Seaborne crane operation heave compensation lifting appliance experiment device

Abstract

The utility model 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

An experimental device for heave compensation in offshore crane operations Technical Field

[0001] This utility model relates to the field of experimental technology of heave compensation lifting device for floating operation of offshore cranes, specifically to an experimental device for heave compensation lifting device for offshore crane operation. Background Technology

[0002] As marine resource development extends into deeper waters, the offshore operating environment becomes increasingly complex. The heave and sway 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 swaying under wave action, leading to equipment damage or operational failure. To solve this problem, heave compensation technology has emerged. Its core objective is to offset the vertical displacement of the ship caused by waves through active, semi-active, or passive compensation mechanisms, ensuring that lifting equipment can maintain stable operation even in harsh sea conditions.

[0003] Early passive heave compensation technologies (such as gas-liquid accumulators) were limited by their compensation accuracy and response speed, making them unsuitable for complex sea conditions. Active heave compensation (AHC) technology uses sensors to monitor ship motion in real time and drives actuators to actively counteract heave displacement, offering high compensation accuracy but with relatively high power consumption. Semi-active heave compensation technology combines high compensation accuracy with low power consumption, and is gradually becoming the mainstream heave compensation technology.

[0004] Currently, offshore crane heave compensation spreaders based on direct-drive volumetric control technology and semi-active heave compensation technology offer high compensation accuracy and low power consumption. When used in conjunction with ordinary cranes, they can enable ordinary cranes to have heave compensation capabilities, making them a promising piece of offshore engineering equipment. However, the heave compensation spreader has a complex structure and technology, and is difficult to control. Therefore, it is necessary to build an experimental device to meet the needs of optimized design. Summary of the Invention

[0005] The purpose of this invention is to provide an experimental device for heave compensation lifting equipment in offshore crane operations. This experimental device can verify the key technologies of heave compensation lifting equipment based on direct-drive volume control and semi-active heave compensation technology, so as to meet the needs of optimized design of heave compensation lifting equipment.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] An experimental device for heave compensation spreading gear in offshore crane operations mainly includes a heave simulation cylinder, an active heave compensation simulation cylinder, a passive simulation accumulator, a passive simulation upper cylinder, a passive simulation lower cylinder, a reversing solenoid valve, a servo motor, a bidirectional pump, a pump source, and a spreading gear load simulation counterweight. The heave simulation cylinder is suspended and fixed on a support body. The cylinder body of the active heave compensation simulation cylinder is fixed to the lower end of the heave simulation piston rod of the heave simulation cylinder. The spreading gear 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 lower passive simulation cylinder via a flange. The upper passive simulation cylinder, the lower passive simulation 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 and active heave compensators together compensate for the rise and fall of the heave compensating piston rod in the active simulation cylinder. The pump source provides power to the experimental device, and the reversing solenoid valve is used to control the rise and fall of the heave simulation piston rod in the heave simulation cylinder to simulate the undulations of a ship's hull at sea.

[0008] Furthermore, the reversing solenoid valve is a three-position four-way proportional reversing solenoid 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 proportional reversing solenoid valve, and the other end of the first pipeline is connected to the oil tank. The second and third ports 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 and third oil pipes, respectively. The fourth port of the four-way proportional reversing solenoid valve is connected to the oil tank through the fourth pipeline.

[0009] Furthermore, an oil injection line is connected to the first pipeline, which is used to inject oil into the passive simulation upper cylinder, the passive simulation lower cylinder, and the passive simulation accumulator.

[0010] Furthermore, the rodless chamber of the passively simulated lower cylinder is connected to the rod chamber of the heave-compensation active cylinder via a compensation oil pipe A, and the rod chamber of the passively simulated lower cylinder is connected to the passively simulated accumulator via a compensation oil pipe B; the rodless chamber of the passively simulated upper cylinder, the rod chamber of the passively simulated lower cylinder, and the passively simulated accumulator are all connected to the rodless chamber of the heave-compensation active cylinder via a compensation oil pipe C.

[0011] Furthermore, the compensation oil pipe C is equipped with a shut-off valve and also includes an active compensator. The active compensator includes an oil supply line A, an oil supply line B, a check valve A, a check valve B, an active compensation line A, an active compensation line B, a displacement sensor, a bidirectional pump, a servo motor, and a controller. The displacement sensor transmits the displacement information of the simulated piston rod to the controller, which regulates the servo motor. The servo motor drives the bidirectional pump to rotate. One end of the active compensation line A is connected to the left oil port of the bidirectional pump. The other end of the compensation line A is connected to the compensation oil line C and is located on one side of the shut-off valve. One end of the active compensation line B is connected to the right oil line port of the bidirectional pump. The other end of the active compensation line B is connected to the compensation oil line C and is located on the other side of the shut-off valve. One end of the oil supply line A and one end of the oil supply line B are respectively connected to the active compensation line A and the active compensation line B. The other ends of the oil supply line A and the other ends of the oil supply line B are both connected to the oil tank. The one-way valve A and the one-way valve B are respectively connected in series on the oil supply line A and the oil supply line B.

[0012] Furthermore, manual relief valve A and manual relief valve B are respectively connected to the active compensation pipeline A and active compensation pipeline B.

[0013] Furthermore, the load-bearing structure is a fixed beam, a frame, or the ceiling of a laboratory.

[0014] Furthermore, the rod chamber of the passively simulated hydraulic cylinder is provided with an airflow port on its wall, and a filter is provided at the airflow port.

[0015] Furthermore, the heave compensation active simulation cylinder has a built-in displacement sensor for measuring the displacement of its piston rod.

[0016] The beneficial effects of this utility model are as follows: the experimental device of this application can conduct experimental verification of the key technologies of heave compensation lifting device based on semi-active heave compensation and direct drive volume. It has the characteristics of convenient experimental operation, compact structure, few parts and low cost, and can meet the needs of heave compensation lifting device optimization design. Attached Figure Description

[0017] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort:

[0018] Figure 1 is a schematic diagram of the structure of this utility model.

[0019] In the diagram: 1. Heave simulation cylinder; 2. Heave compensation active simulation cylinder; 3. Passive simulation accumulator; 4. Passive simulation upper cylinder; 5. Passive simulation lower cylinder; 6. Reversing solenoid valve; 7. Pump source; 8. Lifting load simulation counterweight; 9. Bearing body; 10. First pipeline; 11. Oil tank; 12. Second oil pipe; 13. Third oil pipe; 14. Rodless chamber of the heave simulation cylinder; 15. Rod chamber of the heave simulation cylinder; 16. Fourth pipeline; 17. Oil injection pipeline; 18. Rodless chamber of the passive simulation lower cylinder; 19. Rod chamber of the heave compensation active simulation cylinder. 20. Passive simulation of the rod-side chamber of the lower cylinder; 21. Compensation oil pipe B; 22. Passive simulation of the rodless chamber of the upper cylinder; 23. Compensation oil pipe C; 24. Height-sag compensation of the rodless chamber of the active cylinder; 25. Cut-off valve; 26. Oil supply line A; 27. Oil supply line B; 28. Check valve A; 29. ​​Check valve B; 30. Active compensation line A; 31. Active compensation line B; 32. Displacement sensor; 33. Bidirectional pump; 34. Servo motor; 35. Controller; 36. Compensation oil pipe A; 37. Manual relief valve A; 38. Manual relief valve B. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0021] In the description of this utility model, 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", "reverse", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0022] As shown in Figure 1, an experimental device for heave compensation lifting equipment for offshore crane operations includes a heave simulation cylinder 1, an active heave compensation simulation cylinder 2, a passive simulation accumulator 3, a passive simulation upper cylinder 4, a passive simulation lower cylinder 5, a reversing solenoid valve 6, a pump source 7, and a lifting equipment load simulation counterweight 8. The heave simulation cylinder 1 is suspended and fixed on a support body 9, which is a fixed beam, a frame, or the ceiling of a laboratory. The cylinder body of the active heave compensation simulation cylinder 2 is fixed to the lower end of the heave compensation piston rod of the heave compensation simulation cylinder 1. The load simulation counterweight 8 of the lifting device is hung on the lower end of the heave compensation piston rod of the active heave compensation simulation cylinder 1. The piston rod in the passive simulation upper cylinder 4 is connected to the piston rod in the passive simulation lower cylinder 5 through a flange. The passive simulation upper cylinder 4, the passive simulation lower cylinder 5, and the passive simulation accumulator 3 constitute a passive heave compensator, which is used to compensate for the rise and fall of the heave compensation piston rod of the heave compensation simulation cylinder 1. The pump source 7 provides power to the experimental device. The reversing solenoid valve 6 is used to control the rise and fall of the heave compensation piston rod in the heave compensation simulation cylinder 1 to simulate the rise and fall of a ship's hull at sea.

[0023] The reversing solenoid valve 6 is a three-position four-way proportional reversing 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 reversing solenoid valve 6, and the other end of the first pipeline 10 is connected to the oil tank 11. The second and third ports of the reversing solenoid valve 6 are connected to the rodless chamber 14 and the rod chamber 15 of the heave simulation cylinder through the second oil pipe 12 and the third oil pipe 13, respectively. The fourth port of the reversing solenoid valve 6 is connected to the oil tank 11 through the fourth pipeline 16. An oil injection pipeline 17 is connected to the first pipeline 10. The oil injection pipeline 17 is used to inject oil into the rodless chamber 22 of the passive simulation upper cylinder, the rodless chamber 18 of the passive simulation lower cylinder, the passive simulation accumulator 3, and the rodless chamber 24 of the heave compensation active simulation cylinder. The rodless chamber 18 of the passive simulation lower cylinder is connected to the rod chamber 19 of the heave-compensation active simulation cylinder via the compensation oil pipe A36, and the rod chamber 20 of the passive simulation lower cylinder is connected to the passive simulation accumulator 3 via the compensation oil pipe B21; the rodless chamber 22 of the passive simulation upper cylinder, the rod chamber 20 of the lower cylinder, and the passive simulation accumulator 3 are all connected to the rodless chamber 24 of the heave-compensation active simulation cylinder via the compensation oil pipe C23.

[0024] The compensating oil pipe C23 is equipped with a shut-off valve 25 and also includes an active compensator. The active compensator includes an oil supply line A26, an oil supply line B27, a check valve A28, a check valve B29, an active compensating line A30, an active compensating line B31, a displacement sensor 32, a bidirectional pump 33, a servo motor 34, and a controller 35. The displacement sensor 32 is used to transmit the displacement information of the simulated piston rod to the controller 35. The controller 35 is used to regulate the servo motor 34, which drives the bidirectional pump 33 to rotate. One end of the active compensating line A30 is connected to the left oil port of the bidirectional pump 33. The other end of pipeline A30 is connected to the compensation oil pipe C23 and located on one side of the shut-off valve 25. One end of the active compensation pipeline B31 is connected to the right oil port of the bidirectional pump 33, and the other end of the active compensation pipeline B31 is connected to the compensation oil pipe C23 and 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 connected to the active compensation pipeline A30 and the active compensation pipeline B31, respectively. The other ends of the oil supply pipeline A26 and the oil supply pipeline B27 are both connected to the oil tank 11. The one-way valves A28 and B29 are connected in series on the oil supply pipelines A26 and B27, respectively. The active compensation pipelines A30 and B31 are connected in series with the manual relief valves A37 and B38, respectively.

[0025] In this embodiment, the reversing solenoid valve is a 4WRAE6E1-15-2V type electromagnetic proportional reversing valve; the upper cylinder is a HOB-80-200 type cylinder, the lower cylinder is a HOB-63-200 type cylinder, the accumulator is an NXQ-2.5L / 31.5MPa type bladder accumulator, and the shut-off valve is a YJZQ-J06W type shut-off valve; the servo motor is a P60B13100HXS00 type servo motor, and it is also equipped with a PY2A030A2 type servo driver.

[0026] 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 passive compensation mode and semi-active compensation mode can be switched.

[0027] When the shut-off valve 25 is opened, the active compensator does not work and operates in passive compensation mode. The working process is as follows: Pump source 7 is started, and the reversing 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 reversing solenoid valve 6. The hydraulic oil in the rodless chamber 14 of the heave simulation cylinder flows back to the oil tank through the reversing solenoid valve 6, causing the heave simulation cylinder to drive the heave compensation active simulation cylinder 2 to rise. Conversely, when the reversing solenoid valve 6 is in the left position, the heave simulation cylinder drives the heave compensation active simulation cylinder 2 to fall. By repeatedly operating the reversing solenoid valve 6, the heave compensation active simulation cylinder 2 is raised and lowered to simulate the heave motion of the ship on the sea surface. During the lifting and heaving motion, the passive compensation mode is activated. When the lifting and heaving compensation active simulation cylinder 2 rises, the oil in the rod chamber 19 of the lifting and heaving compensation active simulation cylinder is squeezed. The oil in the rod chamber 19 of the lifting and heaving compensation active simulation cylinder will flow into the rodless chamber 18 of the passive simulation lower cylinder, thereby effectively preventing the oil pressure from rising and causing the piston rod in the lifting and heaving compensation active simulation cylinder to move upward, so that the piston rod in the lifting and heaving compensation active simulation cylinder remains stationary, ensuring that the load simulation counterweight 8 of the lifting device does not rise with the cylinder body of the lifting and heaving compensation active simulation cylinder 2. After the oil flows into the rodless chamber 18 of the passive simulation lower cylinder, it pushes the piston rod in the passive simulation lower cylinder to move upward, squeezing the oil in the rod chamber 20 of the passive simulation lower cylinder into the accumulator 3 through the compensation oil pipe B21, thereby increasing the oil pressure in the accumulator 3 and achieving the purpose of energy storage. At the same time, the piston rod in the passive simulation lower cylinder drives the piston rod in the passive simulation upper cylinder to move upward, squeezing the oil in the rodless chamber of the passive simulation upper 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 achieving passive compensation for rise.

[0028] When the active simulation cylinder 2 for heave compensation descends, the oil in the rodless chamber 24 of the active simulation cylinder is compressed. The oil in the rodless chamber 24 flows into the rod chamber 22 of the passive simulation upper cylinder, effectively preventing the oil pressure from rising and pushing the piston rod in the active simulation cylinder to move downwards. This keeps the piston rod in the active simulation cylinder stationary, ensuring that the load simulation counterweight 8 of the lifting device does not descend with the cylinder body of the active simulation cylinder 2. After the oil flows into the rodless chamber 22 of the passive simulation upper cylinder, it pushes the piston rod in the passive simulation upper cylinder to move downwards. The oil compensation pipe B21 in the accumulator 3 enters the rod chamber 20 of the passive simulation lower cylinder, ensuring the oil pressure in the rod chamber 20 and releasing the energy stored in the accumulator. The oil in the rodless chamber 18 of the passive simulation lower cylinder is compressed into the rod chamber 19 of the active simulation cylinder for heave compensation, keeping the oil pressure in the rod chamber 19 of the active simulation cylinder as constant as possible; thus achieving passive compensation for descent.

[0029] When the shut-off valve 25 is closed, the heave compensation spreader is in semi-active mode. The active compensator also starts working, driving the bidirectional pump 33 to rotate via the servo motor 34. The bidirectional pump 33 supplies or discharges oil to the rodless chamber 24 of the active simulation cylinder for heave compensation. The displacement parameters of the displacement sensor 32 and the displacement parameters of the displacement sensor built into the active simulation cylinder 2 for heave compensation control the forward and reverse rotation and speed of the servo motor 34, thereby regulating the amount and direction of oil supply to 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 or fall with the cylinder body of the heave simulation cylinder 1.

[0030] The purpose of this utility model heave compensation lifting device is as follows: Due to the special structure of the composite accumulator and composite cylinder of the heave compensation lifting device, and the limitation of experimental conditions, it is difficult to build a complete physical prototype. Therefore, by developing an experimental device for heave compensation lifting device for offshore crane operations, relevant heave compensation experiments can be carried out in the laboratory. Through the heave compensation lifting device experimental device of this application, the design of the heave compensation lifting device for offshore crane operations can be optimized.

[0031] To balance the flow rates between the rodless chamber of the active heave compensation cylinder and the rodless chamber of the passive simulation upper cylinder, as well as between the rod chamber of the active heave compensation cylinder and the rodless chamber of the passive simulation lower cylinder, it is necessary to ensure that the area ratio of the rod chamber to the rodless chamber of the active heave compensation cylinder is as close as possible to the area ratio of the rodless chamber of the passive simulation lower cylinder to the rodless chamber of the passive simulation upper cylinder. Experiments show that the area ratio of the rod chamber to the rodless chamber of the heave compensation cylinder is 0.609375, and the area ratio of the rodless chamber of the passive simulation lower cylinder to the rodless chamber of the passive simulation upper cylinder is 0.62015625. Although these two area ratios are close, there is still a certain difference, which will lead to a certain volume difference. Two check valves are installed at both ends of the bidirectional pump to draw oil from the oil tank to replenish the volume difference between the rodless chamber of the active simulation cylinder for heave compensation and the rodless chamber of the passive simulation upper cylinder. Manual relief valves are installed at both ends of the bidirectional pump to prevent excessive oil pressure in the rodless chambers of the active simulation cylinder for heave compensation and the passive simulation upper cylinder, serving as safety valves.

[0032] Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled 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 heave compensation of a marine crane operation, characterized in that: The system includes a heave simulation cylinder, a heave compensation active simulation cylinder, a passive simulation accumulator, a passive simulation upper cylinder, a passive simulation lower cylinder, a reversing solenoid valve, a servo motor, a bidirectional pump, a pump source, and a lifting load simulation counterweight. The heave simulation cylinder is suspended and fixed to the load-bearing body. The cylinder body of the heave compensation active simulation cylinder is fixed to the lower end of the heave simulation piston rod of the heave simulation cylinder. The lifting load simulation counterweight is hung on the lower end of the heave compensation piston rod of the heave compensation simulation cylinder. The piston rod in the passive simulation upper cylinder is connected to the passive simulation lower cylinder via a flange. The piston rod inside the cylinder is connected, and the passive simulation upper cylinder, passive simulation lower cylinder, and passive simulation accumulator constitute a passive heave compensator. The servo motor and bidirectional pump constitute an active heave compensator. The passive and active heave compensators are used to passively or semi-actively compensate for the rise and fall of the heave compensating piston rod in the active heave compensation cylinder. The pump source provides power for the rise and fall of the heave simulation piston rod in the heave simulation cylinder, and the reversing solenoid valve is used to control the rise and fall of the heave simulation piston rod in the heave simulation cylinder to simulate the undulation of a ship's hull at sea.

2. The offshore crane operational heave compensation spreader experimental set-up according to claim 1, characterized in that: The reversing solenoid valve is a three-position four-way electromagnetic 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 electromagnetic proportional reversing valve, and the other end of the first pipeline is connected to the oil tank. The second and third ports 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 and third oil pipes, respectively. The fourth port of the four-way proportional reversing solenoid valve is connected to the oil tank through the fourth pipeline.

3. The offshore crane operational heave compensation spreader experimental set-up according to claim 2, characterized in that: The first pipeline is connected to an oil injection pipeline, which is used to inject oil into the rodless chamber of the passive simulated upper cylinder, the rodless chamber of the passive simulated lower cylinder, the passive simulated accumulator, and the rodless chamber of the heave-compensation active simulated cylinder.

4. The experimental device for heave compensation in offshore crane operations according to claim 3, characterized in that: The rodless chamber of the passively simulated lower cylinder is connected to the rod chamber of the heave-compensation active cylinder via compensating oil pipe A, and the rod chamber of the passively simulated lower cylinder is connected to the passively simulated accumulator via compensating oil pipe B; the rodless chamber of the passively simulated upper cylinder, the rod chamber of the lower cylinder, and the bladder-type accumulator are all connected to the rodless chamber of the heave-compensation active cylinder via compensating oil pipe C.

5. The experimental device for heave compensation in offshore crane operations according to claim 4, characterized in that: The compensation oil pipe C is equipped with a shut-off valve and also includes an active compensator. The active compensator includes an oil supply line A, an oil supply line B, a check valve A, a check valve B, an active compensation line A, an active compensation line B, a displacement sensor, a bidirectional pump, a servo motor, and a controller. The displacement sensor transmits the displacement information of the simulated piston rod to the controller. The controller regulates the servo motor, which drives the bidirectional pump. One end of the active compensation line A is connected to the left oil port of the bidirectional pump. 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 pipe B is connected to the right oil port of the bidirectional pump. The other end of the active compensation pipe 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 pipe A and one end of the oil supply pipe B are respectively connected to the active compensation pipe A and the active compensation pipe B. The other ends of the oil supply pipe A and the other ends of the oil supply pipe B are both connected to the oil tank. The one-way valve A and the one-way valve B are respectively connected in series on the oil supply pipe A and the oil supply pipe B.

6. The experimental apparatus for heave compensation in offshore crane operations according to claim 5, characterized in that: Manual relief valve A and manual relief valve B are respectively connected in series on the active compensation pipeline A and active compensation pipeline B.

7. The experimental apparatus for heave compensation in offshore crane operations according to claim 6, characterized in that: The load-bearing structure is a fixed beam, frame, or the ceiling of a laboratory.

8. The experimental apparatus for heave compensation in offshore crane operations according to claim 7, characterized in that: The rod chamber of the lower cylinder is provided with an airflow port on its cavity wall, and a filter is provided at the airflow port.

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