Wave compensation type closed telescopic pump control hydraulic system for maritime work trestle

Abstract

The invention provides a wave compensation type closed telescopic pump control hydraulic system for a maritime work trestle, which comprises a hydraulic main loop, an auxiliary oil source device and a constant pressure air source device, and the hydraulic main loop comprises a servo motor, a two-way constant displacement pump, an overflow valve group, a one-way valve group, a reversing valve group, a pressure reducing valve, a sensor and a two-way pump motor; three wave compensation modes of active compensation, constant thrust compensation and floating compensation are achieved through the hydraulic main loop, the auxiliary oil source device and the constant-pressure air source device, and contact with the side face of a target platform with constant extrusion force is achieved through the constant thrust compensation mode when the offshore platform does not support rigid connection; the method is jointly realized through an active compensation mode and a floating compensation mode, when the method faces an offshore platform supporting rigid connection, rigid connection is completed, self-adaptive compensation is carried out along with wave fluctuation, and energy consumption is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of wave compensation for offshore trestle bridges, in particular to a wave compensation type closed telescopic pump-controlled hydraulic system for offshore trestle bridges. Background Art

[0002] The offshore trestle is a bridge connecting ships and offshore platforms. It is an important offshore equipment that can realize the transportation of personnel and materials between ships and offshore platforms. Under the influence of complex marine environments such as sea breeze and waves, the sway, surge, heave, pitch, roll and bow roll of the ship will cause relative displacement between the trestle and the offshore platform, resulting in an unstable transportation process of the trestle or even failure to work normally. Telescopic compensation is one of the core links of wave compensation for three-degree-of-freedom offshore trestle, and plays an important role in compensating for surge and bow roll. The wave compensation mode adopted by the traditional trestle telescopic hydraulic system is relatively single. When facing offshore platforms with rigid connections and limited bearing capacity, the wave compensation effect of the single compensation mode has problems such as low efficiency and poor effect. It is now necessary to design a new type of multifunctional telescopic hydraulic system for offshore trestle to adapt to the overlap between the trestle and different offshore platforms to optimize the wave compensation effect. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a wave-compensating closed telescopic pump-controlled hydraulic system for an offshore pier. When facing an offshore platform that does not support rigid connection, the pier telescopic platform maintains contact with the side of the target platform with a constant extrusion pressure in a constant thrust compensation mode; when facing an offshore platform that supports rigid connection, the pier telescopic platform first turns on the active compensation mode to maintain the connection point at the end of the pier telescopic platform at the connection port of the target platform with high precision. After the rigid connection is completed, the pier telescopic platform switches to the floating compensation mode to perform adaptive compensation with wave fluctuations to reduce energy consumption.

[0004] The present invention provides a wave-compensated closed telescopic pump-controlled hydraulic system for an offshore trestle, which comprises a hydraulic main circuit, an auxiliary oil source device and a constant-pressure air source device; the hydraulic main circuit comprises a sensor, a reversing valve group, a one-way valve group, a relief valve group, a servo motor, a bidirectional quantitative pump and a bidirectional pump motor; the sensor comprises a first pressure sensor, a second pressure sensor and a rotary encoder; the reversing valve group comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a fifth electromagnetic reversing valve, a sixth electromagnetic reversing valve and a two-position three-way electromagnetic reversing valve; the one-way valve group comprises a first one-way valve, a second one-way valve and a third one-way valve; the relief valve group comprises ... The flow valve group includes a first overflow valve and a second overflow valve; the servo motor is connected to the bidirectional quantitative pump through a coupling, and the B port of the bidirectional quantitative pump is respectively connected to the B port of the first one-way valve, the A port of the first overflow valve and the A port of the first electromagnetic reversing valve, and the B port of the first electromagnetic reversing valve is respectively connected to the B port of the fourth electromagnetic reversing valve, the A port of the fifth electromagnetic reversing valve, the A port of the first pressure sensor and the A port of the bidirectional pump motor; the A port of the bidirectional quantitative pump is respectively connected to the B port of the second one-way valve, the A port of the second overflow valve and the B port of the second electromagnetic reversing valve, and the A port of the second electromagnetic reversing valve is respectively connected to the B port of the third one-way valve, the A port of the fourth electromagnetic reversing valve, the A port of the sixth electromagnetic reversing valve, and the A port of the fourth electromagnetic reversing valve. The A port of the two-way valve, the A port of the second pressure sensor and the B port of the two-way pump motor are connected, the A port of the third one-way valve is connected to the B port of the third electromagnetic reversing valve, and the B port of the sixth electromagnetic reversing valve is connected to the oil tank of the auxiliary oil source device; the C port of the two-way pump motor is connected to the B port of the two-position three-way electromagnetic reversing valve, the D port of the two-way pump motor is connected to the oil tank, the A port of the two-position three-way electromagnetic reversing valve is connected to the B port of the pressure reducing valve, the C port of the two-position three-way electromagnetic reversing valve is connected to the oil tank, and the rotary encoder is installed on the rotating shaft of the two-way pump motor; the auxiliary oil source device includes an asynchronous motor and a one-way quantitative pump, wherein the asynchronous motor is connected to the one-way quantitative pump through a coupling; The A port of the one-way quantitative pump is connected to the B port of the filter, and the B port of the filter is connected to the oil tank; the B port of the one-way quantitative pump is respectively connected to the A port of the first one-way valve, the A port of the second one-way valve, the B port of the first overflow valve, the B port of the second overflow valve, the A port of the pressure reducing valve and the A port of the third electromagnetic reversing valve, the B port of the one-way quantitative pump is also connected to the A port of the third overflow valve, and the B port of the third overflow valve is connected to the oil tank; the constant pressure gas source device includes a constant pressure gas cylinder group, a stop valve group and a piston accumulator; the constant pressure gas cylinder group includes a first constant pressure gas cylinder, a second constant pressure gas cylinder and a third constant pressure gas cylinder, and the stop valve group includes a first stop valve, a second stop valve and a third stop valve;The port A of the first constant pressure gas cylinder is connected to the port B of the first stop valve, the port A of the second constant pressure gas cylinder is connected to the port B of the second stop valve, the port A of the third constant pressure gas cylinder is connected to the port B of the third stop valve, the ports A of the first stop valve, the second stop valve and the third stop valve are all connected to the port B of the piston accumulator, and the port A of the piston accumulator is connected to the port B of the fifth electromagnetic reversing valve.;

[0005] Preferably, the pump-controlled hydraulic system also includes a controller, a motion reference unit, a displacement sensor and a servo drive; the displacement sensor is installed at the end of the telescopic platform of the trestle, the motion reference unit, the displacement sensor, the first pressure sensor, the second pressure sensor and the rotary encoder are all connected to the controller, the controller is respectively connected to the reversing valve group, the asynchronous motor and the servo drive, and the servo drive is connected to the servo motor.

[0006] Preferably, when the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the right position, the third solenoid reversing valve, the fourth solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all in the upper position; the asynchronous motor drives the one-way metering pump to draw hydraulic oil from the oil tank to supply oil to the first one-way valve and the second one-way valve, replenishing the hydraulic main circuit with hydraulic oil of a certain pressure, and when the hydraulic oil pressure of the auxiliary oil circuit exceeds the preset pressure of the third overflow valve, the hydraulic oil flows directly back to the oil tank through the third overflow valve; the servo motor drives the two-way metering pump to supply oil to the A port of the two-way pump motor, and at the same time suck oil to the B port of the two-way pump motor, to realize the outward extension movement of the trestle telescopic platform.

[0007] Preferably, when the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the right position, the third solenoid reversing valve, the fourth solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all in the upper position; the asynchronous motor drives the one-way metering pump to draw hydraulic oil from the oil tank to supply oil to the first one-way valve and the second one-way valve, replenishing the hydraulic main circuit with hydraulic oil of a certain pressure, and when the hydraulic oil pressure of the auxiliary oil circuit exceeds the preset pressure of the third overflow valve, the hydraulic oil flows directly back to the oil tank through the third overflow valve; the servo motor drives the two-way metering pump to supply oil to the B port of the two-way pump motor, and at the same time suck oil to the A port of the two-way pump motor, to realize the retraction movement of the trestle telescopic platform.

[0008] Preferably, when the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the right position, the third solenoid reversing valve, the fourth solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all in the upper position; the acquisition signals of the motion reference unit, the displacement sensor and the rotary encoder are fed back to the controller, and the controller outputs a compensation instruction to the servo driver; when the hull moves with the waves and causes the end of the pier telescopic platform to move away from the target platform, the servo driver drives the servo motor, and then drives the two-way quantitative pump to supply oil to the A port of the two-way pump motor, and at the same time sucks oil to the B port of the two-way pump motor, so as to achieve the extension compensation of the pier telescopic platform; when the hull moves with the waves and causes the end of the pier telescopic platform to approach the target platform, the servo driver drives the servo motor, and then drives the two-way quantitative pump to supply oil to the B port of the two-way pump motor, and at the same time sucks oil to the A port of the two-way pump motor, so as to achieve the active compensation for the retreat of the pier telescopic platform.

[0009] Preferably, when the end of the trestle telescopic platform is always in squeeze contact with the side of the target platform under the action of constant thrust, the first solenoid reversing valve and the second solenoid reversing valve are both in the left position, the two-position three-way solenoid reversing valve is in the right position, the third solenoid reversing valve and the fourth solenoid reversing valve are both in the upper position, and the fifth solenoid reversing valve and the sixth solenoid reversing valve are both in the lower position.

[0010] Preferably, when the hull moves with the waves and the end of the pier telescopic platform tends to move away from the target platform, the gas in the constant pressure gas cylinder group enters the B chamber of the piston accumulator through the stop valve group, and the gas in the B chamber of the piston accumulator provides a constant thrust to drive the piston to move toward the A chamber of the piston accumulator, and the hydraulic oil in the A chamber of the piston accumulator is squeezed and flows out through the A port of the piston accumulator, the hydraulic oil flowing out of the A port of the piston accumulator passes through the fifth electromagnetic reversing valve and flows into the A port of the two-way pump motor, the hydraulic oil flowing into the two-way pump motor drives the two-way pump motor to rotate and then flows out from its B port, the hydraulic oil flowing out of the B port of the two-way pump motor passes through the sixth electromagnetic reversing valve and directly flows back to the oil tank, thereby completing the overhang compensation of the pier telescopic platform.

[0011] Preferably, when the hull moves with the waves and the end of the pier telescopic platform tends to approach the target platform, the external load drives the two-way pump motor to rotate, and the hydraulic oil in the oil tank is replenished to the B port of the two-way pump motor through the sixth electromagnetic reversing valve, and the hydraulic oil flowing into the two-way pump motor flows out from its A port, and the hydraulic oil flowing out of the A port of the two-way pump motor passes through the fifth electromagnetic reversing valve and flows into the A chamber of the piston accumulator, and the hydraulic oil in the A chamber of the piston accumulator pushes the piston to move toward the B chamber of the piston accumulator, and the gas in the B chamber of the piston accumulator is squeezed and flows out from its B port, and the gas flowing out of the B port of the piston accumulator flows into the constant pressure gas cylinder group through the stop valve group, thereby completing the retreat compensation of the pier telescopic platform.

[0012] Preferably, when the end of the trestle telescopic platform is rigidly connected to the target platform, the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the left position, the third solenoid reversing valve and the fourth solenoid reversing valve are both in the lower position, and the fifth solenoid reversing valve and the sixth solenoid reversing valve are both in the upper position.

[0013] Preferably, the hydraulic oil flowing out of the B port of the one-way quantitative pump flows into the A port of the two-position three-way electromagnetic reversing valve after pressure regulation by the pressure reducing valve, the hydraulic oil flows out from the B port after passing through the two-position three-way electromagnetic reversing valve, the hydraulic oil flowing out of the B port of the two-position three-way electromagnetic reversing valve flows into the two-way pump motor through the C port of the two-way pump motor, the displacement of the two-way pump motor is adjusted to 0, the hydraulic oil flowing out of the B port of the one-way quantitative pump flows into the A port of the third one-way valve through the third electromagnetic reversing valve, the hydraulic oil flowing into the third one-way valve flows out from its B port, the first part of the hydraulic oil flowing out of the B port of the third one-way valve flows into the two-way pump motor through the B port of the two-way pump motor, the second part of the hydraulic oil flowing out of the B port of the third one-way valve flows into the A port of the two-way pump motor through the fourth electromagnetic reversing valve, the hydraulic oil flowing into the two-way pump motor from the A port and the B port of the two-way pump motor replenishes the two-way pump motor, and realizes the floating wave compensation of the trestle telescopic platform with the fluctuation of waves.

[0014] The effects of the present invention are as follows:

[0015] 1. The closed telescopic pump-controlled hydraulic system for wave compensation for offshore trestle bridges of the present invention realizes the organic integration of multiple functions of wave compensation by designing the oil circuit switching mechanism; by introducing the servo pump control technology, the high energy efficiency and high response adjustment of the trestle telescopic mechanism are realized. The system has three wave compensation modes: active compensation, constant thrust compensation, and floating compensation, which are suitable for the needs of different working conditions.

[0016] 2. The wave-compensating closed telescopic pump-controlled hydraulic system for the offshore pier of the present invention can supplement the telescopic hydraulic system with hydraulic oil of a certain pressure through an auxiliary oil source device, and provide control oil for the oil circuit switching the motor displacement; the constant-pressure gas source device is powered by a constant-pressure gas cylinder, and performs gas-liquid power conversion through a piston accumulator, which can provide a constant pressure for the output of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a hydraulic control principle diagram of a wave compensation type closed telescopic pump control hydraulic system for an offshore trestle bridge of the present invention;

[0018] Figure 2 This is a control principle diagram of the auxiliary oil source device of the present invention;

[0019] Figure 3 It is a control principle diagram of the constant pressure gas source device of the present invention;

[0020] Figure 4This is a control block diagram of a wave compensation type closed telescopic pump control hydraulic system for an offshore trestle bridge of the present invention;

[0021] Figure 5 It is a schematic diagram of the functional modules of the present invention;

[0022] Figure 6 It is a flow chart of the control method of the present invention.

[0023] Main reference numerals:

[0024] Servo motor 1, oil tank 2, two-way quantitative pump 3, overflow valve group 4, first overflow valve 41, second overflow valve 42, asynchronous motor 5, one-way quantitative pump 6, filter 7, one-way valve group 8, first one-way valve 81, second one-way valve 82, third one-way valve 83, reversing valve group 9, first solenoid reversing valve 91, second solenoid reversing valve 92, third solenoid reversing valve 93, fourth solenoid reversing valve 94, fifth solenoid reversing valve 95, sixth solenoid reversing valve 96, two-position three-way solenoid reversing valve 97, pressure reducing valve 10, constant pressure gas cylinder group 11, first constant pressure gas cylinder 111, second constant pressure gas cylinder 112, third constant pressure gas cylinder 113, stop valve group 12, first stop valve 121, second stop valve 122, third stop valve 123, third overflow valve 13, piston accumulator 14, sensor 15, first pressure sensor 151, second pressure sensor 152, rotary encoder 153, bidirectional pump motor 16, controller 17, motion reference unit 18, displacement sensor 19, servo drive 20, 1' power module, 2' oil replenishment module, 3' flow compensation module, 4' safety overflow module, 5' power isolation module, 6' pump motor displacement adjustment module, 7' floating compensation switching module, 8' constant thrust compensation module, 9' measurement module, 10' actuator module. DETAILED DESCRIPTION

[0025] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0026] The present invention provides a closed telescopic pump-controlled hydraulic system for a wave-compensated offshore trestle. Figures 1 to 4As shown, it includes a hydraulic main circuit, an auxiliary oil source device and a constant pressure air source device. The hydraulic main circuit includes a servo motor 1, a bidirectional quantitative pump 3, a relief valve group 4, a one-way valve group 8, a reversing valve group 9, a pressure reducing valve 10, a sensor 15 and a bidirectional pump motor 16; the sensor 15 includes a first pressure sensor 151, a second pressure sensor 152 and a rotary encoder 153, and the reversing valve group 9 includes a first electromagnetic reversing valve 91, a second electromagnetic reversing valve 92, a third electromagnetic reversing valve 93, a fourth electromagnetic reversing valve 94, a fifth electromagnetic The servo motor 1 is connected to the bidirectional quantitative pump 3 through a coupling, and the B port of the bidirectional quantitative pump 3 is respectively connected to the B port of the first check valve 81, the A port of the first overflow valve 41 and the A port of the first electromagnetic reversing valve 91, and the B port of the first electromagnetic reversing valve 91 is respectively connected to the B port of the first check valve 81, the A port of the first overflow valve 41 and the A port of the first electromagnetic reversing valve 91. The B port of the reversing valve 94, the A port of the fifth solenoid reversing valve 95, the A port of the first pressure sensor 151 and the A port of the bidirectional pump motor 16 are connected; the A port of the bidirectional quantitative pump 3 is respectively connected to the B port of the second one-way valve 82, the A port of the second overflow valve 42 and the B port of the second solenoid reversing valve 92, and the A port of the second solenoid reversing valve 92 is respectively connected to the B port of the third one-way valve 83, the A port of the fourth solenoid reversing valve 94, the A port of the sixth solenoid reversing valve 96, the A port of the second pressure sensor 152 and the B port of the bidirectional pump motor 16 Then, the A port of the third one-way valve 83 is connected to the B port of the third electromagnetic reversing valve 93, and the B port of the sixth electromagnetic reversing valve 96 is connected to the oil tank 2 of the auxiliary oil source device; the C port of the two-way pump motor 3 is connected to the B port of the two-position three-way electromagnetic reversing valve 97, and the D port of the two-way pump motor 16 is connected to the oil tank 2, the A port of the two-position three-way electromagnetic reversing valve 97 is connected to the B port of the pressure reducing valve 10, and the C port of the two-position three-way electromagnetic reversing valve 97 is connected to the oil tank 2, and the rotary encoder 153 is installed on the rotating shaft of the two-way pump motor 16.The auxiliary oil source device includes a fuel tank 2, an asynchronous motor 5, a one-way metering pump 6, a filter 7 and a third relief valve 13; the asynchronous motor 5 is connected to the one-way metering pump 6 through a coupling; the A port of the one-way metering pump 6 is connected to the B port of the filter 7, and the B port of the filter 7 is connected to the fuel tank 2; the B port of the one-way metering pump 6 is respectively connected to the A port of the first one-way valve 81, the A port of the second one-way valve 82, the B port of the first relief valve 41, the B port of the second relief valve 42, the A port of the pressure reducing valve 10 and the A port of the third electromagnetic reversing valve 93, so as to realize the connection between the auxiliary oil system and the hydraulic main circuit, the B port of the one-way metering pump 6 is also connected to the A port of the third relief valve 13, and the B port of the third relief valve 13 is connected to the fuel tank 2; the constant pressure gas source device includes a constant pressure gas cylinder group 11, a cut-off valve 12, a cut-off valve 13 and a cut-off valve 14; The stop valve group 12 and the piston accumulator 14; the constant pressure gas cylinder group 11 includes a first constant pressure gas cylinder 111, a second constant pressure gas cylinder 112 and a third constant pressure gas cylinder 113, and the stop valve group 12 includes a first stop valve 121, a second stop valve 122 and a third stop valve 123; the A port of the first constant pressure gas cylinder 111 is connected to the B port of the first stop valve 121, the A port of the second constant pressure gas cylinder 112 is connected to the B port of the second stop valve 122, the A port of the third constant pressure gas cylinder 113 is connected to the B port of the third stop valve 123, the A port of the first stop valve 121, the A port of the second stop valve 122 and the A port of the third stop valve 123 are all connected to the B port of the piston accumulator 14, and the A port of the piston accumulator 14 is connected to the B port of the fifth electromagnetic reversing valve 95.

[0027] like Figure 4 As shown, the pump-controlled hydraulic system also includes a controller 17, a motion reference unit 18, a displacement sensor 19 and a servo driver 20; the displacement sensor 19 is installed at the end of the trestle telescopic platform, and the motion reference unit 18 is installed on the mother ship to monitor the movement of the hull caused by wind and waves and the relative displacement between the hull and the target platform; the motion reference unit 18, the displacement sensor 19, the first pressure sensor 151, the second pressure sensor 152 and the rotary encoder 153 are all connected to the controller 17, and each sensor feeds back the collected data to the controller 17; the controller 17 is respectively connected to the reversing valve group 9, the asynchronous motor 5, and the servo driver 20 to send control instructions to the above-mentioned devices; the servo driver 20 is connected to the servo motor 1 to control the rotation of the servo motor 1.

[0028] like Figure 5As shown, the hydraulic system can be divided into a power module 1', an oil replenishment module 2', a flow compensation module 3', a safety overflow module 4', a power isolation module 5', a pump motor displacement adjustment module 6', a floating compensation switching module 7', a constant thrust compensation module 8', a measurement module 9' and an actuator module 10'. The power module 1' includes a servo motor 1 and a bidirectional quantitative pump 3, which serve as the power source of the system and provide the required pressure and flow for the system; the oil replenishment module 2' includes an oil tank 2, a third overflow valve 13, an asynchronous motor 5, a unidirectional quantitative pump 6 and a filter 7, which, on the one hand, provide a certain pressure of hydraulic oil to compensate for leakage for the hydraulic main circuit, and on the other hand, provide control oil to assist the bidirectional pump The motor 16 completes the displacement regulation; the flow compensation module 3' includes a first one-way valve 81 and a second one-way valve 82, and the hydraulic oil provided by the oil replenishment module 2' is compensated to the hydraulic main circuit through the first one-way valve 81 and the second one-way valve 82; the safety overflow module 4' includes a first overflow valve 41 and a second overflow valve 42. When the system is overloaded, the first overflow valve 41 and the second overflow valve 42 can stabilize the system pressure within a preset range; the power isolation module 5' includes a first electromagnetic reversing valve 91 and a second electromagnetic reversing valve 92. When the system switches to constant thrust compensation or floating compensation mode, the first electromagnetic reversing valve 91 and the second electromagnetic reversing valve 92 are responsible for cutting off the power module 1' and the execution The connection of the module 10' reduces the system output energy consumption; the pump motor displacement adjustment module 6' includes a pressure reducing valve 10 and a two-position three-way electromagnetic reversing valve 97, which is responsible for the displacement switching control of the bidirectional pump motor 16; the floating compensation switching module 7' includes a third electromagnetic reversing valve 93, a fourth electromagnetic reversing valve 94 and a third one-way valve 83, which is responsible for the switching control of the hydraulic system floating compensation mode on and off; the constant thrust compensation module 8' includes a first constant pressure gas cylinder 111, a second constant pressure gas cylinder 112, a third constant pressure gas cylinder 113, a first stop valve 121, a second stop valve 122, a third stop valve 123, a piston accumulator 14, a fifth electromagnetic reversing valve 95 and a sixth electromagnetic reversing valve 96 In the constant thrust compensation mode, the first constant pressure gas cylinder 111, the second constant pressure gas cylinder 112, and the third constant pressure gas cylinder 113 provide constant gas pressure, and perform gas-liquid power conversion through the piston accumulator, and then use the liquid power to make the bidirectional pump motor 16 output a constant thrust to the outside; the measurement module 9' includes a first pressure sensor 151, a second pressure sensor 152 and a rotary encoder 153, which are responsible for collecting the parameters of the hydraulic system and feeding them back to the controller 17 to provide the parameters required for the control process; the actuator module 10' includes a bidirectional pump motor 16, which serves as the actuator of the system and is responsible for converting the pressure energy of the liquid into mechanical energy to drive the telescopic platform of the trestle to move externally.

[0029] like Figures 1 to 5As shown, the auxiliary oil source device is a hydraulic main circuit oil replenishment process: the asynchronous motor 5 drives the one-way quantitative pump 6 to rotate, the hydraulic oil in the oil tank 2 enters the filter 7 through the A port of the filter 7, the hydraulic oil entering the filter 7 flows out from its B port, the hydraulic oil flowing out of the B port of the filter 7 enters the one-way quantitative pump 6 through the A port of the one-way quantitative pump 6, the hydraulic oil entering the one-way quantitative pump 6 flows out from its B port, the hydraulic oil flowing out of the B port of the one-way quantitative pump 6 passes through the A port of the first one-way valve 81 and the A port of the second one-way valve 82 and flows into the first one-way valve 81 and the second one-way valve 82 respectively, the hydraulic oil flowing into the first one-way valve 81 and the second one-way valve 82 flows out from the B port of the first one-way valve 81 and the B port of the second one-way valve 82 respectively, the first one-way valve 81 and the second one-way valve 82 are connected The hydraulic oil flows out from the B port of the first one-way valve 81 and the B port of the second one-way valve 82. The hydraulic oil flowing out of the B port of the check valve 81 and the B port of the second check valve 82 supplements the hydraulic main circuit with hydraulic oil of a certain pressure. When the hydraulic oil pressure of the auxiliary oil circuit exceeds the preset pressure of the third relief valve 13, the hydraulic oil flowing out of the B port of the one-way metering pump 6 flows into the third relief valve 13 through the A port of the third relief valve 13, and the hydraulic oil flowing into the third relief valve 13 flows out from its B port, and the hydraulic oil flowing out of the B port of the third relief valve 13 flows directly back to the oil tank; the extension movement process of the trestle telescopic platform is: the first solenoid reversing valve 91, the second solenoid reversing valve 92 and the two-position three-way solenoid reversing valve 97 are all in the right position, among which the first solenoid reversing valve 91 and the second solenoid reversing valve 92 are in the on state, and the two-position three-way solenoid reversing valve 97 is in the on state. The B port and the C port are in the conducting state; the third electromagnetic reversing valve 93, the fourth electromagnetic reversing valve 94, the fifth electromagnetic reversing valve 95 and the sixth electromagnetic reversing valve 96 are all in the upper position and in the closed state; the servo motor 1 drives the bidirectional quantitative pump 3 to rotate counterclockwise, and the hydraulic oil flowing out of the B port of the bidirectional quantitative pump 3 flows into the first electromagnetic reversing valve 91 through the A port of the first electromagnetic reversing valve 91, and the hydraulic oil flowing into the first electromagnetic reversing valve 91 flows out from its B port, and the hydraulic oil flowing out of the A port of the first electromagnetic reversing valve 91 flows into the A port of the first pressure sensor 151 and the A port of the bidirectional pump motor 16 respectively, and a part of the hydraulic oil flowing into the bidirectional pump motor 16 is used to adjust the displacement of the bidirectional pump motor 16 to the maximum value, and a part of the hydraulic oil drives the bidirectional After the pump motor 16 rotates, it flows out from its B port. The hydraulic oil flowing out of the B port of the two-way pump motor 16 flows into the A port of the second pressure sensor 152 and the A port of the second electromagnetic reversing valve 92 respectively. The hydraulic oil flowing into the second electromagnetic reversing valve 92 flows out from its B port. The hydraulic oil flowing out of the B port of the second electromagnetic reversing valve 92 flows into the two-way quantitative pump 3 through the A port of the two-way quantitative pump 3, thereby realizing the extension movement of the trestle telescopic platform. The retraction movement process of the trestle telescopic platform is as follows: the first electromagnetic reversing valve 91, the second electromagnetic reversing valve 92 and the two-position three-way electromagnetic reversing valve 97 are all in the right position, wherein the first electromagnetic reversing valve 91 and the second electromagnetic reversing valve 92 are in the conducting state, and the B port and the C port of the two-position three-way electromagnetic reversing valve 97 are in the conducting state.The third solenoid reversing valve 93, the fourth solenoid reversing valve 94, the fifth solenoid reversing valve 95 and the sixth solenoid reversing valve 96 are all in the upper position and in the closed state; the servo motor 1 drives the bidirectional quantitative pump 3 to rotate clockwise, and the hydraulic oil flowing out of the A port of the bidirectional quantitative pump 3 flows into the second solenoid reversing valve 92 through the B port of the second solenoid reversing valve 92, and the hydraulic oil flowing into the second solenoid reversing valve 92 flows out from its A port, and the hydraulic oil flowing out of the A port of the second solenoid reversing valve 92 flows into the A port of the second pressure sensor 152 and the B port of the bidirectional pump motor 16 respectively, and a part of the hydraulic oil flowing into the bidirectional pump motor 16 is used to adjust the displacement of the bidirectional pump motor 16 to the maximum value, and a part of the hydraulic oil drives the bidirectional pump motor 16 to rotate clockwise. After the two-way pump motor 16 rotates, it flows out from its A port. The hydraulic oil flowing out of the A port of the two-way pump motor 16 flows into the A port of the first pressure sensor 151 and the B port of the first solenoid reversing valve 91 respectively. The hydraulic oil flowing into the first solenoid reversing valve 91 flows out from its A port. The hydraulic oil flowing out of the A port of the first solenoid reversing valve 91 flows into the two-way quantitative pump 3 through the B port of the two-way quantitative pump 3 to realize the retreat movement of the trestle telescopic platform. The process of the active compensation mode is: the first solenoid reversing valve 91, the second solenoid reversing valve 92 and the two-position three-way solenoid reversing valve 97 are all in the right position, among which the first solenoid reversing valve 91 and the second solenoid reversing valve 92 are in the on state, and the two-position three-way solenoid reversing valve 97 is in the on state. The B port and the C port of 97 are in the conducting state; the third electromagnetic reversing valve 93, the fourth electromagnetic reversing valve 94, the fifth electromagnetic reversing valve 95 and the sixth electromagnetic reversing valve 96 are all in the upper position and in the closed state; the acquisition signals of the motion reference unit 18, the displacement sensor 19 and the rotary encoder 153 are fed back to the controller 17, and the controller 17 outputs the compensation command to the servo driver 20; when the hull moves with the waves and causes the end of the pier telescopic platform to move away from the target platform, the servo driver 20 drives the servo motor 1, and then drives the two-way quantitative pump 3 to rotate counterclockwise, and the hydraulic oil flowing out of the B port of the two-way quantitative pump 3 flows into the first electromagnetic reversing valve 91 through the A port. 1. The hydraulic oil flowing into the first electromagnetic reversing valve 91 flows out from its B port, the hydraulic oil flowing out of the A port of the first electromagnetic reversing valve 91 flows into the A port of the first pressure sensor 151 and the A port of the two-way pump motor 16 respectively, the hydraulic oil flowing into the two-way pump motor 16 drives the two-way pump motor 16 to rotate and then flows out from its B port, the hydraulic oil flowing out of the B port of the two-way pump motor 16 flows into the A port of the second pressure sensor 152 and the A port of the second electromagnetic reversing valve 92 respectively, the hydraulic oil flowing into the second electromagnetic reversing valve 92 flows out from its B port, the hydraulic oil flowing out of the B port of the second electromagnetic reversing valve 92 flows into the two-way quantitative pump 3 through the A port of the two-way quantitative pump 3, and the extension compensation of the trestle telescopic platform is completed;When the hull moves with the waves and causes the end of the pier telescopic platform to approach the target platform, the servo driver 20 drives the servo motor 1, which in turn drives the two-way quantitative pump 3 to rotate clockwise, and the hydraulic oil flowing out of the A port of the two-way quantitative pump 3 flows into the second solenoid reversing valve 92 through the B port of the second solenoid reversing valve 92, and the hydraulic oil flowing into the second solenoid reversing valve 92 flows out from its A port, and the hydraulic oil flowing out of the A port of the second solenoid reversing valve 92 flows into the A port of the second pressure sensor 152 and the B port of the two-way pump motor 16 respectively, and the hydraulic oil flowing into the two-way pump motor 16 drives the two-way pump motor 16 to rotate and then flows out from its A port, and the hydraulic oil flowing out of the A port of the two-way pump motor 16 flows into the first pressure sensor 152 and the B port of the two-way pump motor 16 respectively. The hydraulic oil flowing into the first electromagnetic reversing valve 91 flows out from its A port, and the hydraulic oil flowing out of the A port of the first electromagnetic reversing valve 91 flows into the two-way quantitative pump 3 through the B port of the two-way quantitative pump 3 to complete the retreat compensation of the trestle telescopic platform; the process of the constant thrust compensation mode is: the first electromagnetic reversing valve 91 and the second electromagnetic reversing valve 92 are both in the left position and in a closed state; the two-position three-way electromagnetic reversing valve 97 is in the right position, and its B port and C port are in a conducting state; the third electromagnetic reversing valve 93 and the fourth electromagnetic reversing valve 94 are both in the upper position and in a closed state; the fifth electromagnetic reversing valve 95 and the sixth electromagnetic reversing valve 96 are both in the lower position and in a conducting state;When the hull moves with the waves and the end of the pier telescopic platform tends to move away from the target platform, the gas in the first constant pressure gas cylinder 111 flows from its A port into the B port of the first stop valve 121, the gas in the second constant pressure gas cylinder 112 flows from its A port into the B port of the second stop valve 122, the gas in the third constant pressure gas cylinder 113 flows from its A port into the B port of the third stop valve 123, the gas flowing into the first stop valve 121 flows out from its A port, the gas flowing into the second stop valve 122 flows out from its A port, and the gas flowing into the third stop valve 123 flows out from its A port, and the gases flowing out from the A port of the first stop valve 121, the A port of the second stop valve 122, and the A port of the third stop valve 123 all flow into the B chamber of the piston accumulator 14 through the B port of the piston accumulator 14, and the gas in the B chamber of the piston accumulator 14 provides a constant thrust to drive the piston to the A chamber of the piston accumulator 14. Move, the hydraulic oil in the A cavity of the piston accumulator 14 is squeezed and flows out through the A port of the piston accumulator 14, the hydraulic oil flowing out of the A port of the piston accumulator 14 flows into the fifth solenoid reversing valve 95 through the B port of the fifth solenoid reversing valve 95, the hydraulic oil flowing into the fifth solenoid reversing valve 95 flows out from its A port, the hydraulic oil flowing out of the A port of the fifth solenoid reversing valve 95 flows into the A port of the first pressure sensor 151 and the A port of the two-way pump motor 16 respectively, the hydraulic oil flowing into the two-way pump motor 16 drives the two-way pump motor 16 to rotate and then flows out from its B port, the hydraulic oil flowing out of the B port of the two-way pump motor 16 flows into the A port of the second pressure sensor 152 and the A port of the sixth solenoid reversing valve 96 respectively, the hydraulic oil flowing into the sixth solenoid reversing valve 96 flows out from its B port, the hydraulic oil flowing out of the B port of the sixth solenoid reversing valve 96 directly flows back to the oil tank 2, completing the extension compensation of the trestle telescopic platform;When the hull moves with the waves and the end of the pier telescopic platform tends to approach the target platform, the external load drives the two-way pump motor 16 to rotate, and the hydraulic oil in the oil tank 2 flows into the sixth solenoid reversing valve 92 through the B port of the sixth solenoid reversing valve 92, and the hydraulic oil flowing into the sixth solenoid reversing valve 92 flows out from its A port, and the hydraulic oil flowing out of the A port of the sixth solenoid reversing valve 92 flows into the A port of the second pressure sensor 152 and the B port of the two-way pump motor 16 respectively, and the hydraulic oil flowing into the two-way pump motor 16 flows out from its A port, and the hydraulic oil flowing out of the A port of the two-way pump motor 16 flows into the A port of the first pressure sensor 151 and the A port of the fifth solenoid reversing valve 95 respectively, and the hydraulic oil flowing into the fifth solenoid reversing valve 95 flows out from its B port. The hydraulic oil flowing out of the B port of the electromagnetic reversing valve 95 flows into the A chamber of the piston accumulator 14 through the A port of the piston accumulator 14. The hydraulic oil in the A chamber of the piston accumulator 14 pushes the piston to move toward the B chamber of the piston accumulator 14. The gas in the B chamber of the piston accumulator 14 is squeezed and flows out from its B port. The gas flowing out of the B port of the piston accumulator 14 flows into the A port of the first stop valve 121, the A port of the second stop valve 122, and the A port of the third stop valve 123 respectively. The gas flowing into the first stop valve 121 flows out from its B port, the gas flowing into the second stop valve 122 flows out from its B port, and the gas flowing into the third stop valve 123 flows out from its B port. The gas flowing out of the A port of the first stop valve 121 flows out through the first constant pressure gas cylinder The gas flowing out of the A port of the second stop valve 122 flows into the first constant pressure gas cylinder 112 through the A port of the second constant pressure gas cylinder 112, and the gas flowing out of the A port of the third stop valve 123 flows into the third constant pressure gas cylinder 113 through the A port of the third constant pressure gas cylinder 113, thereby completing the retreat compensation of the trestle telescopic platform; the process of the floating compensation mode is as follows: the first electromagnetic reversing valve 91, the second electromagnetic reversing valve 92 and the two-position three-way electromagnetic reversing valve 97 are all in the left position, wherein the first electromagnetic reversing valve 91 and the second electromagnetic reversing valve 92 are in the closed state, and the B port and the A port of the two-position three-way electromagnetic reversing valve 97 are in the conducting state; the third electromagnetic reversing valve 93 and the fourth electromagnetic reversing valve 94 are both in the lower position, In the open state; the fifth electromagnetic reversing valve 95 and the sixth electromagnetic reversing valve 96 are both in the upper position and in the closed state; the hydraulic oil flowing out of the B port of the one-way quantitative pump 6 flows into the pressure reducing valve 10 through the A port of the pressure reducing valve 10, and the hydraulic oil flowing into the pressure reducing valve 10 flows out from its B port after pressure regulation, the hydraulic oil flowing out of the B port of the pressure reducing valve 10 flows into the two-position three-way electromagnetic reversing valve 97 through the A port of the two-position three-way electromagnetic reversing valve 97, and the hydraulic oil flowing into the two-position three-way electromagnetic reversing valve 97 flows out from its B port, the hydraulic oil flowing out of the B port of the two-position three-way electromagnetic reversing valve 97 flows into the two-way pump motor 16 through the C port of the two-way pump motor 16, and the high-pressure oil flowing into the two-way pump motor 16 from the C port of the two-way pump motor 16 adjusts the displacement of the two-way pump motor 16 to 0;The hydraulic oil flowing out of the B port of the one-way quantitative pump 6 flows into the third solenoid reversing valve 93 through the A port of the third solenoid reversing valve 93, and the hydraulic oil flowing into the third solenoid reversing valve 93 flows out from its B port. The hydraulic oil flowing out of the B port of the third solenoid reversing valve 93 flows into the third one-way valve 83 through the A port of the third one-way valve 83, and the hydraulic oil flowing into the third one-way valve 83 flows out from its B port. The first part of the hydraulic oil flowing out of the B port of the third one-way valve 83 flows into the A port of the second pressure sensor 152 and the two-way pump motor 16, the second part flows into the fourth electromagnetic reversing valve 94 through the A port of the fourth electromagnetic reversing valve 94, the hydraulic oil flowing into the fourth electromagnetic reversing valve 94 flows out from its B port, the hydraulic oil flowing out of the B port of the fourth electromagnetic reversing valve 94 flows into the A port of the first pressure sensor 151 and the A port of the two-way pump motor 16 respectively, and the hydraulic oil flowing into the two-way pump motor 16 from the A port and the B port of the two-way pump motor 16 replenishes the two-way pump motor 16, realizing the floating wave compensation of the pier telescopic platform following the fluctuation of the sea waves.;

[0030] Another aspect of the present invention provides a control method for a wave compensation type closed telescopic pump control hydraulic system for an offshore trestle. Figure 6 As shown, it includes the following steps:

[0031] S1, the trestle telescopic platform extends outward. The servo motor 1, the displacement sensor 19 and the rotary encoder 153 are used to complete the position servo control, so as to realize the high-precision control of the terminal position of the trestle platform.

[0032] S2, the signals collected by the displacement sensor 19 and the rotary encoder 153 are fed back to the controller 17, and the signals are subtracted from the target input signals to determine whether the end of the trestle telescopic platform has moved to the target position. If yes, S3 is executed; if not, S1 is continued.

[0033] S3, observe whether the target platform and the trestle telescopic platform support rigid connection. If rigid connection is supported, execute S4; if not, execute S7.

[0034] S4, switch to active compensation mode. Through high-precision active wave compensation, the connection point at the end of the trestle telescopic platform and the connection point of the target platform remain relatively still, which is convenient for the connection operation. Specifically, the data collected by the displacement sensor 19, the rotary encoder 153 and the motion reference unit 18 are fed back to the controller 17, and the controller 17 issues a compensation instruction to the servo driver 20. The servo driver 20 drives the servo motor 1 and then drives the bidirectional quantitative pump 3 to supply oil to the bidirectional pump motor 16 to complete the active wave compensation.

[0035] S5, check whether the just received job is completed. If so, execute S6; if not, continue to execute S4.

[0036] S6, switch to floating compensation mode. Specifically, the servo motor 1 stops rotating, and the offshore pier performs floating compensation with the wind and waves to save energy. Jump to S8.

[0037] S7, switching to constant thrust compensation mode. Specifically, the servo motor 1 stops, the fifth electromagnetic reversing valve 95 and the sixth electromagnetic reversing valve 96 are opened, and the constant pressure air source is connected to the hydraulic main circuit to provide a constant pressure source for the bidirectional pump motor 16.

[0038] S8, the heave compensation mode is switched.

[0039] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A wave compensation type closed telescopic pump control hydraulic system for offshore trestle, characterized in that: It includes a hydraulic main circuit, an auxiliary oil source device and a constant pressure air source device; The hydraulic main circuit includes a sensor, a reversing valve group, a one-way valve group, a relief valve group, a servo motor, a bidirectional quantitative pump and a bidirectional pump motor; the sensor includes a first pressure sensor, a second pressure sensor and a rotary encoder; the reversing valve group includes a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a fifth electromagnetic reversing valve, a sixth electromagnetic reversing valve and a two-position three-way electromagnetic reversing valve; the one-way valve group includes a first one-way valve, a second one-way valve and a third one-way valve; the relief valve group includes a first relief valve and a second relief valve; the servo motor is connected to the bidirectional quantitative pump through a coupling; the B port of the bidirectional quantitative pump is respectively connected to the B port of the first one-way valve, the A port of the first relief valve and the A port of the first electromagnetic reversing valve; the B port of the first electromagnetic reversing valve is respectively connected to the B port of the fourth electromagnetic reversing valve, the A port of the fifth electromagnetic reversing valve, The A port of the first pressure sensor is connected to the A port of the bidirectional pump motor; the A port of the bidirectional quantitative pump is respectively connected to the B port of the second one-way valve, the A port of the second overflow valve and the B port of the second electromagnetic reversing valve, the A port of the second electromagnetic reversing valve is respectively connected to the B port of the third one-way valve, the A port of the fourth electromagnetic reversing valve, the A port of the sixth electromagnetic reversing valve, the A port of the second pressure sensor and the B port of the bidirectional pump motor, the A port of the third one-way valve is connected to the B port of the third electromagnetic reversing valve, and the B port of the sixth electromagnetic reversing valve is connected to the oil tank of the auxiliary oil source device; the C port of the bidirectional pump motor is connected to the B port of the two-position three-way electromagnetic reversing valve, the D port of the bidirectional pump motor is connected to the oil tank, the A port of the two-position three-way electromagnetic reversing valve is connected to the B port of the pressure reducing valve, the C port of the two-position three-way electromagnetic reversing valve is connected to the oil tank, and the rotary encoder is installed on the rotating shaft of the bidirectional pump motor; The auxiliary oil source device comprises an asynchronous motor and a one-way quantitative pump, wherein the asynchronous motor is connected to the one-way quantitative pump through a coupling; the port A of the one-way quantitative pump is connected to the port B of the filter, and the port B of the filter is connected to the oil tank; the port B of the one-way quantitative pump is respectively connected to the port A of the first one-way valve, the port A of the second one-way valve, the port B of the first overflow valve, the port B of the second overflow valve, the port A of the pressure reducing valve and the port A of the third electromagnetic reversing valve, the port B of the one-way quantitative pump is also connected to the port A of the third overflow valve, and the port B of the third overflow valve is connected to the oil tank; The constant pressure gas source device comprises a constant pressure gas cylinder group, a stop valve group and a piston accumulator; the constant pressure gas cylinder group comprises a first constant pressure gas cylinder, a second constant pressure gas cylinder and a third constant pressure gas cylinder, and the stop valve group comprises a first stop valve, a second stop valve and a third stop valve; The A port of the first constant pressure gas cylinder is connected to the B port of the first stop valve, the A port of the second constant pressure gas cylinder is connected to the B port of the second stop valve, the A port of the third constant pressure gas cylinder is connected to the B port of the third stop valve, the A port of the first stop valve, the A port of the second stop valve and the A port of the third stop valve are all connected to the B port of the piston accumulator, and the A port of the piston accumulator is connected to the B port of the fifth electromagnetic reversing valve.

2. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore trestle according to claim 1, characterized in that: The pump-controlled hydraulic system also includes a controller, a motion reference unit, a displacement sensor and a servo driver; the displacement sensor is installed at the end of the trestle telescopic platform, the motion reference unit, the displacement sensor, the first pressure sensor, the second pressure sensor and the rotary encoder are all connected to the controller, the controller is respectively connected to the reversing valve group, the asynchronous motor and the servo driver, and the servo driver is connected to the servo motor.

3. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore trestle according to claim 1, characterized in that: When the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the right position, the third solenoid reversing valve, the fourth solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all in the upper position; the asynchronous motor drives the one-way quantitative pump to draw hydraulic oil from the oil tank to supply oil to the first one-way valve and the second one-way valve, replenishing the hydraulic main circuit with hydraulic oil of a certain pressure. When the hydraulic oil pressure of the auxiliary oil circuit exceeds the preset pressure of the third relief valve, the hydraulic oil flows directly back to the oil tank through the third relief valve; the servo motor drives the two-way quantitative pump to supply oil to the A port of the two-way pump motor, and at the same time suck oil to the B port of the two-way pump motor, so as to realize the outward extension movement of the trestle telescopic platform.

4. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore trestle according to claim 1, characterized in that: When the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the right position, the third solenoid reversing valve, the fourth solenoid reversing valve, the fifth solenoid reversing valve and the sixth solenoid reversing valve are all in the upper position; the asynchronous motor drives the one-way quantitative pump to draw hydraulic oil from the oil tank to supply oil to the first one-way valve and the second one-way valve, replenishing the hydraulic main circuit with hydraulic oil of a certain pressure. When the hydraulic oil pressure of the auxiliary oil circuit exceeds the preset pressure of the third relief valve, the hydraulic oil flows directly back to the oil tank through the third relief valve; the servo motor drives the two-way quantitative pump to supply oil to the B port of the two-way pump motor, and at the same time suck oil to the A port of the two-way pump motor, so as to realize the retraction movement of the trestle telescopic platform.

5. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore pier according to any one of claims 1 to 4, characterized in that: When the first electromagnetic reversing valve, the second electromagnetic reversing valve and the two-position three-way electromagnetic reversing valve are all in the right position, the third electromagnetic reversing valve, the fourth electromagnetic reversing valve, the fifth electromagnetic reversing valve and the sixth electromagnetic reversing valve are all in the upper position; the acquisition signals of the motion reference unit, the displacement sensor and the rotary encoder are fed back to the controller, and the controller outputs a compensation instruction to the servo driver; when the hull moves with the waves and causes the end of the pier telescopic platform to move away from the target platform, the servo driver drives the servo motor, and then drives the bidirectional quantitative pump to supply oil to the A port of the bidirectional pump motor, and at the same time sucks oil from the B port of the bidirectional pump motor, so as to achieve the extension compensation of the pier telescopic platform; when the hull moves with the waves and causes the end of the pier telescopic platform to approach the target platform, the servo driver drives the servo motor, and then drives the bidirectional quantitative pump to supply oil to the B port of the bidirectional pump motor, and at the same time sucks oil from the A port of the bidirectional pump motor, so as to achieve the active compensation for the retreat of the pier telescopic platform.

6. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore pier according to any one of claims 1 to 4, characterized in that: When the end of the trestle telescopic platform is always in squeeze contact with the side of the target platform under the action of constant thrust, the first solenoid reversing valve and the second solenoid reversing valve are both in the left position, the two-position three-way solenoid reversing valve is in the right position, the third solenoid reversing valve and the fourth solenoid reversing valve are both in the upper position, and the fifth solenoid reversing valve and the sixth solenoid reversing valve are both in the lower position.

7. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore trestle according to claim 6, characterized in that: When the hull moves with the waves and the end of the pier telescopic platform tends to move away from the target platform, the gas in the constant pressure gas cylinder group enters the B chamber of the piston accumulator through the stop valve group, and the gas in the B chamber of the piston accumulator provides a constant thrust to drive the piston to move toward the A chamber of the piston accumulator. The hydraulic oil in the A chamber of the piston accumulator is squeezed and flows out through the A port of the piston accumulator. The hydraulic oil flowing out of the A port of the piston accumulator flows into the A port of the two-way pump motor through the fifth electromagnetic reversing valve. The hydraulic oil flowing into the two-way pump motor drives the two-way pump motor to rotate and then flows out from its B port. The hydraulic oil flowing out of the B port of the two-way pump motor flows directly back to the oil tank through the sixth electromagnetic reversing valve, thereby completing the extension compensation of the pier telescopic platform.

8. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore trestle according to claim 6, characterized in that: When the hull moves with the waves and the end of the pier telescopic platform tends to approach the target platform, the external load drives the two-way pump motor to rotate, and the hydraulic oil in the oil tank is replenished to the B port of the two-way pump motor through the sixth electromagnetic reversing valve, and the hydraulic oil flowing into the two-way pump motor flows out from its A port. The hydraulic oil flowing out of the A port of the two-way pump motor flows into the A chamber of the piston accumulator through the fifth electromagnetic reversing valve. The hydraulic oil in the A chamber of the piston accumulator pushes the piston to move toward the B chamber of the piston accumulator. The gas in the B chamber of the piston accumulator is squeezed and flows out from its B port. The gas flowing out of the B port of the piston accumulator flows into the constant pressure gas cylinder group through the stop valve group, completing the retreat compensation of the pier telescopic platform.

9. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore pier according to any one of claims 1 to 4, characterized in that: When the end of the trestle telescopic platform is rigidly connected to the target platform, the first solenoid reversing valve, the second solenoid reversing valve and the two-position three-way solenoid reversing valve are all in the left position, the third solenoid reversing valve and the fourth solenoid reversing valve are both in the lower position, and the fifth solenoid reversing valve and the sixth solenoid reversing valve are both in the upper position.

10. The heave-compensation closed telescopic pump-controlled hydraulic system for offshore pier according to claim 9, characterized in that: The hydraulic oil flowing out of the B port of the one-way quantitative pump flows into the A port of the two-position three-way electromagnetic reversing valve after pressure regulation by the pressure reducing valve, and the hydraulic oil flows out from the B port of the two-position three-way electromagnetic reversing valve after passing through the B port of the two-position three-way electromagnetic reversing valve. The hydraulic oil flowing out of the B port of the two-position three-way electromagnetic reversing valve flows into the two-way pump motor through the C port of the two-way pump motor, and the displacement of the two-way pump motor is adjusted to 0. The hydraulic oil flowing out of the B port of the one-way quantitative pump flows into the A port of the third one-way valve through the third electromagnetic reversing valve, and the hydraulic oil flowing into the third one-way valve flows out from its B port. The first part of the hydraulic oil flowing out of the B port of the third one-way valve flows into the two-way pump motor through the B port of the two-way pump motor, and the second part of the hydraulic oil flowing out of the B port of the third one-way valve flows into the A port of the two-way pump motor through the fourth electromagnetic reversing valve. The hydraulic oil flowing into the two-way pump motor from the A port and the B port of the two-way pump motor replenishes the two-way pump motor, thereby realizing the floating wave compensation of the trestle telescopic platform with the fluctuation of the waves.

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