CN115784040A

CN115784040A - Wave compensation method

Info

Publication number: CN115784040A
Application number: CN202211211961.8A
Authority: CN
Inventors: 陈懿; 谷文平; 郭安罗; 李新献; 潘学光; 陈楚苗
Original assignee: South China Marine Machinery Co Ltd
Current assignee: South China Marine Machinery Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-03-14

Abstract

The invention provides a wave compensation method, S1, a hoisting winch drives a hoisting cable to hoist a heavy object; s2, connecting the compensation hook with a supply ship; s3, when the supply ship sinks due to the factors of sea waves; (1) The follow-up cable moves downwards along with the supply ship so as to increase the tension; (2) The tension of the follow-up cable overcomes the oil pressure of the compensation oil cylinder to drive the compensation trolley to move; (3) the compensation trolley drives the hoisting cable to move downwards; s4, when the supply vessel floats upwards due to sea wave factors; (1) The follow-up cable moves upwards along with the supply ship so as to reduce the pulling force; (2) The oil pressure of the compensation oil cylinder overcomes the pulling force of the follow-up cable, and the compensation oil cylinder drives the piston rod to extend out and drives the compensation trolley to move; (4) the compensation trolley drives the hoisting cable to move upwards; and S5, after the heavy object is lifted to the height capable of transferring the heavy object, the connection between the compensation hook and the supply ship is released, and the heavy object is transferred to the ship.

Description

Wave compensation method

Technical Field

The invention relates to the technical field of cranes, in particular to a heave compensation method.

Background

The stability of the ship is an important index for showing the research and development strength of the ship, carrying out offshore exploration and carrying out marine transportation of dangerous goods in China. Because the running activities of the ship on the sea are completely different from those of land equipment, the ship can be influenced by the irregular fluctuation motion of sea waves due to weather factors, so that the whole ship body is violently shaken from top to bottom, left to right, and great hidden dangers are brought to the dangerous goods transportation ship; the violent shaking of the ship body can cause damage or leakage, explosion and other risks to the precision instruments on board the ship and the transported dangerous goods, and particularly, the accidents are easy to happen under the condition of extremely bad sea conditions, and huge damage can be caused to personnel on the ship and the natural environment.

When goods need to be transferred from one ship to the other supply ship through the crane, the two ships float up and down differently due to sea waves, so that the goods can directly impact the supply ship, damage to the goods is caused, and personnel damage is possibly caused.

Disclosure of Invention

The invention provides a wave compensation method, which can ensure that a certain safe distance can be kept between a heavy object and a supply ship.

In order to achieve the purpose, the technical scheme of the invention is as follows: a heave compensation method comprises the following specific steps:

s1, the hoisting winch drives the hoisting cable to hoist a heavy object.

And S2, connecting the compensation hook with a supply ship.

S3, when the supply vessel sinks due to the factors of sea waves.

(1) The follow-up cable follows the supply vessel to move downwards so as to increase the tension.

(2) The tension of the follow-up cable overcomes the oil pressure of the compensation oil cylinder to drive the compensation trolley to move.

(3) The compensation trolley drives the hoisting cable to move downwards, so that the safe distance between the heavy object and the supply ship is kept.

And S4, when the tender vessel floats due to the factors of sea waves.

(1) The follow-up cable moves upwards along with the supply vessel so as to reduce the tension.

(2) The oil pressure of the compensation oil cylinder overcomes the pulling force of the follow-up cable, and the compensation oil cylinder drives the piston rod to extend out and drives the compensation trolley to move.

(4) The compensation trolley drives the hoisting cable to move upwards, so that the safe distance between the heavy object and the supply ship is kept.

And S5, after the heavy object is lifted to the height capable of transferring the heavy object, the connection between the compensation hook and the supply ship is released, and the heavy object is transferred to the ship.

The method is realized by a compensation mechanism, wherein the compensation mechanism comprises a hoisting winch, a follow-up winch and a compensation device which are arranged on a suspension arm of the crane, the compensation device comprises a compensation oil cylinder and a compensation trolley, a trolley track is arranged in the middle of the suspension arm, the compensation oil cylinder is arranged at one end of the trolley track, the compensation trolley is arranged on the trolley track and is arranged in a sliding manner along the length direction of the trolley track, and a piston rod of the compensation oil cylinder is connected with the compensation trolley; and a transfer pulley block is arranged on the suspension arm at one end of the compensation oil cylinder, which is far away from the trolley track.

The compensation trolley comprises a trolley frame, a hoisting pulley block and a follow-up pulley block, wherein the hoisting pulley block is positioned at one end of the trolley frame, and the follow-up pulley block is positioned at the other end of the trolley frame; the hoisting winch is connected with the hoisting pulley block, and the follow-up winch is connected with the follow-up pulley block; the trolley frame is hinged with a piston rod of the compensation oil cylinder.

The hoisting winch is arranged at the front end of the suspension arm, a hoisting cable and a hoisting hook are arranged on the hoisting winch, one end of the hoisting cable is connected with the hoisting winch, the other end of the hoisting cable sequentially bypasses the transfer pulley block and the hoisting pulley block and then extends to the rear end of the suspension arm and is connected with the hoisting hook, and the hoisting hook is connected with a heavy object.

The follow-up winch is arranged at the front end of the suspension arm, a follow-up cable and a compensation hook are arranged on the follow-up winch, one end of the follow-up cable is connected with the follow-up winch, the other end of the follow-up cable sequentially bypasses the transfer pulley block and the follow-up pulley block and then extends to the rear end of the suspension arm and is connected with the compensation hook, and the compensation hook is connected with the supply ship.

Above-mentioned structure, through the setting of follow-up winch and hoisting winch, when this ship carries out the material transfer with the supply ship at sea, through connecting the compensation hook on the supply ship, the heavy object is hoisted to the hoisting winch, after the heavy object is hoisted to the hoisting winch, because marine stormy wave factor, this ship can produce separately with the supply ship and rock, will drive the compensation hook and reciprocate when the supply ship appears rocking, thereby make the pulling force of follow-up hawser increase or reduce, thereby drive the piston rod of compensation hydro-cylinder and remove and drive the compensation dolly and remove, and then drive the hoisting hawser and rise or descend, realize from this that the heavy object remains certain safe distance with the supply ship all the time, thereby prevent that the heavy object from colliding with the ship contact.

Furthermore, the transfer pulley block comprises a transfer rack, a first transfer pulley support, a first transfer pulley, a second transfer pulley support and a second transfer pulley, the transfer rack is arranged on the suspension arm, a transfer connecting shaft is arranged on the transfer rack, the first transfer pulley support is fixed on the transfer connecting shaft, and the first transfer pulley is rotatably arranged on the first transfer pulley support through a first transfer bearing; the second transfer pulley bracket is fixed on the transfer connecting shaft at one side of the first transfer pulley bracket, and the second transfer pulley is rotatably arranged on the second transfer pulley bracket through a second transfer bearing; the other end of the hoisting cable is wound on the first transfer pulley, and the other end of the follow-up cable is wound on the second transfer pulley.

By the arrangement, the follow-up cable, the hoisting cable and the compensation trolley are connected neatly under the action of the transfer pulley block, and the problem of messy ropes is avoided.

Furthermore, the follow-up pulley block comprises a first follow-up pulley, a second follow-up pulley and a third follow-up pulley, the first follow-up pulley is rotatably arranged on one side of the other end of the trolley frame through a first follow-up pulley shaft, the second follow-up pulley is rotatably arranged on the other side of the other end of the trolley frame, which corresponds to the first follow-up pulley, through a second follow-up pulley shaft, and the third follow-up pulley is rotatably arranged in the middle of the trolley frame through a third follow-up pulley shaft; the other end of the follow-up cable sequentially rounds the first follow-up pulley, the third follow-up pulley and the second follow-up pulley and then extends to the tail end of the suspension arm and is connected with the compensation hook.

Therefore, through the arrangement of the follow-up pulley block, the compensation trolley can be driven to move when the tension of the follow-up cable increases or decreases.

Furthermore, the hoisting pulley block comprises a hoisting pulley, and the hoisting pulley is rotatably arranged at one end of the trolley frame through a hoisting pulley shaft; the other end of the hoisting cable rounds the hoisting pulley and extends to the tail end of the suspension arm and is connected with the hoisting hook.

Through the arrangement, when the compensation trolley moves, the hoisting cable can be driven to ascend or descend, so that the height between the heavy object and the supply ship is controlled.

Furthermore, a hoisting auxiliary pulley is arranged at the tail end of the suspension arm, the hoisting auxiliary pulley is rotatably arranged at the tail end of the suspension arm through a first auxiliary pulley shaft, and the other end of the hoisting cable sequentially bypasses the transfer pulley block, the hoisting pulley block and the hoisting auxiliary pulley and then is connected with the hoisting hook.

Above setting, through the auxiliary pulley of jack-up, direction load cable rope that can be better to conveniently hoist the heavy object.

Furthermore, a follow-up auxiliary pulley is arranged at the tail end of the suspension arm and is rotatably arranged at the tail end of the suspension arm through a second auxiliary pulley shaft, and the other end of the follow-up cable sequentially bypasses the transfer pulley block, the follow-up pulley block and the follow-up auxiliary pulley and is then connected with a compensation hook.

Above setting, through follow-up auxiliary pulley, direction follow-up hawser that can be better to conveniently be connected with the supply ship.

Furthermore, the trolley track comprises an upper track and a lower track, the upper track is arranged on the suspension arm, the lower track is connected to the upper track through a track connecting support, and the compensation trolley is arranged between the upper track and the lower track; the compensation trolley is characterized in that moving rollers are arranged at the top end and the bottom end of a trolley frame of the compensation trolley, the moving roller positioned at the top end of the trolley frame is in rolling connection with a first upper contact surface of an upper rail, and the moving roller positioned at the bottom end of the trolley frame is in rolling connection with a first lower contact surface of a lower rail.

Above setting, can make things convenient for the compensation dolly to remove through removing the gyro wheel, simple structure and effective.

Furthermore, auxiliary rollers are arranged at the top end and the bottom end of the trolley frame, the auxiliary roller positioned at the top end of the trolley frame is in rolling connection with the second upper contact surface of the upper rail, and the auxiliary roller positioned at the bottom end of the trolley frame is in rolling connection with the second lower contact surface of the lower rail.

Above setting, through the setting of auxiliary roller, can increase the stability that the compensation dolly removed.

Drawings

Fig. 1 is a schematic structural diagram of a compensation mechanism of the present invention.

Fig. 2 is a schematic structural diagram of the compensation device of the present invention.

Fig. 3 is a front view of the compensating carriage of the present invention.

Fig. 4 is a schematic structural view of the transfer pulley block of the present invention.

Fig. 5 is a schematic view of the winding of the servo cable according to the present invention.

Fig. 6 is a schematic view of the hoisting rope winding according to the invention.

Fig. 7 is an enlarged view of a portion a in fig. 2.

Fig. 8 is a simplified schematic of the cart track of the present invention.

Fig. 9 is a flow chart of the operation of the compensating mechanism of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 8, a compensating mechanism comprises a hoisting winch 11, a follow-up winch 12 and a compensating device 2 which are arranged on a crane boom 1, wherein the compensating device 2 comprises a compensating oil cylinder 21 and a compensating trolley 22, a trolley track 13 is arranged in the middle of the crane boom 1, the compensating oil cylinder 21 is arranged at one end of the trolley track 13, the compensating trolley 22 is arranged on the trolley track 13 and is arranged in a sliding manner along the length direction of the trolley track 13, and a piston rod of the compensating oil cylinder 21 is connected with the compensating trolley 22; a transfer pulley block 3 is arranged on the suspension arm 1 at one end of the compensation oil cylinder 21 far away from the trolley track 13.

The compensation trolley 22 comprises a trolley frame 221, a hoisting pulley block 4 and a follow-up pulley block 5, wherein the hoisting pulley block 4 is positioned at one end of the trolley frame 221, and the follow-up pulley block 5 is positioned at the other end of the trolley frame 221; the hoisting winch 11 is connected with the hoisting pulley block 4, and the follow-up winch 12 is connected with the follow-up pulley block 5; the trolley frame 221 is hinged with a piston rod of the compensation oil cylinder 21.

The hoisting winch 11 is arranged at the front end of the boom 1, a hoisting cable 111 and a hoisting hook 112 are arranged on the hoisting winch 11, one end of the hoisting cable 111 is connected with the hoisting winch 11, the other end of the hoisting cable 111 sequentially bypasses the transfer pulley block 3 and the hoisting pulley block 4 and then extends to the rear end of the boom 1 and is connected with the hoisting hook 112, and the hoisting hook 112 is connected with the heavy object 100. The hoist winch drives the hoisting cable to be retrieved and paid out.

The follow-up winch 12 is arranged at the front end of the suspension arm 1, a follow-up cable 121 and a compensation hook 122 are arranged on the follow-up winch 12, one end of the follow-up cable 121 is connected with the follow-up winch 12, the other end of the follow-up cable 121 sequentially bypasses the transfer pulley block 3 and the follow-up pulley block 5 and then extends to the rear end of the suspension arm 1 and is connected with the compensation hook 122, the compensation hook 122 is connected with the supply vessel 101, and the follow-up winch drives the follow-up cable to be recovered and discharged.

In the implementation, when the compensation hook is not connected with the supply ship, the pressure of the compensation oil cylinder and the tension of the follow-up cable are in a balanced state. When the compensation hook is connected with the supply ship, when the pulling force of the follow-up cable increases, the follow-up cable moves downwards, the pulling force of the follow-up cable overcomes the oil pressure of the compensation oil cylinder, so that the compensation trolley is driven to move towards the direction close to the compensation oil cylinder, the piston rod of the compensation oil cylinder moves towards the cylinder body of the compensation oil cylinder, the lifting cable is driven to move downwards, when the pulling force of the follow-up cable decreases, the follow-up cable moves upwards, the oil pressure of the compensation oil cylinder overcomes the pulling force of the follow-up cable, the compensation oil cylinder drives the piston rod to stretch out, the compensation trolley is driven to move towards the direction far away from the compensation oil cylinder, and the lifting cable is driven to move upwards.

Meanwhile, because the hoisting cable is not in direct contact with the follow-up cable, the hoisting winch can independently drive the hoisting cable to ascend, and the compensation trolley moves to adjust the safe distance between the heavy object and the supply ship through the action of the follow-up cable in the ascending process of the hoisting cable driven by the hoisting winch.

In the above structure, by the arrangement of the follow-up winch 12 and the hoisting winch 11, when the ship transfers materials with the tender vessel at sea, the compensation hook 122 is connected to the tender vessel 101, the hoisting winch 11 lifts the weight 100, after the crane lifts the weight 100, the ship and the tender vessel respectively shake due to sea storms, and when the tender vessel shakes, the compensation hook 122 is driven to move up and down, so that the tension of the follow-up cable 121 is increased or reduced, the piston rod of the compensation cylinder 21 is driven to move and the compensation trolley 22 is driven to move, and the hoisting cable 111 is driven to move up or down, thereby the heavy vessel 100 and the tender vessel 101 are always kept at a certain safe distance, and the heavy vessel is prevented from being in contact and colliding.

In this embodiment, the crane is provided on the own ship, the weight is located on the tender ship, and the weight is transferred from the tender ship to the own ship by the crane.

As shown in fig. 4, the transfer pulley block 3 includes a transfer frame (not shown), a first transfer pulley bracket 32, a first transfer pulley 33, a second transfer pulley bracket 34, and a second transfer pulley 35, the transfer frame is disposed on the boom, a transfer connecting shaft 30 is disposed on the transfer frame, the first transfer pulley bracket 32 is fixed on the transfer connecting shaft 30, and the first transfer pulley 33 is rotatably disposed on the first transfer pulley bracket 32 through a first transfer bearing 331; the second transfer pulley bracket 34 is fixed on the transfer connecting shaft 30 at one side of the first transfer pulley bracket 32, and the second transfer pulley 35 is rotatably disposed on the second transfer pulley bracket 34 by a second transfer bearing 351; the other end of the load cable 111 is wound around the first transfer pulley 33 and the other end of the follow-up cable 121 is wound around the second transfer pulley 35.

By the arrangement, the servo cable, the lifting cable and the compensation trolley are connected neatly under the action of the transfer pulley block, and the problem of disorder ropes cannot occur.

As shown in fig. 2 and 3, the follower pulley block 5 includes a first follower pulley 51, a second follower pulley 52 and a third follower pulley 53, the first follower pulley 51 is rotatably disposed on one side of the other end of the trolley frame 13 via a first follower pulley shaft 511, the second follower pulley 52 is rotatably disposed on the other side of the other end of the trolley frame 221 corresponding to the first follower pulley 51 via a second follower pulley shaft 521, and the third follower pulley 53 is rotatably disposed in the middle of the trolley frame 221 via a third follower pulley shaft 531; the other end of the follow-up cable 121 passes through the first follow-up pulley 51, the third follow-up pulley 53 and the second follow-up pulley 52 in sequence and then extends to the end of the boom 1 and is connected with a compensation hook 122.

With the arrangement, through the arrangement of the follow-up pulley block 5, the compensation trolley can be driven to move when the tension of the follow-up cable 454 is increased or decreased.

As shown in fig. 2, 3 and 6, the lifting pulley block 4 includes a lifting pulley 41, and the lifting pulley 41 is rotatably disposed at one end of the trolley frame 221 through a lifting pulley shaft 411; the other end of said hoisting cable 111 is routed around the hoisting pulley 41 to the end of the boom 1 and connected to a hoisting hook 112.

Through the arrangement, when the compensation trolley moves, the lifting cable can be driven to ascend or descend, so that the height between the heavy object and the supply ship is controlled.

As shown in fig. 1 and 6, a hoisting auxiliary pulley 115 is provided at the end of the boom 1, the hoisting auxiliary pulley 115 is rotatably provided at the end of the boom 1 by a first auxiliary pulley shaft (not shown), and the other end of the hoisting cable 111 is connected to the hoisting hook 112 after passing through the transfer pulley block 3, the hoisting pulley block 4 and the hoisting auxiliary pulley 115 in sequence.

Above setting, through the supplementary pulley of jack-up, direction load cable rope that can be better to conveniently hoist the heavy object.

As shown in fig. 1 and 5, a follow-up auxiliary pulley 125 is further disposed at the end of the boom 1, the follow-up auxiliary pulley 125 is rotatably disposed at the end of the boom 1 through a second auxiliary pulley shaft (not shown), and the other end of the follow-up cable 121 is connected to the compensation hook 122 after passing through the transfer pulley block 3, the follow-up pulley block 5 and the follow-up auxiliary pulley 125 in sequence.

As shown in fig. 7 and 8, the trolley rail 13 comprises an upper rail 131 and a lower rail 132, the upper rail 131 is arranged on the boom 1, the lower rail 132 is connected to the upper rail 131 through a rail connecting bracket 133, and the compensation trolley 22 is arranged between the upper rail 131 and the lower rail 132; the compensation trolley 22 is provided with moving rollers 222 at the top end and the bottom end of the trolley frame 221, the moving rollers 222 at the top end of the trolley frame 221 are connected with the first upper contact surface 1311 of the upper rail 131 in a rolling manner, and the moving rollers 222 at the bottom end of the trolley frame 221 are connected with the first lower contact surface 1321 of the lower rail 132 in a rolling manner.

Further, auxiliary rollers 223 are disposed at the top end and the bottom end of the cart frame 221, the auxiliary roller 223 at the top end of the cart frame 221 is in rolling connection with the second upper contact surface 1312 of the upper rail 131, and the auxiliary roller 223 at the bottom end of the cart frame 221 is in rolling connection with the second lower contact surface 1322 of the lower rail 132.

As shown in fig. 9, the method for compensating for waviness includes the following steps:

s1, the hoisting winch drives the hoisting cable to hoist the heavy object.

And S2, connecting the compensation hook with the supply ship.

S3, when the supply vessel sinks due to the factors of sea waves.

(1) The follow-up cable moves downwards along with the supply vessel so as to increase the tension.

(3) The compensation trolley drives the hoisting cable to move downwards, so that the safety distance between the heavy object and the supply ship is ensured.

And S4, when the supply vessel floats upwards due to the factors of sea waves.

(3) The compensation trolley drives the hoisting cable to move upwards, so that the safety distance between the heavy object and the supply ship is ensured.

Claims

1. A heave compensation method, characterized by: the method comprises the following specific steps:

s1, driving a hoisting cable to hoist a heavy object by a hoisting winch;

s2, connecting the compensation hook with a supply ship;

s3, when the supply ship sinks due to the factors of sea waves;

(1) The follow-up cable moves downwards along with the supply ship so as to increase the tension;

(2) The tension of the follow-up cable overcomes the oil pressure of the compensation oil cylinder to drive the compensation trolley to move;

(3) The compensation trolley drives the hoisting cable to move downwards, so that the safety distance between the heavy object and the supply ship is ensured;

s4, when the supply vessel floats upwards due to sea wave factors;

(1) The follow-up cable moves upwards along with the supply ship so as to reduce the pulling force;

(2) The oil pressure of the compensation oil cylinder overcomes the pulling force of the follow-up cable, and the compensation oil cylinder drives the piston rod to extend out and drives the compensation trolley to move;

(4) The compensation trolley drives the hoisting cable to move upwards, so that a safe distance between a heavy object and the supply ship is kept;

s5, after the heavy object is lifted to the height capable of transferring the heavy object, the connection between the compensation hook and the supply ship is released, and the heavy object is transferred to the ship;

the method is realized by a compensation mechanism, wherein the compensation mechanism comprises a hoisting winch, a follow-up winch and a compensation device which are arranged on a suspension arm of the crane, the compensation device comprises a compensation oil cylinder and a compensation trolley, a trolley track is arranged in the middle of the suspension arm, the compensation oil cylinder is arranged at one end of the trolley track, the compensation trolley is arranged on the trolley track and is arranged in a sliding manner along the length direction of the trolley track, and a piston rod of the compensation oil cylinder is connected with the compensation trolley; a transfer pulley block is arranged on the suspension arm at one end of the compensation oil cylinder, which is far away from the trolley track;

the compensation trolley comprises a trolley frame, a hoisting pulley block and a follow-up pulley block, wherein the hoisting pulley block is positioned at one end of the trolley frame, and the follow-up pulley block is positioned at the other end of the trolley frame; the hoisting winch is connected with the hoisting pulley block, and the follow-up winch is connected with the follow-up pulley block; the trolley frame is hinged with a piston rod of the compensation oil cylinder;

the hoisting winch is arranged at the front end of the suspension arm, a hoisting cable and a hoisting hook are arranged on the hoisting winch, one end of the hoisting cable is connected with the hoisting winch, the other end of the hoisting cable sequentially bypasses the transfer pulley block and the hoisting pulley block and then extends to the rear end of the suspension arm and is connected with the hoisting hook, and the hoisting hook is connected with a heavy object;

2. A heave compensation method according to claim 1, wherein: the transfer pulley block comprises a transfer rack, a first transfer pulley support, a first transfer pulley, a second transfer pulley support and a second transfer pulley, the transfer rack is arranged on the suspension arm, a transfer connecting shaft is arranged on the transfer rack, the first transfer pulley support is fixed on the transfer connecting shaft, and the first transfer pulley is rotatably arranged on the first transfer pulley support through a first transfer bearing; the second transfer pulley bracket is fixed on the transfer connecting shaft at one side of the first transfer pulley bracket, and the second transfer pulley is rotatably arranged on the second transfer pulley bracket through a second transfer bearing; the other end of the hoisting cable is wound on the first transfer pulley, and the other end of the follow-up cable is wound on the second transfer pulley.

3. A heave compensation method according to claim 1, wherein: the follow-up pulley block comprises a first follow-up pulley, a second follow-up pulley and a third follow-up pulley, the first follow-up pulley is rotatably arranged on one side of the other end of the trolley frame through a first follow-up pulley shaft, the second follow-up pulley is rotatably arranged on the other side, corresponding to the first follow-up pulley, of the other end of the trolley frame through a second follow-up pulley shaft, and the third follow-up pulley is rotatably arranged in the middle of the trolley frame through a third follow-up pulley shaft; the other end of the follow-up cable sequentially rounds the first follow-up pulley, the third follow-up pulley and the second follow-up pulley and then extends to the tail end of the suspension arm and is connected with the compensation hook.

4. A heave compensation method according to claim 1, wherein: the hoisting pulley block comprises a hoisting pulley, and the hoisting pulley is rotatably arranged at one end of the trolley frame through a hoisting pulley shaft; the other end of the hoisting cable rounds the hoisting pulley and extends to the tail end of the suspension arm and is connected with the hoisting hook.

5. A heave compensation method according to claim 1, wherein: the hoisting auxiliary pulley is arranged at the tail end of the suspension arm and is rotatably arranged at the tail end of the suspension arm through a first auxiliary pulley shaft, and the other end of the hoisting cable sequentially bypasses the transfer pulley block, the hoisting pulley block and the hoisting auxiliary pulley and is connected with the hoisting hook.

6. A heave compensation method according to claim 1, wherein: the tail end of the suspension arm is also provided with a follow-up auxiliary pulley, the follow-up auxiliary pulley is rotatably arranged at the tail end of the suspension arm through a second auxiliary pulley shaft, and the other end of the follow-up cable rope sequentially bypasses the transfer pulley block, the follow-up pulley block and the follow-up auxiliary pulley and then is connected with the compensation hook.

7. A heave compensation method according to claim 1, wherein: the trolley track comprises an upper track and a lower track, the upper track is arranged on the suspension arm, the lower track is connected to the upper track through a track connecting support, and the compensation trolley is arranged between the upper track and the lower track; the compensation trolley is characterized in that moving rollers are arranged at the top end and the bottom end of a trolley frame of the compensation trolley, the moving roller positioned at the top end of the trolley frame is in rolling connection with a first upper contact surface of an upper rail, and the moving roller positioned at the bottom end of the trolley frame is in rolling connection with a first lower contact surface of a lower rail.

8. A heave compensation method according to claim 7, wherein: and the auxiliary rollers at the top end of the trolley frame are in rolling connection with the second upper contact surface of the upper rail, and the auxiliary rollers at the bottom end of the trolley frame are in rolling connection with the second lower contact surface of the lower rail.