A hydraulic lifting system with heave compensation ability and control method

Abstract

The present invention belongs to the field of marine engineering technology and relates to a hydraulic lifting system with heave compensation capabilities and its control method. Multiple lifting beams are arranged transversely on a catamaran engineering vessel equipped with dynamic positioning and mooring, with each lifting beam acting as a lifting point. Each lifting point has wave compensation capabilities. Once all lifting points are in close contact with an offshore fixed module, the module's legs are severed, and each lifting point applies force to rapidly lift the entire fixed module for removal. Because each lifting point utilizes the same hydraulic system, the present invention provides a specific hydraulic system for each lifting beam to address wave compensation and rapid lifting.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering technology and relates to a hydraulic lifting system with heave compensation capability and a control method. More specifically, it relates to a hydraulic system that combines active wave compensation and passive wave compensation in the heave direction of a ship and can quickly lift an offshore fixed module. Background Art

[0002] Offshore fixed modules, such as offshore drilling platforms, will face dismantling after their service life ends. The current technology for dismantling the platform's superstructure mainly includes two methods: overall dismantling and block dismantling. For overall dismantling, the existing method is to separate the entire superstructure of the platform from the jacket and then directly lift it onto the barge. This method requires the least workload, but since it is impossible to accurately assess the weight and center of gravity of the module during dismantling, and during the lifting process, the crane ship is inevitably subject to mechanical collisions with other fixed objects under the action of waves, affecting the efficiency and quality of dismantling, and the risk of overall lifting is relatively high. If the block dismantling method is adopted, it is necessary to implement structural sectioning on the platform, break the whole into pieces, and gradually lift and dismantle it, which is time-consuming and labor-intensive, and there is a high risk of causing marine environmental pollution. Summary of the Invention

[0003] The present invention addresses the problems and shortcomings of existing demolition technologies by shifting from a lifting method to a supporting method. This involves arranging multiple lifting beams transversely on a dynamically positioned and moored catamaran engineering vessel, with each beam acting as a supporting point, each equipped with wave compensation capabilities. Once all supporting points are in close contact with the offshore fixed module, the module's legs are severed, and each supporting point applies force to rapidly lift the entire fixed module, achieving demolition. Because each lifting point utilizes the same hydraulic system, the present invention provides a dedicated hydraulic system for each lifting beam, addressing both wave compensation and rapid lifting.

[0004] The present invention adopts the following technical solutions:

[0005] The hydraulic lifting system with heave compensation capability described in the present invention includes a hydraulic source, a first two-position three-way solenoid reversing valve, a three-position four-way electro-hydraulic reversing valve, a first safety valve, a first hydraulically controlled one-way valve, a first one-way valve, a high-pressure accumulator group, a first pressure sensor, a compensating accumulator, a second pressure sensor, a first two-position three-way electro-hydraulic reversing valve, an electro-hydraulic servo valve, a second safety valve, a throttle valve, a two-way hydraulic lock, a high-pressure gas tank group, a third pressure sensor, a gas-liquid separator, a second two-position three-way solenoid reversing valve, a second two-position three-way electro-hydraulic reversing valve, a second hydraulically controlled one-way valve, a third two-position three-way electro-hydraulic reversing valve, and a hydraulic cylinder;

[0006] The oil supply end of the hydraulic source is connected to the A port of the first two-position three-way electromagnetic reversing valve and the P port of the three-position four-way electro-hydraulic reversing valve respectively;

[0007] The port A of the first two-position three-way electromagnetic reversing valve is connected to the port A of the second two-position three-way electromagnetic reversing valve;

[0008] The P port of the first two-position three-way electromagnetic reversing valve is connected to the K port of the first hydraulically controlled one-way valve;

[0009] The port B of the first two-position three-way solenoid reversing valve is connected to the port B of the second two-position three-way solenoid reversing valve;

[0010] The port A of the three-position four-way electro-hydraulic reversing valve is connected in series with the first one-way valve and then connected to the lower chamber of the gas-liquid separator and the inlet of the second safety valve respectively; the outlet of the second safety valve is connected to the oil return end of the hydraulic source;

[0011] The B port of the three-position four-way electro-hydraulic directional control valve is connected to the inlet of the first hydraulically controlled one-way valve, the A port of the first two-position three-way electro-hydraulic directional control valve and the P port of the electro-hydraulic servo valve respectively;

[0012] The T port of the three-position four-way electro-hydraulic directional valve is connected to the oil return end of the hydraulic source;

[0013] The P port of the second two-position three-way electromagnetic reversing valve is connected to the K port of the second hydraulically controlled one-way valve;

[0014] The lower chamber of the gas-liquid separator is also connected to port A of the second two-position three-way electro-hydraulic reversing valve via a throttle valve;

[0015] The upper chamber of the gas-liquid separator is connected to the third pressure sensor and the high-pressure gas tank group respectively;

[0016] The outlet of the first hydraulically controlled one-way valve is connected to the first pressure sensor, the high-pressure accumulator group and the inlet of the first safety valve respectively; the outlet of the first safety valve is connected to the oil return end of the hydraulic source;

[0017] The P port of the first two-position three-way electro-hydraulic directional control valve is connected to the second pressure sensor and the compensation accumulator respectively;

[0018] The A and B ports of the electro-hydraulic servo valve are respectively connected to the two inlets of the two-way hydraulic lock and then connected in series to the B port of the second two-position three-way electro-hydraulic reversing valve and the B port of the third two-position three-way electro-hydraulic reversing valve;

[0019] The P port of the second two-position three-way electro-hydraulic directional control valve is connected to the inlet of the second hydraulically controlled one-way valve;

[0020] The outlet of the second hydraulically controlled one-way valve is connected to the rodless chamber of the hydraulic cylinder;

[0021] The P port of the third two-position three-way electro-hydraulic directional control valve is connected to the rod cavity of the hydraulic cylinder; the A port of the third two-position three-way electro-hydraulic directional control valve is connected to the oil return end of the hydraulic source.

[0022] The hydraulic lifting system with heave compensation capability of the present invention comprises a first oil pump, a first electromagnetic overflow valve, a second electromagnetic overflow valve, a second oil pump, a third oil pump, a second one-way valve, an unloading valve, and an oil tank;

[0023] The first oil pump is connected in parallel with the first electromagnetic overflow valve;

[0024] The outlet of the first oil pump is connected to the A port of the first two-position three-way electromagnetic reversing valve and the A port of the second two-position three-way electromagnetic reversing valve respectively;

[0025] The outlet of the second oil pump is connected to the inlet of the second electromagnetic overflow valve, and the outlet of the second oil pump is also connected to the outlet of the second one-way valve, the remote control port of the unloading valve and the P port of the three-position four-way electro-hydraulic reversing valve;

[0026] The outlet of the third oil pump is connected to the inlet of the second one-way valve.

[0027] In the hydraulic lifting system with heave compensation capability described in the present invention, the first oil pump is a small-displacement oil pump, the second oil pump and the third oil pump are both large-displacement oil pumps, the displacement of the second oil pump is smaller than that of the third oil pump, and the second oil pump and the third oil pump are coaxially connected in series.

[0028] In the hydraulic lifting system with heave compensation capability of the present invention, the unloading valve is opened by external control;

[0029] The first hydraulically controlled one-way valve, the two-way hydraulic lock, and the second hydraulically controlled one-way valve all adopt an external oil leakage method;

[0030] The three-position four-way electro-hydraulic directional control valve adopts an O-type neutral position function; the B port of the first two-position three-way electro-hydraulic directional control valve is blocked with a screw plug;

[0031] The first pressure sensor, the second pressure sensor and the third pressure sensor are all normally open relay output type sensors with adjustable pressure.

[0032] In the hydraulic lifting system with heave compensation capability of the present invention, the set pressure of the first safety valve, the set pressure of the first pressure sensor, and the set pressure of the second electromagnetic relief valve are equal;

[0033] The set pressure of the second safety valve is equal to the set pressure of the third pressure sensor and equal to the set pressure of the unloading valve 1-7;

[0034] The set pressure of the second electromagnetic relief valve is higher than the set pressure of the unloading valve;

[0035] The set pressure of the unloading valve is higher than the set pressure of the second pressure sensor.

[0036] The hydraulic lifting system with heave compensation capability described in the present invention has a gas-liquid separator separated into an upper chamber and a lower chamber by a piston; the upper chamber is filled with air, and the lower chamber is filled with hydraulic oil, and the gas-liquid separator has a built-in piston displacement sensor.

[0037] A method for controlling the operating conditions of a hydraulic lifting system with heave compensation capability, wherein the operating conditions include an accumulator group filling condition, a gas-liquid separator filling condition, an active compensation condition, a passive compensation condition, a lifting condition, and a lowering condition;

[0038] During the accumulator group filling operation of the hydraulic lifting system: the electromagnet of the second electromagnetic relief valve is energized, the three-position four-way electro-hydraulic reversing valve is energized, and the hydraulic source fills the high-pressure accumulator group with liquid. When the specified liquid level is reached, the first pressure sensor 8 sends a signal, all electromagnets are de-energized, and the filling stops;

[0039] During the filling operation of the gas-liquid separator in the hydraulic lifting system: the electromagnet of the second electromagnetic relief valve is energized, the left electromagnet of the three-position four-way electro-hydraulic reversing valve is energized, and it operates in the left position, while the other electromagnets are de-energized; the hydraulic source fills the gas-liquid separator with liquid; when the piston of the gas-liquid separator is in the middle position due to filling, the three-position four-way electro-hydraulic reversing valve is de-energized, and filling stops;

[0040] The upper chamber of the gas-liquid separator is filled with gas at a certain pressure from a high-pressure gas tank group. When the specified pressure is reached, the third pressure sensor sends a signal and the filling stops;

[0041] In the active compensation operating condition of the hydraulic lifting system: the electromagnet of the second electromagnetic relief valve is energized, the right electromagnet of the three-position four-way electro-hydraulic reversing valve is energized and works in the right position, the electromagnet of the first two-position three-way electro-hydraulic reversing valve is energized, and the remaining electromagnets are de-energized; the electro-hydraulic servo valve outputs the corresponding flow according to the compensation signal;

[0042] When the active compensation working condition ends, the hydraulic lifting system starts the passive compensation working condition. In the passive compensation working condition, the electromagnet of the first electromagnetic overflow valve is energized, the electromagnet of the second two-position three-way electromagnetic reversing valve is energized, the electromagnet of the second two-position three-way electro-hydraulic reversing valve is energized, and the electromagnet of the third two-position three-way electro-hydraulic reversing valve is energized, and the remaining electromagnets are de-energized;

[0043] In the lifting mode of the hydraulic lifting system, the electromagnet of the first electromagnetic relief valve is energized, the electromagnet of the first two-position three-way electromagnetic reversing valve is energized, the electromagnet of the third two-position three-way electro-hydraulic reversing valve is energized, and the remaining electromagnets are de-energized. The electro-hydraulic servo valve outputs the corresponding flow according to the lifting signal;

[0044] During the hydraulic lift system's lowering operation, the first and second electromagnetic relief valves' electromagnets are energized, as are the right electromagnets of the three-position, four-way electro-hydraulic directional valve 3, which operates in the right position. The second two-position, three-way electro-hydraulic directional valve's electromagnet is energized, while the remaining electromagnets are de-energized. Electro-hydraulic servo valve 12 outputs the corresponding flow rate according to the lowering signal.

[0045] Beneficial effects

[0046] (1) The hydraulic lifting system with heave compensation capability of the present invention can make the bracket approach and stick to the offshore fixed module through active wave compensation, thereby avoiding bracket damage caused by collision.

[0047] (2) The hydraulic lifting system with heave compensation capability of the present invention can automatically switch to passive wave compensation after the active wave compensation is completed, so that the bracket continues to be close to the offshore fixed module without affecting the close operation of other lifting points.

[0048] (3) After all lifting points of the hydraulic lifting system with heave compensation capability are in passive compensation mode, it can be operated synchronously to quickly lift the offshore fixed module within one wave cycle.

[0049] (4) The preparation time before synchronous lifting of the offshore fixed module is relatively long. Since each lifting point is independent of each other and adopts passive wave compensation, no pump station is required to provide energy, and high-pressure gas tanks are used to provide heave displacement compensation. Therefore, the hydraulic lifting system with heave compensation capability of the present invention has a significant energy-saving effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of a hydraulic lifting system with heave compensation capability according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] like Figure 1The figure shows a schematic diagram of a hydraulic lifting system with heave compensation capability according to an embodiment of the present invention, which comprises a hydraulic source 1, a first two-position three-way electromagnetic reversing valve 2, a three-position four-way electro-hydraulic reversing valve 3, a first safety valve 4, a first hydraulically controlled one-way valve 5, a first one-way valve 6, a high-pressure accumulator group 7, a first pressure sensor 8, a compensation accumulator 9, a second pressure sensor 10, a first two-position three-way electro-hydraulic reversing valve 11, an electro-hydraulic servo valve 12, a second safety valve 13, a throttle valve 14, a two-way hydraulic lock 15, and a high-pressure gas tank group 16. , a third pressure sensor 17, a gas-liquid separator 18, a second two-position three-way electromagnetic reversing valve 19, a second two-position three-way electro-hydraulic reversing valve 20, a second hydraulically controlled one-way valve 21, a third two-position three-way electro-hydraulic directional valve 22, a displacement sensor 23, a hydraulic cylinder 24 and a bracket 25; the hydraulic source 1 is composed of a first oil pump 1-1, a first electromagnetic overflow valve 1-2, a second electromagnetic overflow valve 1-3, a second oil pump 1-4, a second one-way valve 1-6, a third oil pump 1-5, an unloading valve 1-7 and an oil tank 1-8.

[0053] The first oil pump 1-1 is connected in parallel with the first electromagnetic overflow valve 1-2, and the outlet of the first oil pump 1-1 is also connected to the A port of the first two-position three-way electromagnetic reversing valve 2 and the A port of the second two-position three-way electromagnetic reversing valve 19; the B port of the first two-position three-way electromagnetic reversing valve 2 is connected to the oil tank 1-8, and the P port of the first two-position three-way electromagnetic reversing valve 2 is connected to the K port of the first hydraulically controlled one-way valve 5; the B port of the second two-position three-way electromagnetic reversing valve 19 is connected to the oil tank 1-8, and the P port of the second two-position three-way electromagnetic reversing valve 19 is connected to the K port of the second hydraulically controlled one-way valve 21; the B port of the first two-position three-way electromagnetic reversing valve 2 and the B port of the second two-position three-way electromagnetic reversing valve 19 are connected in parallel and then connected to the oil tank 1-8.

[0054] The outlet of the third oil pump 1-5 is connected in series with the second one-way valve 1-6 and then in parallel with the second oil pump 1-4 and the second electromagnetic overflow valve 1-3; the third oil pump 1-5 is also connected in parallel with the unloading valve 1-7; the outlet of the second oil pump 1-4 is also connected to the remote control port of the unloading valve 1-7 and the P port of the three-position four-way electro-hydraulic reversing valve 3.

[0055] Port A of the three-position four-way electro-hydraulic directional valve 3 is connected in series with the first one-way valve 6 and then connected to the lower chamber of the gas-liquid separator 18 and the inlet of the second safety valve 13; the lower chamber of the gas-liquid separator 18 is also connected to port A of the second two-position three-way electro-hydraulic directional valve 20 through the throttle valve 14, and the upper chamber of the gas-liquid separator 18 is respectively connected to the third pressure sensor 17 and the high-pressure gas tank group 16.

[0056] Port B of the three-position, four-way electro-hydraulic directional valve 3 is connected to the inlet of the first hydraulically controlled one-way valve 5, port A of the first two-position, three-way electro-hydraulic directional valve 11, and port P of the electro-hydraulic servo valve 12. The outlet of the first hydraulically controlled one-way valve 5 is connected to the first pressure sensor 8, the high-pressure accumulator group 7, and the inlet of the first safety valve 4; port P of the first two-position, three-way electro-hydraulic directional valve 11 is connected to the second pressure sensor 10 and the compensating accumulator 9. The A and B ports of the electro-hydraulic servo valve 12 are respectively connected to the two inlets of the two-way hydraulic lock 15 and then connected in series to the B port of the second two-position three-way electro-hydraulic reversing valve 20 and the B port of the third two-position three-way electro-hydraulic reversing valve 22; the P port of the second two-position three-way electro-hydraulic reversing valve 20 is connected to the inlet of the second hydraulically controlled one-way valve 21, and the outlet of the second hydraulically controlled one-way valve 21 is connected to the rodless chamber of the hydraulic cylinder 24; the P port of the third two-position three-way electro-hydraulic reversing valve 22 is connected to the rod chamber of the hydraulic cylinder 24, and the A port of the third two-position three-way electro-hydraulic reversing valve 22 is connected to the oil tank 1-8.

[0057] The first oil pump 1-1 is a small-displacement oil pump driven by a single low-power motor; the second oil pump 1-4 and the third oil pump 1-5 are both large-displacement oil pumps, and the displacement of the second oil pump 1-4 is smaller than that of the third oil pump 1-5. The two pumps are coaxially connected in series and driven by a high-power motor.

[0058] The unloading valves 1-7 adopt an external control opening method; the first hydraulically controlled one-way valve 5 and the second hydraulically controlled one-way valve 21 both adopt an external oil leakage method; the two-way hydraulic lock 15 adopts an external oil leakage method; the three-position four-way electro-hydraulic reversing valve 4 adopts an O-type neutral position function; the B port of the first two-position three-way electro-hydraulic reversing valve 11 is blocked with a screw plug.

[0059] The set pressure of the first safety valve 4 is equal to the set pressure of the first pressure sensor 8 and equal to the set pressure of the second electromagnetic overflow valve 1-3; the set pressure of the second safety valve 13 is equal to the set pressure of the third pressure sensor 17 and equal to the set pressure of the unloading valve 1-7; the set pressure of the second electromagnetic overflow valve 1-3 is higher than the set pressure of the unloading valve 1-7, and the set pressure of the unloading valve 1-7 is higher than the set pressure of the second pressure sensor 10.

[0060] The upper chamber of the gas-liquid separator 18 is filled with air, and the lower chamber is filled with hydraulic oil. The upper and lower chambers are separated by a piston, and the gas-liquid separator 18 is equipped with a piston displacement sensor.

[0061] In order to more clearly illustrate the embodiments of the present invention, the following lists the situations in which the electromagnet gains and loses power under various working conditions.

[0062] Assume that the electromagnet of the first electromagnetic relief valve 1-2 is 1DT, the electromagnet of the second electromagnetic relief valve 1-3 is 2DT, the electromagnet of the first two-position three-way electromagnetic reversing valve 2 is 3DT, the left and right electromagnets of the three-position four-way electro-hydraulic reversing valve 3 are 4DT and 5DT respectively, the electromagnet of the first two-position three-way electro-hydraulic reversing valve 11 is 6DT, the electromagnet of the second two-position three-way electro-hydraulic reversing valve 19 is 7DT, the electromagnet of the second two-position three-way electro-hydraulic reversing valve 20 is 8DT, the electromagnet of the third two-position three-way electro-hydraulic reversing valve 22 is 9DT, and the coil of the electro-hydraulic servo valve 12 is ST. The power supply and power loss of the electromagnets of each electromagnetic reversing valve under various operating conditions are shown in Table 1, where "+" indicates that the electromagnet is energized, and "-" indicates that the electromagnet is de-energized. The “+-” of the coil of the electro-hydraulic servo valve 12 indicates that the left position and the right position work alternately, which is determined by the heave compensation control signal; “+” indicates that the left position works; “-” indicates that the right position works, and blank indicates that no current flows.

[0063] Table 1

[0064]

[0065] The first six working conditions are further explained below.

[0066] When the accumulator group is being charged, the second and third oil pumps 1-4 and 1-5 merge, and the three-position, four-way electro-hydraulic directional valve 3 operates in the right position. Hydraulic oil enters the high-pressure accumulator group 7 through the three-position, four-way electro-hydraulic directional valve 3 and the first hydraulically controlled one-way valve 5. When the pump station pressure reaches the opening pressure of the unloading valve 1-7, the unloading valve 1-7 opens, and the large-displacement third oil pump 1-5 is unloaded. The relatively small-displacement second oil pump 1-4 continues to charge the high-pressure accumulator group 7 until the first pressure sensor 8 sends a signal.

[0067] When the gas-liquid separator is in the liquid filling working condition, the second oil pump 1-4 and the third oil pump 1-5 are combined, the three-position four-way electro-hydraulic reversing valve 3 works in the left position, and the hydraulic oil enters the lower chamber of the gas-liquid separator 16 through the three-position four-way electro-hydraulic reversing valve 3 and the first one-way valve 6. When the piston of the gas-liquid separator 16 is in the middle position, the liquid filling stops, and the upper chamber of the gas-liquid separator 16 is filled with gas of a certain pressure from the high-pressure gas tank group 16. When the third pressure sensor 17 sends a signal, the gas filling stops.

[0068] During active compensation, the second and third oil pumps 1-4 and 1-5 merge, the three-position, four-way electro-hydraulic directional valve 3 operates in the right position, and the first, second, three-way electro-hydraulic directional valve 11 is energized. The compensating accumulator 9 combines with the pumping station output oil, which then flows through the electro-hydraulic servo valve 12, the two-way hydraulic lock 15, the second, two-position, three-way electro-hydraulic directional valve 20, the second hydraulically controlled check valve 21, and the third, two-position, three-way electro-hydraulic directional valve 22 to supply oil to the hydraulic cylinder 24. The electro-hydraulic servo valve 12 outputs the corresponding flow rate according to the compensation signal. Because the load on the hydraulic cylinder 24 during active compensation is low, but the instantaneous flow rate is high, the shortfall in the combined flow from the second and third oil pumps 1-4 and 1-5 can be covered by the compensating accumulator 9, saving energy.

[0069] When in the passive compensation working condition, only the first oil pump 1-1 is working, and the second oil pump 1-4 and the third oil pump 1-5 are both unloaded. At this time, the rodless chamber of the hydraulic cylinder 24 is connected to the lower chamber of the gas-liquid separator 18 through the second hydraulic-controlled one-way valve 21, the second two-position three-way electro-hydraulic reversing valve 20, and the throttle valve 14, realizing gas-liquid shock absorption of the fluctuating load of the hydraulic cylinder 24.

[0070] During lifting, the high-pressure accumulator group 7 connects to the rodless chamber of hydraulic cylinder 24 via the first hydraulically controlled one-way valve 5, the electro-hydraulic servo valve 12, the two-way hydraulic lock 15, the second two-position three-way electro-hydraulic directional valve 20, and the second hydraulically controlled one-way valve 21. The rodless chamber of hydraulic cylinder 24 is connected to the oil tank via the third two-position three-way electro-hydraulic directional valve 22. The large amount of high-pressure oil stored in the high-pressure accumulator group 7 instantly reaches the rodless chamber of hydraulic cylinder 24, enabling hydraulic cylinder 24 to overcome the load and quickly lift.

[0071] When in the lowering working condition, the control oil output by the first oil pump 1-1 is output to the K port of the second hydraulically controlled one-way valve 21 through the second two-position three-way electromagnetic reversing valve (19), so that the oil inlet and outlet of the second hydraulically controlled one-way valve 21 are connected; the second oil pump 1-4 and the third oil pump 1-5 are combined, and the three-position four-way electro-hydraulic reversing valve 3 works in the right position, and the oil is supplied to the rodless chamber of the hydraulic cylinder 24 through the three-position four-way electro-hydraulic reversing valve 3, the electro-hydraulic servo valve 12, the two-way hydraulic lock 15, and the third two-position three-way electro-hydraulic reversing valve 22; the oil in the rod chamber of the hydraulic cylinder 24 flows back to the oil tank through the second hydraulically controlled one-way valve 21, the second two-position three-way electro-hydraulic reversing valve 20, the two-way hydraulic lock 15, and the electro-hydraulic servo valve 12.

[0072] The above description is merely a preferred embodiment of the present invention. Of course, the present invention may have other embodiments. Without departing from the spirit and essence of the present invention, any person skilled in the art may make various corresponding equivalent changes and modifications based on the present invention, which shall fall within the scope of protection of the appended claims.

Claims

1. A hydraulic lifting system with heave compensation capability, characterized in that: It comprises a hydraulic source (1), a first two-position three-way electromagnetic reversing valve (2), a three-position four-way electro-hydraulic reversing valve (3), a first safety valve (4), a first hydraulically controlled one-way valve (5), a first one-way valve (6), a high-pressure accumulator group (7), a first pressure sensor (8), a compensating accumulator (9), a second pressure sensor (10), a first two-position three-way electro-hydraulic reversing valve (11), an electro-hydraulic servo valve (12), a second safety valve (13), a throttle valve (14), a two-way hydraulic lock (15), a high-pressure gas tank group (16), a third pressure sensor (17), a gas-liquid separator (18), a second two-position three-way electromagnetic reversing valve (19), a second two-position three-way electro-hydraulic reversing valve (20), a second hydraulically controlled one-way valve (21), a third two-position three-way electro-hydraulic reversing valve (22), and a hydraulic cylinder (24); The oil supply end of the hydraulic source (1) is respectively connected to the A port of the first two-position three-way electromagnetic reversing valve (2) and the P port of the three-position four-way electro-hydraulic reversing valve (3); The port A of the first two-position three-way electromagnetic reversing valve (2) is connected to the port A of the second two-position three-way electromagnetic reversing valve (19); The P port of the first two-position three-way electromagnetic reversing valve (2) is connected to the K port of the first hydraulically controlled one-way valve (5); The B port of the first two-position three-way electromagnetic reversing valve (2) is connected to the B port of the second two-position three-way electromagnetic reversing valve (19); The port A of the three-position four-way electro-hydraulic reversing valve (3) is connected in series with the first one-way valve (6) and then connected to the lower chamber of the gas-liquid separator (18) and the inlet of the second safety valve (13); the outlet of the second safety valve (13) is connected to the oil return end of the hydraulic source (1); The B port of the three-position four-way electro-hydraulic directional valve (3) is respectively connected to the inlet of the first hydraulically controlled one-way valve (5), the A port of the first two-position three-way electro-hydraulic directional valve (11), and the P port of the electro-hydraulic servo valve (12); The T port of the three-position four-way electro-hydraulic directional valve (3) is connected to the oil return end of the hydraulic source (1); The P port of the second two-position three-way electromagnetic reversing valve (19) is connected to the K port of the second hydraulically controlled one-way valve (21); The lower chamber of the gas-liquid separator (18) is also connected to port A of the second two-position three-way electro-hydraulic reversing valve (20) via a throttle valve (14); The upper chamber of the gas-liquid separator (18) is connected to the third pressure sensor (17) and the high-pressure gas tank group (16) respectively; The outlet of the first hydraulically controlled one-way valve (5) is respectively connected to the inlet of the first pressure sensor (8), the high-pressure accumulator group (7) and the first safety valve (4); the outlet of the first safety valve (4) is connected to the oil return end of the hydraulic source (1); The P port of the first two-position three-way electro-hydraulic directional valve (11) is connected to the second pressure sensor (10) and the compensation accumulator (9) respectively; The A and B ports of the electro-hydraulic servo valve (12) are respectively connected to the two inlets of the bidirectional hydraulic lock (15) and then connected in series to the B port of the second two-position three-way electro-hydraulic reversing valve (20) and the B port of the third two-position three-way electro-hydraulic reversing valve (22); The P port of the second two-position three-way electro-hydraulic directional valve (20) is connected to the inlet of the second hydraulically controlled one-way valve (21); The outlet of the second hydraulically controlled one-way valve (21) is connected to the rodless chamber of the hydraulic cylinder (24); The P port of the third two-position three-way electro-hydraulic directional control valve (22) is connected to the rod chamber of the hydraulic cylinder (24); and the A port of the third two-position three-way electro-hydraulic directional control valve (22) is connected to the oil return end of the hydraulic source (1).

2. The hydraulic lifting system with heave compensation capability according to claim 1, characterized in that: The hydraulic source (1) comprises a first oil pump (1-1), a first electromagnetic overflow valve (1-2), a second electromagnetic overflow valve (1-3), a second oil pump (1-4), a third oil pump (1-5), a second one-way valve (1-6), an unloading valve (1-7), and an oil tank (1-8); The first oil pump (1-1) is connected in parallel with the first electromagnetic overflow valve (1-2); The outlet of the first oil pump (1-1) is respectively connected to the A port of the first two-position three-way electromagnetic reversing valve (2) and the A port of the second two-position three-way electromagnetic reversing valve (19); The outlet of the second oil pump (1-4) is connected to the inlet of the second electromagnetic overflow valve (1-3), and the outlet of the second oil pump (1-4) is also connected to the outlet of the second one-way valve (1-6), the remote control port of the unloading valve (1-7) and the P port of the three-position four-way electro-hydraulic reversing valve (3); The outlet of the third oil pump (1-5) is connected to the inlet of the second one-way valve (1-6).

3. The hydraulic lifting system with heave compensation capability according to claim 2, characterized in that: The first oil pump (1-1) is a small-displacement oil pump, the second oil pump (1-4) and the third oil pump (1-5) are both large-displacement oil pumps, the displacement of the second oil pump (1-4) is smaller than that of the third oil pump (1-5), and the second oil pump (1-4) and the third oil pump (1-5) are coaxially connected in series.

4. The hydraulic lifting system with heave compensation capability according to claim 3, characterized in that: The unloading valve (1-7) adopts an external control opening mode; The first hydraulically controlled one-way valve (5), the two-way hydraulic lock (15), and the second hydraulically controlled one-way valve (21) all adopt an external oil leakage method; The three-position four-way electro-hydraulic directional control valve (3) adopts an O-type neutral position function; the B port of the first two-position three-way electro-hydraulic directional control valve (11) is blocked with a screw plug; The first pressure sensor (8), the second pressure sensor (10) and the third pressure sensor (17) are all normally open relay output type sensors with adjustable pressure.

5. The hydraulic lifting system with heave compensation capability according to claim 4, characterized in that: The set pressure of the first safety valve (4), the set pressure of the first pressure sensor (8), and the set pressure of the second electromagnetic overflow valve (1-3) are equal; The set pressure of the second safety valve (13) is equal to the set pressure of the third pressure sensor (17), and is also equal to the set pressure of the unloading valve (1-7); The set pressure of the second electromagnetic overflow valve (1-3) is higher than the set pressure of the unloading valve (1-7); The set pressure of the unloading valve (1-7) is higher than the set pressure of the second pressure sensor (10).

6. The hydraulic lifting system with heave compensation capability according to claim 5, characterized in that: The gas-liquid separator (18) is separated into an upper chamber and a lower chamber by a piston; the upper chamber is filled with air, and the lower chamber is filled with hydraulic oil. The gas-liquid separator (18) has a built-in piston displacement sensor.

7. A method for controlling an operating condition of a hydraulic lifting system with heave compensation capability according to claim 6, characterized in that: The working conditions include accumulator group filling condition, gas-liquid separator filling condition, active compensation condition, passive compensation condition, lifting condition, and lowering condition; In the accumulator group filling condition of the hydraulic lifting system, the electromagnet of the second electromagnetic overflow valve (1-3) is energized, the three-position four-way electro-hydraulic reversing valve (3) is energized, and the hydraulic source (1) fills the high-pressure accumulator group (7). When the specified liquid level is reached, the first pressure sensor (8) sends a signal and the filling stops. In the liquid filling condition of the gas-liquid separator of the hydraulic lifting system, the electromagnet of the second electromagnetic overflow valve (1-3) is energized, the three-position four-way electro-hydraulic reversing valve (3) is energized, and the hydraulic source (1) fills the gas-liquid separator (18) with liquid; when the piston of the gas-liquid separator (18) is in the middle position due to liquid filling, the three-position four-way electro-hydraulic reversing valve (3) loses power and the liquid filling stops; The upper chamber of the gas-liquid separator (18) is filled with gas at a certain pressure from the high-pressure gas tank group (16), and the filling stops when the third pressure sensor (17) sends a signal after reaching the specified pressure; In the active compensation working condition of the hydraulic lifting system, the second electromagnetic overflow valve (1-3), the three-position four-way electro-hydraulic directional valve (3), and the first two-position three-way electro-hydraulic directional valve (11) are energized; the electro-hydraulic servo valve (12) outputs a corresponding flow rate according to the compensation signal; When the active compensation working condition ends, the passive compensation working condition of the hydraulic lifting system is activated. In the passive compensation working condition, the first electromagnetic overflow valve (1-2), the second two-position three-way electromagnetic reversing valve (19), the second two-position three-way electro-hydraulic reversing valve (20), and the third two-position three-way electro-hydraulic reversing valve (22) are energized; In the lifting condition of the hydraulic lifting system, the first electromagnetic overflow valve (1-2), the first two-position three-way electromagnetic reversing valve (2), and the third two-position three-way electro-hydraulic reversing valve (22) are energized; the electro-hydraulic servo valve (12) outputs a corresponding flow rate according to the lifting signal; In the lowering condition of the hydraulic lifting system, the first electromagnetic overflow valve (1-2) loses power, the second electromagnetic overflow valve (1-3), the three-position four-way electro-hydraulic directional valve (3), and the second two-position three-way electro-hydraulic directional valve (19) are energized; the electro-hydraulic servo valve (12) outputs the corresponding flow according to the lowering signal.

8. The operating condition control method of the hydraulic lifting system with heave compensation capability according to claim 7, characterized in that: In the accumulator group filling working condition: the right electromagnet of the three-position four-way electro-hydraulic reversing valve (3) is energized and works in the right position; In the liquid-filling working condition of the gas-liquid separator: the left electromagnet of the three-position four-way electro-hydraulic reversing valve (3) is energized and works in the left position; In the active compensation working condition: the right electromagnet of the three-position four-way electro-hydraulic directional valve (3) is energized and operates in the right position; In the lowering working condition, the right electromagnet of the three-position four-way electro-hydraulic directional valve (3) is energized and works in the right position.

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