CN109534188A - A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform - Google Patents

A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform Download PDF

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Publication number
CN109534188A
CN109534188A CN201811366143.9A CN201811366143A CN109534188A CN 109534188 A CN109534188 A CN 109534188A CN 201811366143 A CN201811366143 A CN 201811366143A CN 109534188 A CN109534188 A CN 109534188A
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CN
China
Prior art keywords
rod
compensation
hard
platform
motion compensation
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CN201811366143.9A
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Chinese (zh)
Inventor
陈原
唐梁
田丽霞
王立栋
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山东大学
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Priority to CN201811366143.9A priority Critical patent/CN109534188A/en
Publication of CN109534188A publication Critical patent/CN109534188A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes 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
    • B66C23/18Cranes 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
    • B66C23/36Cranes 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
    • B66C23/52Floating cranes
    • B66C23/53Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform

Abstract

The present invention relates to seaborne machinery fields, the purpose is to provide a kind of hard and soft hybrid Wave motion compensation device of marine floating hoisting platform, for feeding the compensation of undulation during cargo, the compensation device includes the hard and soft mixed compensation mechanism that the hoisting mechanism being set on tender and top are connect with the hoisting mechanism.Compensation device of the invention has excellent interference free performance; it can make that cargo is more stable, accurate ship; effective protection cargo, hull and the safety of staff; and hard and soft hybrid-type compensation control; working space is big; flexibility is stronger, copes with variation and reacts in time, dynamic control effect is good.It is poor that compensation device provided by the invention solves the problems, such as that existing active heave compensation device is not able to satisfy practical application request, compensation effect.

Description

A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform

Technical field

The present invention relates to seaborne machinery technical fields, more particularly to a kind of the hard and soft mixed of marine floating hoisting platform Box-like Wave motion compensation device.

Background technique

Marine environment is complicated and changeable, ship etc. sea floating workbench carry out and by supply when, due to tender with The different influence of the factors such as tonnage, scale, the line style of taken-over vessel and two ships relative position on wave, and between two ships by Wave action can mainly generate heave, rolling, pitching, the relative motion of four freedom degrees of yawing, and this relative motion will Aggravate with the upgrading of sea situation, hoisting machine institute hoisting object be easy to cause to deviate normal ship point, when serious even can on deck Layer building or hull collide, and cause unnecessary accident, especially the combustible and explosive articles such as supply ammunition or other When breakables, risk is bigger.

Compensation of undulation technology is to guarantee that marine floating workbench realizes the key technology of round-the-clock material supply, and wave is mended The purpose repaid is exactly to pass through relatively stable the ship's speed degree of holding supply goods and materials, come reduce goods and materials the impact acceleration of ship time, Goods and materials are enable to transfer on taken-over vessel more stablely.Wave compensating device be generally divided into it is active and two kinds of passive type, wherein by Dynamic formula wave compensating device does not measure relative distance between two ships and opposite deviation angle in the process of running, precision and steady Qualitative opposite active heave compensation device is poor.

One kind six is disclosed freely in existing active heave compensation device such as Chinese patent literature CN106744320A Active heave compensation hanging method and Lift-on/Lift-off System are spent, method is that eight sets are arranged on the lifting equipment of tender by servo The servo-system of motor-driven rope traction sling system composition and the binocular vision detection formed including two video cameras System is controlled revolving speed and the direction of wirerope by servo motor according to control parameter, makes the six degree of freedom fortune for loading opposite base It is dynamic consistent with the six-freedom motion of taken-over vessel opposite base.However this compensation mechanism belongs to wire saws compensation device, in sea Under the influence of the extraneous factors such as wind, wirerope is shaken obviously, so that overall mechanism stability is poor, is in addition being applied to heavily loaded occasion Shi Yidan root line relaxation, the rope disconnect its end and constrain, and cargo clashing and breaking can be made even to bring casualties, and And wire saws driving is only capable of providing unidirectional pulling force, much smaller than conventional parallel mechanism of working space.

One kind is for another example disclosed in Chinese patent literature CN105668430A has the function of multiple degrees of freedom active compensation of undulation Crane device and compensation method, connect six servoBcylinders, each servoBcylinder between its round silent flatform and round moving platform Respectively one corresponding electrohydraulic servo valve of connection, six electrohydraulic servo valves export corresponding flow and pressure point according to compensation of undulation value Corresponding six servoBcylinders are not controlled to stretch and wave, and compensate rolling, pitching and heave.It is this to be divided into installation lifting machine platform The mode of servoBcylinder is set, although the angles and positions of energy compensation adjustment hoisting machine boom, cargo is lifted under wirerope Side, the effects of due to sea wind, wave, cargo non-directional can be swung on a steel cord, and above-mentioned compensation device cannot be to this pendulum It is dynamic to compensate, thus not can guarantee cargo the speed and posture of ship, compensation effect it is poor.

For another example it is active that a kind of multiple degrees of freedom based on parallel institution is disclosed in Chinese patent literature CN107265314B Compensation of undulation simulation system, with the movement of Driven by Hydraulic Cylinder Six Degree-of-Freedom Parallel Platform, compensation of undulation terminal parallel connection platform is used for Eliminate loop wheel machine during rotation rock and carry out multiple degrees of freedom compensation of undulation, the supply of cargo between two ships of realization.However, This compensation device belongs to pure rigid wave compensating device, and inertia is big, is unfavorable for dynamic control, and working space is smaller, Structure is also more complicated.

Therefore, existing active heave compensation apparatus structure is complicated, builds and control at high cost, is not able to satisfy current benefit The demand of the various aspects such as control, practical application is repaid, compensation effect is not good enough yet.

Summary of the invention

For this purpose, technical problem to be solved by the present invention lies in the active heave compensation apparatus structures of the prior art to answer It is miscellaneous, build and control at high cost, compensation effect is poor, and provides a kind of structural design optimization, construction and control cost is relatively low, steady It is qualitative it is more preferable, accuracy is higher, convenient for dynamically controlling, the hard and soft hybrid wave for the marine floating hoisting platform that compensation effect is good Motion compensation unit.

In order to solve the above technical problems, The technical solution adopted by the invention is as follows:

A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform, including being set on tender Hoisting mechanism further includes the hard and soft mixed compensation mechanism that top is connect with the hoisting mechanism, the hard and soft mixed compensation mechanism Including upper mounting plate and lower platform, by the connection of four wirerope between the upper mounting plate and the lower platform, it is accordingly described on The wirerope stretched out there are four the alignment apartment for controlling the wirerope folding and unfolding from the alignment apartment is arranged on platform to connect The lower platform is connect, is additionally provided with branch between the center of the upper mounting plate and the center of the lower platform.

Preferably, four wirerope are circumferentially evenly arranged in matrix form.

Preferably, the alignment apartment includes twisted wire pulley and wire guide pulley wheels, and the twisted wire pulley is set to described flat At the top surface edge of platform, the wire guide pulley wheels are set to the side of the upper mounting plate, and the side of the twisted wire pulley is provided with Driving motor, the output end of the driving motor are connect with the center of the twisted wire pulley.

Preferably, the output end of the driving motor is additionally provided with speed reducer, and the speed reducer passes through connecting shaft and the strand The center of line pulley connects.

Preferably, the upper end of the branch is fixedly connected with the center of the upper mounting plate, and lower end is twisted by ball and institute State the center connection of lower platform.

Preferably, the branch is driven by linear motor.

Preferably, the hoisting mechanism includes pedestal, first connecting rod, second connecting rod and third connecting rod, the first connecting rod It being rotatably arranged on the pedestal, the first connecting rod is connect by strut with the second connecting rod, and the one of the strut End is fixedly connected with the first connecting rod, and the other end is rotatably connected with the second connecting rod, the first connecting rod and described the Two connecting rods are parallel, and the top of the second connecting rod and the third connecting rod are hinged, the second connecting rod and the third connecting rod it Between be additionally provided with hydraulic drive cylinder, the both ends of the hydraulic drive cylinder are hinged with the second connecting rod, the third connecting rod respectively.

Preferably, the upper end of the first connecting rod is connected with the first rotating electric machine, and the lower end of the second connecting rod is connected with Second rotating electric machine, one end of the hydraulic drive cylinder and the upper end of the second connecting rod are hinged, and the other end and the third connect The middle position of bar is hinged.

The above technical solution of the present invention has the following advantages over the prior art:

The hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea provided by the invention, mainly for compensation Crucial four freedom degrees (heave, rolling, pitching, yawing) are designed in control, and there is the hard and soft mixing wave of optimization to mend Mechanism is repaid, the difficulty of coordinated control is moderate, and structure design more simplifies, and builds and controls advantage of lower cost, can be realized five Grade sea conditions are plunged into the commercial sea the compensation of undulation of upper floating hoisting platform four-degree-of-freedom relative motion, under the conditions of complicated sea situation, the dress It sets and can guarantee that cargo is not swung, there is excellent interference free performance, can make that cargo is more stable, accurate ship, effectively protect Cargo, hull and the safety of staff, and hard and soft hybrid-type compensation control are protected, working space is big, and flexibility is stronger, energy Enough reply variations are reacted in time, and dynamic control effect is good.

Detailed description of the invention

In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines Attached drawing, the present invention is described in further detail, wherein

Fig. 1 is the application effect figure of the hard and soft hybrid Wave motion compensation device of marine floating hoisting platform of the invention;

Fig. 2 is the overall schematic of the hard and soft hybrid Wave motion compensation device of marine floating hoisting platform of the invention;

Fig. 3 is hard and soft mixed compensation in the hard and soft hybrid Wave motion compensation device of marine floating hoisting platform of the invention The schematic diagram of mechanism;

Fig. 4 is that alignment apartment is shown in the hard and soft hybrid Wave motion compensation device of floating hoisting platform of the invention marine It is intended to.

Appended drawing reference indicates in figure are as follows: 1- pedestal, 2- first connecting rod, and 3- second connecting rod, 4- third connecting rod, 5- upper mounting plate, 6- driving motor, 7- speed reducer, 8- branch, 9- wirerope, 10- lower platform, 11- strut, 12- container, 13- twisted wire pulley, 14- wire guide pulley wheels, 15- hydraulic drive cylinder, 16- ball twist, 17- connecting shaft, the first rotating electric machine of 18-, 19- twisted wire pulley bracket, 20- Wire guide pulley wheels bracket, 21- support frame, the second rotating electric machine of 22-, 23- connecting component, 24- fast pulley, A- tender, B- are received Ship, X- compensation device.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

As shown in Figure 1, the hard and soft hybrid Wave motion compensation device X of present invention sea floating hoisting platform is set to benefit To on ship A, for hanging delivery object to taken-over vessel B, usual cargo is container 12.As shown in Fig. 2, being that marine float of the invention is hung The preferred embodiment of the hard and soft hybrid Wave motion compensation device of assembling platform, shown compensation device include being set on tender Hoisting mechanism and the hard and soft mixed compensation mechanism that is connect with the hoisting mechanism of top.

The hoisting mechanism includes pedestal 1, first connecting rod 2, second connecting rod 3 and third connecting rod 4, and the pedestal 1 is set to On the deck of tender, the domain is fixed on the deck of tender.The first connecting rod 2 is rotatably arranged in the base On seat 1, to realize 360 ° of entire compensation device rotations.The first connecting rod 2 is connect by strut 11 with the second connecting rod 3, One end of the strut 11 is fixedly connected with the first connecting rod 2, and the other end is rotatably connected with the second connecting rod 3.It is described First connecting rod 2 is parallel with the second connecting rod 3, and the strut 11 is vertically arranged with the first connecting rod 2, the second connecting rod 3. The top of the second connecting rod 3 and the third connecting rod 4 are hinged, also set up between the second connecting rod 3 and the third connecting rod 4 There is hydraulic drive cylinder 15, to drive the end of the third connecting rod 4 to carry out elevating movement.The both ends of hydraulic drive cylinder 15 respectively with The second connecting rod 3, the third connecting rod 4 are hinged, the hinge joint of the second connecting rod 3 and the third connecting rod 4 and described the Two connecting rods 3 are different with the hinge joint of the hydraulic drive cylinder 15.In the present embodiment, one end of the hydraulic drive cylinder 15 and institute The upper end for stating second connecting rod 3 is hinged, and the middle position of the other end and the third connecting rod 4 is hinged.

Specifically, the upper end of the first connecting rod 2 is connected with the first rotating electric machine 18, with drive the first connecting rod 2 into 360 ° of row rotations, the lower end of the second connecting rod 3 are connected with the second rotating electric machine 22, to drive the second connecting rod 3 to carry out 360 ° of rotations realize lifting translational motion of the cargo from tender to taken-over vessel by above-mentioned setting.4 end of third connecting rod Lower section be provided with connecting component 23, the connecting component 23 is fixedly connected with the hard and soft mixed compensation mechanism.

As shown in figure 3, the hard and soft mixed compensation mechanism includes upper mounting plate 5 and lower platform 10, it is in the present embodiment, described Lower platform 10 is rectangular plate-like platform, and the upper mounting plate 5 is symmetric polygonal panel-like platform.The upper surface of the upper mounting plate 5 with The connecting component 23 of the third connecting rod 4 is fixedly connected.Pass through four steel between the upper mounting plate 5 and the lower platform 10 Cord 9 connects, and accordingly there are four alignment apartments, the wirerope 9 to be set to the alignment apartment for setting on the upper mounting plate 5 Interior, alignment apartment is used to control the retractable of wirerope.The wirerope 9 stretched out from the alignment apartment connects described lower flat Platform 10, in the present embodiment, four wirerope 9 are circumferentially evenly arranged in matrix form, i.e., the described alignment apartment is circumferentially It being evenly arranged in matrix form, that is to say, that each alignment apartment is identical as the included angle of 5 line of centres of upper mounting plate, is 90 °, There are four fast pulley 24, the wirerope 9 is fixedly connected on the fast pulley 24 for four angles setting of the lower platform 10.

Branch 8 is additionally provided between the center of the upper mounting plate 5 and the center of the lower platform 10.The branch Chain 8 is rigid branch, is driven by linear motor.The upper end of the branch 8 is fixedly connected with the center of the upper mounting plate 5, Lower end twists 16 by ball and connect with the center of the lower platform 10, which is flexibly transported on multiple degrees of freedom It is dynamic, be conducive to that wirerope 9 is cooperated to do the control of wire saws flexible compensation, enhance compensation effect.It is connected below the lower platform 10 Cargo platform sling, the cargo platform sling can assemble container 12 and other items, during lift cargo, the lower platform 10, institute It states between cargo platform sling and the container 12 without relative motion.

Hard and soft mixed compensation mechanism in the present invention uses parallel-connection structure, passes through the preferred arrangement to wirerope position, energy Enough realize the compensation of optimal four-degree-of-freedom, four freedom degrees that the present invention is directed to heave, rolling, pitching, yawing, this four oneself It is that cargo and the consistent crucial freedom degree of taken-over vessel posture position are kept in compensation control by degree, preferably this four freedom degrees carry out Compensation control reduces coordinated control difficulty, saves the construction and control of single unit system under the premise of meeting practical compensation demand Cost.

As shown in figure 4, the alignment apartment includes twisted wire pulley 13 and wire guide pulley wheels 14, the upper surface of the upper mounting plate 5 Edge is provided with twisted wire pulley bracket 19, and the twisted wire pulley 13 is set on the twisted wire pulley bracket 19, described flat The side of platform 5 is provided with wire guide pulley wheels bracket 20, and the wire guide pulley wheels 14 are set on the wire guide pulley wheels bracket 20.The strand The side of line pulley 13 is provided with driving motor 6, and the driving motor 6 is installed on support frame 21, and support frame as described above 21 is fixed In the upper surface of the upper mounting plate 5, the output end of the driving motor 6 is connect with the center of the twisted wire pulley 13.In order to excellent Change the folding and unfolding control of wirerope, the output end of the driving motor 6 is additionally provided with speed reducer 7, and the speed reducer 7 passes through connecting shaft 17 It is connect with the center of the twisted wire pulley 13.

The present invention also provides a kind of hard and soft hybrid Wave motion compensation dresses for above-mentioned marine floating hoisting platform The control method set needs to arrange multiple detectors to realize compensation of undulation control, specific:

A gyroscope and a laser sensor are arranged on the lower platform 10 of compensation device, the gyroscope is for detecting The attitude data of cargo, the laser sensor is for detecting cargo and receiving the distance between boat deck h and cargo, taken-over vessel Heave data.Arrangement is used to detect the attitude data of taken-over vessel by another gyroscope, the gyroscope on taken-over vessel.In order to Convenient for subsequent descriptions, the gyroscope on lower platform 10 is named as cargo gyroscope, the gyroscope on taken-over vessel is named as ship Gyroscope.

Below with reference to the whole process of lift cargo, the hard and soft hybrid wave of the marine floating hoisting platform of the present invention is described in detail The control method of motion compensation unit.

When feeding goods and materials, cargo is lifted by crane by hoisting mechanism from supply boat deck first, passes through the of control hoisting mechanism One connecting rod 2, second connecting rod 3 and third connecting rod 4 by cargo be sent to receive boat deck the surface of ship position, prepare decentralization.

Start to execute compensation control:

1. cargo described in real-time detection is at a distance from the reception boat deck during cargo is transferred on taken-over vessel H detects attitude data, the heave data of the cargo and the taken-over vessel when h≤a (a is preset height value).

In cargo decentralization process, transferred by laser sensor real-time measurement cargo with boat deck distance h, adjusting is received Speed, far from receive boat deck (h > a) when, suitably quickening lowering velocity, close to receive boat deck (h≤a) when, slow down The lowering velocity of cargo.In the present embodiment, preset height value a is 2 meters.When h≤a, distinguished by cargo gyroscope and ship gyroscope Detect cargo and taken-over vessel attitude data (including heave, rolling, pitching, yawing four-degree-of-freedom data), by laser sensing The heave data of device detection cargo and taken-over vessel.

2. analysing and comparing to the attitude data of the cargo and the taken-over vessel, heave data, the benefit is calculated Repaying branch 8 and/or each wirerope 9 in device keeps the cargo consistent with the taken-over vessel posture and needs to adjust Adjust data.

Specifically, the adjustment data include collapsing length needed for the branch 8, stretching speed and flexible acceleration, And folding and unfolding length needed for each wirerope 9, folding and unfolding speed and folding and unfolding acceleration.

All data transmissions measured are gone back into control centre, by control centre to cargo attitude data and taken-over vessel posture number According to being compared and heaving data to cargo and taken-over vessel heave data are compared, by operation, branch 8 and/or each is obtained A wirerope 9 is the adjustment data for keeping cargo consistent with taken-over vessel posture and needing to adjust.It, can according to different real-time conditions There can be a variety of Adjusted Options: while adjusting branch and each wirerope, only adjusting branch, only adjustment wirerope, or even also into one Step segments out the case where adjusting which root wirerope.

3. driving the branch 8 and/or each wirerope 9 to adjust according to the adjustment data.

According to the adjustment data that analysis obtains, branch 8 is driven by linear motor, wirerope is driven by driving motor 6 9, make corresponding adjustment.

At different times, corresponding detection data is also different, and by detecting in real time, adjustment controls each wirerope in time Folding and unfolding and branch it is flexible, so that cargo is remained that position and attitude is consistent in four freedom degrees with taken-over vessel, up to cargo quilt It is smoothly put on taken-over vessel completely.

In other embodiments, the hinge joint of the second connecting rod 3 and the hydraulic drive cylinder 15 can be set described The lower section of the hinge joint of second connecting rod 3 and the third connecting rod 4 equally can be realized cargo lifting.

In other embodiments, the wirerope 9 can be directly fixedly connected with the lower platform 10, it is not necessary to described in setting Fast pulley 24.

Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or It changes still within the protection scope of the invention.

Claims (8)

1. a kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform, including being set to hanging on tender Mounting mechanism, which is characterized in that further include the hard and soft mixed compensation mechanism that top is connect with the hoisting mechanism, the hard and soft mixing Compensation mechanism includes upper mounting plate (5) and lower platform (10), passes through four steel between the upper mounting plate (5) and the lower platform (10) Cord (9) connection, accordingly there are four the alignment apartments for controlling wirerope (9) folding and unfolding for setting on the upper mounting plate (5), certainly The wirerope (9) that the alignment apartment is stretched out connects the lower platform (10), the center of the upper mounting plate (5) and institute It states and is additionally provided with branch (8) between the center of lower platform (10).
2. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 1, feature It is, four wirerope (9) are circumferentially evenly arranged in matrix form.
3. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 2, feature It is, the alignment apartment includes twisted wire pulley (13) and wire guide pulley wheels (14), and the twisted wire pulley (13) is set on described At the top surface edge of platform (5), the wire guide pulley wheels (14) are set to the side of the upper mounting plate (5), the twisted wire pulley (13) side is provided with driving motor (6), and the center of the output end of the driving motor (6) and the twisted wire pulley (13) connects It connects.
4. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 3, feature Be, the output end of the driving motor (6) is additionally provided with speed reducer (7), the speed reducer (7) by connecting shaft (17) with it is described The center of twisted wire pulley (13) connects.
5. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 2, feature It is, the upper end of the branch (8) is fixedly connected with the center of the upper mounting plate (5), and lower end twists (16) and institute by ball State the center connection of lower platform (10).
6. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 5, feature It is, the branch (8) is driven by linear motor.
7. the hard and soft hybrid Wave motion compensation device of -6 any marine floating hoisting platforms according to claim 1, It is characterized in that, the hoisting mechanism includes pedestal (1), first connecting rod (2), second connecting rod (3) and third connecting rod (4), it is described First connecting rod (2) is rotatably arranged on the pedestal (1), and the first connecting rod (2) passes through strut (11) and described second Connecting rod (3) connection, one end of the strut (11) are fixedly connected with the first connecting rod (2), the other end and the second connecting rod (3) it is rotatably connected, the first connecting rod (2) is parallel with the second connecting rod (3), the top of the second connecting rod (3) and institute It states third connecting rod (4) hingedly, hydraulic drive cylinder (15) is additionally provided between the second connecting rod (3) and the third connecting rod (4), The both ends of the hydraulic drive cylinder (15) are hinged with the second connecting rod (3), the third connecting rod (4) respectively.
8. the hard and soft hybrid Wave motion compensation device of floating hoisting platform in sea according to claim 7, feature It is, the upper end of the first connecting rod (2) is connected with the first rotating electric machine (18), and the lower end of the second connecting rod (3) is connected with Second rotating electric machine (22), one end of the hydraulic drive cylinder (15) and the upper end of the second connecting rod (3) are hinged, the other end with The middle position of the third connecting rod (4) is hinged.
CN201811366143.9A 2018-11-16 2018-11-16 A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform CN109534188A (en)

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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
CN204727497U (en) * 2015-06-19 2015-10-28 河南宝起华东起重机有限公司 A kind of deck crane anti roll device
CN205099211U (en) * 2015-11-12 2016-03-23 河南华东工控技术有限公司 Hoist anti -swing device
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
CN106005278A (en) * 2016-06-23 2016-10-12 江苏科技大学 Marine dining table with six-DOF (degree of freedom) wave active compensation function and compensation method
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