Hanging joint special for wave compensation of A-type portal frame

Abstract

The invention relates to a hanging joint special for wave compensation of an A-type portal frame. The hanging joint is characterized by comprising a compensation mechanism, a winch, a rotary mechanismand an auxiliary mechanism. According to the hanging joint special for wave compensation of the A-type portal frame, an attitude sensor on a base of the A-type portal frame monitors precise values ofswing and displacement of a mother ship in real time and transmits the values to a controller, after calculating the compensation dosage, the controller controls all compensating hydraulic cylindersto cooperate to compensate movement of the mother ship, and thus equipment can be safely and stably lifted, lowered and recycled under the terrible ocean environment. According to the hanging joint special for wave compensation of the A-type portal frame, a manipulator can be lowered to the sea surface through telescopic rods, the manipulator can quickly hang hooks hung on a load-bearing table toa to-be-recycled unmanned submersible, then a mother ship towing system and the A-type portal frame are matched to conduct recycle, the consumed time is short, precision is high, and the recycling efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of ship engineering, in particular to a special hoisting joint for wave compensation A-type gantry. Background technique [0002] As a typical device of the hoisting system, the A-type gantry is widely used in the retraction process of various unmanned submersibles. Affected by sea wind and waves, the ship will swing irregularly. When the sea conditions are relatively bad, the equipment cannot be retracted and retracted, which seriously affects the efficiency of offshore operations. Therefore, the A-type gantry on the ship must be compensated for waves. To improve work efficiency. [0003] The existing A-type gantry mainly performs simple heave and wave compensation through the supporting constant tension winch and the retraction of the suspension cable, or mounts an anti-sway buffer device on the beam of the A-type gantry, which is still passive. For cushioning applications with mechanical stoppers. Lag ...

AI Technical Summary

Problems solved by technology

Significant lag and poor accuracy

[0004] In the process of recovering the unmanned submersible with the A-type gantry, the winch lowers the suspension cable into the sea. However, under the influence of sea wind and waves, the suspension cable is extremely difficult to cooperate with the unmanned submersible. Sometimes manual assistance is required, and the recovery efficiency is low.

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