Ship swinging system and control method

Abstract

The invention relates to a ship swing system and a control method.The system comprises a driving assembly and balance weight force application mechanisms on the two sides of the driving assembly, the driving assembly comprises a speed reducer, a motor and a winding drum, and each balance weight force application mechanism comprises a fixed pulley assembly, a pulley assembly, a steering pulley assembly, a speed reduction steel wire rope and a steering steel wire rope; the fixed pulley assembly comprises a guide fixed pulley and a plurality of speed reduction fixed pulleys, the tackle assembly comprises a guide seat, a tackle and a plurality of speed reduction movable pulleys, and the steering pulley assembly comprises a steering fixed pulley. One end of a steering steel wire rope is connected with the pulley, and the other end of the steering steel wire rope is connected with a balancing weight sequentially through a chain block and a switching steel wire rope after bypassing a steering fixed pulley; the device has the advantages of being simple in structure, convenient to adjust and high in adaptability, and the method has the advantages of being simple in process and high in working efficiency.

Description

Technical Field

[0001] The invention relates to a swaying device, in particular to a system for swaying a ship at a certain angle through motor driving, and a control method of the system. Background Art

[0002] In the aerospace field, recycling launch vehicles after launch has become a new technological development trend. If the rocket is recovered at sea, it needs to land on a ship, and the ship will sway under the action of waves, which has an adverse effect on the safe landing of the rocket. In order to verify the landing function of the rocket under the swaying state of the ship, it is necessary to make the ship sway at a set angle, but there is currently no technology or equipment in this field that can make the ship sway as required. Summary of the invention

[0003] The purpose of the present invention is to provide a ship swaying system and a control method. The system has the advantages of simple structure, convenient adjustment, strong adaptability and high reliability. The method has the advantages of simple process, convenient operation and high work efficiency.

[0004] In order to solve the problems existing in the prior art, the present invention provides a ship rocking system, including a driving assembly, and a counterweight force application mechanism is respectively arranged on both sides of the driving assembly, the driving assembly includes a reducer fixed on the ship deck, the input end of the reducer is connected to a motor, and the output end of the reducer is connected to a drum, the counterweight force application mechanism includes a fixed pulley assembly, a pulley assembly, a steering pulley assembly, a deceleration wire rope, a steering wire rope, a hand winch, a switching wire rope and a counterweight block, the fixed pulley assembly includes a single wheel frame and a multi-wheel frame fixed on the ship deck, a guide fixed pulley is installed on the single wheel frame through a bearing, and a plurality of deceleration fixed pulleys are installed side by side on the multi-wheel frame through bearings, and the pulley assembly includes a guide seat fixed on the ship deck A pulley is provided on the guide seat to slide with it, and a plurality of reduction movable pulleys are installed side by side on the pulley through bearings. The steering pulley assembly includes a steering wheel frame fixed at the edge of the ship deck, and a steering fixed pulley is installed on the steering wheel frame through a bearing. One end of the reduction wire rope is fixed to the drum, and the other end of the reduction wire rope passes around the guide fixed pulley and is connected to the ship deck after being wound back and forth in sequence between the plurality of reduction fixed pulleys and the plurality of reduction movable pulleys. One end of the steering wire rope is connected to the pulley, and the other end of the steering wire rope passes around the steering fixed pulley and is connected to the counterweight block in sequence through a hand winch and a transfer wire rope. The counterweight block is supported on the seabed and the reduction wire rope, the steering wire rope, the hand winch and the transfer wire rope are in a tensioned state.

[0005] Furthermore, the present invention provides a ship rocking system, wherein the guide seat includes a support and two supporting rails and two limit baffles fixed on the support, the pulley is arranged between the two limit baffles, the pulley includes a frame and four supporting wheels, four guide wheels and a supporting shaft installed on the frame, the four supporting wheels are symmetrically distributed on both sides of the frame and are respectively supported on the supporting rails at corresponding positions, the four guide wheels are also symmetrically distributed on both sides of the frame and are respectively supported on the limit baffles at corresponding positions, and the multiple reduction movable pulleys are respectively installed side by side on the support shaft through bearings.

[0006] Furthermore, the present invention provides a ship swaying system, wherein the reducer and the motor are respectively provided with two and symmetrically distributed at the two ends of the drum, the input end of the reducer and the output shaft of the motor are connected through a brake, and the two ends of the drum are respectively provided with a switching shaft, which is connected to the output end of the reducer at the corresponding position through a coupling.

[0007] Furthermore, the present invention provides a ship rocking system, wherein shaft seats are respectively sleeved on the adapter shafts at both ends of the drum, the shaft seats are fixed on the ship deck through adapter brackets, and the motor and the brake are also respectively fixed on the ship deck.

[0008] Furthermore, the present invention provides a ship swaying system, wherein a first mounting seat corresponding to the driving assembly is fixed on the ship deck, and the reducer, the motor, the brake and the adapter bracket are respectively fixed on the first mounting seat.

[0009] Furthermore, the present invention provides a ship swaying system, wherein a second mounting seat corresponding to the fixed pulley assembly is fixed on the ship deck, the single-wheel frame and the multi-wheel frame are fixed on the second mounting seat, and the deceleration wire rope is hinged to the second mounting seat through a first basket bolt.

[0010] Furthermore, the present invention provides a ship rocking system, wherein a third mounting seat corresponding to the pulley assembly is fixed on the ship deck, and the guide seat is fixed on the third mounting seat.

[0011] Furthermore, the present invention provides a ship rocking system, wherein a fourth mounting seat corresponding to the steering pulley assembly is fixed on the ship deck, and the steering wheel frame is fixed on the fourth mounting seat.

[0012] Furthermore, the present invention provides a ship rocking system, wherein a second turnbuckle is hinged on the pulley, and the steering wire rope is connected to the pulley via the second turnbuckle.

[0013] Based on the same concept, the present invention also provides a control method for the above-mentioned ship swaying system, comprising the following steps:

[0014] S1. The length of the hand chain hoist is adjusted so that the counterweight block of the counterweight force application mechanism is supported on the seabed, and the deceleration wire rope, the steering wire rope, the hand chain hoist and the transfer wire rope are in a tensioned state;

[0015] S2, starting the motor of the driving assembly and making the motor speed run according to a sine curve, and the periodic driving torque output by the motor is transmitted to the reel through the reducer and the coupling;

[0016] S3, the drum rotates periodically according to the sine curve, and the drum outputs periodic pulling load to the counterweight force application mechanism on both sides through the deceleration wire rope, fixed pulley assembly and pulley assembly, and is transmitted to the counterweight block through the steering wire rope, hand hoist and transfer wire rope in turn;

[0017] S4. Under the reverse pulling of the counterweights on both sides, the periodic pulling load output by the drum acts alternately on both sides of the ship. When one side of the ship is subjected to the pulling load, the ship tilts toward that side, and the deceleration wire rope of the counterweight force-applying mechanism on that side is continuously retracted and wound around the drum as the drum rotates, while the deceleration wire rope of the counterweight force-applying mechanism on the other side is continuously released as the drum rotates;

[0018] S5. After the ship is stably swayed under the periodic pulling load, the swaying angle of the ship is increased by gradually increasing the amplitude of the sinusoidal curve of the motor speed.

[0019] Compared with the prior art, the ship swaying system and control method of the present invention have the following advantages: the present invention sets a driving component and sets a counterweight force application mechanism on both sides of the driving component, wherein the driving component includes a reducer fixed on the ship deck, the input end of the reducer is connected to a motor, and the output end of the reducer is connected to a drum, so that the counterweight force application mechanism is provided with a fixed pulley assembly, a pulley assembly, a steering pulley assembly, a deceleration wire rope, a steering wire rope, a hand winch, a switching wire rope and a counterweight block, and the fixed pulley assembly is provided with a single wheel frame and a multi-wheel frame fixed on the ship deck, a guide fixed pulley is installed on the single wheel frame through a bearing, and multiple deceleration fixed pulleys are installed side by side on the multi-wheel frame through bearings, and the pulley assembly is provided with a guide fixed pulley fixed on the ship deck. A guide seat is provided on the guide seat, and a pulley which is slidably matched with the guide seat is provided, and a plurality of reduction movable pulleys are installed side by side on the pulley through bearings, and the steering pulley assembly is provided on a steering wheel frame fixed at the edge of the ship deck, and a steering fixed pulley is installed on the steering wheel frame through a bearing, and one end of the reduction wire rope is fixed on the drum, and the other end of the reduction wire rope is made to bypass the guide fixed pulley and be connected to the ship deck after being wound back and forth in sequence between the plurality of reduction fixed pulleys and the plurality of reduction movable pulleys, and one end of the steering wire rope is connected to the pulley, and the other end of the steering wire rope is made to bypass the steering fixed pulley and then be connected to the counterweight block through a hand winch and a transfer wire rope in sequence, so that the counterweight block is supported on the seabed and the reduction wire rope, the steering wire rope, the hand winch and the transfer wire rope are in a tensioned state. The result is a ship swaying system with a simple structure, convenient adjustment, strong adaptability and high reliability. In practical applications, the motor speed of the driving component runs according to a sinusoidal curve, and the periodic driving torque output by the motor will be transmitted to the drum through the reducer; the drum will rotate periodically according to the sinusoidal curve, and will output a periodic pulling load to the counterweight force application mechanism on both sides through the reduction wire rope, the fixed pulley assembly and the pulley assembly, and will be transmitted to the counterweight block in turn through the steering wire rope, the hand winch and the transfer wire rope; under the reverse pulling of the counterweight blocks on both sides, the periodic pulling load output by the drum will act alternately on both sides of the ship. When one side is subjected to a pulling load, the ship will tilt to that side, and the deceleration wire rope of the counterweight force applying mechanism on that side will be continuously reeled in and wound around the drum as the drum rotates, while the deceleration wire rope of the counterweight force applying mechanism on the other side will be continuously released as the drum rotates, to ensure that the deceleration wire ropes, steering wire ropes, hand winches and transfer wire ropes of the counterweight force applying mechanisms on both sides always remain in a tensioned state during the operation of the system; when the ship sways stably under the action of periodic pulling loads, the swaying angle of the ship will be increased by gradually increasing the amplitude of the sinusoidal curve of the motor speed, thereby achieving the technical purpose of making the ship sway according to the set period and angle.The present invention provides a stable and controllable driving load by arranging a driving component. By arranging a fixed pulley assembly, a pulley assembly and a deceleration wire rope, the deceleration wire rope is used to wind back and forth between multiple deceleration fixed pulleys and multiple deceleration movable pulleys to achieve the purpose of deceleration. The deceleration will greatly amplify the driving load to obtain the required pulling load, thereby reducing the motor power and equipment cost investment. By arranging a steering wire rope, a hand winch and a switching wire rope, on the basis of ensuring the steering transmission of the pulling load, the hand winch can be used to conveniently and quickly adjust the overall length so that the counterweight block is supported on the seabed, thereby improving the adaptability to changes in tidal height.

[0020] A ship swaying system and control method of the present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a ship rocking system of the present invention;

[0022] Figure 2 It is a left side view of the driving assembly in the present invention;

[0023] Figure 3 It is a front view of the fixed pulley assembly of the present invention;

[0024] Figure 4 is a top view of the fixed pulley assembly of the present invention;

[0025] Figure 5 It is a front view of the pulley assembly of the present invention;

[0026] Figure 6 is a top view of the pulley assembly of the present invention;

[0027] Figure 7 It is a front view of the pulley in the present invention;

[0028] Figure 8 is a top view of the pulley in the present invention;

[0029] Fig. 9 It is a front view of the diverting pulley assembly in the present invention. DETAILED DESCRIPTION

[0030] First of all, it should be explained that the directional words such as up, down, left, right, front and back described in the present invention are only described according to the drawings for the convenience of understanding, and are not intended to limit the technical solution and the scope of protection of the present invention.

[0031] like Figures 1 to 9The specific embodiment of a ship swaying system of the present invention includes a driving assembly 1, and a counterweight force application mechanism is respectively provided on both sides of the driving assembly 1. The driving assembly 1 is provided with a reducer 11 fixed on the ship deck, and the input end of the reducer 11 is connected to a motor 12 to provide driving force, and the output end of the reducer 11 is connected to a drum 13 to facilitate the connection of a wire rope. The counterweight force-applying mechanism is provided with a fixed pulley assembly 2, a pulley assembly 3, a steering pulley assembly 4, a reduction wire rope 5, a steering wire rope 6, a hand winch 7, a switching wire rope 8 and a counterweight block 9, wherein the fixed pulley assembly 2 comprises a single-wheel frame 21 and a multi-wheel frame 22 fixed on the ship deck, a guide fixed pulley 23 is mounted on the single-wheel frame 21 through a bearing, and a plurality of reduction fixed pulleys 24 are mounted side by side on the multi-wheel frame 22 through bearings; the pulley assembly 3 comprises a guide seat 31 fixed on the ship deck, a pulley 32 slidably matched with the guide seat 31 is provided on the guide seat 31, and a plurality of reduction movable pulleys 33 are mounted side by side on the pulley 32 through bearings; the steering pulley assembly 4 comprises a steering wheel frame 41 fixed at the edge of the ship deck, and a steering fixed pulley 42 is mounted on the steering wheel frame 41 through bearings. One end of the deceleration wire rope 5 is fixed on the drum 13, the other end of the deceleration wire rope 5 is passed around the guide fixed pulley 23 and is connected to the ship deck after being wound back and forth in sequence between multiple deceleration fixed pulleys 24 and multiple deceleration movable pulleys 33, one end of the steering wire rope 6 is connected to the pulley 32, the other end of the steering wire rope 6 is passed around the steering fixed pulley 42 and is connected to the counterweight 9 in sequence through the hand winch 7 and the transfer wire rope 8, the counterweight 9 is supported on the seabed and the deceleration wire rope 5, the steering wire rope 6, the hand winch 7 and the transfer wire rope 8 are in a tensioned state.

[0032] The above arrangement constitutes a ship swaying system with simple structure, convenient adjustment, strong adaptability and high reliability. In practical application, the motor 12 of the driving assembly 1 is operated at a speed according to a sine curve, and the periodic driving torque output by the motor 12 is transmitted to the drum 13 through the reducer 11; the drum 13 rotates periodically according to the sine curve, and outputs a periodic pulling load to the counterweight force application mechanism on both sides through the reduction wire rope 5, the fixed pulley assembly 2 and the pulley assembly 3, and is successively transmitted to the counterweight block 9 through the steering wire rope 6, the hand winch 7 and the transfer wire rope 8; under the reverse pulling of the counterweight blocks 9 on both sides, the periodic pulling load output by the drum 13 acts alternately on both sides of the ship. When one side of the ship is subjected to the pulling load, The ship will tilt to that side, and the deceleration wire rope 5 of the counterweight force applying mechanism on that side will be continuously reeled in and wound around the drum 13 as the drum 13 rotates, while the deceleration wire rope 5 of the counterweight force applying mechanism on the other side will be continuously released as the drum 15 rotates, to ensure that the deceleration wire rope 5, steering wire rope 6, hand winch 7 and transfer wire rope 8 of the counterweight force applying mechanisms on both sides are always kept in a tensioned state during the operation of the system to prevent entanglement caused by the loosening of the above components, thereby ensuring structural stability and system reliability; when the ship sways stably under the action of periodic pulling load, the swaying angle of the ship will be increased by gradually increasing the amplitude of the sinusoidal curve of the motor 12 speed, thereby achieving the technical purpose of making the ship sway according to the set period and angle. The present invention provides a stable and controllable driving load by setting a driving component 1, and by setting a fixed pulley component 2, a pulley component 3 and a deceleration wire rope 5, the deceleration wire rope 5 is used to wind back and forth between multiple deceleration fixed pulleys 24 and multiple deceleration movable pulleys 33 to achieve the purpose of deceleration. The deceleration will greatly amplify the driving load to obtain the required pulling load, reducing the motor power and equipment cost investment. By setting a steering wire rope 6, a hand winch 7 and a switching wire rope 8, on the basis of ensuring the steering transmission of the pulling load, the hand winch 7 can be used to easily and quickly adjust the overall length so that the counterweight block 9 is supported on the seabed, thereby improving the adaptability to changes in tidal height. It should be noted that Figure 1 The reference numerals 100, 200 and 300 in the figure represent the ship, the seabed and the water level line respectively; the driving load in this article refers to the driving torque output by the motor rotation, and the pulling load refers to the pulling force on the counterweight block after the driving load is amplified. In order to ensure the stable and reliable operation of the system, the deceleration wire rope 5 of the counterweight force mechanism on both sides of the drum 13 should be wound in the following way: during the rotation of the drum 13, the deceleration wire rope 5 of the counterweight force mechanism on one side will be continuously wound on the drum 13, while the deceleration wire rope 5 of the counterweight force mechanism on the other side should be continuously released from the drum 13 to ensure that the counterweight blocks 9 of the counterweight force mechanisms on both sides are always supported on the seabed.

[0033] As an optimization solution, this specific implementation method allows the guide seat 31 and the pulley 32 to adopt the following structure: a support 311 is set on the guide seat 31, and two support rails 312 and two limit baffles 313 are fixed on the support 311, wherein the two limit baffles 313 are correspondingly located at the outer positions of the two support rails 312; the pulley 32 is set between the two limit baffles 313, and a frame 321 is set on the pulley 32, and a support shaft 324, four support wheels 322 and four guide wheels 323 are installed on the frame 321, wherein the four support wheels 322 are symmetrically distributed on both sides of the frame 321 and are respectively supported on the support rails 312 at corresponding positions, and the four guide wheels 323 are also symmetrically distributed on both sides of the frame 321 and are respectively supported on the limit baffles 313 at corresponding positions, and multiple reduction movable pulleys 33 are respectively installed side by side on the support shaft 324 through bearings. The pulley assembly 3, the guide seat 31 and the pulley 32 of this arrangement have the characteristics of compact structure, smooth movement, safety and reliability. As an optimization scheme, this specific embodiment provides two reducers 11 and motors 12 respectively and symmetrically distributes them at both ends of the drum 13 to enhance the driving force and structural stability. As a specific way of connecting the reducer 11 and the motor 12, this specific embodiment connects the input end of the reducer 11 and the output shaft of the motor 12 through the brake 14, so that the drum 13 can be quickly stopped by the brake 14 when necessary. In practical applications, in order to improve structural stability, the present invention allows the motor 12 and the brake 14 to be fixed on the deck of the ship respectively. To facilitate disassembly and assembly, the present specific embodiment further provides adapter shafts 131 at both ends of the drum 13, and connects the adapter shaft 131 to the output end of the reducer 11 at the corresponding position through a coupling 15; at the same time, the present specific embodiment provides shaft seats 16 on the adapter shafts 131 at both ends of the drum 13, and fixes the shaft seats 16 on the ship deck through adapter brackets 161, thereby forming a stable support for the drum 13 and enhancing the structural stability.

[0034] As a specific implementation, in order to facilitate the structural layout and installation of the entire assembly, the present invention fixes a first mounting seat 17, a second mounting seat 25, a third mounting seat 34 and a fourth mounting seat 43 on the ship deck, wherein the position of the first mounting seat 17 corresponds to the drive assembly 1, and the reducer 11, the motor 12, the brake 14 and the adapter bracket 161 are respectively fixed on the first mounting seat 17; the position of the second mounting seat 25 corresponds to the fixed pulley assembly 2, and the single wheel frame 21 and the multi-wheel frame 22 are fixed on the second mounting seat 25; the position of the third mounting seat 34 corresponds to the pulley assembly 3, and the guide seat 31 is fixed on the third mounting seat 34; the position of the fourth mounting seat 43 corresponds to the steering pulley assembly 4, and the steering wheel frame 41 is fixed on the fourth mounting seat 43. To facilitate connection and adjustment, the present embodiment further provides a first flower basket bolt 51 and a second flower basket bolt 35, wherein the first flower basket bolt 51 is arranged at one end of the deceleration wire rope 5 and is hinged to the second mounting seat 25, thereby the positions of the deceleration wire rope 5 and the pulley 32 can be adjusted by the first flower basket bolt 51, and the indirect connection between the deceleration wire rope 5 and the ship deck is realized by the first flower basket bolt 51 and the second mounting seat 25; the second flower basket bolt 35 is hinged to the pulley 32 through a pin shaft and is connected to the steering wire rope 6, thereby the steering wire rope 6 can be adjusted by the second flower basket bolt 35.

[0035] Practical application shows that the ship swaying system provided by the present invention can produce the following beneficial effects: a) it can realize the periodic swaying motion of the ship on the sea surface through motor drive, and provide a ship swaying motion environment for rocket offshore recovery or other similar tests; b) through the coordination of the reducer and the reduction wire rope with the reduction fixed pulley group and the reduction movable pulley group, the motor driving torque required to drive the ship to sway is reduced; d) the length is adjusted by the hand winch, and the adaptability to tidal changes is improved.

[0036] Based on the same concept, the present invention also provides a method for controlling a ship swaying system, comprising the following steps:

[0037] S1. The length of the hand chain hoist 7 is adjusted so that the counterweight block 9 of the counterweight force application mechanism is supported on the seabed, and the deceleration wire rope 5, the steering wire rope 6, the hand chain hoist 7 and the transfer wire rope 8 are in a tensioned state. This step can ensure that the wire ropes and hand chain hoists will not be entangled or out of position due to relaxation during the operation of the system.

[0038] S2, start the motor 12 of the driving assembly 1, and make the motor 12 run at a speed according to a sine curve. The periodic driving torque output by the motor 12 is transmitted to the reel 13 through the reducer 11 and the coupling 15.

[0039] S3, the drum 13 rotates periodically according to a sine curve, and the drum 13 outputs a periodic pulling load to the counterweight force application mechanism on both sides through the deceleration wire rope 5, the fixed pulley assembly 2 and the pulley assembly 3, and is transferred to the counterweight block 9 through the steering wire rope 6, the hand hoist 7 and the transfer wire rope 8 in turn.

[0040] S4. Under the reverse pulling of the counterweight blocks 9 on both sides, the periodic pulling load output by the drum 13 acts alternately on the two sides of the ship. When one side of the ship is subjected to the pulling load, the ship tilts toward that side, and the deceleration wire rope 5 of the counterweight force applying mechanism on that side is continuously retracted and wound around the drum 13 as the drum 13 rotates, while the deceleration wire rope 5 of the counterweight force applying mechanism on the other side is continuously released as the drum 13 rotates.

[0041] S5. After the ship is stably swayed under the periodic pulling load, the swaying angle of the ship is increased by gradually increasing the amplitude of the sinusoidal curve of the speed of the motor 12.

[0042] The control method of the ship swaying system provided by the present invention has the advantages of simple process, convenient operation and high working efficiency.

[0043] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the protection scope of the present invention. Without departing from the design concept of the present invention, various modifications made by those skilled in the art based on the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A ship swaying system, characterized in that: The invention comprises a driving assembly (1), wherein two sides of the driving assembly (1) are respectively provided with a counterweight force applying mechanism, the driving assembly (1) comprises a reducer (11) fixed on a ship deck, the input end of the reducer (11) is connected to a motor (12), and the output end of the reducer (11) is connected to a drum (13), the counterweight force applying mechanism comprises a fixed pulley assembly (2), a pulley assembly (3), a steering pulley assembly (4), a deceleration wire rope (5), a deflection wire rope (6), a hand chain hoist (7), a switching wire rope (8) and a counterweight block (9), the fixed pulley assembly (2) comprises a single wheel frame (21) and a multi-wheel frame (22) fixed on the ship deck, a guide fixed pulley (23) is installed on the single wheel frame (21) through a bearing, and a plurality of deceleration fixed pulleys (24) are installed side by side on the multi-wheel frame (22) through bearings, the pulley assembly (3) comprises a guide seat (31) fixed on the ship deck, and the guide seat (31) is provided with a sliding counterweight (24) connected thereto. The pulley (32) is combined with the pulley (32), and a plurality of reduction movable pulleys (33) are installed side by side on the pulley (32) through bearings. The steering pulley assembly (4) comprises a steering wheel frame (41) fixed at the edge of the ship deck, and a steering fixed pulley (42) is installed on the steering wheel frame (41) through bearings. One end of the reduction wire rope (5) is fixed on the drum (13), and the other end of the reduction wire rope (5) is passed around the guide fixed pulley (23) and is rotated between the plurality of reduction fixed pulleys (24) and the plurality of The deceleration movable pulleys (33) are connected to the ship deck after being wound back and forth in sequence, one end of the steering wire rope (6) is connected to the pulley (32), and the other end of the steering wire rope (6) is connected to the counterweight block (9) through the hand chain hoist (7) and the transfer wire rope (8) after passing the steering fixed pulley (42). The counterweight block (9) is supported on the seabed and keeps the deceleration wire rope (5), the steering wire rope (6), the hand chain hoist (7) and the transfer wire rope (8) in a tensioned state.

2. A ship rocking system according to claim 1, characterized in that: The guide seat (31) comprises a support (311) and two support rails (312) and two limit baffles (313) fixed on the support (311); the pulley (32) is arranged between the two limit baffles (313); the pulley (32) comprises a frame (321) and four support wheels (322), four guide wheels (323) and a support shaft (324) installed on the frame (321); the four support wheels (322) are symmetrically distributed on both sides of the frame (321) and are respectively supported on the support rails (312) at corresponding positions; the four guide wheels (323) are also symmetrically distributed on both sides of the frame (321) and are respectively supported on the limit baffles (313) at corresponding positions; the multiple reduction movable pulleys (33) are respectively installed side by side on the support shaft (324) through bearings.

3. A ship rocking system according to claim 2, characterized in that: The reducer (11) and the motor (12) are respectively provided with two and symmetrically distributed at the two ends of the reel (13); the input end of the reducer (11) and the output shaft of the motor (12) are connected via a brake (14); and the two ends of the reel (13) are respectively provided with a transfer shaft (131); the transfer shaft (131) is connected to the output end of the reducer (11) at the corresponding position via a coupling (15).

4. A ship rocking system according to claim 3, characterized in that: The adapter shafts (131) at both ends of the reel (13) are respectively sleeved with shaft seats (16); the shaft seats (16) are fixed on the ship deck via an adapter bracket (161); and the motor (12) and the brake (14) are also respectively fixed on the ship deck.

5. A ship rocking system according to claim 4, characterized in that: A first mounting seat (17) corresponding to the drive assembly (1) is fixed on the ship deck, and the reducer (11), the motor (12), the brake (14) and the adapter bracket (161) are respectively fixed on the first mounting seat (17).

6. A ship rocking system according to claim 4, characterized in that: A second mounting seat (25) corresponding to the fixed pulley assembly (2) is fixed on the ship deck, the single wheel frame (21) and the multi-wheel frame (22) are fixed on the second mounting seat (25), and the deceleration wire rope (5) is hinged to the second mounting seat (25) via a first basket bolt (51).

7. A ship rocking system according to claim 4, characterized in that: A third mounting seat (34) corresponding to the pulley assembly (3) is fixed on the ship deck, and the guide seat (31) is fixed on the third mounting seat (34).

8. A ship rocking system according to claim 4, characterized in that: A fourth mounting seat (43) corresponding to the steering pulley assembly (4) is fixed on the ship deck, and the steering wheel frame (41) is fixed on the fourth mounting seat (43).

9. A ship rocking system according to claim 4, characterized in that: A second turnbuckle bolt (35) is hinged on the pulley (32), and the steering wire rope (6) is connected to the pulley (32) via the second turnbuckle bolt (35).

10. A method for controlling a ship swaying system according to claim 4, characterized in that: The following steps are involved: S1. The length of the hand chain hoist (7) is adjusted so that the counterweight block (9) of the counterweight force application mechanism is supported on the seabed, and the deceleration wire rope (5), the steering wire rope (6), the hand chain hoist (7) and the transfer wire rope (8) are in a tensioned state; S2, starting the motor (12) of the driving assembly (1), and making the motor (12) run at a speed according to a sine curve, and transmitting the periodic driving torque output by the motor (12) to the reel (13) through the reducer (11) and the coupling (15); S3, the drum (13) rotates periodically according to a sine curve, and the drum (13) outputs a periodic pulling load to the counterweight force application mechanism on both sides through the deceleration wire rope (5), the fixed pulley assembly (2) and the pulley assembly (3), and transmits the periodic pulling load to the counterweight block (9) through the steering wire rope (6), the hand chain hoist (7) and the transfer wire rope (8) in turn; S4. Under the reverse pulling of the counterweight blocks (9) on both sides, the periodic pulling load output by the drum (13) acts alternately on both sides of the ship. When one side of the ship is subjected to the pulling load, the ship tilts toward that side. The deceleration wire rope (5) of the counterweight force applying mechanism on that side is continuously retracted and wound around the drum (13) as the drum (13) rotates, while the deceleration wire rope (5) of the counterweight force applying mechanism on the other side is continuously released as the drum (13) rotates. S5. After the ship is stably swayed under the action of the periodic pulling load, the swaying angle of the ship is increased by gradually increasing the amplitude of the sinusoidal curve of the motor (12) speed.

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