CN106240764A - Compensation of undulation special purpose robot and compensation of undulation method - Google Patents

Abstract

The present invention discloses a kind of special purpose robot and the compensation of undulation method in marine ships field of operation with compensation of undulation function; forearm front end connects Wrist mechanism rear end; Wrist mechanism front end is rigidly connected end effector driver; the rear end of Wrist mechanism comprises first, second driver; front end comprises a differential attachment and two support arms; centre is bracing frame; bracing frame is affixed with forearm front end; two support arms of the affixed right layout of the first from left in front side of bracing frame, are differential attachments between two support arms；Differential attachment is made up of four bevel gears, a yawing axis and two pitching driving shafts, yawing axis is arranged vertically up and down, the centrage of first, second pitching driving shaft centerline collineation and yawing axis is perpendicular and the first from left right side is arranged symmetrically in the both sides of yawing axis, Wrist mechanism possesses independent three degree of freedom, make robot obtain more attitude, stormy waves the rolling of the boats and ships caused, pitching and yawing can be carried out real-Time Compensation.

Description

Special robot for heave compensation and heave compensation method

technical field

The invention relates to the technical field of offshore ship operations, in particular to a special-purpose robot with a wave compensation function.

Background technique

The activities of ships on the ocean are different from those on land. Ships will fluctuate irregularly with the waves, resulting in changes in their relative positions. How to isolate the disturbance is to compensate for the fluctuations caused by waves, so as to ensure the stability and safety of ocean operations. Activities in the ocean range are of great significance.

At present, the application of wave compensation robots is mainly concentrated in drilling operations on offshore platforms, offshore cargo lifting, offshore wind power generation, submersible recovery and lifting, and material transfer between ships. Most of the wave compensating robots adopt the form of parallel platform, which has the advantages of high rigidity, strong bearing capacity, high precision, and small terminal inertia. For example, the Amplemann motion compensation gangway system on the ship is a wave compensation system based on the Steward platform. It uses hydraulic and pneumatic devices to achieve compensation, but the space required for installation and its own mass are large, the movement space is small, and the operating range is limited. Small and, due to size, cannot fit in a corrosion-resistant hull or hull. At the same time, the base of the traditional tandem robot is fixed, and the maximum working range is limited. The traditional tandem robot wrist has a complex structure and a large overall weight, and the weight of the latter degree of freedom mechanism becomes the load of the former degree of freedom mechanism, and it is easy to cause the rotation axes of the wrist to disjoint or produce offset distances, which brings difficulties to the robot wrist control and Low level of integration.

Contents of the invention

The present invention aims to provide a series multi-degree-of-freedom robot with wave compensation function. The robot has the function of wave compensation, which can realize real-time compensation for roll, pitch and yaw caused by wind and waves, so as to ensure that the terminal does not follow the ship. The ship shakes due to the wind and waves at sea. The invention also provides a wave compensation method for the robot.

In order to achieve the above-mentioned purpose, the technical scheme adopted by the special robot for wave compensation of the present invention is: it has a forearm, a wrist mechanism, an end effector driver and an end effector, the front end of the forearm is connected to the rear end of the wrist mechanism, and the front end of the wrist mechanism is rigidly connected to the end effector. Driver, end effector The driver is connected to the end effector. The wrist mechanism in the initial position is parallel to the deck of the ship. The front end of the wrist mechanism points to the front of the bow. The driving mechanism and two support arms, the middle is a support frame, the support frame is fixedly connected to the front end of the forearm, the middle position of the support frame is fixedly connected to the drive frame, the first and second drivers are arranged oppositely on the left and right sides of the drive frame and Commonly connected to the drive frame, the central axes of the first and second drivers are arranged horizontally on the left and right; the front side of the support frame is fixedly connected with two support arms arranged on the left and the right, and a differential mechanism is between the two support arms; The moving mechanism is composed of four bevel gears, one yaw shaft and two pitch drive shafts. The yaw shafts are arranged vertically up and down. Right-symmetrically arranged on both sides of the yaw axis, one end of the first and second pitch drive shafts is jointly rotatably connected to the differential mechanism support block, and the other end is supported on the corresponding support arm on the same side, and the middle section of the yaw axis is coaxial The gap passes through the center hole of the support block of the differential mechanism, the upper section of the yaw shaft is coaxially connected to the third bevel gear through the bearing, and the lower section of the yaw shaft is coaxially fixedly connected to the first bevel gear; the first pitch driving shaft is coaxially fixed Set the second bevel gear and the first pulley that are affixed to each other, the fourth bevel gear and the third pulley that are coaxially fixed on the second pitch drive shaft and the set that is affixed to each other, the first bevel gear and the second The bevel gear and the fourth bevel gear are all meshed, and the third bevel gear is also meshed with the second bevel gear and the fourth bevel gear; the output shaft of the first driver is coaxially fixedly connected to the fourth pulley, and the output of the second driver The shaft is coaxially fixedly connected to the second pulley, the first pulley is connected to the second pulley through the first toothed belt, the third pulley is connected to the fourth pulley through the second toothed belt; the bevel gear is fixed to the end through the connecting piece actuator drive.

The technical scheme adopted by the wave compensation method of the special robot for wave compensation includes the following steps:

A. The steering and rotating speed of the first and second drivers are the same, the steering and rotating speed of the first pulley and the third pulley are the same, and the first bevel gear rotates around the first and second pitching drive shafts to realize pitching motion, which is beneficial to the ship's pitch compensation;

B. The rotational speeds of the first and second drivers are the same but the steering is opposite. The rotational speed of the first pulley and the third pulley are the same but the steering is opposite. The first bevel gear rotates around the deflection axis to compensate for the roll of the ship;

C. The speeds of the first and second drives are different, and the speeds of the first pulley and the third pulley are different, and the motion is synthesized in the two directions of pitch and deflection to compensate the yaw of the ship.

The advantage that the present invention has is:

1. The special robot for wave compensation of the present invention has a new serial structure for real-time compensation of the roll, pitch and yaw of the ship caused by wind and waves. The traditional serial mechanical arm is connected to the wrist mechanism at the end of the forearm. The end of the wrist mechanism The structure of the end effector connected to the robot further increases the working space and flexibility of the robot, and can keep the end of the robot stable without being affected by wave motion.

2. When the special robot for wave compensation of the present invention performs a stabilization task on a ship, the wrist mechanism has three independent degrees of freedom, so that the end of the robot is flexible and can obtain more postures to achieve angle compensation.

3. The structure of the special robot for wave compensation of the present invention is simple and compact, with high integration and light overall weight, and can perform large-scale real-time compensation for the roll, pitch and yaw of the ship.

4. The present invention can realize the overall position adjustment of the robot by adjusting the guide rail.

Description of drawings

Fig. 1 is the front view of the special robot for wave compensation of the present invention;

Fig. 2 is a three-dimensional structure enlarged schematic diagram of the wrist mechanism 7 in Fig. 1;

Fig. 3 is a top view of the structure of the wrist mechanism 7 in Fig. 2;

Fig. 4 is A-A to sectional view among Fig. 3;

Fig. 5 is a structural axonometric view of wrist mechanism 7 in Fig. 3;

Fig. 6 is the front view of the first driver and the second driver and their connecting parts in Fig. 3;

FIG. 7 is an enlarged cross-sectional view along the direction B-B of the first driver in FIG. 6 .

In the figure: 1. Longitudinal guide rail combination; 2. Horizontal guide rail combination; 3. Robotic arm base; 4. Big arm; 5. Connecting arm; 6. Small arm; 7. Wrist mechanism; 8. End effector driver; 9. End actuator; 10. The first driver; 11. The first motor; 13. The first steel wheel; 14. The first flex wheel; 15. The first harmonic generator; 16. The output shaft of the first motor; 17. The first Two pulleys; 18. The second driver; 19. The second motor; 21. The second steel wheel; 22. The second flexible wheel; 23. The second harmonic generator; 24. The second motor output shaft; 25. The second Four pulleys; 26. Drive frame; 31. The first toothed belt; 32. The second toothed belt; 33. Support frame; 34, 35. Support arm; 37. Position sensor; 38. The first pitch drive shaft; 39. The second pitch drive shaft; 40. The first pulley; 41. The third pulley; 42. Differential mechanism; 43, 44, 45, 46, 47, 48. Pins; 49. The first bevel gear; 50 . The second bevel gear; 51. The third bevel gear; 52. The fourth bevel gear; 55. The deflection shaft; 56. The support block of the differential mechanism; 58. The connecting piece.

detailed description

Refer to the special robot for wave compensation shown in Figure 1. The bottom is the adjustment guide rail. The adjustment guide rail is composed of the longitudinal guide rail combination 1 and the horizontal guide rail combination 2. The lower part is the longitudinal guide rail combination 1, and the upper part is the horizontal guide rail 2. The adjustment guide rail passes through the lower longitudinal guide rail. Combination 1 is fixed on the ship deck with bolts. The upper end of the adjustment guide rail is a mechanical arm, and the mechanical arm is mainly composed of a mechanical arm base 3, a large arm 4, a connecting arm 5, and a small arm 6. The mechanical arm base 3 is fixed on the adjustment guide rail by bolts, so that the whole mechanical arm is connected to the adjustment guide rail through the mechanical arm base 3 . A position sensor is installed at the center of the base 3 of the manipulator to detect the roll, pitch and heave of the robot as the ship is affected by wind and waves, and provide data for the control of the robot. The lower end of the big arm 4 is rotatably connected to the mechanical arm base 3, the lower end of the connecting arm 5 is rotatably connected to the upper end of the big arm 4, the rear end of the small arm 6 is rotatably connected to the upper end of the connecting arm 5, and the front end of the small arm 6 is connected to the wrist mechanism 7. Rear end, the rear end of wrist mechanism 7 is installed in the housing of the front end of forearm 6, and the rear end of wrist mechanism 7 is rigidly connected with forearm 6 front ends by bolt. The front end of the wrist mechanism 7 is rigidly connected to the end effector driver 8 through screws, and the end effector driver 8 is connected to the end effector 9 . When in the initial position, the wrist mechanism 7 is parallel to the deck of the ship, and the front end of the wrist mechanism 7 points to the direction directly ahead of the bow of the ship.

Establish a space Cartesian coordinate system as shown in Figure 1. At the initial position, the horizontal centerline of the front end of the wrist mechanism 7 points to the front of the bow, and the horizontal centerline of the wrist mechanism 7 is the z-axis, and the positive direction of the z-axis points to the bow. The forward direction of the y-axis is the direction perpendicular to the deck of the ship, and the positive direction of the y-axis is perpendicular to the deck. In space, the direction perpendicular to the y-axis and the z-axis is the direction of the x-axis, and the direction of the x-axis is The left and right direction of the ship.

The structure of the wrist mechanism 7 shown in Figures 2 and 3, the rear end of the wrist mechanism 7 includes a first driver 10 and a second driver 18, the middle is a support frame 33, and the front end includes a differential mechanism 42 and two support arms 34, 35. The position sensor 37 is fixed on the support arm 35 by bolts to detect the position of the wrist mechanism 7 . Wherein, the support frame 33 is fixedly connected to the front end of the forearm 6 of the mechanical arm through bolts. There are driving frame 26 , first driver 10 and second driver 18 on the rear side of support frame 33 . The driving frame 26 is fixedly connected to the middle position of the support frame 33 by bolts. The first driver 10 and the second driver 18 are arranged oppositely on the left and right sides of the driving frame 26 and are jointly connected on the driving frame 26. The first driver 10 is in the On the right side of the driving frame 26, the second driver 18 is on the left side of the driving frame 26, and the central axes of the first driver 10 and the second driver 18 are arranged horizontally. The first driver 10 , the second driver 18 and the driving frame 26 are all located inside the housing at the front end of the small arm 6 . There are two support arms 34,35 on the front side of the support frame 33, and the two support arms 34,35 are fixedly welded on the support frame 33, one left and one right, and there is a differential between the two support arms 34,35. agency42.

As shown in FIG. 3 , FIG. 4 and FIG. 5 , the differential mechanism 42 is composed of four bevel gears, one deflection shaft 55 and two pitch driving shafts. Among them, the four bevel gears are respectively the first bevel gear 49, the second bevel gear 50, the third bevel gear 51 and the fourth bevel gear 52, and the two pitching drive shafts are respectively the first pitching drive shaft 38 and the second pitching drive shaft. Axis 39. The deflection axis 55 is arranged vertically up and down, that is, the centerline of the deflection axis 55 is arranged along the Y-axis direction, and the first pitch drive axis 38 and the second pitch drive axis 39 are symmetrically arranged on the left and right sides of the deflection axis 55, and The center lines of the first pitch drive shaft 38 and the second pitch drive shaft 39 are perpendicular to the center line of the yaw shaft 55, that is, the center lines of the two pitch drive shafts are arranged along the X-axis direction, and the centers of the two pitch drive shafts The lines are collinear. The right end of the first pitch drive shaft 38 and the left end of the second pitch drive shaft 39 are jointly rotatably connected to a differential mechanism support block 56 , and the other end is supported on the corresponding support arm 34 or support arm 35 on the same side. The middle section of the deflection shaft 55 coaxially passes through the central hole of the differential mechanism support block 56 with a gap, and the upper section of the deflection shaft 55 is coaxially connected to the third bevel gear 51 through a bearing, and the lower section of the deflection shaft 55 is coaxially connected to the third bevel gear 51. The first bevel gear 49 is fixedly set, and the deflection shaft 55 is fixedly connected with the first bevel gear 49 through the pin 43 and the pin 44 . A bevel gear and a belt pulley are respectively coaxially fixedly fitted on each pitch driving shaft, specifically a second bevel gear 50 and a first pulley 40 are coaxially fixedly fitted on the first pitch driving shaft 38, and the second The fourth bevel gear 52 and the third pulley 41 are coaxially fixed on the pitch driving shaft 39 . Moreover, the first pulley 40 is affixed to the second bevel gear 50 through pins 45 and 46 , and the third pulley 41 is affixed to the fourth bevel gear 52 through pins 47 and 48 . The first bevel gear 49 meshes with the second bevel gear 50 and the fourth bevel gear 52 on the left and right sides, and the third bevel gear 51 also meshes with the second bevel gear 50 and the fourth bevel gear 52 on the left and right sides.

The output shaft of the first driver 10 is fixedly connected to the fourth pulley 25 coaxially, the output shaft of the second driver 18 is fixedly connected to the second pulley 17 coaxially, and the first driver 10 and the second driver 18 provide power for the wrist mechanism 7 . The first pulley 40 on the left side connects the second pulley 17 on the left side by the first toothed belt 31 on the left side, and the second driver 18 passes through the second pulley 17, the first toothed belt 31, the first pulley 40 drives the first pitch drive shaft 38 to rotate. The third pulley 41 on the right side connects the fourth pulley 25 on the right side by the second toothed belt 32 on the right side, and the first driver 10 passes through the fourth pulley 25, the second toothed belt 32, the third pulley 41 drives the second pitch drive shaft 39 to rotate.

The bevel gear 49 is fixed to the rear end of the connecting piece 58 through bolts, the end effector driver 8 is fixed to the front end of the connecting piece 58 through bolts, the bevel gear 49 drives the end effector driver 8 to rotate, and the end effector 9 is fixedly welded to the end effector on drive 8. When the end effector driver 8 works, the end effector 9 can be rotated around the z axis. Thus, under the combined action of the wrist mechanism 7 and the end effector driver 8 , the end effector 9 is driven to rotate along the three axes of x, y, and z.

The first pulley 40, the second pulley 17, the third pulley 41 and the fourth pulley 25 are all synchronous pulleys. Under the action of the second bevel gear 50 and the fourth bevel gear 52 fixedly connected to the first pulley 40 and the third pulley 41, the first bevel gear 49 meshed with the second bevel gear 50 and the fourth bevel gear 52 Rotate around the first pitch drive shaft 38 and the second pitch drive shaft 39 , that is, rotate around the x-axis, to realize the pitch motion of the wrist. When the first pulley 40 and the third pulley 41 rotate at the same speed but turn in opposite directions, under the action of the second bevel gear 50 and the fourth bevel gear 52, the first bevel gear 49 rotates around the deflection axis 55, that is, around the y-axis Rotate to achieve a deflection motion of the wrist. When the rotational speeds of the first pulley 40 and the third pulley 41 are different, a synthetic motion of the wrist in pitch and deflection directions is formed.

The centerlines of the first pitching drive shaft 38 and the second pitching drive shaft 39 are in the X-axis direction, the centerlines of the yaw axis 55 are in the Y-axis direction, and the centerlines of the end effector driver 8 are in the Z-axis direction. The centerlines are perpendicular to each other and intersect at one point, which is also the origin of the intersecting X-axis, Y-axis and Z-axis.

As shown in Figure 6 and Figure 3, the first driver 10 is composed of a first motor 11 and a first harmonic reducer, wherein the first harmonic reducer is composed of a first steel wheel 13, a first flex spline 14 and a first A harmonic generator 15 is made up; Similarly, the second drive 18 is made up of the second motor 19 and the second harmonic reducer, wherein the second harmonic reducer is composed of the second steel wheel 21, the second flexible wheel 22 And the second harmonic generator 23 is formed; the housing of the first motor 11, the second motor 19 and the driving frame 26 are fixedly connected by bolts, and the first motor 11 and the second motor 19 adopt miniature DC brushless disc motors. Both the first steel wheel 13 and the second steel wheel 21 are fixed on the driving frame 26 . The first motor output shaft 16 of the first motor 11 is the output shaft of the first driver 10, the first harmonic generator 15 is fixedly installed on the first motor output shaft 16, and the first flexible spline 14 is coaxially sleeved on the first motor output shaft 16. On the harmonic generator 15, the first steel wheel 13 is coaxially sleeved on the first flexible spline 14; the second motor output shaft 24 of the second motor 19 is the output shaft of the second driver 18, and the second motor output shaft 24 is The second harmonic generator 23 is fixedly installed, the second flexspline 22 is coaxially sleeved on the second harmonic generator 23 , and the second steel wheel 21 is coaxially sleeved on the second flexspline 22 . The output shaft 16 of the first motor points to the positive direction of the x-axis, and the output shaft 24 of the second motor points to the negative direction of the x-axis.

As shown in the structure of the first driver 10 in Figure 7, the first motor 11 is fixed on the drive frame 26 by bolts, the first motor output shaft 16 is fixed with the first harmonic generator 15, and the first flex spline 14 is coaxial Set outside the first harmonic generator 15 , the first steel wheel 13 is set on the first flex spline 14 , and the first steel wheel 13 is also fixedly connected to the driving frame 26 at the same time. The first motor output shaft 16 drives the first harmonic generator 15 to rotate, and the first flex spline 14 and the second pulley 17 output and rotate together.

When the ship is driving at sea, the motion parameters of roll, pitch and yaw of the ship are measured by the position and attitude sensor and transmitted to the motion controller in real time. The motion controller calculates the roll, pitch and And the compensation value of yaw, the calculated wave compensation value is converted from a digital signal to an analog signal by a digital/analog converter, and the analog signal is transmitted to the motion controller of the joint after the servo amplifier, and the motion controller is based on the processed analog signal Control the movement of each motor to realize real-time compensation for the ship's roll, pitch and yaw, and ensure the stability of the terminal. Due to the action of wind and waves, the ship will roll, pitch and yaw. Roll is the rotation around the z-axis, pitch is the rotation around the x-axis, and yaw is the combined swing around the x-axis and z-axis. In order to make some compensation for the roll, pitch and yaw of the ship, different settings of the motor are required. Since the second pulley 17 is fixedly connected to the first motor output shaft 16, and is connected to the first pulley 40 through the first toothed belt 31, the first pulley 40 is fixedly connected to the first pitch drive shaft 38, through The first toothed belt 31 transmits power. The fourth pulley 41 is fixedly connected to the output shaft 24 of the second motor, and is connected to the third pulley 41 through the second toothed belt 32; Two toothed belts 32 transmit power. When the first motor output shaft 16 and the second motor output shaft 24 turned to the same rotation speed, that is, the first pulley 40 and the third pulley 41 turned to the same rotation speed, the first bevel gear 49 rotated around the first pitch drive shaft 38 and The second pitching drive axis 39 rotates to realize the pitching motion of the wrist, that is, to rotate around the x-axis to compensate the pitching of the ship. When the first motor output shaft 16 and the second motor output shaft 24 rotate at the same speed but turn oppositely, the first pulley 40 and the third pulley 41 rotate at the same speed but turn oppositely, that is, the first toothed belt 31 and the second toothed belt 32 When the rotational speed is the same but the steering is opposite, the first bevel gear 49 rotates around the deflection axis 55 to realize the deflection movement of the wrist, that is, rotate around the y-axis. When the end effector driver 8 is working, it drives the end effector 9 to rotate around the z-axis to realize the compensation for the roll of the ship. When the rotation speeds of the first motor output shaft 16 and the second motor output shaft 24 are different, that is, when the rotation speeds of the first pulley 40 and the third pulley 41 are different, the combined motion of the wrist in the two directions of pitch and deflection is formed, that is, the rotation of the ship Yaw compensation. In order to make the robot of the present invention have a larger working space on the deck, the longitudinal guide rail combination 1 of the adjustment guide rail and the transverse guide rail combination 2 of the adjustment guide rail can be used to make the manipulator move on the deck.

Claims (5)

1. A special robot for wave compensation, which has a small arm (6), a wrist mechanism (7), an end effector driver (8) and an end effector (9). The front end of the small arm (6) is connected to the rear of the wrist mechanism (7). end, the front end of the wrist mechanism (7) is rigidly connected to the end effector driver (8), and the end effector driver (8) is connected to the end effector mechanism (9). The wrist mechanism (7) in the initial position is parallel to the ship deck, and the wrist mechanism (7) The front end points to the forward direction of the bow, which is characterized in that: the rear end of the wrist mechanism (7) includes the first and second drivers (10, 18), and the front end includes a differential mechanism (42) and two support arms (34, 35), the middle is a support frame (33), the support frame (33) is fixedly connected to the front end of the forearm (6), and the middle position of the support frame (33) is fixedly connected to the drive frame (26), the first and second The drivers (10, 18) are arranged oppositely on the left and right sides of the drive frame (26) and are jointly connected to the drive frame (26). The central axes of the first and second drivers (10, 18) are arranged horizontally on the left and right; the support frame The front side of (33) is fixedly connected with two support arms (34, 35) arranged on the left and right, and a differential mechanism (42) is between the two support arms (34, 35); the differential mechanism (42) It is composed of four bevel gears, one yaw shaft (55) and two pitch drive shafts, the yaw shaft (55) is arranged vertically up and down, and the center lines of the first and second pitch drive shafts (38, 39) are collinear with the yaw shaft The center lines of (55) are vertical and symmetrically arranged on both sides of the yaw axis (55) from left to right, and one end of the first and second pitch drive shafts (38, 39) is jointly rotatably connected to the support block of the differential mechanism (56), the other end is supported on the corresponding support arm (34, 35) on the same side, the coaxial gap in the middle section of the deflection shaft (55) passes through the center hole of the differential mechanism support block (56), and the deflection shaft (55 ) is coaxially connected to the third bevel gear (51) through bearings, and the lower section of the deflection shaft (55) is coaxially fixedly connected to the first bevel gear (49); the coaxial fixed set on the first pitch drive shaft (38) The second bevel gear (50) and the first pulley (40) that are affixed to each other, the fourth bevel gear (52) that is affixed to each other in the coaxial fixed sleeve on the second pitch drive shaft (39) and the first belt pulley (40). Three pulleys (41), the first bevel gear (49) meshes with the second bevel gear (50), the fourth bevel gear (52), the third bevel gear (51) and the second bevel gear (50), The fourth bevel gears (52) are also meshed; the output shaft of the first driver (10) is coaxially fixedly connected to the fourth pulley (25), and the output shaft of the second driver (18) is coaxially fixedly connected to the second pulley (17), the first pulley (40) is connected to the second pulley (17) through the first toothed belt (31), and the third pulley (41) is connected to the fourth pulley through the second toothed belt (32) (25); the bevel gear (49) is affixed to the end effector driver (8) through the connector (58). 2. The special robot for wave compensation according to claim 1, characterized in that: the first and second drivers (10, 18) are respectively composed of motors, steel wheels, flex splines and harmonic generators, and the two steel wheels are Fixed on the drive frame (26), the output shaft of the first motor (16) is the output shaft of the first driver (10), on which the first harmonic generator (15), the first flexible spline (14) Coaxially set on the first harmonic generator (15), the first steel wheel (13) is coaxially set on the first flexible spline (14); the second motor output shaft (24) is the second driver (18) The output shaft is fixed with the second harmonic generator (23), the second flexible spline (22) is coaxially sleeved on the second harmonic generator (23), and the second steel wheel (21) is coaxial Set on the second flexible wheel (22). 3. The special robot for wave compensation according to claim 1, characterized in that: the rear end of the small arm (6) is rotatably connected to the upper end of the connecting arm (5), and the lower end of the connecting arm (5) is rotatably connected to the big arm (4) The upper end and the lower end of the big arm (4) are rotatably connected to the base of the mechanical arm (3), and the base of the mechanical arm (3) is fixedly connected to the adjustment guide rail fixed on the deck of the ship. 4. The special robot for wave compensation according to claim 1, characterized in that: the first pulley (40), the second pulley (17), the third pulley (41) and the fourth pulley (25) are all Pulley. 5. A heave compensation method of the special robot for heave compensation according to claim 1, characterized in that it comprises the following steps: A. The steering and rotating speed of the first and second drivers (10, 18) are the same, the steering and rotating speed of the first pulley (40) and the third pulley (41) are the same, and the first bevel gear (49) rotates around the first, The second pitching drive shaft (38, 39) rotates to realize the pitching motion and compensate the pitching of the ship; B. The rotational speeds of the first and second drivers (10, 18) are the same but the steering is opposite. The first pulley (40) and the third pulley (41) have the same rotational speed but the steering is opposite. The first bevel gear (49) is eccentric The rotating shaft (55) rotates to compensate the roll of the ship; C. The rotational speeds of the first and second drivers (10, 18) are different, and the rotational speeds of the first pulley (40) and the third pulley (41) are different, and the synthetic motion in the two directions of pitch and deflection is performed on the yaw of the ship. compensate.