Seaborne crane operation heave compensation lifting appliance experiment device

Abstract

The invention discloses a lifting appliance experimental device for floating operation of an offshore crane, and belongs to the technical field of sea wave heave compensation experiments. The experiment device comprises a heave simulation cylinder, a heave compensation active simulation cylinder, a passive simulation energy accumulator, a passive simulation upper oil cylinder, a passive simulation lower oil cylinder, a reversing solenoid valve, a servo motor, a bidirectional pump, a pump source and a lifting appliance load simulation counterweight. The passive simulation upper oil cylinder, the passive simulation lower oil cylinder and the passive simulation energy accumulator form a passive heave compensator, and the servo motor and the two-way pump form an active heave compensator; the passive heave compensator and the active heave compensator are used for carrying out passive compensation or semi-active compensation on lifting of a heave compensation piston rod of the heave compensation active simulation cylinder; and the reversing solenoid valve is used for controlling the lifting of the heave simulation piston rod in the heave simulation cylinder so as to simulate the heave motion of an offshore ship body. The device has the characteristics of convenience in experiment operation, compact structure, few components and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of experimental technology for a heave compensation spreader of an offshore crane during floating operation, and specifically relates to an experimental device for a heave compensation spreader of an offshore crane during operation. Background Art

[0002] With the advancement of ocean resource development towards deep - sea areas, the offshore operation environment has become increasingly complex, and the heave motion of ships caused by waves has become a key factor affecting the safety and efficiency of lifting operations. Projects such as deep - sea drilling platforms and offshore wind power installations have extremely high requirements for lifting accuracy and safety. Traditional cranes are prone to load swing under the action of waves, resulting in equipment damage or operation failure. To solve this problem, heave compensation technology has emerged. Its core goal is to offset the vertical displacement of ships caused by waves through active, semi - active or passive compensation mechanisms, ensuring that the lifting equipment can still operate stably under harsh sea conditions.

[0003] Early passive heave compensation technologies (such as gas - liquid accumulators) were limited by compensation accuracy and response speed and were difficult to meet the requirements of complex sea conditions. Active heave compensation technology (AHC) uses sensors to monitor ship motion in real - time and drives actuators to actively offset heave displacement, with high compensation accuracy but relatively high power consumption. Semi - active heave compensation technology has both high compensation accuracy and low power consumption characteristics and has gradually become the mainstream of heave compensation technology.

[0004] Currently, the heave compensation spreader based on direct - drive volume control technology and semi - active heave compensation technology has high compensation accuracy and low power consumption. When used in conjunction with ordinary cranes, it can endow ordinary cranes with heave compensation functions and is a promising offshore engineering equipment. The structure and technology of the heave compensation spreader are complex and difficult to control. It is necessary to build an experimental device to meet the needs of optimized design. Summary of the Invention

[0005] The purpose of the present invention is to provide an experimental device for a heave compensation spreader of an offshore crane during operation, which can verify the key technologies of the heave compensation spreader based on direct - drive volume control and semi - active heave compensation technology to meet the needs of optimized design of the heave compensation spreader.

[0006] To solve the above - mentioned technical problems, the technical solution adopted by the present invention is: An experimental device for heave compensation sling for offshore crane operation mainly comprises a heave simulation cylinder, an active heave compensation simulation cylinder, a passive simulation accumulator, a passive simulation upper oil cylinder, a passive simulation lower oil cylinder, a reversing solenoid valve, a servo motor, a bidirectional pump, a pump source and a sling load simulation counterweight, wherein the heave simulation cylinder is suspended and fixed on a carrier, the cylinder body of the active heave compensation simulation cylinder is fixed on the lower end of the heave simulation piston rod of the heave simulation cylinder, and the sling load simulation counterweight is hung on the lower end of the heave compensation piston rod of the active heave compensation simulation cylinder; the passive simulation The piston rod in the upper cylinder is connected to the piston rod in the passive simulation lower cylinder through a flange, and the passive simulation upper cylinder, the passive simulation lower cylinder and the passive simulation accumulator constitute a passive heave compensator; the servo motor and the bidirectional pump constitute an active heave compensator; the passive heave compensator and the active heave compensator together compensate for the rising and falling of the heave compensation piston rod of the heave compensation active simulation cylinder; the pump source provides power for the experimental device, and the reversing solenoid valve is used to control the rising and falling of the heave simulation piston rod in the heave simulation cylinder to simulate the ups and downs of the ship at sea.

[0007] Furthermore, the reversing solenoid valve adopts a three-position four-way proportional reversing solenoid valve, the pump source is connected in series to the first pipeline, one end of the first pipeline is connected to the first port of the three-way four-way proportional reversing solenoid valve, and the other end of the first pipeline is connected to the oil tank; the second port and the third port of the four-way proportional reversing solenoid valve are connected to the rodless chamber and the rod chamber of the heave simulation cylinder through the second oil pipe and the third oil pipe respectively, and the fourth port of the four-way proportional reversing solenoid valve is connected to the oil tank through the fourth pipeline.

[0008] Furthermore, an oil injection pipeline is connected to the first pipeline, and the oil injection pipeline is used to inject oil into the passive simulation upper cylinder, the passive simulation lower cylinder and the passive simulation accumulator.

[0009] Furthermore, the rodless chamber of the passive simulated lower cylinder is connected to the rod chamber of the active simulated cylinder for heave compensation through the compensation oil pipe A, and the rod chamber of the passive simulated lower cylinder is connected to the passive simulated accumulator through the compensation oil pipe B; the rodless chamber of the passive simulated upper cylinder, the rod chamber of the passive simulated lower cylinder and the passive simulated accumulator are all connected to the rodless chamber of the active simulated cylinder for heave compensation through the compensation oil pipe C.

[0010] Further, a shut-off valve is provided on the compensating oil pipe C, and an active compensator is further included. The active compensator includes an oil supply pipeline A, an oil supply pipeline B, a check valve A, a check valve B, an active compensating pipeline A, an active compensating pipeline B, a displacement sensor, a two-way pump, a servo motor, and a controller. The displacement sensor is used to transmit the displacement information of the heave simulation piston rod to the controller. The controller is used to control the servo motor. The servo motor is used to drive the two-way pump to rotate. One end of the active compensating pipeline A is communicated with the left oil port of the two-way pump, and the other end of the active compensating pipeline A is connected to the compensating oil pipe C and located on one side of the shut-off valve. One end of the active compensating pipeline B is communicated with the right oil port of the two-way pump, and the other end of the active compensating pipeline B is connected to the compensating oil pipe C and located on the other side of the shut-off valve. One end of the oil supply pipeline A and one end of the oil supply pipeline B are respectively connected to the active compensating pipeline A and the active compensating pipeline B. The other ends of the oil supply pipeline A and the oil supply pipeline B are both connected to the fuel tank. The check valve A and the check valve B are respectively connected in series on the oil supply pipeline A and the oil supply pipeline B.

[0011] Further, a manual overflow valve A and a manual overflow valve B are respectively connected to the active compensating pipeline A and the active compensating pipeline B.

[0012] Further, the carrier is a fixed beam, a frame, or the ceiling of a laboratory.

[0013] Further, an air flow port is provided on the cavity wall of the rodless cavity of the passive simulation lower oil cylinder, and a filter is provided at the air flow port.

[0014] Further, a displacement sensor is built in the heave compensation active simulation cylinder for measuring the displacement of its piston rod.

[0015] The beneficial effects of the present invention are as follows: The experimental device of the present application can experimentally verify the key technologies of the heave compensation spreader based on semi-active heave compensation and direct drive volume. It has the characteristics of convenient experimental operation, compact structure, few components, and low cost, and can meet the needs of the optimized design of the heave compensation spreader. Description of the Drawings

[0016] The present invention is further described with reference to the accompanying drawings. However, the embodiments in the drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the following drawings: Figure 1 It is a schematic structural diagram of the present invention.

[0017] In the figure: 1. heave simulation cylinder; 2. active heave compensation simulation cylinder; 3. passive simulation accumulator; 4. upper oil cylinder for passive simulation; 5. lower oil cylinder for passive simulation; 6. directional control solenoid valve; 7. lifting pump source; 8. sling load simulation counterweight; 9. carrier; 10. first pipeline; 11. oil tank; 12. second oil pipe; 13. third oil pipe; 14. rodless cavity of the heave simulation cylinder; 15. rod cavity of the heave simulation cylinder; 16. fourth pipeline; 17. oil injection pipeline; 18. rodless cavity of the lower oil cylinder for passive simulation; 19. rod cavity of the active heave compensation simulation cylinder; 20. rod cavity of the lower oil cylinder for passive simulation; 21. compensation oil pipe B; 22. rodless cavity of the upper oil cylinder for passive simulation; 23. compensation oil pipe C; 24. rodless cavity of the active heave compensation simulation cylinder; 25. throttle valve; 26. oil supply pipeline A; 27. oil supply pipeline B; 28. check valve A; 29. check valve B; 30. active compensation pipeline A; 31. active compensation pipeline B; 32. displacement sensor; 33. bi-directional pump; 34. servo motor; 35. controller; 36. compensation oil pipe A; 37. manual relief valve A; 38. manual relief valve B. Detailed implementation manners

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper surface", "lower surface", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "forward rotation", "reverse rotation", "axial direction", "radial direction", "circumferential direction", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, 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 thus should not be construed as a limitation to the present invention.

[0020] As Figure 1As shown in the figure, a heave compensation spreader experimental device for offshore crane operation includes a heave simulation cylinder 1, a heave compensation active simulation cylinder 2, a passive simulation accumulator 3, a passive simulation upper oil cylinder 4, a passive simulation lower oil cylinder 5, a directional control solenoid valve 6, a pump source 7, and a spreader load simulation counterweight 8. The heave simulation cylinder 1 is hung and fixed on a carrier 9, and the carrier 9 is a fixed beam, a frame, or the ceiling of a laboratory. The cylinder body of the heave compensation active simulation cylinder 2 is fixed at the lower end of the heave simulation piston rod of the heave simulation cylinder 1, and the spreader load simulation counterweight 8 is hung at the lower end of the heave compensation piston rod of the heave compensation active simulation cylinder 1. The piston rod in the passive simulation upper oil cylinder 4 is connected to the piston rod in the passive simulation lower oil cylinder 5 through a flange. The passive simulation upper oil cylinder 4, the passive simulation lower oil cylinder 5, and the passive simulation accumulator 3 form a passive heave compensator to compensate for the lifting and lowering of the heave compensation piston rod of the heave compensation simulation cylinder 1. The pump source 7 provides power for the experimental device, and the directional control solenoid valve 6 is used to control the lifting and lowering of the heave simulation piston rod in the heave simulation cylinder 1 to simulate the undulation of an offshore hull.

[0021] The directional control solenoid valve 6 used is a three-position four-way proportional directional control solenoid valve. The pump source 7 is connected in series on the first pipeline 10. One end of the first pipeline 10 is connected to the first port of the directional control solenoid valve 6, and the other end of the first pipeline 10 is connected to an oil tank 11. The second port and the third port of the directional control solenoid valve 6 are respectively connected to the rodless cavity 14 and the rod cavity 15 of the heave simulation cylinder through a second oil pipe 12 and a third oil pipe 13. The fourth port of the directional control solenoid valve 6 is connected to the oil tank 11 through a fourth pipeline 16. An oil injection pipeline 17 is connected to the first pipeline 10, and the oil injection pipeline 17 is used to inject oil into the rodless cavity 22 of the passive simulation upper oil cylinder, the rodless cavity 18 of the passive simulation lower oil cylinder, the passive simulation accumulator 3, and the rodless cavity 24 of the heave compensation active simulation cylinder. The rodless cavity 18 of the passive simulation lower oil cylinder is connected to the rod cavity 19 of the heave compensation active simulation cylinder through a compensation oil pipe A36, and the rod cavity 20 of the passive simulation lower oil cylinder is connected to the passive simulation accumulator 3 through a compensation oil pipe B21. The rodless cavity 22 of the passive simulation upper oil cylinder, the rod cavity 20 of the lower oil cylinder, and the passive simulation accumulator 3 are all connected to the rodless cavity 24 of the heave compensation active simulation cylinder through a compensation oil pipe C23. A shut-off valve 25 is provided on the compensating oil pipe C23. The active compensator is further included. The active compensator includes an oil supply pipeline A26, an oil supply pipeline B27, a check valve A28, a check valve B29, an active compensating pipeline A30, an active compensating pipeline B31, a displacement sensor 32, a two-way pump 33, a servo motor 34 and a controller 35. The displacement sensor 32 is used to transmit the displacement information of the heave simulation piston rod to the controller 35. The controller 35 is used to control the servo motor 34. The servo motor 34 is used to drive the two-way pump 33 to rotate. One end of the active compensating pipeline A30 is communicated with the left oil circuit port of the two-way pump 33. The other end of the active compensating pipeline A30 is connected to the compensating oil pipe C23 and is located on one side of the shut-off valve 25. One end of the active compensating pipeline B31 is communicated with the right oil circuit port of the two-way pump 33. The other end of the active compensating pipeline B31 is connected to the compensating oil pipe C23 and is located on the other side of the shut-off valve 25. One end of the oil supply pipeline A26 and one end of the oil supply pipeline B27 are respectively connected to the active compensating pipeline A30 and the active compensating pipeline B31. The other end of the oil supply pipeline A26 and the other end of the oil supply pipeline B27 are both connected to the fuel tank 11. The check valve A28 and the check valve B29 are respectively connected in series on the oil supply pipeline A26 and the oil supply pipeline B27. Manual overflow valves A37 and B38 are respectively connected in series on the active compensating pipeline A30 and the active compensating pipeline B31.

[0022] In this embodiment, the directional control solenoid valve adopts a 4WRAE6E1-15-2V type electro-hydraulic proportional directional control valve; the upper oil cylinder adopts a HOB-80-200 type oil cylinder, the lower oil cylinder adopts a HOB-63-200 type oil cylinder, the accumulator adopts an NXQ-2.5L / 31.5MPa type bladder accumulator, and the globe valve adopts a YJZQ-J06W type globe valve; the servo motor adopts a P60B13100HXS00 type servo motor and is equipped with a PY2A030A2 type servo driver at the same time.

[0023] Working principle: This application includes two working modes: passive compensation mode and semi-active compensation mode. By controlling the opening and closing of the shut-off valve 25, the switching between the passive compensation mode and the semi-active compensation mode can be realized.

[0024] When the stop valve 25 is opened, the active compensator does not work and operates in the passive compensation mode. The working process is as follows: Start the pump source 7. The directional control solenoid valve 6 is in the right position. The oil in the oil tank 11 enters the rod chamber 15 of the heave simulation cylinder through the directional control solenoid valve 6. The hydraulic oil in the rodless chamber 14 of the heave simulation cylinder flows back to the oil tank through the directional control solenoid valve 6, causing the heave simulation cylinder to drive the heave compensation active simulation cylinder 2 to rise; conversely, when the directional control solenoid valve 6 is in the left position, the heave simulation cylinder drives the heave compensation active simulation cylinder 2 to lower; by repeatedly operating the directional control solenoid valve 6, the heave compensation active simulation cylinder 2 is made to rise and fall to simulate the heave motion of the hull where the crane is located on the sea surface. During the heave motion, the passive compensation mode is activated. When the heave compensation active simulation cylinder 2 rises, the oil in the rod chamber 19 of the heave compensation active simulation cylinder is squeezed, and the oil in the rod chamber 19 of the heave compensation active simulation cylinder will flow into the rodless chamber 18 of the passive simulation lower oil cylinder, thus effectively preventing the oil pressure from rising and driving the piston rod in the heave compensation active simulation cylinder to move upward, so that the piston rod in the heave compensation active simulation cylinder remains stationary, ensuring that the spreader load simulation counterweight 8 does not rise with the cylinder body of the heave compensation active simulation cylinder 2. After the oil flows into the rodless chamber 18 of the passive simulation lower oil cylinder, it pushes the piston rod in the passive simulation lower oil cylinder to move upward, squeezing the oil in the rod chamber 20 of the passive simulation lower oil cylinder into the accumulator 3 through the compensation oil pipe B21, increasing the oil pressure in the accumulator 3 to achieve the purpose of energy storage; at the same time, the piston rod in the passive simulation lower oil cylinder drives the piston rod in the passive simulation upper oil cylinder to move upward, squeezing the oil in the rodless chamber of the passive simulation upper oil cylinder into the rodless chamber 24 of the heave compensation active simulation cylinder, so that the oil pressure in the rodless chamber 24 of the heave compensation simulation cylinder remains as constant as possible; thus realizing passive compensation during upward movement.

[0025] When the heave compensation active simulation cylinder 2 lowers, the oil in the rodless chamber 24 of the heave compensation active simulation cylinder is squeezed, and the oil in the rodless chamber 24 of the heave compensation active simulation cylinder will flow into the rod chamber 22 of the passive simulation upper oil cylinder, thus effectively preventing the oil pressure from rising and pushing the piston rod in the heave compensation active simulation cylinder to move downward, so that the piston rod in the heave compensation active simulation cylinder remains stationary, ensuring that the spreader load simulation counterweight 8 does not lower with the cylinder body of the heave compensation active simulation cylinder 2. After the oil flows into the rod chamber 22 of the passive simulation upper oil cylinder, it pushes the piston rod in the passive simulation upper oil cylinder to move downward. The oil in the accumulator 3 enters the rod chamber 20 of the passive simulation lower oil cylinder through the compensation oil pipe B21 to ensure the oil pressure in the rod chamber 20, and the energy stored in the accumulator is released; the oil in the rodless chamber 18 of the passive simulation lower oil cylinder is squeezed into the rod chamber 19 of the heave compensation active simulation cylinder, so that the oil pressure in the rod chamber 19 of the heave compensation active simulation cylinder remains as constant as possible; thus realizing passive compensation during downward movement.

[0026] When the shut-off valve 25 is closed, the heave compensation spreader is in the semi-active mode. The active compensator also starts to work. It drives the bi-directional pump 33 to rotate through the servo motor 34, supplies oil or discharges oil to the rodless cavity 24 of the heave compensation active simulation cylinder through the bi-directional pump 33, and controls the forward and reverse rotation and speed of the servo motor 34 according to the displacement parameters of the displacement sensor 32 and the displacement parameters of the built-in displacement sensor in the heave compensation active simulation cylinder 2, so as to regulate the amount and direction of the oil supply, make the load simulation counterweight 8 of the spreader more stable, and ensure that the load simulation counterweight 8 of the spreader does not rise and fall with the cylinder body of the heave simulation cylinder 1.

[0027] The use of the heave compensation spreader experimental device of the present invention: Due to the special structures of the compound accumulator and the compound oil cylinder of the heave compensation spreader and the limitation of experimental conditions, it is difficult to build a complete physical prototype. Therefore, by developing the heave compensation spreader experimental device for offshore crane operations, relevant heave compensation experiments are carried out in the laboratory. Through the heave compensation spreader experimental device of this application, the heave compensation spreader device for offshore crane operations is optimized and designed.

[0028] In order to balance the flow rates between the rodless cavity of the heave compensation active simulation cylinder and the rodless cavity of the passive simulation upper oil cylinder, and between the rodless cavity of the heave compensation active simulation cylinder and the rodless cavity of the passive simulation lower oil cylinder, it is necessary to ensure that the area ratio of the rodless cavity to the rodless cavity of the heave compensation active simulation cylinder is as close as possible to the area ratio of the rodless cavity of the passive simulation lower oil cylinder to the rodless cavity of the passive simulation upper oil cylinder. According to experiments, the area ratio of the rodless cavity to the rodless cavity of the heave compensation simulation cylinder is 0.609375, and the area ratio of the rodless cavity of the passive simulation lower oil cylinder to the rodless cavity of the passive simulation upper oil cylinder is 0.62015625. Although these two area ratios are close, there are still certain differences, which will lead to a certain volume difference. Two one-way valves are set at both ends of the bi-directional pump respectively, aiming to suck oil from the oil tank to supplement the volume difference oil between the rodless cavity of the heave compensation active simulation cylinder and the rodless cavity of the passive simulation upper oil cylinder; a manual overflow valve is set at both ends of the bi-directional pump, aiming to prevent the oil pressure in the rodless cavity of the heave compensation simulation cylinder and the rodless cavity of the passive simulation upper oil cylinder from being too high and serving as a safety valve.

[0029] In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An experimental device for a heave compensation spreader in offshore crane operations, characterized in that: It includes a heave simulation cylinder, a heave compensation active simulation cylinder, a passive simulation accumulator, a passive simulation upper oil cylinder, a passive simulation lower oil cylinder, a reversing solenoid valve, a servo motor, a two-way pump, a pump source and a spreader load simulation counterweight. The heave simulation cylinder is suspended and fixed on a carrier. The cylinder body of the heave compensation active simulation cylinder is fixed at the lower end of the heave simulation piston rod of the heave simulation cylinder. The spreader load simulation counterweight is hung at the lower end of the heave compensation piston rod of the heave compensation simulation cylinder. The piston rod in the passive simulation upper oil cylinder is connected to the piston rod in the passive simulation lower oil cylinder through a flange. The passive simulation upper oil cylinder, the passive simulation lower oil cylinder and the passive simulation accumulator constitute a passive heave compensator, and the servo motor and the two-way pump constitute an active heave compensator. The passive heave compensator and the active heave compensator are used to perform passive or semi-active compensation for the lifting and lowering of the heave compensation piston rod of the heave compensation active simulation cylinder. The pump source provides power for the lifting and lowering of the heave simulation piston rod in the heave simulation cylinder. The reversing solenoid valve is used to control the lifting and lowering of the heave simulation piston rod in the heave simulation cylinder to simulate the undulation of a marine hull.

2. The experimental device for the floating lifting and heave compensation spreader of the offshore crane according to claim 1, wherein: The reversing solenoid valve used is a three-position four-way electro-hydraulic proportional reversing valve. The pump source is connected in series on the first pipeline. One end of the first pipeline is connected to the first port of the three-position four-way electro-hydraulic proportional reversing valve, and the other end of the first pipeline is connected to the oil tank. The second port and the third port of the four-way proportional reversing solenoid valve are respectively connected to the rodless cavity and the rod cavity of the heave simulation cylinder through the second oil pipe and the third oil pipe. The fourth port of the four-way proportional reversing solenoid valve is connected to the oil tank through the fourth pipeline.

3. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 2, wherein: An oil injection pipeline is connected to the first pipeline. The oil injection pipeline is used to inject oil into the rodless cavity of the passive simulation upper oil cylinder, the rodless cavity of the passive simulation lower oil cylinder, the passive simulation accumulator and the rodless cavity of the heave compensation active simulation cylinder.

4. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 3, wherein: The rodless cavity of the passive simulation lower oil cylinder is connected to the rod cavity of the heave compensation active simulation cylinder through a compensation oil pipe A. The rod cavity of the passive simulation lower oil cylinder is connected to the passive simulation accumulator through a compensation oil pipe B. The rodless cavity of the passive simulation upper oil cylinder, the rod cavity of the lower oil cylinder and the bladder accumulator are all connected to the rodless cavity of the heave compensation active simulation cylinder through a compensation oil pipe C.

5. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 4, characterized in that: The compensating oil pipe C is provided with a shut-off valve and also includes an active compensator, which includes an oil supply pipeline A, an oil supply pipeline B, a one-way valve A, a one-way valve B, an active compensation pipeline A, an active compensation pipeline B, a displacement sensor, a two-way pump, a servo motor and a controller. The displacement sensor is used to transmit the displacement information of the heave simulation piston rod to the controller, and the controller is used to control the servo motor, and the servo motor is used to drive the two-way pump to rotate. One end of the active compensation pipeline A is connected to the left oil circuit port of the two-way pump, and the active compensation pipeline The other end of A is connected to the compensation oil pipe C and is located on one side of the shut-off valve, one end of the active compensation pipeline B is connected to the right oil circuit port of the two-way pump, the other end of the active compensation pipeline B is connected to the compensation oil pipe C and is located on the other side of the shut-off valve, one end of the oil supply pipeline A and one end of the oil supply pipeline B are connected to the active compensation pipeline A and the active compensation pipeline B respectively, the other end of the oil supply pipeline A and the other end of the oil supply pipeline B are both connected to the oil tank, and the one-way valve A and the one-way valve B are connected in series to the oil supply pipeline A and the oil supply pipeline B respectively.

6. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 5, wherein: The active compensation pipeline A and the active compensation pipeline B are respectively connected in series with a manual overflow valve A and a manual overflow valve B.

7. The experimental device for heave compensation spreader of offshore crane floating operation according to claim 6, characterized in that: The carrier is a fixed beam, a rack or a ceiling of a laboratory.

8. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 7, characterized in that: An air flow opening is arranged on the cavity wall of the rod cavity of the lower oil cylinder, and a filter is arranged at the air flow opening.

9. The experimental device for the heave compensation spreader of the offshore crane floating operation according to claim 8, wherein: The heave compensation active simulation cylinder has a displacement sensor built in. The controller controls the speed and direction of the servo motor according to the output of the displacement sensor of the heave simulation cylinder and the output of the displacement sensor of the heave compensation active simulation cylinder.

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