Crane device with three-degree-of-freedom active heave compensation function and compensation method

Abstract

The invention discloses a crane device with a three-degree-of-freedom active heave compensation function and a compensation method in the ship field. A circular movable platform is arranged over a circular fixed platform. Three servo cylinders which are distributed uniformly in the circumferential direction are connected between the circular fixed platform and the circular movable platform. Each servo cylinder is provided with a linear displacement sensor. A stand column fixedly connected with the circular movable platform is arranged on the lowermost portion of the crane device. The upper end of the stand column is connected with the rotating end of a crane jib through a hinge pin. A hydraulic motor is fixedly arranged at the rotating end of the crane jib. An angular displacement sensor is arranged on the hydraulic motor. Movement posture values are measured through a posture sensor. The movement values of the three servo cylinders and the hydraulic motor are worked out through a movement controller according to the movement posture values. The inverse values of the movement values are compensation values. Real-time compensation for rolling and pitching of a ship is achieved through the three servo cylinders, real-time compensation for heaving is achieved through the hydraulic motor, and therefore lifting tasks can be executed safely and efficiently under severe sea conditions.

Description

technical field [0001] The invention belongs to the field of ships, in particular to a ship crane device with a wave compensation function. Background technique [0002] The marine crane device is a logistics supply device for ocean-going equipment such as offshore platforms. For maritime logistics supply operations, the supply device is the most important component. Due to the influence of wind and waves, ships operating at sea will sway irregularly with the waves, which seriously affects the efficiency of sea replenishment and poses a great safety hazard. Therefore, wave compensation must be performed on the offshore replenishment device to improve the working efficiency and safety factor of offshore hoisting. [0003] Heave compensation is divided into active heave compensation and passive heave compensation. Active wave compensation refers to the detection of parameters such as roll, pitch and heave of the ship caused by waves through various sensors, and then controls...

AI Technical Summary

Problems solved by technology

Among active compensation equipment, the stable platform has a better compensation effect on roll and pitch, but poorer compensation effect on heave. If a stable platform is used to compensate for a large range of heave changes, a long servo cylinder is required. Increased cost, reduced stability

Some general-purpose active heave compensation cranes can only compensate the heave of the ship, but cannot compensate the roll and pitch of the ship

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