Hoisting device with wave compensation function

Abstract

A hoisting device with a wave compensation function, which device relates to the field of marine machinery equipment. The hoisting device comprises a base plate (1), a 2R3T redundant drive parallel compensation unit (2), an upper platform (3) and a hoisting mechanism. The base plate (1) is mounted on a deck of a host ship, the 2R3T redundant drive parallel compensation unit (2) is mounted on the base plate (1), the upper platform (3) is mounted on the 2R3T redundant drive parallel compensation unit (2), and the hoisting mechanism is mounted on the upper platform (3). The hoisting device with the wave compensation function can compensate for the movements of a host ship in five degrees of freedom, namely, heave, roll, surge, pitch and sway under the action of sea waves, such that goods are smoothly and precisely transferred onto a target ship. The main body of the hoisting mechanism utilizes a sliding rail type, which has a large working space and is conducive to control. The hoisting device has a high bearing capacity, is easy to operate, and has high environmental adaptability.

Description

A hoisting device with wave compensation function Technical Field

[0001] The present invention relates to the technical equipment field of shipbuilding and marine engineering, and in particular to a hoisting device with a wave compensation function. Background Art

[0002] When ships are sailing at sea, they are affected by wind and waves, causing them to move in multiple degrees of freedom and in an irregular manner. When cargo is supplied by hoisting devices on ships and other floating platforms at sea, the relative positions of the supply ship and the receiving ship are constantly changing due to the influence of wind and waves, making it difficult for the hoisting devices to accurately and safely drop the cargo to the predetermined location during cargo transfer. In order to improve the safety, accuracy and efficiency of cargo transfer, the hoisting devices must be wave compensated. Wave compensation technology is used to keep the hoisting devices in a relatively stable state as a whole. Wave compensation devices can be divided into passive and active types. Once a passive compensation device is installed and set, the various parameters of the system will not change accordingly due to changes in the actual external conditions. Therefore, its compensation accuracy and stability are significantly worse than those of active compensation devices.

[0003] Chinese invention patent CN105668430A 1 Disclosed are a crane device and compensation method with multi-degree-of-freedom active wave compensation. Six servo cylinders are connected between a circular static platform and a circular dynamic platform. Each of the six servo cylinders is connected to a corresponding electro-hydraulic servo valve. The six electro-hydraulic servo valves output corresponding flow rates and pressures based on wave compensation values ​​to control the extension and swaying of the corresponding six servo cylinders, compensating for roll, pitch, and heave. While this maintains a relatively stable boom for the hoisting mechanism, the use of a wire rope traction device for lifting and lowering cargo causes the wire rope and the cargo at the end to constantly swing under the influence of wind and waves, hindering accurate control of the cargo's placement at the desired location.

[0004] Chinese invention patent CN107161882B 2A novel active compensating crane system is disclosed. A micro-inertial navigation sensor mounted on the crane base measures the crane's roll, pitch, and heave attitude data caused by wind and waves. The measured data is transmitted to a motion controller, which calculates the vertical changes in the ship's roll, pitch, and heave caused by the coupled operation. This data is then combined with the data from the controller regarding the lifting task being performed. The result of the calculation is converted into a signal instruction and transmitted to the winch. By controlling the winch's forward and reverse rotation and speed, the position and speed of the load on the crane affected by the roll, pitch, and heave are compensated in real time. Although this active compensating crane can address the effects of the ship's roll, pitch, and heave on cargo, the complex marine environment limits the degree of freedom that this active compensating crane system can compensate for. Furthermore, this active crane also uses a wire rope traction device to lift and lower cargo. Under the influence of wind and waves, the cargo inevitably swings, making it difficult to lower the cargo to the desired location. Furthermore, this active crane structure has a limited lifting range and is not suitable for transporting cargo over long distances.

[0005] Chinese invention patent CN105621275B 3 Disclosed is a crane device and compensation method for the shipbuilding industry with three-degree-of-freedom active wave compensation. Three servo cylinders are arranged evenly along the circumference between a circular static platform and a circular dynamic platform. At the bottom of the crane is a column fixedly connected to the circular dynamic platform. The upper end of the column is connected to the rotating end of the boom via a pin. The rotating end of the boom is fixed with a hydraulic motor. The three servo cylinders achieve real-time compensation for the ship's roll and pitch, while the hydraulic motor achieves real-time compensation for heave and sink, thereby performing the lifting task. However, this invention uses a wire rope as a traction device to lift and lower cargo. As the length of the wire rope increases, the cargo will oscillate irregularly without other rigid constraints, making it difficult to accurately control the cargo's drop to the desired position.

[0006] Chinese invention patent CN109733530B 4 A new series-parallel six-degree-of-freedom active wave compensation platform is disclosed. The series-parallel six-degree-of-freedom active wave compensation platform provided by the invention uses hydraulic cylinders, electric cylinders and sensors to solve the compensation problem. By simplifying the compensation of six degrees of freedom into three compensation system modules, the six-degree-of-freedom compensation effect is achieved through the division of labor and cooperation of the three compensation modules. However, the control system of the compensation platform is relatively complex, and it is necessary to decouple the six-degree-of-freedom movement caused by wind and waves, so as to use different compensation systems to compensate for the corresponding degrees of freedom. At the same time, the second compensation system and the third compensation system of the invention patent achieve the compensation effect by using electric cylinders to drive the guide rails to move on the guide rail grooves, so the load-bearing capacity of the wave compensation platform is limited, and it will no longer be applicable in application environments that require large load-bearing capacity requirements.

[0007] Therefore, according to the above situation, a lifting device with multi-degree-of-freedom active wave compensation function is needed to compensate for the multiple degrees of freedom of the ship. At the same time, the device needs to have the characteristics of strong carrying capacity, easy operation, and strong environmental adaptability to ensure that the cargo always remains stable during the lifting process and at the same time have a wide lifting range.

[0008] Summary of the Invention

[0009] In view of the defects existing in the prior art, the purpose of the present invention is to provide a lifting device with wave compensation function, which can compensate for the five degrees of freedom of movement of the host ship, namely, heave, roll, surge, pitch and sway, so that the lifting device can smoothly lift the cargo from the host ship to the target ship.

[0010] To achieve the above objectives, the present invention provides a lifting device with heave compensation, comprising a 2R3T redundantly driven parallel compensation mechanism and a lifting mechanism. The 2R3T redundantly driven parallel compensation mechanism is used to compensate for heave, roll, surge, pitch, and sway in five degrees of freedom, and the lifting mechanism is used to lift cargo.

[0011] The aforementioned 2R3T redundant drive parallel compensation mechanism includes: a bottom plate, a 2R3T redundant drive parallel compensation unit, and an upper platform; the bottom plate is installed on the deck of the host ship; the 2R3T redundant drive parallel compensation unit includes: a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a fourth hydraulic cylinder, a fifth hydraulic cylinder, a sixth hydraulic cylinder, a first ball joint, a first universal joint, a second universal joint, a third universal joint, a fourth universal joint, a fifth universal joint, a second ball joint, a third ball joint, a fourth ball joint, a fifth ball joint, a sixth ball joint, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor, a fifth displacement sensor, and a sixth displacement sensor. Sensor, attitude sensor; the bottoms of the cylinder bodies of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder and the fifth hydraulic cylinder are evenly distributed on the bottom plate according to the circumscribed circle of a pentagon; the piston rod ends of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder and the fifth hydraulic cylinder are evenly distributed on the upper platform according to the circumscribed circle of a pentagon; the bottom of the cylinder body of the sixth hydraulic cylinder is installed at the center of the bottom plate through the fifth universal joint, and the piston rod end is installed at the center of the bottom surface of the upper platform through the sixth universal joint; the bottom of the cylinder body of the first hydraulic cylinder is installed at the bottom plate through the first ball joint, and the piston rod end is installed on the bottom surface of the upper platform through the second ball joint; the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder and the fifth hydraulic cylinder are evenly distributed on the bottom plate according to the circumscribed circle of a pentagon The bottoms of the cylinder bodies of the fourth hydraulic cylinder and the fifth hydraulic cylinder are respectively mounted on the base plate through the first universal joint, the second universal joint, the third universal joint and the fourth universal joint; the piston rod ends of the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder and the fifth hydraulic cylinder are respectively mounted on the bottom surface of the upper platform through the third ball joint, the fourth ball joint, the fifth ball joint and the sixth ball joint; the first rotation axes of the first universal joint, the second universal joint, the third universal joint, the fourth universal joint, the fifth universal joint and the sixth universal joint are parallel to each other; the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor are respectively mounted on the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder. The first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the fifth hydraulic cylinder and the sixth hydraulic cylinder are mounted on the cylinder bodies; the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the fifth displacement sensor and the sixth displacement sensor respectively collect the displacement of the first hydraulic cylinder, the second hydraulic cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, the fifth hydraulic cylinder and the sixth hydraulic cylinder; the attitude sensor is installed directly below the fifth universal joint and is also located in the center of the bottom plate, which is used to measure the heave, roll, surge, pitch and sway values ​​of the ship caused by wind and waves; the bottom of the cylinder body of the sixth hydraulic cylinder and the end of the piston rod are both universal joints, which limit the rotation of the upper platform around the vertical direction.

[0012] The aforementioned hoisting mechanism includes a rotating base, a crane column, a first boom, a seventh hydraulic cylinder, a second boom hydraulic support unit, a second boom, a tenth hydraulic cylinder, a slider, a third boom, an eleventh hydraulic cylinder, a fourth boom, an R hinge, and a hook; the rotating base is mounted on the upper platform; the crane column is fixedly mounted on the rotating base; the first boom is hinged to the crane column; the bottom of the seventh hydraulic cylinder body is hinged to the crane column, and the end of the telescopic rod is hinged to the first boom; the end of the second boom is hinged to one end of the first boom; the second boom hydraulic support unit includes an eighth hydraulic cylinder, a seventh ... Nine hydraulic cylinders; the cylinder ends of the eighth and ninth hydraulic cylinders are respectively hinged to the rotating platform, and the ends of the telescopic rods are respectively hinged to the second boom; the slide groove of the slider coincides with the track surface of the second boom; the bottom of the cylinder body of the tenth hydraulic cylinder is fixedly connected to the end of the second boom, and the end of the telescopic rod is connected to the end of the slider through a ball joint; the upper end of the third boom is hinged to the bottom surface of the slider, and the lower end is connected to the fourth boom through an R hinge; the bottom of the cylinder body of the eleventh hydraulic cylinder is hinged to the bottom surface of the slider, and the end of the telescopic rod is hinged to the third boom; the lower end of the fourth boom is fixedly connected to the hook.

[0013] Preferably, in the above-mentioned offshore floating platform hoisting device with wave compensation function, the tenth hydraulic cylinder is located at the center of the tracks on both sides of the second boom.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) It can compensate for the five degrees of freedom of the ship under the action of wind and waves, namely, heave, roll, surge, pitch and sway, and still has a good compensation effect for the fluctuations caused by the superposition of multiple degrees of freedom. Due to the use of redundant drive parallel compensation units, the compensation mechanism has high stiffness, good dynamic characteristics and acceleration performance, high compensation accuracy, and avoids singular points.

[0016] (2) The second boom body adopts a track structure. By driving the tenth hydraulic cylinder to push the slider above the track to move, the cargo suspended below can be moved horizontally, and the spatial position that the end hook can reach is wider.

[0017] (3) The third and fourth arms of the hoisting mechanism are both rigid components. Compared with the wire rope traction device used in the prior art, the present invention has a stronger load-bearing capacity and can significantly reduce the irregular swinging of the end cargo under the action of wind and waves, which is conducive to placing the cargo to the expected position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0019] FIG1 is an application effect diagram of a lifting device with a wave compensation function according to the present invention;

[0020] FIG2 is an overall schematic diagram of a hoisting device with a wave compensation function according to the present invention;

[0021] FIG3 is a schematic diagram of the active wave compensation structure of the hoisting device with wave compensation function of the present invention;

[0022] FIG4 is a schematic diagram of a hoisting mechanism in a hoisting device with a wave compensation function according to the present invention;

[0023] FIG5 is a schematic structural diagram of the second boom in the hoisting device with wave compensation function of the present invention;

[0024] FIG6 is a schematic diagram showing the connections of the slider, the eleventh hydraulic cylinder, the third boom, and the fourth boom in the hoisting device with the wave compensation function of the present invention.

[0025] The reference numerals in the figure are as follows: 1-base plate, 2-2R3T redundant drive parallel compensation unit, 201-first hydraulic cylinder, 202-second hydraulic cylinder, 203-third hydraulic cylinder, 204-fourth hydraulic cylinder, 205-fifth hydraulic cylinder, 206-sixth hydraulic cylinder, 207-first ball joint, 208-first universal joint, 209-second universal joint, 210-third universal joint, 211-fourth universal joint, 212-fifth universal joint, 213-second ball joint, 214-third ball joint, 215-fourth ball joint, 216-fifth ball joint, 217-sixth ball joint, 218-sixth universal joint, 219 -First displacement sensor, 220-Second displacement sensor, 221-Third displacement sensor, 222-Fourth displacement sensor, 223-Fifth displacement sensor, 224-Sixth displacement sensor, 225-Attitude sensor, 3-Upper platform, 4-Rotating base, 5-Crane column, 6-First boom, 7-Seventh hydraulic cylinder, 8-Second boom hydraulic support unit, 9-Second boom, 10-Tenth hydraulic cylinder, 11-Slider, 12-Eleventh hydraulic cylinder, 13-Third boom, 14-R hinge, 15-Fourth boom, 16-Hook, A-Host ship, B-Target ship, C-Wave compensation device.

[0026] Specific implementation methods

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] As shown in FIG1 , the offshore floating platform hoisting device C with wave compensation function of the present invention is installed on a host ship A and is used to hoist cargo to a target ship B.

[0029] As shown in FIG2 , it is a preferred embodiment of the offshore floating platform hoisting device with wave compensation function of the present invention. The hoisting device shown includes a 2R3T redundant drive parallel compensation mechanism and a hoisting mechanism.

[0030] As shown in Figure 3, the 2R3T redundant drive parallel compensation mechanism includes a base plate 1, a 2R3T redundant drive parallel compensation unit 2, and an upper platform 3; the base plate 1 is installed on the deck of the host ship; the 2R3T redundant drive parallel compensation unit 2 includes: a first hydraulic cylinder 201, a second hydraulic cylinder 202, a third hydraulic cylinder 203, a fourth hydraulic cylinder 204, a fifth hydraulic cylinder 205, a sixth hydraulic cylinder 206, a first ball joint 207, a first universal joint 208, a second universal joint 209, a third universal joint 210, a fourth universal joint 211, a fifth universal joint 212, a second ball joint 213, a third ball joint 214, a fourth ball joint 215, a fifth ball joint 216, a sixth ball joint 217, a sixth ball joint 218, a sixth ball joint 219, a sixth ball joint 220, a sixth ball joint 221 Universal joint 218, first displacement sensor 219, second displacement sensor 220, third displacement sensor 221, fourth displacement sensor 222, fifth displacement sensor 223, sixth displacement sensor 224, attitude sensor 225; the bottoms of the first hydraulic cylinder 201, second hydraulic cylinder 202, third hydraulic cylinder 203, fourth hydraulic cylinder 204, fifth hydraulic cylinder 205 are evenly distributed on the bottom plate 1 according to the circumscribed circle of a pentagon; the piston rod ends of the first hydraulic cylinder 201, second hydraulic cylinder 202, third hydraulic cylinder 203, fourth hydraulic cylinder 204, fifth hydraulic cylinder 205 are evenly distributed on the bottom surface of the upper platform 3 according to the circumscribed circle of a pentagon; the bottom of the cylinder body of the sixth hydraulic cylinder 206 is evenly distributed on the bottom surface of the upper platform 3 according to the circumscribed circle of a pentagon The bottom of the cylinder body of the first hydraulic cylinder 201 is mounted on the bottom plate 1 through the first ball joint 207, and the end of the piston rod is mounted on the bottom surface of the upper platform 3 through the second ball joint 213; the bottom of the cylinder body of the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, and the fifth hydraulic cylinder 205 are respectively mounted on the bottom plate 1 through the first universal joint 208, the second universal joint 209, the third universal joint 210, and the fourth universal joint 211; the ends of the piston rods of the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, and the fifth hydraulic cylinder 205 are respectively mounted on the bottom plate 1 through the first universal joint 208, the second universal joint 209, the third universal joint 210, and the fourth universal joint 211 The third ball joint 214, the fourth ball joint 215, the fifth ball joint 216 and the sixth ball joint 217 are mounted on the bottom surface of the upper platform 3; the first rotation axes of the first universal joint 208, the second universal joint 209, the third universal joint 210, the fourth universal joint 211, the fifth universal joint 212 and the sixth universal joint 218 are parallel to each other; the first displacement sensor 219, the second displacement sensor 220, the third displacement sensor 221, the fourth displacement sensor 222, the fifth displacement sensor 223 and the sixth displacement sensor 224 are mounted on the cylinder bodies of the first hydraulic cylinder 201, the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, the fifth hydraulic cylinder 205 and the sixth hydraulic cylinder 206, respectively;The first displacement sensor 219, second displacement sensor 220, third displacement sensor 221, fourth displacement sensor 222, fifth displacement sensor 223, and sixth displacement sensor 224 respectively measure the displacements of the first hydraulic cylinder 201, second hydraulic cylinder 202, third hydraulic cylinder 203, fourth hydraulic cylinder 204, fifth hydraulic cylinder 205, and sixth hydraulic cylinder 206. The attitude sensor 225 is installed directly below the fifth universal joint 212 and at the exact center of the bottom plate 1 to measure the heave, roll, surge, pitch, and sway of the vessel caused by wind and waves. The bottom of the cylinder body and the end of the piston rod of the sixth hydraulic cylinder 206 are universal joints, limiting the vertical rotation of the upper platform 3.

[0031] As shown in Figure 4, the lifting mechanism includes a rotating base 4, a crane column 5, a first boom 6, a seventh hydraulic cylinder 7, a second boom hydraulic support unit 8, a second boom 9, a tenth hydraulic cylinder 10, a slider 11, an eleventh hydraulic cylinder 12, a third boom 13, an R hinge 14, a fourth boom 15, and a hook 16; the rotating base 4 is installed on the upper platform 3; the crane column 5 is fixedly installed on the rotating base 4; the first boom 6 is hinged to the crane column 5; the bottom of the cylinder body of the seventh hydraulic cylinder 7 is hinged to the crane column 5, and the end of the telescopic rod is hinged to the first boom 6; the end of the second boom 9 is hinged to one end of the first boom 6; the second boom hydraulic support unit 8 includes: an eighth hydraulic cylinder 801 and a ninth hydraulic cylinder 802; the cylinder ends of the eighth hydraulic cylinder 801 and the ninth hydraulic cylinder 802 are respectively hinged to the rotating platform 4, and the ends of the telescopic rod are respectively hinged to the second boom 9.

[0032] As shown in Figure 5, the sliding groove of the slider 11 coincides with the track surface 901 of the second boom 9; the bottom of the cylinder body of the tenth hydraulic cylinder 10 is fixedly connected to the end of the second boom 9, and the end of the telescopic rod is connected to the end of the slider 11 through a ball joint 101.

[0033] As shown in Figure 6, the upper end of the third boom 13 is hinged to the bottom surface of the slider 11, and the lower end is connected to the fourth boom 15 through the R hinge 14; the bottom of the cylinder body of the eleventh hydraulic cylinder 12 is hinged to the bottom surface of the slider 11, and the end of the telescopic rod is hinged to the third boom 13; the lower end of the fourth boom 15 is fixedly connected to the hook 16.

[0034] The following describes the process of hoisting cargoes by the offshore floating platform hoisting device with wave compensation function of the present invention:

[0035] When it is necessary to lift cargo to the target ship, the host ship and the target ship maintain a safe distance, and the 2R3T redundant drive parallel compensation mechanism starts working. Its working principle is: the attitude sensor 225 located at the center of the bottom plate 1 collects the heave, roll, surge, pitch and sway values ​​of the ship caused by wind and waves, and transmits the collected data to the controller. The controller calculates the wave compensation value required for the ship under heave, roll, surge, pitch and sway motion through inverse calculation. The controller controls the extension and contraction of the first hydraulic cylinder 201, the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, the fifth hydraulic cylinder 205 and the sixth hydraulic cylinder 206 according to the corresponding compensation value to compensate for the five degrees of freedom of the ship's heave, roll, surge, pitch and sway. The linear displacement sensors installed on the rigid bodies of the first hydraulic cylinder 201, the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, the fifth hydraulic cylinder 205 and the sixth hydraulic cylinder 206 will feed back the measured displacement values ​​of the corresponding hydraulic cylinders to the controller after A / D conversion. The controller can realize closed-loop control of the first hydraulic cylinder 201, the second hydraulic cylinder 202, the third hydraulic cylinder 203, the fourth hydraulic cylinder 204, the fifth hydraulic cylinder 205 and the sixth hydraulic cylinder 206 according to the feedback signals.

[0036] When performing wave compensation on a ship, the operator controls the rotating base 4 of the lifting mechanism to rotate in order to lift cargo in different positions. According to the actual situation on site, the operator controls the extension and contraction of the tenth hydraulic cylinder 10 according to the distance between the cargo and the lifting device, and adjusts the position of the slider 11 located on the second boom 9, so that the hook 16 below the slider 11 can be located above the cargo. The height of the hook can be adjusted by controlling the extension and contraction of the eighth hydraulic cylinder 801 and the ninth hydraulic cylinder 802. When fine-tuning the height of the hook is required, the extension and contraction of the eleventh hydraulic cylinder can be controlled to make adjustments. After the hook 16 has caught the cargo, the telescopic rods of the eighth hydraulic cylinder 801 and the ninth hydraulic cylinder 802 can be controlled to be pushed out to raise the cargo height to avoid collision with other cargo in the ship. After the cargo rises to a safe height, the operator controls the rotation of the rotating base 4 so that the cargo is located above the target ship. When lowering the cargo, the operator controls the contraction of the telescopic rods of the eighth hydraulic cylinder 801 and the ninth hydraulic cylinder 802 to lower the height of the cargo. When the height of the cargo from the deck of the target ship is greater than the safe height S (the safe height S is the height at which the target ship does not collide with the cargo being lowered when it generates heaving motion), the cargo lowering speed is accelerated. When the height of the cargo from the deck of the target ship is less than the safe height S, the cargo lowering speed is slowed down, and the cargo height is adjusted in a small range by controlling the contraction of the telescopic rod of the eleventh hydraulic cylinder until the cargo is stably placed on the deck of the target ship.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that other modifications and substitutions may be made based on the above description. However, any obvious modifications and substitutions to the present invention are still within the scope of protection of the present invention.

[0038] Comparative Patents

[0039] [1] Chinese invention patent, CN105668430A, Lu Daohua, Crane device with multi-degree-of-freedom active wave compensation function and compensation method, 2016-06-15.

[0040] [2] China Invention Patent, CN107161882B, Lu Daohua, A New Active Compensation Crane System, 2018-08-14.

[0041] [3] China Invention Patent, CN105621275B, Wang Jia, Crane Device with Three-Degree-of-Freedom Active Wave Compensation Function and Compensation Method, 2018-10-12

[0042] [4] China Invention Patent, CN109733530B, Tang Gang, A Series-Parallel Six-DOF Active Heave Compensation Platform, 2020-05-05

Claims

1. A hoisting device with wave compensation function, characterized in that Including 2R3T redundant drive parallel compensation mechanism and hoisting mechanism; The aforementioned 2R3T redundant drive parallel compensation mechanism comprises a base plate (1), a 2R3T redundant drive parallel compensation unit (2), and an upper platform (3); The bottom plate (1) is installed on the deck of the host ship; The 2R3T redundant drive parallel compensation unit (2) comprises: A first hydraulic cylinder (201), a second hydraulic cylinder (202), a third hydraulic cylinder (203), a fourth hydraulic cylinder (204), a fifth hydraulic cylinder (205), a sixth hydraulic cylinder (206), a first ball joint (207), a first universal joint (208), a second universal joint (209), a third universal joint (210), a fourth universal joint (211), a fifth universal joint (212), a second ball joint (213), a third ball joint (214), a fourth ball joint (215), a fifth ball joint (216), a sixth ball joint (217), a sixth universal joint (218), a first displacement sensor (219), a second displacement sensor (220), a third displacement sensor (221), a fourth displacement sensor (222), a fifth displacement sensor (223), a sixth displacement sensor (224), and a posture sensor (225); The bottoms of the cylinder bodies of the first hydraulic cylinder (201), the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), and the fifth hydraulic cylinder (205) are evenly distributed on the bottom plate (1) according to the circumscribed circle of a pentagon; The piston rod ends of the first hydraulic cylinder (201), the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), and the fifth hydraulic cylinder (205) are evenly distributed on the upper platform (3) according to the circumscribed circle of a pentagon; The bottom of the cylinder body of the sixth hydraulic cylinder (206) is installed at the center of the bottom plate (1) through a fifth universal joint (212), and the end of the piston rod is installed at the center of the bottom surface of the upper platform (3) through a sixth universal joint (218); The bottom of the cylinder body of the first hydraulic cylinder (201) is mounted on the bottom plate (1) via a first ball joint (207), and the end of the piston rod is mounted on the bottom surface of the upper platform (3) via a second ball joint (213); The bottoms of the cylinder bodies of the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), and the fifth hydraulic cylinder (205) are respectively mounted on the bottom plate (1) via a first universal joint (208), a second universal joint (209), a third universal joint (210), and a fourth universal joint (211); the ends of the piston rods of the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), and the fifth hydraulic cylinder (205) are respectively mounted on the bottom surface of the upper platform (3) via a third ball joint (214), a fourth ball joint (215), a fifth ball joint (216), and a sixth ball joint (217); The first rotation of the first universal joint (208), the second universal joint (209), the third universal joint (210), the fourth universal joint (211), the fifth universal joint (212), and the sixth universal joint (218) The axes of rotation are parallel to each other; The first displacement sensor (219), the second displacement sensor (220), the third displacement sensor (221), the fourth displacement sensor (222), the fifth displacement sensor (223), and the sixth displacement sensor (224) are respectively installed on the cylinder bodies of the first hydraulic cylinder (201), the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), the fifth hydraulic cylinder (205), and the sixth hydraulic cylinder (206); The first displacement sensor (219), the second displacement sensor (220), the third displacement sensor (221), the fourth displacement sensor (222), the fifth displacement sensor (223), and the sixth displacement sensor (224) respectively collect displacements of the first hydraulic cylinder (201), the second hydraulic cylinder (202), the third hydraulic cylinder (203), the fourth hydraulic cylinder (204), the fifth hydraulic cylinder (205), and the sixth hydraulic cylinder (206); The attitude sensor (225) is installed directly below the fifth universal joint (212) and is also located at the center of the bottom plate (1) to measure the heave, roll, surge, pitch and sway values ​​of the ship caused by wind and waves; the bottom of the cylinder body and the end of the piston rod of the sixth hydraulic cylinder (206) are both universal joints, which limit the rotation of the upper platform around the vertical direction; The aforementioned hoisting mechanism comprises a rotating base (4), a crane column (5), a first hoisting arm (6), a seventh hydraulic cylinder (7), a second hoisting arm hydraulic support unit (8), a second hoisting arm (9), a tenth hydraulic cylinder (10), a sliding block (11), an eleventh hydraulic cylinder (12), a third hoisting arm (13), an R hinge (14), a fourth hoisting arm (15), and a hook (16); The rotating base (4) is installed on the upper platform (3); The crane column (5) is fixedly mounted on the rotating base (4); The first boom (6) is hinged to the crane column (5); The bottom of the seventh hydraulic cylinder (7) is hinged to the crane column (5), and the end of the telescopic rod is hinged to the first boom (6); The end of the second suspension arm (9) is hinged to one end of the first suspension arm (6); The second boom hydraulic support unit (8) comprises: An eighth hydraulic cylinder (801) and a ninth hydraulic cylinder (802); The cylinder ends of the eighth hydraulic cylinder (801) and the ninth hydraulic cylinder (802) are respectively hinged to the rotating platform (4), and the ends of the telescopic rods are respectively hinged to the second boom (9); The slide groove of the slide block (11) coincides with the track surface (901) of the second suspension arm (9); the bottom of the cylinder body of the tenth hydraulic cylinder (10) is fixedly connected to the end of the second suspension arm (9), and the end of the telescopic rod is connected to the end of the slide block (11) via a ball joint (101); The upper end of the third suspension arm (13) is hinged to the bottom surface of the slider (11), and the lower end is connected to the slider (11) by R The hinge (14) is connected to the fourth suspension arm (15); The bottom of the cylinder body of the eleventh hydraulic cylinder (12) is hinged to the bottom surface of the slider (11), and the end of the telescopic rod is hinged to the third boom (13); The lower end of the fourth suspension arm (15) is fixedly connected to the suspension hook (16).

2. The hoisting device with wave compensation function according to claim 1, characterized in that: The tenth hydraulic cylinder (10) is located at the center of the tracks on both sides of the second boom (9).

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