Safety protection system of follow-up wave compensation device

Abstract

A safety protection system of a follow-up type wave compensation device comprises a hoisting winch, a compensation winch, a compensation structure, a steering structure and a control system. The compensation structure comprises a compensation rail, a compensation trolley moving along the compensation rail, a transfer wheel set arranged between the compensation rail and the steering structure, and a compensation oil cylinder arranged between the transfer wheel set and the compensation rail. The compensation oil cylinder drives the compensation trolley to move along the compensation track to adjust tensioning of the hoisting rope and the compensation rope, the control system controls operation of the compensation winch and the compensation oil cylinder, and stable operation of the hoisting winch is achieved. The problem that the rope of the follow-up wave compensation device is loosened or overloaded under the complex sea condition is solved.

Description

Technical Field

[0001] The invention belongs to the field of marine replenishment, and in particular relates to a safety protection system of a follow-up wave compensation device. Background Art

[0002] With the further development of marine resources and the increase of maritime activities, ship-to-ship replenishment operations are becoming more and more important. Ship-to-ship replenishment refers to the transfer of supplies, fuel or other key equipment from one ship to another at sea to support the continued operation or emergency needs of the ship. This operation is common in many scenarios such as ocean voyages, offshore drilling platforms, military operations, and emergency response.

[0003] When ship-to-ship replenishment is carried out at sea, the replenishment ship and the supplied ship will have a large relative displacement in the vertical direction due to the action of waves. This heave displacement may cause the crane to collide when lifting materials, especially without wave compensation function. Traditional cranes cannot effectively cope with such dynamic changes, which may easily cause damage to materials or deck surface, and may even cause safety accidents.

[0004] Existing follow-up wave compensation devices usually use oil cylinders through pulleys to compensate for heave displacement. However, the selected oil cylinder stroke is limited. In actual operation, if the sea conditions exceed the expected ideal state, especially when the heave displacement between the two ships exceeds the working stroke range of the oil cylinder, it will cause the compensation hook and wire rope to be intermittently loose or overloaded.

[0005] The existing follow-up wave compensation device adopts the mechanical friction plate slipping principle in the compensation winch to prevent the compensation hook and wire rope from overloading. However, the friction coefficient of the friction plate varies widely, and is affected by the manufacturing process and the use environment, resulting in a large error range for overload protection and failure to provide reliable protection. The friction plate tends to heat up and wear quickly when slipping, and needs to be replaced regularly, which has high maintenance costs and requires professional personnel to operate the replacement process, which is very inconvenient.

[0006] The existing follow-up wave compensation device does not have safety protection measures for the loose wire rope, which poses certain safety hazards. The traditional lifting limit switch is easily affected by lateral forces in severe sea conditions, which will not only damage the limit switch itself, but also affect the safety of the entire system. Due to the design of a single pull rope, the swing arm of the limit switch is easily subjected to large lateral forces, increasing the risk of damage.

[0007] Under complex and changeable sea conditions, the existing follow-up wave compensation device may have the problem of insufficient response speed. If the compensation speed is not timely, the compensation device may be overloaded far beyond expectations, thus affecting the stability and safety of the system. Summary of the invention

[0008] The object of the present invention is to provide a safety protection system for a follow-up wave compensation device to solve the technical problems of insufficient working stroke of the oil cylinder in the follow-up wave compensation device and intermittent relaxation or overload of the rope.

[0009] To achieve the above-mentioned purpose, the specific technical solution of the safety protection system of a follow-up wave compensation device of the present invention is as follows:

[0010] A safety protection system of a follow-up wave compensation device comprises a hoisting winch and a compensation winch arranged on a crane boom, a compensation structure, a steering structure arranged at the front end of the boom, and a control system;

[0011] The compensation structure comprises a compensation track arranged on the boom, a compensation trolley moving along the compensation track, a transfer wheel set arranged between the compensation track and the steering structure, and a compensation cylinder arranged between the transfer wheel set and the compensation track; a trolley wheel set is arranged on the compensation trolley;

[0012] The hoisting rope of the hoisting winch passes through the rotating wheel group, the small wheel group, the steering structure in sequence and then is connected to the supply;

[0013] The compensating rope of the compensating winch passes through the rotating wheel group, the small wheel group, the steering structure in sequence and then is connected to the supply ship;

[0014] The compensating oil cylinder drives the compensating trolley to move along the compensating track to adjust the tension of the lifting rope and the compensating rope, and the control system controls the operation of the compensating winch and the compensating oil cylinder to achieve smooth operation of the lifting winch.

[0015] As a further improvement of the present invention, a pin sensor is provided on the steering structure, and the pin sensor feeds back the tension of the compensating rope to the control system in real time, and the control system adjusts the compensating winch to keep the tension of the compensating rope according to the feedback information; a top position switch and a low position switch are provided on the compensating track; when the compensating trolley passes through the top position switch, the control system controls the compensating winch to lift and keep the compensating rope tensioned; when the compensating trolley passes through the bottom position switch, the control system controls the compensating winch to start a constant tension mode to avoid overloading of the compensating rope.

[0016] As a further improvement of the present invention, the protection system of the present invention further includes an energy storage structure, which provides power for the compensating winch and the compensating cylinder under the drive of the control system.

[0017] As a further improvement of the present invention, the control system is a hydraulic control system, including a winch valve group that drives the compensating winch to rotate, a cylinder valve group that drives the compensating cylinder to extend and retract, and a hydraulic pump station that provides hydraulic oil, and transports the hydraulic oil in the hydraulic pump station to the winch valve group and the cylinder valve group. Control valve group.

[0018] As a further improvement of the present invention, the control valve group realizes that the hydraulic oil is discharged into the cylinder valve group and the winch valve group respectively by opening the cylinder solenoid valve and the winch solenoid valve.

[0019] As a further improvement of the present invention, an overflow valve is provided in the winch valve group, and the constant tension of the compensating winch is achieved by setting the overflow pressure of the overflow valve.

[0020] As a further improvement of the present invention, the hydraulic control system also includes an energy storage valve group for controlling the operation of the accumulator, and the energy storage valve group realizes the opening and closing of the energy storage cylinder solenoid valve and the energy storage winch solenoid valve respectively through the energy storage cylinder logic valve and the energy storage winch logic valve. After the energy storage cylinder solenoid valve and the energy storage winch solenoid valve are opened, the hydraulic oil in the accumulator enters the cylinder valve group and the winch valve group respectively.

[0021] As a further improvement of the present invention, the steering structure includes a lifting steering wheel group, a compensating steering wheel group, a lifting limiting structure, and a compensating limiting structure; the lifting rope is connected to the supply object after passing through the lifting steering wheel group, and the lifting limiting structure limits the lifting of the lifting winch; the compensating rope is connected to the ship to be supplied after passing through the compensating steering wheel group, and the compensating limiting structure limits the lifting of the compensating winch.

[0022] As a further improvement of the present invention, one end of the compensation rope is connected to the compensation winch, and the other end passes through the rotating wheel group, the small wheel group, and the steering structure in sequence, and is connected to a compensation hook at the rear, and is connected to the supply ship through the compensation hook; the compensation limit structure includes a compensation limit switch arranged on the side of the steering structure, a compensation block knotted on the outside of the compensation rope, a compensation pull rope connecting the compensation block and the compensation limit switch, and is arranged between the compensation limit switch and the compensation block for the compensation pull rope to pass through the limit compensation wheel for changing direction; a compensation block knotted on the outside of the compensation rope is arranged above the compensation hook, and the compensation block is arranged between the compensation block and the compensation hook. When the compensation block abuts against the compensation block, the compensation limit switch feeds back information to the control system to adjust The compensating winch; one end of the lifting rope is connected to the lifting winch, and the other end passes through the rotating wheel group, the small wheel group, and the steering structure in sequence, and is connected to the lifting hook behind the steering structure, and supplies are connected through the lifting hook; the lifting limit structure includes a lifting limit switch arranged on the side of the steering structure, a lifting block knotted on the outside of the lifting rope, a lifting pull rope connecting the lifting block and the lifting limit switch, and a lifting limit wheel arranged between the lifting limit switch and the lifting block for the lifting pull rope to pass through the changing direction; a lifting stop block knotted on the outside of the lifting rope is arranged on the upper end of the lifting hook, and the lifting stop block is arranged between the lifting block and the lifting hook. When the lifting stop block abuts against the lifting block, the lifting limit switch feeds back information to the control system to adjust the lifting winch.

[0023] As a further improvement of the present invention, the compensation rope is connected to the compensation block from both sides, and the lifting rope is connected to the lifting block from both sides.

[0024] Beneficial effects:

[0025] The present invention provides a safety protection system for a follow-up wave compensation device, which significantly improves the safety and efficiency of ship-to-ship replenishment operations by integrating advanced sensing technology, hydraulic control technology and mechanical structure design.

[0026] Double anti-slack and anti-overload protection, real-time monitoring of the tension of the compensation rope through the pin sensor, and combined with the top switch and the bottom switch, the system can adjust the action of the compensation winch in time to prevent the wire rope from slack or overload, thereby improving the safety of the entire system.

[0027] The lifting limit structure and the compensation limit structure limit the lifting winch and the compensation winch respectively to ensure that they stop moving when reaching a predetermined height or position, avoiding mechanical damage or safety accidents caused by exceeding the travel range.

[0028] The energy storage structure provides power for the compensation winch and compensation cylinder under the control system, ensuring the basic function of the system even when the main power source fails, thus improving the reliability and emergency response capability of the system. The opening and closing of the energy storage cylinder solenoid valve and the energy storage winch solenoid valve are realized through the logic valve, ensuring that the relevant valves are energized only when the follow-up compensation device is activated, preventing accidental operation and enhancing the stability and safety of the system.

[0029] Compared with the traditional friction plate slipping method, the present invention achieves more precise control through the hydraulic control system and solenoid valve, reduces the wear of mechanical parts, and reduces the maintenance cost and frequency. The system design reduces the complex mechanical structure, making maintenance work easier, without the need to frequently replace wearing parts, and the maintenance personnel's operation is also more convenient.

[0030] The combined use of the pin sensor and the top / bottom position switch enables the system to react quickly when an abnormal situation is detected, improving the response speed of the system and ensuring smooth operation in complex and changeable sea conditions.

[0031] The constant tension of the compensating winch is set by the overflow valve. When the compensating trolley passes the bottom switch, the system automatically enters the constant tension mode, effectively avoiding overload of the compensating rope and further improving the response speed and stability of the system.

[0032] Through the coordinated work of the hydraulic control system and various sensors, the system can automatically adjust the action of the compensation winch and the compensation cylinder without frequent manual intervention, greatly improving the operation efficiency. The compensation cylinder drives the compensation trolley to move along the compensation track, adjusts the tension of the lifting rope and the compensation rope, ensures that the crane maintains stable operation in the heave displacement caused by waves, and improves the continuity and accuracy of the replenishment operation.

[0033] Through multiple safety measures and high-precision control, the present invention can work stably in various complex sea conditions, and can ensure the safe and efficient implementation of replenishment operations regardless of whether it is calm or in bad weather.

[0034] In summary, the present invention provides a highly efficient safety protection system for a follow-up wave compensation device, which significantly improves the safety, reliability and operating efficiency of ship-to-ship replenishment operations through multiple safety protection measures and advanced control technologies, and provides strong technical support for offshore replenishment operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a safety protection system of a follow-up wave compensation device of the present invention;

[0036] Figure 2 is a schematic diagram of the steering structure;

[0037] Figure 3 It is a schematic diagram of the hydraulic control system;

[0038] Explanation of the marks in the figure: 100, boom; 200, hoisting winch; 210, hoisting rope; 220, hoisting hook; 300, compensation winch; 310, compensation rope; 320, supplementary hook; 400, compensation structure; 410, compensation track; 411, top position switch; 412, low position switch; 420, compensation trolley; 421, trolley wheel group; 430, transfer wheel group; 440, compensation cylinder; 500, steering structure; 510, pin sensor; 520, hoisting steering wheel group; 530, compensation steering wheel group; 540, compensation limit structure; 541, supplementary limit switch; 542, compensation block; 543, compensation pull rope ; 544, limit compensation wheel; 545, compensation block; 550, lifting limit structure; 551, lifting limit switch; 552, lifting block; 553, lifting rope; 554, limit lifting wheel; 555, lifting block; 600, energy storage structure; 700, hydraulic control system; 710, winch valve group; 711, overflow valve; 720, cylinder valve group; 730, hydraulic pump station; 740, control valve group; 741, cylinder solenoid valve; 742, winch solenoid valve; 750, energy storage valve group; 751, energy storage cylinder logic valve; 752, energy storage cylinder solenoid valve; 753, energy storage winch logic valve; 754, energy storage winch solenoid valve. DETAILED DESCRIPTION

[0039] In order to better understand the purpose, structure and function of the present invention, the safety protection system of a follow-up wave compensation device of the present invention is further described in detail below with reference to the accompanying drawings.

[0040] Implementation example:

[0041] like Figure 1 As shown, a safety protection system of a follow-up wave compensation device is arranged on a crane on the deck of a supply ship for ship-to-ship supply at sea. The hoisting winch 200 and the compensating winch 300 are staggeredly arranged on the upper end surface of the crane boom 100. The boom 100 extends toward the ship to be supplied. A compensating structure 400 and a steering structure 5000 are arranged along the extending direction of the boom 100. The ropes of the hoisting winch 200 and the compensating winch 300 pass through the compensating structure 400 and the steering structure 500 in turn and are respectively connected to the supply object and the ship to be supplied. The double winch arrangement of the present invention enables the control system to achieve smooth transfer of the supply object by the hoisting winch 200 by adjusting the compensating winch 300.

[0042] The compensation structure 400 includes a compensation track 410, a compensation cylinder 440 and a rotating wheel group 430 which are sequentially arranged along the extension direction of the boom 100. The compensation cylinder 440 includes a cylinder body and a piston rod. The cylinder body is fixed to the upper end surface of the boom 100, and the piston rod extends toward the compensation track 410. The extended end of the piston rod is connected to the compensation trolley 420. The compensation trolley 420 moves along the compensation track 410 under the drive of the compensation cylinder 440. The hoisting rope 210 of the hoisting winch 200 passes through the rotating wheel group 430, the small wheel group 421, and the steering structure 500 in sequence, and then is connected to the supply object; the compensation rope 310 of the compensation winch 300 passes through the rotating wheel group 430, the small wheel group 421, and the steering structure 500 in sequence, and then is connected to the supply ship. The compensation rail 410 is provided with a top position switch 411 and a low position switch 412 which are connected to the control system. When the compensation cylinder 440 reaches the top position switch 411 due to working sea conditions exceeding the design value, the control system causes the compensation winch 300 to perform a lifting action to prevent the compensation rope 310 from loosening; when the compensation cylinder 440 reaches the low position switch 412 due to working sea conditions exceeding the design value, the control system causes the compensation winch 300 to switch to a constant tension mode to prevent the compensation rope 320 from overloading.

[0043] The pin sensor 510 is arranged on the side of the compensating steering wheel group 530. If the control system is affected by the response speed of the compensation structure 400, resulting in untimely compensation speed, it may cause the compensation structure 400 to be overloaded far beyond expectations. At this time, the pin sensor 510 can send a signal to the main control system to make the compensation winch 300 actively loosen the rope to prevent overload operation.

[0044] like Figure 2The steering structure 500 shown is arranged at the front end of the boom 100, and includes a lifting steering wheel group 520 for the lifting rope 210 to pass through and a compensation steering wheel group 530 for the compensation rope 310 to pass through. A lifting limit structure 550 and a compensation limit structure 540 are correspondingly arranged on the side of the steering structure 500 along the forward direction of the rope. One end of the compensation rope 310 is connected to the compensation winch 300, and the other end passes through the transfer wheel group 430, the small wheel group 421, and the compensation steering wheel group 530 in sequence, and then connects to the compensation hook 320, and connects to the supply ship through the compensation hook 320; the compensation limit structure 540 includes a compensation limit switch 541 arranged on the side of the steering structure 500, a compensation block 542 knotted on the outside of the compensation rope 310, a compensation pull rope 543 connecting the compensation block 542 and the compensation limit switch 541, and a limit compensation wheel 544 arranged between the compensation limit switch 541 and the compensation block 542 for the compensation pull rope 543 to pass through the change direction; in this embodiment, the compensation limit switch 541 is a swing rod structure, and the setting of the limit compensation wheel 544 and the compensation pull rope 543 greatly reduces the probability of damage to the compensation limit switch 541. The compensation pull rope 543 is connected to the compensation block from both sides, respectively, to reduce the lateral force on the swing rod of the compensation limit switch 541 in the single pull rope state, and further protect the switch. A compensation stopper 545 is provided above the compensation hook 320 and is knotted on the outside of the compensation rope 310. The compensation stopper 545 is provided between the compensation block 541 and the compensation hook 320. When the compensation stopper 545 abuts against the compensation block 541, the compensation limit switch 541 feeds back information to the control system to adjust the compensation winch 300. The lifting limit structure 550 is similar in structure to the compensation limit structure 540. The lifting limit switch 551, the lifting block 552, the lifting rope 553, the limit lifting wheel 554, and the lifting stopper 555 are provided correspondingly to the supplementary limit switch 541, the compensation block 542, the compensation rope 543, the limit compensation wheel 544, and the compensation stopper 545.

[0045] In this embodiment, the control system includes a hydraulic control system 700, such as Figure 3As shown, it includes a winch valve group 710 for driving the compensation winch 300 to rotate, a cylinder valve group 720 for driving the compensation cylinder 440 to extend and retract, a hydraulic pump station 430 for providing hydraulic oil, a control valve group 740 for delivering hydraulic oil to the winch valve group 710 and the cylinder valve group 720, and an energy storage valve group 750 for controlling the operation of the energy storage structure. The control valve group 740 discharges hydraulic oil into the cylinder valve group 720 and the winch valve group 710 respectively by opening the cylinder solenoid valve 741 and the winch solenoid valve 742. A relief valve 711 is provided in the winch valve group 710, and the constant tension of the compensation winch is achieved by setting the relief pressure of the relief valve 711. The energy storage winch solenoid valve 753 in the energy storage valve group 750 is energized, and the high-pressure oil in the accumulator can enter the winch valve group 710 to prevent the compensation winch brake from accidentally opening in a fault state, thereby ensuring system safety; at the same time, the energy storage cylinder solenoid valve 752 is energized, and the high-pressure oil in the accumulator can enter the rodless chamber of the compensation cylinder 440 to ensure that it will not interfere with the normal telescopic action of the compensation cylinder 440. When the compensation structure is activated, the energy storage cylinder logic valve 751 and the energy storage winch logic valve 753 open the energy storage cylinder solenoid valve 752 and the energy storage winch solenoid valve 754 respectively.

[0046] Under severe sea conditions, before the compensating rope 310 is relaxed, the pin sensor 510 senses the smaller rope tension on the rope in advance, and the control system causes the compensating winch 300 to perform a lifting action, so as to keep the compensating rope 310 always in a tightened state and prevent the compensating rope 310 from relaxing. On the other hand, when the compensating cylinder 440 reaches the top switch 411 due to the working sea conditions exceeding the design value, the control system causes the compensating winch 300 to perform a lifting action to prevent the compensating rope 310 from relaxing. At the same time, if the system is affected by the response speed of the compensation structure, if the compensation speed is not timely, it may cause the compensation structure to be overloaded far beyond expectations. At this time, the pin sensor 510 sends a signal to the control system to make the compensating winch actively loosen the rope to prevent the compensation structure from overloading. When the compensating cylinder 440 reaches the bottom switch due to the working sea conditions exceeding the design value, the control system switches the compensating winch 300 to the constant tension mode to prevent the compensating rope 310 from overloading. In addition, the compensation limit structure 540 and the lifting limit structure 550 are added with a limit compensation wheel 544 and a limit lifting wheel 554 compared with the ordinary limit, which can ensure that the swing rod of the compensation limit switch 541 and the lifting limit switch 551 is protected from lateral force, thereby avoiding damage to the limit switch. Moreover, compared with the ordinary lifting limit structure arrangement, a pull rope is added on the opposite side of the boom, which can reduce the lateral force on the swing rod of the limit switch in the single pull rope state and protect the limit switch. Considering the system safety, even if the solenoid valve of the winch valve group fails, since the energy storage winch logic valve 753 and the energy storage winch solenoid valve 754 are added to the energy storage valve group 750, as long as the compensation structure is not activated, the energy storage winch solenoid valve 754 will not be energized, and the high-pressure oil in the accumulator cannot enter the winch valve group 710, which can ensure that the compensation winch brake will not be accidentally opened, thereby ensuring the safety of the system. At the same time, an energy storage cylinder logic valve 751 is added. Only when the compensation structure is activated, the energy storage cylinder solenoid valve 752 will be energized, and the high-pressure oil in the accumulator can enter the rodless chamber of the compensation cylinder 440, ensuring that it will not interfere with the normal extension and retraction action of the compensation cylinder 440.

[0047] In the existing safety protection system of the follow-up compensating device, for the safety protection when the compensation rope is in a slack state, although a swing-rod type slack rope limit switch is provided to send an alarm signal to the crane operator to remind the operator that the follow-up compensating device has a fault, the fault cannot be eliminated in time. In fact, due to the complexity and variability of the working sea conditions, the safety protection system of the follow-up compensating device needs to have a strong adaptability. The present invention, through a clever design in principle, sets two rope slack protections in the system, which can ensure that the rope is always in a tensioned state and maintain a certain tension force. The safety protection system of the follow-up compensating device works normally, instead of just reminding the operator that the follow-up compensating device has a fault without taking any measures.

[0048] In the existing safety protection system of the follow-up compensating device, for the safety protection of the compensating rope in the overload state, although a torque limiter is set in the compensating winch, the compensating wire rope device is protected by the principle of slipping of the mechanical friction plate in the compensating winch to prevent the follow-up compensating device from overloading. However, due to the mechanical structure principle, this occasion is mostly used in working occasions where overloading is not frequent. In fact, due to the complex and changeable sea conditions of the crane, the mechanical friction plate is often severely worn, and maintenance and repair are very troublesome. By changing the working principle of overload protection and using two wire rope overload protections in the system, the safety and reliability of the system are greatly improved, and the maintenance and repair work is also greatly reduced.

[0049] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A safety protection system for a follow-up wave compensation device, characterized in that: It includes a hoisting winch and a compensating winch arranged on the crane boom, a compensating structure, a steering structure arranged at the front end of the boom, and a control system; The compensation structure comprises a compensation track arranged on the boom, a compensation trolley moving along the compensation track, a transfer wheel set arranged between the compensation track and the steering structure, and a compensation cylinder arranged between the transfer wheel set and the compensation track; a trolley wheel set is arranged on the compensation trolley; The hoisting rope of the hoisting winch passes through the rotating wheel group, the small wheel group, the steering structure in sequence and then is connected to the supply; The compensating rope of the compensating winch passes through the rotating wheel group, the small wheel group, the steering structure in sequence and then is connected to the ship to be supplied; The compensating oil cylinder drives the compensating trolley to move along the compensating track to adjust the tension of the lifting rope and the compensating rope, and the control system controls the operation of the compensating winch and the compensating oil cylinder to achieve smooth operation of the lifting winch.

2. The safety protection system of the follow-up heave compensation device according to claim 1 is characterized in that: The steering structure is provided with a pin sensor, and the pin sensor feeds back the tension of the compensating rope to the control system in real time, and the control system adjusts the compensating winch to keep the tension of the compensating rope according to the feedback information; A top position switch and a low position switch are provided on the compensation track; when the compensation trolley passes through the top position switch, the control system controls the compensation winch to lift and keep the compensation rope taut; when the compensation trolley passes through the low position switch, the control system controls the compensation winch to start a constant tension mode to avoid overloading of the compensation rope.

3. The safety protection system of the follow-up heave compensation device according to claim 1 is characterized in that: It also includes an energy storage structure, which provides power to the compensation winch and the compensation cylinder under the drive of the control system.

4. The safety protection system of the follow-up heave compensation device according to claim 1 is characterized in that: The control system is a hydraulic control system, including a winch valve group that drives the compensating winch to rotate, a cylinder valve group that drives the compensating cylinder to extend and retract, a hydraulic pump station that provides hydraulic oil, and a control valve group that transports the hydraulic oil in the hydraulic pump station to the winch valve group and the cylinder valve group.

5. The safety protection system of the follow-up heave compensation device according to claim 4 is characterized in that: The control valve group discharges the hydraulic oil into the cylinder valve group and the winch valve group respectively by opening the cylinder solenoid valve and the winch solenoid valve.

6. The safety protection system of the follow-up heave compensation device according to claim 4 is characterized in that: The winch valve group is provided with an overflow valve, and the constant tension of the compensating winch is achieved by setting the overflow pressure of the overflow valve.

7. The safety protection system of the follow-up heave compensation device according to claim 4 is characterized in that: The hydraulic control system also includes an energy storage valve group for controlling the operation of the accumulator. The energy storage valve group realizes the opening and closing of the energy storage cylinder solenoid valve and the energy storage winch solenoid valve respectively through the energy storage cylinder logic valve and the energy storage winch logic valve. After the energy storage cylinder solenoid valve and the energy storage winch solenoid valve are opened, the hydraulic oil in the accumulator enters the cylinder valve group and the winch valve group respectively.

8. The safety protection system of the follow-up heave compensation device according to claim 1 is characterized in that: The steering structure includes a lifting steering wheel set, a compensating steering wheel set, a lifting limiting structure, and a compensating limiting structure; The lifting rope passes through the lifting steering wheel group and is connected to the supply, and the lifting limit structure limits the lifting of the lifting winch; The compensating rope is connected to the ship to be supplied after passing through the compensating steering wheel group, and the compensating limiting structure limits the lifting of the compensating winch.

9. The safety protection system of the follow-up heave compensation device according to claim 8 is characterized in that: One end of the compensation rope is connected to the compensation winch, and the other end passes through the rotating wheel group, the small wheel group, and the steering structure in sequence, and is connected to the compensation hook, and is connected to the supply ship through the compensation hook; The compensation limit structure includes a compensation limit switch arranged on the side of the steering structure, a compensation block looped on the outside of the compensation rope, a compensation pull rope connecting the compensation block and the compensation limit switch, and a limit compensation wheel arranged between the compensation limit switch and the compensation block for the compensation pull rope to pass through; A compensation stopper which is knotted on the outside of the compensation rope is arranged above the compensation hook, and the compensation stopper is arranged between the compensation block and the compensation hook. When the compensation stopper abuts against the compensation block, the compensation limit switch feeds back information to the control system to adjust the compensation winch; One end of the lifting rope is connected to the lifting winch, and the other end passes through the rotating wheel group, the small wheel group, and the steering structure in sequence, and is connected to the lifting hook, and the supplies are connected through the lifting hook; The lifting limit structure includes a lifting limit switch arranged on the side of the steering structure, a lifting block knotted on the outside of the lifting rope, a lifting rope connecting the lifting block and the lifting limit switch, and a lifting limit wheel arranged between the lifting limit switch and the lifting block for the lifting rope to pass through the direction change; A lifting block is arranged at the upper end of the lifting hook and is looped on the outside of the lifting rope. The lifting block is arranged between the lifting block and the lifting hook. When the lifting block abuts against the lifting block, the lifting limit switch feeds back information to the control system to adjust the lifting winch.

10. The safety protection system of the follow-up heave compensation device according to claim 9, characterized in that: The compensating rope is connected to the compensating block from both sides, and the lifting rope is connected to the lifting block from both sides.

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