Light large-span wave compensation type seaborne lightering device

Abstract

The light large-span wave compensation type seaborne lightering device comprises a mechanical body, a hydraulic system and an electric control system, and the mechanical body comprises a container type base, an anti-swing base assembly, a rotary tower body assembly, an arm frame assembly, a working basket assembly, a winding and unwinding winch assembly and a variable-amplitude oil cylinder; the container type base is connected with a ship body base, and the anti-swing base assembly is connected with the container type base through a fastener and a thrust block. The slewing tower body assembly is connected with the anti-swing base assembly through a slewing support; the arm support assembly is connected with the slewing tower body assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the working basket assembly is connected with the arm support assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the winding and unwinding winch assembly is installed at the lower end of the boom assembly. The hydraulic system is connected with the anti-swing base assembly, the arm frame assembly, the rotary tower body assembly, the working basket assembly, the winding and unwinding winch assembly and the variable-amplitude oil cylinder. The electric control system is connected with the hydraulic system. According to the invention, the maritime lightering device has relatively strong environment self-adaptive capability and relatively high reliability.

Description

Technical Field

[0001] The present invention relates to a device for transferring personnel and materials at sea, and in particular to a light-weight, large-span, wave-compensated marine transfer device. Background Art

[0002] Offshore transfer systems (OTS) can be installed on most offshore vessels, with low load requirements. They are primarily used for the transfer of personnel and supplies between ships and fixed platforms such as wind turbines, oil and gas platforms, between ships, and between ships and floating platforms. They also provide for personnel rescue in low sea conditions and offshore firefighting. Due to the harsh marine environment, offshore transfer systems are susceptible to the effects of wind and waves during operation. To ensure the safety and comfort of personnel and supplies during offshore transfers, offshore transfer systems require wave compensation. Currently, wave compensation technologies for offshore transfer systems can be broadly categorized into two types: passive and active. Passive wave compensation technology is relatively mature, but its compensation accuracy cannot meet the requirements of offshore transfer systems. Active wave compensation technology can meet the speed and compensation accuracy requirements of offshore transfer systems. However, active wave compensation technology is more challenging, and the research on the motion principles and prototype development of active wave compensation offshore transfer systems is still in the process of developing the prototype.

[0003] Therefore, there is a need to develop a lightweight, long-span, wave-compensated offshore transfer device that can be installed on a variety of ocean-going vessels. This device, in active wave-compensation mode, can perform tasks such as personnel transfer, simple material transfer, and personnel rescue. This lightweight, long-span, wave-compensated offshore transfer device is adaptable to various operating modes, sea conditions, and vessel types, offering promising application prospects. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a lightweight, large-span, wave-compensated offshore transshipment device.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is: a lightweight, large-span wave-compensated offshore transfer device, comprising a mechanical body, a hydraulic system, and an electronic control system. The mechanical body comprises a container-type base, an anti-sway base assembly, a rotating tower assembly, a boom assembly, a working basket assembly, a retractable winch assembly, and a luffing cylinder; the container-type base is fixedly connected to the hull base, and the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the revolving tower assembly and the anti-sway base assembly are connected through a slewing support; the boom assembly and the revolving tower assembly are connected through a luffing cylinder and a pin assembly; the working basket assembly and the boom assembly are connected through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and connected through fasteners; the hydraulic system connects the anti-sway base assembly, the rotating tower assembly, the boom assembly, the working basket assembly, the retractable winch assembly and the luffing cylinder; and the electronic control system is connected to the hydraulic system.

[0006] Furthermore, the container-type base is an integrated fixed base that integrates the mechanical body, hydraulic system, and electronic control system together for easy transportation and maintenance.

[0007] Furthermore, the anti-sway base assembly includes a base frame, a first-level anti-sway platform component, a second-level anti-sway platform component, an anti-sway cylinder group 1, an anti-sway cylinder group 2, and a pin assembly; the base frame and the first-level anti-sway platform component are connected by a pin assembly; the first-level anti-sway platform component and the second-level anti-sway platform component are connected by a pin assembly; the anti-sway cylinder group 1 and the anti-sway cylinder group 2 are diagonally arranged and symmetrical to each other; the swinging between the base frame and the first-level anti-sway platform component is driven by the anti-sway cylinder group 1; the swinging between the first-level anti-sway platform component and the second-level anti-sway platform component is driven by the anti-sway cylinder group 2.

[0008] Furthermore, the rotating tower assembly includes a tower body, a slewing bearing and a slewing drive component; the tower body is connected to the anti-sway platform component through the slewing bearing; the slewing drive component is installed on the tower body and engages with the slewing bearing to drive it to rotate.

[0009] Furthermore, the boom assembly includes a main arm component, a telescopic arm component, a strut assembly, a three-fold arm component, a four-fold arm component, a strut assembly, a pitch cylinder, a telescopic cylinder, a three-fold arm amplitude adjustment cylinder, a four-fold arm amplitude adjustment cylinder and a pin assembly; the main arm component and the tower body are hinged by a pin assembly; the amplitude adjustment of the main arm component is driven by the pitch cylinder; the telescopic arm component is embedded in the main arm component, supported in the main arm component by a slider assembly and its sliding stroke is limited; the three-fold arm component and the end of the telescopic arm component are hinged by a pin assembly; the amplitude adjustment of the three-fold arm component is driven by the three-fold arm amplitude adjustment cylinder under the joint action of the strut assembly; the four-fold arm component and the end of the three-fold arm component are hinged by a pin assembly; the amplitude adjustment of the four-fold arm component is driven by the four-fold arm amplitude adjustment cylinder under the joint action of the strut assembly.

[0010] Furthermore, the working basket assembly includes a working basket support component, a strut assembly, a working basket body, a pedal railing component, a horizontal cylinder, a working basket rotation cylinder, a pedal opening cylinder and a pin assembly; the working basket support component is hinged to the end of the four-fold arm component through the pin assembly; the amplitude change of the working basket support component is driven by the horizontal cylinder under the joint action of the strut assembly; the working basket body is hinged to the end of the working basket support component through the pin assembly; the rotation of the working basket body is driven by the working basket rotation cylinder; the pedal railing component is hinged to the outside of the working basket body through the pin assembly; the opening of the pedal railing component is driven by the pedal opening cylinder, and the railing and pedal are opened and closed synchronously.

[0011] Furthermore, the retractable winch assembly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope press, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component by fasteners; the guide pulley is fixed to the end of the four-fold arm component; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and the hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope press.

[0012] Furthermore, the hydraulic system includes a hydraulic power unit, an accumulator group, and a control valve group. A pressure oil circuit is connected between the hydraulic power unit and the accumulator group, and a safety shut-off valve is provided to ensure that the system pressure remains constant; the hydraulic power unit and the accumulator group are used in conjunction to maximize system energy saving through reasonable energy efficiency distribution; the control valve group uses a servo proportional valve group and a conventional proportional valve group in conjunction to adapt to different usage scenarios and product types.

[0013] Furthermore, the control valve group is composed of an anti-sway cylinder control valve group, a slewing motor control valve group, a pitching cylinder control valve group, a folding arm cylinder control valve group, a horizontal cylinder control valve group, a winch control valve group, a working basket slewing cylinder control valve group, and an opening cylinder control valve group; the slewing motor, pitching cylinder, telescopic cylinder, folding arm cylinder, and horizontal cylinder control valve group are all directly installed on the actuator body and have their own pressure sensors.

[0014] Furthermore, the electronic control system includes a starting cabinet, a control cabinet, a remote control, and sensors. The starting cabinet is used for power distribution, power transformation, and motor control, and the motor is started by a soft starter; the control cabinet adopts the PLC+motion controller mode, the PLC is used to solve the motion model, and the motion controller is used to perform servo control of the actuator. The PLC sends the motion instructions solved by the motion model to the motion controller, and the motion controller feeds back the position status signal to the PLC; the remote control is used for the operator to input operating instructions, and the human-computer interaction interface is responsible for system status display and alarm information prompts to facilitate the operator to query the equipment status and debug and repair; the sensors include attitude sensors, inclination sensors, displacement sensors, encoders, and angle sensors; the solution of the PLC motion model includes position solution and position closed-loop algorithm, and each sensor is used to collect ship attitude information and real-time information of each joint of the equipment. In the motion solution, the control strategy needs to be used to calculate the motion control instructions of each joint; the motion controller is used to collect the sensor information of each joint and send it to the wave compensation controller, and drive the transfer device to move according to the motion control instructions.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention combines multiple booms to compensate for the heave of the ship and an anti-roll base to compensate for the roll and pitch of the ship, so that the lightweight, large-span wave-compensated offshore transfer device can smoothly and safely perform personnel transfer tasks, lifting tasks, rescue tasks, etc. in harsh marine environments.

[0017] 2. When compensating for the heave of a ship, the present invention uses a combination of three boom pitching movements and one boom telescopic movement based on the heave information collected by the motion sensor, thereby accurately compensating for the heave of the ship.

[0018] 3. The present invention is based on two anti-roll platforms and two sets of anti-roll cylinders, and uses the ship's roll and pitch attitude information collected by motion sensors to achieve roll and pitch compensation of the ship.

[0019] 4. The present invention uses the working basket posture data collected by the inclination sensor to keep the working basket in a horizontal state in real time through the working basket pitch cylinder, thereby ensuring the safety of personnel and goods.

[0020] 5. When compensating for the ship's sway, pitch and bow motion, the present invention uses a combination of three sets of boom amplitude movement and tower body rotation movement based on the ship motion information collected by the motion sensor and the equipment's own motion parameters, which can accurately compensate for the ship's sway, pitch and bow motion in multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a general schematic diagram of the light-weight, large-span, wave-compensated offshore transshipment device of the present invention;

[0022] Figure 2 This is a front view of the lightweight, large-span, wave-compensated offshore transfer device of the present invention;

[0023] Figure 3 1. It is a top view of the light-weight, large-span, wave-compensated offshore transshipment device of the present invention;

[0024] Figure 4 This is a partial schematic diagram of the arm portion of the lightweight, large-span, wave-compensated offshore barge device of the present invention;

[0025] Figure 5 This is a control system block diagram of the lightweight, large-span, wave-compensated offshore barge device of the present invention;

[0026] In the figure: anti-sway cylinder group 1 I, anti-sway cylinder group 2 II, pitch cylinder III, three-fold arm luffing cylinder IV, four-fold arm luffing cylinder V, horizontal cylinder VI, working basket rotation cylinder VII, pedal opening cylinder VIII, base frame 1, anti-sway platform component 2, anti-sway platform component 3, tower body 4, container-type base 5, main arm component 6, telescopic arm component 7, strut connecting rod assembly 8, three-fold arm component 9, four-fold arm component 10, strut connecting rod assembly 11, working basket body 12, working basket support component 13, strut connecting rod assembly 14, pedal railing component 15, hydraulic power unit 16, accumulator group 17. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0028] like Figures 1 to 5 As shown, a light-weight, large-span, wave-compensated offshore transfer device proposed in an embodiment of the present invention includes: a mechanical body, a hydraulic system, an electronic control system hardware part, and an electronic control system software part.

[0029] The mechanical body is mainly composed of anti-sway base assembly, rotating tower assembly, boom assembly, working basket assembly, retractable winch assembly, etc.; the hydraulic system is mainly composed of hydraulic power unit, accumulator group, control valve group, etc.; the hardware part of the electronic control system is mainly composed of starting cabinet, control cabinet, remote control, sensor, etc.; the software part of the electronic control system is mainly composed of position solution and position closed-loop algorithm, etc.

[0030] The mechanical body mainly includes a container-type base 5, an anti-sway base assembly, a rotating tower assembly, a boom assembly, a working basket assembly, a retractable winch assembly, a luffing cylinder, etc.; the container-type base is an integrated fixed base, which integrates the mechanical body, hydraulic system, and electronic control system together, and can also be designed as a split fixed base, which is only used to install the mechanical body, and is connected to the hull base by fasteners or welding; the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the rotating tower assembly is connected to the anti-sway base assembly through a rotating support; the boom assembly is connected to the rotating tower assembly through a luffing cylinder and a pin assembly; the working basket assembly is connected to the boom assembly through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and connected by fasteners.

[0031] This enables the lightweight, large-span wave-compensating offshore transfer device to have active wave compensation capabilities when transferring personnel, lifting cargo, rescuing people who fall into the water, etc.

[0032] The anti-sway base assembly mainly includes a base frame 1, a first-level anti-sway platform component 2, a second-level anti-sway platform component 3, an anti-sway cylinder group I, an anti-sway cylinder group II, a pin assembly, etc.; the base frame 1 and the first-level anti-sway platform component 1 are connected by a pin assembly; the first-level anti-sway platform component 2 and the second-level anti-sway platform component 3 are connected by a pin assembly; the anti-sway cylinder group I and the anti-sway cylinder group II are diagonally arranged and symmetrical to each other; the swing between the base frame 1 and the first-level anti-sway platform component 2 is driven by the anti-sway cylinder group I; the swing between the first-level anti-sway platform component 2 and the second-level anti-sway platform component 3 is driven by the anti-sway cylinder group II.

[0033] The rotating tower assembly mainly includes a tower body 4, a slewing bearing and a slewing drive component; the tower body 4 is connected to the anti-sway platform component 3 through the slewing bearing; the slewing drive component is installed on the tower body 4 and engages with the slewing bearing to drive its rotation.

[0034] The boom assembly mainly includes a main boom component 6, a telescopic boom component 7, a strut assembly 8, a three-fold boom component 9, a four-fold boom component 10, a strut assembly 11, a pitch cylinder III, a telescopic cylinder, a three-fold boom amplitude adjustment cylinder IV, a four-fold boom amplitude adjustment cylinder V and a pin assembly; the main boom component 6 is hinged to the tower body 4 through a pin assembly; the amplitude adjustment of the main boom component 6 is achieved by driving the pitch cylinder III; the telescopic boom component 7 is embedded in the main boom component 6 and is supported on the main boom component 6 by a slider assembly and limit its sliding stroke; the extension and retraction of the telescopic arm component 7 is achieved by driving the telescopic cylinder; the three-fold arm component 9 is hinged to the end of the telescopic arm component 7 through a pin assembly; the amplitude change of the three-fold arm component 9 is driven by the three-fold arm amplitude change cylinder IV under the joint action of the strut assembly 8; the four-fold arm component 10 is hinged to the end of the three-fold arm component 9 through a pin assembly; the amplitude change of the four-fold arm component 10 is driven by the four-fold arm amplitude change cylinder V under the joint action of the strut assembly 11.

[0035] The working basket assembly mainly includes a working basket support component 13, a strut assembly 14, a working basket body 12, a pedal railing component 15, a horizontal cylinder VI, a working basket rotation cylinder VII, a pedal opening cylinder VIII and a pin assembly; the working basket support component 13 is hinged to the end of the four-fold arm component 10 through a pin assembly; the amplitude change of the working basket support component 13 is driven by the horizontal cylinder VI under the joint action of the strut assembly 14; the working basket body 12 is hinged to the end of the working basket support component 13 through a pin assembly; the rotation of the working basket body 12 is driven by the working basket rotation cylinder VII; the pedal railing component 15 is hinged to the outside of the working basket body 12 through a pin assembly; the opening of the pedal railing component 15 is driven by the pedal opening cylinder VIII, and the railing and pedal are opened and closed synchronously.

[0036] The retractable winch assembly mainly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope press, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component 10 by fasteners; the guide pulley is fixed to the end of the four-fold arm component 10; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and the hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope press.

[0037] The hydraulic system primarily includes a hydraulic power unit 16, an accumulator group 17, and a control valve group. A pressure oil circuit connects the hydraulic power unit 16 and the accumulator group 17, and a safety shutoff valve is installed to ensure constant system pressure. The hydraulic power unit 16 and the accumulator group 17 work together to maximize system energy savings through a rational allocation of energy efficiency. The control valve group utilizes both a servo-proportional valve group and a conventional proportional valve group to accommodate different applications and product types.

[0038] The control valve group primarily consists of the anti-roll cylinder control valve group, the slew motor control valve group, the pitch cylinder control valve group, the three- and four-arm folding cylinder control valve group, the horizontal cylinder control valve group, the winch control valve group, the basket slew cylinder control valve group, and the opening cylinder control valve group. The slew motor, pitch cylinder, telescopic cylinder, three- and four-arm cylinder, and horizontal cylinder control valve groups are all directly mounted on the actuator body and have their own pressure sensors.

[0039] The hardware components of the electronic control system primarily include a starter cabinet, control cabinet, remote control, and sensors. The starter cabinet is responsible for power distribution, power conversion, and motor control, and the motors are started using a soft starter. The control cabinet is the core of the control system and utilizes a PLC + motion controller model. The PLC solves the motion model, while the motion controller provides servo control of the actuators. The PLC sends the motion instructions calculated from the model to the motion controller, which then feeds position status signals back to the PLC. The remote control is responsible for operator input of operating instructions, while the human-machine interface displays system status and provides alarm information, facilitating operator query of equipment status and commissioning and maintenance.

[0040] The electronic control system software primarily includes position calculation and closed-loop position algorithms. Sensors are used to collect information about the ship's attitude and real-time information from each joint in the equipment. During motion calculation, control strategies are employed to calculate motion control commands for each joint. A motion controller collects sensor information from each joint and transmits it to the heave compensation controller, which then drives the transfer device according to the motion control commands.

[0041] The present invention adopts an anti-sway base to compensate for the ship's roll and pitch degrees of freedom, and adopts a multi-section arm and rotation combination to compensate for the ship's heave, sway, pitch and bow multiple degrees of freedom combination, so that the lightweight and large-span wave-compensated offshore transfer device can smoothly and safely perform personnel transfer tasks, lifting tasks, rescue tasks, etc. in harsh marine environments. When compensating for the heave motion of a ship, the present invention uses a combination of three boom-luffing motions and one boom-telescopic motion based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's heave degrees of freedom. When compensating for the ship's roll and pitch degrees of freedom, the present invention uses two anti-roll platforms and two anti-roll cylinders based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's roll and pitch degrees of freedom. When compensating for the ship's sway, pitch, and pitch degrees of freedom, the present invention uses a combination of three boom-luffing motions and a tower-body rotation motion based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's sway, pitch, and pitch degrees of freedom. The present invention uses the working basket attitude data collected by the inclination sensor to maintain the working basket in an absolutely horizontal state in real time through the working basket luffing cylinder, thereby ensuring the safety of personnel and cargo. Therefore, this light-weight, large-span wave-compensated offshore transfer device can undertake tasks such as personnel transfer, cargo lifting, rescue of people falling into the water, maritime pilotage, offshore firefighting operations and grouting operations.

[0042] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and that those skilled in the art may make various changes or modifications within the scope of the claims, without affecting the essence of the present invention. Unless there is a conflict, the embodiments of this application and the features in the embodiments may be combined with each other in any manner.

Claims

1. A light-weight, large-span wave-compensated offshore transshipment device, characterized in that: It includes a mechanical body, a hydraulic system, and an electronic control system. The mechanical body includes a container-type base, an anti-sway base assembly, a rotating tower body assembly, a boom assembly, a working basket assembly, a retractable winch assembly, and a luffing cylinder; the container-type base is fixedly connected to the hull base, and the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the revolving tower body assembly is connected to the anti-sway base assembly through a slewing support; the boom assembly is connected to the revolving tower body assembly through a luffing cylinder and a pin assembly; the working basket assembly is connected to the boom assembly through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and connected through fasteners; the hydraulic system is connected to the anti-sway base assembly, the rotating tower body assembly, the boom assembly, the working basket assembly, the retractable winch assembly and the luffing cylinder; the electronic control system is connected to the hydraulic system.

2. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized in that: The container-type base is an integrated fixed base that integrates the machine body, hydraulic system, and electronic control system together for easy transportation and maintenance.

3. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized by: The anti-sway base assembly includes a base frame, a first-level anti-sway platform component, a second-level anti-sway platform component, an anti-sway cylinder group 1, an anti-sway cylinder group 2, and a pin assembly; the base frame and the first-level anti-sway platform component are connected by a pin assembly; the first-level anti-sway platform component and the second-level anti-sway platform component are connected by a pin assembly; the anti-sway cylinder group 1 and the anti-sway cylinder group 2 are arranged diagonally and are symmetrical to each other; the swing between the base frame and the first-level anti-sway platform component is driven by the anti-sway cylinder group 1; the swing between the first-level anti-sway platform component and the second-level anti-sway platform component is driven by the anti-sway cylinder group 2.

4. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized in that: The slewing tower assembly includes a tower body, a slewing bearing and a slewing drive component; the tower body is connected to the secondary anti-sway platform component through the slewing bearing; the slewing drive component is installed on the tower body and engages with the slewing bearing to drive it to rotate.

5. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized by: The boom assembly includes a main boom component, a telescopic boom component, a strut assembly, a three-fold boom component, a four-fold boom component, a strut assembly, a pitch cylinder, a telescopic cylinder, a three-fold boom boom cylinder, a four-fold boom boom cylinder and a pin assembly; the main boom component is hinged to the tower body through a pin assembly; the boom length of the main boom component is driven by the pitch cylinder; the telescopic boom component is embedded in the main boom component, supported in the main boom component by a slider assembly and its sliding stroke is limited; the three-fold boom component is hinged to the end of the telescopic boom component through a pin assembly; the boom length of the three-fold boom component is driven by the three-fold boom boom cylinder under the joint action of the strut assembly; the four-fold boom component is hinged to the end of the three-fold boom component through a pin assembly; the boom length of the four-fold boom component is driven by the four-fold boom boom cylinder under the joint action of the strut assembly.

6. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized by: The working basket assembly includes a working basket supporting component, a strut assembly, a working basket body, a pedal railing component, a horizontal cylinder, a working basket rotating cylinder, a pedal opening cylinder and a pin assembly; the working basket supporting component is hinged to the end of the four-fold arm component through the pin assembly; the amplitude change of the working basket supporting component is driven by the horizontal cylinder under the joint action of the strut assembly; the working basket body is hinged to the end of the working basket supporting component through the pin assembly; the rotation of the working basket body is driven by the working basket rotating cylinder; the pedal railing component is hinged to the outside of the working basket body through the pin assembly; the opening of the pedal railing component is driven by the pedal opening cylinder, and the railing and the pedal are opened and closed synchronously.

7. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized by: The retractable winch assembly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope presser, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component by fasteners; the guide pulley is fixed to the end of the four-fold arm component; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and the hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope presser.

8. The light-duty large-span wave-compensated offshore transshipment device according to claim 1 is characterized by: The hydraulic system includes a hydraulic power unit, an accumulator group, and a control valve group. A pressure oil circuit is connected between the hydraulic power unit and the accumulator group, and a safety shut-off valve is provided to ensure that the system pressure remains constant. The hydraulic power unit and the accumulator group are used in conjunction to maximize system energy saving through reasonable allocation of energy efficiency. The control valve group uses a servo proportional valve group and a conventional proportional valve group to adapt to different usage occasions and product types.

9. The light-duty large-span wave-compensated offshore transshipment device according to claim 8, characterized in that: The control valve group consists of an anti-sway cylinder control valve group, a slewing motor control valve group, a pitch cylinder control valve group, a folding arm cylinder control valve group, a horizontal cylinder control valve group, a winch control valve group, a working basket slewing cylinder control valve group, and an opening cylinder control valve group; the slewing motor, pitch cylinder, telescopic cylinder, folding arm cylinder, and horizontal cylinder control valve groups are all directly installed on the actuator body and come with their own pressure sensors.

10. The light-duty large-span wave-compensated offshore transshipment device according to claim 1, characterized in that: The electric control system includes a starter cabinet, a control cabinet, a remote controller, and a sensor. The starter cabinet is used for power distribution, power transformation, and motor control. The motor is started by a soft starter. The control cabinet adopts the PLC+motion controller mode. The PLC is used to solve the motion model, and the motion controller is used for servo control of the actuator. The PLC sends the motion command solved by the motion model to the motion controller, and the motion controller feeds back the position status signal to the PLC. The remote controller is used to input the operator's operation command. The human-computer interaction interface is responsible for system status display and alarm information prompts to facilitate the operator to query the equipment status and debug and repair. The sensors include attitude sensors, inclination sensors, displacement sensors, encoders, and angle sensors. The solution of the PLC's motion model includes position solution and position closed-loop algorithm. Various sensors are used to collect ship attitude information and real-time information of each joint of the equipment. In the motion solution, the control strategy needs to be used to calculate the motion control instructions of each joint. The motion controller is used to collect the sensor information of each joint and send it to the wave compensation controller, and the transfer device is driven to move according to the motion control instructions.

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