Movable base type series-parallel three-dimensional motion compensation device

Abstract

The invention provides a movable base type series-parallel three-dimensional motion compensation device. The movable base type series-parallel three-dimensional motion compensation device comprises a three-degree-of-freedom motion compensation device used for compensating the influence of three-degree-of-freedom motion of a ship on a hoisting load by moving a crane base; the multi-cylinder driving parallel mechanism is used for compensating the influence of rotation, stretching and amplitude variation actions of the crane on the hoisting load and compensating the movement of the hoisting load in the heaving direction; and the lifting load receiving system is used for tracking the lifting load pose in real time, synchronously adjusting the stable platform pose and compensating the ship motion of the target ship. According to the three-degree-of-freedom motion compensation device adopted by the invention, the influence of ship motion on the hoisting weight is compensated by moving the crane base. The multi-cylinder driving parallel mechanism compensates for the influence of rotation, stretching, amplitude variation and other actions of the crane on the hoisting load, and the winch compensates for the movement of the hoisting load in the heaving direction, so that the hoisting load and the crane are kept relatively stable. The hoisting load receiving system can compensate ship movement of the target ship and can adjust the angle of the hoisting load receiving system in real time according to the hoisting load pose, and stable hoisting load transferring is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of ship crane anti-roll technology, and in particular to a dynamic base type serial-parallel hybrid three-dimensional motion compensation device. Background Art

[0002] Offshore lifting operations are a key operational technology in the field of marine engineering. They primarily involve using cranes to lift cargo, equipment, or other heavy objects from one ship to another, or from a ship to offshore platforms, docks, and other facilities in a marine environment. This operation plays a vital role in many fields, including marine resource development, polar exploration, ship replenishment, and offshore construction, providing core support for various marine operations.

[0003] Existing offshore lifting methods typically rely on manually dragging anti-sway cables to suppress the sway of the load. While this method can achieve a certain degree of anti-sway effect, it has many limitations, including limited effectiveness, low efficiency, high labor intensity, and a high degree of risk due to the uncertainty and danger of manual operation.

[0004] Although researchers have conducted extensive research on offshore hoisting and anti-rolling, current offshore hoisting methods still face some open challenges. This is especially true for hoisting operations in high sea conditions. Since most existing ship cranes lack anti-rolling capabilities and can only operate in lower sea conditions, the window period for offshore hoisting operations is significantly shortened. This not only increases the time and cost of hoisting operations, but also limits the efficiency and safety of offshore operations, making it difficult to meet the growing demands of strategic implementation such as deep-sea development and polar exploration. Therefore, developing offshore hoisting and anti-rolling equipment, overcoming the technical difficulties of hoisting in high sea conditions, and achieving high efficiency, safety, and positioning accuracy in offshore hoisting operations have become important tasks that need to be addressed urgently. Summary of the Invention

[0005] To address the aforementioned technical challenges of offshore lifting and transport in high sea conditions, a dynamic base-type serial-parallel hybrid three-dimensional motion compensation device is provided. This invention primarily utilizes the coordinated interaction of a three-degree-of-freedom motion compensation device, a multi-cylinder drive parallel mechanism, and a load receiving system. Each mechanism is interconnected and independently operated, achieving highly stable and efficient offshore lifting and transport operations.

[0006] The technical means adopted in the present invention are as follows:

[0007] A dynamic base type serial-parallel hybrid three-dimensional motion compensation device, comprising:

[0008] A three-degree-of-freedom motion compensation device for compensating for the effect of the ship's three-degree-of-freedom motion on the load by moving the crane base;

[0009] A multi-cylinder drive parallel mechanism used to compensate for the effects of the crane's rotation, extension, and luffing on the load, and to compensate for the movement of the load in the heave and sink directions;

[0010] A load receiving system is used to track the load position in real time and synchronously adjust the position of the stabilization platform to compensate for the motion of the target ship.

[0011] Furthermore, the three-degree-of-freedom motion compensation device and the multi-cylinder drive parallel mechanism are arranged on a crane ship, the load receiving system is arranged on a target ship, and the three-degree-of-freedom motion compensation device and the multi-cylinder drive parallel mechanism are connected.

[0012] Furthermore, the three-degree-of-freedom motion compensation device includes a crane, an upper deck, a lower deck, a spherical joint base, a hydraulic cylinder and a protective partition;

[0013] The crane is located on the upper deck, which is the outer deck of a double-deck ship. A hydraulic cylinder and a protective partition are installed on the upper deck. The lower deck is the inner deck of the double-deck ship. A ball joint base is installed on the lower deck. The ball joint base is connected to the hydraulic cylinder, and a protective partition is provided on the outside of the hydraulic cylinder.

[0014] Furthermore, the multi-cylinder driven parallel mechanism includes a parallel platform, a parallel mechanism hydraulic cylinder, a winch, a sling, a casing and a camera;

[0015] The parallel platform is installed at the boom head of the crane, and a parallel mechanism hydraulic cylinder is connected between the boom head of the crane and the parallel platform. The winch is installed on the crane, and the winch is connected to one end of the sling. The sling is installed between the winch and the weight, and the other end of the sling is connected to the weight. A sleeve is vertically arranged at the center of the parallel platform, and the camera is installed at the boom head of the crane.

[0016] Furthermore, the hoisted weight receiving system includes a stable platform, a hoisted weight, a target point and a laser identifier;

[0017] The stable platform is installed on the target ship, target points are installed around the hanging weight, and the laser identifier is installed on the stable platform.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] The three-degree-of-freedom motion compensation device used in the present invention compensates for the impact of ship movement on the load by moving the crane base. At the same time, the multi-cylinder drive parallel mechanism can compensate for the impact of the crane's rotation, extension, and amplitude change on the load, and the winch compensates for the movement of the load in the heave direction, so that the load and the crane remain relatively stable. The load receiving system can not only compensate for the movement of the target ship, but also adjust its own angle in real time according to the load posture, which is conducive to the smooth transportation of the load. In addition, the present invention adopts unmanned intelligent control, which greatly enhances operational safety and reduces labor costs. At the same time, the modular design further improves the applicability of the device, allowing old ship cranes to be quickly modified and applied.

[0020] The present invention provides a dynamic base type serial-parallel hybrid three-dimensional motion compensation device, in which the coordination between a three-degree-of-freedom motion compensation device, a multi-cylinder drive parallel mechanism and a hoisting receiving system is adopted. Each mechanism is interconnected and operates independently, thereby realizing high stability and high efficiency of offshore lifting and transshipment operations. Compared with the traditional operation mode, the application of the three-degree-of-freedom motion compensation device changes the anti-rolling form adopted by the traditional operation mode, and the application of the multi-cylinder drive parallel mechanism and the hoisting receiving system enables the hoisting to be quickly, smoothly and accurately transferred to the target ship, and the operation is completed efficiently. In summary, the present invention can further improve the safety, stability and convenience of offshore lifting and transshipment operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 It is a structural diagram of the dynamic base type serial-parallel hybrid three-dimensional motion compensation system of the present invention.

[0023] Figure 2 It is a structural schematic diagram of the three-degree-of-freedom motion compensation device of the present invention.

[0024] Figure 3 It is a simplified schematic diagram of the three-degree-of-freedom motion compensation device of the present invention.

[0025] Figure 4 It is a structural schematic diagram of the multi-cylinder drive parallel mechanism of the present invention.

[0026] Figure 5 It is a partially enlarged structural schematic diagram of the multi-cylinder drive parallel mechanism of the present invention.

[0027] Figure 6It is a structural schematic diagram of the hoisting receiving system of the present invention.

[0028] Figure 7 It is a partially enlarged structural schematic diagram of the hoisting receiving system of the present invention.

[0029] In the figure: 1. Three-degree-of-freedom motion compensation device; 11. Crane; 12. Upper deck; 13. Lower deck; 14. Ball joint base; 15. Hydraulic cylinder; 16. Protective partition; 2. Multi-cylinder drive parallel mechanism; 21. Parallel platform; 22. Parallel mechanism hydraulic cylinder; 23. Winch; 24. Sling; 25. Casing; 26. Camera; 3. Hoisting weight receiving system; 31. Stabilizing platform; 32. Hoisting weight; 33. Target; 34. Laser recognition device. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0034] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0035] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0036] like Figure 1As shown, the present invention provides a dynamic base-type serial-parallel hybrid three-dimensional motion compensation device, comprising a three-degree-of-freedom motion compensation device 1, a multi-cylinder drive parallel mechanism 2, and a load receiving system 3. The three-degree-of-freedom motion compensation device 1, the multi-cylinder drive parallel mechanism 2, and the load receiving system 3 are connected in series. The three-degree-of-freedom motion compensation device 1 is used to compensate for the three-degree-of-freedom motion of the ship caused by waves in real time, namely, roll, pitch, and yaw, so that the crane base remains stable in the base coordinate system and eliminates the interference of the ship's motion in the three degrees of freedom on the lifting operation. The multi-cylinder drive parallel mechanism 2 is used to compensate for the effects of the crane's rotation, extension, and boom movements on the load, so that the load and the crane remain relatively stable, while also compensating for the movement of the load in the heave direction. The load receiving system 3 is used to track the load's posture in real time and synchronously adjust the posture of the stabilizing platform to avoid the risk of collision between the load and the target ship, ensure smooth transfer of the load, compensate for the random motion of the target ship, and reduce the impact of the ship's motion on the load receiving process.

[0037] like Figure 2 、 Figure 3 As shown, the three-degree-of-freedom motion compensation device 1 includes a crane 11, an upper deck 12, a lower deck 13, a spherical joint base 14, a hydraulic cylinder 15, and a protective bulkhead 16. The crane 11 is used to perform lifting tasks and install other components. The upper deck 12 is the outer deck of a double-deck ship and is used to install devices such as the hydraulic cylinder 15 and the protective bulkhead 16. The lower deck 13 is the inner deck of a double-deck ship and is used to install the spherical joint base 14. The spherical joint base 14 is installed on the lower deck 13 and is used to connect to the hydraulic cylinder 15. The hydraulic cylinder 15 is installed around the protective bulkhead 16 to control the movement of the three-degree-of-freedom motion compensation device 1. The protective bulkhead 16 is used to install the hydraulic cylinder 15 and isolate the operating personnel and is installed around the spherical joint base 14.

[0038] like Figure 4 、 Figure 5 As shown, the multi-cylinder driven parallel mechanism 2 includes a parallel platform 21, a parallel mechanism hydraulic cylinder 22, a winch 23, a sling 24, a sleeve 25, and a camera 26; the parallel platform 21 is installed at the boom head of the crane 11, and is used to compensate for the influence of the rotation, extension, and amplitude change of the crane 11 on the load, so that the load and the crane remain relatively stable, the parallel mechanism hydraulic cylinder 22 is installed between the boom head of the crane 11 and the parallel platform 21, and is used to drive the parallel platform 21, the winch 23 is installed on the crane 11, and is used to control the retraction and extension of the sling 24, thereby compensating for the movement of the load in the lifting direction, the sling 24 is installed between the winch 23 and the load, and is used to connect the load, the sleeve 25 is installed in the parallel platform 21, and is used to stabilize the movement posture of the load, and the camera 26 is installed at the boom head of the crane 11, and is used to identify the positional relationship between the load and the stabilizing platform 31.

[0039] like Figure 6 、 Figure 7 As shown, the load receiving system 3 includes a stable platform 31, a load 32, a target 33, and a laser identifier 34; the stable platform 31 is installed on the target ship, the upper plane is used to receive the load, and the posture of the load is adjusted according to the posture of the load to reduce collision. The lower plane is used to compensate for the random movement of the target ship. The load 32 is connected to the sling 24 as a transfer object and is used to install the target 33. The target 33 is installed around the load 32 for being identified by the laser identifier 34. The laser identifier 34 is installed on the stable platform 31 for identifying the target 33 and then sensing the posture of the load 32.

[0040] The working method of the present invention is as follows: the motion sensor installed on the ship monitors the motion data of the ship in the three degrees of freedom of roll, pitch and bow in real time, including information such as the swing angle and the swing speed, and transmits the data in real time to the control system of the three-degree-of-freedom motion compensation device. The control system calculates the compensation motion parameters required by the three-degree-of-freedom motion compensation device based on the received ship motion data, including the extension and contraction amount of the hydraulic cylinder, the extension and contraction speed, and the corresponding compensation angle, etc., to offset the influence of the ship's motion on the crane base. According to the calculated compensation parameters, the control system sends a control signal to the hydraulic cylinder to drive the hydraulic cylinder to perform corresponding extension and contraction motion. The hydraulic cylinder is connected to the lower deck through a ball joint base, and its extension and contraction motion can drive the upper deck and the crane base installed thereon to adjust in space, thereby compensating for the ship's roll, pitch and bow motion in real time, so that the crane base remains stable in the base coordinate system, and eliminates the interference of the ship's motion in the three degrees of freedom on the lifting operation.

[0041] As the crane performs movements such as slewing, telescoping, and luffing, monitoring equipment such as angle sensors and displacement sensors installed on the crane collects real-time data on the crane's motion, including slewing angle, telescopic length, and luffing angle. This data is then transmitted to the control system of the multi-cylinder parallel mechanism. Simultaneously, monitoring equipment such as force sensors and displacement sensors installed on the slings monitor the load's motion in space, including its position, velocity, and acceleration, and transmits this data to the control system. Based on the received crane motion data and the load's motion data, the control system calculates the compensation parameters required for the multi-cylinder parallel mechanism, including the extension and retraction amount, speed, and corresponding drive angle of the parallel mechanism's hydraulic cylinders. This compensates for the effects of the crane's slewing, telescoping, and luffing movements on the load, maintaining relative stability between the load and the crane. Based on the calculated compensation parameters, the control system sends control signals to the parallel mechanism's hydraulic cylinders, driving them to telescope and retract, thereby causing the parallel platform to adjust accordingly, compensating for the load's motion.

[0042] The winch controls the lifting and lowering motion of the load by retracting and extending the sling cable, based on the load's movement in the heave and sink directions. While the multi-cylinder-driven parallel mechanism provides compensation, the winches work in tandem. When the load needs to rise or fall, the winch, following the preset control strategy and speed requirements, drives the drum to rotate and retract the sling cable, ensuring smooth heave and sink motion. This further compensates for the load's movement and ensures relative stability between the load and the crane.

[0043] The laser recognition device installed on the stabilization platform identifies the targets installed around the load in real time. By measuring the position and angle information of the targets, it calculates the load's position in space, including position coordinates, attitude angles, etc., and transmits the load position data to the control system of the load receiving system. Based on the received load position data and the motion data of the target ship (which can be obtained through motion sensors installed on the target ship), the control system calculates the attitude parameters that need to be adjusted for the stabilization platform, including the platform's pitch angle, roll angle, yaw angle, etc., so that the upper plane of the stabilization platform can match the attitude of the load, reducing the risk of collision between the load and the target ship and ensuring smooth transportation of the load. Based on the calculated attitude adjustment parameters, the control system sends a control signal to the stabilization platform's drive mechanism (such as a hydraulic cylinder, electric actuator, etc.) to drive the stabilization platform to make corresponding attitude adjustments.

[0044] The lower plane of the stabilizing platform is equipped with a motion compensation device to monitor the random motion of the target ship in real time. According to the motion state of the target ship, the position and posture of the lower plane of the stabilizing platform are adjusted through the driving device to compensate for the random motion of the target ship, reduce the impact of the ship's motion on the lifting weight receiving process, and ensure that the lifting weight can be docked to the target ship accurately and smoothly.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic base type serial-parallel hybrid three-dimensional motion compensation device, characterized in that: include: A three-degree-of-freedom motion compensation device for compensating for the effect of the ship's three-degree-of-freedom motion on the load by moving the crane base; A multi-cylinder drive parallel mechanism used to compensate for the effects of the crane's rotation, extension, and luffing on the load, and to compensate for the movement of the load in the heave and sink directions; A load receiving system is used to track the load position in real time and synchronously adjust the position of the stabilization platform to compensate for the motion of the target ship.

2. The dynamic base type serial-parallel hybrid three-dimensional motion compensation device according to claim 1, characterized in that: The three-degree-of-freedom motion compensation device and the multi-cylinder drive parallel mechanism are arranged on a crane ship, the load receiving system is arranged on a target ship, and the three-degree-of-freedom motion compensation device and the multi-cylinder drive parallel mechanism are connected.

3. The dynamic base type serial-parallel hybrid three-dimensional motion compensation device according to claim 1, characterized in that: The three-degree-of-freedom motion compensation device includes a crane, an upper deck, a lower deck, a spherical joint base, a hydraulic cylinder and a protective partition; The crane is located on the upper deck, which is the outer deck of a double-deck ship. A hydraulic cylinder and a protective partition are installed on the upper deck. The lower deck is the inner deck of the double-deck ship. A ball joint base is installed on the lower deck. The ball joint base is connected to the hydraulic cylinder, and a protective partition is provided on the outside of the hydraulic cylinder.

4. The dynamic base type serial-parallel hybrid three-dimensional motion compensation device according to claim 1, characterized in that: The multi-cylinder driven parallel mechanism includes a parallel platform, a parallel mechanism hydraulic cylinder, a winch, a sling, a casing and a camera; The parallel platform is installed at the boom head of the crane, and a parallel mechanism hydraulic cylinder is connected between the boom head of the crane and the parallel platform. The winch is installed on the crane, and the winch is connected to one end of the sling. The sling is installed between the winch and the weight, and the other end of the sling is connected to the weight. A sleeve is vertically arranged at the center of the parallel platform, and the camera is installed at the boom head of the crane.

5. The dynamic base type serial-parallel hybrid three-dimensional motion compensation device according to claim 1, characterized in that: The hoisting weight receiving system includes a stable platform, a hoisting weight, a target point and a laser identifier; The stable platform is installed on the target ship, target points are installed around the hanging weight, and the laser identifier is installed on the stable platform.

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