A hydraulic device and control method for an offshore wind power negative pressure barrel base

Abstract

The present invention discloses a hydraulic device for an offshore wind power negative pressure barrel base, comprising a frame, a suction pump, a suction pipe, a delivery pipe and a discharge pipe, a clamping mechanism is provided on the butt end of the delivery pipe, the hydraulic device also includes a locking mechanism, an electromagnet is provided at the front end of the frame, a pair of rotatable support arms are provided on both sides of the electromagnet, a longitudinal wheel module and a circumferential wheel module are provided on the support arm, an elastic telescopic mechanism is provided between the rear of the support arm and the front of the frame, a distance sensor is provided at the bottom of the frame, and a photoelectric sensor is provided at the front of the frame, and the device also includes a controller. The hydraulic device can be adsorbed on the support tube of the negative pressure barrel through the cooperation of the electromagnet and the longitudinal and circumferential wheel groups, and the up and down movement and circumferential movement around the support tube of the hydraulic device are accurately controlled to realize the automatic sinking, automatic positioning and automatic docking and locking of the hydraulic device, which is simple and labor-saving. The hydraulic device can be used underwater at a depth of 100 meters without leakage.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore wind power installation, and more specifically, to an offshore wind power negative pressure barrel base hydraulic device and a control method. Background Art

[0002] Wind power is an inexhaustible clean energy. With the popularization of green environmental protection and sustainable development concepts, the scale of wind power installed capacity in my country has increased year by year.

[0003] Offshore wind power is widely used in coastal areas because of its abundant wind resources and the advantage of not occupying land. Before installing offshore wind power, the foundation needs to be sunk into the seabed, the tower is connected to the base, and finally the wind turbine is hoisted on the top of the tower.

[0004] The traditional foundation is a pile foundation. After the impact is erected, the pile foundation is hit multiple times by a pile driver and finally the pile foundation is installed in place. This type of foundation is inefficient, time-consuming and noisy to install, and is currently being replaced by a suction foundation.

[0005] The suction base uses a negative pressure barrel as its base. After the negative pressure barrel is sunk to the bottom of the sea, the seawater in the negative pressure barrel is pumped out through a hydraulic device to form a negative pressure inside it. The pressure difference inside and outside the barrel presses down the barrel body, causing it to gradually sink below the seabed. Seawater can also be transported into the negative pressure barrel to increase the internal water pressure, thereby causing the negative pressure barrel to float.

[0006] Existing hydraulic devices all need to be locked together with the base before sinking into the base, the pipelines of the hydraulic device need to be connected with the pipelines of the base, and then the hydraulic device and the base need to be lowered to the seabed together. After the base is installed in place, the hydraulic device and the base need to be unlocked and the hydraulic device needs to be lifted.

[0007] During the actual construction process, there will inevitably be errors in the positioning of the base on site, that is, the sinking position of the base deviates from the designed installation position. When it is found that the deviation is large after installation, the base needs to be floated and repositioned and sunk.

[0008] However, the existing hydraulic device does not have the function of automatic sinking and docking. For the base under the sea surface, the hydraulic device can only be connected and docked to the base on the seabed by manual diving and installation. The operation is laborious and difficult, and needs to be improved. Summary of the invention

[0009] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a hydraulic device and a control method for an offshore wind power negative pressure barrel base. The hydraulic device can automatically sink and dock, replacing manual labor, which is simpler and more labor-saving.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] A hydraulic device for an offshore wind power negative pressure barrel base, comprising a frame, a two-way suction pump, a suction pipe, a delivery pipe and a discharge pipe are installed on the frame, a first control valve is installed on the discharge pipe, a second control valve is installed at one end of the delivery pipe connected to the suction pump, the butt end of the delivery pipe is bent downward to a vertical state, a sealing ring is installed at the butt end of the delivery pipe, a clamping mechanism is arranged on the butt end of the delivery pipe, the clamping mechanism is used to clamp and fix the end of the butt pipe of the delivery pipe and the negative pressure barrel, the hydraulic device also includes a locking mechanism, the locking mechanism is used to lock the frame and the negative pressure barrel, an electromagnet is also installed at the front end of the frame, a pair of support arms are horizontally symmetrically arranged on both sides of the electromagnet, the support arms The support arm is bent toward the front of the frame, one end of the support arm is rotatably connected to the frame, a longitudinal wheel module and a circumferential wheel module are installed at the front of the support arm, and there is a spacing between the circumferential wheel module and the longitudinal wheel module. An elastic telescopic mechanism is arranged between the rear of the support arm and the front of the frame, and the elastic telescopic mechanism is used to drive the support arm to swing forward. A distance sensor is installed at the bottom of the frame, and a photoelectric sensor is installed at the front of the frame. The hydraulic device also includes a controller, and the distance sensor and the photoelectric sensor are connected to the controller, and the controller is connected to a driver device of a suction pump, a locking mechanism, a clamping mechanism and an electromagnet, and the controller is used to control the actions of the suction pump, the locking mechanism, the clamping mechanism and the electromagnet.

[0012] As a preferred solution: the clamping mechanism includes a support plate connected to the end of the conveying pipe, a pair of clamping arms are horizontally symmetrically arranged on both sides of the support plate, the middle part of the clamping arm is rotatably connected to the support plate, a hydraulic cylinder is arranged between the rear ends of the two groups of clamping arms, the two ends of the hydraulic cylinder are respectively rotatably connected to the rear ends of the two groups of clamping arms, an arc-shaped clamping block is arranged at the front end of the clamping arm and on the inner side of the clamping arm, the clamping block is rotatably connected to the front end of the clamping arm, and the clamping block is used to clamp the connecting flange of the conveying pipe and the butt pipe.

[0013] As a preferred solution: an annular limit step is coaxially arranged on the inner side of the butt end of the delivery pipe, the sealing ring is arranged in the limit step, a butt ring is coaxially arranged on the end face of the butt end of the butt pipe, and the height of the sealing ring is smaller than the height of the limit step, so that the bottom surface of the sealing ring is higher than the end face of the butt end of the delivery pipe.

[0014] As a preferred solution: the height of the inner part of the sealing ring is greater than the height of the outer part thereof, and the inner part thereof is a hollow elliptical structure.

[0015] As a preferred solution: a gasket is coaxially fixed on the end surface of the butt end of the delivery pipe, and at least two circles of sealing rings are coaxially fixed on the end surface of the butt pipe, and the sealing ring is located directly below the gasket.

[0016] As a preferred embodiment: the locking mechanism includes a plug-in plate fixed on the negative pressure barrel, a sleeve fixed on the side of the frame, and an electromagnetic lock fixed on the side of the sleeve, the sleeve is a hollow structure and its lower end is an opening, the sleeve is used for inserting the plug-in plate on the negative pressure barrel, the side of the sleeve is provided with a through hole, the through hole is used for inserting the lock core of the electromagnetic lock into the sleeve, the upper end of the plug-in plate is provided with a locking hole, when the plug-in plate is inserted into the sleeve, the locking hole is aligned with the through hole.

[0017] A control method for a hydraulic device of an offshore wind power negative pressure bucket base, characterized in that when sinking into the base:

[0018] S1. Lock the hydraulic device and the negative pressure barrel together through the automatic locking mechanism, dock the delivery pipe of the hydraulic device with the docking pipe of the negative pressure barrel, and connect the hydraulic device to the control equipment on board through cables;

[0019] S2, open the first control valve and close the second control valve, lift the negative pressure barrel in the air and slowly lower it by the lifting equipment on the construction ship, so that the negative pressure barrel slowly sinks to the seabed. When the negative pressure barrel reaches the seabed, its bottom buckles the seabed, so that a sealed space is formed inside the negative pressure barrel. Then, the negative pressure barrel sinks to a certain depth below the seabed under the action of its own gravity until it remains stably on the seabed. During this process, part of the seawater and raised sediment inside the negative pressure barrel flows out through the docking pipe, the delivery pipe and the discharge pipe in turn;

[0020] S3, close the first control valve and open the second control valve, control the suction pump to pump out the seawater and silt in the barrel and discharge them through the suction pipe, so that negative pressure is formed inside the negative pressure barrel, and the negative pressure barrel gradually sinks below the seabed under the pressure of the external seawater until the negative pressure barrel can no longer sink. At this time, if the negative pressure barrel needs to float up, control the suction pump to reversely transport the external seawater into the barrel, so that the water pressure in the negative pressure barrel gradually increases, and the pressure difference is used to drive the negative pressure barrel to float up;

[0021] S4, turn off the suction pump, disconnect the delivery pipe and the butt pipe, and lift the hydraulic device out of the sea using the lifting equipment;

[0022] When the hydraulic device is separated from the barrel, float the base:

[0023] a. Lower the hydraulic device to the outside of the support tube of the negative pressure barrel through the lifting equipment and adjust the position of the hydraulic device. Power the electromagnet to generate magnetic force, so that the hydraulic device moves closer to the support tube until the longitudinal wheel module contacts the support tube and the spring is compressed to reach a state of force balance.

[0024] b. Control the longitudinal wheel to rotate so that the hydraulic device sinks. When the distance between the hydraulic device and the barrel reaches a preset value, control the longitudinal wheel module to stop rotating so that the hydraulic device remains at the current height position. Then increase the current of the electromagnet to make the circumferential wheel module contact with the support tube. Control the circumferential wheel module to rotate so that the hydraulic device moves circumferentially around the support tube to position the hydraulic device circumferentially. When the butt end of the delivery pipe is aligned with the butt end of the butt pipe, reduce the current of the electromagnet so that the longitudinal wheel module contacts with the support tube and controls the circumferential wheel module to stop moving. Then control the longitudinal wheel module to rotate so that the hydraulic device continues to sink until the plug-in plate is inserted into the sleeve. At this time, the butt pipe is also connected to the delivery pipe. Control the electromagnetic lock to lock the frame on the barrel, and control the clamping mechanism to lock the connecting flange at the butt joint.

[0025] d. Control the suction pump to send external seawater into the barrel to make the negative pressure barrel float up, and finally control the electromagnetic lock to open to separate the hydraulic device from the negative pressure barrel.

[0026] As a preferred solution, the method for circumferential positioning of the hydraulic device is as follows: the light emitter of the photoelectric sensor is controlled to emit light to the support tube, the reflected light is received by the photoelectric receiver, and an electrical signal corresponding to the intensity of the reflected light is output, a reflective sticker is affixed to the support tube, the hydraulic device is controlled to move forward at a faster speed, when the signal output by the photoelectric sensor jumps, the hydraulic device is controlled to gradually slow down and stop, and then the hydraulic device is controlled to move in the opposite direction at a slower speed, when the signal output by the photoelectric sensor jumps again, the hydraulic device is immediately controlled to stop moving, and at this time the delivery pipe is just aligned with the docking pipe.

[0027] Compared with the prior art, the advantages of the present invention are: the hydraulic device can be adsorbed on the support tube of the negative pressure barrel through the cooperation of the electromagnet and the longitudinal and circumferential wheel groups, and the up and down movement and circumferential movement of the hydraulic device around the support tube can be accurately controlled to realize the automatic sinking and automatic positioning of the hydraulic device; and the hydraulic device is provided with a clamping mechanism, which can realize the automatic docking and locking of the hydraulic device pipeline and the negative pressure barrel pipeline. The hydraulic device can replace manual labor and is simple and labor-saving to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the hydraulic device in the first embodiment;

[0029] Figure 2 for Figure 1 A magnified view of part A in FIG.

[0030] Figure 3 This is a schematic diagram of the structure of the negative pressure barrel base in Example 1;

[0031] Figure 4 The working state of the hydraulic device in the first embodiment is shown in FIG. Figure 1;

[0032] Figure 5 for Figure 4 A magnified view of part B in FIG.

[0033] Figure 6 The working state of the hydraulic device in the first embodiment is shown in FIG. Figure 2 ;

[0034] Figure 7 It is a structural schematic diagram of the locking mechanism in the first embodiment;

[0035] Figure 8 It is a schematic diagram of the docking structure in Example 1;

[0036] Fig. 9 for Figure 8 The enlarged view of the C part in FIG.

[0037] Fig.10 This is a circuit schematic diagram in Example 1.

[0038] Explanation of the reference numerals: 1. frame; 2. suction pump; 3. suction pipe; 4. delivery pipe; 5. discharge pipe; 6. first control valve; 7. second control valve; 8. control box; 9. clamping mechanism; 901. support plate; 902. clamping arm; 903. hydraulic cylinder; 904. clamping block; 10. connecting seat; 11. support arm; 12. longitudinal wheel module; 13. circumferential wheel module; 14. telescopic rod; 15. spring; 16. electromagnet; 17. photoelectric sensor; 18. distance sensor; 19. sleeve; 20. electromagnetic lock; 21. hydraulic pump; 22. float; 23. barrel; 24. support cylinder; 25. docking tube; 26. plug-in board; 27. reflective tape; 28. through hole; 29. ​​locking hole; 30. sealing ring; 31. docking ring; 32. cavity; 33. gasket; 34. sealing ring. DETAILED DESCRIPTION

[0039] Embodiment 1:

[0040] Reference Figure 1 and Figure 2 A hydraulic device for an offshore wind power negative pressure barrel base includes a frame 1, on which a bidirectional suction pump 2, a suction pipe 3, a delivery pipe 4 and a discharge pipe 5 are installed. One end of the suction pipe 3 is connected to one end of the suction pump 2, and the other end of the suction pipe 3 is used to communicate with the seawater outside the negative pressure barrel; one end of the delivery pipe 4 is connected to the other end of the suction pump 2, and the other end of the delivery pipe 4 is used to connect to the butt joint 25 on the negative pressure barrel; one end of the discharge pipe 5 is connected to the middle section of the delivery pipe 4, and the other end of the discharge pipe 5 is used to discharge the seawater in the negative pressure barrel.

[0041] A first control valve 6 is mounted on the discharge pipe 5, and the first control valve 6 is used to control the on-off of the discharge pipe 5. A second control valve 7 is mounted on one end of the delivery pipe 4 connected to the suction pump 2, and the second control valve 7 is used to control the on-off of the delivery pipe 4.

[0042] The butt end of the delivery pipe 4 is bent downward to a vertical state so as to be butt-jointed with the butt joint pipe 25 on the negative pressure barrel, and a clamping mechanism 9 is provided on the butt end of the delivery pipe 4. The clamping mechanism 9 is used to clamp and fix the end of the delivery pipe 4 and the butt joint pipe 25.

[0043] like Figure 2 As shown, the clamping mechanism 9 includes a support plate 901 connected to the end of the conveying pipe 4, a pair of clamping arms 902 are horizontally symmetrically arranged on both sides of the support plate 901, that is, the front ends of the two groups of clamping arms 902 are respectively located on both sides of the butt end of the conveying pipe 4, the middle part of the clamping arms 902 is rotatably connected to the support plate 901, and a hydraulic cylinder 903 is arranged between the rear ends of the two groups of clamping arms 902, and the two ends of the hydraulic cylinder 903 are respectively rotatably connected to the rear ends of the two groups of clamping arms 902. A circular arc-shaped clamping block 904 is arranged at the front end of the clamping arm 902 and located on the inner side of the clamping arm 902, and the clamping block 904 is rotatably connected to the front end of the clamping arm 902, and the cross-sectional shape of the clamping block 904 is "C"-shaped, that is, a clamping opening is formed inside the clamping block 904. A connecting flange is arranged on the butt end of the conveying pipe 4 and the butt end of the butt pipe 25, and the clamping opening is used to clamp the two connecting flanges.

[0044] When the hydraulic cylinder 903 is extended, the two groups of clamping arms 902 are driven to clamp the connecting flange, and when the hydraulic cylinder 903 is shortened, the two groups of clamping arms 902 are driven to move away from the connecting flange. A hydraulic pump 21 for driving the hydraulic cylinder 903 is also provided on the frame 1.

[0045] Reference Figure 8 and Fig. 9 In this embodiment, an annular stop step is coaxially arranged inside the butt end of the delivery pipe 4, a sealing ring 30 is installed in the stop step, and a butt ring 31 is coaxially arranged on the end face of the butt end of the butt pipe 25. The height of the sealing ring 30 is smaller than the height of the stop step, so that the bottom face of the sealing ring 30 is higher than the end face of the butt end of the delivery pipe 4, so that the butt ring 31 can smoothly enter the delivery pipe 4.

[0046] When the docking ring 31 enters the delivery pipe 4, the docking ring 31 squeezes the sealing ring 30, and then the two flanges are clamped by the clamping block 904, so that the end face of the delivery pipe 4 and the end face of the docking pipe 25 are pressed against each other, thereby pressing the sealing ring 30 tighter, so that the docking point has good sealing performance.

[0047] In this embodiment, the height of the inner part of the sealing ring 30 is greater than that of the outer part, and the inner part is a hollow elliptical structure, that is, the inner part has an elliptical cavity 32. Such a structure allows the inner part of the sealing ring 30 to have a certain deformation space.

[0048] During docking, the docking ring 31 enters the delivery pipe 4 and abuts against the bottom of the outer side of the sealing ring 30, and then the clamp block 904 is used to buckle and clamp the two connecting flanges to achieve sealing at the docking point. During the operation of the hydraulic device, seawater flows in the delivery pipe 4. At this time, the water pressure of the seawater acts on the inner side of the sealing ring 30, and the seawater squeezes the inner side of the sealing ring 30 from the inside to the outside, so that the inner side of the sealing ring 30 is compressed and deflated, and the inner side of the sealing ring 30 squeezes the inner wall of the docking ring 31 and the inner wall of the delivery pipe 4, thereby improving the sealing of the docking point. The greater the flow rate of the transported seawater, the greater the seawater water pressure, and the greater the seawater pressure acting on the inner side of the sealing ring 30, that is, the greater the squeezing force of the inner side of the sealing ring 30 on the docking ring 31 and the inner wall of the delivery pipe 4, the sealing of the docking point is improved accordingly, ensuring the reliability of the connection at the docking point.

[0049] In this embodiment, a gasket 33 is coaxially fixed on the end surface of the butt end of the delivery pipe 4, and at least two circles of sealing rings 34 are coaxially fixed on the end surface of the butt pipe 25, and the sealing ring 34 is located directly below the gasket 33. During the butt connection process, when the butt ring 31 completely enters the delivery pipe 4, the sealing ring 34 squeezes the gasket 33, and under the clamping force of the clamping block 904, the sealing ring 34 and the gasket 33 are squeezed more tightly, thereby achieving sealing.

[0050] In this way, the joint has a triple sealing structure, the first sealing structure is the sealing structure between the joint ring 31 and the outer part of the sealing ring 30, the second sealing structure is the sealing structure between the inner part of the sealing ring 30 and the inner wall of the joint ring 31 and the inner wall of the delivery pipe 4; the third sealing structure is the sealing structure between the gasket 33 and the sealing ring 34. The triple sealing structure can greatly improve the sealing performance of the joint, so that the hydraulic device can be used in 100 meters deep water without leakage.

[0051] An electromagnet 16 is also installed at the front end of the frame 1, and a pair of support arms 11 are horizontally symmetrically arranged on both sides of the electromagnet 16, and the support arms 11 are bent toward the front of the frame 1. One end of the support arm 11 is rotatably connected to the connecting seat 10, and the connecting seat 10 is fixedly connected to the frame 1. An electrically driven longitudinal wheel module 12 and a circumferential wheel module 13 are installed at the front of the support arm 11, and there is a gap between the circumferential wheel module 13 and the longitudinal wheel module 12. A telescopic rod 14 is arranged between the rear of the support arm 11 and the front of the frame 1, and the two ends of the telescopic rod 14 are rotatably connected to the front of the frame 1 and the rear of the support arm 11, respectively. A spring 15 is sleeved on the telescopic rod 14, and the spring 15 is used to drive the telescopic rod 14 to extend.

[0052] Reference Figure 4 , Figure 5 and Figure 6 Both the longitudinal wheel module 12 and the circumferential wheel module 13 are used to contact the surface of the support tube 24.

[0053] When the electromagnet 16 is energized, it generates magnetic force. Since the support tube 24 is a steel tube, the magnetic force generated by the electromagnet 16 pulls the frame 1 toward the steel tube. First, the longitudinal wheel module 12 contacts the support tube 24. After the contact, the magnetic force pulls the support arm 11 to rotate a certain angle, the telescopic rod 14 shortens, and the spring 15 is compressed until the force balance is reached. At this time, the longitudinal wheel module 12 is close to the surface of the support tube 24, while the circumferential wheel assembly does not contact the surface of the support tube 24, that is, it is in a suspended state.

[0054] In this state, by controlling the rotation of the longitudinal wheel module 12 , the hydraulic device can be driven to move up and down along the height direction of the support tube 24 .

[0055] When a larger current is passed through the electromagnet 16, it generates a stronger magnetic force, which pulls the frame 1 and the support tube 24 closer. At this time, the support arm 11 rotates to a larger angle, and the spring 15 is further compressed. The middle part of the support arm 11 is close to the support tube 24, while the end of the support arm 11 is away from the support tube 24. The circumferential wheel module 13 is close to the surface of the support tube 24, and the longitudinal wheel module 12 is away from the support tube 24 and becomes suspended, reaching a state of force balance.

[0056] In this state, the hydraulic device can be driven to move along the circumference direction of the support cylinder 24 by controlling the rotation of the circumferential wheel module 13 .

[0057] The hydraulic device also includes a locking mechanism, which is used to lock the frame 1 and the negative pressure barrel.

[0058] Reference Figure 3 and Figure 7The locking mechanism in this embodiment includes a plug-in board 26 fixed on the top surface of the barrel body 23 of the negative pressure barrel, a sleeve 19 fixed on the side of the frame 1, and an electromagnetic lock 20 fixed on the side of the sleeve 19. The sleeve 19 is a hollow structure with an opening at its lower end, and the sleeve 19 is used for inserting the plug-in board 26. A through hole 28 is provided on the side of the sleeve 19, and the through hole 28 is used for inserting the lock core of the electromagnetic lock 20 into the sleeve 19. A locking hole 29 is provided on the upper end of the plug-in board 26. When the plug-in board 26 is inserted into the sleeve 19, the locking hole 29 is aligned with the through hole 28.

[0059] When the plug-in board 26 is inserted into the sleeve 19, the electromagnetic lock 20 is controlled to extend the lock core of the electromagnetic lock 20, and the lock core passes through the through hole 28 and the locking hole 29, thereby locking the sleeve 19 and the plug-in board 26 together, that is, the hydraulic device and the barrel 23 are fixed. The lock core of the electromagnetic lock 20 can be controlled to retract to unlock the hydraulic device and the barrel 23.

[0060] The hydraulic device is suitable for Figure 7 The negative pressure barrel base shown in the figure. The base includes a barrel body 23 and a support tube 24, and the lower end of the support tube 24 is connected and fixed to the top of the barrel body 23. The top and side of the barrel body 23 are sealed structures, and the lower part of the barrel body 23 is an open structure. In this embodiment, a reflective sticker 27 is also fixed on the support tube 24.

[0061] like Figure 1 As shown, a distance sensor 18 is installed at the bottom of the frame 1, and a photoelectric sensor 17 is installed at the front of the frame 1. The photoelectric sensor 17 integrates a light transmitter and a photoelectric receiver.

[0062] A waterproof control box 8 is also mounted on the frame 1, and a controller is mounted in the control box 8.

[0063] Reference Fig.10The controller includes a main control module, and also includes a suction pump 2 drive module, an electromagnetic lock 20 drive module, a longitudinal wheel drive module, a circumferential wheel drive module, a hydraulic pump 21 drive module, an electromagnet 16 drive module, a first valve drive module, a second valve drive module and a communication module connected to the main control module; the suction pump 2 drive module is connected to the suction pump 2 for driving the suction pump 2; the electromagnetic lock 20 drive module is connected to the electromagnetic lock 20 for driving the electromagnetic lock 20; the longitudinal wheel drive module is connected to the longitudinal wheel module 12 for driving the longitudinal wheel module 1 2; the circumferential wheel drive module is connected to the circumferential wheel module 13, and is used to drive the circumferential wheel module 13; the hydraulic pump 21 drive module is connected to the hydraulic pump 21, and is used to drive the hydraulic pump 21; the electromagnet 16 drive module is connected to the electromagnet 16, and is used to drive the electromagnet 16; the first valve drive module is connected to the first control valve 6, and is used to drive the first control valve 6; the second valve drive module is connected to the second control valve 7, and is used to drive the second control valve 7; the communication module is connected to the communication serial port of the main control module, and is used to realize the communication between the controller and the external device.

[0064] The signal output terminals of the distance sensor 18 and the photoelectric sensor 17 are respectively connected to the signal sampling terminals of the main control module. The control signal input terminal of the above-mentioned driving module is connected to the control signal output terminal of the main control module, and the control signal output terminal of the above-mentioned driving module is connected to the control terminal of each actuator. Each of the above-mentioned sensors and modules needs to be connected to their own working power supply.

[0065] The hydraulic device is connected to the equipment on board the ship through cables, which integrate power cables, communication cables and load-bearing cables.

[0066] In this embodiment, buoys 22 are also installed at the four corners of the frame 1 to offset the gravity of the hydraulic device and balance the hydraulic device.

[0067] Embodiment 2:

[0068] A control method for a hydraulic device of an offshore wind power negative pressure bucket base, specifically, when sinking into the base:

[0069] S1. Lock the hydraulic device and the negative pressure barrel together through the automatic locking mechanism, dock the delivery pipe of the hydraulic device with the docking pipe of the negative pressure barrel, and connect the hydraulic device to the control equipment on board through cables;

[0070] S2, open the first control valve and close the second control valve, lift the negative pressure barrel in the air and slowly lower it by the lifting equipment on the construction ship, so that the negative pressure barrel slowly sinks to the seabed. When the negative pressure barrel reaches the seabed, its bottom buckles the seabed, so that a sealed space is formed inside the negative pressure barrel. Then, the negative pressure barrel sinks to a certain depth below the seabed under the action of its own gravity until it remains stably on the seabed. In this process, part of the seawater and raised sediment inside the negative pressure barrel flows out through the docking pipe, the delivery pipe and the discharge pipe in sequence;

[0071] S3, close the first control valve and open the second control valve, control the suction pump to pump out the seawater and silt in the barrel and discharge them through the suction pipe, so that negative pressure is formed inside the negative pressure barrel, and the negative pressure barrel gradually sinks below the seabed under the pressure of the external seawater until the negative pressure barrel can no longer sink. At this time, if the negative pressure barrel needs to float up, control the suction pump to reversely transport the external seawater into the barrel, so that the water pressure in the negative pressure barrel gradually increases, and the pressure difference is used to drive the negative pressure barrel to float up;

[0072] S4, turn off the suction pump, disconnect the delivery pipe and the butt pipe, and lift the hydraulic device out of the sea using the lifting equipment;

[0073] When the hydraulic device is separated from the barrel, float the base:

[0074] a. Lower the hydraulic device to the outside of the support tube of the negative pressure barrel through the lifting equipment and adjust the position of the hydraulic device. Power the electromagnet to generate magnetic force, so that the hydraulic device moves closer to the support tube until the longitudinal wheel module contacts the support tube and the spring is compressed to reach a state of force balance.

[0075] b. Control the longitudinal wheel to rotate so that the hydraulic device sinks, and use the distance sensor to detect the distance between the hydraulic device and the barrel in real time, and feed back the distance detection result to the controller. When the distance reaches the preset value, the longitudinal wheel module is controlled to stop rotating, so that the hydraulic device remains at the current height position, and then the current of the electromagnet is increased to make the circumferential wheel module contact with the support tube, and the circumferential wheel module is controlled to rotate so that the hydraulic device moves circumferentially around the support tube, and the hydraulic device is positioned circumferentially. When the butt end of the conveying pipe is aligned with the butt end of the butt tube (at this time, the sleeve is also just above the plug-in plate), the current of the electromagnet is reduced to make the longitudinal wheel module contact with the support tube and control the circumferential wheel module to stop moving. Then, the longitudinal wheel module is controlled to rotate so that the hydraulic device continues to sink until the plug-in plate is inserted into the sleeve. At this time, the butt tube is also connected to the conveying pipe, and the electromagnetic lock is controlled to lock the frame on the barrel, and the clamping mechanism is controlled to lock the connecting flange at the butt joint;

[0076] d. Control the suction pump to send external seawater into the barrel to make the negative pressure barrel float up, and finally control the electromagnetic lock to open to separate the hydraulic device from the negative pressure barrel.

[0077] In this embodiment, the method for circumferential positioning of the hydraulic device is: control the forward rotation of the circumferential wheel module, that is, the hydraulic device moves forward around the support tube, and during the movement, the light emitter of the photoelectric sensor is controlled to emit light to the support tube, and the reflected light is received by the photoelectric receiver, and an electrical signal corresponding to the intensity of the reflected light is output. Since a reflective sticker is attached to the support tube, the intensity of the light reflected when the light is irradiated to the reflective sticker and the outer surface of the support tube is significantly different, and the electrical signal generated by the photoelectric receiver is also significantly different. Both the longitudinal wheel module and the circumferential wheel module are driven by a stepper motor, and the precise control of the rotation angle of the longitudinal wheel module and the circumferential wheel module can be achieved by sending a pulse signal to the stepper motor.

[0078] The hydraulic device is controlled to move forward at a faster speed. When the signal output by the photoelectric sensor changes, the hydraulic device is controlled to gradually slow down and stop. Then the hydraulic device is controlled to move in the reverse direction at a slower speed. When the signal output by the photoelectric sensor changes again, the hydraulic device is immediately controlled to stop moving. At this time, the conveying pipe is just aligned with the butt pipe. To ensure positioning accuracy, the width of the reflective tape should not be too large.

[0079] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A hydraulic device for an offshore wind power negative pressure barrel base, comprising a frame, a two-way suction pump, a suction pipe, a delivery pipe and a discharge pipe are mounted on the frame, a first control valve is mounted on the discharge pipe, and a second control valve is mounted at one end of the delivery pipe connected to the suction pump, wherein: The butt end of the delivery pipe is bent downward to a vertical state, a sealing ring is installed at the butt end of the delivery pipe, a clamping mechanism is arranged on the butt end of the delivery pipe, and the clamping mechanism is used to clamp and fix the end of the butt pipe of the delivery pipe and the negative pressure barrel. The hydraulic device also includes a locking mechanism, and the locking mechanism is used to lock the frame and the negative pressure barrel. An electromagnet is also installed at the front end of the frame, and a pair of support arms are horizontally and symmetrically arranged on both sides of the electromagnet. The support arms are bent toward the front of the frame, and one end of the support arm is rotatably connected to the frame. A longitudinal wheel module and a peripheral wheel module are installed at the front of the support arm. There is a spacing between the axial wheel module, the circumferential wheel module and the longitudinal wheel module, an elastic telescopic mechanism is arranged between the rear of the support arm and the front of the frame, the elastic telescopic mechanism is used to drive the support arm to swing forward, a distance sensor is arranged at the bottom of the frame, and a photoelectric sensor is arranged at the front of the frame, the hydraulic device also includes a controller, the distance sensor and the photoelectric sensor are connected to the controller, the controller is connected to the driver device of the suction pump, the locking mechanism, the clamping mechanism and the electromagnet, and the controller is used to control the action of the suction pump, the locking mechanism, the clamping mechanism and the electromagnet; The clamping mechanism comprises a support plate connected to the end of the conveying pipe, a pair of clamping arms are horizontally symmetrically arranged on both sides of the support plate, the middle part of the clamping arms is rotatably connected to the support plate, a hydraulic cylinder is arranged between the rear ends of the two groups of clamping arms, the two ends of the hydraulic cylinder are respectively rotatably connected to the rear ends of the two groups of clamping arms, an arc-shaped clamping block is arranged at the front end of the clamping arm and located on the inner side of the clamping arm, the clamping block is rotatably connected to the front end of the clamping arm, and the clamping block is used to clamp the connecting flange of the conveying pipe and the butt pipe; The locking mechanism includes a plug-in plate fixed on the negative pressure barrel, a sleeve fixed on the side of the frame, and an electromagnetic lock fixed on the side of the sleeve. The sleeve is a hollow structure with an opening at the lower end. The sleeve is used for inserting the plug-in plate on the negative pressure barrel. A through hole is provided on the side of the sleeve. The through hole is used for inserting the lock core of the electromagnetic lock into the sleeve. A locking hole is provided at the upper end of the plug-in plate. When the plug-in plate is inserted into the sleeve, the locking hole is aligned with the through hole.

2. The hydraulic device for the offshore wind power negative pressure barrel base according to claim 1 is characterized by: An annular limit step is coaxially arranged on the inner side of the butt end of the delivery pipe, the sealing ring is arranged in the limit step, and a butt ring is coaxially arranged on the end face of the butt end of the butt pipe. The height of the sealing ring is smaller than the height of the limit step, so that the bottom surface of the sealing ring is higher than the end face of the butt end of the delivery pipe.

3. The hydraulic device for the offshore wind power negative pressure barrel base according to claim 2 is characterized by: The height of the inner part of the sealing ring is greater than the height of the outer part thereof, and the inner part thereof is a hollow elliptical structure.

4. The hydraulic device for the offshore wind power negative pressure barrel base according to claim 3 is characterized by: A gasket is coaxially fixed on the end surface of the butt end of the delivery pipe, and at least two circles of sealing rings are coaxially fixed on the end surface of the butt pipe, and the sealing ring is located directly below the gasket.

5. A control method, applicable to the offshore wind power negative pressure barrel base hydraulic device according to claim 1, characterized in that: When sunk into the base: S1. Lock the hydraulic device and the negative pressure barrel together through the automatic locking mechanism, dock the delivery pipe of the hydraulic device with the docking pipe of the negative pressure barrel, and connect the hydraulic device to the control equipment on board through cables; S2, open the first control valve and close the second control valve, lift the negative pressure barrel in the air and slowly lower it by the lifting equipment on the construction ship, so that the negative pressure barrel slowly sinks to the seabed. When the negative pressure barrel reaches the seabed, its bottom buckles the seabed, so that a sealed space is formed inside the negative pressure barrel. Then, the negative pressure barrel sinks to a certain depth below the seabed under the action of its own gravity until it remains stably on the seabed. During this process, part of the seawater and raised sediment inside the negative pressure barrel flows out through the docking pipe, the delivery pipe and the discharge pipe in turn; S3, close the first control valve and open the second control valve, control the suction pump to pump out the seawater and silt in the barrel and discharge them through the suction pipe, so that negative pressure is formed inside the negative pressure barrel, and the negative pressure barrel gradually sinks below the seabed under the pressure of the external seawater until the negative pressure barrel can no longer sink. At this time, if the negative pressure barrel needs to float up, control the suction pump to reversely transport the external seawater into the barrel, so that the water pressure in the negative pressure barrel gradually increases, and the pressure difference is used to drive the negative pressure barrel to float up; S4, turn off the suction pump, disconnect the delivery pipe and the butt pipe, and lift the hydraulic device out of the sea using the lifting equipment; When the hydraulic device is separated from the barrel, float the base: a. Lower the hydraulic device to the outside of the support tube of the negative pressure barrel through the lifting equipment and adjust the position of the hydraulic device. Power the electromagnet to generate magnetic force, so that the hydraulic device moves closer to the support tube until the longitudinal wheel module contacts the support tube and the spring is compressed to reach a state of force balance. b. Control the longitudinal wheel to rotate so that the hydraulic device sinks. When the distance between the hydraulic device and the barrel reaches a preset value, control the longitudinal wheel module to stop rotating so that the hydraulic device remains at the current height position. Then increase the current of the electromagnet to make the circumferential wheel module contact with the support tube. Control the circumferential wheel module to rotate so that the hydraulic device moves circumferentially around the support tube to position the hydraulic device circumferentially. When the butt end of the delivery pipe is aligned with the butt end of the butt pipe, reduce the current of the electromagnet so that the longitudinal wheel module contacts with the support tube and controls the circumferential wheel module to stop moving. Then control the longitudinal wheel module to rotate so that the hydraulic device continues to sink until the plug-in plate is inserted into the sleeve. At this time, the butt pipe is also connected to the delivery pipe. Control the electromagnetic lock to lock the frame on the barrel, and control the clamping mechanism to lock the connecting flange at the butt joint. d. Control the suction pump to send external seawater into the barrel to make the negative pressure barrel float up, and finally control the electromagnetic lock to open to separate the hydraulic device from the negative pressure barrel.

6. The control method according to claim 5, characterized in that: The method for circumferential positioning of the hydraulic device is as follows: the light emitter of the photoelectric sensor is controlled to emit light to the support tube, the reflected light is received by the photoelectric receiver, and an electrical signal corresponding to the intensity of the reflected light is output. A reflective sticker is attached to the support tube, and the hydraulic device is controlled to move forward at a faster speed. When the signal output by the photoelectric sensor jumps, the hydraulic device is controlled to gradually slow down and stop, and then the hydraulic device is controlled to move in the opposite direction at a slower speed. When the signal output by the photoelectric sensor jumps again, the hydraulic device is immediately controlled to stop moving, and at this time the delivery pipe is just aligned with the docking pipe.

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