Key Technologies Research Of A Load Self-balancing Serial-parallel Hybrid Marine Crane Stable Compensation

Ships and other floating bodies at sea,under the combined action of sea wind,waves and currents,will produce six degrees of freedom movement in space,namely: sideways,verticals,droops,rolls,pitches,and bows.This multi-dimensional movement will have a serious impact on the transfer of goods and people,and it is difficult to meet the established needs in offshore operations according to the existing technology.In view of the problem that the stability mechanism of the existing stable crane products at home and abroad is more complex and the driving force under heavy eccentric load is several times the load,this paper proposes a load self-balancing marine stable crane mechanism,the main research content is as follows:On the basis of the existing marine crane,the stable support platform of the crane is innovatively designed to realize the stable compensation of the lifting weight when the ship is subjected to rolling,pitching and saging,and innovatively designing multiple sets of pulley sets,so that it can balance the eccentric load of the lifting weight and realize the load self-balancing by designing the rope between the pulley groups,so as to reduce the system load,and complete the similarity design of the crane ratio prototype through the principle of similarity.Static simulation analysis is carried out on the main components of the 3D model to ensure that each component can meet the actual requirements under the most stringent working conditions.For the innovative design of R+4UPS/U+RUPS series parallel hybrid crane,the position,velocity and acceleration analysis of kinematics are carried out,the kinematic model is established based on vector method and spiral theory,and finally the consistency of theoretical values and simulation values is verified by MATLAB and Solid Works respectively.Based on the Newton-Euler equation,combined with the D’Alembert principle,the R+4UPS/U+RUPS mechanism was dynamically analyzed,and the relationship between each drive cylinder on the series-parallel hybrid mechanism and the tandem motion pair and the end force was solved,and the calculation process was programmed by MATLAB,and the simulation verification was carried out by ADAMS modeling,and the correctness of the dynamic model was finally verified by comparing with the programming results.The hydraulic schematic diagram of pump-controlled heave compensation based on the principle of active and passive composite is innovatively designed,and the relevant performance parameters of the heave hydraulic cylinder are used as the design parameters of the heave compensation hydraulic system according to the scaled prototype model,and the selection and calculation of key components are carried out.AMESim was used to simulate and compare whether the hydraulic system contained the accumulator system system power,and finally the feasibility and rationality of the heave compensation scheme were verified through prototype test.