A wave compensation device for a marine crane

Abstract

The present invention discloses a wave compensation device for a marine crane, which relates to the technical field of heavy machinery and includes a fixed housing, a turntable, a collection driving device, a passive wheel, a transmission shaft, a measuring mechanism, a detection mechanism, a guiding mechanism and a collection wheel; The present invention has the characteristics of reasonable and simple structure, low production cost and convenient installation. During the operation of the marine crane, the components of the wave compensation device work together to effectively offset the influence of waves on the hoisting operation and ensure the stability and safety of hoisting underwater objects or equipment; In the present invention, the guiding mechanism is used to guide the lifting rope and monitor its motion state, and cooperate with the measuring mechanism and the detection mechanism to accurately detect the motion of the lifting rope and related components, providing accurate data for wave compensation control to ensure the accuracy of compensation; In the present invention, the collection driving device is used to wind and collect the pulling rope when compensation is not required or after the work is completed, meeting the requirement of pulling rope retraction and facilitating the storage and management of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and particularly to a wave compensation device for a marine crane. Background Art

[0002] In recent years, the offshore operation field in China has been booming, and the operation demands such as oil and gas exploitation in deep sea areas, seabed mining, underwater robot hoisting and lowering, and seabed workstation installation have been increasing day by day. In these operation scenarios, as a key device for carrying operators to perform underwater operations, the diving chamber plays a crucial role in its stable lowering and operation.

[0003] However, the marine environment is complex and changeable, and the existence of waves has become a major problem affecting the operation stability of the diving chamber. The up-and-down fluctuation force generated by waves will be directly transmitted to the diving chamber, causing it to frequently rise and fall in the water. This not only makes it difficult for the diving chamber to maintain a stable operation position, affecting the accuracy and efficiency of underwater operations, but also makes the operators inside the chamber feel strong discomfort due to continuous jolts. Being in such an environment for a long time may even cause physical discomfort symptoms such as dizziness and nausea, seriously threatening the physical health and operation safety of the operators.

[0004] Currently, when traditional marine cranes cope with the influence of waves on hoisted objects, they lack an effective compensation mechanism and it is difficult to ensure the stable lowering and operation of underwater operation equipment such as diving chambers. Therefore, researching and developing a wave compensation device for marine cranes that can effectively offset the influence of waves is of great significance for improving the safety, stability and efficiency of offshore operations. Summary of the Invention

[0005] The purpose of the present invention is to provide a wave compensation device for a marine crane to solve the problem that traditional marine cranes lack an effective compensation mechanism and it is difficult to ensure the stable lowering and operation of underwater operation equipment.

[0006] To solve the above problems, the present invention provides a technical solution: a wave compensation device for a marine crane, including a boom and a suspension rope, further comprising a fixed housing, a turntable, a collection driving device, a passive wheel, a transmission shaft, a measuring mechanism, a detection mechanism, a guiding mechanism and a collection wheel; a fixed housing is fixedly connected to the lower side of the end of the boom; there are two turntables, and the two turntables are respectively movably connected to the front and rear positions inside the fixed housing. A transmission shaft is movably connected to the right side between the two turntables, and a collection wheel is movably connected to the left side between the two turntables; the collection driving device is fixedly connected to the outside of the rear side of the fixed housing, and the collection driving device is connected to the central shaft of the rear side of the turntable; the passive wheel is fixedly connected to the outside of the transmission shaft in the center of the inside; the upper side of the measuring mechanism is arranged inside the fixed housing, and the upper side of the measuring mechanism is connected to the passive wheel; the detection mechanism is arranged at the rear side inside the fixed housing, and the right side of the detection mechanism is connected to the rear side of the transmission shaft; the guiding mechanism is arranged inside the boom and the fixed housing, the guiding mechanism is connected to the suspension rope, and the lower side of the suspension rope is connected to the lower right side of the measuring mechanism.

[0007] Preferably, the specific structure of the guiding mechanism includes a guiding groove, a sensor I, a connecting shaft, a detection wheel and a guiding sleeve; the guiding groove is arranged inside the upper side of the boom, and the connecting shaft is movably connected to the right side of the guiding groove; the detection wheel is fixedly connected to the outside of the connecting shaft, the rear side of the connecting shaft is connected to the sensor I, and the sensor I is fixedly connected to the outside of the right rear side of the boom; the upper side of the guiding sleeve is fixedly connected to the inside of the lower right side of the guiding groove, and the lower side of the guiding sleeve is fixedly connected to the inside of the right side of the fixed housing; the right side of the suspension rope is sequentially connected to the detection wheel and the guiding sleeve.

[0008] Preferably, the sensor I is a magnetoelectric speed sensor or an optical encoder.

[0009] Preferably, the specific structure of the measuring mechanism includes a pull rope, a guide wheel I, a communication groove I, a floating block, a guide hole I, a counterweight block, a guide hole II, a communication groove II and a guide wheel II; the communication groove I and the communication groove II are respectively opened on the right side of the bottom surface of the fixed housing; there are two guide wheels I, and the two guide wheels I are respectively movably connected to both sides of the communication groove I; there are two guide wheels II, and the two guide wheels II are respectively movably connected to both sides of the communication groove II; the upper side of the pull rope is wound and connected to the outside of the passive wheel, the right side of the pull rope is fixedly connected to the center of the upper side of the floating block through the guide wheel I, the left end of the left side of the pull rope is fixedly connected to the counterweight block, and the left side of the pull rope is connected to the guide wheel II; the guide hole II and the guide hole I are respectively opened on the left and right sides of the floating block, wherein the inside of the guide hole I is movably connected to the outside of the suspension rope, and the inside of the other guide hole II is movably connected to the outside of the left side of the pull rope.

[0010] Preferably, the lower side of the counterweight block is conical.

[0011] Preferably, the specific structure of the detection mechanism includes an installation groove, a second sensor, a first pulley, a first synchronous belt, a second pulley, a second synchronous belt, and a third pulley; the installation groove is opened on the rear side inside the fixed housing, a second sensor is fixedly connected to the upper left side of the installation groove, and a first pulley is fixedly connected to the second sensor; the inner center of the second pulley is movably connected to the outer part of the central axis at the rear side of the turntable, and the second pulley is connected to the first pulley through the first synchronous belt; the inner center of the third pulley is fixedly connected to the outer part of the rear side of the transmission shaft, and the third pulley is connected to the second pulley through the second synchronous belt.

[0012] Preferably, the second sensor is a magneto-electric speed sensor or an optical encoder.

[0013] Preferably, the specific structure of the collection driving device includes a driving housing, a motor, a driving shaft, a worm gear, and a worm; the driving housing is fixedly connected to the outer part of the rear side of the fixed housing, and a motor is fixedly connected to the top of the driving housing; the worm gear is movably connected to the inside of the driving housing, and the inner center of the worm gear is fixedly connected to the central axis at the rear side of the turntable; the driving shaft is movably connected to the inside of the driving housing, the upper center of the driving shaft is fixedly connected to the lower output shaft of the motor, a worm is fixedly connected to the outer part of the lower side of the driving shaft, and the worm is connected to the worm gear.

[0014] Preferably, the motor is a servo motor or a stepper motor.

[0015] The beneficial effects of the present invention are as follows: (1) The present invention has the characteristics of reasonable and simple structure, low production cost, and convenient installation. During the operation of the marine crane, the components of the wave compensation device work together to effectively offset the influence of waves on the lifting operation, ensuring the stability and safety of lifting underwater objects or equipment.

[0016] (2) In the present invention, the guide mechanism is used to guide the lifting rope and monitor its motion state, and cooperate with the measuring mechanism and the detection mechanism to accurately detect the motion of the lifting rope and related components, providing accurate data for wave compensation control and ensuring the accuracy of compensation.

[0017] (3) In the present invention, the collection driving device is used to wind and collect the pulling rope after the compensation is not required or the work is completed, meeting the requirement of pulling rope retraction and facilitating the storage and management of the equipment. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the present invention.

[0019] Figure 2 is Figure 1 a cross-sectional view of.

[0020] Figure 3 It is a schematic structural diagram of the guide mechanism.

[0021] Figure 4 It is a schematic structural diagram of the measuring mechanism.

[0022] Figure 5 It is a schematic structural diagram of the detection mechanism.

[0023] Figure 6 It is Figure 5 side sectional view of.

[0024] Figure 7 It is a schematic structural diagram of the collection drive device.

[0025] 1 - boom; 2 - lifting rope; 3 - fixed housing; 4 - turntable; 5 - collection drive device; 6 - passive wheel; 7 - transmission shaft; 8 - measuring mechanism; 9 - detection mechanism; 10 - guiding mechanism; 11 - collection wheel; 101 - guiding groove; 102 - sensor one; 103 - connecting shaft; 104 - detection wheel; 105 - guiding sleeve; 81 - pulling rope; 82 - guide wheel one; 83 - communication groove one; 84 - floating block; 85 - guiding hole one; 86 - counterweight block; 87 - guiding hole two; 88 - communication groove two; 89 - guide wheel two; 91 - installation groove; 92 - sensor two; 93 - pulley two; 94 - synchronous belt one; 95 - pulley two; 96 - synchronous belt two; 97 - pulley three; 51 - drive housing; 52 - motor; 53 - drive shaft; 54 - worm gear; 55 - worm. Specific embodiments

[0026] As Figure 1 and Figure 2 shown, the present specific embodiment adopts the following technical solution: A wave compensation device for a marine crane, including a boom 1 and a lifting rope 2, and further including a fixed housing 3, a turntable 4, a collection drive device 5, a passive wheel 6, a transmission shaft 7, a measuring mechanism 8, a detection mechanism 9, a guiding mechanism 10 and a collection wheel 11; A fixed housing 3 is fixedly connected to the lower side of the end of the boom 1; There are two turntables 4, and the two turntables 4 are respectively movably connected to the front and rear positions inside the fixed housing 3, a transmission shaft 7 is movably connected to the right side between the two turntables 4, and a collection wheel 11 is movably connected between the left sides of the two turntables 4; The collection drive device 5 is fixedly connected to the outer side of the rear of the fixed housing 3, and the collection drive device 5 is connected to the central axis of the rear of the turntable 4; The central inner part of the passive wheel 6 is fixedly connected to the outside of the transmission shaft 7; The upper side of the measuring mechanism 8 is arranged inside the fixed housing 3, and the upper side of the measuring mechanism 8 is connected to the passive wheel 6; The detection mechanism 9 is arranged at the rear inside the fixed housing 3, and the right side of the detection mechanism 9 is connected to the rear side of the transmission shaft 7; The guiding mechanism 10 is arranged inside the boom 1 and the fixed housing 3, the guiding mechanism 10 is connected to the lifting rope 2, and the lower side of the lifting rope 2 is connected to the lower right side of the measuring mechanism 8.

[0027] As Figure 3As shown in the figure, the specific structure of the guiding mechanism 10 includes a guiding groove 101, a first sensor 102, a connecting shaft 103, a detection wheel 104, and a guiding sleeve 105. The guiding groove 101 is arranged inside the upper side of the boom 1. The connecting shaft 103 is movably connected to the right side of the guiding groove 101. The detection wheel 104 is fixedly connected to the outside of the connecting shaft 103. The rear side of the connecting shaft 103 is connected to the first sensor 102, and the first sensor 102 is fixedly connected to the outside of the right rear side of the boom 1. The upper outside of the guiding sleeve 105 is fixedly connected to the inside of the lower right side of the guiding groove 101, and the lower outside of the guiding sleeve 105 is fixedly connected to the inside of the right side of the fixed housing 3. The right side of the lifting rope 2 is sequentially connected to the detection wheel 104 and the guiding sleeve 105.

[0028] Among them, the first sensor 102 is a magnetoelectric speed sensor or an optical encoder.

[0029] As Figure 4 shown in the figure, the specific structure of the measuring mechanism 8 includes a pulling rope 81, a first guide wheel 82, a first communication groove 83, a floating block 84, a first guide hole 85, a counterweight 86, a second guide hole 87, a second communication groove 88, and a second guide wheel 89. The first communication groove 83 and the second communication groove 88 are respectively opened on the right side of the bottom surface of the fixed housing 3. There are two first guide wheels 82, and the two first guide wheels 82 are respectively movably connected to both sides of the first communication groove 83. There are two second guide wheels 89, and the two second guide wheels 89 are respectively movably connected to both sides of the second communication groove 88. The upper side of the pulling rope 81 is wound and connected to the outside of the driven wheel 6. The right side of the pulling rope 81 is fixedly connected to the center of the upper side of the floating block 84 through the first guide wheel 82. The left end of the left side of the pulling rope 81 is fixedly connected to the counterweight 86. The left side of the pulling rope 81 is connected to the second guide wheel 89. The left and right sides of the floating block 84 are respectively provided with a second guide hole 87 and a first guide hole 85. Among them, the inside of the first guide hole 85 is movably connected to the outside of the lifting rope 2, and the inside of the second guide hole 87 is movably connected to the outside of the left side of the pulling rope 81.

[0030] Among them, the lower outside of the counterweight 86 is conical.

[0031] As Figure 5 and Figure 6 shown in the figure, the specific structure of the detection mechanism 9 includes an installation groove 91, a second inductor 92, a first belt pulley 93, a first synchronous belt 94, a second belt pulley 95, a second synchronous belt 96, and a third belt pulley 97. The installation groove 91 is opened on the rear side surface inside the fixed housing 3. The second inductor 92 is fixedly connected to the upper left side of the installation groove 91, and the first belt pulley 93 is fixedly connected to the second inductor 92. The center of the second belt pulley 95 is movably connected to the outside of the central axis of the rear side of the turntable 4. The second belt pulley 95 is connected to the first belt pulley 93 through the first synchronous belt 94. The center of the third belt pulley 97 is fixedly connected to the outside of the rear side of the transmission shaft 7. The third belt pulley 97 is connected to the second belt pulley 95 through the second synchronous belt 96.

[0032] Among them, the sensor two 92 is a magnetoelectric speed sensor or an optical encoder.

[0033] Such as Figure 7 As shown, the specific structure of the collection driving device 5 includes a driving housing 51, a motor 52, a driving shaft 53, a worm gear 54 and a worm 55; the driving housing 51 is fixedly connected to the outer side of the rear side of the fixed housing 3, and the motor 52 is fixedly connected to the top of the driving housing 51; the worm gear 54 is movably connected to the inside of the driving housing 51, and the center inside the worm gear 54 is fixedly connected to the central axis of the rear side of the turntable 4; the driving shaft 53 is movably connected to the inside of the driving housing 51, the upper center of the driving shaft 53 is fixedly connected to the lower output shaft of the motor 52, and the outer side of the lower side of the driving shaft 53 is fixedly connected to the worm 55, and the worm 55 is connected to the worm gear 54.

[0034] Among them, the motor 52 is a servo motor or a stepper motor.

[0035] The usage state of the present invention is as follows: The present invention has a reasonable and simple structure, low production cost, and is easy to install. During the operation of the marine crane, the components of the wave compensation device work together to effectively offset the influence of waves on the hoisting operation. When the crane starts to work, the lifting rope 2 is used to hoist underwater objects or equipment. The lifting rope 2 passes through the guiding mechanism 10. The guiding groove 101 in the guiding mechanism 10 provides a guiding path for the lifting rope 2. The right side of the lifting rope 2 contacts the detection wheel 104, driving the detection wheel 104 to rotate around the connecting shaft 103. The sensor one 102 (magnetoelectric speed sensor or photoelectric encoder) connected to the rear side of the connecting shaft 103 converts the rotation signal of the detection wheel 104 into an electrical signal, thereby monitoring the movement state of the lifting rope 2. At the same time, the guiding sleeve 105 further guides the lifting rope 2 to ensure its stable operation. The lower side of the lifting rope 2 is connected to the lower right side of the measuring mechanism 8. The measuring mechanism 8 starts to function. The upper side of the pulling rope 81 is wound around the outside of the passive wheel 6. The right side is fixedly connected to the center of the upper side of the floating block 84 through the guide wheel one 82. The left end is connected to the counterweight block 86. When the crane rises and falls under the influence of waves, the floating block 84 will also rise and fall with the waves. Then, under the action of gravity, the counterweight block 86 will move in the opposite direction to the floating block 84. At the same time, the pulling rope 81 will cause the passive wheel 6 to rotate. The rotation of the passive wheel 6 is transmitted to the detection mechanism 9 through the transmission shaft 7. In the detection mechanism 9, the pulley three 97 is connected to the rear side of the transmission shaft 7 and is connected to the pulley two 95 through the synchronous belt two 96. The pulley two 95 is also connected to the pulley one 93 through the synchronous belt one 94. The pulley one 93 is connected to the sensor two 92 (magnetoelectric speed sensor or photoelectric encoder). The rotation of the transmission shaft 7 is transmitted sequentially through the pulleys and synchronous belts. The sensor two 92 converts the rotation signal into an electrical signal, thereby accurately detecting the rotation condition of the transmission shaft 7 and providing data for subsequent compensation control. In addition, in cooperation with the sensor one 102, it can ensure the accuracy of compensation. When no compensation is required or after the work is completed, first, the motor 52 (servo motor or stepper motor) starts, driving the drive shaft 53 to rotate. The worm 55 on the lower side of the drive shaft 53 meshes with the worm gear 54. The worm gear 54 drives the turntable 4 to rotate, and then enables the passive wheel 6 and the collecting wheel 11 to rotate around the center of the turntable 4, so that the pulling rope 81 can be wound and collected on the passive wheel 6 and the collecting wheel 11, thus meeting the need to retract the pulling rope 81 when no compensation is required or after the work is completed.

[0036] The control mode of the present invention is controlled by manual start or through existing automation technologies. The wiring diagram of the power element and the power supply provision belong to the common knowledge in the field. And the present invention mainly aims to protect mechanical devices, so the control mode and wiring layout of the present invention will not be explained in detail.

[0037] In the description of the invention, it should be understood that the orientation or positional relationship indicated by terms such as "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the invention.

[0038] In the invention, unless otherwise clearly specified and limited, terms such as "installed", "set", "connected", "fixed", "swivelly connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. Unless otherwise clearly limited, for those of ordinary skill in the art, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0039] The above shows and describes the basic principles, main features and advantages of the invention. Those skilled in the art should understand that the invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the invention. Without departing from the spirit and scope of the invention, the invention will have various changes and improvements, and these changes and improvements all fall within the scope of the invention claimed. The scope of the invention claimed is defined by the appended claims and their equivalents.

Claims

1. A wave compensation device for a marine crane, comprising a boom (1) and a lifting rope (2), characterized in that: It also includes a fixed housing (3), a turntable (4), a collection driving device (5), a passive wheel (6), a transmission shaft (7), a measuring mechanism (8), a detection mechanism (9), a guiding mechanism (10) and a collection wheel (11); The lower side of the end of the lifting arm (1) is fixedly connected with a fixed housing (3); The two turntables (4) are respectively movably connected to the front and rear positions inside the fixed housing (3). A transmission shaft (7) is movably connected to the right side between the two turntables (4), and a collection wheel (11) is movably connected to the left side between the two turntables (4); The collection driving device (5) is fixedly connected to the outside of the rear side of the fixed housing (3), and the collection driving device (5) is connected to the central axis of the rear side of the turntable (4); The inside of the center of the passive wheel (6) is fixedly connected to the outside of the transmission shaft (7); The upper side of the measuring mechanism (8) is arranged inside the fixed housing (3), and the upper side of the measuring mechanism (8) is connected to the passive wheel (6); The detection mechanism (9) is arranged at the rear side inside the fixed housing (3), and the right side of the detection mechanism (9) is connected to the rear side of the transmission shaft (7); The guiding mechanism (10) is arranged inside the lifting arm (1) and the fixed housing (3). The guiding mechanism (10) is connected to the lifting rope (2), and the lower side of the lifting rope (2) is connected to the lower right side of the measuring mechanism (8); The measuring mechanism (8) includes a pulling rope (81), a first guide wheel (82), a first communication groove (83), a floating block (84), a counterweight block (86); the first communication groove (83) is opened on the right side of the bottom surface of the fixed housing (3); the two first guide wheels (82) are respectively movably connected to both sides of the first communication groove (83); the upper side of the pulling rope (81) is wound and connected to the outside of the passive wheel (6), the right side of the pulling rope (81) is fixedly connected to the center of the upper side of the floating block (84) through the first guide wheel (82), and the left end of the pulling rope (81) is fixedly connected with a counterweight block (86); The guiding mechanism (10) includes a guiding groove (101), a first sensor (102), a connecting shaft (103), a detection wheel (104); the guiding groove (101) is arranged inside the upper side of the lifting arm (1), and the right side of the guiding groove (101) is movably connected with a connecting shaft (103); a detection wheel (104) is fixedly connected to the outside of the connecting shaft (103), and the rear side of the connecting shaft (103) is connected to the first sensor (102), and the first sensor (102) is fixedly connected to the outside of the right rear side of the lifting arm (1); The detection mechanism (9) includes an installation groove (91), a second inductor (92), a first belt pulley (93); the installation groove (91) is opened on the rear side surface inside the fixed housing (3), the second inductor (92) is fixedly connected to the upper left side of the installation groove (91), and a first belt pulley (93) is fixedly connected to the second inductor (92).

2. The wave compensation device for a marine crane according to claim 1, characterized in that: The guiding mechanism (10) further includes a guiding sleeve (105); the outside of the upper side of the guiding sleeve (105) is fixedly connected to the inside of the lower right side of the guiding groove (101), and the outside of the lower side of the guiding sleeve (105) is fixedly connected to the inside of the right side of the fixed housing (3); The right side of the lifting rope (2) is sequentially connected to the detection wheel (104) and the guiding sleeve (105).

3. The wave compensation device for a marine crane according to claim 1, characterized in that: The first sensor (102) is a magnetoelectric speed sensor or an optical encoder.

4. The wave compensation device for a marine crane according to claim 1, characterized in that: The measuring mechanism further includes a first guide hole (85), a second guide hole (87), a second communication groove (88) and a second guide wheel (89); The second communication groove (88) is formed in the right side of the bottom surface of the fixed housing (3); There are two second guide wheels (89), and the two second guide wheels (89) are respectively movably connected to both sides of the second communication groove (88); the left side of the pulling rope (81) is connected to the second guide wheel (89); The left and right sides of the floating block (84) are respectively provided with a second guide hole (87) and a first guide hole (85), wherein the inside of the first guide hole (85) is movably connected to the outside of the suspension rope (2), and the inside of the second guide hole (87) is movably connected to the outside of the left side of the pulling rope (81).

5. The wave compensation device for a marine crane according to claim 4, characterized in that: The lower side of the counterweight (86) is conical in shape.

6. The wave compensation device for a marine crane according to claim 1, characterized in that: The detection mechanism (9) further includes a first synchronous belt (94), a second belt pulley (95), a second synchronous belt (96) and a third belt pulley (97); The inside of the center of the second belt pulley (95) is movably connected to the outside of the central axis at the rear side of the turntable (4), and the second belt pulley (95) is connected to the first belt pulley (93) through the first synchronous belt (94); The inside of the center of the third belt pulley (97) is fixedly connected to the outside of the rear side of the transmission shaft (7), and the third belt pulley (97) is connected to the second belt pulley (95) through the second synchronous belt (96).

7. The wave compensation device for a marine crane according to claim 6, characterized in that: The second inductor (92) is a magnetoelectric speed sensor or an optical encoder.

8. The wave compensation device for a marine crane according to claim 1, characterized in that: The collection driving device (5) includes a driving housing (51), a motor (52), a driving shaft (53), a worm gear (54) and a worm (55); The driving housing (51) is fixedly connected to the outside of the rear side of the fixed housing (3), and the motor (52) is fixedly connected to the top of the driving housing (51); The outside of the worm gear (54) is movably connected to the inside of the driving housing (51), and the inside of the center of the worm gear (54) is fixedly connected to the central axis at the rear side of the turntable (4); The driving shaft (53) is movably connected to the inside of the driving housing (51), the center of the upper side of the driving shaft (53) is fixedly connected to the output shaft of the lower side of the motor (52), and the outside of the lower side of the driving shaft (53) is fixedly connected to the worm (55), and the worm (55) is connected to the worm gear (54).

9. The wave compensation device of the marine crane according to claim 8, characterized in that: The motor (52) is a servo motor or a stepper motor.

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