CN112456352B - Multi-degree-of-freedom active wave compensation device - Google Patents

Multi-degree-of-freedom active wave compensation device Download PDF

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Publication number
CN112456352B
CN112456352B CN202011343284.6A CN202011343284A CN112456352B CN 112456352 B CN112456352 B CN 112456352B CN 202011343284 A CN202011343284 A CN 202011343284A CN 112456352 B CN112456352 B CN 112456352B
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China
Prior art keywords
axis
wire rope
steel wire
control mechanism
frame
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CN202011343284.6A
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Chinese (zh)
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CN112456352A (en
Inventor
陈原
王耀
于福杰
李庆中
李德合
杨国卿
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Shandong University
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Shandong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other 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
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • 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
    • B66C23/64—Jibs

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

The invention relates to the field of marine equipment, and aims to provide a multi-degree-of-freedom active heave compensation device which is small in control difficulty, high in control efficiency, good in compensation effect and small in steel wire rope stress and is not easy to damage. The compensation device comprises a cargo lifting machine arranged on a supply ship and a rope-driven wave compensation mechanism, the upper part of the rope-driven wave compensation mechanism is connected with a suspension arm of the cargo lifting machine, the rope-driven wave compensation mechanism comprises an upper-layer control platform and a lower-layer grabbing platform, the upper-layer control platform and the lower-layer grabbing platform are connected through k retractable steel wire ropes, k is an even number and k is more than or equal to 8, m steel wire ropes are arranged along the x axis of a coordinate system of the cargo receiving ship in a projection manner on the horizontal plane and are symmetrical relative to the y axis of the coordinate system of the cargo receiving ship, and m is an even number and k/2 is more than or equal to 2; meanwhile, the projections of the n steel wire ropes on the horizontal plane are arranged along the y axis of the receiving ship coordinate system and are symmetrical relative to the x axis of the receiving ship coordinate system, n is an even number, and k/2 is more than or equal to n and is more than or equal to 2.

Description

Multi-degree-of-freedom active wave compensation device
Technical Field
The invention relates to the field of marine mechanical equipment, in particular to a multi-degree-of-freedom active heave compensation device.
Background
The supply is an important way for supplying materials to offshore floating platforms such as ships and the like, when two ships are supplied in parallel, temporary berthing needs to be carried out on the sea, due to the factors of tonnage, dimension and linear type of a cargo supply ship and a cargo receiving ship, different relative positions of the two ships on waves and the like, and the influence of environmental factors such as wind direction and wave direction and the like, six-degree-of-freedom relative motion of swaying, surging, heaving, rolling, pitching and yawing can be generated between the two ships, and the relative motion can be intensified along with the upgrade of sea conditions, so that the sliding of cargos lifted by a cargo lifting machine is easy to deviate from normal ship points, cargos can even collide with an upper-deck building or a ship body in serious cases, unnecessary accidents are caused, and particularly, when flammable and explosive articles such as ammunition and the like or other fragile articles are supplied, the danger is higher.
Therefore, the two ships need to properly adjust the postures and the positions of the ships during replenishment, and the influence of ocean factors on material transfer is better dealt with by combining a wave compensation technology. Research finds that the posture which is most suitable for two ships to carry out material transfer is wave-facing mooring, when the two ships are wave-facing mooring, the cargo-supply ship carries out material transfer by the cargo-lifting arm, the cargo-supply ship is driven by self power, three-degree-of-freedom motion of swaying, surging and yawing at the tail end of the cargo-lifting arm can be compensated, the cargo-lifting arm can move on three degrees of freedom under the driving of a cargo crane, namely three-degree-of-freedom motion of heaving, rolling and pitching at the tail end of the cargo-lifting arm is compensated, and the tail end of the cargo-lifting arm can be regarded as being static relative to the ground at the moment; similarly, the three-freedom-degree motion of the ship can be compensated by the power device. Therefore, the degrees of freedom for the cargo-handling arm (and cargo) of the cargo ship to finally and mainly compensate are three-degree-of-freedom motions of the cargo-receiving ship, such as heave, roll and pitch, and a micro-amount of roll motion caused by roll and a micro-amount of pitch motion caused by pitch, wherein the motions are five degrees of freedom.
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 a hoisting device of a cargo ship, and the servo motors control the rotation speed and direction of the steel wire rope according to control parameters, so that the six-degree-of-freedom motion of a load relative to a base is consistent with the six-degree-of-freedom motion of a cargo ship relative to the base.
Such a compensation mechanism has the following problems: as shown in fig. 1 (the coordinate system is a cargo ship coordinate system, namely, the length direction of the hull of the cargo ship is on the y axis), the compensating mechanism belongs to a rope-driven wave compensating mechanism, when two ships are parked in the wave, all steel ropes of the compensating mechanism are arranged at an angle with the x, y and z axes, that is, each steel rope generates component force in the x, y and z directions, no matter which degree of freedom needs to compensate the cargo lifted by the suspension arm, all steel ropes need to participate in precise control, the control difficulty is very large, and if the degree of freedom needing to be compensated has component force in the x axis (or y axis) direction, the component force perpendicular to the x axis (or y axis) direction, namely the component force on the y axis (or x axis), generated by each steel rope in the horizontal plane, is useless component force, which is a waste of control force, and greatly weakens the control efficiency and compensation effect, and the stress on each steel wire rope is very large, so that the steel wire ropes are easy to damage.
Disclosure of Invention
The invention aims to solve the technical problems that the active heave compensation device in the prior art has high control difficulty, low control efficiency and poor compensation effect, and the steel wire rope is easy to damage due to overlarge stress, and provides the multi-degree-of-freedom active heave compensation device which has low control difficulty, high control efficiency, good compensation effect and small stress and is difficult to damage.
The invention relates to a multi-degree-of-freedom active wave compensation device, which comprises a cargo lifting machine arranged on a supply ship and a rope-driven wave compensation mechanism, wherein the upper part of the rope-driven wave compensation mechanism is connected with a suspension arm of the cargo lifting machine, the rope-driven wave compensation mechanism comprises an upper-layer control platform and a lower-layer grabbing platform, the upper-layer control platform and the lower-layer grabbing platform are connected through k retractable steel wire ropes, k is an even number and k is more than or equal to 8, the projections of m steel wire ropes on the horizontal plane are arranged along the x axis of a coordinate system of the cargo receiving ship and are symmetrical relative to the y axis of the coordinate system of the cargo receiving ship, m is an even number and k/2 is more than or equal to m more than or equal to 2; meanwhile, the projections of the n steel wire ropes on the horizontal plane are arranged along the y axis of the receiving ship coordinate system and are symmetrical relative to the x axis of the receiving ship coordinate system, n is an even number, and k/2 is more than or equal to n and is more than or equal to 2.
Preferably, m is 4, and the projections of the four steel wire ropes on the horizontal plane are arranged along the x axis of the coordinate system of the cargo receiving ship; meanwhile, the projection of four steel wire ropes on the horizontal plane is arranged along the y axis of the cargo receiving ship coordinate system;
the steel wire ropes comprise a first x-axis steel wire rope, a second x-axis steel wire rope, a third x-axis steel wire rope, a fourth x-axis steel wire rope, a first y-axis steel wire rope, a second y-axis steel wire rope, a third y-axis steel wire rope and a fourth y-axis steel wire rope;
the projections of the first, second, third and fourth x-axis wire ropes on a horizontal plane are arranged along the x-axis of the ship coordinate system, wherein the first and fourth x-axis wire ropes are symmetrical with respect to the y-axis position of the ship coordinate system, and the second and third x-axis wire ropes are symmetrical with respect to the y-axis position of the ship coordinate system;
the projections of the first, second, third and fourth y-axis wire ropes on a horizontal plane are arranged along a y-axis of the ship receiving coordinate system, wherein the first and fourth y-axis wire ropes are symmetrical with respect to an x-axis position of the ship receiving coordinate system, and the second and third y-axis wire ropes are symmetrical with respect to an x-axis position of the ship receiving coordinate system.
Preferably, the upper control platform is provided with a first support frame, a second support frame, a third support frame and a fourth support frame which are the same in length, the first support frame and the third support frame are arranged along an x axis of the cargo receiving ship coordinate system, and the second support frame and the fourth support frame are arranged along a y axis of the cargo receiving ship coordinate system; correspondingly, the lower-layer grabbing platform is provided with a first connecting frame, a second connecting frame, a third connecting frame and a fourth connecting frame which are the same in length, the first connecting frame and the third connecting frame are arranged along the x axis of the cargo ship coordinate system, and the second connecting frame and the fourth connecting frame are arranged along the y axis of the cargo ship coordinate system;
a first x-axis line control mechanism is arranged on the first support frame, a second x-axis line control mechanism and a third x-axis line control mechanism are arranged in the central area of the upper control platform, and a fourth x-axis line control mechanism is arranged on the third support frame;
the first x-axis steel wire rope extends out of the first x-axis wire control mechanism and is downwards connected with the first connecting frame from the outer end of the first supporting frame, the second x-axis steel wire rope extends out of the second x-axis wire control mechanism and is downwards connected with the first connecting frame from a position close to the center of the lower surface of the upper control platform, the third x-axis steel wire rope extends out of the third x-axis wire control mechanism and is downwards connected with the third connecting frame from a position close to the center of the lower surface of the upper control platform, and the fourth x-axis steel wire rope extends out of the fourth x-axis wire control mechanism and is downwards connected with the third connecting frame from the outer end of the third supporting frame;
a first y-axis line control mechanism is arranged on the fourth support frame, a second y-axis line control mechanism and a third y-axis line control mechanism are also arranged in the central area of the upper control platform, and a fourth y-axis line control mechanism is arranged on the second support frame;
first y axle wire rope certainly first y axle wire control mechanism stretches out and follows the outer end of fourth support frame is connected downwards the fourth link, second y axle wire rope certainly second y axle wire control mechanism stretches out and is followed and is close upper control platform lower surface central point department connects downwards the fourth link, third y axle wire rope certainly third y axle wire control mechanism stretches out and is followed and is close upper control platform lower surface central point department connects downwards the second link, fourth y axle wire rope certainly fourth y axle wire control mechanism stretches out and follows the outer end of second support frame connects downwards the second link.
Preferably, the wire rope further comprises a first clockwise rotating wire rope, a second clockwise rotating wire rope, a first counterclockwise rotating wire rope and a second counterclockwise rotating wire rope;
the second support frame is also provided with a first clockwise rotation line control mechanism and a first anticlockwise rotation line control mechanism, and the fourth support frame is also provided with a second clockwise rotation line control mechanism and a second anticlockwise rotation line control mechanism;
the first clockwise rotating steel wire rope extends out of the first clockwise rotating wire control mechanism and is downwards connected with the first connecting frame from the outer end of the second supporting frame, and the first anticlockwise rotating steel wire rope extends out of the first anticlockwise rotating wire control mechanism and is downwards connected with the third connecting frame from the outer end of the second supporting frame; the second clockwise rotation steel wire rope extends out from the second clockwise rotation wire control mechanism and is downwards connected with the third connecting frame from the outer end of the fourth supporting frame, and the second anticlockwise rotation steel wire rope extends out from the second anticlockwise rotation wire control mechanism and is downwards connected with the first connecting frame from the outer end of the fourth supporting frame.
Preferably, a rigid telescopic rod is arranged between the central position of the upper-layer control platform and the central position of the lower-layer grabbing platform.
Preferably, m is 2, and the projections of the two steel wire ropes on the horizontal plane are arranged along the x axis of the coordinate system of the cargo receiving ship; meanwhile, the projection of two steel wire ropes on the horizontal plane is arranged along the y axis of the cargo receiving ship coordinate system, wherein n is 2;
the steel wire rope comprises a first x-axis steel wire rope, a second x-axis steel wire rope, a first y-axis steel wire rope and a second y-axis steel wire rope;
the projections of the first x-axis wire rope and the second x-axis wire rope on a horizontal plane are arranged along the x-axis of the ship receiving coordinate system, and the first x-axis wire rope and the second x-axis wire rope are symmetrical relative to the y-axis position of the ship receiving coordinate system;
the projections of the first y-axis wire rope and the second y-axis wire rope on a horizontal plane are arranged along a y-axis of the ship receiving coordinate system, and the first y-axis wire rope and the second y-axis wire rope are symmetrical relative to an x-axis position of the ship receiving coordinate system.
Preferably, the upper control platform is provided with a first support frame, a second support frame, a third support frame and a fourth support frame which are the same in length, the first support frame and the third support frame are arranged along an x axis of the cargo receiving ship coordinate system, and the second support frame and the fourth support frame are arranged along a y axis of the cargo receiving ship coordinate system; correspondingly, the lower-layer grabbing platform is provided with a first connecting frame, a second connecting frame, a third connecting frame and a fourth connecting frame which are the same in length, the first connecting frame and the third connecting frame are arranged along the x axis of the cargo ship coordinate system, and the second connecting frame and the fourth connecting frame are arranged along the y axis of the cargo ship coordinate system;
a first x-axis line control mechanism is arranged on the first support frame, and a second x-axis line control mechanism is arranged on the third support frame;
the first x-axis steel wire rope extends out of the first x-axis wire control mechanism and is downwards connected with the first connecting frame from the outer end of the first supporting frame, and the second x-axis steel wire rope extends out of the second x-axis wire control mechanism and is downwards connected with the third connecting frame from the outer end of the third supporting frame;
a first y-axis line control mechanism is arranged on the fourth supporting frame, and a second y-axis line control mechanism is arranged on the second supporting frame;
the first y-axis steel wire rope extends out of the first y-axis wire control mechanism and is downwards connected with the fourth connecting frame from the outer end of the fourth supporting frame, and the second y-axis steel wire rope extends out of the second y-axis wire control mechanism and is downwards connected with the second connecting frame from the outer end of the second supporting frame.
Preferably, the steel wire rope further comprises a first obliquely hung steel wire rope, a second obliquely hung steel wire rope, a third obliquely hung steel wire rope and a fourth obliquely hung steel wire rope;
a first inclined hanging line control mechanism, a second inclined hanging line control mechanism, a third inclined hanging line control mechanism and a fourth inclined hanging line control mechanism are arranged in the central area of the upper layer control platform;
a first connecting support is arranged between the first support frame and the second support frame, a second connecting support is arranged between the second support frame and the third support frame, a third connecting support is arranged between the third support frame and the fourth support frame, and a fourth connecting support is arranged between the fourth support frame and the first support frame;
a fourth inclined hanging bracket is arranged between the first connecting bracket and the first supporting frame, the fourth inclined hanging bracket is parallel to the second supporting frame, a second inclined hanging bracket is arranged between the third connecting bracket and the third supporting frame, the second inclined hanging bracket is parallel to the fourth supporting frame, a first inclined hanging bracket is arranged between the second connecting bracket and the central area of the upper control platform, the first inclined hanging bracket is parallel to the third supporting frame, a third inclined hanging bracket is arranged between the fourth connecting bracket and the central area of the upper control platform, and the third inclined hanging bracket is parallel to the first supporting frame;
the first inclined hanging steel wire rope extends out of the first inclined hanging wire control mechanism and is downwards connected with the first connecting frame from a position, which is on the first inclined hanging bracket and is separated from the central area of the upper-layer control platform by a certain distance, the second inclined hanging steel wire rope extends out of the second inclined hanging wire control mechanism and is downwards connected with the second connecting frame from a position, which is on the second inclined hanging bracket and is connected with the third connecting frame from the connecting position of the second inclined hanging bracket and the third connecting frame, the third inclined hanging steel wire rope extends out of the third inclined hanging wire control mechanism and is downwards connected with the third connecting frame from a position, which is on the third inclined hanging bracket and is separated from the central area of the upper-layer control platform by a certain distance, and the fourth inclined hanging steel wire rope extends out of the fourth inclined hanging wire control mechanism and is downwards connected with the fourth connecting frame from a position, which is on the fourth inclined hanging bracket and the first connecting frame.
Preferably, the wire rope further comprises a first clockwise rotating wire rope, a second clockwise rotating wire rope, a first counterclockwise rotating wire rope and a second counterclockwise rotating wire rope;
the second support frame is also provided with a first clockwise rotation line control mechanism and a first anticlockwise rotation line control mechanism, and the fourth support frame is also provided with a second clockwise rotation line control mechanism and a second anticlockwise rotation line control mechanism;
the first clockwise rotation steel wire rope extends from the first clockwise rotation wire control mechanism and is downwards connected with the first connecting frame from the outer end of the second support frame, the first anticlockwise rotation steel wire rope extends from the first anticlockwise rotation wire control mechanism and is downwards connected with the third connecting frame from the outer end of the second support frame, the second clockwise rotation steel wire rope extends from the second clockwise rotation wire control mechanism and is downwards connected with the third connecting frame from the outer end of the fourth support frame, and the second anticlockwise rotation steel wire rope extends from the second anticlockwise rotation wire control mechanism and is downwards connected with the first connecting frame from the outer end of the fourth support frame.
Preferably, two rigid telescopic rods with staggered positions are arranged between the upper control platform and the lower grabbing platform; the upper end of one of the rigid telescopic rods is connected with the lower surface of the second support frame and the position which does not interfere with each steel wire rope, and the lower end of the rigid telescopic rod is connected with a first connecting area on the upper surface of the lower-layer grabbing platform; the upper end of the other rigid telescopic rod is connected with the lower surface of the fourth support frame and the position which does not interfere with the steel wire ropes, and the lower end of the other rigid telescopic rod is connected with a second connecting area on the upper surface of the lower grabbing platform.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1. the multi-degree-of-freedom active wave compensation device is characterized in that the projections of m steel wire ropes on the horizontal plane are arranged along the x axis of a coordinate system of a cargo ship, m is an even number, k/2 is more than or equal to m and more than or equal to 2(k is the total number of the steel wire ropes between an upper-layer control platform and a lower-layer grabbing platform), meanwhile, the projections of n steel wire ropes on the horizontal plane are arranged along the y axis of the coordinate system of the cargo ship, n is an even number, and k/2 is more than or equal to n and more than or equal to 2. In addition, when the lower-layer grabbing platform is compensated for x-axis motion or compensated for y-axis motion, only the steel wire ropes arranged on the corresponding shafts need to be controlled, and other steel wire ropes do not participate in control in follow-up, so that the compensation device can compensate for larger translation amplitude and better control force.
2. According to the multi-degree-of-freedom active wave compensation device, the rigid telescopic rod or the two rigid telescopic rods with staggered positions can be arranged between the upper-layer control platform and the lower-layer grabbing platform, the rigid telescopic rod is not interfered with each steel wire rope, the rigid telescopic rods follow the upper-layer control platform and the lower-layer grabbing platform, the lower-layer grabbing platform is prevented from swinging due to the influence of the speed of the upper-layer control platform, and the stability of the lower-layer grabbing platform is guaranteed.
The multi-degree-of-freedom active heave compensation device of the invention is further explained with reference to the attached drawings.
Drawings
FIG. 1 is a schematic view of a prior art heave compensation apparatus;
FIG. 2 is a general schematic view of a multi-degree-of-freedom active heave compensation apparatus according to a first embodiment of the present invention;
FIG. 3 is a schematic view of a cargo lifting machine with a multi-degree-of-freedom active heave compensation device according to the present invention;
FIG. 4 is a schematic structural diagram of a rope-driven heave compensation mechanism according to an embodiment of the invention;
FIG. 5 is a bottom view of the rope driven heave compensation mechanism in an embodiment of the invention;
FIG. 6 is a schematic layout of a rope-driven heave compensation mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of sway compensation of a rope-driven heave compensation mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic view of the roll compensation of the rope-driven heave compensation mechanism according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of the simultaneous sway and roll compensation of the rope-driven heave compensation mechanism according to one embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a rope-driven heave compensation mechanism according to a second embodiment of the invention;
FIG. 11 is a bottom view of the rope driven heave compensation mechanism according to the second embodiment of the invention;
FIG. 12 is a schematic layout view of a rope-driven heave compensation mechanism according to a second embodiment of the present invention;
FIG. 13 is a first schematic structural diagram of a rope-driven heave compensation mechanism according to a third embodiment of the present invention;
FIG. 14 is a schematic structural view of a rope-driven heave compensation mechanism in a third embodiment of the invention;
FIG. 15 is a bottom view of a rope driven heave compensation mechanism in a third embodiment of the invention;
FIG. 16 is a schematic wiring diagram of a rope-driven heave compensation mechanism according to a third embodiment of the invention;
FIG. 17 is a first schematic structural view of a rope-driven heave compensation mechanism according to a fourth embodiment of the present invention;
FIG. 18 is a second schematic structural view of a rope-driven heave compensation mechanism in a fourth embodiment of the present invention;
FIG. 19 is a bottom view of a rope driven heave compensation mechanism according to a fourth embodiment of the present invention;
fig. 20 is a schematic wiring diagram of a rope-driven heave compensation mechanism according to a fourth embodiment of the invention.
The reference numbers in the figures denote:
1-hoisting a cargo machine; 101-boom, 102-tip rotating motor and components;
2-cargo;
3-an upper control platform, 301-a first support frame, 302-a second support frame, 303-a third support frame, 304-a fourth support frame, 305-a first connecting support, 306-a second connecting support, 307-a third connecting support, 308-a fourth connecting support, 309-a first inclined hanging support, 310-a second inclined hanging support, 311-a third inclined hanging support and 312-a fourth inclined hanging support;
4-lower grasping platform, 401-first connecting frame, 402-second connecting frame, 403-third connecting frame, 404-fourth connecting frame, 405-first connecting area, 406-second connecting area;
501-a first x-axis wire rope, 502-a second x-axis wire rope, 503-a third x-axis wire rope, 504-a fourth x-axis wire rope, 505-a first y-axis wire rope, 506-a second y-axis wire rope, 507-a third y-axis wire rope, 508-a fourth y-axis wire rope, 509-a first clockwise rotating wire rope, 510-a second clockwise rotating wire rope, 511-a first counterclockwise rotating wire rope, 512-a second counterclockwise rotating wire rope, 513-a first obliquely hanging wire rope, 514-a second obliquely hanging wire rope, 515-a third obliquely hanging wire rope, 516-a fourth obliquely hanging wire rope;
601-a first x-axis line control mechanism, 602-a second x-axis line control mechanism, 603-a third x-axis line control mechanism, 604-a fourth x-axis line control mechanism, 605-a first y-axis line control mechanism, 606-a second y-axis line control mechanism, 607-a third y-axis line control mechanism, 608-a fourth y-axis line control mechanism, 609-a first clockwise rotation line control mechanism, 610-a second clockwise rotation line control mechanism, 611-a first counterclockwise rotation line control mechanism, 612-a second counterclockwise rotation line control mechanism, 613-a first obliquely hanging line control mechanism, 614-a second obliquely hanging line control mechanism, 615-a third obliquely hanging line control mechanism, 616-a fourth obliquely hanging line control mechanism;
7-rigid telescopic rod.
Detailed Description
Example one
As shown in fig. 2, the multiple-degree-of-freedom active heave compensation device of the present invention includes a cargo crane 1 disposed on a cargo supply ship and a rope-driven heave compensation mechanism whose upper portion is connected to a boom 101 of the cargo crane 1, wherein the coordinate system is a cargo ship-receiving coordinate system, that is, the length direction of the cargo ship body is on the y-axis. As shown in fig. 3, the end of the boom 101 is provided with a terminal rotating motor and assembly 102, and the rope-driven heave compensation mechanism can realize a rotating motion (360 ° rotation) around the z-axis under the driving of the terminal rotating motor and assembly 102, so as to assist in compensating the freedom degree of the cargo platform and the cargo yawing.
The rope-driven wave compensation mechanism comprises an upper-layer control platform 3 and a lower-layer grabbing platform 4, wherein the upper-layer control platform 3 and the lower-layer grabbing platform 4 are connected through k retractable steel wire ropes, k is an even number and is more than or equal to 8, the projections of m steel wire ropes on the horizontal plane are arranged along the x axis of the receiving ship coordinate system and are symmetrical relative to the y axis of the receiving ship coordinate system, m is an even number, and k/2 is more than or equal to m and is more than or equal to 2; meanwhile, the projections of n steel wire ropes on the horizontal plane are arranged along the y axis of the receiving ship coordinate system and are symmetrical relative to the x axis of the receiving ship coordinate system, n is an even number, and k/2 is more than or equal to n and is more than or equal to 2.
In this embodiment, k is 8, that is, the upper control platform 3 and the lower grasping platform 4 are connected by eight retractable steel cables; the projection of four steel wire ropes on the horizontal plane is arranged along the x axis of the coordinate system of the cargo ship; meanwhile, the projection of four steel wire ropes on the horizontal plane is arranged along the y axis of the cargo ship coordinate system, wherein n is 4.
As shown in fig. 4-6, specifically, the eight steel cables include a first x-axis steel cable 501, a second x-axis steel cable 502, a third x-axis steel cable 503, a fourth x-axis steel cable 504, a first y-axis steel cable 505, a second y-axis steel cable 506, a third y-axis steel cable 507, and a fourth y-axis steel cable 508. Among the eight steel cords, projections of a first x-axis steel cord 501, a second x-axis steel cord 502, a third x-axis steel cord 503 and a fourth x-axis steel cord 504 on a horizontal plane are arranged along an x-axis of a ship-receiving coordinate system, wherein the first x-axis steel cord 501 and the fourth x-axis steel cord 504 are symmetrical with respect to a y-axis position of the ship-receiving coordinate system, and the second x-axis steel cord 502 and the third x-axis steel cord 503 are symmetrical with respect to the y-axis position of the ship-receiving coordinate system. The projections of the first y-axis wire rope 505, the second y-axis wire rope 506, the third y-axis wire rope 507 and the fourth y-axis wire rope 508 on the horizontal plane are arranged along the y-axis of the cargo ship coordinate system, wherein the first y-axis wire rope 505 and the fourth y-axis wire rope 508 are symmetrical with respect to the x-axis position of the cargo ship coordinate system, and the second y-axis wire rope 506 and the third y-axis wire rope 507 are symmetrical with respect to the x-axis position of the cargo ship coordinate system.
The upper-layer control platform 3 is provided with a first support frame 301, a second support frame 302, a third support frame 303 and a fourth support frame 304 which are the same in length, the first support frame 301 and the third support frame 303 are arranged along the x axis of a cargo receiving ship coordinate system, and the second support frame 302 and the fourth support frame 304 are arranged along the y axis of the cargo receiving ship coordinate system; correspondingly, the lower layer grabbing platform 4 is provided with a first connecting frame 401, a second connecting frame 402, a third connecting frame 403 and a fourth connecting frame 404 which are the same in length, the first connecting frame 401 and the third connecting frame 403 are arranged along the x axis of the cargo ship coordinate system, and the second connecting frame 402 and the fourth connecting frame 404 are arranged along the y axis of the cargo ship coordinate system.
In this embodiment, in order to reinforce the upper control platform 3, a first connecting bracket 305 is disposed between the first support frame 301 and the second support frame 302, a second connecting bracket 306 is disposed between the second support frame 302 and the third support frame 303, a third connecting bracket 307 is disposed between the third support frame 303 and the fourth support frame 304, and a fourth connecting bracket 308 is disposed between the fourth support frame 304 and the first support frame 301. The lower grabbing platform 4 is integrally in a cuboid shape matched with the goods 2 (container), the edges of the second connecting frame 402 and the fourth connecting frame 404 are long edges, the edges of the first connecting frame 401 and the third connecting frame 403 are short edges, and the first connecting frame 401, the second connecting frame 402, the third connecting frame 403 and the fourth connecting frame 404 horizontally protrude out of the respective edges.
A first x-axis line control mechanism 601 is arranged on the first support frame 301, a second x-axis line control mechanism 602 and a third x-axis line control mechanism 603 are arranged in the central area of the upper control platform 3, and a fourth x-axis line control mechanism 604 is arranged on the third support frame 303. The first x-axis line control mechanism 601, the second x-axis line control mechanism 602, the third x-axis line control mechanism 603 and the fourth x-axis line control mechanism 604 respectively comprise a driving motor (such as a rope winch or a motor winch) and a pulley block, the driving motor is used for controlling and adjusting the extending length of each steel wire rope, and the pulley block is used for guiding each steel wire rope to a corresponding working position.
The first x-axis wire rope 501 extends from the first x-axis wire control mechanism 601 and is connected with the first connecting frame 401 downwards from the outer end of the first supporting frame 301, the second x-axis wire rope 502 extends from the second x-axis wire control mechanism 602 and is connected with the first connecting frame 401 downwards from a position close to the center of the lower surface of the upper control platform 3, the third x-axis wire rope 503 extends from the third x-axis wire control mechanism 603 and is connected with the third connecting frame 403 downwards from a position close to the center of the lower surface of the upper control platform 3, and the fourth x-axis wire rope 504 extends from the fourth x-axis wire control mechanism 604 and is connected with the third connecting frame 403 downwards from the outer end of the third supporting frame 303.
A first y-axis line control mechanism 605 is arranged on the fourth support frame 304, a second y-axis line control mechanism 606 and a third y-axis line control mechanism 607 are also arranged in the central area of the upper control platform 3, and a fourth y-axis line control mechanism 608 is arranged on the second support frame 302.
The first y-axis steel wire rope 505 extends from the first y-axis wire control mechanism 605 and is connected with the fourth connecting frame 404 from the outer end of the fourth supporting frame 304 downwards, the second y-axis steel wire rope 506 extends from the second y-axis wire control mechanism 606 and is connected with the fourth connecting frame 404 from the position close to the center of the lower surface of the upper control platform 3 downwards, the third y-axis steel wire rope 507 extends from the third y-axis wire control mechanism 607 and is connected with the second connecting frame 402 from the position close to the center of the lower surface of the upper control platform 3 downwards, and the fourth y-axis steel wire rope 508 extends from the fourth y-axis wire control mechanism 608 and is connected with the second connecting frame 402 from the outer end of the second supporting frame 302 downwards.
In order to control the swing phenomenon of the lower layer grabbing platform caused by wind waves and compensation motion, a rigid telescopic rod 7 is arranged between the central position of the upper layer control platform 3 and the central position of the lower layer grabbing platform 4. The rigid telescopic rod 7 can be an active telescopic rod with a drive or a passive telescopic rod without a drive.
The rope-driven heave compensation mechanism of the first embodiment can realize compensation of five degrees of freedom of swaying, surging, heaving, rolling and pitching, and after the rope-driven heave compensation mechanism is installed on a cargo lifting machine, the integral multi-degree-of-freedom active heave compensation device can realize compensation of five + one degrees of freedom, namely six degrees of freedom of swaying, surging, heaving, rolling, pitching and yawing.
The compensation process of the multi-degree-of-freedom active heave compensation device according to the first embodiment is briefly described as follows:
as shown in fig. 7 (the coordinate system in the figure is the coordinate system of the cargo receiving ship), for example, by controlling the corresponding wire control mechanism to adjust the length of the wire rope, the first x-axis wire rope 501 is shortened, the second x-axis wire rope 502 is lengthened, the third x-axis wire rope 503 is shortened, and the fourth x-axis wire rope 504 is lengthened.
As shown in fig. 8, for example, to compensate for roll and right turn, the length of the wire rope is adjusted by controlling the corresponding wire control mechanism, so that the first x-axis wire rope 501 is shortened, the second x-axis wire rope 502 is shortened, the third x-axis wire rope 503 is lengthened, and the fourth x-axis wire rope 504 is lengthened.
As shown in fig. 9, for example, by compensating for the sway and the roll at the same time and moving left and turning right, the lengths of the wire ropes are adjusted by controlling the corresponding wire control mechanisms, so that the first x-axis wire rope 501 is shortened, the second x-axis wire rope 502 is lengthened or shortened by the difference, the third x-axis wire rope 503 is lengthened or shortened by the difference, and the fourth x-axis wire rope 504 is lengthened.
The specific compensation method and the length of the steel wire rope need to be calculated in real time according to field data such as actual compensation angles, distance correlation, known target positions and the like.
Example two
As shown in fig. 10-12, the difference between the multi-degree-of-freedom active heave compensation device of the present embodiment and the first embodiment is:
in this embodiment, k is 12, that is, the upper control platform 3 and the lower grasping platform 4 are connected by twelve retractable steel wire ropes; the projection of four steel wire ropes on the horizontal plane is arranged along the x axis of the coordinate system of the cargo ship; meanwhile, the projection of four steel wire ropes on the horizontal plane is arranged along the y axis of the cargo ship coordinate system, wherein n is 4.
Twelve steel wire ropes comprise a first x-axis steel wire rope 501, a second x-axis steel wire rope 502, a third x-axis steel wire rope 503, a fourth x-axis steel wire rope 504, a first y-axis steel wire rope 505, a second y-axis steel wire rope 506, a third y-axis steel wire rope 507, a fourth y-axis steel wire rope 508, a first clockwise rotating steel wire rope 509, a second clockwise rotating steel wire rope 510, a first counterclockwise rotating steel wire rope 511 and a second counterclockwise rotating steel wire rope 512.
The first x-axis steel wire rope 501, the second x-axis steel wire rope 502, the third x-axis steel wire rope 503, the fourth x-axis steel wire rope 504, the first y-axis steel wire rope 505, the second y-axis steel wire rope 506, the third y-axis steel wire rope 507, and the fourth y-axis steel wire rope 508 are arranged in the same manner as in the first embodiment, and are not repeated here.
The second supporting frame 302 is further provided with a first clockwise rotation line control mechanism 609 and a first anticlockwise rotation line control mechanism 611, and the fourth supporting frame 304 is further provided with a second clockwise rotation line control mechanism 610 and a second anticlockwise rotation line control mechanism 612.
The first clockwise rotating steel wire rope 509 extends out from the first clockwise rotating wire control mechanism 609 and is downwards connected with the first connecting frame 401 from the outer end of the second supporting frame 302, and the first anticlockwise rotating steel wire rope 511 extends out from the first anticlockwise rotating wire control mechanism 611 and is downwards connected with the third connecting frame 403 from the outer end of the second supporting frame 302; the second clockwise rotating wire rope 510 extends from the second clockwise rotating wire control mechanism 610 and is connected with the third connecting frame 403 from the outer end of the fourth supporting frame 304 downwards, and the second counterclockwise rotating wire rope 512 extends from the second counterclockwise rotating wire control mechanism 612 and is connected with the first connecting frame 401 from the outer end of the fourth supporting frame 304 downwards.
First clockwise rotation wire rope 509 in the rope drive wave compensation mechanism of this embodiment, second clockwise rotation wire rope 510, first anticlockwise rotation wire rope 511 and second anticlockwise rotation wire rope 512 do not bear the gravity that lower floor snatched platform and goods almost, only play a role when rotary motion, all the other moments are all followed up, the gravity that lower floor snatched platform and goods all is born by other eight wire ropes basically, control first clockwise rotation wire rope 509 and second clockwise rotation wire rope 510 can drive lower floor snatch platform and goods clockwise rotation, control first anticlockwise rotation wire rope 511 and second anticlockwise rotation wire rope 512 can drive lower floor snatch platform and goods anticlockwise rotation.
Through the arrangement of the first clockwise rotation steel wire rope 509, the second clockwise rotation steel wire rope 510, the first anticlockwise rotation steel wire rope 511 and the second anticlockwise rotation steel wire rope 512, the rotation motion (rotation of less than 90 degrees) of the lower-layer grabbing platform and the goods around the z axis can be realized, and therefore the freedom degree of the goods lifting platform and the goods yawing is compensated in an auxiliary mode. Therefore, the rope-driven heave compensation mechanism of the second embodiment can realize compensation of six degrees of freedom of yaw, pitch, heave, roll, pitch and yaw, after the rope-driven heave compensation mechanism is installed on the cargo crane, when the cargo crane arm positions irregular cargos, yaw compensation exceeding 90 degrees may be needed, and at the moment, the cargo crane arm can provide yaw compensation with a larger rotation angle (360 degrees).
In other embodiments, the first clockwise rotating wire rope 509, the second clockwise rotating wire rope 510, the first counterclockwise rotating wire rope 511, and the second counterclockwise rotating wire rope 512 may also be disposed at the short side of the rectangular lower grasping platform, although the moment is reduced and the control effect is not good, the present invention may still be applicable in some applications.
EXAMPLE III
As shown in fig. 13-16, the difference between the multi-degree-of-freedom active heave compensation device of the present embodiment and the first embodiment is:
in this embodiment, k is 8, that is, the upper control platform 3 and the lower grasping platform 4 are connected by eight retractable steel wire ropes; the projection of two steel wire ropes on the horizontal plane is arranged along the x axis of the coordinate system of the cargo ship; meanwhile, the projection of two steel wire ropes on the horizontal plane is arranged along the y axis of the coordinate system of the cargo ship, wherein n is 2.
The eight steel wire ropes comprise a first x-axis steel wire rope 501, a second x-axis steel wire rope 502, a first y-axis steel wire rope 505, a second y-axis steel wire rope 506, a first obliquely hung steel wire rope 513, a second obliquely hung steel wire rope 514, a third obliquely hung steel wire rope 515 and a fourth obliquely hung steel wire rope 516.
The projections of the first x-axis steel wire rope 501 and the second x-axis steel wire rope 502 on the horizontal plane are arranged along the x-axis of the receiving ship coordinate system, and the first x-axis steel wire rope 501 and the second x-axis steel wire rope 502 are symmetrical relative to the y-axis of the receiving ship coordinate system. The projections of the first y-axis wire rope 505 and the second y-axis wire rope 506 on the horizontal plane are arranged along the y-axis of the ship receiving coordinate system, and the first y-axis wire rope 505 and the second y-axis wire rope 506 are symmetrical with respect to the x-axis position of the ship receiving coordinate system.
The upper-layer control platform 3 is provided with a first support frame 301, a second support frame 302, a third support frame 303 and a fourth support frame 304 which are the same in length, the first support frame 301 and the third support frame 303 are arranged along the x axis of a cargo receiving ship coordinate system, and the second support frame 302 and the fourth support frame 304 are arranged along the y axis of the cargo receiving ship coordinate system; correspondingly, the lower layer grabbing platform 4 is provided with a first connecting frame 401, a second connecting frame 402, a third connecting frame 403 and a fourth connecting frame 404 which are the same in length, the first connecting frame 401 and the third connecting frame 403 are arranged along the x axis of the cargo ship coordinate system, and the second connecting frame 402 and the fourth connecting frame 404 are arranged along the y axis of the cargo ship coordinate system.
In order to reinforce the upper control platform 3, a first connecting bracket 305 is arranged between the first support frame 301 and the second support frame 302, a second connecting bracket 306 is arranged between the second support frame 302 and the third support frame 303, a third connecting bracket 307 is arranged between the third support frame 303 and the fourth support frame 304, and a fourth connecting bracket 308 is arranged between the fourth support frame 304 and the first support frame 301.
In this embodiment, a fourth inclined hanging bracket 312 is disposed between the first connecting bracket 305 and the first support frame 301, the fourth inclined hanging bracket 312 is parallel to the second support frame 302, a second inclined hanging bracket 310 is disposed between the third connecting bracket 307 and the third support frame 303, the second inclined hanging bracket 310 is parallel to the fourth support frame 304, a first inclined hanging bracket 309 is disposed between the second connecting bracket 306 and a central region of the upper control platform 3, the first inclined hanging bracket 309 is parallel to the third support frame 303, a third inclined hanging bracket 311 is disposed between the fourth connecting bracket 308 and the central region of the upper control platform 3, and the third inclined hanging bracket 311 is parallel to the first support frame 301.
The first support frame 301 is provided with a first x-axis line control mechanism 601, and the third support frame 303 is provided with a second x-axis line control mechanism 602. The first x-axis wire rope 501 extends out of the first x-axis wire control mechanism 601 and is downwards connected with the first connecting frame 401 from the outer end of the first supporting frame 301, and the second x-axis wire rope 502 extends out of the second x-axis wire control mechanism 602 and is downwards connected with the third connecting frame 403 from the outer end of the third supporting frame 303;
the fourth supporting frame 304 is provided with a first y-axis line control mechanism 605, and the second supporting frame 302 is provided with a second y-axis line control mechanism 606. A first y-axis cable 505 extends from the first y-axis cable control mechanism 605 and is connected to the fourth attachment bracket 404 from the outer end of the fourth support bracket 304 and a second y-axis cable 506 extends from the second y-axis cable control mechanism 606 and is connected to the second attachment bracket 402 from the outer end of the second support bracket 302.
The central area of the upper control platform 3 is provided with a first inclined hanging wire control mechanism 613, a second inclined hanging wire control mechanism 614, a third inclined hanging wire control mechanism 615 and a fourth inclined hanging wire control mechanism 616.
A first inclined wire-hanging rope 513 extends from the first inclined wire-hanging mechanism 613 and is connected to the first connecting frame 401 downwardly from a position on the first inclined wire-hanging bracket 309 at a distance from the central region of the upper control platform 3, a second inclined wire-hanging rope 514 extends from the second inclined wire-hanging mechanism 614 and is connected to the second connecting frame 402 downwardly from a position on the second inclined wire-hanging bracket 310 at a distance from the third connecting frame 307, a third inclined wire-hanging rope 515 extends from the third inclined wire-hanging mechanism 615 and is connected to the third connecting frame 403 downwardly from a position on the third inclined wire-hanging bracket 311 at a distance from the central region of the upper control platform 3, and a fourth inclined wire-hanging rope 516 extends from the fourth inclined wire-hanging mechanism 616 and is connected to the fourth connecting frame 404 downwardly from a position on the fourth inclined wire-hanging bracket 312 at a distance from the first connecting frame 305.
In this embodiment, the first obliquely hanging wire rope 513, the second obliquely hanging wire rope 514, the third obliquely hanging wire rope 515, and the fourth obliquely hanging wire rope 516 are used for cooperating control during the panning or surging translation compensation.
In addition, in the embodiment, two rigid telescopic rods 7 with staggered positions are arranged between the upper control platform 3 and the lower grabbing platform 4; the upper end of one of the rigid telescopic rods 7 is connected with the lower surface of the second support frame 302 and the position which does not interfere with each steel wire rope, and the lower end is connected with a first connecting area 405 on the upper surface of the lower-layer grabbing platform 4; the upper end of the other rigid telescopic rod 7 is connected with the lower surface of the fourth supporting frame 304 and the position which does not interfere with each steel wire rope, and the lower end is connected with a second connecting area 406 on the upper surface of the lower grabbing platform 4. As in the previous embodiment, the rigid telescopic rod 7 can be either an active telescopic rod with drive or a passive telescopic rod without drive.
Compared with the first embodiment and the second embodiment, the four obliquely hung steel wire ropes and the two mutually staggered rigid telescopic rods are arranged, so that the overall stability of the rope-driven wave compensation mechanism can be enhanced. The rope-driven heave compensation mechanism of the third embodiment can realize compensation of five degrees of freedom of swaying, surging, heaving, rolling and pitching, and after the rope-driven heave compensation mechanism is installed on the cargo crane, the integral multi-degree-of-freedom active heave compensation device can realize compensation of five + one degrees of freedom, namely six degrees of freedom of swaying, surging, heaving, rolling, pitching and yawing.
Example four
As shown in fig. 17-20, the difference between the multiple-degree-of-freedom active heave compensation device of the present embodiment and the third embodiment is:
in this embodiment, k is 12, that is, the upper control platform 3 and the lower grasping platform 4 are connected by twelve retractable steel wire ropes; the projection of two steel wire ropes on the horizontal plane is arranged along the x axis of the coordinate system of the cargo ship; meanwhile, the projection of two steel wire ropes on the horizontal plane is arranged along the y axis of the coordinate system of the cargo ship, wherein n is 2.
The twelve steel wire ropes comprise a first x-axis steel wire rope 501, a second x-axis steel wire rope 502, a first y-axis steel wire rope 505, a second y-axis steel wire rope 506, a first obliquely hung steel wire rope 513, a second obliquely hung steel wire rope 514, a third obliquely hung steel wire rope 515, a fourth obliquely hung steel wire rope 516, a first clockwise rotating steel wire rope 509, a second clockwise rotating steel wire rope 510, a first anticlockwise rotating steel wire rope 511 and a second anticlockwise rotating steel wire rope 512.
The first x-axis steel wire rope 501, the second x-axis steel wire rope 502, the first y-axis steel wire rope 505, and the second y-axis steel wire rope 506 are arranged in the same manner as in the first embodiment, which is not described herein again.
The second supporting frame 302 is further provided with a first clockwise rotation line control mechanism 609 and a first anticlockwise rotation line control mechanism 611, and the fourth supporting frame 304 is further provided with a second clockwise rotation line control mechanism 610 and a second anticlockwise rotation line control mechanism 612.
The first clockwise rotating wire rope 509 extends from the first clockwise rotating wire control mechanism 609 and is connected with the first connecting frame 401 from the outer end of the second supporting frame 302, the first counterclockwise rotating wire rope 511 extends from the first counterclockwise rotating wire control mechanism 611 and is connected with the third connecting frame 403 from the outer end of the second supporting frame 302, the second clockwise rotating wire rope 510 extends from the second clockwise rotating wire control mechanism 610 and is connected with the third connecting frame 403 from the outer end of the fourth supporting frame 304, and the second counterclockwise rotating wire rope 512 extends from the second counterclockwise rotating wire control mechanism 612 and is connected with the first connecting frame 401 from the outer end of the fourth supporting frame 304.
First clockwise rotation wire rope 509 in the rope drive wave compensation mechanism of this embodiment, second clockwise rotation wire rope 510, first anticlockwise rotation wire rope 511 and second anticlockwise rotation wire rope 512 do not bear the gravity that lower floor snatched platform and goods almost, only play a role when rotary motion, all the other moments are all followed up, the gravity that lower floor snatched platform and goods all is born by other eight wire ropes basically, control first clockwise rotation wire rope 509 and second clockwise rotation wire rope 510 can drive lower floor snatch platform and goods clockwise rotation, control first anticlockwise rotation wire rope 511 and second anticlockwise rotation wire rope 512 can drive lower floor snatch platform and goods anticlockwise rotation.
Through the arrangement of the first clockwise rotation steel wire rope 509, the second clockwise rotation steel wire rope 510, the first anticlockwise rotation steel wire rope 511 and the second anticlockwise rotation steel wire rope 512, the rotation motion (rotation of less than 90 degrees) of the lower-layer grabbing platform and the goods around the z axis can be realized, and therefore the freedom degree of the goods lifting platform and the goods yawing is compensated in an auxiliary mode. Therefore, the rope-driven heave compensation mechanism of the fourth embodiment can realize compensation of six degrees of freedom, namely yaw, pitch, heave, roll, pitch and yaw, after the rope-driven heave compensation mechanism is installed on the cargo crane, when the cargo crane arm positions irregular cargos, yaw compensation exceeding 90 degrees may be needed, and at the moment, the cargo crane arm can provide yaw compensation with a larger rotation angle (360 degrees).
The following briefly describes the compensation process of the multi-degree-of-freedom active heave compensation device of the fourth embodiment:
for example, to compensate for yawing and clockwise rotation, the first clockwise rotation wire rope 509 and the second clockwise rotation wire rope 510 are shortened, and the first counterclockwise rotation wire rope 511 and the second counterclockwise rotation wire rope 512 are extended. For example, to compensate for yawing and counterclockwise rotation, the first counterclockwise rotation wire rope 511 and the second counterclockwise rotation wire rope 512 are shortened, and the first clockwise rotation wire rope 509 and the second clockwise rotation wire rope 510 are lengthened.
The specific compensation method and the length of the steel wire rope need to be calculated in real time according to field data such as actual compensation angles, distance correlation, known target positions and the like.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (10)

1. The utility model provides an active wave compensation arrangement of multi freedom, including set up in goods delivery ship hang cargo aircraft (1) and upper portion with hang the rope drive wave compensation mechanism that cargo aircraft's (1) davit (101) are connected, its characterized in that: the rope-driven wave compensation mechanism comprises an upper-layer control platform (3) and a lower-layer grabbing platform (4), wherein the upper-layer control platform (3) and the lower-layer grabbing platform (4) are connected through k retractable steel wire ropes, k is an even number and is more than or equal to 8, m steel wire ropes are arranged on the projection of a horizontal plane along the x axis of a coordinate system of the cargo receiving ship and are symmetrical relative to the y axis of the coordinate system of the cargo receiving ship, m is an even number and k/2 is more than or equal to m and is more than or equal to 2; meanwhile, the projections of the n steel wire ropes on the horizontal plane are arranged along the y axis of the receiving ship coordinate system and are symmetrical relative to the x axis of the receiving ship coordinate system, n is an even number, and k/2 is more than or equal to n and is more than or equal to 2.
2. The active heave compensation apparatus of multiple degree of freedom of claim 1, wherein: the projection of four steel wire ropes on the horizontal plane is arranged along the x axis of the cargo receiving ship coordinate system; meanwhile, the projection of four steel wire ropes on the horizontal plane is arranged along the y axis of the cargo receiving ship coordinate system;
the steel wire rope comprises a first x-axis steel wire rope (501), a second x-axis steel wire rope (502), a third x-axis steel wire rope (503), a fourth x-axis steel wire rope (504), a first y-axis steel wire rope (505), a second y-axis steel wire rope (506), a third y-axis steel wire rope (507) and a fourth y-axis steel wire rope (508);
the projections of the first x-axis wire rope (501), the second x-axis wire rope (502), the third x-axis wire rope (503) and the fourth x-axis wire rope (504) in a horizontal plane are arranged along the x-axis of the ship receiving coordinate system, wherein the first x-axis wire rope (501) and the fourth x-axis wire rope (504) are symmetrical with respect to the y-axis position of the ship receiving coordinate system, and the second x-axis wire rope (502) and the third x-axis wire rope (503) are symmetrical with respect to the y-axis position of the ship receiving coordinate system;
the projections of the first y-axis wire rope (505), the second y-axis wire rope (506), the third y-axis wire rope (507) and the fourth y-axis wire rope (508) in a horizontal plane are arranged along the y-axis of the ship receiving coordinate system, wherein the first y-axis wire rope (505) and the fourth y-axis wire rope (508) are symmetrical with respect to the x-axis position of the ship receiving coordinate system, and the second y-axis wire rope (506) and the third y-axis wire rope (507) are symmetrical with respect to the x-axis position of the ship receiving coordinate system.
3. The active heave compensation apparatus of multiple degree of freedom of claim 2, wherein:
the upper-layer control platform (3) is provided with a first support frame (301), a second support frame (302), a third support frame (303) and a fourth support frame (304) which are the same in length, the first support frame (301) and the third support frame (303) are arranged along the x axis of the cargo receiving ship coordinate system, and the second support frame (302) and the fourth support frame (304) are arranged along the y axis of the cargo receiving ship coordinate system; correspondingly, the lower-layer grabbing platform (4) is provided with a first connecting frame (401), a second connecting frame (402), a third connecting frame (403) and a fourth connecting frame (404) which are the same in length, the first connecting frame (401) and the third connecting frame (403) are arranged along the x axis of the ship receiving coordinate system, and the second connecting frame (402) and the fourth connecting frame (404) are arranged along the y axis of the ship receiving coordinate system;
a first x-axis line control mechanism (601) is arranged on the first support frame (301), a second x-axis line control mechanism (602) and a third x-axis line control mechanism (603) are arranged in the central area of the upper control platform (3), and a fourth x-axis line control mechanism (604) is arranged on the third support frame (303);
the first x-axis wire rope (501) extends from the first x-axis wire control mechanism (601) and is connected with the first connecting frame (401) downwards from the outer end of the first supporting frame (301), the second x-axis wire rope (502) extends from the second x-axis wire control mechanism (602) and is connected with the first connecting frame (401) downwards from a position close to the center of the lower surface of the upper control platform (3), the third x-axis wire rope (503) extends from the third x-axis wire control mechanism (603) and is connected with the third connecting frame (403) downwards from a position close to the center of the lower surface of the upper control platform (3), and the fourth x-axis wire rope (504) extends from the fourth x-axis wire control mechanism (604) and is connected with the third connecting frame (403) downwards from the outer end of the third supporting frame (303);
a first y-axis line control mechanism (605) is arranged on the fourth support frame (304), a second y-axis line control mechanism (606) and a third y-axis line control mechanism (607) are further arranged in the central area of the upper control platform (3), and a fourth y-axis line control mechanism (608) is arranged on the second support frame (302);
the first y-axis steel wire rope (505) extends out of the first y-axis wire control mechanism (605) and is connected with the fourth connecting frame (404) downwards from the outer end of the fourth supporting frame (304), the second y-axis steel wire rope (506) extends out of the second y-axis wire control mechanism (606) and is connected with the fourth connecting frame (404) downwards from a position close to the center of the lower surface of the upper control platform (3), the third y-axis steel wire rope (507) extends out of the third y-axis wire control mechanism (607) and is connected with the second connecting frame (402) downwards from a position close to the center of the lower surface of the upper control platform (3), and the fourth y-axis steel wire rope (508) extends out of the fourth y-axis wire control mechanism (608) and is connected with the second connecting frame (402) downwards from the outer end of the second supporting frame (302).
4. The active heave compensation apparatus of multiple degree of freedom of claim 3, wherein: the steel wire ropes further comprise a first clockwise rotating steel wire rope (509), a second clockwise rotating steel wire rope (510), a first anticlockwise rotating steel wire rope (511) and a second anticlockwise rotating steel wire rope (512);
the second support frame (302) is also provided with a first clockwise rotation line control mechanism (609) and a first anticlockwise rotation line control mechanism (611), and the fourth support frame (304) is also provided with a second clockwise rotation line control mechanism (610) and a second anticlockwise rotation line control mechanism (612);
the first clockwise rotating steel wire rope (509) extends out of the first clockwise rotating wire control mechanism (609) and is connected with the first connecting frame (401) downwards from the outer end of the second supporting frame (302), and the first anticlockwise rotating steel wire rope (511) extends out of the first anticlockwise rotating wire control mechanism (611) and is connected with the third connecting frame (403) downwards from the outer end of the second supporting frame (302); the second clockwise rotation steel wire rope (510) extends out of the second clockwise rotation wire control mechanism (610) and is connected with the third connecting frame (403) from the outer end of the fourth supporting frame (304) downwards, and the second anticlockwise rotation steel wire rope (512) extends out of the second anticlockwise rotation wire control mechanism (612) and is connected with the first connecting frame (401) from the outer end of the fourth supporting frame (304) downwards.
5. The active heave compensation apparatus of multiple degrees of freedom according to any of claims 2-4, wherein: a rigid telescopic rod (7) is arranged between the central position of the upper control platform (3) and the central position of the lower grabbing platform (4).
6. The active heave compensation apparatus of multiple degree of freedom of claim 1, wherein: the projection of two steel wire ropes on the horizontal plane is arranged along the x axis of the cargo receiving ship coordinate system; meanwhile, the projection of two steel wire ropes on the horizontal plane is arranged along the y axis of the cargo receiving ship coordinate system, wherein n is 2;
the steel wire rope comprises a first x-axis steel wire rope (501), a second x-axis steel wire rope (502), a first y-axis steel wire rope (505) and a second y-axis steel wire rope (506);
the projections of the first x-axis wire rope (501) and the second x-axis wire rope (502) in a horizontal plane are arranged along the x-axis of the ship receiving coordinate system, and the first x-axis wire rope (501) and the second x-axis wire rope (502) are symmetrical relative to the y-axis position of the ship receiving coordinate system;
the projections of the first y-axis wire rope (505) and the second y-axis wire rope (506) in a horizontal plane are arranged along the y-axis of the ship receiving coordinate system, and the first y-axis wire rope (505) and the second y-axis wire rope (506) are symmetrical with respect to the x-axis position of the ship receiving coordinate system.
7. The active heave compensation apparatus of claim 6, wherein:
the upper-layer control platform (3) is provided with a first support frame (301), a second support frame (302), a third support frame (303) and a fourth support frame (304) which are the same in length, the first support frame (301) and the third support frame (303) are arranged along the x axis of the cargo receiving ship coordinate system, and the second support frame (302) and the fourth support frame (304) are arranged along the y axis of the cargo receiving ship coordinate system; correspondingly, the lower-layer grabbing platform (4) is provided with a first connecting frame (401), a second connecting frame (402), a third connecting frame (403) and a fourth connecting frame (404) which are the same in length, the first connecting frame (401) and the third connecting frame (403) are arranged along the x axis of the ship receiving coordinate system, and the second connecting frame (402) and the fourth connecting frame (404) are arranged along the y axis of the ship receiving coordinate system;
a first x-axis line control mechanism (601) is arranged on the first support frame (301), and a second x-axis line control mechanism (602) is arranged on the third support frame (303);
the first x-axis steel wire rope (501) extends out of the first x-axis wire control mechanism (601) and is connected with the first connecting frame (401) downwards from the outer end of the first supporting frame (301), and the second x-axis steel wire rope (502) extends out of the second x-axis wire control mechanism (602) and is connected with the third connecting frame (403) downwards from the outer end of the third supporting frame (303);
a first y-axis line control mechanism (605) is arranged on the fourth support frame (304), and a second y-axis line control mechanism (606) is arranged on the second support frame (302);
the first y-axis steel wire rope (505) extends out of the first y-axis wire control mechanism (605) and is connected with the fourth connecting frame (404) from the outer end of the fourth supporting frame (304) downwards, and the second y-axis steel wire rope (506) extends out of the second y-axis wire control mechanism (606) and is connected with the second connecting frame (402) from the outer end of the second supporting frame (302) downwards.
8. The active heave compensation apparatus of multiple degree of freedom of claim 7, wherein: the steel wire ropes further comprise a first obliquely hung steel wire rope (513), a second obliquely hung steel wire rope (514), a third obliquely hung steel wire rope (515) and a fourth obliquely hung steel wire rope (516);
a first inclined hanging line control mechanism (613), a second inclined hanging line control mechanism (614), a third inclined hanging line control mechanism (615) and a fourth inclined hanging line control mechanism (616) are arranged in the central area of the upper layer control platform (3);
a first connecting support (305) is arranged between the first support frame (301) and the second support frame (302), a second connecting support (306) is arranged between the second support frame (302) and the third support frame (303), a third connecting support (307) is arranged between the third support frame (303) and the fourth support frame (304), and a fourth connecting support (308) is arranged between the fourth support frame (304) and the first support frame (301);
a fourth inclined hanging bracket (312) is arranged between the first connecting bracket (305) and the first supporting frame (301), the fourth inclined hanging bracket (312) is parallel to the second supporting frame (302), a second inclined hanging bracket (310) is arranged between the third connecting bracket (307) and the third supporting frame (303), the second inclined hanging bracket (310) is parallel to the fourth supporting frame (304), a first inclined hanging bracket (309) is arranged between the second connecting bracket (306) and the central area of the upper control platform (3), the first inclined hanging bracket (309) is parallel to the third supporting frame (303), a third inclined hanging bracket (311) is arranged between the fourth connecting bracket (308) and the central area of the upper control platform (3), the third inclined hanging bracket (311) is parallel to the first supporting frame (301);
the first inclined hanging wire rope (513) extends from the first inclined hanging wire control mechanism (613) and is connected with the first connecting frame (401) downwards at a certain distance from the central area of the upper control platform (3) on the first inclined hanging bracket (309), the second inclined hanging wire rope (514) extends from the second inclined hanging wire control mechanism (614) and is connected with the second connecting frame (402) downwards at a certain distance from the connecting position of the second inclined hanging bracket (310) and the third connecting bracket (307), the third inclined hanging wire rope (515) extends from the third inclined hanging wire control mechanism (615) and is connected with the third connecting frame (403) downwards at a certain distance from the central area of the upper control platform (3) on the third inclined hanging bracket (311), and the fourth inclined hanging wire rope (516) extends from the fourth inclined wire control mechanism (616) and is connected with the connecting bracket (305) of the fourth inclined hanging wire control mechanism (312) The junction is connected with the fourth connecting frame (404) downwards.
9. The active heave compensation apparatus of claim 8, wherein: the steel wire ropes further comprise a first clockwise rotating steel wire rope (509), a second clockwise rotating steel wire rope (510), a first anticlockwise rotating steel wire rope (511) and a second anticlockwise rotating steel wire rope (512);
the second support frame (302) is also provided with a first clockwise rotation line control mechanism (609) and a first anticlockwise rotation line control mechanism (611), and the fourth support frame (304) is also provided with a second clockwise rotation line control mechanism (610) and a second anticlockwise rotation line control mechanism (612);
the first clockwise rotating steel wire rope (509) extends out of the first clockwise rotating wire control mechanism (609) and is downwards connected with the first connecting frame (401) from the outer end of the second supporting frame (302), the first anticlockwise rotating steel wire rope (511) extends out of the first anticlockwise rotating wire control mechanism (611) and is downwards connected with the third connecting frame (403) from the outer end of the second supporting frame (302), the second clockwise rotating steel wire rope (510) extends out of the second clockwise rotating wire control mechanism (610) and is downwards connected with the third connecting frame (403) from the outer end of the fourth supporting frame (304), the second anticlockwise rotating steel wire rope (512) extends out of the second anticlockwise rotating wire control mechanism (612) and is downwards connected with the first connecting frame (401) from the outer end of the fourth supporting frame (304).
10. The active heave compensation apparatus of multiple degree of freedom according to any of claims 7-9, wherein: two rigid telescopic rods (7) which are staggered in position are arranged between the upper control platform (3) and the lower grabbing platform (4); the upper end of one of the rigid telescopic rods (7) is connected with the lower surface of the second support frame (302) and the position which does not interfere with each steel wire rope, and the lower end of the rigid telescopic rod is connected with a first connecting area (405) on the upper surface of the lower-layer grabbing platform (4); the upper end of the other rigid telescopic rod (7) is connected with the lower surface of the fourth support frame (304) and the position which does not interfere with the steel wire ropes, and the lower end of the other rigid telescopic rod is connected with a second connecting area (406) on the upper surface of the lower-layer grabbing platform (4).
CN202011343284.6A 2020-11-26 2020-11-26 Multi-degree-of-freedom active wave compensation device Expired - Fee Related CN112456352B (en)

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