CN109553005B - Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform - Google Patents
Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform Download PDFInfo
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- CN109553005B CN109553005B CN201811366147.7A CN201811366147A CN109553005B CN 109553005 B CN109553005 B CN 109553005B CN 201811366147 A CN201811366147 A CN 201811366147A CN 109553005 B CN109553005 B CN 109553005B
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- offshore floating
- wave motion
- compensation device
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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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
Abstract
The invention relates to the field of marine mechanical equipment, and aims to provide a rigid-flexible multi-dimensional wave motion compensation device for an offshore floating platform, which is used for wave compensation in the process of replenishing cargos. The compensation device has quite excellent anti-interference performance, can enable goods to be stably and accurately landed on a ship, effectively protects the safety of the goods, the 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 provided by the invention solves the problems that the existing active heave compensation device cannot 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 a rigid-flexible type multi-dimensional wave motion compensation device for an offshore floating platform.
Background
The marine environment is complex and changeable, when the marine floating working platforms such as ships and the like are supplemented in parallel, due to the influences of factors such as tonnage, dimension and line type of the supplying ship and the receiving ship and different relative positions of the two ships on waves, six-degree-of-freedom relative motion of swaying, surging, heaving, rolling, pitching and yawing can be generated between the two ships under the action of the waves, the relative motion is intensified along with the upgrading of sea conditions, the sliding of goods lifted by the lifting machine is easy to deviate from a normal landing point, and even the goods can collide with an upper-deck building or a ship body in severe cases to cause unnecessary accidents, particularly when flammable and explosive goods such as ammunition or other fragile goods 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 set 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 six degrees of freedom motion of a load relative to a base is consistent with the six degrees of freedom motion of a receiving vessel relative to the 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 can not meet the requirements of current compensation control, practical application and the like, and the compensation effect is not good enough.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is that the active heave compensation device in the prior art cannot meet the requirements of various aspects such as current compensation control and application, has a poor compensation effect, and provides a rigid-flexible multi-dimensional heave compensation device for an offshore floating platform, which has the advantages of better stability, higher accuracy, convenience for 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 a just gentle formula multidimension wave motion compensation arrangement for offshore floating platform, including setting up in the hoist and mount mechanism on the supply ship, still include upper portion with the just gentle mixed compensation mechanism that hoist and mount mechanism connects, just gentle mixed compensation mechanism includes upper mounting plate and lower platform, the upper mounting plate with connect through six wire rope down between the platform, correspondingly ground be provided with six controls on the upper mounting plate wire rope receive and releases walk line mechanism, certainly it stretches out to walk line mechanism 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, six steel wire ropes are arranged according to the Stewart platform parallel mechanism principle, and every two routing mechanisms are arranged on the upper platform in a matrix manner.
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 output end of the driving motor is further provided with a speed reducer, and the speed reducer is connected with the center of the stranded wire pulley through a connecting shaft.
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 connected with the central position of the lower platform through a ball hinge.
Preferably, the branches are driven by hydraulic cylinders.
Preferably, a cargo hanging plate is connected to the lower surface of the lower platform.
Preferably, the hoisting mechanism comprises a rotating base, a first boom and a second boom, the rotating base is rotatably arranged on a ground plate of the supply ship, one end of the first boom is hinged to the rotating base, the other end of the first boom is hinged to the second boom, a first hydraulic driving cylinder is arranged between the lower portion of the first boom and the rotating base, and a second hydraulic driving cylinder is arranged between the upper portion of the first boom and the second boom.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform, provided by the invention, is provided with a rigid-flexible mixed wave compensation mechanism, can realize wave compensation of six-degree-of-freedom (swaying, surging, heaving, rolling, pitching and yawing) relative motion of the offshore floating hoisting platform under a five-level sea condition, can ensure that goods do not swing under a complex sea condition, has quite excellent anti-interference performance, can enable the goods to be more stably and accurately landed on a ship, effectively protects the safety of the goods, the ship body and workers, has rigid-flexible mixed compensation control, large working space and stronger flexibility, can timely react to changes, and has a good dynamic control effect.
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 of the effect of the rigid-flexible multi-dimensional wave motion compensation device for an offshore floating platform according to the present invention;
FIG. 2 is an overall schematic view of the rigid-flexible multi-dimensional wave motion compensator for an offshore floating platform according to the present invention;
FIG. 3 is a schematic diagram of a rigid-flexible hybrid compensation mechanism in the rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform according to the invention;
fig. 4 is a schematic diagram of a routing mechanism in the rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform.
The reference numbers in the figures denote: 1-a rotating base, 2-a first hydraulic driving cylinder, 3-a first suspension arm, 4-a second suspension arm, 5-an upper platform, 6-a driving motor, 7-a speed reducer, 8-a branch chain, 9-a steel wire rope, 10-a lower platform, 11-a cargo suspension plate, 12-a container, 13-a stranded wire pulley, 14-a lead pulley, 15-a universal joint, 16-a ball winch, 17-a connecting shaft, 18-a second hydraulic driving cylinder, 19-a stranded wire pulley bracket, 20-a lead pulley bracket, 21-a support bracket, 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 rigid-flexible type multi-dimensional wave motion compensator X for an offshore floating platform according to the present invention is installed on a tender vessel a for hoisting cargo, typically containers 12, to a receiving vessel B. As shown in fig. 2, the rigid-flexible type multi-dimensional wave motion compensation device for the offshore floating platform according to the preferred embodiment of the invention comprises a hoisting mechanism arranged on a supply ship and a rigid-flexible hybrid compensation mechanism, wherein the upper part of the rigid-flexible hybrid compensation mechanism is connected with the hoisting mechanism.
The hoisting mechanism comprises a rotating base 1, a first hoisting arm 3 and a second hoisting arm 4, wherein the rotating base 1 is rotatably arranged on a ground plate of the supply ship, the ground plate is fixed on a deck of the supply ship, and the rotating base 1 can rotate relative to the ground plate to realize 360-degree rotation of the integral compensation device. One end of the first suspension arm 3 is hinged with the rotating base 1, and the other end is hinged with the second suspension arm 4. A first hydraulic driving cylinder 2 is arranged between the lower part of the first suspension arm 3 and the rotating base 1, and two ends of the first hydraulic driving cylinder 2 are respectively hinged with the first suspension arm 3 and the rotating base 1; a second hydraulic driving cylinder 18 is arranged between the upper part of the first suspension arm 3 and the second suspension arm 4, and two ends of the second hydraulic driving cylinder 18 are respectively hinged with the first suspension arm 3 and the second suspension arm 4. And the hinge point of the first boom 3 and the rotating base 1 is different from the hinge point of the first hydraulic drive cylinder 2 and the rotating base 1. The first and second hydraulic drive cylinders 2, 18 effect a long translational movement of the cargo from the tender vessel to the receiving vessel by driving the first and second booms 3, 4, respectively. The rigid-flexible mixing compensation mechanism is fixedly connected below the second suspension arm 4.
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 plate-shaped 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 second suspension arm 4. The upper platform 5 is connected with the lower platform 10 through six steel wire ropes 9, six 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 rope 9 extending out of the routing mechanism is connected with the lower platform 10. 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 15, and the lower end of the branched chain 8 is connected with the central position of the lower platform 10 through a ball hinge 16, 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 part of the lower platform 10 is connected with a cargo hanging plate 11, the cargo hanging plate 11 can be assembled with cargoes such as a container 12, and in the process of lifting cargoes, the lower platform 10, the cargo hanging plate 11 and the container 12 do not move relatively.
Preferably, six steel wire ropes 9 are arranged according to the principle of the Stewart platform parallel mechanism, and the Stewart platform parallel mechanism has the characteristics of high rigidity, strong bearing capacity, non-accumulative position error and the like. Two by two wiring mechanisms are arranged on the upper platform 5 in a matrix manner. 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. In order to optimize the winding and unwinding control of the steel wire rope, the output end of the driving motor 6 is further provided with a speed reducer 7, and the speed reducer 7 is connected with the center of the stranded wire pulley 13 through a connecting shaft 17.
The invention also provides a control method for the rigid-flexible type multi-dimensional wave motion compensation device for the offshore floating platform, in order to realize wave compensation control, a plurality of detectors need to be arranged, and specifically:
on the lower platform 10 of the compensation device, a gyroscope for detecting attitude data of the cargo and three laser sensors are arranged, wherein one laser sensor is used for detecting the distance h between the cargo and the deck of the receiving vessel and the heave data of the cargo and the receiving vessel, and the other two laser sensors respectively detect position data in the sway and surge directions. 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 rigid-flexible type multi-dimensional wave motion compensation device for the offshore floating platform 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 hoisting arm 3 and the second hoisting arm 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, the attitude data (including data of three degrees of freedom of rolling, pitching and yawing) of the goods and the receiving ship are respectively detected by the goods gyroscope and the ship gyroscope, and the three degree of freedom data of three positions of heaving, rolling and yawing of the goods and the receiving ship are respectively detected by the three laser sensors.
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 six degrees of freedom all the time until the goods are completely and stably placed on the receiving ship.
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 (7)
1. A rigid-flexible type multi-dimensional wave motion compensation device for an offshore floating platform comprises a hoisting mechanism arranged on a supply vessel, and is characterized by further comprising a rigid-flexible mixed compensation mechanism, the upper portion of the rigid-flexible mixed compensation mechanism is connected with the hoisting mechanism, the rigid-flexible mixed compensation mechanism comprises an upper platform (5) and a lower platform (10), the upper platform (5) is connected with the lower platform (10) through six steel wire ropes (9), six routing 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 routing 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 (15), and the lower end of the branched chain is connected with the central position of the lower platform (10) through a ball hinge (16).
2. Rigid-flexible multi-dimensional wave motion compensator for offshore floating platforms according to claim 1, characterized by six steel cables (9) arranged according to Stewart platform parallel mechanism principle, the routing mechanisms being arranged in a matrix on the upper platform (5) in pairs.
3. The rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform 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 rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform is characterized in that the output end of the driving motor (6) is further provided with a speed reducer (7), and the speed reducer (7) is connected with the center of the stranded wire pulley (13) through a connecting shaft (17).
5. Rigid-flexible multi-dimensional wave motion compensator for an offshore floating platform according to claim 4, characterized in that the branches (8) are driven by hydraulic cylinders.
6. Rigid-flexible multi-dimensional wave motion compensator for offshore floating platforms according to claim 1, characterized by cargo slings (11) attached to the underside of the lower platform (10).
7. The rigid-flexible multi-dimensional wave motion compensation device for the offshore floating platform according to any one of claims 1 to 6, wherein the hoisting mechanism comprises a rotating base (1), a first boom (3) and a second boom (4), the rotating base (1) is rotatably arranged on a ground plate of a supply vessel, one end of the first boom (3) is hinged with the rotating base (1), the other end of the first boom is hinged with the second boom (4), a first hydraulic driving cylinder (2) is arranged between the lower part of the first boom (3) and the rotating base (1), and a second hydraulic driving cylinder (18) is arranged between the upper part of the first boom (3) and the second boom (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811366147.7A CN109553005B (en) | 2018-11-16 | 2018-11-16 | Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform |
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| CN201811366147.7A CN109553005B (en) | 2018-11-16 | 2018-11-16 | Rigid-flexible type multi-dimensional wave motion compensation device for offshore floating platform |
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| CN109553005B true CN109553005B (en) | 2020-12-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110255357B (en) * | 2019-05-31 | 2021-08-06 | 中南大学 | Multifunctional lifting appliance with functions of adjusting posture and preventing swinging for lifting and control method thereof |
| NL2023415B1 (en) * | 2019-07-01 | 2021-02-02 | Delta Laboratories Holding B V | hoisting arrangement for assembly of wind turbines |
| CN112520570A (en) * | 2020-11-26 | 2021-03-19 | 山东大学 | Hoisting mechanism |
| CN112456352B (en) * | 2020-11-26 | 2021-08-31 | 山东大学 | Multi-degree-of-freedom active wave compensation device |
| CN113044170B (en) * | 2021-04-02 | 2022-05-03 | 江苏科技大学 | Compensation device and method for stable hoisting between offshore ships |
| CN113104153B (en) * | 2021-04-25 | 2022-05-17 | 大连海事大学 | Marine transfer trestle wave compensation control system and working method thereof |
| CN113232768B (en) * | 2021-04-25 | 2022-05-13 | 大连海事大学 | Offshore transfer trestle with wave compensation function and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4932541A (en) * | 1989-04-24 | 1990-06-12 | Calspan Corporation | Stabilized shipboard crane |
| CN2615111Y (en) * | 2003-03-21 | 2004-05-12 | 招商港务（深圳）有限公司 | Automatic slings for light container |
| 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 |
| CN203865862U (en) * | 2014-03-25 | 2014-10-08 | 陈海泉 | Telescopic sleeve type anti-swing device for ship-mounted crane |
| 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 |
| CN106005278B (en) * | 2016-06-23 | 2018-01-26 | 江苏科技大学 | Dinning-table for ship and compensation method with six degree of freedom wave Active Compensation function |
| CN106744320A (en) * | 2016-11-24 | 2017-05-31 | 中国人民解放军国防科学技术大学 | A kind of six degree of freedom active heave compensation hanging method and Lift-on/Lift-off System |
| CN107651581A (en) * | 2017-09-20 | 2018-02-02 | 中国水产科学研究院渔业机械仪器研究所 | A kind of ship's crane, which rises, puts anti-roll device |
| CN108715406B (en) * | 2018-06-12 | 2020-02-04 | 衢州学院 | Super capacitor energy storage suspension arm for wave compensation bus side energy management |
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