double guide rail slider guide rail pair of Fig. 8;

Fig. 10 is a top view of the coupling-constrained three-degree-of-freedom parallel stabilized platform of Embodiment 3 of the present invention;

Fig. 11 is a cross-sectional view of the combined rolling guide rail pair of Fig. 10;

Fig. 12 is a schematic perspective view of Embodiment 4 of the present invention.

In the figure: 1. Coupling constrained three-degree-of-freedom parallel stable platform, 1-1. Mounting seat, 1-2. Combined hexagonal frame, 1-3. First moving pair, 1-3-1. Combined concave Dovetail groove, 1-3-2. Convex dovetail guide rail, 1-3-1-1. Sliding bottom plate, 1-3-1-2. Long slider, 1-3-1-3. Reduced slider, 1 -4. Long slider, 1-5. Second moving pair, 1-6. Second rotating pair, 1-7. Support frame, 1-8. First spherical joint, 1-9. Connecting platform, 1- 10. The first linear drive unit, 1-11. Accumulator, 1-12. Double guide rail slider guide pair, 1-12-1. Slider, 1-12-2. Guide rail, 1-13. Combination Rolling guide rail pair, 1-13-1. Cylindrical roller, 1-13-2. Long pressing plate, 2. Four-degree-of-freedom bridge arm, 2-1. Transfer platform, 2-2. The third rotating pair, 2- 3. The first bridge arm, 2-4. The third linear drive unit, 2-5. The second bridge arm, 2-6. The fourth linear drive unit, 2-7. The third bridge arm, 2-8. The first bridge arm Two spherical joint support seat, 2-9. The second spherical joint, 2-10. The fourth moving pair, 2-11. The third moving pair, 2-12. The second linear drive unit, 2-13. Camera and measuring Tachymeter, 3. The first rotating pair, 4. Deck.

detailed description

Example 1

In the schematic diagram of the coupling-constraint-compensated transfer bridge for sea personnel or cargo transfer shown in Figure 1, the bottom of the coupling-constraint three-degree-of-freedom parallel stable platform 1 is fixed on the deck 4 of the hull, and its upper end passes through the first rotating pair 3 Connect with the four-degree-of-freedom bridge arm 2;

As shown in Figure 2, the lower part of one end of the first bridge arm 2-3 in the four-degree-of-freedom bridge arm is connected with the transfer platform 2-1 through two coaxial third rotating pairs 2-2, and the second linear drive unit 2 The two ends of -12 are respectively connected to the transfer platform and the upper part of one end of the above-mentioned first bridge arm through ball joints; the second bridge arm 2-5 is connected to the first bridge arm through the third moving pair 2-11, and the third linear drive unit One end of the cylinder of 2-4 is fixedly connected to the bottom of the first bridge arm, and the end of the telescopic rod of the third linear drive unit is connected to the bottom of the second bridge arm through a ball joint; the third bridge arm 2-7 is connected to the bottom of the second bridge arm through the The four moving pairs 2-10 are connected with the second bridge arm, one end of the cylinder barrel of the fourth linear drive unit 2-6 is fixedly connected with the bottom of the second bridge arm, and the end of the telescopic rod of the fourth linear drive unit passes through a ball joint It is connected to the bottom of the third bridge arm, and the end of the free end of the third bridge arm is provided with a camera and a rangefinder 2-13. Through the camera and the rangefinder, it is convenient for personnel to control the four-degree-of-freedom bridge arm to dock with the target platform, and the second ball The hinge support base 2-8 is connected to the bottom of the third bridge arm through the second spherical hinge 2-9; the bottom of the transfer platform with a rotary drive is connected to the connection platform 1- 9 connected, and the axis of the first rotary pair is perpendicular to the connecting platform plane;

As shown in Fig. 3, Fig. 4 and Fig. 5, the mount 1-1 in the three-degree-of-freedom parallel stable platform with coupling constraints is a hollow hexagonal prism with a chassis, and the area of the chassis is greater than the area at the bottom of the hollow hexagonal prism , the chassis is fixedly connected with the hull deck, and the bottom of the combined hexagonal frame 1-2 is fixedly connected with the chassis of the mounting seat; The long sliders are hollow structures, and each long slider is connected to the inner wall of the combined hexagonal frame through two parallel first moving pairs 1-3, and the adjacent long sliders pass through the second moving pair 1 in turn. -5 coupling connection; the end of the telescopic rod of the first linear drive unit 1-10 is connected with the extended end of the long slider through a ball joint, and the end of the cylinder of the first linear drive unit is through a ball joint It is connected with the top of the hollow hexagonal prism of the base, and three accumulators 1-11 are arranged in the hollow hexagonal prism of the base; -6 is connected with the protruding end of the long slider, and the above two rotating pairs are coaxial; the upper end of the support frame is connected with the connecting platform 1-9 through the first spherical hinge 1-8; the above six first moving pair directions Parallel to each other and perpendicular to the plane of the mounting seat, the directions of the three second moving pairs are parallel to each other and perpendicular to the plane of the mounting seat, and the axis directions of the three coaxial second rotating pairs in groups of two are perpendicular to the first and second moving pairs direction;

As shown in Figures 6 and 7, the first and second moving pairs are combined dovetail guide rail pairs, which are composed of a convex dovetail guide rail 1-3-2 and a combined concave dovetail of equal length Groove 1-3-1, in which the combined concave dovetail groove consists of a sliding bottom plate 1-3-1-1, two long sliding bars 1-3-1-2 with right-angled trapezoidal section and three wear-reducing bars 1-3-1-3, the hypotenuses of the two long sliders are symmetrically installed on the sliding bottom plate, and the three are connected to each other to form a combined concave dovetail groove. The convex dovetail guide rail and the combined concave dovetail Three wear-reducing strips are provided on the three surfaces in contact with the grooves; the convex dovetail guide rail and the combined concave dovetail groove are respectively set on the edge of the long slider where the first and second moving pairs are located and the combined hexagonal frame The edge of the guide rail, and the moving direction of the guide rail is the same as the direction of the first and second moving pair, and the two guide rails move together to form the first and second moving pair.

Example 2

As shown in Figure 8, the tops of the extension ends of the three long sliders 1-4 are respectively provided with the bases of three coaxial second rotating pairs 1-6 in groups of two, and the six first moving pairs are double guide rail slides. Block guide rail pairs 1-12, the double guide rail slider guide rail pairs are parallel to each other and are all perpendicular to the plane of the mounting seat 1-1, and the three second moving pairs 1-12 are double guide rail slider guide rail pairs, the double guide rail slider The guide rail pairs are parallel to each other and are all perpendicular to the plane of the disc of the mounting seat. The axis direction of the coaxial second rotating pair in groups of two is perpendicular to the moving direction of the first and second moving pairs, and three pairs of two one The axes of the second rotary pair of the group are arranged in a triangle.

As shown in Figure 9, the first and second moving pairs are double guide rail slider guide rail pair 1-12; the double guide rail slider guide rail pair includes two parallel guide rails 1-12-2 and two sliders 1-12 -1. The two guide rails are respectively set on the edge of the long slider where the first and second moving pairs are located and the edge of the combined hexagonal frame. One slider is fixedly connected to the upper end of one guide rail, and the other slide The block is fixedly connected to the lower end of another guide rail, and the extension direction of the guide rail and the slider is the same as that of the first and second moving pairs, and the cooperative movement of the guide rail and the slider constitutes the first and second moving pairs.

Other components and connection methods are the same as in Embodiment 1.

Example 3

As shown in Figure 10, the tops of the extension ends of the three long sliders 1-4 are respectively provided with the bases of three coaxial second rotating pairs 1-6 in groups of two, and the six first moving pairs are combined rolling Type guide rail pairs 1-13 are parallel to each other and are all perpendicular to the plane of the mounting base 1-1, and the three second moving pairs are double guide rail slider guide rail pairs 1-12, and the double guide rail slider guide rail pairs are parallel to each other and are all perpendicular to The plane of the mounting seat 1-1, the axis direction of the coaxial second rotating pair in groups of two by two is perpendicular to the moving direction of the first and second moving pairs, and the axes of three second rotating pairs in groups of two by two Arranged in a triangle.

As shown in Figure 11, the first moving pair is a combination rolling guide rail pair 1-13; The pressure plates parallel to each other are respectively arranged on the edge of the long slider at the position of the above-mentioned first moving pair and the edge of the combined hexagonal frame, and two rollers are arranged above the long pressure plate on the edge of the combined hexagonal frame In the two installation grooves of the two rollers, the other roller is arranged in the installation groove below the other long pressure plate. During the movement, the roller always rolls along the elongation direction of the long pressure plate, and the roller and the long pressure plate cooperate with each other to form the first moving pair.

Other components and connection methods are the same as in Embodiment 2.

Example 4

As shown in Figure 12, the coupling-constrained three-degree-of-freedom parallel stable platform is fixedly connected to the deck of the hull through the connecting platform 1-9, and the bottom of the transfer platform 2-1 with rotary drive is connected to the coupling-constrained three-degree-of-freedom through the first rotating pair 3 The chassis of the mounting base of the parallel stable platform are connected, and the axis of the first rotating pair is perpendicular to the plane of the mounting base chassis;

Other components and connection methods are the same as in Embodiment 1.

Claims (6)

1. A coupling-constraint-compensated pick-up bridge for personnel or cargo transfer at sea, which includes a coupling-constraint three-degree-of-freedom parallel stable platform and a four-degree-of-freedom bridge arm, wherein the bottom of the coupling-constraint three-degree-of-freedom parallel stable platform is fixed On the deck of the hull, its upper end is connected with the four-degree-of-freedom bridge arm through the first rotating joint; the four-degree-of-freedom bridge arm includes a transfer platform with a rotary drive, two coaxial third rotating joints, two second Two linear drive units, the first bridge arm, the third movable pair, the third linear drive unit, the second bridge arm, the fourth movable pair, the fourth linear drive unit, the third bridge arm, the second spherical joint and the second spherical joint A hinge support seat; the lower part of one end of the first bridge arm is connected to the transfer platform through two coaxial third rotating pairs, and the two ends of the second linear drive unit are respectively connected to the transfer platform and the first bridge arm through a ball joint. The upper part is connected; the second bridge arm is connected with the first bridge arm through the third moving pair, one end of the cylinder barrel of the third linear drive unit is fixedly connected with the bottom of the first bridge arm, and the telescopic rod end of the third linear drive unit It is connected to the bottom of the second bridge arm through a ball joint; the third bridge arm is connected to the second bridge arm through the fourth moving pair, and one end of the cylinder of the fourth linear drive unit is fixedly connected to the bottom of the second bridge arm. The end of the telescopic rod of the four-linear drive unit is connected to the bottom of the third bridge arm through a ball joint; the support base of the second ball joint is connected to the bottom of the third bridge arm through a second ball joint; The first revolving pair is connected with the coupling-constrained three-degree-of-freedom parallel stable platform, and the feature is that the coupling-constrained three-degree-of-freedom parallel stable platform includes a mounting seat, a combined hexagonal frame, six parallel first moving pairs, three Long slider, three parallel second moving pairs, three coaxial second rotating pairs in groups of two, three supporting frames, three first spherical joints, connecting platform, three with spherical joints at both ends The first linear drive unit and three accumulators, wherein the installation seat is a hollow hexagonal prism with a chassis, the area of the chassis is larger than the area of the bottom of the hollow hexagonal prism, the chassis is fixedly connected with the hull deck, and the combined six The bottom of the edge frame is fixedly connected with the chassis of the mounting seat; the three long sliders have the same structure and are evenly distributed in the combined hexagonal frame. The long sliders are hollow structures, and each long slider passes through two parallel The first moving pair is connected to the inner wall of the combined hexagonal frame, and the adjacent long sliders are sequentially connected through the second moving pair; the end of the telescopic rod of the first linear drive unit is connected to the long slider through a ball joint The protruding ends are connected, and the end of the cylinder of the first linear drive unit is connected to the top of the hollow hexagonal prism of the base through a spherical joint, and the three accumulators are evenly arranged in the hollow hexagonal prism of the base; The frame is triangular, and the two ends of the lower part of the supporting frame are respectively connected to the extended end of the long slider through the second rotating pair, and the above two rotating pairs are coaxial; the upper end of the supporting frame is connected to the connecting platform through the first spherical joint; The directions of the above-mentioned six first moving pairs are parallel to each other and perpendicular to the plane of the mounting seat, the directions of the three second moving pairs are parallel to each other and perpendicular to the plane of the mounting seat, and the directions of the axes of the three coaxial second rotating pairs in pairs are vertical In the direction of the first and second moving pairs. 2. The coupling-constraint-compensated pick-up bridge for sea personnel or cargo transfer according to claim 1, characterized in that: the coupling-constraint three-degree-of-freedom parallel stable platform is fixedly connected to the deck of the hull through the connection platform, with The bottom of the rotary-driven transfer platform is connected to the chassis of the mounting seat of the coupling-constrained three-degree-of-freedom parallel stable platform through the first rotating pair, and the axis of the first rotating pair is perpendicular to the plane of the mounting base chassis. 3. The coupling-constraint-compensation pick-up bridge for sea personnel or cargo transfer according to claim 1 or 2, characterized in that: the first and second moving pairs are combined dovetail-shaped guide rail pairs; the combined The dovetail guide rail pair includes a convex dovetail guide rail and a combined concave dovetail groove of equal length, wherein the combined concave dovetail groove includes a sliding bottom plate and two long sliders with a right-angled trapezoidal section, and the two long sliders The oblique waist is arranged symmetrically inward on the sliding bottom plate, and the three are connected to each other to form a combined concave dovetail groove; there are three wear-reducing strips on the three surfaces where the convex dovetail guide rail and the combined concave dovetail groove are in contact; The convex dovetail guide rail and the combined concave dovetail groove are respectively arranged on the edge of the long slider where the first and second moving pairs are located and the edge of the combined hexagonal frame. The two guide rails move together to form the first , the second mobile pair. 4. The coupling-constraint-compensation pick-up bridge for sea personnel or cargo transfer according to claim 1 or 2, characterized in that: the first and second moving pairs are double guide rail slide block guide rail pairs; the double guide rails The slider guide rail pair includes two parallel guide rails and two parallel sliders, and the two guide rails are respectively arranged on the edge of the long slider where the first and second moving pairs are located and the edge of the combined hexagonal frame. One of the sliders is fixedly connected to the upper end of one guide rail, and the other slider is fixedly connected to the lower end of the other guide rail, and the guide rail and the slider move in cooperation to form the first and second moving pairs. 5. The coupling-constraint-compensation transfer bridge for sea personnel or cargo transfer according to claim 1 or 2, characterized in that: the first moving pair is a combined rolling guide rail pair; the combined rolling guide rail pair The pair includes three rollers and two long pressing plates, and the two parallel pressing plates are respectively arranged on the edge of the long slider at the position of the above-mentioned first moving pair and the edge of the combined hexagonal frame, and the two rollers are arranged on In the two installation grooves above the long pressing plate on the edge of the combined hexagonal frame, the other roller is arranged in the installation groove below the other long pressing plate. During the movement, the roller always rolls along the elongation direction of the long pressing plate. Pressing plates cooperate with each other to form the first moving pair. 6. The coupling-constraint-compensated pick-up bridge for sea personnel or cargo transfer according to claim 1 or 2, characterized in that: a camera is arranged at the end of the free end of the third bridge arm of the four-degree-of-freedom bridge arm and rangefinder.