Cylinder body fixed connection type active and passive composite heave compensation device

Abstract

The utility model relates to the technical field of ocean engineering, and particularly discloses an active and passive composite heave compensation device with a fixedly connected cylinder body, which comprises a main body, the main body comprises an active compensation hydraulic cylinder, a passive compensation hydraulic cylinder and a rigid connecting piece, and the active compensation hydraulic cylinder comprises a first cylinder body and a first piston rod piece; the first piston rod piece divides the interior of the first cylinder body into a first rodless cavity and a first rod oil cavity, the first rod oil cavity is connected with an active compensation mechanism, the passive compensation hydraulic cylinder comprises a second cylinder body and a second piston rod piece, and the second piston rod piece divides the interior of the second cylinder body into a second rodless cavity and a second rod oil cavity; the second rod oil cavity is connected with a passive compensation mechanism, the first cylinder body and the second cylinder body are connected with each other, the moving direction of the first piston rod piece is parallel to the moving direction of the second piston rod piece, and the first piston rod piece and the second piston rod piece are connected through a rigid connecting piece to form a common body with synchronous actions. The heave compensation device is simple and compact in overall structure, the characteristics of absorbing and buffering energy of the passive compensation system can be fully utilized, efficient utilization and conversion of energy are achieved in combination with accurate control of the active compensation system, the overall energy utilization efficiency is improved, and operation energy consumption is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of marine engineering, in particular to an active and passive composite heave compensation device with a fixed cylinder connection. Background Art

[0002] In the field of marine engineering, mobile heave compensators are widely used to lift and transport equipment to minimize the impact of waves in the marine environment. Traditional mobile heave compensators are mainly divided into passive and active types. Passive heave compensators utilize simple structures such as accumulators and gas cylinders to absorb and cushion external impacts. While low-cost, their application scenarios are limited. Active heave compensators, on the other hand, utilize sensors and electronic control systems to adjust the device's operating state through feedback mechanisms, achieving more precise compensation. However, these devices are more expensive and consume more energy. Combining the advantages of these two types has become a key research topic in this field.

[0003] Although the existing active-passive composite heave compensation device combines active and passive functions, the structures and control systems of the active compensation part and the passive compensation part usually work independently, the overall structure is larger and more complex, and the energy utilization efficiency is still limited. Utility Model Content

[0004] The purpose of the utility model is to provide an active and passive composite heave compensation device with a fixed cylinder connection in view of the existing technical status.

[0005] The overall structure of the heave compensation device of the utility model is simple and compact. The active compensation hydraulic cylinder and the passive compensation hydraulic cylinder can simply realize common load bearing, better absorb vibration impact, make full use of the characteristics of the passive compensation system in absorbing and buffering energy, and combine with the precise control of the active compensation system to realize efficient utilization and conversion of energy, improve the overall energy utilization efficiency, and reduce operating energy consumption.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A cylinder-fixed connected active and passive composite heave compensation device comprises a main body that can be installed between a crane and a hoisted object, the main body comprising an active compensation hydraulic cylinder, a passive compensation hydraulic cylinder and a rigid connector.

[0008] The active compensating hydraulic cylinder includes a first cylinder body and a first piston rod. The first piston rod divides the interior of the first cylinder body into a first rodless chamber and a first rod oil chamber. The first rod oil chamber is connected to an active compensating mechanism.

[0009] The passive compensation hydraulic cylinder includes a second cylinder body and a second piston rod. The second piston rod divides the interior of the second cylinder body into a second rodless chamber and a second rod oil chamber. The second rod oil chamber is connected to a passive compensation mechanism.

[0010] The first cylinder body and the second cylinder body are connected to each other, the moving direction of the first piston rod is parallel to the moving direction of the second piston rod, and the first piston rod and the second piston rod are connected to form a synchronous movement community through the rigid connecting member.

[0011] In some embodiments, the main body includes a fixing frame, the first cylinder body and the second cylinder body are respectively connected to the fixing frame, and the fixing frame is provided with a mounting portion for connecting a crane.

[0012] In some embodiments, the number of the passive compensating hydraulic cylinders is an even number, and the passive compensating hydraulic cylinders are symmetrically arranged on both sides of the active compensating hydraulic cylinder.

[0013] In some embodiments, the number of the active compensating hydraulic cylinders is an even number, and the active compensating hydraulic cylinders are symmetrically arranged on both sides of the passive compensating hydraulic cylinder.

[0014] In some embodiments, the rigid connector includes a connecting plate, which is arranged along the vertical direction of movement of the first piston rod. One side of the connecting plate is respectively connected to the first piston rod and the second piston rod, and the other side of the connecting plate is provided with a hoisting portion for connecting a hoisted object.

[0015] In some embodiments, an oil tank is further included, and the active compensation mechanism includes a control component for controlling the reciprocating delivery of hydraulic oil between the first rod oil chamber and the oil tank.

[0016] In some embodiments, the control component includes a reversing valve and a hydraulic pump, the reversing valve includes a working oil port, a pressure port and a return oil port, the working oil port is connected to the first rod oil chamber, the pressure port is connected to the hydraulic pump, the return oil port is connected to the oil tank, and the hydraulic pump is connected to the oil tank.

[0017] In some embodiments, a controller is further included, which is electrically connected to the hydraulic pump, and the controller includes a judgment module, a first speed adjustment module and a second speed adjustment module. The judgment module is used to judge whether the required lifting compensation amount is lower than a first preset threshold and whether it is higher than a second preset threshold. The first speed adjustment module is used to reduce the speed of the hydraulic pump when the required lifting compensation amount is lower than the first preset threshold. The second speed adjustment module is used to increase the speed of the hydraulic pump when the required lifting compensation amount is higher than the second preset threshold. The second preset threshold is greater than or equal to the first preset threshold.

[0018] In some embodiments, the first rodless cavity and / or the second rodless cavity is a vacuum cavity;

[0019] Alternatively, the first rodless cavity and / or the second rodless cavity is an oil cavity, and the oil cavity is provided with a communication port for communicating with the oil tank.

[0020] In some embodiments, the passive compensation mechanism includes a piston accumulator and a gas cylinder, the piston accumulator includes a cavity and a piston member, the piston member divides the cavity into a first cavity filled with gas and a second cavity filled with hydraulic oil, the first cavity is connected to the gas cylinder, and an exhaust throttle valve is provided between the first cavity and the gas cylinder, the second cavity is connected to the second rod oil cavity, and a hydraulic throttle valve is provided between the second cavity and the second rod oil cavity.

[0021] In some embodiments, the active compensation mechanism further includes a posture sensor for monitoring the current motion state of the main body and a sea surface and sea condition monitoring sensor for monitoring the environmental state.

[0022] The beneficial effects of the present invention are:

[0023] In this embodiment, the cylinder bodies (first cylinder body and second cylinder body) of the active compensating hydraulic cylinder and the passive compensating hydraulic cylinder are connected and fixed to each other, and the piston rods (first piston rod member and second piston rod member) of the active compensating hydraulic cylinder and the passive compensating hydraulic cylinder are rigidly connected through a rigid connecting member, so that the first piston rod member and the second piston rod member are connected as a community with synchronous movements, and the stroke of the first piston rod member of the active compensating hydraulic cylinder and the second piston rod member of the passive compensating hydraulic cylinder are consistent, and they can perform telescopic movements synchronously, so that the active compensating hydraulic cylinder and the passive compensating hydraulic cylinder can jointly bear the load borne by the main body. During the heave compensation process, the active compensation mechanism acts on the first rod oil chamber, and the first piston rod member performs corresponding telescopic movement to provide active compensation and passive compensation. The mechanism acts on the second rod oil chamber, and the second piston rod performs corresponding telescopic movement to provide passive compensation, effectively absorbing and buffering vibration energy. Since the first piston rod and the second piston rod are rigidly connected, the first piston rod can perform corresponding telescopic movement synchronously with the second piston rod, reducing the energy consumption required for active compensation. The overall structure of the heave compensation device is simple and compact, and occupies a small space. Through the rigid connection of the first piston rod and the second piston rod, the active compensation hydraulic cylinder and the passive compensation hydraulic cylinder can simply share the load, better absorb vibration impact, and make full use of the characteristics of the passive compensation system in absorbing and buffering energy. Combined with the precise control of the active compensation system, efficient utilization and conversion of energy are achieved, thereby improving overall energy utilization efficiency and reducing operating energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the installation of the heave compensation device of Example 1 of the present utility model.

[0025] Figure 2 This is a structural schematic diagram of an active and passive composite heave compensation device with a fixed cylinder connection according to Example 1 of the present utility model.

[0026] Figure 3 This is a structural schematic diagram of an active and passive composite heave compensation device with a fixed cylinder connection according to Example 2 of the present utility model. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0028] Example 1

[0029] See also Figures 1 to 2 As shown, a cylinder-fixed connection type active and passive composite heave compensation device includes a main body 2 that can be installed between a crane 11 and a suspended object 12. The main body 2 includes an active compensation hydraulic cylinder 31, a passive compensation hydraulic cylinder 41 and a rigid connector 5.

[0030] The active compensating hydraulic cylinder 31 includes a first cylinder body and a first piston rod 313. The first piston rod 313 divides the interior of the first cylinder body into a first rodless chamber 311 and a first rod oil chamber 312. The first rod oil chamber 312 is connected to the active compensating mechanism 32.

[0031] The passive compensation hydraulic cylinder 41 includes a second cylinder body and a second piston rod 413. The second piston rod 413 divides the interior of the second cylinder body into a second rodless chamber 411 and a second rod oil chamber 412. The second rod oil chamber 412 is connected to the passive compensation mechanism 42.

[0032] The first cylinder body and the second cylinder body are connected to each other, the moving direction of the first piston rod 313 is parallel to the moving direction of the second piston rod 413, and the first piston rod 313 and the second piston rod 413 are connected by the rigid connecting member 5 to form a synchronous movement community.

[0033] In this embodiment, the cylinder bodies (first cylinder body and second cylinder body) of the active compensating hydraulic cylinder 31 and the passive compensating hydraulic cylinder 41 are connected and fixed to each other, and the piston rods (first piston rod 313 and second piston rod 413) of the active compensating hydraulic cylinder 31 and the passive compensating hydraulic cylinder 41 are rigidly connected by a rigid connecting member 5, so that the first piston rod 313 and the second piston rod 413 are connected as a community with synchronous movements. The stroke of the first piston rod 313 of the active compensating hydraulic cylinder 31 and the second piston rod 413 of the passive compensating hydraulic cylinder 41 are consistent, and they can perform telescopic movements synchronously, so that the active compensating hydraulic cylinder 31 and the passive compensating hydraulic cylinder 41 can jointly bear the load borne by the main body 2. During the heave compensation process, the active compensation mechanism 32 acts on the first rod oil chamber 312, and the first piston rod 313 performs corresponding telescopic movement to provide active Compensation, the passive compensation mechanism 42 acts on the second rod oil chamber 412, and the second piston rod 413 performs corresponding telescopic movement to provide passive compensation, effectively absorbing and buffering vibration energy. Since the first piston rod 313 and the second piston rod 413 are rigidly connected, the first piston rod 313 can perform corresponding telescopic movement synchronously with the second piston rod 413, reducing the energy consumption required for active compensation. The overall structure of the heave compensation device is simple and compact, and occupies a small space. Through the rigid connection of the first piston rod 313 and the second piston rod 413, the active compensation hydraulic cylinder 31 and the passive compensation hydraulic cylinder 41 can simply share the load, better absorb vibration impact, and make full use of the characteristics of the passive compensation system in absorbing and buffering energy. Combined with the precise control of the active compensation system, efficient energy utilization and conversion are achieved, thereby improving overall energy utilization efficiency and reducing operating energy consumption.

[0034] Among them, see Figure 1As shown, the main body 2 includes a fixing frame 6, the first cylinder body and the second cylinder body are respectively connected to the fixing frame 6, and the fixing frame 6 is provided with a mounting portion 61 for connecting to the crane 11. The heave compensation device can be hoisted on the crane 11 through the mounting portion 61, and the installation is simple and quick.

[0035] Among them, see Figure 2 As shown, the number of the passive compensating hydraulic cylinders 41 is an even number, and the passive compensating hydraulic cylinders 41 are symmetrically arranged on both sides of the active compensating hydraulic cylinder 31 .

[0036] Exemplarily, there are two passive compensating hydraulic cylinders 41 and one active compensating hydraulic cylinder 31 , and the active compensating hydraulic cylinder 31 is disposed between the two passive compensating hydraulic cylinders 41 , thereby forming a symmetrical structural design.

[0037] The symmetrical structural design enhances the stability and balance of the heave compensation device, allowing the compensation device to disperse stress more evenly when subjected to external loads, and the setting of the symmetrical cylinders can reduce the failure rate of the system.

[0038] Among them, the second rod oil chamber 412 of each passive compensation hydraulic cylinder 41 is connected to the same set of passive compensation mechanism 42, or each can be connected to a corresponding set of passive compensation mechanism 42. Preferably, the second rod oil chamber 412 of each passive compensation hydraulic cylinder 41 is connected to the same set of passive compensation mechanism 42, and the structure and control of the overall device are simpler, and can better share the load.

[0039] Among them, see Figure 1 and Figure 2 As shown, the rigid connector 5 includes a connecting plate 51, which is arranged along the vertical direction of movement of the first piston rod 313. One side of the connecting plate 51 is connected to the first piston rod 313 and the second piston rod 413 respectively, and the other side of the connecting plate 51 is provided with a hoisting portion 52 for connecting the suspended object 12. The heave compensation device can be connected to the suspended object 12 through the hoisting portion 52, which makes installation and use simpler.

[0040] Among them, see Figure 2 As shown, an oil tank 7 is also included, and the active compensation mechanism 32 includes a control component for controlling the reciprocating delivery of hydraulic oil between the first rod oil chamber 312 and the oil tank 7.

[0041] When the hanging object 12 has a downward trend, the control component controls the hydraulic oil to be pressed from the oil tank 7 into the first rod oil chamber 312, helping the first piston rod 313 to quickly retract upward, thereby suppressing the descent of the hanging object 12 and achieving the effect of lifting compensation.

[0042] When the suspended object 12 has an upward trend, the control component controls the hydraulic oil to be transported from the first rod oil chamber 312 to the oil tank 7, and the main body 2 compensating hydraulic cylinder reduces the pulling force on the first piston rod 313. Under the coordinated action of the gravity of the suspended object 12, the first piston rod 313 is able to extend downward quickly, thereby suppressing the rise of the suspended object 12 and achieving the effect of lifting compensation.

[0043] Among them, see Figure 2 As shown, the control component includes a reversing valve 321 and a hydraulic pump 322. The reversing valve 321 includes a working oil port, a pressure port and an oil return port. The working oil port is connected to the first rod oil chamber 312, the pressure port is connected to the hydraulic pump 322, the oil return port is connected to the oil tank 7, and the hydraulic pump 322 is connected to the oil tank 7. In this embodiment, the hydraulic pump 322 is connected to a motor.

[0044] Specifically, when the suspended object 12 has a downward trend, the working oil port of the control reversing valve 321 is connected to the pressure port. At this time, the hydraulic pump 322 pumps oil to the first rod oil chamber 312 of the active compensation hydraulic cylinder 31, increasing the pressure of the active compensation hydraulic cylinder 31, assisting the piston rod to quickly retract upward, thereby suppressing the descent of the suspended object 12.

[0045] When the suspended object 12 has an upward trend, the working oil port of the control reversing valve 321 is connected to the return oil port, and the oil in the first rod oil chamber 312 flows back to the oil tank 7 according to the required active compensation amount. The pulling force of the main body 2 compensation hydraulic cylinder on the first piston rod 313 is reduced, and under the coordinated action of the gravity of the suspended object 12, the first piston rod 313 is able to extend downward quickly, thereby suppressing the rise of the suspended object 12 and achieving the effect of lifting compensation.

[0046] In the first embodiment, the first rodless cavity 311 and / or the second rodless cavity 411 is a vacuum cavity.

[0047] In the second embodiment, see Figure 2 As shown, the first rodless cavity 311 and / or the second rodless cavity 411 is an oil cavity, and the oil cavity is provided with a connecting port for connecting to the oil tank 7. Considering the sealing problem, this setting structure is more stable than setting the rodless cavity as a vacuum cavity.

[0048] The pressure in the oil tank 7 is a low-pressure chamber. When the first piston rod 313 / the second piston rod 413 extends downward, the first rodless chamber 311 and / or the second rodless chamber 411 absorbs oil from the oil tank 7 through the connecting port. When the first piston rod 313 / the second piston rod 413 is retracted upward, the first rodless chamber 311 and / or the second rodless chamber 411 discharges oil to the oil tank 7 through the connecting port.

[0049] Among them, see Figure 2As shown, the passive compensation mechanism 42 includes a piston accumulator 421 and a gas cylinder 422. The piston accumulator 421 includes a cavity and a piston member. The piston member divides the cavity into a first cavity filled with gas and a second cavity filled with hydraulic oil. The first cavity is connected to the gas cylinder 422, and an exhaust throttle valve 423 is provided between the first cavity and the gas cylinder 422. The second cavity is connected to the second rod oil chamber 412, and a hydraulic throttle valve 424 is provided between the second cavity and the second rod oil chamber 412.

[0050] The appropriate damping and stiffness of the heave compensation device for the current application scenario can be determined based on factors such as the weight of the suspended object 12 and the environmental conditions of the offshore operation. The passive compensation system (passive compensation mechanism 42 and passive compensation hydraulic cylinder 41) can achieve a buffering effect by configuring the hydraulic system parameters to form an appropriate "spring damper."

[0051] Specifically:

[0052] The damping characteristics of passive compensation can be altered by adjusting hydraulic throttle valve 424. For example, in calmer sea conditions, the opening of hydraulic throttle valve 424 can be increased to reduce damping, thereby allowing a certain range of heave motion. In larger waves, the opening of hydraulic throttle valve 424 can be decreased to increase damping, thereby more effectively absorbing and buffering vibration energy.

[0053] By adjusting the exhaust throttle valve 423, the stiffness characteristics of the passive compensation can be changed. For example, when a large load needs to be supported, the opening of the exhaust throttle valve 423 can be increased to increase stiffness and thus enhance the buffering effect. Conversely, when the load to be supported is small, the opening of the exhaust throttle valve 423 can be decreased to reduce the system stiffness, allowing the equipment to more flexibly cope with wave impacts.

[0054] The heave compensation device of the present invention can select appropriate stiffness and damping parameters by adjusting the hydraulic throttle valve 424 and the exhaust throttle valve 423 to better adapt to different application scenarios. It has better flexibility and adaptability and can achieve better compensation effects.

[0055] The active compensation mechanism 32 further includes a posture sensor for monitoring the current motion state of the main body 2 and a sea surface and sea condition monitoring sensor for monitoring the environmental state.

[0056] Exemplarily, the posture sensor may be an MRU posture sensor, but is not limited thereto; the sea surface and sea condition monitoring sensor may be a water depth sensor, but is not limited thereto. In this embodiment, the MRU posture sensor is disposed at the lower end of the main body 2 .

[0057] By collecting data from posture sensors and sea surface condition monitoring sensors, it is helpful to analyze the current motion state of the suspended object 12 and the characteristics of external waves to calculate the required compensation force, so as to adjust the compensation sharing ratio of active compensation and passive compensation based on the required compensation force, select appropriate stiffness and damping parameters, etc., to achieve better compensation effect.

[0058] For example, when the required compensation force is low or the compensation accuracy requirement is not high, passive compensation is mainly used, and the active compensation amount is reduced, thereby reducing the energy consumption required for compensation. When the required compensation force is high or the compensation accuracy requirement is high, the proportion of active compensation is increased.

[0059] Example 2

[0060] The difference between this embodiment and embodiment 1 is that, see Figure 3 As shown, the number of the active compensating hydraulic cylinders 31 is an even number, and the active compensating hydraulic cylinders 31 are symmetrically arranged on both sides of the passive compensating hydraulic cylinder 41 .

[0061] Exemplarily, there are two active compensating hydraulic cylinders 31 and one passive compensating hydraulic cylinder 41 , and the passive compensating hydraulic cylinder 41 is disposed between the two active compensating hydraulic cylinders 31 , thereby forming a symmetrical structural design.

[0062] The symmetrical structural design enhances the stability and balance of the heave compensation device, allowing the compensation device to disperse stress more evenly when subjected to external loads, and the setting of the symmetrical cylinders can reduce the failure rate of the system.

[0063] Among them, the first rod oil chamber 312 of each active compensating hydraulic cylinder 31 is connected to the same set of active compensating mechanisms 32, or each can be connected to a corresponding set of active compensating mechanisms 32. Preferably, the first rod oil chamber 312 of each active compensating hydraulic cylinder 31 is connected to the same set of active compensating mechanisms 32, and the structure and control of the overall device are simpler, and can better share the load.

[0064] Example 3

[0065] The difference between this embodiment and embodiment 1 is that it further includes a controller, which is electrically connected to the hydraulic pump, and the controller includes a judgment module, a first speed regulation module and a second speed regulation module. The judgment module is used to judge whether the required lifting compensation amount is lower than a first preset threshold and whether it is higher than a second preset threshold. The first speed regulation module is used to reduce the speed of the hydraulic pump when the required lifting compensation amount is lower than the first preset threshold. The second speed regulation module is used to increase the speed of the hydraulic pump when the required lifting compensation amount is higher than the second preset threshold. The second preset threshold is greater than or equal to the first preset threshold.

[0066] When the required compensation force is low or the compensation accuracy requirement is not high, the speed of the hydraulic pump is reduced, thereby reducing the active compensation amount, and the passive cylinder takes on most of the heave compensation function to reduce the energy consumption required for compensation; when the required compensation force is high or the compensation accuracy requirement is high, the speed of the hydraulic pump is increased, and the proportion of active compensation is increased to achieve rapid response and precise compensation. The heave compensation device can flexibly respond to complex marine environments, achieve efficient utilization and conversion of energy, improve overall energy utilization efficiency, reduce operating energy consumption, and provide more efficient and precise heave compensation effects.

[0067] Of course, the above figures are only preferred embodiments of the present invention and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes based on the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cylinder-fixed-connection active-passive composite heave compensation device, comprising a main body that can be installed between a crane and a suspended object, characterized in that: The main body includes an active compensation hydraulic cylinder, a passive compensation hydraulic cylinder and a rigid connection piece. The active compensating hydraulic cylinder includes a first cylinder body and a first piston rod. The first piston rod divides the interior of the first cylinder body into a first rodless chamber and a first rod oil chamber. The first rod oil chamber is connected to an active compensating mechanism. The passive compensation hydraulic cylinder includes a second cylinder body and a second piston rod. The second piston rod divides the interior of the second cylinder body into a second rodless chamber and a second rod oil chamber. The second rod oil chamber is connected to a passive compensation mechanism. The first cylinder body and the second cylinder body are connected to each other, the moving direction of the first piston rod is parallel to the moving direction of the second piston rod, and the first piston rod and the second piston rod are connected to form a synchronous movement community through the rigid connecting member.

2. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: The main body includes a fixing frame, the first cylinder body and the second cylinder body are respectively connected to the fixing frame, and the fixing frame is provided with a mounting portion for connecting a crane.

3. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: The number of the passive compensating hydraulic cylinders is an even number, and the passive compensating hydraulic cylinders are symmetrically arranged on both sides of the active compensating hydraulic cylinder; Alternatively, the number of the active compensating hydraulic cylinders is an even number, and the active compensating hydraulic cylinders are symmetrically arranged on both sides of the passive compensating hydraulic cylinder.

4. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: The rigid connector includes a connecting plate, which is arranged along the vertical direction of movement of the first piston rod. One side of the connecting plate is respectively connected to the first piston rod and the second piston rod, and the other side of the connecting plate is provided with a hoisting portion for connecting a hoisted object.

5. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: It also includes an oil tank, and the active compensation mechanism includes a control component for controlling the reciprocating delivery of hydraulic oil between the first rod oil chamber and the oil tank.

6. The active and passive composite heave compensation device with fixed cylinder connection according to claim 5, characterized in that: The control component includes a reversing valve and a hydraulic pump. The reversing valve includes a working oil port, a pressure port and an oil return port. The working oil port is connected to the first rod oil chamber, the pressure port is connected to the hydraulic pump, the oil return port is connected to the oil tank, and the hydraulic pump is connected to the oil tank.

7. The active and passive composite heave compensation device with fixed cylinder connection according to claim 6, characterized in that: The system further includes a controller, which is electrically connected to the hydraulic pump and includes a judgment module, a first speed adjustment module, and a second speed adjustment module. The judgment module is used to judge whether the required lifting compensation amount is lower than a first preset threshold and whether it is higher than a second preset threshold. The first speed adjustment module is used to reduce the speed of the hydraulic pump when the required lifting compensation amount is lower than the first preset threshold. The second speed adjustment module is used to increase the speed of the hydraulic pump when the required lifting compensation amount is higher than the second preset threshold. The second preset threshold is greater than or equal to the first preset threshold.

8. The active and passive composite heave compensation device with fixed cylinder connection according to claim 5, characterized in that: The first rodless cavity and / or the second rodless cavity is a vacuum cavity; Alternatively, the first rodless cavity and / or the second rodless cavity is an oil cavity, and the oil cavity is provided with a communication port for communicating with the oil tank.

9. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: The passive compensation mechanism includes a piston accumulator and a gas cylinder. The piston accumulator includes a cavity and a piston member. The piston member divides the cavity into a first cavity filled with gas and a second cavity filled with hydraulic oil. The first cavity is connected to the gas cylinder, and an exhaust throttle valve is provided between the first cavity and the gas cylinder. The second cavity is connected to the second rod oil cavity, and a hydraulic throttle valve is provided between the second cavity and the second rod oil cavity.

10. The active and passive composite heave compensation device with fixed cylinder connection according to claim 1, characterized in that: The active compensation mechanism also includes a posture sensor for monitoring the current motion state of the main body and a sea surface and sea condition monitoring sensor for monitoring the environmental state.

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