Wave compensation hydraulic system

Abstract

The utility model discloses a wave compensation hydraulic system which comprises a piston type energy accumulator, a low-pressure gas cylinder, a high-pressure gas cylinder, a three-cavity oil cylinder, an oil supplementing pump and an oil tank. The low-pressure gas cylinder and the high-pressure gas cylinder are respectively connected with a gas cavity of the piston type energy accumulator, and the oil supplementing pump is connected with the oil tank; the piston type energy accumulator is provided with a first displacement sensor used for monitoring the displacement change of a piston, and the three-cavity oil cylinder is provided with a second displacement sensor used for monitoring the displacement change of a piston rod. The three-cavity oil cylinder comprises a driven cavity, a rod cavity and a rod inner hole cavity, the driven cavity is communicated with a liquid cavity of the piston type energy accumulator, the rod cavity and the rod inner hole cavity are respectively communicated with the oil tank, and the rod cavity and the rod inner hole cavity are respectively connected with the oil supplementing pump. Under the conditions of different sea conditions and load changes, the compensation capacity of the wave compensation hydraulic system can be adjusted in real time, and the output force of the piston rod is kept stable.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic equipment, in particular to a wave compensation hydraulic system. Background Art

[0002] In order to achieve better development of marine resources, more facilities and equipment need to be deployed on the seabed. These devices on the seabed are generally deployed or recovered by winches. However, there are waves in the ocean, and the wave movement greatly affects the force of the winch cable. This influence, on the one hand, endangers the safety of facilities and equipment, and on the other hand, accelerates the fatigue fracture of the cable. Therefore, a wave compensation system is needed to balance the movement of waves, keep the force of the cable stable, and improve the safety and stability of marine deployment facilities and equipment.

[0003] At present, the existing wave compensation system is often composed of a bladder accumulator and a common cylinder structure. This solution has two significant defects:

[0004] 1. There is a certain correspondence between the pressure and load of the bladder accumulator. When the load is determined, the pressure of the bladder accumulator is almost certain. However, in actual use, since the cable has a certain mass, as the lowering depth changes, the total load on the cable also increases. Therefore, it is difficult to adjust the pressure of the bladder accumulator to adapt to the changing load during the working process.

[0005] Second, use an ordinary cylinder structure (double-rod cylinder or plunger cylinder) to maintain the constant tension of the cable. In actual use, since the cable has a certain mass, the total load on the cable increases with the change of the lowering depth. The initial pressure of the accumulator determines the position of the cylinder piston, and it is difficult to flexibly adjust the position of the cylinder piston rod during operation. Utility Model Content

[0006] The technical problem to be solved by the utility model is that the existing wave compensation system has low adaptability to load changes.

[0007] To this end, the utility model provides a wave compensation hydraulic system, which can timely adjust the compensation capacity according to different load conditions to keep the output force of the piston rod stable.

[0008] The technical solution adopted by the utility model to solve its technical problems is: a wave compensation hydraulic system, comprising: a piston accumulator, a low-pressure gas cylinder, a high-pressure gas cylinder, a three-chamber oil cylinder, an oil replenishment pump and an oil tank; the low-pressure gas cylinder and the high-pressure gas cylinder are respectively connected to the gas chamber of the piston accumulator, and the oil replenishment pump is connected to the oil tank; the piston accumulator is provided with a first displacement sensor for monitoring the displacement change of the piston, and the three-chamber oil cylinder is provided with a second displacement sensor for monitoring the displacement change of the piston rod; the three-chamber oil cylinder comprises: a passive chamber, a rod chamber and a rod inner hole chamber, the passive chamber is connected to the liquid chamber of the piston accumulator, the rod chamber and the rod inner hole chamber are respectively connected to the oil tank, and the rod chamber and the rod inner hole chamber are respectively connected to the oil replenishment pump.

[0009] Furthermore, it also includes: a first proportional flow valve and a second proportional flow valve, the rod cavity is connected to the oil tank through the first proportional flow valve, and the rod inner hole cavity is connected to the oil tank through the second proportional flow valve.

[0010] Furthermore, it also includes: a two-way cartridge valve, wherein the A end of the two-way cartridge valve is connected to the inner hole cavity of the rod, and the B end of the two-way cartridge valve is connected to the rod cavity.

[0011] Furthermore, the three-chamber oil cylinder includes: a cylinder barrel, a piston rod and an inner rod. The piston rod is movably arranged inside the cylinder barrel, one end of the piston rod passes through the cylinder barrel, one end of the inner rod is fixedly connected to the inner wall of the cylinder barrel, and the other end of the inner rod extends into the piston rod.

[0012] Furthermore, the cylinder is provided with a first oil port, a second oil port and a third oil port, the first oil port is connected to the passive cavity, the second oil port is connected to the rod cavity, and the third oil port is connected to the inner hole cavity of the rod.

[0013] Furthermore, the low-pressure gas cylinder is connected to a manual ball valve and a first pressure sensor.

[0014] Furthermore, the high-pressure gas cylinder is connected to an electromagnetic ball valve and a second pressure sensor.

[0015] Furthermore, it also includes: a first one-way valve and a second one-way valve, the outlet end of the first one-way valve is connected to the rod cavity, the inlet end of the first one-way valve is connected to the inlet end of the second one-way valve, the outlet end of the second one-way valve is connected to the inner hole cavity of the rod, and the inlet ends of the first one-way valve and the second one-way valve are both connected to the oil replenishment pump.

[0016] Furthermore, it also includes: a third one-way valve and a fourth one-way valve, the outlet end of the third one-way valve is connected to the rod cavity, the inlet end of the third one-way valve is connected to the inlet end of the fourth one-way valve, the outlet end of the fourth one-way valve is connected to the inner hole cavity of the rod, and the inlet ends of the third one-way valve and the fourth one-way valve are both connected to the oil tank.

[0017] Furthermore, it also includes: a first overflow valve and a second overflow valve, the first overflow valve is connected to the rod cavity, and the second overflow valve is connected to the inner hole cavity of the rod.

[0018] The beneficial effects of the utility model are:

[0019] When the utility model is in use, the high-pressure gas cylinder can be opened or disconnected to adjust the gas pressure during operation according to the load size and the position signal fed back by the displacement sensor. The piston accumulator and the three-chamber oil cylinder cooperate with each other to meet different workloads and improve the reliability and stability of wave compensation.

[0020] The proportional flow valve can be used to control the damping of the three-chamber oil cylinder when it is extended and retracted, which can be used to adapt to different workloads and further improve the reliability and stability of heave compensation.

[0021] The two-way cartridge valve can be used to connect the rod cavity and the rod inner hole cavity, so that the piston rod is in a floating state to achieve minimum damping.

[0022] The utility model is provided with an oil replenishing circuit, and the inner hole cavity of the rod and the cavity with the rod are connected to the oil tank through a one-way valve to ensure that the inner hole cavity of the rod and the cavity with the rod are always filled with oil.

[0023] The utility model is provided with a pump oil replenishment circuit, and the inner hole cavity of the rod and the rod cavity are connected to the oil replenishment pump through a one-way valve to ensure that the inner hole cavity of the rod and the rod cavity are always filled with oil.

[0024] The overflow valve can prevent the rod cavity and the rod cavity from having excessive pressure, which is beneficial to protecting the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 It is a structural schematic diagram of the wave compensation hydraulic system of the utility model.

[0027] Figure 2 It is a structural schematic diagram of a three-chamber oil cylinder of the utility model.

[0028] In the figure: 1. piston accumulator; 2. low-pressure gas cylinder; 3. high-pressure gas cylinder; 4. three-chamber oil cylinder; 5. oil replenishment pump; 6. oil tank; 7. first proportional flow valve; 8. second proportional flow valve; 9. two-way cartridge valve; 10. manual ball valve; 11. first pressure sensor; 12. solenoid ball valve; 13. second pressure sensor; 14. first one-way valve; 15. second one-way valve; 16. third one-way valve; 17. fourth one-way valve; 18. first overflow valve; 19. second overflow valve; 101. first displacement sensor; 41. passive chamber; 42. rod chamber; 43. rod inner hole chamber; 44. second displacement sensor; 45. cylinder barrel; 46. piston rod; 47. inner rod; 451. first oil port; 452. second oil port; 453. third oil port. DETAILED DESCRIPTION

[0029] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0030] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] like Figure 1 to Figure 2As shown, the wave compensation hydraulic system of the utility model comprises: a piston accumulator 1, a low-pressure gas cylinder 2, a high-pressure gas cylinder 3, a three-chamber oil cylinder 4, an oil replenishment pump 5 and an oil tank 6. The low-pressure gas cylinder 2 and the high-pressure gas cylinder 3 are respectively connected to the gas chamber of the piston accumulator 1, the oil replenishment pump 5 is connected to the oil tank 6, the piston accumulator 1 is provided with a first displacement sensor 101 for monitoring the displacement change of the piston, and the three-chamber oil cylinder 4 is provided with a second displacement sensor 44 for monitoring the displacement change of the piston rod. The three-chamber oil cylinder 4 comprises: a passive chamber 41, a rod chamber 42 and a rod inner hole chamber 43. The passive chamber 41 is connected to the liquid chamber of the piston accumulator 1, the rod chamber 42 and the rod inner hole chamber 43 are respectively connected to the oil tank 6, and the rod chamber 42 and the rod inner hole chamber 43 are respectively connected to the oil replenishment pump 5.

[0033] It should be noted that, during normal wave compensation, only the low-pressure gas cylinder 2 is opened to inflate the piston accumulator 1; when the load increases, according to the position signal fed back by the first displacement sensor 101 and the second displacement sensor 44, the high-pressure gas cylinder 3 is also opened to inflate the piston accumulator 1, so that the compensable load mass can be increased to adapt to the load change. The three-chamber oil cylinder 4 can adapt to different loads and sea conditions during wave compensation, and can improve the reliability and stability of wave compensation.

[0034] The low-pressure gas cylinder 2 is connected to a manual ball valve 10 and a first pressure sensor 11. The high-pressure gas cylinder 3 is connected to an electromagnetic ball valve 12 and a second pressure sensor 13. In other words, the low-pressure gas cylinder 2 is opened and closed manually, and the high-pressure gas cylinder 3 can be opened and closed electrically. When the low-pressure gas cylinder 2 is inflated, the air pressure inside the low-pressure gas cylinder 2 can be monitored by the first pressure sensor 11, and when the pressure reaches the set pressure value, the inflation is stopped. When the high-pressure gas cylinder 3 is inflated, the air pressure inside the high-pressure gas cylinder 3 can be monitored by the second pressure sensor 13, and when the pressure reaches the set pressure value, the inflation is stopped.

[0035] Specifically, the three-chamber oil cylinder 4 includes: a cylinder barrel 45, a piston rod 46 and an inner rod 47. The piston rod 46 is movably arranged inside the cylinder barrel 45. One end of the piston rod 46 passes through the cylinder barrel 45. One end of the inner rod 47 is fixedly connected to the inner wall of the cylinder barrel 45. The other end of the inner rod 47 extends into the piston rod 46. The cylinder barrel 45 is provided with a first oil port 451, a second oil port 452 and a third oil port 453. The first oil port 451 is connected to the passive chamber 41, the second oil port 452 is connected to the rod chamber 42, and the third oil port 453 is connected to the rod inner bore chamber 43. The first oil port 451 is connected to the liquid chamber of the piston accumulator 1, the second oil port 452 is connected to the oil tank 6, and the third oil port 453 is connected to the oil tank 6 through the oil replenishment pump 5.

[0036] When the gas chamber of the piston accumulator 1 is pressurized, the hydraulic oil in the liquid chamber enters the passive chamber 41, and the piston rod 46 extends. At this time, the hydraulic oil in the rod chamber 42 returns to the oil tank 6. At the same time, the rod inner bore chamber 43 is replenished with oil through the replenishing oil pump 5. When the piston rod 46 retracts, the hydraulic oil in the passive chamber 41 enters the liquid chamber of the piston accumulator 1, and the hydraulic oil in the rod inner bore chamber 43 flows to the oil tank 6. At the same time, the rod chamber 42 is replenished with oil through the replenishing oil pump 5.

[0037] For example, the wave compensation hydraulic system also includes a first proportional flow valve 7 and a second proportional flow valve 8, the rod cavity 42 is connected to the oil tank 6 through the first proportional flow valve 7, and the rod inner hole cavity 43 is connected to the oil tank 6 through the second proportional flow valve 8. By changing the opening size of the first proportional flow valve 7 and the second proportional flow valve 8, the damping of the three-chamber oil cylinder 4 when extending and retracting can be adjusted, so that the wave compensation hydraulic system can adapt to different load conditions. Through this structure, the damping of the three-chamber oil cylinder 4 can still be adjusted in real time during the use of the system.

[0038] For example, the wave compensation hydraulic system further includes a two-way cartridge valve 9, the A end of the two-way cartridge valve 9 is connected to the rod inner cavity 43, and the B end of the two-way cartridge valve 9 is connected to the rod cavity 42. When the two-way cartridge valve 9 is energized, the A end and the B end of the two-way cartridge valve 9 are connected, so that the rod cavity 42 is connected to the rod inner cavity 43. Assume that the inner diameters of the passive cavity 41 and the rod cavity 42 are both D1, the inner diameter of the piston rod 46 is D2, and the outer diameter of the inner rod 47 is D3, wherein D1 2 =D2 2 +D3 2 , so that the working area of ​​the rod inner hole cavity 43 is equal to the working area of ​​the rod cavity 42. In this way, when the rod cavity 42 is connected with the rod inner hole cavity 43, the three-chamber oil cylinder 4 can be in a floating state without additional oil replenishment.

[0039] For example, the wave compensation hydraulic system also includes: a first one-way valve 14, a second one-way valve 15, a third one-way valve 16 and a fourth one-way valve 17, the outlet end of the first one-way valve 14 is connected to the rod chamber 42, the inlet end of the first one-way valve 14 is connected to the inlet end of the second one-way valve 15, the outlet end of the second one-way valve 15 is connected to the rod inner hole 43, the inlet ends of the first one-way valve 14 and the second one-way valve 15 are both connected to the oil replenishment pump 5, the outlet end of the third one-way valve 16 is connected to the rod chamber 42, the inlet end of the third one-way valve 16 is connected to the inlet end of the fourth one-way valve 17, the outlet end of the fourth one-way valve 17 is connected to the rod inner hole 43, and the inlet ends of the third one-way valve 16 and the fourth one-way valve 17 are both connected to the oil tank 6. The one-way valve has unidirectional conductivity. The first one-way valve 14 and the second one-way valve 15 are connected to the oil replenishment pump 5 to ensure that the rod chamber 42 and the rod inner hole chamber 43 are always filled with hydraulic oil and have a certain back pressure for adjusting the damping of the cylinder. The third one-way valve 16 and the fourth one-way valve 17 are connected to the oil tank 6 for replenishing oil.

[0040] For example, the heave compensation hydraulic system further includes: a first relief valve 18 and a second relief valve 19, wherein the first relief valve 18 is connected to the rod chamber 42, and the second relief valve 19 is connected to the rod inner bore 43. The first relief valve 18 and the second relief valve 19 play a protective role to prevent the pressure in the rod chamber 42 and the rod inner bore 43 from being too high.

[0041] Here’s how it works:

[0042] Before use: the low-pressure gas cylinder 2 is connected to the piston accumulator 1 to inflate the gas chamber. When the pressure in the gas chamber increases, the piston of the piston accumulator 1 is pushed downward, thereby pushing the oil in the liquid chamber from the first oil port 451 into the passive chamber 41, and the piston rod 46 extends. At this time, the first displacement sensor 101 monitors the displacement of the piston of the piston accumulator 1, and the second displacement sensor 44 monitors the displacement of the piston rod 46. As the piston rod 46 extends, the oil in the rod chamber 42 flows back to the oil tank 6 through the second oil port 452 and the first proportional flow valve 7. At the same time, the oil replenishment pump 5 replenishes a certain pressure for the rod chamber 42. The oil in the rod inner bore 43 is replenished by the oil replenishment pump 5. When the replenishment speed cannot meet the movement speed of the oil cylinder, the oil is sucked from the oil tank 6 through the fourth one-way valve 17, that is, the rod inner bore 43 is always kept full of oil. Finally, the piston rod 46 and the piston of the piston accumulator 1 are adjusted to the middle position of the full stroke (this is the initial state of the wave compensation hydraulic system).

[0043] Normal wave compensation and wave movement requires the piston rod 46 to extend: Since the waves tend to move downward, the output force of the piston rod 46 becomes smaller, thereby reducing the pressure in the passive chamber 41. At this time, the low-pressure gas cylinder 2 replenishes gas to the gas chamber of the piston accumulator 1, pushing the piston of the piston accumulator 1 to move downward, causing the piston rod 46 to extend. As the piston rod 46 extends, the oil in the rod chamber 42 flows back to the oil tank 6 through the second oil port 452 and the first proportional flow valve 7. The opening size of the first proportional flow valve 7 determines the damping when the piston rod 46 extends, and at the same time, the oil replenishment pump 5 replenishes a certain pressure for the rod chamber 42. The oil in the rod inner bore 43 is replenished by the oil replenishment pump 5. When the replenishment speed cannot meet the cylinder movement speed, oil is sucked from the oil tank 6 through the fourth one-way valve 17, that is, the rod inner bore 43 is always kept full of oil.

[0044] Normal wave compensation and wave movement requires the piston rod 46 to retract: Since the waves tend to move upward, the output force of the piston rod 46 increases, the oil in the passive chamber 41 enters the liquid chamber of the piston accumulator 1 through the first oil port 451, the piston rod 46 retracts, and the oil pushes the piston of the piston accumulator 1 to move upward, and the pressure of the low-pressure gas cylinder 2 increases accordingly. The oil in the rod inner bore 43 flows back to the oil tank 6 through the third oil port 453 and the second proportional flow valve 8. The opening size of the second proportional flow valve 8 determines the damping when the piston rod 46 retracts. At the same time, the oil replenishment pump 5 replenishes a certain pressure for the rod inner bore 43. The oil in the rod chamber 42 is replenished by the oil replenishment pump 5. When the replenishment speed cannot meet the cylinder movement speed, the oil is sucked from the oil tank 6 through the third one-way valve 16, that is, the rod chamber 42 is always kept full of oil.

[0045] Minimum damping wave compensation: When the two-way cartridge valve 9 is opened, the rod inner hole cavity 43 and the rod cavity 42 are completely connected. Since the size of the three-chamber oil cylinder 4 meets D1 2 =D2 2 +D3 2 At this time, the piston rod 46 can be in a floating state, and the wave motion is completely compensated by the passive chamber 41. At this time, the damping is minimum and the compensation motion amplitude of the three-chamber oil cylinder 4 is maximum.

[0046] Adjustment of wave compensation capacity: When the load of wave compensation becomes larger, the electromagnetic ball valve 12 is opened to connect the pressure of the high-pressure gas cylinder 3 to the low-pressure gas cylinder 2 to supply gas at the same time, which can increase the mass of the load that can be compensated. By adjusting the opening size of the first proportional flow valve 7 and the second proportional flow valve 8, the damping of the piston rod 46 when extending and retracting can be adjusted, thereby adjusting the wave compensation capacity.

[0047] Abnormal situation safety protection: When the pressure in the rod inner hole cavity 43 and the rod cavity 42 is too high, the pressure can be released through the first relief valve 18 and the second relief valve 19, thereby protecting the hydraulic components.

[0048] In summary, the utility model can adjust the compensation capacity of the wave compensation hydraulic system (compensate for the jitter of the force caused by the waves) in real time under different sea conditions and load changes through the improvement of the hydraulic circuit, and keep the output force of the piston rod 46 stable.

[0049] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A wave compensation hydraulic system, characterized in that: include: A piston accumulator (1), a low-pressure gas cylinder (2), a high-pressure gas cylinder (3), a three-chamber oil cylinder (4), an oil replenishment pump (5) and an oil tank (6); The low-pressure gas cylinder (2) and the high-pressure gas cylinder (3) are respectively connected to the gas chamber of the piston accumulator (1), and the oil replenishment pump (5) is connected to the oil tank (6); the piston accumulator (1) is provided with a first displacement sensor (101) for monitoring the displacement change of the piston, and the three-chamber oil cylinder (4) is provided with a second displacement sensor (44) for monitoring the displacement change of the piston rod; The three-chamber oil cylinder (4) comprises: a passive chamber (41), a rod chamber (42) and a rod inner hole chamber (43); the passive chamber (41) is connected to the liquid chamber of the piston accumulator (1); the rod chamber (42) and the rod inner hole chamber (43) are respectively connected to the oil tank (6); and the rod chamber (42) and the rod inner hole chamber (43) are respectively connected to the oil replenishment pump (5).

2. The heave compensation hydraulic system according to claim 1, characterized in that: Also includes: A first proportional flow valve (7) and a second proportional flow valve (8), wherein the rod cavity (42) is connected to the oil tank (6) through the first proportional flow valve (7), and the rod inner hole cavity (43) is connected to the oil tank (6) through the second proportional flow valve (8).

3. The heave compensation hydraulic system according to claim 1, characterized in that: Also includes: A two-way cartridge valve (9), wherein the A end of the two-way cartridge valve (9) is connected to the inner hole cavity (43) of the rod, and the B end of the two-way cartridge valve (9) is connected to the rod cavity (42).

4. The heave compensation hydraulic system according to claim 1, characterized in that: The three-chamber oil cylinder (4) comprises: a cylinder barrel (45), a piston rod (46) and an inner rod (47); the piston rod (46) is movably arranged inside the cylinder barrel (45); one end of the piston rod (46) passes through the cylinder barrel (45); one end of the inner rod (47) is fixedly connected to the inner wall of the cylinder barrel (45); and the other end of the inner rod (47) extends into the piston rod (46).

5. The heave compensation hydraulic system according to claim 4, characterized in that: The cylinder barrel (45) is provided with a first oil port (451), a second oil port (452) and a third oil port (453); the first oil port (451) is connected to the passive chamber (41); the second oil port (452) is connected to the rod chamber (42); and the third oil port (453) is connected to the rod inner hole chamber (43).

6. The heave compensation hydraulic system according to claim 1, characterized in that: The low-pressure gas cylinder (2) is connected to a manual ball valve (10) and a first pressure sensor (11).

7. The heave compensation hydraulic system according to claim 1, characterized in that: The high-pressure gas cylinder (3) is connected to an electromagnetic ball valve (12) and a second pressure sensor (13).

8. The heave compensation hydraulic system according to claim 1, characterized in that: Also includes: A first one-way valve (14) and a second one-way valve (15), wherein the outlet end of the first one-way valve (14) is connected to a rod cavity (42), the inlet end of the first one-way valve (14) is connected to the inlet end of the second one-way valve (15), the outlet end of the second one-way valve (15) is connected to a rod inner cavity (43), and the inlet ends of the first one-way valve (14) and the second one-way valve (15) are both connected to an oil replenishment pump (5).

9. The heave compensation hydraulic system according to claim 1, characterized in that: Also includes: A third one-way valve (16) and a fourth one-way valve (17), wherein the outlet end of the third one-way valve (16) is connected to the rod cavity (42), the inlet end of the third one-way valve (16) is connected to the inlet end of the fourth one-way valve (17), the outlet end of the fourth one-way valve (17) is connected to the inner hole cavity (43) of the rod, and the inlet ends of the third one-way valve (16) and the fourth one-way valve (17) are both connected to the oil tank (6).

10. The heave compensation hydraulic system according to claim 1, characterized in that: Also includes: A first overflow valve (18) and a second overflow valve (19), wherein the first overflow valve (18) is connected to the rod cavity (42), and the second overflow valve (19) is connected to the rod inner cavity (43).

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