A wave compensation method

Abstract

The present invention provides a wave compensation method, S1: a hoisting winch drives a hoisting cable to lift a heavy object; S2: a compensation hook is connected to a supply ship; S3: when the supply ship sinks due to sea waves; (1) the following cable moves downward with the supply ship, thereby increasing the pulling force; (2) the pulling force of the following cable overcomes the oil pressure of the compensation cylinder, and drives the compensation trolley to move; (3) the compensation trolley drives the hoisting cable to move downward; S4: when the supply ship floats due to sea waves; (1) the following cable moves upward with the supply ship, thereby reducing the pulling force; (2) the oil pressure of the compensation cylinder overcomes the pulling force of the following cable, and the compensation cylinder drives the piston rod to extend and drives the compensation trolley to move; (4) the compensation trolley drives the hoisting cable to move upward; S5: after the heavy object is lifted to a height at which the heavy object can be transferred, the connection between the compensation hook and the supply ship is released, and the heavy object is transferred to the ship.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a wave compensation method. Background Art

[0002] A ship's stability is a crucial indicator of a country's ability to demonstrate its capabilities in maritime research and development, conduct offshore exploration, and transport hazardous materials. Because ships operate at sea in stark contrast to land-based equipment, they are subject to the erratic ups and downs of waves caused by weather, causing the entire hull to shake violently, up and down, left and right. This poses significant risks to vessels transporting hazardous materials. This violent shaking can damage, leak, or explode precision instruments and the hazardous materials being transported. This is particularly true in extremely poor sea conditions, causing significant harm to both those on board and the natural environment.

[0003] When cargo needs to be transferred from one ship to another supply ship via a crane, the two ships will each float up and down differently due to the wind and waves at sea. In this way, it is easy for the cargo to directly collide with the supply ship, causing damage to the cargo and possibly even personal injury. Summary of the Invention

[0004] The present invention provides a wave compensation method, by which a certain safe distance can be maintained between a heavy object and a supply ship.

[0005] To achieve the above object, the technical solution of the present invention is: a wave compensation method, which specifically comprises the following steps:

[0006] The S1 hoisting winch drives the hoisting cable to lift the load.

[0007] S2 connects the compensation hook to the supply ship.

[0008] S3 When the supply ship sinks due to sea waves.

[0009] (1) The follower cable moves downward with the supply ship, thereby increasing the tension.

[0010] (2) The tension of the follower cable overcomes the oil pressure of the compensation cylinder and drives the compensation trolley to move.

[0011] (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship.

[0012] S4 When the supply ship floats due to sea waves.

[0013] (1) The follower cable moves upward with the supply ship, thereby reducing the tension.

[0014] (2) The oil pressure of the compensation cylinder overcomes the tension of the follower cable, and the compensation cylinder drives the piston rod to extend and drive the compensation trolley to move.

[0015] (4) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship.

[0016] After the S5 weight is hoisted to a height where it can be transferred, the connection between the compensation hook and the supply ship is released and the weight is transferred to the ship.

[0017] The above method is implemented through a compensation mechanism, which includes a lifting winch, a follower winch and a compensation device arranged on the crane boom. The compensation device includes a compensation cylinder and a compensation trolley. A trolley track is provided in the middle of the boom, and a compensation cylinder is provided at one end of the trolley track. The compensation trolley is provided on the trolley track and slides along the length direction of the trolley track. The piston rod of the compensation cylinder is connected to the compensation trolley; a transfer pulley group is provided on the boom at the end of the compensation cylinder away from the trolley track.

[0018] The compensating trolley includes a trolley frame, a lifting pulley block and a follower pulley block, the lifting pulley block is located at one end of the trolley frame, and the follower pulley block is located at the other end of the trolley frame; the lifting winch is connected to the lifting pulley block, and the follower winch is connected to the follower pulley block; the trolley frame is hinged to the piston rod of the compensating oil cylinder.

[0019] The hoisting winch is arranged at the front end of the boom, and a hoisting cable and a hoisting hook are provided on the hoisting winch. One end of the hoisting cable is connected to the hoisting winch, and the other end of the hoisting cable passes through the transfer pulley group and the hoisting pulley group in sequence and extends to the rear end of the boom and is connected to the hoisting hook. The hoisting hook is connected to the heavy object.

[0020] The follower winch is arranged at the front end of the boom, and a follower cable and a compensation hook are provided on the follower winch. One end of the follower cable is connected to the follower winch, and the other end of the follower cable passes through the transfer pulley group and the follower pulley group in sequence and extends to the rear end of the boom and is connected to the compensation hook. The compensation hook is connected to the supply ship.

[0021] The above structure, through the setting of the follower winch and the lifting winch, when the ship is transferring materials with the supply ship at sea, the lifting winch lifts the weight by connecting the compensating hook to the supply ship. After the lifting crane lifts the weight, due to the wind and waves at sea, the ship and the supply ship will shake respectively. When the supply ship shakes, it will drive the compensating hook to move up and down, thereby increasing or decreasing the tension of the follower cable, thereby driving the piston rod of the compensating cylinder to move and driving the compensating trolley to move, and then driving the lifting cable to rise or fall, thereby ensuring that the weight and the supply ship always maintain a certain safe distance, thereby preventing the weight from contacting and colliding with the ship.

[0022] Furthermore, the transfer pulley group includes a transfer frame, a first transfer pulley bracket, a first transfer pulley, a second transfer pulley bracket and a second transfer pulley, the transfer frame is arranged on the boom, and a transfer connecting shaft is provided on the transfer frame, the first transfer pulley bracket is fixed on the transfer connecting shaft, and the first transfer pulley is rotatably arranged on the first transfer pulley bracket through a first transfer bearing; the second transfer pulley bracket is fixed on the transfer connecting shaft on one side of the first transfer pulley bracket, and the second transfer pulley is rotatably arranged on the second transfer pulley bracket through a second transfer bearing; the other end of the lifting cable is wound around the first transfer pulley, and the other end of the follower cable is wound around the second transfer pulley.

[0023] With this arrangement, through the action of the transfer pulley block, the connection between the follower cable and the lifting cable and the compensating trolley is neater and there will be no problem of tangled cables.

[0024] Furthermore, the follower pulley group includes a first follower pulley, a second follower pulley and a third follower pulley, the first follower pulley is arranged on one side of the other end of the trolley frame by rotating through the first follower pulley shaft, the second follower pulley is arranged on the other side of the other end of the trolley frame corresponding to the first follower pulley by rotating through the second follower pulley shaft, and the third follower pulley is arranged in the middle of the trolley frame by rotating through the third follower pulley shaft; the other end of the follower cable passes around the first follower pulley, the third follower pulley and the second follower pulley in sequence and then extends to the end of the boom and is connected to the compensation hook.

[0025] With this arrangement, through the arrangement of the follower pulley group, the compensation trolley can be driven to move when the tension of the follower cable increases or decreases.

[0026] Furthermore, the lifting pulley group includes a lifting pulley, which is arranged at one end of the trolley frame and rotated by a lifting pulley shaft; the other end of the lifting cable passes around the lifting pulley and extends to the end of the boom and is connected to the lifting hook.

[0027] With the above arrangement, when the compensation trolley moves, it can drive the lifting cable up or down, thereby controlling the height between the heavy object and the supply ship.

[0028] Furthermore, a lifting auxiliary pulley is provided at the end of the boom, and the lifting auxiliary pulley is arranged at the end of the boom through the rotation of the first auxiliary pulley shaft. The other end of the lifting cable is connected to the lifting hook after passing through the transfer pulley group, the lifting pulley group and the lifting auxiliary pulley in sequence.

[0029] The above arrangement can better guide the lifting cable through the lifting auxiliary pulley, thereby facilitating the lifting of heavy objects.

[0030] Furthermore, a follower auxiliary pulley is provided at the end of the boom, which is rotatable by a second auxiliary pulley shaft. The other end of the follower cable passes through the transfer pulley group, the follower pulley group and the follower auxiliary pulley in sequence and is connected to the compensation hook.

[0031] The above arrangement can better guide the follow-up cable through the follow-up auxiliary pulley, thereby facilitating connection with the supply ship.

[0032] Furthermore, the trolley track includes an upper track and a lower track, the upper track is arranged on the boom, the lower track is connected to the upper track through a track connecting bracket, and the compensation trolley is arranged between the upper track and the lower track; movable rollers are provided at the top and bottom ends of the trolley frame of the compensation trolley, the movable roller located at the top end of the trolley frame is rollingly connected to the first upper contact surface of the upper track, and the movable roller located at the bottom end of the trolley frame is rollingly connected to the first lower contact surface of the lower track.

[0033] The above arrangement can facilitate the movement of the compensation trolley by moving the roller, and the structure is simple and effective.

[0034] Furthermore, auxiliary rollers are provided at the top and bottom ends of the trolley frame. The auxiliary roller at the top end of the trolley frame is rollingly connected to the second upper contact surface of the upper track, and the auxiliary roller at the bottom end of the trolley frame is rollingly connected to the second lower contact surface of the lower track.

[0035] The above settings, through the setting of auxiliary rollers, can increase the stability of the movement of the compensation trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the compensation mechanism of the present invention.

[0037] Figure 2 It is a structural schematic diagram of the compensation device of the present invention.

[0038] Figure 3 It is the front view of the compensation trolley of the present invention.

[0039] Figure 4 It is a structural schematic diagram of the transfer pulley group of the present invention.

[0040] Figure 5 Schematic diagram of the winding method of the follower cable of the present invention.

[0041] Figure 6 It is a simplified schematic diagram of the winding method of the lifting cable of the present invention.

[0042] Figure 7 for Figure 2 Enlarged view of point A in the middle.

[0043] Figure 8 It is a simple schematic diagram of the trolley track of the present invention.

[0044] Figure 9 It is a working flow chart of the compensation mechanism of the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] like Figures 1 to 8 As shown, a compensation mechanism includes a lifting winch 11, a follower winch 12 and a compensation device 2 arranged on a crane boom 1, the compensation device 2 includes a compensation cylinder 21 and a compensation trolley 22, a trolley track 13 is provided in the middle of the boom 1, a compensation cylinder 21 is provided at one end of the trolley track 13, the compensation trolley 22 is arranged on the trolley track 13 and is slidably arranged along the length direction of the trolley track 13, and the piston rod of the compensation cylinder 21 is connected to the compensation trolley 22; a transfer pulley group 3 is provided on the boom 1 at the end of the compensation cylinder 21 away from the trolley track 13.

[0047] The compensating trolley 22 includes a trolley frame 221, a lifting pulley group 4 and a follower pulley group 5. The lifting pulley group 4 is located at one end of the trolley frame 221, and the follower pulley group 5 is located at the other end of the trolley frame 221; the lifting winch 11 is connected to the lifting pulley group 4, and the follower winch 12 is connected to the follower pulley group 5; the trolley frame 221 is hinged to the piston rod of the compensating cylinder 21.

[0048] The hoisting winch 11 is disposed at the front end of the boom 1. A hoisting cable 111 and a hoisting hook 112 are provided on the hoisting winch 11. One end of the hoisting cable 111 is connected to the hoisting winch 11. The other end of the hoisting cable 111 passes through the transfer pulley block 3 and the hoisting pulley block 4 in sequence, then extends to the rear end of the boom 1 and is connected to the hoisting hook 112. The hoisting hook 112 is connected to the weight 100. The hoisting winch drives the hoisting cable to retract and release.

[0049] The follower winch 12 is arranged at the front end of the boom 1, and is provided with a follower cable 121 and a compensation hook 122. One end of the follower cable 121 is connected to the follower winch 12, and the other end of the follower cable 121 passes through the transfer pulley group 3 and the follower pulley group 5 in sequence and then extends to the rear end of the boom 1 and is connected to the compensation hook 122. The compensation hook 122 is connected to the supply ship 101, and the follower winch drives the follower cable to recover and release.

[0050] In this embodiment, when the compensating hook is not connected to the supply ship, the pressure in the compensating cylinder and the tension of the follower cable are in equilibrium. When the compensating hook is connected to the supply ship, when the tension in the follower cable increases, the follower cable moves downward. The tension in the follower cable overcomes the oil pressure in the compensating cylinder, thereby driving the compensating trolley toward the compensating cylinder, causing the piston rod of the compensating cylinder to move into the cylinder body of the compensating cylinder, thereby driving the lifting cable to follow the downward movement. When the tension in the follower cable decreases, the follower cable moves upward. The oil pressure in the compensating cylinder overcomes the tension in the follower cable, causing the compensating cylinder to drive the piston rod to extend and drive the compensating trolley away from the compensating cylinder, thereby driving the lifting cable to follow the upward movement.

[0051] At the same time, since there is no direct contact between the lifting cable and the follower cable, the lifting winch can drive the lifting cable to rise alone. In the process of the lifting winch driving the lifting cable to rise, the compensating trolley moves through the action of the follower cable to adjust the safe distance between the heavy object and the supply ship. The adjustment method of this embodiment only changes the upper and lower heights of the heavy object by adjusting the position of the lifting pulley group, and will not directly affect the action of the lifting winch. Therefore, when the compensation device is working, it will not affect the normal lifting of the heavy object. When the heavy object is lifted to a sufficient height, the connection between the compensating hook and the supply ship is released, and the cargo can be transferred to this ship.

[0052] The above structure, through the setting of the follower winch 12 and the lifting winch 11, when the ship is transferring materials with the supply ship at sea, the lifting winch 11 lifts the weight 100 by connecting the compensation hook 122 to the supply ship 101. After the lifting crane lifts the weight 100, due to the wind and waves at sea, the ship and the supply ship will each shake. When the supply ship shakes, it will drive the compensation hook 122 to move up and down, thereby increasing or decreasing the tension of the follower cable 121, thereby driving the piston rod of the compensation cylinder 21 to move and driving the compensation trolley 22 to move, and then driving the lifting cable 111 to rise or fall, thereby achieving that the weight 100 and the supply ship 101 always maintain a certain safe distance, thereby preventing the weight from contacting and colliding with the ship.

[0053] In this embodiment, the crane is installed on the ship, the heavy object is located on the supply ship, and the heavy object is transferred from the supply ship to the ship via the crane.

[0054] like Figure 4As shown, the transfer pulley group 3 includes a transfer frame (not shown in the figure), a first transfer pulley bracket 32, a first transfer pulley 33, a second transfer pulley bracket 34 and a second transfer pulley 35. The transfer frame is set on the boom, and a transfer connecting shaft 30 is provided on the transfer frame. The first transfer pulley bracket 32 ​​is fixed on the transfer connecting shaft 30, and the first transfer pulley 33 is rotatably set on the first transfer pulley bracket 32 ​​through a first transfer bearing 331; the second transfer pulley bracket 34 is fixed on the transfer connecting shaft 30 on one side of the first transfer pulley bracket 32, and the second transfer pulley 35 is rotatably set on the second transfer pulley bracket 34 through a second transfer bearing 351; the other end of the lifting cable 111 is wound around the first transfer pulley 33, and the other end of the follower cable 121 is wound around the second transfer pulley 35.

[0055] With this arrangement, through the action of the transfer pulley block, the connection between the follower cable and the lifting cable and the compensating trolley is neater and there will be no problem of tangled cables.

[0056] like Figure 2 and Figure 3 As shown, the follower pulley group 5 includes a first follower pulley 51, a second follower pulley 52 and a third follower pulley 53. The first follower pulley 51 is rotatably arranged on one side of the other end of the trolley frame 13 through the first follower pulley shaft 511, the second follower pulley 52 is rotatably arranged on the other side of the other end of the trolley frame 221 corresponding to the first follower pulley 51 through the second follower pulley shaft 521, and the third follower pulley 53 is rotatably arranged in the middle of the trolley frame 221 through the third follower pulley shaft 531; the other end of the follower cable 121 passes through the first follower pulley 51, the third follower pulley 53 and the second follower pulley 52 in sequence and then extends to the end of the boom 1 and is connected to the compensation hook 122.

[0057] With this arrangement, through the arrangement of the follower pulley assembly 5, the compensation trolley can be driven to move when the tension of the follower cable 454 increases or decreases.

[0058] like Figure 2 、 Figure 3 and Figure 6 As shown, the lifting pulley group 4 includes a lifting pulley 41, and the lifting pulley 41 is rotatably arranged at one end of the trolley frame 221 through a lifting pulley shaft 411; the other end of the lifting cable 111 passes around the lifting pulley 41 and extends to the end of the boom 1 and is connected to the lifting hook 112.

[0059] With the above arrangement, when the compensation trolley moves, it can drive the lifting cable up or down, thereby controlling the height between the heavy object and the supply ship.

[0060] like Figure 1 and Figure 6As shown, a lifting auxiliary pulley 115 is provided at the end of the boom 1. The lifting auxiliary pulley 115 is rotatably arranged at the end of the boom 1 through a first auxiliary pulley shaft (not shown in the figure). The other end of the lifting cable 111 passes through the transfer pulley group 3, the lifting pulley group 4 and the lifting auxiliary pulley 115 in sequence and is then connected to the lifting hook 112.

[0061] The above arrangement can better guide the lifting cable through the lifting auxiliary pulley, thereby facilitating the lifting of heavy objects.

[0062] like Figure 1 and Figure 5 As shown, a follower auxiliary pulley 125 is further provided at the end of the boom 1. The follower auxiliary pulley 125 is rotatably arranged at the end of the boom 1 through a second auxiliary pulley shaft (not shown in the figure). The other end of the follower cable 121 passes through the transfer pulley group 3, the follower pulley group 5 and the follower auxiliary pulley 125 in sequence and is then connected to the compensation hook 122.

[0063] The above arrangement can better guide the follow-up cable through the follow-up auxiliary pulley, thereby facilitating connection with the supply ship.

[0064] like Figure 7 and Figure 8 As shown, the trolley track 13 includes an upper track 131 and a lower track 132, the upper track 131 is arranged on the boom 1, the lower track 132 is connected to the upper track 131 through a track connecting bracket 133, and the compensation trolley 22 is arranged between the upper track 131 and the lower track 132; movable rollers 222 are provided at the top and bottom ends of the trolley frame 221 of the compensation trolley 22, the movable roller 222 located at the top of the trolley frame 221 is rollingly connected to the first upper contact surface 1311 of the upper track 131, and the movable roller 222 located at the bottom end of the trolley frame 221 is rollingly connected to the first lower contact surface 1321 of the lower track 132.

[0065] The above arrangement can facilitate the movement of the compensation trolley by moving the roller, and the structure is simple and effective.

[0066] Furthermore, auxiliary rollers 223 are provided at the top and bottom ends of the trolley frame 221. The auxiliary roller 223 located at the top of the trolley frame 221 is rollingly connected to the second upper contact surface 1312 of the upper rail 131, and the auxiliary roller 223 located at the bottom end of the trolley frame 221 is rollingly connected to the second lower contact surface 1322 of the lower rail 132.

[0067] The above settings, through the setting of auxiliary rollers, can increase the stability of the movement of the compensation trolley.

[0068] like Figure 9 As shown, the above-mentioned wave compensation method specifically includes the following steps:

[0069] The S1 hoisting winch drives the hoisting cable to lift the load.

[0070] S2 connects the compensation hook to the supply ship.

[0071] S3 When the supply ship sinks due to sea waves.

[0072] (1) The follower cable moves downward with the supply ship, thereby increasing the tension.

[0073] (2) The tension of the follower cable overcomes the oil pressure of the compensation cylinder and drives the compensation trolley to move.

[0074] (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship.

[0075] S4 When the supply ship floats due to sea waves.

[0076] (1) The follower cable moves upward with the supply ship, thereby reducing the tension.

[0077] (2) The oil pressure of the compensation cylinder overcomes the tension of the follower cable, and the compensation cylinder drives the piston rod to extend and drive the compensation trolley to move.

[0078] (3) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship.

[0079] After the S5 weight is hoisted to a height where it can be transferred, the connection between the compensation hook and the supply ship is released and the weight is transferred to the ship.

Claims

1. A heave compensation method, characterized by: The specific steps include: S1 hoisting winch drives the hoisting cable to lift the load; S2 connects the compensation hook to the supply ship; S3 When the supply ship sinks due to sea waves; (1) The follower cable moves downward with the supply ship, thereby increasing the pulling force; (2) The tension of the follower cable overcomes the oil pressure of the compensation cylinder, driving the compensation trolley to move; (3) The compensation trolley drives the lifting cable downward to ensure that the heavy object maintains a safe distance from the supply ship; S4 When the supply ship floats due to sea waves; (1) The follower cable moves upward with the supply ship, thus reducing the tension; (2) The oil pressure of the compensation cylinder overcomes the tension of the follower cable, and the compensation cylinder drives the piston rod to extend and drive the compensation trolley to move; (4) The compensation trolley drives the lifting cable upward to ensure that the heavy object maintains a safe distance from the supply ship; After the S5 weight is hoisted to a height where it can be transferred, the connection between the compensation hook and the supply ship is released and the weight is transferred to the host ship; The above method is implemented by a compensation mechanism, which includes a hoisting winch, a follower winch and a compensation device arranged on the crane boom. The compensation device includes a compensation cylinder and a compensation trolley. A trolley track is provided in the middle of the boom, and a compensation cylinder is provided at one end of the trolley track. The compensation trolley is arranged on the trolley track and slides along the length direction of the trolley track. The piston rod of the compensation cylinder is connected to the compensation trolley. A transfer pulley block is provided on the boom at the end of the compensation cylinder away from the trolley track. The compensating trolley includes a trolley frame, a lifting pulley block and a follower pulley block, wherein the lifting pulley block is located at one end of the trolley frame and the follower pulley block is located at the other end of the trolley frame; the lifting winch is connected to the lifting pulley block, and the follower winch is connected to the follower pulley block; the trolley frame is hinged to the piston rod of the compensation cylinder; The hoisting winch is arranged at the front end of the boom, and a hoisting cable and a hoisting hook are provided on the hoisting winch. One end of the hoisting cable is connected to the hoisting winch, and the other end of the hoisting cable passes through the transfer pulley block and the hoisting pulley block in sequence and then extends to the rear end of the boom and is connected to the hoisting hook. The hoisting hook is connected to the weight; The follower winch is arranged at the front end of the boom, and is provided with a follower cable and a compensation hook on the follower winch. One end of the follower cable is connected to the follower winch, and the other end of the follower cable passes through the transfer pulley block and the follower pulley block in sequence and extends to the rear end of the boom and is connected to the compensation hook. The compensation hook is connected to the supply ship; The transfer pulley assembly includes a transfer frame, a first transfer pulley bracket, a first transfer pulley, a second transfer pulley bracket and a second transfer pulley, the transfer frame is arranged on the boom, a transfer connecting shaft is provided on the transfer frame, the first transfer pulley bracket is fixed on the transfer connecting shaft, the first transfer pulley is rotatably arranged on the first transfer pulley bracket through a first transfer bearing; the second transfer pulley bracket is fixed on the transfer connecting shaft on one side of the first transfer pulley bracket, and the second transfer pulley is rotatably arranged on the second transfer pulley bracket through a second transfer bearing; the other end of the lifting cable is wound around the first transfer pulley, and the other end of the follower cable is wound around the second transfer pulley; The trolley track includes an upper track and a lower track, the upper track is arranged on the boom, the lower track is connected to the upper track through a track connecting bracket, and the compensation trolley is arranged between the upper track and the lower track; movable rollers are provided at the top and bottom ends of the trolley frame of the compensation trolley, the movable roller at the top end of the trolley frame is in rolling connection with the first upper contact surface of the upper track, and the movable roller at the bottom end of the trolley frame is in rolling connection with the first lower contact surface of the lower track.

2. A heave compensation method according to claim 1, characterized in that: The follower pulley group includes a first follower pulley, a second follower pulley and a third follower pulley. The first follower pulley is arranged on one side of the other end of the trolley frame by rotating through the first follower pulley shaft, the second follower pulley is arranged on the other side of the other end of the trolley frame corresponding to the first follower pulley by rotating through the second follower pulley shaft, and the third follower pulley is arranged in the middle of the trolley frame by rotating through the third follower pulley shaft; the other end of the follower cable sequentially passes around the first follower pulley, the third follower pulley and the second follower pulley and extends to the end of the boom and is connected to the compensation hook.

3. A heave compensation method according to claim 1, characterized in that: The lifting pulley assembly includes a lifting pulley, which is arranged at one end of the trolley frame and rotated by a lifting pulley shaft; the other end of the lifting cable passes around the lifting pulley and extends to the end of the boom and is connected to the lifting hook.

4. A heave compensation method according to claim 1, characterized in that: A lifting auxiliary pulley is provided at the end of the boom, which is rotated by the first auxiliary pulley shaft. The other end of the lifting cable is connected to the lifting hook after passing through the transfer pulley group, the lifting pulley group and the lifting auxiliary pulley in sequence.

5. A heave compensation method according to claim 1, characterized in that: A follower auxiliary pulley is also provided at the end of the boom, which is rotatable through a second auxiliary pulley shaft. The other end of the follower cable passes through the transfer pulley group, the follower pulley group and the follower auxiliary pulley in sequence and is connected to the compensation hook.

6. A heave compensation method according to claim 1, characterized in that: Auxiliary rollers are also provided at the top and bottom ends of the trolley frame. The auxiliary roller at the top end of the trolley frame is rollingly connected to the second upper contact surface of the upper track, and the auxiliary roller at the bottom end of the trolley frame is rollingly connected to the second lower contact surface of the lower track.

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