Marine hydraulic mechanical arm with wave compensation

Abstract

The application relates to a marine hydraulic mechanical arm with wave compensation, which comprises parallel wave compensation devices and a Klien hoisting device, the inner layer cylinder of the parallel wave compensation devices is slidably arranged on the inner side of the outer layer cylinder, the lower end of a heave linear UP branch is connected with a base U, the upper end of the heave linear UP branch is fixedly connected with the inner layer cylinder, four groups of anti-rolling UPS linear branches are uniformly arranged on the outer side of the short side of the outer layer cylinder, the lower end of each group of anti-rolling UPS linear branches is connected with the base U, and the upper end of each group of anti-rolling UPS linear branches is connected with the outer side S of the outer layer cylinder, and the Klien hoisting device is arranged on the parallel wave compensation device. The application can realize the wave compensation functions of roll, pitch and heave of the whole mechanical arm, has the functions of personnel transfer and cargo transfer, has the advantages of large working space, good stability, high safety, can meet the large-span operation demand of a mother ship and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering equipment, and in particular relates to a marine hydraulic mechanical arm with wave compensation. Background Art

[0002] Marine operations such as the transfer of personnel and materials between ships and fixed offshore platforms or between ships will be disturbed by the ship's roll, pitch and heave movements caused by sea breezes, waves and ocean currents, which will cause relative movement between the operating equipment and the operating platform, which will not only increase the difficulty of the operation but also easily cause collision accidents.

[0003] Existing personnel and cargo transfer equipment between offshore platforms mostly utilizes a Stewart parallel platform and a tandem manipulator. Some employ compensation for lateral and longitudinal rotation and vertical heave, while others employ a lifting tower structure. However, existing solutions require bulky equipment, occupying significant space on the vessel. The increased initial height of the equipment complicates the transfer of personnel and cargo between the vessel and the transfer platform, posing safety risks. Furthermore, existing transfer equipment has limited reach, limited working space, and small turning angles and spans. This often fails to meet operational requirements, particularly in deepwater operations, such as those involving the boarding of offshore wind turbine operators and maintenance personnel, where the mother ship is unable to access large spans. Furthermore, most existing transfer equipment is limited to personnel transfer or light cargo transfer, and is incapable of transporting heavier equipment, such as generators and reducers in wind turbines requiring repair or replacement. Furthermore, existing marine manipulators often utilize a tandem structure, capable only of pitching each arm segment and rotating the entire arm, but not of swinging the arm itself. Few incorporate six-degree-of-freedom wave compensation, which can mitigate the effects of waves on the arm. Series mechanisms have the advantages of simple structure, low cost, simple control, and large motion range, and have been successfully applied in many fields, such as excavator arms and various machine tools. Compared with series mechanisms, research on parallel mechanisms started later. Parallel mechanisms have the advantages of high precision, high rigidity, and strong load-bearing capacity, and have obvious advantages in applications with large load capacities.

[0004] In summary, it is meaningful to develop a multifunctional marine hydraulic manipulator with active wave compensation function, small ship space occupation, light weight, large working space, good stability, and adaptability to various environments. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a ship-mounted hydraulic manipulator with wave compensation, which can compensate for the influence of working conditions such as waves during personnel boarding and cargo lifting between offshore platforms. It has a small size, light weight, large working space and good stability.

[0006] The technical solution adopted by the present invention is a marine hydraulic mechanical arm with wave compensation, which includes a parallel wave compensation device and a Kling crane device. The parallel wave compensation device includes a base, four groups of anti-roll UPS linear branches, a heave linear UP branch, an inner layer cylinder and an outer layer cylinder. The inner layer cylinder is slidably arranged on the inner side of the outer layer cylinder, and the heave linear UP branch is arranged on the inner side of the outer layer cylinder. The heave linear UP branch includes an intermediate Hooke's hinge and an intermediate push rod. The lower end of the intermediate push rod is connected to the base U pair through the intermediate Hooke's hinge, and the upper end of the intermediate push rod is fixedly connected to the inner layer cylinder. The four groups of anti-roll UPS linear branches are Arranged on the outside of the short side of the outer layer cylinder, and each group of anti-sway UPS straight branches includes a first Hooke's hinge, a first push rod and a first ball joint, the first end of the first push rod is connected to the base U pair through the first Hooke's hinge, and the second end of the first push rod is connected to the outer side S pair of the outer layer cylinder through the first ball joint; the Kling crane device is arranged on the inner layer cylinder of the parallel wave compensation device, and the Kling crane device includes a rotating platform, a lifting mechanical arm and a transfer platform, the rotating platform is arranged on the inner layer cylinder, the mechanical arm includes a pitching mechanical arm, a pitching drive branch, a telescopic mechanical arm, a first variable amplitude mechanical arm, a first drive branch, a winding A hoist and a flexible cable, the first end of the pitching mechanical arm is connected to the first rotating pair of the first end of the turntable platform in the rotating platform, and the lower side of the pitching mechanical arm is provided with the pitching driving branch, the first end of the pitching driving branch is connected to the second rotating pair of the lower side of the pitching mechanical arm, and the second end of the pitching driving branch is connected to the third rotating pair of the second end of the turntable platform, the second end of the pitching mechanical arm is provided with the telescopic mechanical arm, and one side of the telescopic mechanical arm is provided with a telescopic arm driving branch for driving the telescopic mechanical arm to extend and retract, the second end of the telescopic mechanical arm is connected to the fourth rotating pair of the first end of the first luffing mechanical arm, The second end of the telescopic robotic arm is provided with a first pulley group, the second end of the first variable-length robotic arm is provided with a second pulley group, the lower side of the first variable-length robotic arm is provided with the first driving branch, and the first end of the first driving branch is connected to the fifth rotating pair on the lower side of the first variable-length robotic arm, the second end of the first driving branch is connected to the sixth rotating pair at the second end of the telescopic robotic arm, the winch is provided on the pitch robotic arm, and the first end of the flexible cable is wound around the winch, the second end of the flexible cable passes through the first pulley group and the second pulley group and is connected to the hook, and the transfer platform is provided on the first variable-length robotic arm.

[0007] Preferably, the inner layer tube and the outer layer tube are both octagonal in structure, and the four short sides and four long sides of the inner layer tube and the outer layer tube are arranged alternately, each short side of the outer layer tube is provided with a guide rail, and each short side of the inner layer tube is correspondingly provided with a slider, and the inner layer tube is slidably arranged on the guide rail in the outer layer tube through the slider.

[0008] Furthermore, the first push rods in the two symmetrically arranged groups of anti-roll UPS linear branches are connected to each other. By driving the two symmetrically arranged groups of first push rods to move together, the freedom of the inner layer cylinder in the roll and pitch directions can be compensated.

[0009] Preferably, the rotating platform includes a turntable bearing, a turntable platform and a rotary hydraulic motor, the lower end of the turntable bearing is connected to the upper end of the inner cylinder, the upper end of the turntable bearing is connected to the turntable platform, and the turntable platform is provided with a rotary hydraulic motor for driving the turntable platform to rotate.

[0010] Preferably, the telescopic robotic arm is a multi-stage telescopic robotic arm, and the first end of the telescopic robotic arm is slidingly connected to the second end of the pitch robotic arm, the second end of the telescopic robotic arm is connected to the fourth rotating pair of the first end of the first variable amplitude robotic arm, and a telescopic arm driving branch is provided on one side of the telescopic robotic arm, and the first end of the telescopic arm driving branch is connected to the second end of the pitch robotic arm, and the second end of the telescopic arm driving branch is connected to the second end of the telescopic robotic arm.

[0011] Preferably, the first rotation secondary axis is parallel to the second rotation secondary axis, the second rotation secondary axis is parallel to the third rotation secondary axis, the third rotation secondary axis is parallel to the fourth rotation secondary axis, the fourth rotation secondary axis is parallel to the fifth rotation secondary axis, and the fifth rotation secondary axis is parallel to the sixth rotation secondary axis.

[0012] Furthermore, the transfer platform includes a second luffing robot arm, a second driving branch, a horizontal robot arm, a horizontal linear driving branch and a workbench, the first end of the second luffing robot arm is connected to the seventh rotating pair of the second end of the first luffing robot arm, and the second driving branch is arranged on one side of the second luffing robot arm, the first end of the second driving branch is connected to the eighth rotating pair of the first end of the second luffing robot arm, and the second end of the second driving branch is connected to the ninth rotating pair of the first luffing robot arm, the first end of the horizontal robot arm is connected to the tenth rotating pair of the second end of the second luffing robot arm, and the horizontal linear driving branch is arranged on one side of the horizontal robot arm, the first end of the horizontal linear driving branch is connected to the eleventh rotating pair of the second end of the horizontal robot arm, and the second end of the horizontal linear driving branch is connected to the twelfth rotating pair of the second end of the second luffing robot arm, and the second end of the horizontal robot arm is connected to the workbench.

[0013] Preferably, the seventh rotation secondary axis is parallel to the eighth rotation secondary axis, and the eighth rotation secondary axis is parallel to the ninth rotation secondary axis, the ninth rotation secondary axis is parallel to the tenth rotation secondary axis, and the tenth rotation secondary axis is parallel to the eleventh rotation secondary axis, and the eleventh rotation secondary axis is parallel to the twelfth rotation secondary axis.

[0014] The characteristics and beneficial effects of the present invention are:

[0015] 1. The marine hydraulic manipulator with heave compensation provided by the present invention is provided with a parallel heave compensation device. The parallel heave compensation device includes four sets of anti-roll UPS linear branches and heave linear UP branches. By driving the push rods in each branch to move, the entire device realizes the roll, pitch and heave wave compensation functions, and can also achieve a wide range of heave compensation.

[0016] 2. The marine hydraulic manipulator with wave compensation provided by the present invention has two symmetrically arranged sets of anti-sway UPS linear branches in which the first push rods can be connected to each other. The symmetrical push rod connection drive mode is adopted, which solves the redundant drive existing in the traditional mechanical structure, overcomes the heavy unbalanced load problem existing in the system operation process, makes the force on the cylinder symmetrical, and simplifies the hydraulic system.

[0017] 3. The marine hydraulic manipulator with wave compensation provided by the present invention is equipped with a Kling hoist device on the parallel wave compensation device. By connecting the hook located below the end of the first variable-length manipulator arm with a flexible cable and a pulley block distributed on each mechanism, the hoist can be used to lift and lower the transferred cargo, thereby realizing the lifting and transfer of cargo over a large span.

[0018] 4. The present invention provides a marine hydraulic manipulator with wave compensation, and the transfer platform is arranged on the first variable-length manipulator arm. The horizontal adjustment movement of the horizontal manipulator arm can be achieved through the second drive branch and the horizontal linear drive branch, and then personnel docking can be achieved through the workbench.

[0019] 5. The ship-borne hydraulic manipulator with wave compensation provided by the present invention has multiple functions such as personnel transfer and cargo transshipment, can adapt to various complex operational requirements, and has the advantages of being light, large span, large working space, good stability, and high safety. It can meet the needs of large-span operations that the mother ship cannot approach. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the marine hydraulic mechanical arm with wave compensation according to the present invention;

[0021] Figure 2 This is a top view of the overall structure of the marine hydraulic mechanical arm with wave compensation according to the present invention;

[0022] Figure 3 It is a schematic diagram of the overall structure of the parallel heave compensation device of the present invention;

[0023] Figure 4 is a partial cross-sectional view of the parallel heave compensation device of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the rotating platform and the lifting mechanical arm in the Kling crane device of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the transfer platform in the Kling crane device of the present invention;

[0026] Figure 7 It is a schematic diagram of the expansion of the present invention in working state.

[0027] Main reference numerals:

[0028] Parallel heave compensator 1; base 11; anti-roll UPS linear branch 12; first Hooke's hinge 121; first push rod 122; first ball joint 123; heave linear UP branch 13; intermediate Hooke's hinge 131; intermediate push rod 132; inner cylinder 14; outer cylinder 15; Kling crane 2; rotating platform 21; turntable bearing 211; turntable platform 212; rotary hydraulic motor 213; lifting manipulator arm 22; pitching manipulator arm 221; pitching drive branch 222; telescopic manipulator arm 223; first luffing manipulator arm 224; first drive branch 225; winch 226; first pulley block 227; second pulley block 228; flexible cable 229; hook 230; transfer platform 23; second luffing manipulator arm 231; second drive branch 232; horizontal manipulator arm 233; horizontal linear drive branch 234; workbench 235. DETAILED DESCRIPTION

[0029] To fully describe the technical content, structural features, objectives and effects of the present invention, the following is a detailed description with reference to the accompanying drawings.

[0030] The present invention provides a marine hydraulic mechanical arm with wave compensation, such as Figure 1 and Figure 2 As shown, the parallel heave compensator 1 and the Kling crane 2 are included. The parallel heave compensator 1 includes four sets of anti-roll UPS linear branches 12 and heave linear UP branches 13, which can achieve the roll, pitch and heave wave compensation functions of the entire device. The Kling crane 2 is installed on the parallel heave compensator 1 and can realize the lifting and transshipment of cargo and personnel.

[0031] like Figure 3 and Figure 4As shown, the parallel wave compensation device 1 comprises a base 11, four groups of anti-roll UPS linear branches 12, a heave linear UP branch 13, an inner layer cylinder 14 and an outer layer cylinder 15. The inner layer cylinder 14 and the outer layer cylinder 15 are both octagonal structures, and the four short sides and the four long sides of the inner layer cylinder 14 and the outer layer cylinder 15 are arranged alternately. The outer layer cylinder 15 is provided with guide rails on each short side, and the inner layer cylinder 14 is provided with sliding blocks on each short side correspondingly. The inner layer cylinder 14 is slidingly arranged on the inner side of the outer layer cylinder 15, and the heave linear UP branch 13 is arranged on the inner side of the outer layer cylinder 15. The heave linear UP branch 13 comprises a middle hook hinge 131 and a middle push rod 132. The lower end of the middle push rod 132 is connected with the base 11 through the middle hook hinge 131, and the upper end of the middle push rod 132 is fixedly connected with the inner layer cylinder 14. Through the heave linear UP branch 13, the inner layer cylinder 14 can move in a large range along the Z-axis direction and can bear a large load. The four groups of anti-roll UPS linear branches 12 are uniformly arranged on the outer side of the short side of the outer layer cylinder 15. Each group of anti-roll UPS linear branches 12 comprises a first hook hinge 121, a first push rod 122 and a first ball hinge 123. The first end of the first push rod 122 is connected with the base 11 through the first hook hinge 121, and the second end of the first push rod 122 is connected with the outer side S of the outer layer cylinder 15 through the first ball hinge 123. The first push rods 122 in the two groups of anti-roll UPS linear branches 12 arranged symmetrically are communicated with each other. By driving the two groups of first push rods 122 arranged symmetrically to move together, the freedom degrees of the inner layer cylinder 14 in the roll and pitch directions and the random direction shaking can be compensated, and the roll, pitch and heave wave compensation functions of the whole device can be realized. The parallel wave compensation device 1 can realize a large range of heave compensation, has a small floor area, solves the redundant driving problem existing in the traditional mechanical structure by connecting the cylinders for driving, overcomes the heavy partial load problem existing in the system working process, makes the force of the cylinders symmetric, simplifies the hydraulic system, and the like.

[0032] As Figures 5 to 7As shown, the Kling crane device 2 is arranged on the inner cylinder 14 of the parallel wave compensation device 1, and the Kling crane device 2 includes a rotating platform 21, a lifting mechanical arm 22 and a transfer platform 23. The rotating platform 21 is arranged on the inner cylinder 14, and the mechanical arm 22 includes a pitching mechanical arm 221, a pitching drive branch 222, a telescopic mechanical arm 223, a first luffing mechanical arm 224, a first drive branch 225, a winch 226 and a flexible cable 229. The first end of the pitching mechanical arm 221 is connected to the first end of the turntable platform 212 in the rotating platform 21 by a first rotating pair, and the lower end of the pitching mechanical arm 221 is connected to the first end of the turntable platform 212 in the rotating platform 21 by a first rotating pair. A pitch driving branch 222 is provided on the side, the first end of the pitch driving branch 222 is connected to the second rotation pair at the lower side of the pitch mechanical arm 221, and the second end of the pitch driving branch 222 is connected to the third rotation pair at the second end of the turntable platform 212, the second end of the pitch mechanical arm 221 is provided with a telescopic mechanical arm 223, and one side of the telescopic mechanical arm 223 is provided with a telescopic arm driving branch for driving the telescopic mechanical arm 223 to extend and retract, the second end of the telescopic mechanical arm 223 is connected to the fourth rotation pair at the first end of the first luffing mechanical arm 224, and the second end of the telescopic mechanical arm 223 is provided with a first sliding The first end of the first luffing mechanical arm 224 is provided with a second pulley group 228. The first luffing mechanical arm 224 is provided with a first driving branch 225 on the lower side. The first end of the first driving branch 225 is connected to the fifth rotation pair on the lower side of the first luffing mechanical arm 224. The second end of the first driving branch 225 is connected to the sixth rotation pair on the second end of the telescopic mechanical arm 223. The winch 226 is provided on the pitching mechanical arm 221. The first end of the flexible cable 229 is wound around the winch 226. The second end of the flexible cable 229 passes through the first pulley group 227 and the second pulley group 227. 8 is connected to the hook 230, and the transfer platform 23 is arranged on the first variable-length mechanical arm 224, and the transfer cargo is lifted and lowered by the winch 226. The Kling crane device 2 realizes the lifting and transfer function of cargo under a large span. The large span of this application refers to the need for a certain safety distance between the mother ship and the structure and the inability to approach. Construction operations need to be carried out at a larger spatial distance. For example: during the operation and maintenance of floating offshore wind turbines, the mother ship and the operating platform have a safe distance of more than 10m, and there is a certain height difference between the mother ship deck and the platform. Personnel and materials need to be transferred over a larger span.

[0033] The first rotational secondary axis is parallel to the second rotational secondary axis, the second rotational secondary axis is parallel to the third rotational secondary axis, the third rotational secondary axis is parallel to the fourth rotational secondary axis, the fourth rotational secondary axis is parallel to the fifth rotational secondary axis, and the fifth rotational secondary axis is parallel to the sixth rotational secondary axis.

[0034] like Figure 5As shown, the rotating platform 21 includes a turntable bearing 211, a turntable platform 212 and a rotary hydraulic motor 213. The lower end of the turntable bearing 211 is connected to the upper end of the inner tube 105, and the upper end of the turntable bearing 211 is connected to the turntable platform 212. The turntable platform 212 is provided with a rotary hydraulic motor 213 for driving the turntable platform 212 to rotate. The entire rotating platform 21 can realize 360° rotation of the Kling crane device 2 around the central axis through the rotary hydraulic motor 213.

[0035] like Figure 5 As shown, the telescopic robotic arm 223 is a multi-stage telescopic robotic arm, and the first end of the telescopic robotic arm 223 is slidingly connected to the second end of the pitch robotic arm 221, and the second end of the telescopic robotic arm 223 is connected to the fourth rotating pair of the first end of the first variable amplitude robotic arm 224. A telescopic arm driving branch is provided on one side of the telescopic robotic arm 223, and the first end of the telescopic arm driving branch is connected to the second end of the pitch robotic arm 221, and the second end of the telescopic arm driving branch is connected to the second end of the telescopic robotic arm 223. The telescopic movement of the telescopic robotic arm 223 is realized through the telescopic arm driving branch.

[0036] like Figure 6 As shown, the transfer platform 23 includes a second luffing mechanical arm 231, a second driving branch 232, a horizontal mechanical arm 233, a horizontal linear driving branch 234 and a workbench 235. The first end of the second luffing mechanical arm 231 is connected to the seventh rotation pair of the second end of the first luffing mechanical arm 224, and the second driving branch 232 is provided on one side of the second luffing mechanical arm 231. The first end of the second driving branch 232 is connected to the eighth rotation pair of the first end of the second luffing mechanical arm 231, and the second end of the second driving branch 232 is connected to the ninth rotation pair of the first luffing mechanical arm 224. The second driving branch 232 is used to realize The second variable-length robotic arm 231 has a variable-length movement, the first end of the horizontal robotic arm 233 is connected to the tenth rotating pair of the second end of the second variable-length robotic arm 231, and the horizontal linear drive branch 234 is arranged on one side of the horizontal robotic arm 233, the first end of the horizontal linear drive branch 234 is connected to the eleventh rotating pair of the second end of the horizontal robotic arm 233, and the second end of the horizontal linear drive branch 234 is connected to the twelfth rotating pair of the second end of the second variable-length robotic arm 231, the second end of the horizontal robotic arm 233 is connected to the workbench 235, and the horizontal adjustment movement of the horizontal robotic arm 233 is realized through the horizontal linear drive branch 234.

[0037] The seventh rotation secondary axis is parallel to the eighth rotation secondary axis, the eighth rotation secondary axis is parallel to the ninth rotation secondary axis, the ninth rotation secondary axis is parallel to the tenth rotation secondary axis, the tenth rotation secondary axis is parallel to the eleventh rotation secondary axis, and the eleventh rotation secondary axis is parallel to the twelfth rotation secondary axis.

[0038] The specific operation steps of the present invention are as follows:

[0039] As Figures 1 to 7 shown, a ship hydraulic mechanical arm with wave compensation of the application, as Figure 7 shown, is the fully deployed working state of the whole mechanical arm. The parallel wave compensation device 1 is driven by four groups of anti-rolling UPS linear branches 12 and heave linear UP branches 13, and by changing the input size of the push rod in each branch, the roll, pitch and heave wave compensation functions of the whole device are realized.

[0040] The Kran device 2 is installed on the parallel wave compensation device 1, and by rotating the platform 21, the rotation of the Kran device 2 around the central axis of 360° can be realized through the rotary hydraulic motor 213, the pitch movement of the pitch mechanical arm 221 can be realized through the pitch driving branch 222, the telescopic movement of the telescopic mechanical arm 223 can be realized through the telescopic arm driving branch, the amplitude movement of the first amplitude mechanical arm 224 can be realized through the first driving branch 225, and the hook 230 located below the end of the first amplitude mechanical arm 224 is connected with the first pulley group 227 and the second pulley group 228 distributed on each mechanism through the flexible cable 229, and the lifting and lowering of the hoist 226 realizes the lifting and lowering of the hoist 226, and the Kran device 2 realizes the hoisting and transfer function of the large-span cargo. The transfer platform 23 is provided on the first amplitude mechanical arm 224, the amplitude movement of the second amplitude mechanical arm 231 is realized through the second driving branch 232, and the horizontal adjustment movement of the horizontal mechanical arm 233 is realized through the horizontal linear driving branch 234, and the transfer platform 23 realizes the function of personnel transfer. The Kran device 2 realizes multiple functions of personnel transfer and cargo transfer, and can adapt to various complex operation requirements.

[0041] The parallel wave compensation device of the application contains four groups of anti-rolling UPS linear branches and heave linear UP branches, and by driving the push rod movement in each branch, the roll, pitch and heave wave compensation functions of the whole device are realized, and at the same time, a large range of heave compensation can be realized, and at the same time, the symmetrical push rod communication driving mode is adopted, which solves the redundant driving existing on the traditional mechanical structure, overcomes the heavy unbalanced load problem existing in the system working process, makes the cylinder force symmetrical, and simplifies the hydraulic system. In addition, the Kran device is arranged on the parallel wave compensation device, the Kran device has multiple functions of personnel transfer and cargo transfer, and can adapt to various complex operation requirements, has the advantages of large working space, good stability, high safety, can meet the large-span operation requirements of the mother ship, etc.

[0042] The above embodiments only describe the preferred embodiments of the application, and do not limit the scope of the application, and various modifications and improvements of the technical solutions of the application made by those skilled in the art without departing from the design spirit of the application shall fall within the protection scope determined by the claims of the application.

Claims

1. A marine hydraulic manipulator with wave compensation, characterized in that: It includes a parallel wave compensation device and a Kling crane device. The parallel wave compensation device includes a base, four groups of anti-roll UPS straight branches, a heave straight UP branch, an inner layer tube and an outer layer tube, the inner layer tube is slidably arranged on the inner side of the outer layer tube, and the heave straight UP branch is arranged on the inner side of the outer layer tube, the heave straight UP branch includes an intermediate Hooke's hinge and an intermediate push rod, the lower end of the intermediate push rod is connected to the base U pair through the intermediate Hooke's hinge, and the upper end of the intermediate push rod is fixedly connected to the inner layer tube, the four groups of anti-roll UPS straight branches are arranged on the outer side of the short side of the outer layer tube, and each group of anti-roll UPS straight branches includes a first Hooke's hinge, a first push rod and a first ball joint, the first end of the first push rod is connected to the base U pair through the first Hooke's hinge, and the second end of the first push rod is connected to the outer side S pair of the outer layer tube through the first ball joint; The Kling crane device is arranged on the inner layer cylinder of the parallel wave compensation device, and the Kling crane device includes a rotating platform, a lifting mechanical arm and a transfer platform. The rotating platform is arranged on the inner layer cylinder, and the mechanical arm includes a pitching mechanical arm, a pitching driving branch, a telescopic mechanical arm, a first variable amplitude mechanical arm, a first driving branch, a winch and a flexible rope. The first end of the pitching mechanical arm is connected to the first rotating pair of the first end of the turntable platform in the rotating platform, and the lower side of the pitching mechanical arm is provided with the pitching driving branch, the first end of the pitching driving branch is connected to the second rotating pair of the lower side of the pitching mechanical arm, and the second end of the pitching driving branch is connected to the third rotating pair of the second end of the turntable platform, the second end of the pitching mechanical arm is provided with the telescopic mechanical arm, and one side of the telescopic mechanical arm is provided with a The telescopic arm driving branch for driving the telescopic mechanical arm to extend and retract, the second end of the telescopic mechanical arm is connected to the fourth rotating pair of the first end of the first luffing mechanical arm, and the second end of the telescopic mechanical arm is provided with a first pulley group, the second end of the first luffing mechanical arm is provided with a second pulley group, the lower side of the first luffing mechanical arm is provided with the first driving branch, and the first end of the first driving branch is connected to the fifth rotating pair of the lower side of the first luffing mechanical arm, the second end of the first driving branch is connected to the sixth rotating pair of the second end of the telescopic mechanical arm, the winch is provided on the pitching mechanical arm, and the first end of the flexible cable is wound on the winch, the second end of the flexible cable passes through the first pulley group and the second pulley group and is connected to the hook, and the transfer platform is provided on the first luffing mechanical arm; The transfer platform includes a second variable-length robotic arm, a second driving branch, a horizontal robotic arm, a horizontal linear driving branch and a workbench, the first end of the second variable-length robotic arm is connected to the seventh rotating pair of the second end of the first variable-length robotic arm, and the second driving branch is arranged on one side of the second variable-length robotic arm, the first end of the second driving branch is connected to the eighth rotating pair of the first end of the second variable-length robotic arm, and the second end of the second driving branch is connected to the ninth rotating pair of the first variable-length robotic arm, the first end of the horizontal robotic arm is connected to the tenth rotating pair of the second end of the second variable-length robotic arm, and the horizontal linear driving branch is arranged on one side of the horizontal robotic arm, the first end of the horizontal linear driving branch is connected to the eleventh rotating pair of the second end of the horizontal robotic arm, and the second end of the horizontal linear driving branch is connected to the twelfth rotating pair of the second end of the second variable-length robotic arm, and the second end of the horizontal robotic arm is connected to the workbench.

2. The marine hydraulic mechanical arm with wave compensation according to claim 1, characterized in that: The inner layer tube and the outer layer tube are both octagonal in structure, and the four short sides and four long sides of the inner layer tube and the outer layer tube are arranged alternately. A guide rail is provided on each short side of the outer layer tube, and a slider is correspondingly provided on each short side of the inner layer tube, and the inner layer tube is slidably arranged on the guide rail in the outer layer tube through the slider.

3. The marine hydraulic mechanical arm with wave compensation according to claim 2, characterized in that: The first push rods in the two symmetrically arranged groups of anti-roll UPS linear branches are connected to each other. By driving the two symmetrically arranged groups of first push rods to move together, the freedom of the inner layer cylinder in the roll and pitch directions can be compensated.

4. The marine hydraulic mechanical arm with wave compensation according to claim 1, characterized in that: The rotating platform includes a turntable bearing, a turntable platform and a rotary hydraulic motor. The lower end of the turntable bearing is connected to the upper end of the inner cylinder, the upper end of the turntable bearing is connected to the turntable platform, and the turntable platform is provided with a rotary hydraulic motor for driving the turntable platform to rotate.

5. The marine hydraulic mechanical arm with wave compensation according to claim 2, characterized in that: The telescopic robotic arm is a multi-stage telescopic robotic arm, and the first end of the telescopic robotic arm is slidingly connected to the second end of the pitch robotic arm, the second end of the telescopic robotic arm is connected to the fourth rotating pair of the first end of the first variable amplitude robotic arm, and a telescopic arm driving branch is provided on one side of the telescopic robotic arm, and the first end of the telescopic arm driving branch is connected to the second end of the pitch robotic arm, and the second end of the telescopic arm driving branch is connected to the second end of the telescopic robotic arm.

6. The marine hydraulic mechanical arm with wave compensation according to claim 1, characterized in that: The first rotation secondary axis is parallel to the second rotation secondary axis, the second rotation secondary axis is parallel to the third rotation secondary axis, the third rotation secondary axis is parallel to the fourth rotation secondary axis, the fourth rotation secondary axis is parallel to the fifth rotation secondary axis, and the fifth rotation secondary axis is parallel to the sixth rotation secondary axis.

7. The marine hydraulic mechanical arm with wave compensation according to claim 6, characterized in that: The seventh rotation secondary axis is parallel to the eighth rotation secondary axis, and the eighth rotation secondary axis is parallel to the ninth rotation secondary axis, the ninth rotation secondary axis is parallel to the tenth rotation secondary axis, and the tenth rotation secondary axis is parallel to the eleventh rotation secondary axis, and the eleventh rotation secondary axis is parallel to the twelfth rotation secondary axis.

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