CN108862056B - Marine A type portal base of wave compensation - Google Patents
Marine A type portal base of wave compensation Download PDFInfo
- Publication number
- CN108862056B CN108862056B CN201810971399.6A CN201810971399A CN108862056B CN 108862056 B CN108862056 B CN 108862056B CN 201810971399 A CN201810971399 A CN 201810971399A CN 108862056 B CN108862056 B CN 108862056B
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- base
- frame
- swing
- servo hydraulic
- hydraulic cylinder
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- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 210000001503 joint Anatomy 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C5/00—Base supporting structures with legs
- B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
Abstract
The invention relates to a wave compensation marine A-shaped portal base, which is arranged on a shipboard of a ship body; the telescopic bracket is arranged on the upper surface of one end of the base, and the gesture sensor is also arranged on the upper surface of the base; the telescopic frame comprises swinging frames hinged with the base and symmetrically arranged at two sides of the base, and a movable frame is sleeved in an inner cavity at the other end of the swinging frame; the cross beam is connected with a movable frame far away from one end of the swing frame, and a connector hanging piece is further arranged on the cross beam; the marine A-shaped portal base of wave compensation still includes servo drive mechanism A that drives the movable frame and stretch out and draw back along the swing frame, servo drive mechanism B that drives the swing of expansion bracket and servo drive mechanism C that drives connector hanger and do lateral movement along the crossbeam. The invention has the advantages that: the A-shaped portal frame base for the wave compensation ship can safely and stably hoist and recover equipment under the condition of high sea conditions.
Description
Technical Field
The invention belongs to the technical field of ship engineering, relates to an A-shaped portal frame for a marine ship, and particularly relates to an A-shaped portal frame base for a wave compensation ship.
Background
Various unmanned submersible vehicles are important tools for developing the ocean by human beings, and the hoisting system is used as important supporting equipment of the unmanned submersible vehicle, so that the unmanned submersible vehicle plays a decisive role in the ocean operation efficiency. Various retraction systems of marine vessels are currently in widespread use, with the most typical lifting devices being the type a portal.
The existing A-shaped portal frame is mainly used for carrying out simple heave wave compensation through the retraction and the extension of a lifting cable by matching with a constant tension winch, so that most of the existing A-shaped portal frame can only work under low sea conditions and cannot meet the production and work demands of people under high sea conditions; part of A-shaped portal frames are also provided with a vibration-reducing buffer device mounted on the cross beam, but the device belongs to passive wave compensation, has obvious hysteresis and poor precision, and has larger mass, so that the load of a system is increased.
Therefore, it is very necessary to develop a wave compensated marine mast base that enables safe and smooth lifting and retrieving of equipment in high sea conditions.
Disclosure of Invention
The invention aims to solve the technical problem of providing the wave compensation marine A-shaped portal frame base which can safely and stably hoist and recycle equipment under the condition of high sea conditions.
In order to solve the technical problems, the technical scheme of the invention is as follows: a wave compensation ship A-shaped portal base is arranged on a ship board of a ship body; the innovation point is that: comprises a base, a telescopic frame and a cross beam,
the upper surface of one end of the base is provided with a telescopic bracket, and the upper surface of the base is also provided with a gesture sensor;
the telescopic frame comprises swinging frames hinged with the base and symmetrically arranged at two sides of the base, and a movable frame is sleeved in an inner cavity at the other end of the swinging frame; the cross beam is connected with a movable frame far away from one end of the swing frame, and a connector hanging piece is further arranged on the cross beam;
the marine A-shaped portal base of wave compensation still includes servo drive mechanism A that drives the movable frame and stretch out and draw back along the swing frame, servo drive mechanism B that drives the swing of expansion bracket and servo drive mechanism C that drives connector hanger and do lateral movement along the crossbeam.
Further, the servo driving mechanism A comprises two telescopic servo hydraulic cylinders with linear displacement sensors, one ends of the telescopic servo hydraulic cylinders are hinged to the swing frame, and the other ends of the telescopic servo hydraulic cylinders are hinged to the movable frame.
Further, the servo driving mechanism B comprises two swing servo hydraulic cylinders with linear displacement sensors, one ends of the swing servo hydraulic cylinders are hinged to the base, and the other ends of the swing servo hydraulic cylinders are hinged to the swing frame.
Further, connector hanger and crossbeam sliding connection, servo actuating mechanism C is the crossbeam servo pneumatic cylinder that has linear displacement sensor, and crossbeam servo pneumatic cylinder and connector hanger fixed connection.
Further, the servo driving mechanism B comprises four swing servo hydraulic cylinders with linear displacement sensors, each two swing servo hydraulic cylinders form a swing servo hydraulic cylinder group, the bottoms of two swing servo hydraulic cylinders in each swing servo hydraulic cylinder group are hinged with the base through a rotary pin with two degrees of freedom, and the tops of the two swing servo hydraulic cylinders are connected with the fixed end of the swing frame through a movable connector with two degrees of freedom.
Further, the connector hanger is fixedly connected with the cross beam, and the servo driving mechanism C for driving the connector hanger to transversely move along the cross beam is the servo driving mechanism B.
Further, the cross beam is fixedly connected with a movable frame far away from one end of the swinging frame.
Further, two ends of the cross beam are hinged to a movable part far away from one end of the swing frame.
The invention has the advantages that:
(1) According to the wave compensation marine A-shaped portal frame base, accurate values of the swing and displacement of a mother ship are monitored in real time through the attitude sensor on the base and are transmitted to the controller, the controller calculates the compensation quantity and then cooperatively compensates the motion of the mother ship through controlling each servo driving mechanism so as to keep the portal frame cross beam horizontal and fixed in relative positions, and then the equipment can be safely and stably hoisted and recovered under the condition of high sea conditions;
(2) The wave compensation ship A-shaped portal frame base can compensate four degrees of freedom of heave, sway, heave and roll of a ship caused by wind and waves in real time, the wave compensation platform adopts a layout mode of installing five servo hydraulic cylinders, can meet the requirement of high-precision compensation on a ship body, has larger bearing capacity, has the advantages of high stability, high precision, strong bearing capacity and the like, can keep the lifting and recovering in a relatively stable state under the condition that the ship body swings variably, provides a safe and stable working environment for workers, ensures the safety of equipment, and has the advantages of high precision, strong reliability, integrated functions and the like;
(3) The wave compensation marine A-shaped portal frame base can compensate five degrees of freedom of heave, sway, heave, pitching and rolling of a ship caused by wind and waves in real time, and the wave compensation platform adopts a layout mode of four swing servo hydraulic cylinders and two telescopic servo hydraulic cylinders, so that the load of a single hydraulic cylinder is reduced, the whole portal frame is more stable when receiving impact load, and the whole device is reliable in structure, simple in principle and easy to implement.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
Fig. 1 is a schematic structural view of a mast base for a wave compensation vessel according to example 1.
Fig. 2 is a control flow chart of the a-type portal base for the wave compensation vessel of example 1.
Fig. 3 is a schematic structural view of a mast base for a wave compensation boat of example 2.
Fig. 4 is a control flow chart of the a-type gantry base for the wave compensation vessel of example 2.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the present invention and are not intended to limit the invention to the embodiments described.
Example 1
The wave compensation ship A-shaped portal frame base is a four-degree-of-freedom wave compensation ship A-shaped portal frame, and the wave compensation ship A-shaped portal frame base is arranged on a ship board of a ship body; comprises a base 1, a telescopic frame 2 and a cross beam 3.
The upper surface of one end of base 1 is provided with expansion bracket 2, and the upper surface of base 1 still is provided with gesture sensor 8.
The telescopic frame 2 comprises swinging frames 21 hinged with the base 1 and symmetrically arranged at two sides of the base 1, the swinging frames 21 can rotate around a plane, and a movable frame 22 is sleeved in an inner cavity at the other end of the swinging frame 21; the beam 3 is fixedly connected with a movable frame 22 far away from one end of the swinging frame 21, the beam 3 is sleeved with a connector hanging piece 4 in a sliding manner, and the connector hanging piece 4 is fixedly connected with a beam servo hydraulic cylinder 5 with a linear displacement sensor, which drives the connector hanging piece 4 to transversely move along the beam 3.
The A-shaped portal frame base for the wave compensation ship further comprises two telescopic servo hydraulic cylinders 6 with linear displacement sensors and two swinging servo hydraulic cylinders 7 with linear displacement sensors, one end of each telescopic servo hydraulic cylinder 6 is hinged on a swinging frame 21, and the other end of each telescopic servo hydraulic cylinder 6 is hinged on a movable frame 22; one end of each swing servo hydraulic cylinder 7 is hinged on the base 1, and the other end of each swing servo hydraulic cylinder 7 is hinged on the swing frame 21.
The four-degree-of-freedom wave compensation marine A-shaped portal frame in the embodiment, as shown in fig. 2, specifically comprises the following steps:
1) The gesture sensor 8 on the base 1 transmits the measured heave, sway, heave and roll values to the motion controller in real time, the motion controller calculates the compensation values of the heave, sway and roll of the ship, and the corresponding swing servo hydraulic cylinder 7, the telescopic servo hydraulic cylinder 6 and the beam servo hydraulic cylinder 5 are respectively controlled according to the compensation values;
2) Taking the example that the whole device is arranged on the starboard side of a ship, if the ship is heaved, two swing servo hydraulic cylinders 7 arranged in front of the A-shaped portal frame are extended (shortened) and two telescopic servo hydraulic cylinders 6 arranged on the telescopic A-shaped portal frame are extended (shortened), so that the heaving of the ship body is compensated; when the ship is swayed, two swing servo hydraulic cylinders 7 arranged in front of the A-shaped portal frame are shortened (lengthened), and two telescopic servo hydraulic cylinders 6 arranged on the telescopic A-shaped portal frame part are lengthened (shortened), so that the ship is swayed and compensated; when the ship is surmounted to the stern, the beam servo hydraulic cylinder 5 transversely arranged on the beam of the A-shaped portal acts to compensate the surging of the ship body; the wave compensation of the whole A-shaped portal frame is realized through the combined movement of the five servo hydraulic cylinders; the two swing servo hydraulic cylinders 7 arranged in front of the A-shaped portal frame and the two telescopic servo hydraulic cylinders 6 arranged on the telescopic A-shaped portal frame part act together to compensate the roll of the ship body;
3) The swing servo hydraulic cylinder 7, the telescopic servo hydraulic cylinder 6 and the beam servo hydraulic cylinder 5 are respectively provided with a linear displacement sensor, the five linear displacement sensors measure the actual displacement values of the corresponding five servo hydraulic cylinders and feed back to the motion controller, the motion controller compares the actual displacement values with the compensation values to form control deviation, and the five servo hydraulic cylinders are respectively subjected to closed-loop control according to the control deviation.
Example 2
The wave compensation ship A-shaped portal frame base is a five-degree-of-freedom wave compensation ship A-shaped portal frame, and the wave compensation ship A-shaped portal frame base is arranged on a ship board of a ship body; as shown in fig. 3, comprises a base 1, a telescopic bracket 2 and a cross beam 3.
The two sides of the upper surface of one end of the base 1 are symmetrically provided with rotary pin groups, each rotary pin group comprises three rotary pins 9 which are distributed in a triangular mode, and the upper surface of the base 1 is also provided with an attitude sensor 8.
The telescopic frame 2 comprises swinging frames 21 symmetrically arranged on two sides of the base 1, the swinging pins 9 of the top angles in the swinging frame 21 swinging pin groups are hinged, and a movable frame 22 is sleeved in the inner cavity of the other end of the swinging frame 21; the two ends of the cross beam 3 are connected to a movable frame 22 far away from one end of the swinging frame 21 through Hooke hinges, a connector hanging piece 4 is arranged on the cross beam 3, and an electronic level meter is arranged on the cross beam 3 and used for monitoring whether the cross beam 3 is in a horizontal state or not in real time.
The A-shaped portal frame base for the wave compensation ship further comprises two telescopic servo hydraulic cylinders 6 with linear displacement sensors and four swing servo hydraulic cylinders 7 with linear displacement sensors, one end of each telescopic servo hydraulic cylinder 6 is hinged on a swing frame 21, and the other end of each telescopic servo hydraulic cylinder 6 is hinged on a movable frame 22; every two swing servo hydraulic cylinders 7 form a swing servo hydraulic cylinder group, the bottoms of the two swing servo hydraulic cylinders 7 in each swing servo hydraulic cylinder group are hinged with the rest two rotary pins 9 in the rotary pin group, the tops of the two swing servo hydraulic cylinders 7 are sleeved with movable connectors 10, and the movable connectors 10 are hinged to a swing frame 21 through a cross connecting frame.
In this embodiment, the swing servo cylinder 7 and the telescopic servo cylinder 6 receive different control signals, respectively, and can realize linkage. In order to ensure the stability of the whole structure, the relative angle of the two swinging servo hydraulic cylinders 7 is not smaller than 30 degrees during installation, and the angle is not larger than 60 degrees in order not to occupy the overlarge transverse distance of the base 1.
In the working process of the five-degree-of-freedom wave compensation marine A-shaped portal, as shown in fig. 4, taking the whole device as an example of being installed on the starboard side of a ship, when the ship is swayed towards the stern, the attitude sensor 8 monitors the real-time displacement distance, controls the right swing servo hydraulic cylinder 7 in the swing servo hydraulic cylinder group to extend, shortens the left swing servo hydraulic cylinder 7 and stretches the telescopic servo hydraulic cylinder 6 to compensate; when the ship swings rightwards, the gesture sensor 8 monitors the real-time displacement distance, and controls the right swing servo hydraulic cylinder 7 and the left swing servo hydraulic cylinder 7 in the swing servo hydraulic cylinder group to be shortened, and the telescopic servo hydraulic cylinder 6 is extended to compensate; when the ship is drooped downwards, the gesture sensor 8 monitors the real-time displacement distance, and controls the right swing servo hydraulic cylinder 7 and the left swing servo hydraulic cylinder 7 in the swing servo hydraulic cylinder group to extend, and the telescopic servo hydraulic cylinder 6 extends to compensate; when the ship is pitching with high bow and low stern, the attitude sensor 8 monitors the real-time turning angle, controls the right swing servo hydraulic cylinder 7 in the swing servo hydraulic cylinder group to extend, and the left swing servo hydraulic cylinder 7 is shortened, and the telescopic servo hydraulic cylinder 6 is extended or shortened to compensate; when the ship rolls left, right and left, the attitude sensor 8 monitors the real-time turning angle, and controls the right swing servo hydraulic cylinder 7 and the left swing servo hydraulic cylinder 7 in the swing servo hydraulic cylinder group to shorten, and the telescopic servo hydraulic cylinder 6 stretches to compensate.
For the four-degree-of-freedom wave compensation marine A-shaped portal in the embodiment 1, a butt joint and a hanging joint with a turning device are added on the A-shaped portal beam 3, and the butt joint and the hanging joint with the turning device can realize rotation and swing through a turning mechanism and an anti-swing hydraulic cylinder of the butt joint and the hanging joint, so that six degrees of freedom compensation of pitching, rolling, swaying, pitching can be realized by matching the actions; for the five-degree-of-freedom wave compensation marine A-shaped portal in the embodiment 2, a hanging joint with a turning device is added on the A-shaped portal beam 3, and rotation and swing are realized through a Hooke hinge and a hydraulic cylinder with the hanging joint with the turning device, so that six degrees of freedom compensation of heave, sway, heave, roll and bow can be realized by matching the motions.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A wave compensation ship A-shaped portal base is arranged on a ship board of a ship body; the method is characterized in that: comprises a base, a telescopic frame and a cross beam,
the upper surface of one end of the base is provided with a telescopic bracket, and the upper surface of the base is also provided with a gesture sensor;
the telescopic frame comprises swinging frames hinged with the base and symmetrically arranged at two sides of the base, and a movable frame is sleeved in an inner cavity at the other end of the swinging frame; the cross beam is connected with a movable frame far away from one end of the swing frame, and a connector hanging piece is further arranged on the cross beam;
the wave compensation ship A-shaped portal frame base also comprises a servo driving mechanism A for driving the movable frame to stretch along the swinging frame, a servo driving mechanism B for driving the telescopic frame to swing and a servo driving mechanism C for driving the connector hanger to transversely move along the cross beam;
the servo driving mechanism A comprises two telescopic servo hydraulic cylinders with linear displacement sensors, one end of each telescopic servo hydraulic cylinder is hinged on the swing frame, and the other end of each telescopic servo hydraulic cylinder is hinged on the movable frame;
the servo driving mechanism B comprises two swing servo hydraulic cylinders with linear displacement sensors, one end of each swing servo hydraulic cylinder is hinged on the base, and the other end of each swing servo hydraulic cylinder is hinged on the swing frame;
the connector hanging piece is in sliding connection with the cross beam, the servo driving mechanism C is a cross beam servo hydraulic cylinder with a linear displacement sensor, and the cross beam servo hydraulic cylinder is fixedly connected with the connector hanging piece;
the gesture sensor on the base transmits the measured heave, heave and roll values to the motion controller in real time, the motion controller calculates the compensation values of the heave, the roll and the heave of the ship, and the corresponding swing servo hydraulic cylinder, the telescopic servo hydraulic cylinder and the corresponding beam servo hydraulic cylinder are respectively controlled according to the compensation values.
2. The wave compensated marine type a mast base of claim 1, wherein: the cross beam is fixedly connected with a movable frame far away from one end of the swing frame.
3. The wave compensated marine type a mast base of claim 1, wherein: the two ends of the cross beam are hinged to the activity far away from one end of the swing frame.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018103997180 | 2018-04-28 | ||
| CN201810399718.0A CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108862056A CN108862056A (en) | 2018-11-23 |
| CN108862056B true CN108862056B (en) | 2023-11-21 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810399718.0A Pending CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
| CN201810971399.6A Active CN108862056B (en) | 2018-04-28 | 2018-08-24 | Marine A type portal base of wave compensation |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810399718.0A Pending CN108439200A (en) | 2018-04-28 | 2018-04-28 | A kind of compensation of undulation A types Gate Foundation peculiar to vessel |
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| CN (2) | CN108439200A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334874A (en) * | 2018-10-25 | 2019-02-15 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of boat-carrying unmanned submersible lays recycling gantry crane system |
| CN109368514B (en) * | 2018-11-20 | 2020-05-08 | 衢州学院 | Wave compensation device for offshore floating crane |
| CN112591012B (en) * | 2020-12-18 | 2022-08-16 | 武昌船舶重工集团有限公司 | Ship A-shaped frame and ship |
| CN116692697B (en) * | 2023-08-08 | 2024-01-26 | 日照恒远船舶工程有限公司 | Hoisting device for ship maintenance |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0733585A2 (en) * | 1995-03-24 | 1996-09-25 | Rochus Penz GmbH Kranbau | Loading crane |
| CN103663201A (en) * | 2013-12-14 | 2014-03-26 | 广西大学 | Six-range of motion flexible supporting device of extensible tower crane |
| CN103979419A (en) * | 2014-05-30 | 2014-08-13 | 大连海事大学 | Active wave compensation control system and method based on wave trend judgment |
| CN103979416A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Wave compensation execution device for crane ship A support |
| CN105621275A (en) * | 2016-03-01 | 2016-06-01 | 江苏科技大学 | Crane device with three-degree-of-freedom active heave compensation function and compensation method |
| CN208829148U (en) * | 2018-04-28 | 2019-05-07 | 江苏科技大学 | A kind of compensation of undulation A type Gate Foundation peculiar to vessel |
-
2018
- 2018-04-28 CN CN201810399718.0A patent/CN108439200A/en active Pending
- 2018-08-24 CN CN201810971399.6A patent/CN108862056B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0733585A2 (en) * | 1995-03-24 | 1996-09-25 | Rochus Penz GmbH Kranbau | Loading crane |
| CN103663201A (en) * | 2013-12-14 | 2014-03-26 | 广西大学 | Six-range of motion flexible supporting device of extensible tower crane |
| CN103979416A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Wave compensation execution device for crane ship A support |
| CN103979419A (en) * | 2014-05-30 | 2014-08-13 | 大连海事大学 | Active wave compensation control system and method based on wave trend judgment |
| CN105621275A (en) * | 2016-03-01 | 2016-06-01 | 江苏科技大学 | Crane device with three-degree-of-freedom active heave compensation function and compensation method |
| CN208829148U (en) * | 2018-04-28 | 2019-05-07 | 江苏科技大学 | A kind of compensation of undulation A type Gate Foundation peculiar to vessel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108862056A (en) | 2018-11-23 |
| CN108439200A (en) | 2018-08-24 |
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