CN109292647B - Active rigid-flexible hybrid wave motion compensation device and control method thereof - Google Patents
Active rigid-flexible hybrid wave motion compensation device and control method thereof Download PDFInfo
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- CN109292647B CN109292647B CN201811366145.8A CN201811366145A CN109292647B CN 109292647 B CN109292647 B CN 109292647B CN 201811366145 A CN201811366145 A CN 201811366145A CN 109292647 B CN109292647 B CN 109292647B
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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
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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
- 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
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
- B66C23/62—Constructional features or details
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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
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the field of marine mechanical equipment, and aims to provide an active rigid-flexible hybrid wave motion compensation device and a control method thereof, which are used for wave compensation in the process of replenishing cargos. The compensation device has excellent anti-interference performance, can enable goods to be stably and accurately landed, effectively protects the safety of the goods, a ship body and workers, has rigid-flexible hybrid compensation control, large working space and stronger flexibility, can respond to changes in time, and has good dynamic control effect. The compensation device and the control method thereof provided by the invention solve the problems that the existing active heave compensation device can not meet the actual application requirement and has poor compensation effect.
Description
Technical Field
The invention relates to the technical field of marine mechanical equipment, in particular to an active rigid-flexible hybrid wave motion compensation device and a control method thereof.
Background
The marine environment is complicated and changeable, when marine floating working platforms such as ships and the like are supplemented in parallel, due to the fact that tonnage, dimension, line type and other factors of the supplying ship and the receiving ship and the influence of different relative positions of the two ships on waves are utilized, relative motion of three degrees of freedom of heave, roll and pitch is mainly generated under the action of the waves between the two ships, and the relative motion is aggravated along with the upgrading of sea conditions, so that cargos lifted by a hoisting machine easily slide and deviate from normal ship points, and even collide with an upper-deck building or a ship body in serious conditions, unnecessary accidents are caused, and particularly, when inflammable and explosive articles such as ammunition and the like or other fragile articles are supplemented, the danger is higher.
The wave compensation technology is a key technology for ensuring that the offshore floating working platform realizes all-weather material supply, and the purpose of the wave compensation is to reduce the impact acceleration of material when the material is on the ship by keeping the relatively stable landing speed of the supplied material, so that the material can be more stably placed on a receiving ship. Heave compensation apparatuses are generally classified into active and passive types, wherein the passive heave compensation apparatus does not measure the relative distance and relative offset angle between two vessels during operation, and the accuracy and stability are poorer than those of the active heave compensation apparatus.
For example, chinese patent document CN106744320A discloses an active heave compensation hoisting method and system with six degrees of freedom, which is to arrange eight sets of servo systems consisting of steel wire rope traction hoisting systems driven by servo motors and a binocular vision detection system consisting of two cameras on hoisting equipment of a tender vessel, and the servo motors control the rotation speed and direction of the steel wire rope according to control parameters, so that the motion with six degrees of freedom of a load relative to a rotating base is consistent with the motion with six degrees of freedom of a receiving vessel relative to the rotating base. However, the compensating mechanism belongs to a rope traction compensating device, and under the influence of external factors such as sea wind and the like, the steel wire rope shakes obviously, so that the stability of the whole mechanism is poor, and in addition, once a certain rope is loosened when the compensating mechanism is applied to a heavy-load occasion, the rope loses connection constraint on the tail end of the rope, so that goods can be damaged or even casualties can be brought, moreover, the rope traction driving can only provide unidirectional pulling force, and the working space of the compensating mechanism is much smaller than that of the traditional parallel mechanism.
For example, chinese patent document CN105668430A discloses a crane apparatus with multiple degrees of freedom active heave compensation function and a compensation method, wherein six servo cylinders are connected between a circular static platform and a circular dynamic platform, each servo cylinder is connected to a corresponding electro-hydraulic servo valve, and the six electro-hydraulic servo valves output corresponding flow and pressure according to heave compensation values to control the corresponding six servo cylinders to extend and retract and sway respectively, thereby compensating roll, pitch and heave. The servo cylinder is arranged below the lifting machine platform, so that the angle and the position of the lifting arm of the lifting machine can be compensated and adjusted, the goods are lifted below the steel wire rope, the goods can swing on the steel wire rope in a non-directional mode under the action of sea wind, waves and the like, the compensation device cannot compensate the swing, the speed and the posture of the goods on the ship cannot be guaranteed, and the compensation effect is poor.
For another example, chinese patent document CN107265314B discloses a multiple-degree-of-freedom active wave compensation simulation system based on a parallel mechanism, in which a hydraulic cylinder drives a six-degree-of-freedom parallel platform to move, and a wave compensation terminal parallel platform is used to eliminate the swing of a crane during the rotation process and perform multiple-degree-of-freedom wave compensation, so as to realize the replenishment of goods between two ships. However, the compensating device belongs to a pure rigid heave compensating device, has large inertia, is not beneficial to dynamic control, and has smaller working space and more complex structure.
Therefore, the existing active heave compensation device has a complex structure, high construction and control cost and poor compensation effect, and can not meet the requirements of various aspects such as current compensation control and practical application.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the active heave compensation device in the prior art has a complex structure, high construction and control cost and a poor compensation effect, and the active rigid-flexible hybrid heave compensation device and the control method thereof have the advantages of simplified structural design, low cost, better stability, higher accuracy, convenience in dynamic control and good compensation effect.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an active just gentle mixed wave motion compensation arrangement, is including setting up the hoisting machine on the supply ship and constructing, still include upper portion with the just gentle mixed compensation mechanism that hoisting machine constructs the connection, just gentle mixed compensation mechanism includes upper mounting plate and lower platform, the upper mounting plate with connect through three wire rope down between the platform, correspondingly be provided with three control on the upper mounting plate wire rope receive and releases walk line mechanism, certainly walk that line mechanism stretches out wire rope connects the lower platform, the central point of upper mounting plate put with still be provided with the branch chain down between the central point of platform puts.
Preferably, the included angles between each routing mechanism and the central connecting line of the upper platform are the same, and the included angles between the connecting points of the three steel wire ropes and the lower platform and the central connecting line of the lower platform are the same.
Preferably, walk the line mechanism and include stranded conductor pulley and wire pulley, the stranded conductor pulley set up in the upper surface edge of upper mounting plate, the wire pulley set up in the side of upper mounting plate, one side of stranded conductor pulley is provided with driving motor, driving motor's output with the center of stranded conductor pulley is connected.
Preferably, the upper end of the branched chain is connected with the central position of the upper platform through a universal joint, and the lower end of the branched chain is fixedly connected with the central position of the lower platform.
Preferably, the branches are driven by hydraulic cylinders.
Preferably, hoisting mechanism includes rotating base, first connecting rod, second connecting rod and third connecting rod, the both ends of first connecting rod respectively with rotating base the one end of second connecting rod is articulated, the other end of second connecting rod with the one end of third connecting rod is articulated, the other end of third connecting rod is connected rigid-flexible hybrid compensation mechanism, first connecting rod with still be provided with first hydraulic drive jar between the second connecting rod, the second connecting rod with still be provided with the second hydraulic drive jar between the third connecting rod, first hydraulic drive jar both ends respectively with first connecting rod the second connecting rod is articulated, the second hydraulic drive jar both ends respectively with the second connecting rod the third connecting rod is articulated.
Preferably, a cargo hanging plate is connected to the lower surface of the lower platform.
A control method for the active rigid-flexible hybrid heave motion compensator comprises the following steps:
detecting the distance h between a cargo and a deck of a receiving ship in real time in the process of putting the cargo on the receiving ship, and detecting attitude data and heave data of the cargo and the receiving ship when h is less than or equal to a (a is a preset height value);
analyzing and comparing the attitude data and the heave data of the cargo and the receiving ship, and calculating adjustment data required to be adjusted by a branched chain and/or each steel wire rope in the compensating device to make the attitude of the cargo consistent with that of the receiving ship;
driving the branched chain and/or each steel wire rope to make adjustment according to the adjustment data.
Preferably, the adjustment data includes a stretching length, a stretching speed, and a stretching acceleration required by the branched chain, and a retracting length, a retracting speed, and a retracting acceleration required by each of the wire ropes.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the active rigid-flexible hybrid wave motion compensation device provided by the invention is mainly designed aiming at the most important three degrees of freedom (heave, roll and pitch) in compensation control, has the most optimized rigid-flexible hybrid wave compensation mechanism, is low in coordination control difficulty, simplified in structural design and low in construction and control cost, can realize wave compensation of three-degree-of-freedom relative motion of an offshore floating hoisting platform under a certain sea condition, can ensure that goods do not swing under a complex sea condition, has good anti-interference performance, can enable the goods to be stably and accurately landed, effectively protects the safety of the goods, a ship body and workers, and has the advantages of large working space, stronger flexibility, capability of timely responding to changes and good dynamic control effect.
(2) The control method of the active rigid-flexible hybrid wave motion compensation device provided by the invention is applied to the compensation device, and can effectively adjust the attitude and the lowering speed of the goods in real time, so that the goods stably and accurately land on the ship, the collision is avoided, and the safety of the goods, the ship body and the workers is ensured.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a diagram illustrating the effect of the active rigid-flexible hybrid heave motion compensator of the present invention;
FIG. 2 is a general schematic diagram of an active rigid-flexible hybrid heave motion compensator according to the invention;
FIG. 3 is a schematic diagram of a rigid-flexible hybrid compensation mechanism in the active rigid-flexible hybrid heave motion compensation apparatus of the invention;
fig. 4 is a schematic diagram of a routing mechanism in the active rigid-flexible hybrid heave motion compensator according to the invention.
The reference numbers in the figures denote: 1-a rotating base, 2-a first connecting rod, 3-a second connecting rod, 4-a third connecting rod, 5-an upper platform, 6-a driving motor, 7-a universal joint, 8-a branched chain, 9-a steel wire rope, 10-a lower platform, 11-a first hydraulic driving cylinder, 12-a container, 13-a stranded wire pulley, 14-a lead pulley, 15-a second hydraulic driving cylinder, 16-a fixed wheel, 17-a connecting shaft, 18-a cargo hanging plate, 19-a stranded wire pulley bracket, 20-a lead pulley bracket, 21-a supporting bracket, 22-a connecting part, an A-supply ship, a B-receiving ship and an X-compensation device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the active rigid-flexible hybrid wave motion compensator X of the present invention is disposed on a tender vessel a for hoisting cargo, typically containers 12, to a receiving vessel B. As shown in fig. 2, the active rigid-flexible hybrid wave motion compensation device of the present invention is a preferred embodiment, and the compensation device comprises a hoisting mechanism disposed on the supply vessel, and a rigid-flexible hybrid compensation mechanism with an upper portion connected to the hoisting mechanism.
Hoisting machine constructs including rotating base 1, first connecting rod 2, second connecting rod 3 and third connecting rod 4, rotating base 1 rotationally sets up on the grade pan of supply ship, the grade pan is fixed on the deck of supply ship, rotating base 1 can for the grade pan rotates, realizes that whole compensation arrangement 360 rotates. The both ends of first connecting rod 2 respectively with rotating base 1 the one end of second connecting rod 3 is articulated, the other end of second connecting rod 3 with the one end of third connecting rod 4 is articulated, the other end of third connecting rod 4 is connected just gentle mixed compensation mechanism. A first hydraulic driving cylinder 11 is further arranged between the first connecting rod 2 and the second connecting rod 3, and a second hydraulic driving cylinder 15 is further arranged between the second connecting rod 3 and the third connecting rod 4. Two ends of the first hydraulic driving cylinder 11 are respectively hinged with the first connecting rod 2 and the second connecting rod 3, and two ends of the second hydraulic driving cylinder 15 are respectively hinged with the second connecting rod 3 and the third connecting rod 4. Specifically, a hinge point of the first hydraulic driving cylinder 11 and the first link 2 is located at the upper portion of the first link 2, a hinge point of the first hydraulic driving cylinder 11 and the second link 3 and a hinge point of the second hydraulic driving cylinder 15 and the second link 3 are respectively close to two ends of the second link 3, and a hinge point of the second hydraulic driving cylinder 15 and the third link 4 is close to the middle position of the third link 4. The second connecting rod 3 and the third connecting rod 4 are driven by the first hydraulic driving cylinder 11 and the second hydraulic driving cylinder 15 to realize the translation movement and the lifting movement of the tail end of the third connecting rod 4. The end of the third connecting rod 4 is provided with a connecting part 22, and the connecting part 22 is used for fixedly connecting the rigid-flexible hybrid compensation mechanism.
As shown in fig. 3, the rigid-flexible hybrid compensation mechanism includes an upper platform 5 and a lower platform 10, in this embodiment, the lower platform 10 is a hexagonal platform, and the upper platform 5 is a symmetric polygonal plate-shaped platform. The upper surface of the upper platform 5 is fixedly connected with the connecting part 22 of the third connecting rod 4. The upper platform 5 is connected with the lower platform 10 through three steel wire ropes 9, three wiring mechanisms are correspondingly arranged on the upper platform 5, the steel wire ropes 9 are arranged in the wiring mechanisms, and the wiring mechanisms are used for controlling the winding and unwinding of the steel wire ropes. The steel wire ropes 9 extending from the wiring mechanisms are connected with the lower platform 10, in this embodiment, the included angles between the wiring mechanisms and the central connecting line of the upper platform 5 are 120 degrees, the included angles between the connecting points of the three steel wire ropes 9 and the lower platform 10 and the central connecting line of the lower platform 10 are 120 degrees, three fixed wheels 16 are arranged at the corresponding positions of the lower platform 10, and the steel wire ropes 9 are fixedly connected to the fixed wheels 16.
A branched chain 8 is further arranged between the central position of the upper platform 5 and the central position of the lower platform 10. The branched chain 8 is a rigid branched chain and is driven by a hydraulic cylinder. The upper end of the branched chain 8 is connected with the central position of the upper platform 5 through a universal joint 7, and the lower end of the branched chain 8 is fixedly connected with the central position of the lower platform 10, so that the branched chain 8 can flexibly move on multiple degrees of freedom, and is favorable for being matched with a steel wire rope 9 to perform rope traction flexible compensation control, and the compensation effect is enhanced. The lower surface of the lower platform 10 is connected with a cargo lifting plate 18, the cargo lifting plate 18 can be assembled with cargos such as a container 12, and the like, and in the process of lifting cargos, the lower platform 10, the cargo lifting plate 18 and the container 12 do not move relatively.
The rigid-flexible hybrid compensation mechanism adopts a parallel structure, and can realize the optimal three-degree-of-freedom wave compensation by optimally arranging the positions of the steel wire ropes, and aims at three degrees of freedom, namely heave, roll and pitch, which are the most important degrees of freedom for keeping the attitude and the position of goods and a receiving ship consistent in compensation control.
As shown in fig. 4, the routing mechanism includes a stranded wire pulley 13 and a wire pulley 14, a stranded wire pulley support 19 is provided at the edge of the upper surface of the upper platform 5, the stranded wire pulley 13 is provided on the stranded wire pulley support 19, a wire pulley support 20 is provided at the side surface of the upper platform 5, and the wire pulley 14 is provided on the wire pulley support 20. One side of stranded conductor pulley 13 is provided with driving motor 6, driving motor 6 installs on support frame 21, support frame 21 is fixed in the upper surface of upper platform 5, driving motor 6's output with the center of stranded conductor pulley 13 is connected.
The invention also provides a control method for the active rigid-flexible hybrid heave compensation device, in order to realize heave compensation control, a plurality of detectors need to be arranged, specifically:
on the lower platform 10 of the compensation device, a gyroscope for detecting attitude data of the cargo and a laser sensor for detecting the distance h between the cargo and the deck of the receiving vessel and heave data of the cargo and the receiving vessel are arranged. A further gyroscope is arranged on the receiving vessel, which gyroscope is used to detect attitude data of the receiving vessel. For convenience of the subsequent description, the gyroscope on the lower platform 10 is named as a cargo gyroscope, and the gyroscope on the receiving ship is named as a ship gyroscope.
The control method of the active rigid-flexible hybrid wave motion compensation device is detailed below in combination with the whole process of lifting cargoes.
When supplies materials are supplied, the hoisting mechanism firstly hoists the goods from the deck of the supply ship, and the goods are sent to the position right above the ship-landing position of the deck of the receiving ship by controlling the first connecting rod 2, the second connecting rod 3 and the third connecting rod 4 of the hoisting mechanism to be ready for being put down.
Starting to execute compensation control:
detecting the distance h between the cargo and the deck of a receiving ship in real time in the process of putting the cargo on the receiving ship, and detecting attitude data and heave data of the cargo and the receiving ship when h is less than or equal to a (a is a preset height value).
In the process of lowering the goods, the distance h between the goods and a receiving ship deck is measured in real time by a laser sensor, the lowering speed is adjusted, the lowering speed is properly accelerated when the goods are far away from the receiving ship deck (h > a), and the lowering speed of the goods is slowed down when the goods are close to the receiving ship deck (h is less than or equal to a). In this embodiment, the preset height value a is 2 meters. And when h is less than or equal to a, respectively detecting attitude data (including data of three degrees of freedom of heave, roll and pitch) of the goods and the receiving ship by using a goods gyroscope and a ship gyroscope, and detecting the heave data of the goods and the receiving ship by using a laser sensor.
And analyzing and comparing the attitude data and the heave data of the cargo and the receiving ship, and calculating adjustment data of the branched chain 8 and/or each steel wire rope 9 in the compensating device, which are needed to be adjusted to make the attitude of the cargo consistent with that of the receiving ship.
Specifically, the adjustment data includes the extension length, the extension speed, and the extension acceleration required by the branched chain 8, and the extension length, the extension speed, and the extension acceleration required by each of the wire ropes 9.
And transmitting all the measured data back to the control center, comparing the cargo attitude data with the receiving ship attitude data by the control center, comparing the cargo heave data with the receiving ship heave data, and obtaining adjustment data required to be adjusted by the branch chain 8 and/or each steel wire rope 9 to make the cargo and the receiving ship attitude consistent through operation. Depending on the real-time situation, there may be several adjustment schemes: and the branched chains and the steel wire ropes are adjusted at the same time, only the branched chains are adjusted, only the steel wire ropes are adjusted, and even the conditions of adjusting which steel wire ropes are further subdivided.
Driving the branched chain 8 and/or each steel wire rope 9 to make adjustment according to the adjustment data.
According to the adjustment data obtained by analysis, the branched chain 8 is driven by the hydraulic cylinder, and the steel wire rope 9 is driven by the driving motor 6 to make corresponding adjustment.
Corresponding detection data are different at different moments, and the extension and retraction of each steel wire rope and the extension and retraction of the branched chains are adjusted and controlled in time through real-time detection, so that the position and the posture of the goods and the receiving ship are kept consistent on three degrees of freedom all the time until the goods are completely and stably placed on the receiving ship.
In other embodiments, the cable 9 may be directly fixedly connected to the lower platform 10 without the fixed wheel 16.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. An active rigid-flexible hybrid wave motion compensation device comprises a hoisting mechanism arranged on a supply ship, and is characterized by further comprising a rigid-flexible hybrid compensation mechanism, the upper portion of the rigid-flexible hybrid compensation mechanism is connected with the hoisting mechanism, the rigid-flexible hybrid compensation mechanism comprises an upper platform (5) and a lower platform (10), the upper platform (5) is connected with the lower platform (10) through three steel wire ropes (9), three wiring mechanisms for controlling the steel wire ropes (9) to be retracted and extended are correspondingly arranged on the upper platform (5), the steel wire ropes (9) extending out of the wiring mechanisms are connected with the lower platform (10), and a branched chain (8) is further arranged between the central position of the upper platform (5) and the central position of the lower platform (10); the upper end of the branched chain (8) is connected with the central position of the upper platform (5) through a universal joint (7), and the lower end of the branched chain is fixedly connected with the central position of the lower platform (10).
2. The active rigid-flexible hybrid wave motion compensation device of claim 1, wherein the included angles between each wire mechanism and the central connecting line of the upper platform (5) are the same, and the included angles between the connecting points of the three steel wire ropes (9) and the lower platform (10) and the central connecting line of the lower platform (10) are the same.
3. The active rigid-flexible hybrid wave motion compensation device according to claim 2, wherein the routing mechanism comprises a stranded wire pulley (13) and a wire pulley (14), the stranded wire pulley (13) is arranged at the edge of the upper surface of the upper platform (5), the wire pulley (14) is arranged at the side surface of the upper platform (5), a driving motor (6) is arranged at one side of the stranded wire pulley (13), and the output end of the driving motor (6) is connected with the center of the stranded wire pulley (13).
4. The active rigid-soft hybrid heave compensation device of claim 3, wherein the branch (8) is actuated by a hydraulic cylinder.
5. The active rigid-flexible hybrid wave motion compensation device according to any one of claims 1 to 4, wherein the hoisting mechanism comprises a rotating base (1), a first connecting rod (2), a second connecting rod (3) and a third connecting rod (4), two ends of the first connecting rod (2) are respectively hinged to one end of the rotating base (1) and one end of the second connecting rod (3), the other end of the second connecting rod (3) is hinged to one end of the third connecting rod (4), the other end of the third connecting rod (4) is connected to the rigid-flexible hybrid compensation mechanism, a first hydraulic driving cylinder (11) is further arranged between the first connecting rod (2) and the second connecting rod (3), a second hydraulic driving cylinder (15) is further arranged between the second connecting rod (3) and the third connecting rod (4), two ends of the first hydraulic driving cylinder (11) are respectively connected to the first connecting rod (2), The second connecting rod (3) is hinged, and two ends of the second hydraulic driving cylinder (15) are hinged with the second connecting rod (3) and the third connecting rod (4) respectively.
6. The active rigid-soft hybrid heave compensation device of claim 2, wherein a cargo hanger plate (18) is attached to the underside of the lower platform (10).
7. A control method for an active rigid-flexible hybrid wave motion compensation device according to any one of claims 1 to 6, comprising:
detecting the distance h between a cargo and a deck of a receiving ship in real time in the process of putting the cargo on the receiving ship, and detecting attitude data and heave data of the cargo and the receiving ship when h is less than or equal to a and a is a preset height value;
analyzing and comparing the attitude data and the heave data of the cargo and the receiving ship, and calculating adjustment data required to be adjusted for enabling the attitude of the cargo to be consistent with that of the receiving ship by a branched chain (8) and/or each steel wire rope (9) in the compensation device;
driving the branched chain (8) and/or each steel wire rope (9) to make adjustment according to the adjustment data.
8. Control method according to claim 7, characterized in that the adjustment data comprise the required stretch length, stretch speed and stretch acceleration of the branch chain (8) and the required stretch length, stretch speed and stretch acceleration of the respective wire rope (9).
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| CN113044170B (en) * | 2021-04-02 | 2022-05-03 | 江苏科技大学 | Compensation device and method for stable hoisting between offshore ships |
| CN113589271A (en) * | 2021-07-07 | 2021-11-02 | 江苏科技大学 | Device and method for measuring relative motion amount of two ships during back slope supply |
| CN114314378B (en) * | 2021-12-29 | 2023-03-24 | 江苏硕海船舶科技有限责任公司 | Self-adaptive adjusting device of wind-resistant marine crane |
| CN114789471B (en) * | 2022-03-09 | 2023-09-22 | 江苏科技大学 | Water surface manipulator with active and passive wave compensation function and compensation method |
| CN114590357B (en) * | 2022-03-16 | 2023-02-21 | 江苏科技大学 | Anti-scouring protection device for bottom-sitting ship and working method thereof |
| CN114735139B (en) * | 2022-03-23 | 2023-08-22 | 武汉船用机械有限责任公司 | Offshore parallel-by-replenishment wave compensation control method and control device |
| CN114655356B (en) * | 2022-04-28 | 2023-05-16 | 广州船舶及海洋工程设计研究院（中国船舶工业集团公司第六0五研究院） | Marine wave measuring device |
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|---|---|---|---|---|
| CN102976200B (en) * | 2012-12-13 | 2014-12-03 | 中联重科股份有限公司 | Lifting control method, device and system as well as lifting appliance and hoisting machine |
| CN204714357U (en) * | 2015-05-23 | 2015-10-21 | 河南省矿山起重机有限公司 | A kind of hoisting crane anti-sway device |
| CN105293306A (en) * | 2015-11-04 | 2016-02-03 | 华南理工大学 | Integral offshore wind turbine hoisting device achieving multi-freedom-degree compensation |
| CN107265314B (en) * | 2017-07-06 | 2018-07-06 | 嘉兴学院 | Multiple degrees of freedom active heave compensation simulator based on parallel institution |
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2018
- 2018-11-16 CN CN201811366145.8A patent/CN109292647B/en not_active Expired - Fee Related
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| CN109292647A (en) | 2019-02-01 |
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