Light large-span wave compensation type seaborne lightering device

Abstract

The utility model relates to a light large-span wave compensation type seaborne lightering device which comprises a mechanical body, a hydraulic system and an electric control system, and the mechanical body comprises a container type base, an anti-swing base assembly, a rotary tower body assembly, an arm frame assembly, a working basket assembly, a winding and unwinding winch assembly and a variable-amplitude oil cylinder. The container type base is connected with a ship body base, and the anti-swing base assembly is connected with the container type base through a fastener and a thrust block. The slewing tower body assembly is connected with the anti-swing base assembly through a slewing support; the arm support assembly is connected with the slewing tower body assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the working basket assembly is connected with the arm support assembly through a variable-amplitude oil cylinder and a pin shaft assembly; the winding and unwinding winch assembly is installed at the lower end of the boom assembly. The hydraulic system is connected with the anti-swing base assembly, the rotary tower body assembly, the arm frame assembly, the working basket assembly, the winding and unwinding winch assembly and the variable-amplitude oil cylinder. The electric control system is connected with the hydraulic system. The maritime lightering device has high environment self-adaptive capacity and high reliability.

Description

Technical Field

[0001] The utility model relates to a device for transferring personnel and materials at sea, in particular to a light-weight, large-span, wave-compensated marine transfer device. Background Art

[0002] Offshore transfer systems (OTS) can be installed on most offshore vessels, with low load requirements. They are primarily used for the transfer of personnel and simple material between ships and fixed platforms such as wind turbines, oil and gas platforms, between ships, and between ships and floating platforms. They also provide for personnel rescue in low sea conditions and offshore firefighting. Due to the harsh marine environment, offshore transfer systems are susceptible to the effects of wind and waves during operation. To ensure the safety and comfort of personnel and materials during offshore transfers, offshore transfer systems require wave compensation. Currently, wave compensation technologies for offshore transfer systems can be broadly categorized into two types: passive and active. Passive wave compensation technology is relatively mature, but its compensation accuracy cannot meet the requirements of offshore transfer systems. Active wave compensation technology can meet the speed and accuracy requirements of offshore transfer systems. However, active wave compensation technology is more challenging, and the research on the motion principles and prototype development of active wave compensation offshore transfer systems is still in the process of developing the prototype.

[0003] Therefore, there is a need to develop a lightweight, long-span, wave-compensated offshore transfer device that can be installed on a variety of ocean-going vessels. This device, in active wave-compensation mode, can perform tasks such as personnel transfer, simple material transfer, and personnel rescue. This lightweight, long-span, wave-compensated offshore transfer device is adaptable to various operating modes, sea conditions, and vessel types, offering promising application prospects. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a light-weight, large-span, wave-compensated offshore transshipment device.

[0005] To achieve the above-mentioned purpose, the technical solution of the utility model is: a lightweight, large-span wave-compensated offshore transfer device, including a mechanical body, a hydraulic system, and an electronic control system. The mechanical body includes a container-type base, an anti-sway base assembly, a rotating tower assembly, a boom assembly, a working basket assembly, a retractable winch assembly, and a luffing cylinder; the container-type base is fixedly connected to the hull base, and the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the revolving tower assembly and the anti-sway base assembly are connected through a slewing support; the boom assembly and the revolving tower assembly are connected through a luffing cylinder and a pin assembly; the working basket assembly and the boom assembly are connected through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and is connected through fasteners; the hydraulic system connects the anti-sway base assembly, the rotating tower assembly, the boom assembly, the working basket assembly, the retractable winch assembly and the luffing cylinder; the electronic control system is connected to the hydraulic system.

[0006] Furthermore, the container-type base is an integrated fixed base that integrates the mechanical body, hydraulic system, and electronic control system together for easy transportation and maintenance.

[0007] Furthermore, the anti-sway base assembly includes a base frame, a first-level anti-sway platform component, a second-level anti-sway platform component, an anti-sway cylinder group 1, an anti-sway cylinder group 2, and a pin assembly; the base frame and the first-level anti-sway platform component are connected by a pin assembly; the first-level anti-sway platform component and the second-level anti-sway platform component are connected by a pin assembly; the anti-sway cylinder group 1 and the anti-sway cylinder group 2 are diagonally arranged and symmetrical to each other; the swinging between the base frame and the first-level anti-sway platform component is driven by the anti-sway cylinder group 1; the swinging between the first-level anti-sway platform component and the second-level anti-sway platform component is driven by the anti-sway cylinder group 2.

[0008] Furthermore, the rotating tower assembly includes a tower body, a slewing bearing and a slewing drive component; the tower body is connected to the anti-sway platform component through the slewing bearing; the slewing drive component is installed on the tower body and engages with the slewing bearing to drive the tower body to rotate.

[0009] Furthermore, the boom assembly includes a main arm component, a telescopic arm component, a strut assembly, a three-fold arm component, a four-fold arm component, a strut assembly, a pitch cylinder, a telescopic cylinder, a three-fold arm amplitude adjustment cylinder, a four-fold arm amplitude adjustment cylinder and a pin assembly; the main arm component and the tower body are hinged by a pin assembly; the amplitude adjustment of the main arm component is achieved by driving the pitch cylinder; the telescopic arm component is embedded in the main arm component, supported in the main arm component by a slider assembly and its sliding stroke is limited; the three-fold arm component and the end of the telescopic arm component are hinged by a pin assembly; the amplitude adjustment of the three-fold arm component is achieved by driving the three-fold arm amplitude adjustment cylinder under the joint action of the strut assembly; the four-fold arm component and the end of the three-fold arm component are hinged by a pin assembly; the amplitude adjustment of the four-fold arm component is achieved by driving the four-fold arm amplitude adjustment cylinder under the joint action of the strut assembly.

[0010] Furthermore, the working basket assembly includes a working basket support component, a strut assembly, a working basket body, a pedal railing component, a horizontal cylinder, a working basket rotation cylinder, a pedal opening cylinder and a pin assembly; the working basket support component is hinged to the end of the four-fold arm component through the pin assembly; the amplitude change of the working basket support component is driven by the horizontal cylinder under the joint action of the strut assembly; the working basket body is hinged to the end of the working basket support component through the pin assembly; the rotation of the working basket body is driven by the working basket rotation cylinder; the pedal railing component is hinged to the outside of the working basket body through the pin assembly; the opening of the pedal railing component is driven by the pedal opening cylinder, and the railing and pedal are opened and closed synchronously.

[0011] Furthermore, the retractable winch assembly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope press, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component by fasteners; the guide pulley is fixed to the end of the four-fold arm component; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and the hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope press.

[0012] Furthermore, the hydraulic system includes a hydraulic power unit, an accumulator group, and a control valve group. A pressure oil circuit is connected between the hydraulic power unit and the accumulator group, and a safety shut-off valve is provided to ensure that the system pressure remains constant; the hydraulic power unit and the accumulator group are used in conjunction to maximize system energy saving through reasonable energy efficiency distribution; the control valve group uses a servo proportional valve group and a conventional proportional valve group in conjunction to adapt to different usage scenarios and product types.

[0013] Furthermore, the control valve group is composed of an anti-sway cylinder control valve group, a slewing motor control valve group, a pitching cylinder control valve group, a folding arm cylinder control valve group, a horizontal cylinder control valve group, a winch control valve group, a working basket slewing cylinder control valve group, and an opening cylinder control valve group; the slewing motor, pitching cylinder, telescopic cylinder, folding arm cylinder, and horizontal cylinder control valve group are all directly installed on the actuator body and have their own pressure sensors.

[0014] Furthermore, the electronic control system includes a starting cabinet, a control cabinet, a remote control, and sensors. The starting cabinet is used for power distribution, power transformation, and motor control, and the motor is started by a soft starter; the control cabinet adopts the PLC+motion controller mode, the PLC sends the motion instructions to the motion controller, and the motion controller feeds back the position status signal to the PLC; the remote control is used for the operator's operation instruction input, and the human-computer interaction interface is responsible for the system status display and alarm information prompts to facilitate the operator to query the equipment status and debug and repair; the sensors include attitude sensors, inclination sensors, displacement sensors, encoders, and angle sensors; the PLC uses various sensors to collect ship attitude information and real-time information of each joint of the equipment, and sends it to the wave compensation controller through the motion controller. The wave compensation controller drives the light large-span wave compensation offshore transfer device to move according to the motion control instructions.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The utility model combines multiple booms to compensate for the heave of the ship and an anti-roll base to compensate for the roll and pitch of the ship, so that the light and large-span wave-compensated offshore transfer device can smoothly and safely perform personnel transfer tasks, lifting tasks, rescue tasks, etc. in harsh marine environments.

[0017] 2. When compensating for the heave of a ship, the present invention adopts a combination of three boom pitching movements and one boom telescopic movement according to the heave information of the ship collected by the motion sensor, thereby being able to accurately compensate for the heave of the ship.

[0018] 3. The utility model is based on two anti-roll platforms and two sets of anti-roll cylinders, and uses the ship's roll and pitch attitude information collected by motion sensors to achieve roll and pitch compensation of the ship.

[0019] 4. The utility model uses the working basket posture data collected by the inclination sensor to keep the working basket in a horizontal state in real time through the working basket pitch cylinder, thereby ensuring the safety of personnel and goods.

[0020] 5. When compensating for the ship's sway, pitch and bow motion, the utility model adopts a combination of three sets of boom amplitude movement and tower body rotation movement based on the ship motion information collected by the motion sensor and the equipment's own motion parameters, which can accurately compensate for the ship's sway, pitch and bow motion in multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a general schematic diagram of the light-weight, large-span, wave-compensated offshore transfer device of the present invention;

[0022] Figure 2 This is a front view of the light-weight, large-span, wave-compensated offshore transfer device of the present invention;

[0023] Figure 3 This is a top view of the light-weight, large-span, wave-compensated offshore transfer device of the present invention;

[0024] Figure 4 This is a partial schematic diagram of the arm portion of the light-weight, large-span, wave-compensated offshore transfer device of the present invention;

[0025] Figure 5 This is a control system block diagram of the utility model's lightweight, large-span, wave-compensated offshore transfer device;

[0026] In the figure: anti-sway cylinder group 1 I, anti-sway cylinder group 2 II, pitch cylinder III, three-fold arm luffing cylinder IV, four-fold arm luffing cylinder V, horizontal cylinder VI, working basket rotation cylinder VII, pedal opening cylinder VIII, base frame 1, first-level anti-sway platform component 2, second-level anti-sway platform component 3, tower body 4, container-type base 5, main arm component 6, telescopic arm component 7, strut-link assembly 8, three-fold arm component 9, four-fold arm component 10, strut-link assembly 11, working basket body 12, working basket support component 13, strut-link assembly 14, pedal railing component 15, hydraulic power unit 16, accumulator group 17. DETAILED DESCRIPTION

[0027] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various variations and improvements without departing from the scope of the present invention. Such variations and improvements are all within the scope of protection of the present invention.

[0028] like Figures 1 to 5 As shown, an embodiment of the present invention proposes a light-weight, large-span, wave-compensated offshore transfer device, which includes: a mechanical body, a hydraulic system, and an electronic control system.

[0029] The mechanical body is mainly composed of anti-sway base assembly, rotating tower assembly, boom assembly, working basket assembly, retractable winch assembly, etc.; the hydraulic system is mainly composed of hydraulic power unit, accumulator group, control valve group, etc.; the hardware part of the electronic control system is mainly composed of starting cabinet, control cabinet, remote control, sensor, etc.; the software part of the electronic control system is mainly composed of position solution and position closed-loop algorithm, etc.

[0030] The mechanical body mainly includes a container-type base 5, an anti-sway base assembly, a rotating tower assembly, a boom assembly, a working basket assembly, a retractable winch assembly, a luffing cylinder, etc.; the container-type base is an integrated fixed base, which integrates the mechanical body, hydraulic system, and electronic control system together, and can also be designed as a split fixed base, which is only used to install the mechanical body, and is fixedly connected to the hull base by fasteners or welding; the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the rotating tower assembly is connected to the anti-sway base assembly through a rotating support; the boom assembly is connected to the rotating tower assembly through a luffing cylinder and a pin assembly; the working basket assembly is connected to the boom assembly through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and connected by fasteners.

[0031] This enables the lightweight, large-span wave-compensating offshore transfer device to have active wave compensation capabilities when transferring personnel, lifting cargo, rescuing people who fall into the water, etc.

[0032] The anti-sway base assembly mainly includes a base frame 1, a first-level anti-sway platform component 2, a second-level anti-sway platform component 3, an anti-sway cylinder group I, an anti-sway cylinder group II, a pin assembly, etc.; the base frame 1 and the first-level anti-sway platform component 1 are connected by a pin assembly; the first-level anti-sway platform component 2 and the second-level anti-sway platform component 3 are connected by a pin assembly; the anti-sway cylinder group I and the anti-sway cylinder group II are diagonally arranged and symmetrical to each other; the swing between the base frame 1 and the first-level anti-sway platform component 2 is driven by the anti-sway cylinder group I; the swing between the first-level anti-sway platform component 2 and the second-level anti-sway platform component 3 is driven by the anti-sway cylinder group II.

[0033] The rotating tower assembly mainly includes a tower body 4, a slewing bearing and a slewing drive component; the tower body 4 is connected to the anti-sway platform component 3 through the slewing bearing; the slewing drive component is installed on the tower body 4 and engages with the slewing bearing to drive the tower body 4 to rotate.

[0034] The boom assembly mainly includes a main boom component 6, a telescopic boom component 7, a strut assembly 8, a three-fold boom component 9, a four-fold boom component 10, a strut assembly 11, a pitch cylinder III, a telescopic cylinder, a three-fold boom amplitude adjustment cylinder IV, a four-fold boom amplitude adjustment cylinder V and a pin assembly; the main boom component 6 is hinged to the tower body 4 through a pin assembly; the amplitude adjustment of the main boom component 6 is achieved by driving the pitch cylinder III; the telescopic boom component 7 is embedded in the main boom component 6 and is supported on the main boom component 6 by a slider assembly and limit its sliding stroke; the extension and retraction of the telescopic arm component 7 is achieved by driving the telescopic cylinder; the three-fold arm component 9 is hinged to the end of the telescopic arm component 7 through a pin assembly; the amplitude change of the three-fold arm component 9 is driven by the three-fold arm amplitude change cylinder IV under the joint action of the strut assembly 8; the four-fold arm component 10 is hinged to the end of the three-fold arm component 9 through a pin assembly; the amplitude change of the four-fold arm component 10 is driven by the four-fold arm amplitude change cylinder V under the joint action of the strut assembly 11.

[0035] The working basket assembly mainly includes a working basket support component 13, a strut assembly 14, a working basket body 12, a pedal railing component 15, a horizontal cylinder VI, a working basket rotation cylinder VII, a pedal opening cylinder VIII and a pin assembly; the working basket support component 13 is hinged to the end of the four-fold arm component 10 through a pin assembly; the amplitude change of the working basket support component 13 is driven by the horizontal cylinder VI under the joint action of the strut assembly 14; the working basket body 12 is hinged to the end of the working basket support component 13 through a pin assembly; the rotation of the working basket body 12 is driven by the working basket rotation cylinder VII; the pedal railing component 15 is hinged to the outside of the working basket body 12 through a pin assembly; the opening of the pedal railing component 15 is driven by the pedal opening cylinder VIII, and the railing and pedal are opened and closed synchronously.

[0036] The retractable winch assembly mainly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope press, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component 10 by fasteners; the guide pulley is fixed to the end of the four-fold arm component 10; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and the hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope press.

[0037] The hydraulic system primarily includes a hydraulic power unit 16, an accumulator group 17, and a control valve group. A pressure oil circuit connects the hydraulic power unit 16 and the accumulator group 17, and a safety shutoff valve is installed to ensure constant system pressure. The hydraulic power unit 16 and the accumulator group 17 work together to maximize system energy savings through a rational allocation of energy efficiency. The control valve group utilizes both a servo-proportional valve group and a conventional proportional valve group to accommodate different applications and product types.

[0038] The control valve group primarily consists of the anti-roll cylinder control valve group, the slew motor control valve group, the pitch cylinder control valve group, the three- and four-arm folding cylinder control valve group, the horizontal cylinder control valve group, the winch control valve group, the basket slew cylinder control valve group, and the opening cylinder control valve group. The slew motor, pitch cylinder, telescopic cylinder, three- and four-arm cylinder, and horizontal cylinder control valve groups are all directly mounted on the actuator body and have their own pressure sensors.

[0039] The electronic control system primarily consists of a starter cabinet, control cabinet, remote control, and sensors. The starter cabinet is responsible for power distribution, power transformation, and motor control. The motors are started with a soft starter. The control cabinet is the core of the control system, utilizing a PLC + motion controller model. The motion controller is responsible for servo control of the actuators. The PLC sends motion commands to the motion controller, which then feeds position status signals back to the PLC. The remote control allows the operator to input operating commands, while the human-machine interface displays system status and alarm information, facilitating operator monitoring of equipment status and debugging and maintenance.

[0040] The PLC collects the ship's posture information and real-time information of each joint of the equipment from each sensor, and sends the information of each joint sensor to the wave compensation controller through the motion controller. The wave compensation controller drives the transfer device to move according to the motion control instructions.

[0041] The utility model adopts an anti-roll base to compensate for the ship's roll and pitch degrees of freedom, and adopts a multi-section arm and rotation combination to compensate for the ship's heave, sway, surge, and bow pitch degrees of freedom, so that the light and large-span wave-compensated offshore transfer device can smoothly and safely perform personnel transfer tasks, lifting tasks, rescue tasks, etc. in harsh marine environments. When compensating for the heave motion of a ship, the present invention uses a combination of three boom-luffing movements and one boom-telescopic movement based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's heave degrees of freedom. When compensating for the ship's roll and pitch degrees of freedom, the present invention uses two anti-roll platforms and two anti-roll cylinders based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's roll and pitch degrees of freedom. When compensating for the ship's sway, pitch, and bow degrees of freedom, the present invention uses a combination of three boom-luffing movements and a tower-body rotational movement based on the ship's motion information collected by the attitude sensor and the equipment's own motion parameters, thereby accurately compensating for the ship's sway, pitch, and bow degrees of freedom. The present invention uses the working basket attitude data collected by the inclination sensor to maintain the working basket in an absolutely horizontal state in real time through the working basket luffing cylinder, thereby ensuring the safety of personnel and cargo. Therefore, this light-weight, large-span wave-compensated offshore transfer device can undertake tasks such as personnel transfer, cargo lifting, rescue of people falling into the water, maritime pilotage, offshore firefighting operations and grouting operations.

[0042] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0043] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A lightweight, long-span, wave-compensated offshore transshipment device, characterized by: It includes a mechanical body, a hydraulic system, and an electronic control system. The mechanical body includes a container-type base, an anti-sway base assembly, a rotating tower assembly, a boom assembly, a working basket assembly, a retractable winch assembly, and a luffing cylinder; the container-type base is fixedly connected to the hull base, and the anti-sway base assembly is connected to the container-type base through fasteners and thrust blocks; the retractable tower assembly and the anti-sway base assembly are connected through a slewing support; the boom assembly and the retractable tower assembly are connected through a luffing cylinder and a pin assembly; the working basket assembly and the boom assembly are connected through a luffing cylinder and a pin assembly; the retractable winch assembly is installed at the lower end of the boom assembly and is connected through fasteners; the hydraulic system is connected to the anti-sway base assembly, the rotating tower assembly, the boom assembly, the working basket assembly, the retractable winch assembly and the luffing cylinder; the electronic control system is connected to the hydraulic system.

2. The lightweight, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The container-type base is an integrated fixed base that integrates the mechanical body, hydraulic system, and electronic control system together for easy transportation and maintenance.

3. The lightweight, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The anti-sway base assembly includes a base frame, a first-level anti-sway platform component, a second-level anti-sway platform component, an anti-sway cylinder group 1, an anti-sway cylinder group 2, and a pin assembly; the base frame and the first-level anti-sway platform component are connected by a pin assembly; the first-level anti-sway platform component and the second-level anti-sway platform component are connected by a pin assembly; the anti-sway cylinder group 1 and the anti-sway cylinder group 2 are diagonally arranged and symmetrical to each other; the swinging between the base frame and the first-level anti-sway platform component is driven by the anti-sway cylinder group 1; the swinging between the anti-sway platform component and the second-level anti-sway platform component is driven by the anti-sway cylinder group 2.

4. The lightweight, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The rotating tower assembly includes a tower body, a slewing bearing and a slewing drive component; the tower body is connected to the secondary anti-sway platform component through the slewing bearing; the slewing drive component is installed on the tower body and engages with the slewing bearing to drive the tower body to rotate.

5. The light-duty, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The boom assembly includes a main boom component, a telescopic boom component, a three-fold boom component, a four-fold boom component, a strut assembly, a pitch cylinder, a telescopic cylinder, a three-fold boom luffing cylinder, a four-fold boom luffing cylinder and a pin assembly; the main boom component and the tower body are hinged by a pin assembly; the luffing of the main boom component is driven by the pitch cylinder; the telescopic boom component is embedded in the main boom component, supported in the main boom component by a slider assembly and its sliding stroke is limited; the three-fold boom component and the end of the telescopic boom component are hinged by a pin assembly; the luffing of the three-fold boom component is driven by the three-fold boom luffing cylinder under the joint action of the strut assembly; the four-fold boom component and the end of the three-fold boom component are hinged by a pin assembly; the luffing of the four-fold boom component is driven by the four-fold boom luffing cylinder under the joint action of the strut assembly.

6. The light-duty, long-span, wave-compensated offshore transfer device according to claim 1, characterized in that: The working basket assembly includes a working basket support component, a strut assembly, a working basket body, a pedal railing component, a horizontal cylinder, a working basket rotation cylinder, a pedal opening cylinder and a pin assembly; the working basket support component is hinged to the end of the four-fold arm component through the pin assembly; the amplitude change of the working basket support component is driven by the horizontal cylinder under the joint action of the strut assembly; the working basket body is hinged to the end of the working basket support component through the pin assembly; the rotation of the working basket body is driven by the working basket rotation cylinder; the pedal railing component is hinged to the outside of the working basket body through the pin assembly; the opening of the pedal railing component is driven by the pedal opening cylinder, and the railing and pedal are opened and closed synchronously.

7. The light-weight, long-span, wave-compensated offshore transfer device according to claim 1, characterized in that: The retractable winch assembly includes a frame, a drum, a hydraulic drive component, a guide pulley, a rope press, a cable and a hook component; the frame is fixed to the front end of the four-fold arm component by fasteners; the guide pulley is fixed to the end of the four-fold arm component; the drum and the frame are connected by a main shaft assembly, and the drum is driven to rotate by the hydraulic drive component; the cable and hook component are installed on the drum, and the normal cable arrangement is achieved through the cooperation of the rope press.

8. The light-duty, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The hydraulic system includes a hydraulic power unit, an accumulator group, and a control valve group. A pressure oil circuit is connected between the hydraulic power unit and the accumulator group, and a safety shut-off valve is provided to ensure that the system pressure remains constant. The hydraulic power unit and the accumulator group are used in conjunction with each other, and the control valve group uses a servo proportional valve group and a conventional proportional valve group in conjunction with each other.

9. The light-duty, long-span, wave-compensated offshore transfer device according to claim 8, characterized in that: The control valve group consists of the anti-sway cylinder control valve group, the slewing motor control valve group, the pitching cylinder control valve group, the folding arm cylinder control valve group, the horizontal cylinder control valve group, the winch control valve group, the working basket slewing cylinder control valve group, and the opening cylinder control valve group; the slewing motor, pitching cylinder, telescopic cylinder, folding arm cylinder, and horizontal cylinder control valve groups are all directly installed on the actuator body and have their own pressure sensors.

10. The light-weight, long-span, wave-compensated offshore transshipment device according to claim 1, characterized in that: The electronic control system includes a starter cabinet, a control cabinet, a remote control, and sensors. The starter cabinet is used for power distribution, power transformation, and motor control. The motor is started with a soft starter. The control cabinet adopts the PLC + motion controller mode. The PLC sends motion instructions to the motion controller, and the motion controller feeds back position status signals to the PLC. The remote control is used for the operator to input operating instructions. The human-computer interaction interface is responsible for displaying system status and alarm information to facilitate the operator to query equipment status and debug and repair. Sensors include attitude sensors, inclination sensors, displacement sensors, encoders, and angle sensors. The PLC uses various sensors to collect ship posture information and real-time information of each equipment joint, and sends it to the wave compensation controller through the motion controller. The wave compensation controller drives the light and large-span wave compensation offshore transfer device to move according to the motion control instructions.

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