CN205527423U - Heave compensation system that order of foldable gram was hung - Google Patents

Abstract

The utility model provides a heave compensation system that order of foldable gram was hung, includes that the order of foldable gram is hung, the heave compensation system, its characterized in that: foldable gram makes the bull ladle draw together ship deck, pillar, rotation mechanism, stand, hydraulic winch, hydraulic winch, main arm, main arm hydro -cylinder, become width of cloth arm, become width of cloth arm hydro -cylinder, auxiliary hook, main hook, installing rotation mechanism above the last pillar that is fixed with of ship deck, pillar, installing the stand above the rotation mechanism, the stand top is articulated mutually with the one end of main arm, and the other end of main arm is articulated mutually with the one end that becomes width of cloth arm, and auxiliary hook loose pulley assembly is installed to the other end that becomes width of cloth arm, and main hook loose pulley assembly is installed to the centre that becomes width of cloth arm, installs the main hook fixed pulley for one side of auxiliary hook loose pulley assembly on become width of cloth arm. The utility model discloses the problem that the wave fluctuate is solved to realization heave compensation function, ensures the gram order and hangs normal work, has use safe and reliable, makes the advantage that the maintenance cost is low, degree of automation is high.

Description

A kind of wave compensation system of collapsible crane

Technical field

This utility model relates to a kind of wave compensation system, the wave of a kind of collapsible crane Compensation system, belongs to engineering machinery field.

Background technology

Crane, also known as loop wheel machine peculiar to vessel, ship's crane, is a kind of big deck machinery on ship, and it is a kind of The equipment of ship loading and unloading goods, hydraulic pressure crane is a kind of cargo handling appliance commonly used on boats and ships.

Can be along with the heave of waves with the crane of Yu Haiyang, hull and loop wheel machine, wave can cause weight to steel wire Rope forms huge impulsive force, and huge impulsive force is easily caused wire cable rupture, it is impossible to carry out lifting operation.

Summary of the invention

Technical problem to be solved in the utility model is to provide the compensation of undulation system of a kind of collapsible crane System, crane uses monoblock type revolution to drive, reduces complete machine height, and gate folds arm configuration, reduces complete machine Overall dimensions and height, save installing space, make the structure of crane simplify, reliability improve, while can Meeting bigger work range and lifting altitude, function admirable, reliability is high, and it is convenient to manipulate, it is easy to safeguards and protects Support；Principal arm, the relative position of luffing jib set, and optimize the carrying stress of principal arm oil cylinder and luffing jib oil cylinder, Principal arm oil cylinder is made to keep consistent with the operating pressure of luffing jib oil cylinder, hydraulic work system Rational Matching of Parameters； The hydraulic wireline winch of installation, hydraulic winch, can realize the vertical lift of weight；The wave compensation system used, Pressure transducer detects the pressure of main hook steel wire rope, passes data to computer control system, computer Control system calculates related data according to error current and error rate and provides control signal, is transferred to compensate Drum mechanism built, then compensates for drum mechanism built and completes compensation of undulation function, and not stall is moved, it is achieved compensation of undulation merit Can, the problem solving the heave of waves, it is ensured that crane normally works, there is safe and reliable, manufacture dimension Protect low cost, advantage that automaticity is high.

The technical solution of the utility model is: the wave compensation system of a kind of collapsible crane, including folding Formula crane, wave compensation system, it is characterised in that: described collapsible crane includes ship deck, base Post, slew gear, column, hydraulic wireline winch, hydraulic winch, principal arm, principal arm oil cylinder, luffing jib, change Width arm oil cylinder, auxiliary hook, main hook, described ship deck is fixed with pilum, and pilum is installed above turn-around machine Structure, slew gear is installed above column, and column top is hinged with one end of principal arm, the other end of principal arm Being hinged with one end of luffing jib, the other end of luffing jib is provided with auxiliary hook pulley assembly, the centre of luffing jib Main hook pulley assembly is installed, above with respect to the side of auxiliary hook pulley assembly, main hook is installed in luffing jib fixed Pulley, hydraulic wireline winch is fixedly mounted on the side of column by frame, and auxiliary hook pulley assembly passes through auxiliary hook steel wire One end of rope connects auxiliary hook, and the other end of auxiliary hook steel wire rope sequentially passes through main hook pulley assembly, auxiliary hook fixed pulley Finally being connected with hydraulic winch, hydraulic winch is fixedly mounted on the outer wall of principal arm, the cylinder of principal arm oil cylinder Body is hinged on the opposite side of column, and the piston rod end of principal arm oil cylinder is hinged with principal arm lower connecting base, principal arm Lower connecting base is positioned at the centre of principal arm, and principal arm lower connecting base is arranged over principal arm upper connecting base, and principal arm connects Seat is hinged with the cylinder body of luffing jib oil cylinder, and the piston rod end of luffing jib oil cylinder is connected seat with luffing jib and cuts with scissors mutually Connecing, luffing jib connects seat and is positioned at side below luffing jib, relative to the lower section of main hook fixed pulley, and described time Rotation mechanism includes base plate, pivoting support, pilum flange, pilum, pilum inner platform, slip ring box support, cunning Ring case and top guide bar, and slip ring box includes that bottom stator and the top being rotatably provided on the stator of bottom turn Son, pivoting support includes inner ring and the outer ring that can rotate around described inner ring, and one end of pilum is used for being arranged on ship On oceangoing ship deck, pilum inner platform is arranged on inside pilum, and slip ring box support is arranged on the middle part of pilum inner platform, The bottom stator of slip ring box is arranged on slip ring box support, and pilum flange, pivoting support and base plate are installed successively On the other end of pilum, the inner ring of pivoting support and pilum Flange joint, the outer ring of pivoting support and base plate Connecting, top guides bar to be arranged in the middle part of base plate and towards slip ring box, and upper rotor stretches out pilum flange, on Portion's rotor stretches out one end of pilum flange and is provided with disk, and disk includes along multiple holes that disk is circumferentially disposed, Top guides bar through the hole of disk, and top guides installation sheet that bar includes being fixed on base plate and vertical At least mounting rod being arranged on installation sheet, mounting rod through the hole of disk, installation sheet circumferentially arranged with Multiple screws, installation sheet is fixed on base plate by bolt and multiple screw, and described hydraulic wireline winch includes slowing down Case, clutch apparatus, limit speed for braking condition device, hand gear, be provided with three from top to bottom inside described reduction box Level axle, two grades of axles, primary axis and main shaft, the side of reduction box connects hydraulic motor, and opposite side connects winding Having the reel of steel wire rope, hydraulic motor drives spool turns by reduction box, and hydraulic motor is connected with primary axis, Primary axis is provided with primary axis the first gear and primary axis the second gear, and in reduction box, two grades of axles are provided with clutch Device device, clutch apparatus includes son, female friction plate, and sub-friction plate and two grades of axles are connected, female friction plate and Two grades of axle first gears of clutch apparatus side couple, two grades of axle first gears and primary axis the first gear phase Engagement, two grades of axle first gears do not rotate with two grades of axles, two grades of axles are also sequentially provided with clutch plunger set, Butterfly spring and two grades of axle second gears, the hydraulic rotary joint of clutch apparatus stretches out outside reduction box, connects Outside hydraulic system, three grades of shaft gear phases set by two grades of axle second gears on two grades of axles and three grades of axles Engaging, limit speed for braking condition device is located on three grades of axles, and three grades of axles and two grades of axles are by three grades of shaft gears and two grades of axles Second gear is meshed, and hand gear is located on three grades of axles, and described wave compensation system includes compensating rotary machine Structure, compensation leading block, compensating sheave assembly, pressure transducer, computer control system, compensate reel Mechanism is linked in sequence by one end of main hook steel wire rope and compensates leading block, compensating sheave assembly, main hook steel wire The other end of rope is linked in sequence main hook, main hook pulley assembly, main hook fixed pulley, reel, and main hook fixed pulley sets Stress mandrel, the stress mandrel interior of main hook fixed pulley is had to be provided with the pressure that can sense stress mandrel force-bearing situation Sensor, the electrical signal of described pressure transducer and the calculating for the work of control and compensation drum mechanism built Machine control system control circuit is connected.

The beneficial effects of the utility model are: this utility model provides the compensation of undulation of a kind of collapsible crane System, crane uses monoblock type revolution to drive, reduces complete machine height, and gate folds arm configuration, reduces whole Machine outer type size and height, save installing space, make the structure of crane simplify, reliability raising, simultaneously Can meet bigger work range and lifting altitude, function admirable, reliability is high, and it is convenient to manipulate, it is easy to safeguard Maintenance；Principal arm, the relative position of luffing jib set, and the carrying optimizing principal arm oil cylinder and luffing jib oil cylinder is subject to Power, makes principal arm oil cylinder keep consistent with the operating pressure of luffing jib oil cylinder, hydraulic work system Rational Parameters Join；The hydraulic wireline winch of installation, hydraulic winch, can realize the vertical lift of weight；The compensation of undulation used System, pressure transducer detects the pressure of main hook steel wire rope, passes data to computer control system, Computer control system calculates related data according to error current and error rate and provides control signal, it is transmitted To compensating drum mechanism built, then compensating for drum mechanism built and complete compensation of undulation function, not stall is moved, it is achieved wave Compensate function, solve the heave of waves problem, it is ensured that crane normally works, have safe and reliable, Manufacture the advantage that maintenance cost is low, automaticity is high.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model.

Fig. 2 is another kind of working state schematic representation of the present utility model.

Fig. 3 is idle state schematic diagram of the present utility model.

Fig. 4 is the structural representation of part 3 slew gear in Fig. 1.

Fig. 5 is the broken section enlarged drawing in Fig. 4 at A.

Fig. 6 is the side-looking structural representation that in Fig. 4, part 38 top guides bar.

Fig. 7 be in Fig. 4 part 38 top guide bar look up structural representation.

Fig. 8 is the structural representation of part 373 disk in Fig. 4.

Fig. 9 is the sectional structure schematic diagram of part 4 hydraulic wireline winch in Fig. 1.

Figure 10 is the structural representation of wave compensation system.

Figure 11 is the control principle drawing of wave compensation system.

Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Tu11Zhong, 1. ship deck, 2. frame, 3. slew gear, 4. hydraulic wireline winch, 5. principal arm oil cylinder, 6. hydraulic winch, 7. main hook steel wire rope, 8. principal arm, 9. luffing jib oil cylinder, 10. auxiliary hook fixed pulley, 11. main hook fixed pulleys, 12. Main hook pulley assembly, 13. luffing jib, 14. auxiliary hook pulley assemblies, 15. auxiliary hook steel wire ropes, 16. auxiliary hooks, 17. Main hook, 18. principal arm upper connecting bases, 19. principal arm lower connecting bases, 20. columns, 21. luffing jib connection seats, 22. Compensating drum mechanism built, 23. compensate leading block, 24. compensating sheave assemblies, 25. stress mandrels, 26. pressure Sensor, 27. computer control systems, 31. base plates, 32. pivoting supports, 33. pilum flanges, 34. pilums, 35. pilum inner platforms, 36. slip ring box supports, 37. slip ring boxes, 38. tops guiding bars, 39. bolts, 321. Inner ring, 322. outer rings, 371. bottom stators, 372. upper rotor, 373. disks, 374. holes, 381. peaces Load, 382. mounting rods, 383. screws, 401. 3 grades of axles, 402. clutch plunger sets, 403. clutches Device, 404. 2 grades of axle first gears, 405. hydraulic rotary joints, 406. hydraulic motors, 407. primary axis, 408. primary axis the first gears, 409. main shafts, 410. mainshaft gears, 411. reduction boxes, 412. 3 grades of axle teeth Wheel, 413. limit speed for braking condition devices, 414. 2 grades of axles, 415. butterfly springs, 416. 2 grades of axle second gears, 417. primary axis the second gears, 418. reels, 419. hand gears.

Detailed description of the invention

Below in conjunction with the accompanying drawings this utility model is further described.

As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Tu11Suo Showing, this utility model is the wave compensation system of a kind of collapsible crane, including collapsible crane, ripple Wave compensation system, it is characterised in that: described collapsible crane includes ship deck 1, pilum 34, revolution Mechanism 3, column 20, hydraulic wireline winch 4, hydraulic winch 6, principal arm 8, principal arm oil cylinder 5, luffing jib 13, Luffing jib oil cylinder 9, auxiliary hook 16, main hook 17, described ship deck 1 is fixed with pilum 34, pilum 34 Installed above have slew gear 3, and slew gear 3 is installed above column 20, column 20 top and principal arm 8 One end be hinged, the other end of principal arm 8 is hinged with one end of luffing jib 13, another of luffing jib 13 End is provided with auxiliary hook pulley assembly 14, and the centre of luffing jib 13 is provided with main hook pulley assembly 12, at luffing Arm 13 is provided with main hook fixed pulley 11 above with respect to the side of auxiliary hook pulley assembly 14, and hydraulic wireline winch 4 leads to Crossing frame 2 and be fixedly mounted on the side of column 20, auxiliary hook pulley assembly 14 passes through the one of auxiliary hook steel wire rope 15 End connects auxiliary hook 16, and the other end of auxiliary hook steel wire rope 15 sequentially passes through main hook pulley assembly 12, auxiliary hook is slided surely Wheel 10 is finally connected with hydraulic winch 6, and hydraulic winch 6 is fixedly mounted on the outer wall of principal arm 8, main The cylinder body of arm oil cylinder 5 is hinged on the opposite side of column 20, connects under the piston rod end of principal arm oil cylinder 5 and principal arm Joint chair 19 is hinged, and principal arm lower connecting base 19 is positioned at the centre of principal arm 8, sets above principal arm lower connecting base 19 Principal arm upper connecting base 18, principal arm upper connecting base 18 is had to be hinged with the cylinder body of luffing jib oil cylinder 9, luffing jib oil The piston rod end of cylinder 9 is connected seat 21 and is hinged with luffing jib, and luffing jib connects seat 21 and is positioned at luffing jib 13 Below side, relative to the lower section of main hook fixed pulley 11, described slew gear 3 include base plate 31, revolution Supporting 32, pilum flange 33, pilum 34, pilum inner platform 35, slip ring box support 36, slip ring box 37 and Top guides bar 38, and slip ring box 37 includes bottom stator 371 and is rotatably provided on bottom stator 371 Upper rotor 372, pivoting support 32 includes inner ring 321 and the outer ring that can rotate around described inner ring 321 322, one end of pilum 34 is used for being arranged on ship deck 1, and pilum inner platform 35 is arranged in pilum 34 Portion, slip ring box support 36 is arranged on the middle part of pilum inner platform 35, and the bottom stator 371 of slip ring box 37 is pacified Being contained on slip ring box support 36, pilum flange 33, pivoting support 32 and base plate 31 are sequentially arranged at pilum On the other end of 34, the inner ring 321 of pivoting support 32 is connected with pilum flange 33, pivoting support 32 Outer ring 322 is connected with base plate 31, and top guides bar 38 to be arranged in the middle part of base plate 31 and towards slip ring box 37, Upper rotor 372 stretches out pilum flange 33, and upper rotor 372 is stretched out one end of pilum flange 33 and is provided with Disk 373, disk 373 includes along multiple holes 374 that disk 373 is circumferentially disposed, and top guides bar 38 to wear Cross the hole 374 of disk 373, top guide installation sheet 381 that bar 38 includes being fixed on base plate 31 and At least mounting rod 382 being vertically set on installation sheet 381, mounting rod 382 is through disk 373 Hole 374, installation sheet 381 is circumferentially arranged with multiple screws 383, and installation sheet 381 is by bolt 39 and multiple Screw 383 is fixed on base plate 31, described hydraulic wireline winch 4 include reduction box 411, clutch apparatus 403, Limit speed for braking condition device 413, hand gear 419, described reduction box 411 is internal be provided with from top to bottom three grades of axles 401, Two grades of axles 414, primary axis 407 and main shaft 409, the side of reduction box 411 connects hydraulic motor 406, separately Side connects the reel 418 being arranged with steel wire rope, and hydraulic motor 406 is by reduction box 411 band movable reel 418 Rotating, hydraulic motor 406 is connected with primary axis 407, and primary axis 407 is provided with primary axis the first gear 408 With primary axis the second gear 417, the interior two grades of axles 414 of reduction box 411 are provided with clutch apparatus 403, clutch Device device 403 includes son, female friction plate, and sub-friction plate and two grades of axles 414 are connected, female friction plate and from Two grades of axle first gears 404 of clutch device 403 side couple, two grades of axle first gears 404 and primary axis First gear 408 is meshed, and two grades of axle first gears 404 do not rotate with two grades of axles 414, two grades of axles 414 On be also sequentially provided with clutch plunger set 402, butterfly spring 415 and two grades of axle second gears 416, clutch The hydraulic rotary joint 405 of device 403 stretches out outside reduction box 411, the hydraulic system outside connection, two grades Two grades of axle second gears 416 on axle 414 are meshed with three grades of shaft gears 412 set on three grades of axles 401, Limit speed for braking condition device 413 is located on three grades of axles 401, and three grades of axles 401 and two grades of axles 414 are by three grades of axle teeth Wheel 412 is meshed with two grades of axle second gears 416, and hand gear 419 is located on three grades of axles 401, described Wave compensation system includes compensating drum mechanism built 22, compensating leading block 23, compensating sheave assembly 24, pressure Sensor 26, computer control system 27, compensate drum mechanism built 22 suitable by one end of main hook steel wire rope 7 Sequence connects and compensates leading block 23, compensating sheave assembly 24, and the other end of main hook steel wire rope 7 is linked in sequence master Hook 17, main hook pulley assembly 12, main hook fixed pulley 11, reel 418, main hook fixed pulley 11 is provided with stress Mandrel 25, the stress mandrel 25 of main hook fixed pulley 11 is internal is provided with the pressure that can sense stress mandrel force-bearing situation Force transducer 26, the electrical signal of described pressure transducer 26 with for control and compensation drum mechanism built 22 Computer control system 27 control circuit of work is connected.

Data are passed by wave compensation system principle: pressure transducer 26 detects the pressure of main hook steel wire rope 7 Passing computer control system 27, computer control system 27 calculates dependency number according to error current and error rate According to providing control signal, it is transferred to compensate drum mechanism built 22, then compensates for drum mechanism built 22 and complete wave Compensating function, not stall is moved；

During utility model works, the piston rod of principal arm oil cylinder 5 is stretched out and makes principal arm 8 steeve, then by luffing The piston rod of arm oil cylinder 9 stretches out and makes luffing jib 13 steeve, and this utility model returns back to job position, utilizes Hydraulic wireline winch 4 or hydraulic winch 6 carry out the lifting operation of weight, and after lifting, state is as shown in Figure 1；Rise After lift heavy thing returns back to job position, under weight can being made vertical by hydraulic wireline winch 4 or hydraulic winch 6 Drop down onto ground, it is also possible to change a gram order by the piston rod of principal arm oil cylinder 5 or the piston rod of luffing jib oil cylinder 9 The work range hung and lifting altitude, by weight-drop to ground；

When above-mentioned slew gear 3 works, loop wheel machine rotates together with base plate 31, drives top to guide bar 38 to carry out Moment of torsion transmits, and drives disk 373 to rotate, and upper rotor 372 rotates therewith, thus ensures that slip ring box 37 can To rotate with base plate 31, electric energy can be transmitted by the loop wheel machine on base plate 31 during rotation, it is achieved that crane Full circle swinging function；

Generally under state, when hydraulic system does not works, (include the situation that hydraulic system breaks down), sub, female Friction plate mutually compresses under butterfly spring 415 pressure effect, i.e. clutch apparatus 403 is in normally off, Friction plate phase mutual friction the most sub, female, two grades of axle first gears 404 are rubbed by son, mother with two grades of axles 414 The frictional force of pad links together, two grades of axle first gears 404 drive two grades of axles 414, then drive two grades Axle the second gear 416 rotates, and two grades of axle second gears 416 drive the three grades of axle teeth arranged on three grades of axles 401 Wheel 412, makes three grades of axles 401 rotate, so that the limit speed for braking condition device 413 arranged on three grades of axles 401 brakes；

When clutch apparatus 403 is to be opened, hydraulic system is started working, and clutch plunger set 402 is at hydraulic pressure Moving right under oil effect, do not have pressure between friction plate, female, friction plate, female separates, i.e. Two grades of axles 414 disengage with two grades of axle first gears 404 and couple.Now limit speed for braking condition device 413 does not works, Hydraulic motor 406 band movable reel 418 rotates, and main hook steel wire rope 7 is wound around on reel 418 and tightens up, main hook Steel wire rope 7, by main hook fixed pulley 11, main hook pulley assembly 12, makes main hook 17 rise with goods； Main hook steel wire rope 7 is decontroled on reel 418, and main hook steel wire rope 7 is by main hook fixed pulley 11, main hook pulley Assembly 12, makes main hook 17 decline with goods；The normal folding and unfolding work of main hook steel wire rope 7, it is achieved main hook 17 effectively rise at differing heights, decline；

When clutch apparatus 403 is to be closed, under the effect of butterfly spring 415, clutch plunger set 402 In hydraulic oil be discharged, clutch plunger set 402 compresses son, female friction plate again simultaneously, makes braking limit Speed variator 413 brakes, and makes reel 418 stop operating, and main hook steel wire rope 7 stops being wound around on reel 418, Main hook 17 stops rising, declining；

When hydraulic system can not work, use manual mode.When i.e. hydraulic system breaks down, clutch Device 403 closes automatically, and limit speed for braking condition device 413 is started working, and the most first installs hand gear 419, Make three grades of axles 401 be linked together with hand gear 419, rotate forward on hand gear 419 arrange shake , making main hook steel wire rope 7 be wound around on reel 418 and tighten up, main hook 17 rises, and completes manual work；

Hydraulic winch 6 have employed low speed high torque hydraulic motor, it is provided that enough torques, hoist engine Being directly connected to of reel and low speed high torque hydraulic motor rotary shaft eliminates decelerator, drastically reduce the area liquid The volume and weight of pressure hoist engine 6, reduces cost simultaneously.

It follows that this utility model provides the wave compensation system of a kind of collapsible crane, crane is adopted Driving with monoblock type revolution, reduce complete machine height, gate folds arm configuration, reduces complete machine overall dimensions and height Degree, save installing space, make the structure of crane simplify, reliability improve, while can meet bigger work Amplitude and lifting altitude, function admirable, reliability is high, and it is convenient to manipulate, it is easy to maintaining；Principal arm, change The relative position of width arm sets, and optimizes the carrying stress of principal arm oil cylinder and luffing jib oil cylinder, makes principal arm oil cylinder Keep consistent with the operating pressure of luffing jib oil cylinder, hydraulic work system Rational Matching of Parameters；The hydraulic pressure installed Winch, hydraulic winch, can realize the vertical lift of weight；The wave compensation system used, pressure sensing Device detects the pressure of main hook steel wire rope, passes data to computer control system, computer control system Calculate related data according to error current and error rate and provide control signal, be transferred to compensate drum mechanism built, Then compensating for drum mechanism built and complete compensation of undulation function, not stall is moved, it is achieved compensation of undulation function, solves sea Wave rise and fall problem, it is ensured that crane normally works, have safe and reliable, manufacture maintenance cost low, The advantage that automaticity is high.

Claims (1)

1. a wave compensation system for collapsible crane, including collapsible crane, wave compensation system, It is characterized in that: described collapsible crane includes ship deck, pilum, slew gear, column, hydraulic pressure Winch, hydraulic winch, principal arm, principal arm oil cylinder, luffing jib, luffing jib oil cylinder, auxiliary hook, main hook, institute Stating and be fixed with pilum on ship deck, pilum is installed above slew gear, slew gear is installed above have vertical Post, column top is hinged with one end of principal arm, and the other end of principal arm is hinged with one end of luffing jib, becomes The other end of width arm is provided with auxiliary hook pulley assembly, and the centre of luffing jib is provided with main hook pulley assembly, is becoming Width arm is provided with main hook fixed pulley above with respect to the side of auxiliary hook pulley assembly, and hydraulic wireline winch is solid by frame Dingan County is contained in the side of column, and auxiliary hook pulley assembly connects auxiliary hook, auxiliary hook steel by one end of auxiliary hook steel wire rope The other end of cord sequentially passes through main hook pulley assembly, auxiliary hook fixed pulley is finally connected with hydraulic winch, liquid Pressure hoist engine is fixedly mounted on the outer wall of principal arm, and the cylinder body of principal arm oil cylinder is hinged on the opposite side of column, main The piston rod end of arm oil cylinder is hinged with principal arm lower connecting base, and principal arm lower connecting base is positioned at the centre of principal arm, Principal arm lower connecting base is arranged over principal arm upper connecting base, and principal arm upper connecting base cuts with scissors mutually with the cylinder body of luffing jib oil cylinder Connecing, the piston rod end of luffing jib oil cylinder is connected seat with luffing jib and is hinged, and luffing jib connects seat and is positioned at luffing Side below arm, relative to the lower section of main hook fixed pulley, described slew gear include base plate, pivoting support, Pilum flange, pilum, pilum inner platform, slip ring box support, slip ring box and top guide bar, slip ring case and bag Including bottom stator and the upper rotor being rotatably provided on the stator of bottom, pivoting support includes inner ring and can be around The outer ring that described inner ring rotates, one end of pilum is used for being arranged on ship deck, and pilum inner platform is arranged on Inside pilum, slip ring box support is arranged on the middle part of pilum inner platform, and the bottom stator of slip ring box is arranged on cunning On ring box bracket, pilum flange, pivoting support and base plate are sequentially arranged on the other end of pilum, revolution The inner ring held and pilum Flange joint, the outer ring of pivoting support is connected with base plate, and top guides bar to be arranged on the end In the middle part of plate and towards slip ring box, upper rotor stretches out pilum flange, and upper rotor stretches out one end of pilum flange Being provided with disk, disk includes along multiple holes that disk is circumferentially disposed, and top guides bar to pass the hole of disk, Top guides bar to include the installation sheet being fixed on base plate and at least one be vertically set on installation sheet Mounting rod, mounting rod is through the hole of disk, and installation sheet passes through bolt circumferentially arranged with multiple screws, installation sheet Being fixed on base plate with multiple screws, described hydraulic wireline winch includes reduction box, clutch apparatus, limit speed for braking condition Device, hand gear, be provided with three grades of axles, two grades of axles, primary axis and master from top to bottom inside described reduction box Axle, the side of reduction box connects hydraulic motor, and opposite side connects the reel being arranged with steel wire rope, hydraulic motor Driving spool turns by reduction box, hydraulic motor is connected with primary axis, and primary axis is provided with primary axis first Gear and primary axis the second gear, in reduction box, two grades of axles are provided with clutch apparatus, and clutch apparatus includes Friction plate, female, sub-friction plate and two grades of axles are connected, female friction plate and two grades of clutch apparatus side Axle the first gear couples, and two grades of axle first gears are meshed with primary axis the first gear, two grades of axle first gears Do not rotate with two grades of axles, two grades of axles are also sequentially provided with clutch plunger set, butterfly spring and two grades of axles second Gear, the hydraulic rotary joint of clutch apparatus stretches out outside reduction box, the hydraulic system outside connection, two grades Three grades of shaft gears set on two grades of axle second gears on axle and three grades of axles are meshed, and limit speed for braking condition device sets On three grades of axles, three grades of axles and two grades of axles are meshed, manually by three grades of shaft gears and two grades of axle second gears Device is located on three grades of axles, and described wave compensation system includes compensating drum mechanism built, compensating leading block, benefit Repay pulley assembly, pressure transducer, computer control system, compensate drum mechanism built by main hook steel wire rope One end is linked in sequence compensation leading block, compensating sheave assembly, and the other end of main hook steel wire rope is linked in sequence master Hook, main hook pulley assembly, main hook fixed pulley, reel, main hook fixed pulley is provided with stress mandrel, and main hook is slided surely The stress mandrel interior of wheel is provided with the pressure transducer that can sense stress mandrel force-bearing situation, described pressure sensing The electrical signal of device and the computer control system control circuit phase worked for control and compensation drum mechanism built Connect.