Series-parallel connection six-degree-of-freedom active wave compensation platform and compensation method thereof

Abstract

The invention provides a series-parallel connection six-degree-of-freedom active wave compensation platform which comprises a first compensation system, a second compensation system and a third compensation system. The first compensation system comprises a base fixed to a hull, a first compensation platform, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder and amiddle electric cylinder, wherein the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are fixed to the base, and one end of an inner cylinder of each of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder is connected to the first compensation platform; and a universal connector is arranged at one end of the middle electric cylinder and connected with a torsion motor, and the torsion motor is fixed to the first compensation platform. The invention further provides a compensation method of the series-parallel connection six-degree-of-freedom active wave compensation platform. By the adoption of the provided series-parallel connection six-degree-of-freedom active wave compensation platform, the hydraulic cylinders, electric cylinders and sensors are used for solving a compensation problem, the structure is simple and reasonable, six-degree-of-freedom compensation can be simplified into compensation of the three compensation systems, the three compensation systems separately work, cooperate and are correlated, the problem is simplified, and meanwhile a compensation effect is enhanced.

Description

technical field [0001] The invention relates to the technical field of platform wave compensation, in particular to a series-parallel six-degree-of-freedom active wave compensation platform and a compensation method thereof. Background technique [0002] Under the action of the waves, the ship will produce six degrees of freedom of motion, which seriously affects the normal operation of the ship. The operation content on the ship that requires high stability is therefore affected, so that the lifting equipment such as the crane on the ship cannot lift the items placed in the predetermined position. [0003] The Chinese patent with the publication number 105621275A "Crane device and compensation method with active wave compensation function of three degrees of freedom" discloses a crane device with active wave compensation function for ships, but the device can only compensate the movement of three degrees of freedom ; The Chinese patent "a six-degree-of-freedom active wave ...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a series-parallel six-degree-of-freedom active wave compensation platform and its compensation method, so as to solve the problem of how to ensure the stability of equipment with reasonable structural design under the premise of compensating fluctuations in six directions

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