Multi-dimensional compensation collaborative marine embarkation trestle hydraulic driving system

Abstract

The invention discloses a multi-dimensional compensation collaborative marine embarkation trestle hydraulic driving system, and belongs to the technical field of ocean engineering. In order to solve the problems that a traditional trestle is low in adjusting precision and poor in collaboration, the system achieves multi-dimensional compensation collaboration through a height adjusting mechanism, a power mechanism and a rotary adjusting assembly. The height adjusting mechanism drives a moving plate to move longitudinally through four electric push rods I to adjust the height of the bridge type support. The power mechanism extrudes hydraulic oil through the hydraulic push plate, and pushes the bridge type support to move transversely through the oil conveying flexible pipe I and the hydraulic cylinder I; the rotary adjusting assembly stretches out and draws back through differentiation of a hydraulic flow dividing box and a hydraulic cylinder II. According to the system, the change of an offshore environment is detected in real time through a sensor and monitoring equipment which are mounted on a trestle, a servo proportional valve with high precision and a hydraulic sensing system are adopted, a hydraulic system forms closed-loop control, the relative movement between a ship body and a platform is eliminated through six-degree-of-freedom real-time compensation, and the accidents of'kowtows' or'extrusion 'are avoided.

Description

Technical Field

[0001] This invention relates to the field of marine engineering technology, and in particular to a hydraulic drive system for multi-dimensional compensation and coordination of offshore boarding piers. Background Technology

[0002] The "multi-dimensional compensation and coordination" technology of the hydraulic drive system for offshore boarding piers is deeply rooted in the severe challenges of marine engineering. In the field of marine engineering, the transfer of personnel and materials between offshore operating platforms and ships is a crucial link. As an important facility connecting fixed offshore platforms (such as offshore drilling platforms and offshore wind power platforms) with ships, the performance of offshore boarding piers directly affects the efficiency and safety of offshore operations.

[0003] The core problem to be solved is to overcome the continuous and complex six-degree-of-freedom motion of ships caused by dynamic loads such as wind, waves, and currents, and to ensure that a safe, smooth and reliable channel for the transfer of personnel and materials is established between the dynamically undulating ship and the relatively stable fixed facility or another ship in the same motion.

[0004] Traditional offshore boarding pier drive systems have several limitations. Firstly, regarding height adjustment, most systems rely on a single power drive, resulting in limited precision and difficulty in accurately adapting to fixed offshore platforms at varying heights. For instance, when the height of a fixed offshore platform changes due to tides, waves, or other factors, traditional piers cannot quickly and accurately adjust their height to match. This not only affects the efficiency of personnel and material transfer but may also pose safety hazards due to loose connections between the pier and the platform.

[0005] On the other hand, traditional propulsion systems lack effective coordinated adjustment mechanisms for angle and lateral position adjustments. The complex and ever-changing marine environment, with factors such as waves and winds causing ships to sway and displace in multiple directions, requires piers to compensate for movements in multiple directions (including vertical, lateral, and longitudinal displacements) based on the ship's real-time position and attitude. However, traditional systems often only allow for single-dimensional adjustments and cannot achieve multi-dimensional compensation and coordination. This makes it difficult for piers to accurately dock with platforms in complex sea conditions, increasing operational risks and costs.

[0006] Furthermore, the hydraulic drive system of traditional offshore boarding piers suffers from poor coordination between components during adjustment, easily leading to problems such as jamming and swaying, which affect the stability and service life of the pier. Moreover, the system's control method is relatively simple, making precise automated control difficult and requiring operators with high skill levels and extensive experience, further limiting its widespread application in offshore operations.

[0007] To address the aforementioned issues, this technical solution proposes a multi-dimensional compensation and coordination hydraulic drive system for offshore boarding bridges. Summary of the Invention

[0008] The purpose of this invention is to solve the problems of limited adjustment accuracy, lack of coordinated adjustment mechanism, and poor component coordination of traditional marine boarding pier drive systems, and to propose a multi-dimensional compensation and coordination marine boarding pier hydraulic drive system.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A multi-dimensional compensation and coordination hydraulic drive system for offshore boarding piers includes:

[0011] The guide rail has a base plate on top, and two guide slide rails are symmetrically fixedly installed on the bottom of the base plate. Both guide slide rails are slidably connected to the guide rail.

[0012] A height adjustment mechanism is provided on the top of the base plate, and a bridge bracket is connected to the height adjustment mechanism;

[0013] A power mechanism is mounted on the height adjustment mechanism and is connected to the bridge support, used to adjust the angle and lateral position of the bridge support;

[0014] The height of the bridge support is adjusted by driving the height adjustment mechanism to raise and lower the bridge support, and the angle and lateral position are adjusted by driving the bridge support to move through the power mechanism. This enables active compensation for the continuous and complex six-degree-of-freedom motion of the ship caused by the dynamic load of wind and waves, and achieves multi-dimensional compensation coordination and docking with the fixed offshore platform.

[0015] The hydraulic system is the core of this drive system, generating power through the pressure transmission of hydraulic oil. Hydraulic cylinders and hydraulic motors are key components of the system, responsible for converting hydraulic energy into mechanical energy, driving the pier to move in all directions. The hydraulic system is designed to allow precise control of the pier's position and attitude to adapt to changing marine conditions. Hydraulic pumps provide the required pressure, while valves control the direction and flow of hydraulic oil, thereby controlling the pier's movement.

[0016] In one possible design, the height adjustment mechanism includes four electric push rods I symmetrically fixedly installed on the top of the base plate, a common movable plate fixedly installed on the output shaft of the four electric push rods I, two assembly plates symmetrically fixedly installed on the top of the movable plate, a common load-bearing support frame rotatably connected to the two assembly plates, and the bridge bracket slidably connected to the load-bearing support frame.

[0017] Specifically, by activating the four electric push rods I, the moving plate is moved longitudinally, thereby adjusting the height of the bridge support to adapt to the height changes of the offshore fixed platform.

[0018] This invention innovatively utilizes a high-precision servo proportional valve and hydraulic sensing system in its hydraulic drive system, forming a closed-loop control. This system can compensate for movement in multiple directions, including vertical, lateral, and longitudinal displacements. Coordinated control refers to the system's ability to coordinate the actions of multiple hydraulic drive units to achieve smooth movement and precise docking of the trestle, ensuring synchronized action of each drive unit.

[0019] In one possible design, limit brackets are fixedly installed on both sides of the base plate, and limit plates are slidably connected inside the limit brackets. The sides of the two limit plates that are close to each other are respectively fixedly connected to the two sides of the movable plate.

[0020] The sliding connection between the limiting bracket and the limiting plate provides longitudinal sliding limitation for the moving plate, ensuring that the moving plate maintains linear movement.

[0021] In one possible design, the power mechanism includes an oil tank fixedly installed on the top of the movable plate, the oil tank containing hydraulic oil, two flexible oil supply pipes I symmetrically fixedly installed on the inner walls of both sides of the oil tank, an electromagnetic control valve I fixedly installed inside the flexible oil supply pipe I, one end of the flexible oil supply pipe I extending to the outside of the oil tank and fixedly connected to a hydraulic cylinder I, a fixing plate I fixedly installed on one side of the hydraulic cylinder I, the fixing plate I fixedly installed at the bottom of the bridge support, a hydraulic piston plate tightly slidably connected inside the hydraulic cylinder I, a transmission rod I fixedly installed on one side of the hydraulic piston plate, one end of the transmission rod I extending to the outside of the hydraulic cylinder I and fixedly fitted with a fixing plate II, the fixing plate II fixedly installed on the bottom side of the bridge support, and a pushing assembly provided inside the oil tank, one side of the pushing assembly extending to the outside of the oil tank and connected to the top of the movable plate;

[0022] Specifically, by opening the electromagnetic control valve I and activating the push assembly, the hydraulic oil in the oil tank is pushed to the flexible oil delivery pipe I and enters the hydraulic cylinder I, which in turn pushes the hydraulic piston plate to move, thereby driving the bridge support to move through the transmission rod I to adjust the angle and lateral position.

[0023] In one possible design, the actuating assembly includes a hydraulic push plate that is slidably and sealed within the oil tank. Multiple movable rods are fixedly mounted at equal intervals on both sides of the hydraulic push plate. One end of each movable rod on the same side penetrates the corresponding inner wall of the oil tank and extends to the outer side of the oil tank. The movable rods are slidably and sealed to the inner wall of the oil tank. A movable bracket is also slidably connected to the bottom of the oil tank. Both sides of the movable bracket extend to the sides of the oil tank. One end of each movable rod on the same side is fixedly connected to the inner wall of the movable bracket. Two electric push rods II are symmetrically and fixedly mounted on the top of the movable plate. The output shafts of both electric push rods II are fixedly connected to the bottom side of the movable bracket.

[0024] Specifically, by activating the two electric push rods II, the movable support is moved, thereby pushing the hydraulic push plate to move through the movable rod to squeeze the hydraulic oil.

[0025] In one possible design, two support shafts are symmetrically fixedly installed at the bottom of the oil tank, and two sliding holes are symmetrically opened on the bottom inner wall of the movable bracket. The bottom end of the support shaft passes through the corresponding sliding hole and extends to the bottom of the movable bracket. The support shaft is slidably connected to the inner wall of the sliding hole.

[0026] The sliding connection between the support shaft and the sliding hole limits the lateral sliding of the movable bracket.

[0027] In one possible design, two rotary adjustment assemblies are also included. Each rotary adjustment assembly includes two hydraulic cylinders II, which are rotatably connected to the two mounting plates on their respective sides. A hydraulic piston rod is slidably connected inside each hydraulic cylinder II. One end of the hydraulic piston rod extends to the outside of the hydraulic cylinder II and is rotatably connected to a connecting bracket. The connecting bracket is fixedly installed on the bottom side of the load-bearing support frame. The two hydraulic cylinders II are connected to the same oil supply component. The bottom end of the oil supply component extends into the oil tank and is connected to the inner wall of one side of the oil tank.

[0028] Specifically, the differential extension and retraction of the hydraulic piston rod drives the load-bearing support frame to rotate, thereby causing the bridge bracket to rotate to adjust the angle.

[0029] In one possible design, the oil delivery component includes a hydraulic distribution box located between the two hydraulic cylinders II. Hydraulic connecting pipes are fixedly installed through the inner walls on both sides of the hydraulic distribution box. One end of each hydraulic connecting pipe extends into the corresponding hydraulic cylinder II and is fixedly connected to one side of the inner wall of that hydraulic cylinder II. A flexible oil delivery pipe II is fixedly installed on one side of the inner wall of the hydraulic distribution box. One end of the flexible oil delivery pipe II extends into the oil tank and is fixedly connected to one side of the inner wall of the oil tank. An electromagnetic control valve II is fixedly installed inside the flexible oil delivery pipe II.

[0030] Specifically, by opening the electromagnetic control valve II, hydraulic oil enters the hydraulic distribution box through the flexible oil supply pipe II, and is distributed to the hydraulic cylinder II through the hydraulic connecting pipe, thereby pushing the hydraulic piston rod to move.

[0031] In one possible design, a control unit is also included, which is electrically connected to the electric push rod I, the electric push rod II, the electromagnetic control valve I, and the electromagnetic control valve II, for controlling their opening, closing, and movement;

[0032] The control unit enables automated control, which includes a feedback loop to adjust the action of the hydraulic drive unit in real time, ensuring the stability of the pier and the accuracy of docking. It employs high-precision servo proportional valves and a hydraulic sensing system to form a closed-loop control of the hydraulic system, providing six degrees of freedom real-time compensation, reducing operational difficulty, and improving the efficiency and safety of offshore operations.

[0033] In this application, the system is first pre-installed on the transport vessel; when the transport vessel approaches the fixed platform at sea and personnel and materials need to be transferred, the system starts to work.

[0034] First, the base plate is moved laterally to position the bridge support at the predetermined location. Then, the height of the bridge support is adjusted by activating four electric push rods I. The output shafts of the four electric push rods I move synchronously, driving the movable plate fixed on them to move longitudinally. Since the two sides of the movable plate are slidably connected to the limit brackets fixed on both sides of the base plate through limit plates, the cooperation of the limit brackets and limit plates keeps the movable plate moving in a straight line. When the movable plate moves, the two symmetrically fixed assembly plates on its top and the load-bearing support frame rotatably connected to the two assembly plates move accordingly. The bridge support is slidably connected to the load-bearing support frame, thereby realizing the adjustment of the height of the bridge support to adapt to the height of the offshore fixed platform.

[0035] Next, the angle and lateral position of the bridge support are adjusted. First, the electromagnetic control valve I is opened, and then the two electric push rods II are activated. The output shafts of the two electric push rods II push the moving support to move. The moving support is slidably connected to two support shafts symmetrically fixed to the bottom of the oil tank through sliding holes on the bottom inner wall, realizing lateral sliding limit. The movement of the moving support drives the movement of multiple moving rods fixedly connected to the inner wall on one side, and the multiple moving rods drive the movement of the hydraulic push plate sealed and slidably connected in the oil tank. The movement of the hydraulic push plate pushes the hydraulic oil in the oil tank to the two corresponding flexible oil supply pipes I. The hydraulic oil enters the corresponding hydraulic cylinder I through the flexible oil supply pipes I, pushing the hydraulic piston plate tightly slidably connected in the hydraulic cylinder I to move. The hydraulic piston plate drives the transmission rod I fixed on one side to move. The transmission rod I drives the bridge support to move through the fixed plate II. At the same time, the movement of the bridge support will drive the two transmission rods I on the other side to move, transporting the hydraulic oil in the two hydraulic cylinders I on the other side back to the oil tank through the corresponding flexible oil supply pipes I, thereby realizing the adjustment of the angle and lateral position of the bridge support.

[0036] After the bridge support position is adjusted, close electromagnetic control valve I and open electromagnetic control valve II in the flexible oil supply pipe II. At this time, the hydraulic push plate continues to move, transporting the hydraulic oil in the tank to the hydraulic distribution box through the flexible oil supply pipe II. The hydraulic oil entering the hydraulic distribution box is distributed to the hydraulic cylinders II of the two rotary adjustment components through two hydraulic connecting pipes, pushing the hydraulic piston rods in the sealed sliding connection of the hydraulic cylinders II to move to the outside of the corresponding hydraulic cylinders II. When one hydraulic piston rod moves outward, the hydraulic piston rod on the other rotary adjustment component moves to the inside of the corresponding hydraulic cylinder II, thereby rotating and adjusting the load-bearing support frame, which in turn drives the bridge support to rotate, so that the bridge support is accurately docked with the offshore fixed platform, completing the entire adjustment process, and personnel and materials can then be transferred.

[0037] The beneficial effects of this invention include:

[0038] In this invention, real-time compensation with six degrees of freedom eliminates the relative motion between the hull and the wind turbine foundation, preventing "head-bumping" or "squeezing" accidents. It achieves multi-dimensional compensation coordination and docking with fixed offshore platforms, ensuring compatibility across multiple scenarios and adaptability to extreme sea conditions. The hydraulic systems are designed to adapt to different environmental conditions, ensuring normal operation under various weather and sea conditions. Through the compensation effect of large accumulators, the hydraulic systems significantly reduce the operating power of the electric motors, providing greater output power while reducing energy consumption. This results in advantages such as reduced maintenance costs, lower energy consumption, and extended maintenance-free periods.

[0039] In this invention, the multi-dimensional compensation and coordination hydraulic drive system for the offshore boarding bridge, through a height adjustment mechanism, can drive the moving plate to move longitudinally by activating four electric push rods I, thereby adjusting the height of the bridge support. Thus, when the bridge support is docked with the offshore fixed platform, the height of the bridge support can be adjusted according to the height of the offshore fixed platform.

[0040] In this invention, the multi-dimensional compensation and coordination hydraulic drive system for the sea boarding bridge, through a power mechanism, can open the electromagnetic control valve I. At this time, the start-up push component can push the hydraulic oil in the oil tank to the two corresponding flexible oil supply pipes I. The hydraulic oil transported through the flexible oil supply pipes I can enter the corresponding hydraulic cylinders I, thereby pushing the hydraulic piston plate to move. When the hydraulic piston plate moves, it can drive the transmission rod I to move, thereby driving the bridge support to move. When the bridge support moves, it can drive the two transmission rods I on the other side to move. At this time, the hydraulic oil in the two hydraulic cylinders I on the other side can be transported to the oil tank through the corresponding flexible oil supply pipes I.

[0041] This invention and its system achieve precise adjustment of height, angle, and lateral position through multi-dimensional compensation and coordinated adjustment, adapting to platforms at different heights and complex sea conditions; the movement of each component is well coordinated and highly stable; equipped with automated control, it reduces the difficulty of operation, effectively improves the efficiency and safety of offshore operations, reduces operational risks and costs, and is conducive to wide application. Attached Figure Description

[0042] Figure 1 This is a first-view three-dimensional structural schematic diagram of the multi-dimensional compensation and coordination hydraulic drive system for a sea boarding pier proposed in this invention.

[0043] Figure 2 This is a second-view three-dimensional structural schematic diagram of the multi-dimensional compensation and coordination hydraulic drive system for a sea boarding bridge proposed in this invention.

[0044] Figure 3 This is a three-dimensional top-view structural diagram of the hydraulic drive system for the multi-dimensional compensation and coordination of the offshore boarding bridge proposed in this invention.

[0045] Figure 4 This is a three-dimensional schematic diagram of the connection structure of the base plate, moving plate, two assembly plates and weighing support frame of the multi-dimensional compensation and coordination hydraulic drive system for the offshore boarding bridge proposed in this invention.

[0046] Figure 5 This is a three-dimensional schematic diagram of the connection structure of two electric push rods II, a movable support, multiple movable rods and multiple hydraulic cylinders I of the multi-dimensional compensation and coordination hydraulic drive system for the sea boarding pier proposed in this invention.

[0047] Figure 6 This is a three-dimensional cross-sectional schematic diagram of the fuel tank structure of the hydraulic drive system for the multi-dimensional compensation and coordination of the offshore boarding pier proposed in this invention.

[0048] Figure 7 This is a three-dimensional cross-sectional schematic diagram of the hydraulic cylinder I and the flexible oil pipe I of the multi-dimensional compensation and coordination hydraulic drive system for the offshore boarding pier proposed in this invention.

[0049] Figure 8 This is a three-dimensional schematic diagram of the hydraulic diversion box and the connection structure of the two hydraulic cylinders II in the hydraulic drive system of the multi-dimensional compensation and coordination marine boarding pier proposed in this invention.

[0050] In the diagram: 1. Guide rail; 2. Base plate; 3. Guide slide rail; 4. Limiting bracket; 5. Moving plate; 6. Electric push rod I; 7. Assembly plate; 8. Load-bearing support frame; 9. Bridge bracket; 10. Hydraulic cylinder I; 11. Fixed plate I; 12. Transmission rod I; 13. Flexible oil supply pipe I; 14. Fixed plate II; 15. Hydraulic piston plate; 16. Electromagnetic control valve I; 17. Oil tank; 18. Hydraulic push plate; 19. Moving rod; 20. Moving bracket; 21. Electric push rod II; 22. Hydraulic cylinder II; 23. Hydraulic piston rod; 24. Connecting bracket; 25. Hydraulic diverter box; 26. Hydraulic connecting pipe; 27. Flexible oil supply pipe II; 28. Electromagnetic control valve II; 29. ​​Support shaft. Detailed Implementation

[0051] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0052] In one embodiment: Refer to Figure 1-8A drive system includes a guide rail 1. A support frame is constructed based on the guide rail 1. A base plate 2 is horizontally positioned above the guide rail 1. Two guide rails 3 are symmetrically fixed to the bottom of the base plate 2 by bolts, forming a sliding fit with the guide rail 1 to ensure the base plate 2 can move longitudinally along the guide rail 1. Limiting brackets 4 are welded to both sides of the base plate 2, with longitudinal grooves formed within them. Limiting plates welded to both sides of a moving plate 5 are embedded in these grooves, forming a longitudinal sliding limiting structure. Four electric push rods Ⅰ6 are symmetrically mounted on the top of the base plate 2 by bolts. The top ends of the output shafts of the four electric push rods Ⅰ6 collectively support the moving plate 5. Two assembly plates 7 are symmetrically fixed to the top of the moving plate 5 by bolts. A load-bearing support frame 8 is connected between the two assembly plates 7 by a rotating shaft. A transverse groove is formed on the load-bearing support frame 8, with a slider welded to the bottom of a bridge-type support 9 embedded in the groove, forming a sliding connection structure. By synchronously activating the four electric push rods Ⅰ6, the moving plate 5 can be driven to move longitudinally, thereby enabling the bridge-type support 9 to achieve height adjustment, meeting the docking requirements of offshore fixed platforms at different heights.

[0053] This invention provides powerful and precise control through hydraulic technology, overcoming the continuous and complex six-degree-of-freedom motion of ships caused by dynamic loads such as wind, waves, and currents. It ensures the establishment of a safe, smooth, and reliable channel for the transfer of personnel and materials between dynamically undulating ships and relatively stable fixed facilities or other ships in the same motion.

[0054] like Figure 6-7 As shown, the power mechanism is constructed with an oil tank 17 as the core component. The oil tank 17 is fixed to the top of the movable plate 5 by bolts and stores hydraulic oil inside. Four flexible oil supply pipes I13 are symmetrically welded to the inner walls of both sides of the oil tank 17. Each flexible oil supply pipe I13 has an embedded electromagnetic control valve I16. The outlet of the flexible oil supply pipe I13 is connected to the hydraulic cylinder I10. The hydraulic cylinder I10 is fixed to the fixed plate I11 by bolts. The fixed plate I11 is welded to the bottom of the bridge bracket 9. The hydraulic cylinder I10 is sealed and slidably connected to the hydraulic piston plate 15. A transmission rod I12 is welded to one side of the hydraulic piston plate 15. The end of the transmission rod I12 passes through the hydraulic cylinder I10 and is welded to the fixed plate II14. The fixed plate II14 is welded to the bottom side of the bridge bracket 9.

[0055] like Figure 6As shown, the pushing assembly consists of a hydraulic push plate 18, moving rods 19, and a moving bracket 20. A sealing ring is provided on the edge of the hydraulic push plate 18, forming a sealed sliding connection with the inner wall of the oil tank 17. Three moving rods 19 are welded to each side of the hydraulic push plate 18, with the ends of the moving rods 19 penetrating the side wall of the oil tank 17 and welded to the inner wall of the moving bracket 20. Two support shafts 29 are welded to the bottom of the oil tank 17, and sliding holes are opened at the bottom of the moving bracket 20, through which the support shafts 29 pass to form a lateral limiting structure. Two electric push rods II 21 are bolted to the top of the moving plate 18, and the output shafts of the electric push rods II 21 are connected to the bottom of the moving bracket 20. When the electric push rods II 21 are activated, the moving bracket 20 drives the moving rods 19 to move, thereby pushing the hydraulic push plate 18 to squeeze the hydraulic oil. When the electromagnetic control valve I 16 is opened, the hydraulic oil enters the hydraulic cylinder I 10 through the flexible oil supply pipe I 13, pushing the hydraulic piston plate 15 to move, and the transmission rod I 12 drives the bridge bracket 9 to move laterally.

[0056] The hydraulic system, through the compensation effect of a large accumulator, significantly reduces the operating power of the electric motor, providing greater output power while reducing energy consumption. The hydraulic drive system used in this project innovatively employs a high-precision servo proportional valve, combined with a hydraulic sensing system, to form a closed-loop control of the hydraulic system.

[0057] This application can be used in the field of marine engineering technology, or in other fields applicable to this application.

[0058] In another embodiment: Reference Figure 5-8 Based on the above embodiments, an improvement is made to a multi-dimensional compensation and coordination hydraulic drive system for a marine boarding pier, which is applied to the field of marine engineering technology. The rotary adjustment assembly includes two symmetrically arranged hydraulic adjustment units, each of which consists of a hydraulic cylinder II 22, a hydraulic piston rod 23, and a connecting bracket 24. The hydraulic cylinder II 22 is connected to the inner side of the assembly plate 7 via a rotating shaft. The hydraulic piston rod 23 is slidably connected to the hydraulic cylinder II 22 in a sealed manner, and its end is connected to the connecting bracket 24 via a rotating shaft. The connecting bracket 24 is welded to the bottom of the load-bearing support frame 8. The two hydraulic cylinders II 22 are connected by a hydraulic distribution box 25. Hydraulic connecting pipes 26 are welded to both sides of the hydraulic distribution box 25, and the ends of the hydraulic connecting pipes 26 are connected to the side walls of the hydraulic cylinders II 22. A flexible oil supply pipe II 27 is welded to one side of the hydraulic distribution box 25. An electromagnetic control valve II 28 is embedded in the flexible oil supply pipe II 27, and its end is connected to the side wall of the oil tank 17. After the bridge support 9 is positioned, the solenoid control valve I16 is closed and the solenoid control valve II28 is opened. The hydraulic push plate 18 pushes the hydraulic oil through the flexible oil supply pipe II27 into the hydraulic distribution box 25, and then distributes it to the two hydraulic cylinders II22 through the hydraulic connecting pipe 26. The differentiated extension and retraction of the hydraulic piston rod 23 pushes the load-bearing support frame 8 to rotate around the pivot, thereby achieving fine-tuning of the angle of the bridge support 9.

[0059] Coordinated control refers to the system's ability to coordinate the actions of multiple hydraulic drive units to achieve smooth movement and precise docking of the trestle, ensuring synchronized operation of each drive unit. The system may also include emergency stop mechanisms and fault diagnosis functions for rapid response in case of problems.

[0060] This system achieves three-dimensional position adjustment of the bridge support 9 through the coordinated operation of a height adjustment mechanism, a power mechanism, and a rotation adjustment component. The height adjustment mechanism achieves vertical positioning via an electric push rod I6, the power mechanism achieves horizontal movement via hydraulic drive, and the rotation adjustment component achieves angle adjustment via hydraulic differential. Each component adopts a modular design, and key components such as the oil tank 17, hydraulic cylinder I10, and hydraulic cylinder II22 are equipped with inspection ports for easy maintenance.

[0061] The essence of this invention is to make the pier a “smart robotic arm” that can actively perceive, make intelligent decisions, execute precisely, and adapt to complex and ever-changing marine environments through the deep integration and intelligentization of sensing, hydraulic and control technologies.

[0062] This invention achieves reduced operation and maintenance costs, lower energy consumption, and extended maintenance-free periods while ensuring efficiency, personnel safety, and equipment reliability in offshore operations.

[0063] However, as is well known to those skilled in the art, the working principles and wiring methods of electric actuator I6, electromagnetic control valve I16, electric actuator II21 and electromagnetic control valve II28 are conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0064] To improve system safety, hydraulic drive systems are typically designed with redundancy measures, such as backup pumps, valves, and sensors, to prevent a single point of failure from causing the entire system to fail.

[0065] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0066] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-dimensionally compensated cooperative offshore embarkation gangway hydraulic drive system, characterized by, The utility model relates to a kind of shipboard docking device, including: Rail (1), the upper portion of the rail (1) is provided with base plate (2), the bottom of the base plate (2) is symmetrically fixedly installed with two guide slide rails (3), two The guide slide rails (3) are slidably connected with the rail (1); Height adjusting mechanism, disposed at the top of the base plate (2), the height adjusting mechanism is connected with bridge support (9) on it; Power mechanism, disposed on the height adjusting mechanism, the power mechanism is connected with the bridge support (9), for adjusting the angle and lateral position of the bridge support (9); Wherein, the bridge support (9) is driven by the height adjusting mechanism to adjust height, the bridge support (9) is driven by the power mechanism to move to adjust angle and lateral position, realize the active compensation of the sustained and complex six-degree-of-freedom motion of ship caused by wind, wave power load, realize multidimensional compensation coordination and offshore fixed platform docking.

2. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 1, characterized in that, The height adjusting mechanism includes four electric push rods I (6) symmetrically fixedly installed on the top of the base plate (2), the same moving plate (5) is fixedly installed on the output shaft of four electric push rods I (6), two assembly plates (7) are symmetrically fixedly installed on the top of the moving plate (5), the same load support frame (8) is rotatably connected on two assembly plates (7), and the bridge support (9) is slidably connected on the load support frame (8); Wherein, by starting four electric push rods I (6), the moving plate (5) is driven to move longitudinally, so that the height of the bridge support (9) is adjusted to adapt to the height change of offshore fixed platform.

3. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 2, characterized in that, Limiting support (4) is fixedly installed on both sides of the base plate (2), limiting plate is slidably connected in the limiting support (4), and the side of two limiting plates close to each other is fixedly connected with the both sides of the moving plate (5) respectively; Wherein, the sliding connection of the limiting support (4) and the limiting plate limits the longitudinal sliding of the moving plate (5), so that the moving plate (5) keeps straight movement.

4. The multi-dimensionally compensating cooperative offshore embarkation gangway hydraulic drive system according to claim 2, characterized in that, The power mechanism includes an oil tank 17 fixedly installed on the top of the moving plate 5, hydraulic oil is arranged in the oil tank 17, two oil conveying flexible pipes I 13 are symmetrically and fixedly installed on the inner walls of the two sides of the oil tank 17, an electromagnetic control valve I 16 is fixedly installed in the oil conveying flexible pipe I 13, one end of the oil conveying flexible pipe I 13 extends to the outside of the oil tank 17 and is fixedly connected with a hydraulic cylinder I 10, a fixed plate I 11 is fixedly installed on one side of the hydraulic cylinder I 10, the fixed plate I 11 is fixedly installed on the bottom of the bridge support 9, a hydraulic piston plate 15 is tightly and slidably connected in the hydraulic cylinder I 10, a transmission rod I 12 is fixedly installed on one side of the hydraulic piston plate 15, one end of the transmission rod I 12 extends to the outside of the hydraulic cylinder I 10 and is fixedly sleeved with a fixed plate II 14, the fixed plate II 14 is fixedly installed on one side of the bottom of the bridge support 9, and a pushing assembly is arranged in the oil tank 17, one side of the pushing assembly extends to the outside of the oil tank 17 and is connected with the top of the moving plate 5. Wherein, by opening the electromagnetic control valve I 16 and starting the pushing assembly, the hydraulic oil in the oil tank 17 is pushed to the oil conveying flexible pipe I 13 and enters the hydraulic cylinder I 10, the hydraulic piston plate 15 is pushed to move, so that the bridge support 9 is driven to move by the transmission rod I 12 to adjust the angle and the lateral position.

5. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 4, characterized in that, The pushing assembly includes a hydraulic push plate 18 which is sealingly and slidably connected in the oil tank 17, a plurality of moving rods 19 are fixedly installed on the two sides of the hydraulic push plate 18 at equal intervals, one end of each of the moving rods 19 on the same side penetrates through the corresponding inner wall of the oil tank 17 and extends to the outside of the oil tank 17, the moving rods 19 are sealingly and slidably connected with the inner wall of the oil tank 17, a moving support 20 is also slidably connected on the bottom of the oil tank 17, the moving support 20 extends to the two sides of the oil tank 17 respectively, one end of each of the moving rods 19 on the same side is fixedly connected with the inner wall of one side of the moving support 20, and two electric push rods II 21 are symmetrically and fixedly installed on the top of the moving plate 5, the output shafts of the two electric push rods II 21 are fixedly connected with one side of the bottom of the moving support 20. Wherein, by starting the two electric push rods II 21 to drive the moving support 20 to move, the hydraulic push plate 18 is pushed to move by the moving rods 19 to extrude the hydraulic oil.

6. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 5, wherein, The bottom of the oil tank (17) is symmetrically fixed with two support shafts (29), the bottom inner wall of the moving support (20) is symmetrically provided with two slide holes, the bottom end of the support shaft (29) penetrates through the corresponding slide hole and extends below the moving support (20), and the support shaft (29) is in sliding connection with the inner wall of the slide hole. The sliding connection of the support shaft (29) and the slide hole limits the lateral sliding of the moving support (20).

7. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 2, wherein, Further comprising two rotary adjusting assemblies, each rotary adjusting assembly comprises two hydraulic cylinders II (22), and the two hydraulic cylinders II (22) are rotationally connected to the side of the two assembly plates (7) close to each other, a hydraulic piston rod (23) is in sealing sliding connection in the hydraulic cylinder II (22), one end of the hydraulic piston rod (23) extends to the outside of the hydraulic cylinder II (22) and is rotationally connected with a connecting support (24), the connecting support (24) is fixedly installed on one side of the bottom of the load-bearing support frame (8), and the two hydraulic cylinders II (22) are connected with the same oil conveying member, and the bottom end of the oil conveying member extends into the oil tank (17) and is connected with the inner wall of one side of the oil tank (17). The differential extension and contraction of the hydraulic piston rod (23) drives the load-bearing support frame (8) to rotate, thereby driving the bridge support (9) to rotate to adjust the angle.

8. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to claim 7, characterized in that, The oil conveying member comprises a hydraulic shunt box (25) between the two hydraulic cylinders II (22), hydraulic connection pipes (26) are fixedly installed on the inner walls of the two sides of the hydraulic shunt box (25), one end of the hydraulic connection pipe (26) extends into the corresponding hydraulic cylinder II (22) and is fixedly connected with the inner wall of one side of the hydraulic cylinder II (22), an oil conveying flexible pipe II (27) is fixedly installed on the inner wall of one side of the hydraulic shunt box (25), one end of the oil conveying flexible pipe II (27) extends into the oil tank (17) and is fixedly connected with the inner wall of one side of the oil tank (17), and an electromagnetic control valve II (28) is fixedly installed in the oil conveying flexible pipe II (27). When the electromagnetic control valve II (28) is opened, hydraulic oil enters the hydraulic shunt box (25) through the oil conveying flexible pipe II (27) and is distributed to the hydraulic cylinder II (22) through the hydraulic connection pipe (26), thereby driving the hydraulic piston rod (23) to move.

9. The multi-dimensionally compensating cooperative offshore embarkation pier hydraulic drive system according to any one of claims 2-8, characterized in that, Further comprising a control unit, the control unit is electrically connected with the electric push rod I (6), the electric push rod II (21), the electromagnetic control valve I (16) and the electromagnetic control valve II (28) for controlling the opening and closing and movement thereof. The control unit realizes automatic control, the control system comprises a feedback loop to adjust the action of the hydraulic drive unit in real time, ensures the stability of the stack bridge and the accuracy of the docking, adopts a servo proportional valve and a hydraulic sensing system, forms a closed-loop control of the hydraulic system, and provides six-degree-of-freedom real-time compensation.

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