Safety protection system for a follow-up wave compensator

Abstract

A safety protection system of a follow-up 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 track, a compensation trolley moving along the compensation track, a transfer wheel set arranged between the compensation track and the steering structure and a compensation oil cylinder arranged between the transfer wheel set and the compensation track; the compensation oil cylinder drives the compensation trolley to move along the compensation track to adjust the tension of the hoisting rope and the compensation rope; the control system controls the operation of the compensation winch and the compensation oil cylinder to realize the stable operation of the hoisting winch. The invention solves the problems of rope slackening or overloading of the follow-up wave compensation device under complex sea conditions.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of sea replenishment, and particularly relates to a safety protection system of a follow-up type wave compensation device. BACKGROUND

[0002] With the further development of marine resources and the increase of offshore activities, ship-to-ship replenishment operations become more and more important. Ship-to-ship replenishment refers to the transfer of materials, fuel or other critical equipment from one ship to another at sea to support the continuous operation or emergency needs of the ship. This operation is common in various scenarios such as ocean voyages, offshore drilling platforms, military operations and emergency responses.

[0003] When conducting ship-to-ship replenishment at sea, due to the action of waves, there will be a large relative displacement between the replenishment ship and the replenished ship in the vertical direction. This heave displacement may cause the crane to collide when hoisting the materials, especially without wave compensation function. The traditional crane cannot effectively respond to this dynamic change, which may cause damage to the materials or the deck surface, and even may cause safety accidents.

[0004] The existing follow-up type wave compensation device usually uses an oil cylinder to compensate for the heave displacement through a pulley block. 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, the compensation hook and the steel wire rope will appear intermittent relaxation or overload.

[0005] The existing follow-up type wave compensation device uses the mechanical friction plate slip principle in the compensation winch to prevent the compensation hook and the steel wire rope from overloading. However, the friction coefficient of the friction plate varies greatly, and is affected by the manufacturing process and the use environment, resulting in a large error range of the overload protection, which cannot provide reliable protection. The friction plate is easy to heat and quickly wear when slipping, which needs to be replaced regularly, with high maintenance cost, and the replacement process needs to be operated by professional personnel, which is very inconvenient.

[0006] The existing follow-up type wave compensation device does not set safety protection measures for the state of the steel wire rope relaxation, which has certain safety hazards. The traditional lifting limit switch is easy to be affected by lateral force in severe sea conditions, which not only damages the limit switch itself, but also may affect the safety of the whole system. Due to the design of single pull rope, the swing rod of the limit switch is easy to be affected by large lateral force, increasing the risk of damage.

[0007] In complex and variable sea conditions, the existing follow-up type wave compensation device may have the problem of insufficient response speed. If the compensation speed is not timely, the compensation device may be subjected to an overload far beyond the expectation, thereby affecting the stability and safety of the system. SUMMARY

[0008] The present application aims to provide a safety protection system of a follow-up type wave compensation device to solve the technical problems of insufficient working stroke of an oil cylinder, intermittent relaxation or overload of a rope in the follow-up type wave compensation device.

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

[0010] The safety protection system of the follow-up type 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 oil cylinder arranged between the transfer wheel set and the compensation track; the compensation trolley is provided with a trolley wheel set;

[0012] The hoisting rope of the hoisting winch passes through the transfer wheel set, the trolley wheel set, the steering structure in sequence and is connected with a supply object;

[0013] The compensation rope of the compensation winch passes through the transfer wheel set, the trolley wheel set, the steering structure in sequence and is connected with a to-be-supplied ship;

[0014] The compensation oil cylinder drives the compensation trolley to move along the compensation track to adjust the tension of the hoisting rope and the compensation rope, and the control system controls the operation of the compensation winch and the compensation oil cylinder to realize the stable operation of the hoisting winch.

[0015] As a further improvement of the present application, the steering structure is provided with a pin shaft sensor, which feeds back the tension of the compensation rope to the control system in real time, and the control system adjusts the compensation winch to keep the tension of the compensation rope according to the feedback information; the compensation track is provided with a top switch and a bottom switch; when the compensation trolley passes through the top switch, the control system controls the compensation winch to lift and keep the tension of the compensation rope; when the compensation trolley passes through the bottom switch, the control system controls the compensation winch to start the constant tension mode to avoid the overload of the compensation rope.

[0016] As a further improvement of the present application, the protection system further comprises an energy storage structure, which provides power for the compensation winch and the compensation oil cylinder under the driving of the control system.

[0017] As a further improvement of the present application, the control system is a hydraulic control system, including a winch valve group driving the rotation of the compensation winch, a cylinder valve group driving the extension and retraction of the compensation cylinder, a hydraulic pump station providing hydraulic oil, and a control valve group conveying the hydraulic oil in the hydraulic pump station to the winch valve group and the cylinder valve group.

[0018] As a further improvement of the present application, the control valve group realizes the discharge of hydraulic oil into the cylinder valve group and the winch valve group by opening the cylinder solenoid valve and the winch solenoid valve.

[0019] As a further improvement of the present application, the winch valve group is provided with an overflow valve, and the constant tension of the compensation winch is realized by setting the overflow pressure of the overflow valve.

[0020] As a further improvement of the present application, the hydraulic control system further includes an accumulator valve group controlling the operation of the accumulator, and the accumulator valve group realizes the opening and closing of an accumulator cylinder solenoid valve and an accumulator winch solenoid valve through an accumulator cylinder logic valve and an accumulator winch logic valve, respectively.

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

[0022] As a further improvement of the application, one end of the compensation rope is connected with the compensation winch, and the other end is sequentially connected with the compensation hook through the transfer wheel group, the trolley wheel group and the steering structure, and the supply ship is connected through the compensation hook; the compensation limiting structure comprises a compensation limiting switch arranged on the side of the steering structure, a compensation block sleeved outside the compensation rope, a compensation pull rope connecting the compensation block and the compensation limiting switch, and a limiting compensation wheel arranged between the compensation limiting switch and the compensation block for changing the direction of the compensation pull rope; a compensation stop block sleeved outside the compensation rope is arranged above the compensation hook, and the compensation stop block is arranged between the compensation block and the compensation hook; when the compensation stop block abuts against the compensation block, the compensation limiting switch feeds back information to the control system, and the compensation winch is adjusted.

[0023] As a further improvement of the application, the compensation pull rope is connected with the compensation block from two sides, and the hoisting pull rope is connected with the hoisting block from two sides.

[0024] Advantageous effects:

[0025] The application provides a safety protection system of a follow-up type wave compensation device, and through integration of advanced sensing technology, hydraulic control technology and mechanical structure design, the safety and efficiency of ship-to-ship replenishment operation are significantly improved.

[0026] Double slack prevention and overload protection, the tension of the compensation rope is monitored in real time through the pin shaft sensor, and combined with the top switch and the bottom switch, the system can timely adjust the action of the compensation winch to prevent the steel wire rope from being slack or overloaded, thereby improving the safety of the whole system.

[0027] The hoisting limiting structure and the compensation limiting structure limit the hoisting winch and the compensation winch respectively, ensure that the action is stopped when the predetermined height or position is reached, and avoid mechanical damage or safety accidents caused by exceeding the stroke range.

[0028] The energy storage structure is driven by the control system to provide power for the compensation winch and the compensation cylinder, so that the basic functions of the system can be ensured to operate even in the case of failure of the main power source, and the reliability and emergency response capability of the system are improved. The opening and closing of the electromagnetic valve of the energy storage cylinder and the electromagnetic valve of the energy storage winch are realized through the logic valve, so that only when the follow-up compensation device is activated, the related valve will be powered on, thereby preventing accidental operation and enhancing the stability and safety of the system.

[0029] Compared with the traditional friction plate slip method, the present application realizes more accurate control through the hydraulic control system and the electromagnetic valve, reduces the wear and tear of mechanical parts, and reduces the maintenance cost and frequency. The system design reduces the complex mechanical structure, so that the maintenance work is more simple, the easily damaged parts do not need to be frequently replaced, and the operation of the maintenance personnel is more convenient.

[0030] The combination of the pin shaft sensor and the top / bottom position switch enables the system to quickly respond when an abnormal situation is detected, thereby improving the response speed of the system and ensuring stable operation in complex sea conditions.

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

[0032] Through the cooperation 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, which greatly improves the operation efficiency. The compensation cylinder drives the compensation trolley to move along the compensation track, adjusts the tension of the hoisting rope and the compensation rope, and ensures that the crane runs stably in the heave displacement caused by waves, thereby improving the continuity and accuracy of the replenishment operation.

[0033] The present application can work stably in various complex sea conditions through multiple safety measures and high-precision control, and can ensure safe and efficient replenishment operation in calm weather or bad weather.

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

[0035] Figure 1 is a structural schematic diagram of a safe protection system for a follow-up wave compensation device of the present application;

[0036] Figure 2 is a turning structure schematic diagram;

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

[0038] Explanation of markings in the diagram: 100, boom; 200, lifting winch; 210, lifting rope; 220, lifting hook; 300, compensating winch; 310, compensating rope; 320, compensating hook; 400, compensating structure; 410, compensating track; 411, top position switch; 412, low position switch; 420, compensating trolley; 421, trolley wheel assembly; 430, intermediate wheel assembly; 440, compensating cylinder; 500, steering structure; 510, pin sensor; 520, lifting steering wheel assembly; 530, compensating steering wheel assembly; 540, compensating limit structure; 541, compensating limit switch; 542, compensating block; 543, compensating pull rope. 544. Limit compensation wheel; 545. Compensation stop block; 550. Lifting limit structure; 551. Lifting limit switch; 552. Lifting block; 553. Lifting rope; 554. Limit lifting wheel; 555. Lifting stop block; 600. Energy storage structure; 700. Hydraulic control system; 710. Winch valve assembly; 711. Overflow valve; 720. Cylinder valve assembly; 730. Hydraulic pump station; 740. Control valve assembly; 741. Cylinder solenoid valve; 742. Winch solenoid valve; 750. Energy storage valve assembly; 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 Implementation

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

[0040] Implementation example:

[0041] like Figure 1 As shown, a safety protection system for a follow-up wave compensation device is installed on a crane on the deck of a supply ship during ship-to-ship replenishment at sea. A lifting winch 200 and a compensation winch 300 are alternately arranged on the upper end face of the crane boom 100, which extends towards the ship to be replenished. A compensation structure 400 and a steering structure 500 are arranged along the extension direction of the boom 100. The ropes of the lifting winch 200 and the compensation winch 300 pass sequentially through the compensation structure 400 and the steering structure 500 and are then connected to the supply material and the ship to be replenished, respectively. The dual winch configuration of this invention enables the control system to achieve smooth transfer of the supply material by adjusting the compensation winch 300.

[0042] The compensation structure 400 comprises a compensation track 410, a compensation cylinder 440 and a transfer wheel set 430 arranged in sequence along the extension direction of the boom 100. The compensation cylinder 440 comprises a cylinder body and a piston rod, the cylinder body is fixed on the upper end surface of the boom 100, the piston rod extends out of the compensation track 410, the extension end of the piston rod is connected with a compensation trolley 420, and 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 transfer wheel set 430, the trolley wheel set 421 and the steering structure 500 in sequence and is then connected with the supply ship; the compensation rope 310 of the compensation winch 300 passes through the transfer wheel set 430, the trolley wheel set 421 and the steering structure 500 in sequence and is then connected with the ship to be supplied. The compensation track 410 is provided with a top limit switch 411 and a low limit switch 412 in communication with the control system, when the compensation cylinder 440 reaches the top limit switch 411 due to the working sea state exceeding the design value, the control system makes the compensation winch 300 perform the lifting action to prevent the compensation rope 310 from being slack; when the compensation cylinder 440 reaches the low limit switch 412 due to the working sea state exceeding the design value, the control system makes the compensation winch 300 switch to the constant tension mode to prevent the compensation rope 310 from being overloaded.

[0043] The pin shaft sensor 510 is arranged on the side surface of the compensation steering wheel set 530, if the control system is affected by the response speed of the compensation structure 400, the compensation speed is not timely, which may cause the compensation structure 400 to be overloaded far beyond the expectation, at this time, the pin shaft sensor 510 can send a signal to the main control system to make the compensation winch 300 actively slacken the rope to prevent overloading operation.

[0044] As Figure 2The shown turning structure 500 is arranged at the front end of the boom 100, including a hoisting turning wheel group 520 for the hoisting rope 210 to pass through and a compensation turning wheel group 530 for the compensation rope 310 to pass through, and a hoisting limiting structure 550 and a compensation limiting structure 540 are arranged on the side of the turning structure 500 in the advancing direction of the ropes. One end of the compensation rope 310 is connected with the compensation winch 300, and the other end passes through the intermediate turning wheel group 430, the trolley wheel group 421, the compensation turning wheel group 530 in sequence and is connected with the compensation hook 320, and the compensation hook 320 is connected with the ship to be supplied; the compensation limiting structure 540 includes a compensation limiting switch 541 arranged on the side of the turning structure 500, a compensation block 542 sleeved on the outside of the compensation rope 310, a compensation pull rope 543 connecting the compensation block 542 and the compensation limiting switch 541, and a limiting compensation wheel 544 arranged between the compensation limiting switch 541 and the compensation block 542 for the compensation pull rope 543 to pass through; in this embodiment, the compensation limiting switch 541 is a swing lever structure, and the arrangement of the limiting compensation wheel 544 and the compensation pull rope 543 greatly reduces the probability of damage of the compensation limiting switch 541. The compensation pull rope 543 is connected with the compensation block from both sides respectively, so that the lateral force on the swing lever of the compensation limiting switch 541 in the single pull rope state is reduced, and the switch is further protected. The compensation hook 320 is provided with a compensation block 545 sleeved on the outside of the compensation rope 310, and the compensation block 545 is arranged between the compensation block 542 and the compensation hook 320; when the compensation block 545 abuts against the compensation block 542, the compensation limiting switch 541 feeds back information to the control system, and the compensation winch 300 is adjusted. The hoisting limiting structure 550 is similar in structure to the compensation limiting structure 540, and the hoisting limiting switch 551, the hoisting block 552, the hoisting pull rope 553, the limiting hoisting wheel 554, and the hoisting block 555 are arranged correspondingly to the compensation limiting switch 541, the compensation block 542, the compensation pull rope 543, the limiting compensation wheel 544, and the compensation block 545.

[0045] In this embodiment, the control system includes a hydraulic control system 700, as shown in Figure 3As shown, the system includes winch valve group 710 to drive the rotation of compensation winch 300, cylinder valve group 720 to drive the extension and retraction of compensation cylinder 440, hydraulic pump station 730 to provide hydraulic oil, control valve group 740 to deliver hydraulic oil to winch valve group 710 and cylinder valve group 720, and accumulator valve group 750 to control the operation of accumulator structure. Control valve group 740 opens cylinder solenoid valve 741 and winch solenoid valve 742 to deliver hydraulic oil to cylinder valve group 720 and winch valve group 710 respectively. Overflow valve 711 is provided in winch valve group 710 to achieve constant tension of compensation winch by setting the overflow pressure of overflow valve 711. Accumulator valve group 750 energizes accumulator winch solenoid valve 754 to enable high pressure oil in the accumulator to enter winch valve group 710, preventing the accidental opening of compensation winch brake in a fault state and ensuring system safety. At the same time, accumulator cylinder solenoid valve 752 is energized to enable high pressure oil in the accumulator to enter the rodless chamber of compensation cylinder 440, ensuring that it does not interfere with the normal extension and retraction of compensation cylinder 440. When the compensation structure is activated, accumulator cylinder logic valve 751 and accumulator winch logic valve 753 open accumulator cylinder solenoid valve 752 and accumulator winch solenoid valve 754 respectively.

[0046] In rough sea conditions, before the compensation rope 310 is slack, the pin shaft sensor 510 senses a small rope tension on the rope in advance, and the control system makes the compensation winch 300 lift to keep the compensation rope 310 always in a tightened state, preventing the compensation rope 310 from being slack. On the other hand, when the compensation cylinder 440 reaches the top limit switch 411 due to the working sea condition exceeding the design value, the control system makes the compensation winch 300 lift to prevent the compensation rope 310 from being slack. At the same time, if the compensation speed is not timely due to the influence of the response speed of the compensation structure, it may cause the compensation structure to be overloaded far beyond the expected value, and the pin shaft sensor 510 sends a signal to the control system to make the compensation winch actively release the rope to prevent the compensation structure from overloading. When the compensation cylinder 440 reaches the bottom limit switch due to the working sea condition exceeding the design value, the control system makes the compensation winch 300 switch to the constant tension mode to prevent the compensation rope 310 from being overloaded. In addition, the compensation limit structure 540 and the lifting limit structure 550 increase the limit compensation wheel 544 and the limit lifting wheel 554 relative to the ordinary limit, which can prevent the swing rod of the compensation limit switch 541 and the lifting limit switch 551 from being subjected to lateral force, avoiding damage to the limit switch. Moreover, relative to the ordinary lifting limit structure arrangement, another pull rope is additionally arranged 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, protecting the limit switch. Considering system safety, even in the fault state of the winch valve group electromagnetic valve, since the energy storage winch logic valve 753 and the energy storage winch electromagnetic valve 754 are added in the energy storage valve group 750, as long as the compensation structure is not activated, the energy storage winch electromagnetic 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 opened accidentally, thereby ensuring the safety of the system. At the same time, the energy storage cylinder logic valve 751 is added, and only when the compensation structure is activated, the energy storage cylinder electromagnetic 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 contraction of the compensation cylinder 440.

[0047] In the safety protection system of the existing follow-up compensation device, although a swing rod type slack rope limit switch is arranged to send an alarm signal to the crane operator to prompt the operator that the follow-up compensation device has a fault, the fault cannot be eliminated in time. In fact, due to the complexity and variability of the working sea condition, the safety protection system of the follow-up compensation device needs to have strong adaptability. The present application ingeniously designs two rope slack protection in the system, which can ensure that the rope is always in a tensioned state, and keep a certain tension to make the follow-up compensation device work normally, instead of only prompting the operator that the follow-up compensation device has a fault without any disposal.

[0048] In the safety protection system of the existing follow-up compensation device, for the safety protection of the compensation rope in the overload state, although the torque limiter is arranged in the compensation winch, the compensation steel wire rope device is protected by the principle of mechanical friction plate slipping in the compensation winch to prevent the follow-up compensation device from being overloaded. However, due to the mechanical structure principle, this occasion is often applied to the working occasion which is not frequently overloaded. In fact, due to the complex and changeable sea conditions of the crane, the mechanical friction plate is often frequently worn seriously, and the maintenance and repair are very troublesome. Through the change of the overload protection working principle and the two steel wire rope overload protections in the system, the safety and reliability of the system are greatly improved, and the maintenance and repair work is greatly reduced.

[0049] It is to be understood that the present application is described by way of example and that modifications or alternatives, as will occur to persons skilled in the art, can be made to the features and embodiments described without departing from the spirit and scope of the application. In addition, modifications can be made to the features and embodiments to adapt them to specific situations and materials without departing from the spirit and scope of the application. Therefore, the present application is not limited by the specific embodiments disclosed herein, but rather by the claims appended hereto that fall within the scope of the present application.

Claims

1. A safety system for a follow-up wave compensating device, characterized in that, The crane includes a hoist 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; The compensation structure includes a compensation rail arranged on the boom, 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 trolley is provided with a trolley wheel set; The hoist rope of the hoist winch passes through the transfer wheel set, the trolley wheel set, and the steering structure in sequence and is connected with the supply object; The compensation rope of the compensation winch passes through the transfer wheel set, the trolley wheel set, and the steering structure in sequence and is connected with the object to be supplied; The compensation oil cylinder drives the compensation trolley to move along the compensation rail to adjust the tension of the hoist rope and the compensation rope, and the control system controls the operation of the compensation winch and the compensation oil cylinder to realize the stable operation of the hoist winch.

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

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

4. The safety protection system for a follow-up wave compensating device according to claim 1, characterized by The control system is a hydraulic control system, which includes a winch valve group driving the rotation of the compensation winch, an oil cylinder valve group driving the extension and retraction of the compensation oil cylinder, a hydraulic pump station providing hydraulic oil, and a control valve group conveying the hydraulic oil in the hydraulic pump station to the winch valve group and the oil cylinder valve group.

5. The safety protection system for a follow-up wave compensating device according to claim 4, characterized in that, The control valve group realizes the discharge of the hydraulic oil into the oil cylinder valve group and the winch valve group by opening the oil cylinder solenoid valve and the winch solenoid valve.

6. The safety protection system for a follow-up wave compensating device according to claim 4, characterized by The winch valve group is provided with an overflow valve, and the constant tension of the compensation winch is realized by setting the overflow pressure of the overflow valve.

7. The safety protection system for a follow-up wave compensating device according to claim 4, characterized by The hydraulic control system also includes an energy storage valve group controlling the operation of the energy storage structure, and the energy storage valve group realizes the opening and closing of the energy storage oil cylinder solenoid valve and the energy storage winch solenoid valve through the energy storage oil cylinder logic valve and the energy storage winch logic valve, respectively.

8. The safety protection system for a follow-up wave compensating device according to claim 1, characterized by, The steering structure includes a hoist steering wheel set, a compensation steering wheel set, a hoist limiting structure, and a compensation limiting structure; The hoist rope passes through the hoist steering wheel set and is connected with the supply object, and the hoist limiting structure limits the lifting of the hoist winch; The compensation rope passes through the compensation steering wheel set and is connected with the object to be supplied, and the compensation limiting structure limits the lifting of the compensation winch.

9. A safety protection system for a follow-up wave compensating device according to claim 8, characterized in that One end of the compensation rope is connected with the compensation winch, and the other end is sequentially connected with the compensation hook through the transfer wheel group, the trolley wheel group and the steering structure, and the compensation hook is connected with the ship to be supplied; The compensation limiting structure comprises a compensation limiting switch arranged on the side of the steering structure, a compensation block sleeved outside the compensation rope, a compensation pull rope connecting the compensation block and the compensation limiting switch, and a limiting compensation wheel arranged between the compensation limiting switch and the compensation block and used for changing the direction of the compensation pull rope. A compensation block sleeved outside the compensation rope is arranged above the compensation hook, and the compensation block is arranged between the compensation block and the compensation hook. One end of the hoisting rope is connected with the hoisting winch, and the other end is sequentially connected with the hoisting hook through the transfer wheel group, the trolley wheel group and the steering structure, and the hoisting hook is connected with the supply. The hoisting limiting structure comprises a hoisting limiting switch arranged on the side of the steering structure, a hoisting block sleeved outside the hoisting rope, a hoisting pull rope connecting the hoisting block and the hoisting limiting switch, and a hoisting limiting wheel arranged between the hoisting limiting switch and the hoisting block and used for changing the direction of the hoisting pull rope. A hoisting block sleeved outside the hoisting rope is arranged above the hoisting hook, and the hoisting block is arranged between the hoisting block and the hoisting hook.

10. A safety protection system for a follow-up wave compensating device according to claim 9, characterized in that When the hoisting block abuts against the hoisting block, the hoisting limiting switch feeds back information to the control system, and the hoisting winch is adjusted. The compensation pull rope is connected with the compensation block from both sides, and the hoisting pull rope is connected with the hoisting block from both sides.

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