Marine folding arm telescopic crane with magneto-rheological motion compensation platform and working method of marine folding arm telescopic crane

Abstract

The invention provides a marine folding arm telescopic crane with a magnetorheological motion compensation platform and a working method thereof.The marine folding arm telescopic crane comprises a folding arm telescopic crane and a compensation mechanism, the compensation mechanism comprises an adjusting mechanism, a motion compensation platform, a hanging scaffold and a hoisting weight, and the motion compensation platform is connected with an arm head of the folding arm telescopic crane through the adjusting mechanism; the adjusting mechanism is used for controlling the posture and position of the motion compensation platform, a lifting rope is connected to an arm head of the folding arm telescopic crane and penetrates through the lower end of the motion compensation platform to be connected with the hanging scaffold, the hoisting weight is connected to the hanging scaffold, and the motion compensation platform comprises a magnetorheological damper and a swing angle sensor which are electrically connected. The swing angle sensor is used for measuring the swing angle of the hoisting weight, and the magneto-rheological damper is used for outputting damping force, reducing the swing amplitude of the hoisting weight and achieving swing reduction. The device is simple in structure, low in manufacturing cost, lower in maintenance cost, low in energy consumption and convenient to fold and unfold, and the working space is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of shipbuilding, and more particularly, to a marine folding boom telescopic crane with a magnetorheological motion compensation platform and its working method. Background Art

[0002] With the development of ocean exploitation towards the deep sea, the requirements for marine equipment are gradually increasing. In the fields of offshore wind power, deployment and recovery of ocean submersibles, and offshore cargo transfer, marine cranes play an important role. However, affected by the external sea conditions, the suspended load will swing during the operation of the crane, which will damage the marine equipment and even threaten the personal safety of the operators in severe cases. Therefore, a special anti-sway device is needed to ensure the working safety of the staff during work and improve the working efficiency of the crane.

[0003] The anti-sway device of the offshore crane is mainly realized through a hydraulic system, and the active compensation during hoisting and lowering is achieved through a hydraulic cylinder. However, when using a hydraulic system to control the anti-sway device, it is necessary to arrange a hydraulic station and a large number of pipelines, which have a high space occupancy rate and complex operation. Therefore, a marine folding boom telescopic crane anti-sway system with a simpler and more suitable structure is needed. Summary of the Invention

[0004] In view of the above-mentioned technical problems, a marine folding boom telescopic crane with a magnetorheological motion compensation platform and its working method are provided. The present invention mainly combines a folding boom telescopic crane with an anti-sway device, designs the anti-sway work process of the folding boom telescopic crane, and applies a magnetorheological damper to the anti-sway device. When the suspended load swings, the magnetorheological damper in the motion compensation platform can be used to suppress the swing of the suspended load, thereby realizing anti-sway of the folding boom telescopic crane. This anti-sway system applicable to the folding boom telescopic crane is an anti-sway solution with low energy consumption, convenient retraction and extension, and good effect for the folding boom telescopic crane.

[0005] The technical means adopted by the present invention are as follows:

[0006] A marine folding boom telescopic crane with a magnetorheological motion compensation platform includes: a folding boom telescopic crane and a compensation mechanism connected to the boom head of the folding boom telescopic crane. The compensation mechanism includes an adjustment mechanism, a motion compensation platform, a hanging plate, and a suspended load. The motion compensation platform is connected to the boom head of the folding boom telescopic crane through the adjustment mechanism. The adjustment mechanism is used to control the attitude and position of the motion compensation platform. A suspension rope is connected to the boom head of the folding boom telescopic crane. The suspension rope passes through the lower end of the motion compensation platform and is connected to the hanging plate. The suspended load is connected to the hanging plate. The motion compensation platform includes a magnetorheological damper and a swing angle sensor that are electrically connected. The swing angle sensor is used to measure the swing angle of the suspended load. The magnetorheological damper is used to output a damping force to reduce the swing amplitude of the suspended load and achieve anti-sway.

[0007] Further, the motion compensation platform further includes a stationary platform, an intermediate connecting rod, a moving platform, and a telescopic sleeve. The adjustment mechanism is connected to the stationary platform, the swing angle sensor is installed on the moving platform, there are multiple magnetorheological dampers, and the multiple magnetorheological dampers and the intermediate connecting rod are both connected between the stationary platform and the moving platform. Two ends of the magnetorheological damper are respectively hinged to the stationary platform and the moving platform, and the telescopic sleeve is fixed to the bottom of the moving platform and connected to the suspension tray.

[0008] Further, the adjustment mechanism includes a stable connection mechanism, a sliding table, an intermediate connector, a platform pitching electric cylinder, and a safety beam. The stable connection mechanism is fixedly connected to the folding boom telescopic crane arm head, the sliding table is connected to the stable connection mechanism, the intermediate connector is slidably connected to the sliding table, one end of the platform pitching electric cylinder is hingedly connected to the intermediate connector, and the other end is hingedly connected to the stationary platform of the motion compensation platform; the safety beam is fixed on the stationary platform and hingedly connected to the intermediate connector.

[0009] Further, the intermediate connecting rod is connected to the middle parts of the stationary platform and the moving platform, and the multiple magnetorheological dampers are circumferentially distributed around the intermediate connecting rod.

[0010] Further, one end of the magnetorheological damper is hinged to the stationary platform through a Hooke joint, and the other end is hinged to the moving platform through a Hooke joint; one end of the intermediate connecting rod is connected to the stationary platform through a ball joint, and the other end is fixedly connected to the moving platform.

[0011] Further, the stationary platform, the intermediate connecting rod, the ball joint, the moving platform, and the safety beam of the adjustment mechanism are provided with openings for passing the suspension rope. The suspension rope passes through the openings of the safety beam, the stationary platform, the ball joint, the intermediate connecting rod, and the moving platform from the boom head pulley and is connected to the suspension tray.

[0012] Further, reinforcing ribs are provided on both sides of the safety beam.

[0013] Further, the stable connection mechanism is a hole plate structure welded to the boom head of the folding boom telescopic crane; the sliding table is fixedly connected to the stable connection mechanism through bolts, the intermediate connector is fixedly connected to the slider of the sliding table through bolts, and the slider is slidably connected to the sliding table.

[0014] Furthermore, the folding boom telescopic crane consists of a base, a first folding boom, a second folding boom, a third folding boom, a first telescopic boom, a second telescopic boom, a first hydraulic cylinder and a second hydraulic cylinder. The first folding boom is installed on the base. The first folding boom, the second folding boom and the third folding boom are sequentially rotatably connected. The two ends of the first hydraulic cylinder are respectively hinged to the first folding boom and the second folding boom. The two ends of the second hydraulic cylinder are respectively hinged to the second folding boom and the third folding boom. At one end of the third folding boom away from the second folding boom, there are a connected first telescopic boom and a second telescopic boom. The stable connection mechanism of the adjustment mechanism is connected to the top of the second telescopic boom.

[0015] The present invention also provides a working method for a marine folding boom telescopic crane with a magnetorheological motion compensation platform, including the following steps:

[0016] When the folding boom telescopic crane is not working, it is in a folded state. The second folding boom rotates backward under the drive of the first hydraulic cylinder. The third folding boom extends forward under the drive of the second hydraulic cylinder. The first telescopic boom and the second telescopic boom retract. The motion compensation platform is located outside the folding boom telescopic crane. When the crane is working, under the drive of the first hydraulic cylinder and the second hydraulic cylinder, the second folding boom and the third folding boom unfold at a certain angle. The first telescopic boom and the second telescopic boom extend. The motion compensation platform moves to the middle position of the folding boom telescopic crane under the action of the sliding table. The platform pitching electric cylinder adjusts the angle of the motion compensation platform. Then the folding boom telescopic crane starts to work. When the crane is working at sea, under the action of environmental loads, the suspended weight drives the suspension rope to swing. The swing angle sensor measures the swing amplitude of the moving platform and converts the swing amplitude into an electrical signal. The electrical signal is output to the magnetorheological damper. The magnetorheological damper outputs a damping force to consume the energy generated by the swing, so as to realize the swing suppression of the suspended weight when the folding boom telescopic crane is working.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The marine folding boom telescopic crane with a magnetorheological motion compensation platform and its working method provided by the present invention design corresponding working processes. Through the actions of the folding boom telescopic crane and the mechanism connected to the motion compensation platform, the folding boom telescopic crane and the motion compensation platform can be folded, retracted, and deployed. The structure is simple, the cost is low, and the deck space is saved.

[0019] 2. The marine folding boom telescopic crane with a magnetorheological motion compensation platform and its working method provided by the present invention combine the folding boom telescopic crane with a swing reduction device, design the workflow of the swing reduction of the folding boom telescopic crane, and apply a magnetorheological damper to the swing reduction device. When the suspended load swings, the swing of the suspended load can be suppressed by the magnetorheological damper in the motion compensation platform, thereby realizing the swing reduction of the folding boom telescopic crane. This swing reduction system applicable to the folding boom telescopic crane is a swing reduction solution with low energy consumption, convenient retraction and extension, and good effect for the folding boom telescopic crane.

[0020] 3. The marine folding boom telescopic crane with a magnetorheological motion compensation platform and its working method provided by the present invention. The motion compensation platform can control the angle through the platform pitching electric cylinder, and adjust the motion compensation platform by measuring the angle with a swing angle sensor. Compared with the active swing reduction device, it saves working space and has lower maintenance costs.

[0021] For the above reasons, the present invention can be widely promoted in fields such as ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0023] Figure 1 It is a schematic diagram of the folding boom telescopic crane and the motion compensation platform of the present invention.

[0024] Figure 2 It is a schematic diagram of the working state of the folding boom telescopic crane in the actual ship storage state of the present invention.

[0025] Figure 3 It is a schematic diagram of the working state of the folding boom telescopic crane in the actual ship working state of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the swing reduction device of the present invention.

[0027] Figure 5 It is a schematic diagram of the structure of the safety beam of the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the intermediate connector of the present invention.

[0029] Figure 7 It is a schematic diagram of the structure of the stable connection mechanism of the present invention.

[0030] In the figure: 1. Machine base; 2. First folding arm; 3. Second folding arm; 4. Third folding arm; 5. Motion compensation platform; 5.1. Static platform; 5.2. Magnetorheological damper; 5.3. Intermediate connecting rod; 5.4. Hook hinge; 5.5. Moving platform; 5.6. Stable connection mechanism; 5.7. Slide; 5.8. Intermediate connector; 5.9. Platform pitching electric cylinder; 5.10. Safety beam; 6. Suspension tray; 7. Suspended weight. Specific embodiments

[0031] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of the described features, steps, operations, devices, components, and / or combinations thereof.

[0034] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention: the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0036] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the figure for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0037] In addition, it should be noted that using words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meaning. Therefore, it should not be construed as a limitation on the protection scope of the present invention.

[0038] Embodiment 1

[0039] The anti-sway device of the offshore crane is mainly realized through a hydraulic system, and the active compensation during hoisting and lowering is achieved through hydraulic cylinders. However, when using a hydraulic system to control the anti-sway device, it is necessary to arrange a hydraulic station and a large number of pipelines, with a high space occupancy rate and complex operation. Therefore, a simpler and more suitable anti-sway system for marine folding boom telescopic cranes is needed.

[0040] To solve the existing problems, the present invention provides a marine folding boom telescopic crane with a magnetorheological motion compensation platform.

[0041] As Figure 1-7 shown, the embodiment of the present invention discloses a marine folding boom telescopic crane with a magnetorheological motion compensation platform, which includes two parts: a folding boom telescopic crane and a compensation mechanism connected to each other.

[0042] The folding boom telescopic crane consists of a base 1, a first folding boom 2, a second folding boom 3, a third folding boom 4, a first telescopic boom, a second telescopic boom, a first hydraulic cylinder, and a second hydraulic cylinder. The first folding boom 2 is installed on the base 1. The first folding boom 2, the second folding boom 3, and the third folding boom 4 are sequentially rotatably connected. The two ends of the first hydraulic cylinder are respectively hinged to the first folding boom 2 and the second folding boom 3. The two ends of the second hydraulic cylinder are respectively hinged to the second folding boom 3 and the third folding boom 4. At one end of the third folding boom 4 far from the second folding boom 3, there are a connected first telescopic boom and a second telescopic boom.

[0043] The compensation mechanism includes a stable connection mechanism 5.6 connected to the folding boom telescopic crane, a slide table 5.7 fixed on the stable connection mechanism 5.6, an intermediate connector 5.8 connected to the slide table 5.7, a safety beam 5.10 hinged to the intermediate connector 5.8, a motion compensation platform 5, a platform pitching electric cylinder 5.9, a suspension tray 6, and a suspended load 7. The slide table 5.7 is nested and fixed on the boom head of the folding boom telescopic crane through the stable connection mechanism 5.6. The safety beam 5.10 is fixed on the motion compensation platform 5. The hinged connection between the safety beam 5.10 on the motion compensation platform 5 and the intermediate connector 5.8 enables the safety beam 5.10 to rotate at a certain angle. The platform pitching electric cylinder 5.9 is hingedly connected between the static platform 5.1 of the motion compensation platform 5 and the intermediate connector 5.8. The intermediate connector 5.8 drives and adjusts the position of the motion compensation platform 5 through the slide table 5.7, and the platform pitching electric cylinder 5.9 controls the attitude of the motion compensation platform 5.

[0044] The motion compensation platform 5 includes: a static platform 5.1, four magnetorheological dampers 5.2, an intermediate connecting rod 5.3, a moving platform 5.5, a swing angle sensor, and a telescopic sleeve. The static platform 5.1 and the moving platform 5.5 are connected by four magnetorheological dampers 5.2 and the intermediate connecting rod 5.3. The magnetorheological dampers 5.2 are hinged to the moving platform 5.5 and the static platform 5.1 through Hooke joints 5.4. The upper end of the intermediate connecting rod 5.3 is connected to the static platform 5.1 through a ball joint, and the lower end is fixedly connected to the moving platform 5.5. The intermediate connecting rod 5.3 is connected to the middle parts of the static platform 5.1 and the moving platform 5.5. The four magnetorheological dampers 5.2 are circumferentially distributed around the intermediate connecting rod 5.3. The swing angle sensor is installed on the moving platform 5.5. When the suspended load 7 swings, the swing angle sensor measures the swing signal and converts the swing signal into an electrical signal to control the output damping force of the magnetorheological dampers 5.2. The telescopic sleeve is fixed to the bottom of the moving platform 5.5 through bolts and is connected to the suspension tray 6.

[0045] Safety beam 5.10, static platform 5.1 (upper platform), intermediate connecting rod 5.3, ball joint and moving platform 5.5 (lower platform) are provided with openings for passing through the lifting ropes. The lifting ropes pass through the safety beam 5.10, static platform 5.1, ball joint, intermediate connecting rod 5.3, the openings in the moving platform 5.5 and the hollow of the telescopic sleeve, and are connected to the hanging tray 6. The hanging tray 6 is connected to the suspended load 7. The telescopic sleeve is hollow and connected to the hanging tray 6, and the lifting rope passes through the hollow telescopic sleeve and is connected to the hanging tray 6. The length of the telescopic sleeve may change with the swing of the suspended load 7, but it ensures a certain integrity of the moving platform 5.5, telescopic sleeve and hanging tray 6. When the hanging tray 6 swings, without the telescopic sleeve, the angle sensor installed on the moving platform 5.5 may have errors because the lifting rope may swing at a certain angle at the opening of the moving platform 5.5 and then drive the moving platform 5.5 to move. Reinforcing ribs are provided on both sides of the safety beam 5.10.

[0046] The stable connection mechanism 5.6 is welded to the top of the second telescopic arm of the folding boom telescopic crane. The stable connection mechanism 5.6 is a perforated plate structure for reducing weight and increasing strength.

[0047] The sliding table 5.7 and the stable connection mechanism 5.6 are fixedly connected by bolts (the sliding table 5.7 is fixed at the bottom end of the stable connection mechanism 5.6). The intermediate connector 5.8 is fixedly connected to the slider of the sliding table 5.7 by bolts, and the slider is slidably connected to the sliding table 5.7.

[0048] When the folding boom telescopic crane works, the attitude and position of the motion compensation platform 5 are controlled by the platform pitching cylinder 5.9 and the sliding table 5.7. The lifting rope passes through the openings in the safety beam 5.10, static platform 5.1, ball joint and intermediate connecting rod 5.3 and is connected to the hanging tray 6. When the suspended load 7 swings, the lifting rope drives the intermediate connecting rod 5.3 to swing, and the magnetorheological damper 5.2 inhibits the swing, so as to reduce the swing amplitude of the suspended load 7 and achieve the effect of reducing swing. The marine folding boom telescopic crane with the magnetorheological motion compensation platform 5 of the present invention is a folding boom telescopic crane with a roll reduction compensation function. In addition to the functions of the crane itself, it also has the functions of reducing the swing and heave motion of the suspended load 7, which can effectively improve the operation efficiency and safety. At the same time, through the folding function, the occupied space is reduced, and the deck space occupied by the crane can be effectively controlled. The structure of the present invention is simple, applicable to various sea conditions, greatly reduces the work intensity and accident risk of the staff, and improves the working efficiency of the folding boom telescopic crane.

[0049] Embodiment 2

[0050] The present invention also provides a working method of a marine folding boom telescopic crane with a magnetorheological motion compensation platform, including the following steps:

[0051] When the folding boom telescopic crane is not working, it is in a folded state. The second folding boom 3 rotates backward under the drive of the first hydraulic cylinder, the third folding boom 4 extends forward under the drive of the second hydraulic cylinder, the first telescopic boom and the second telescopic boom retract, and the motion compensation platform 5 is located outside the folding boom telescopic crane; when the crane is working, under the drive of the first hydraulic cylinder and the second hydraulic cylinder, the second folding boom 3 and the third folding boom 4 unfold at a certain angle, the first telescopic boom and the second telescopic boom extend, and the motion compensation platform 5 (anti-sway device) moves to the middle position of the folding boom telescopic crane under the action of the slide 5.7, and the platform pitching electric cylinder 5.9 adjusts the angle of the motion compensation platform 5, and then the folding boom telescopic crane starts to work; when the crane is working at sea, under the action of environmental loads, the suspended load 7 drives the wire rope to swing. The swing angle sensor measures the swing amplitude of the moving platform 5.5 and converts the swing amplitude into an electrical signal. The electrical signal is output to the magnetorheological damper 5.2, and the magnetorheological damper 5.2 outputs a damping force to consume the energy generated by the swing, so as to realize the swing suppression of the suspended load 7 when the folding boom telescopic crane is working.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A marine folding arm telescopic crane with a magnetorheological motion compensation platform, characterized in that: include: A folding arm telescopic crane and a compensation mechanism connected to the arm head of the folding arm telescopic crane, the compensation mechanism comprising an adjustment mechanism, a motion compensation platform (5), a hanging plate (6) and a hanging weight (7), the motion compensation platform (5) being connected to the arm head of the folding arm telescopic crane via the adjustment mechanism, the adjustment mechanism being used to control the posture and position of the motion compensation platform (5), a hanging rope being connected to the arm head of the folding arm telescopic crane, the hanging rope passing through the lower end of the motion compensation platform (5) and connected to the hanging plate (6), the hanging weight (7) being connected to the hanging plate (6), the motion compensation platform (5) comprising an electrically connected magnetorheological damper (5.2) and a swing angle sensor, the swing angle sensor being used to measure the swing angle of the hanging weight (7), the magnetorheological damper (5.2) being used to output a damping force to reduce the swing amplitude of the hanging weight (7) and achieve swing reduction.

2. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 1, characterized in that: The motion compensation platform (5) further comprises a static platform (5.1), an intermediate connecting rod (5.3), a dynamic platform (5.5) and a telescopic sleeve; the adjustment mechanism is connected to the static platform (5.1); the swing angle sensor is installed on the dynamic platform (5.5); a plurality of magnetorheological dampers (5.2) are provided; the plurality of magnetorheological dampers (5.2) and the intermediate connecting rod (5.3) are connected between the static platform (5.1) and the dynamic platform (5.5); two ends of the magnetorheological damper (5.2) are respectively hinged to the static platform (5.1) and the dynamic platform (5.5); and the telescopic sleeve is fixed to the bottom of the dynamic platform (5.5) and connected to the hanging plate (6).

3. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 1, characterized in that: The adjustment mechanism comprises a stabilizing connection mechanism (5.6), a sliding platform (5.7), an intermediate connector (5.8), a platform pitch electric cylinder (5.9) and a safety beam (5.10); the stabilizing connection mechanism (5.6) is fixedly connected to the folding arm telescopic boom head; the sliding platform (5.7) is connected to the stabilizing connection mechanism (5.6); the intermediate connector (5.8) is slidably connected to the sliding platform (5.7); one end of the platform pitch electric cylinder (5.9) is hingedly connected to the intermediate connector (5.8) and the other end is hingedly connected to the static platform (5.1) of the motion compensation platform (5); and the safety beam (5.10) is fixed on the static platform (5.1) and is hingedly connected to the intermediate connector (5.8).

4. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 2, characterized in that: The intermediate connecting rod (5.3) is connected to the middle of the static platform (5.1) and the dynamic platform (5.5), and the plurality of magnetorheological dampers (5.2) are distributed circumferentially around the intermediate connecting rod (5.3).

5. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 2, characterized in that: One end of the magnetorheological damper (5.2) is hinged to the static platform (5.1) through a Hooke's hinge (5.4), and the other end is hinged to the dynamic platform (5.5) through a Hooke's hinge (5.4); one end of the intermediate connecting rod (5.3) is connected to the static platform (5.1) through a ball joint, and the other end is fixedly connected to the dynamic platform (5.5).

6. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 5, characterized in that: The static platform (5.1), the intermediate connecting rod (5.3), the ball joint, the dynamic platform (5.5) and the safety beam (5.10) of the adjustment mechanism are provided with openings for passing the suspension rope. The suspension rope passes through the openings of the safety beam (5.10), the static platform (5.1), the ball joint, the intermediate connecting rod (5.3) and the dynamic platform (5.5) from the arm head pulley and is connected to the suspension plate (6).

7. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 3, characterized in that: Reinforcing ribs are provided on both sides of the safety beam (5.10).

8. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 3, characterized in that: The stable connection mechanism (5.6) is a perforated plate structure welded to the arm head of the folding arm telescopic crane; the slide (5.7) and the stable connection mechanism (5.6) are fixedly connected by bolts, the intermediate connector (5.8) is fixedly connected to the slider of the slide (5.7) by bolts, and the slider is slidably connected to the slide (5.7).

9. The marine folding arm telescopic crane with magnetorheological motion compensation platform according to claim 1, characterized in that: The folding arm telescopic crane is composed of a machine base (1), a first folding arm (2), a second folding arm (3), a third folding arm (4), a first telescopic arm, a second telescopic arm, a first hydraulic cylinder and a second hydraulic cylinder. The first folding arm (2) is installed on the machine base (1). The first folding arm (2), the second folding arm (3) and the third folding arm (4) are rotatably connected in sequence. The two ends of the first hydraulic cylinder are respectively hinged to the first folding arm (2) and the second folding arm (3). The two ends of the second hydraulic cylinder are respectively hinged to the second folding arm (3) and the third folding arm (4). The end of the third folding arm (4) away from the second folding arm (3) is provided with a first telescopic arm and a second telescopic arm connected to each other. The stabilizing connection mechanism (5.6) of the adjustment mechanism is connected to the top of the second telescopic arm.

10. A method for operating a marine folding arm telescopic crane with a magnetorheological motion compensation platform according to any one of claims 1 to 9, characterized in that: The steps include: When the folding arm telescopic crane is not working, the folding arm telescopic crane is in a folded state, the second folding arm (3) rotates backward under the drive of the first hydraulic cylinder, the third folding arm (4) extends forward under the drive of the second hydraulic cylinder, the first telescopic arm and the second telescopic arm retract, and the motion compensation platform (5) is located outside the folding arm telescopic crane; when the crane is working, under the drive of the first hydraulic cylinder and the second hydraulic cylinder, the second folding arm (3) and the third folding arm (4) are unfolded at a certain angle, the first telescopic arm and the second telescopic arm extend, and the motion compensation platform (5) moves to the outside under the action of the slide (5.7). The folding arm telescopic crane is in the middle position, and the platform pitch electric cylinder (5.9) adjusts the angle of the motion compensation platform (5), and then the folding arm telescopic crane starts to work; when the crane is working at sea, it is affected by the environmental load, and the weight (7) drives the rope to swing. The swing angle sensor measures the swing amplitude of the moving platform (5.5) and converts the swing amplitude into an electrical signal. The electrical signal is output to the magnetorheological damper (5.2), and the magnetorheological damper (5.2) outputs a damping force to consume the energy generated by the swing, thereby realizing the folding arm telescopic crane to suppress the swing of the weight (7) when working.

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