Wave-compensated embarkation gangway and wave-compensated method

Abstract

The application discloses a wave compensation boarding bridge and a wave compensation method. The wave compensation boarding bridge comprises a base, a main bridge, an extendable bridge and a wave compensation assembly. The base comprises a base and a tower body rotatably installed on the base. A rotary drive assembly for driving the tower body to rotate is arranged in the tower body. The main bridge is rotatably connected with the tower body, and a swing drive element for driving the main bridge to swing is arranged between the main bridge and the tower body. The extendable bridge is slidably installed in the main bridge, and an extension drive assembly for driving the extendable bridge to extend and retract is arranged between the extendable bridge and the main bridge. The wave compensation assembly comprises a controller and a positioning receiver. The positioning receiver acquires position information of the extendable bridge and sends the position information to the controller. The controller receives the position information and controls the rotary drive assembly, the swing drive element and the extension drive assembly to start and stop according to the position information. The wave compensation boarding bridge is convenient for personnel to pass between a ship and a shore, and has the advantages of good adaptability, high flexibility and convenient and fast use.

Description

TECHNICAL FIELD

[0001] The present application relates to the offshore wind power ship shore boarding equipment technical field, especially relates to a wave compensation boarding trestle and wave compensation method. BACKGROUND

[0002] The offshore wind turbine is installed on the sea surface where the wind energy resource is rich, and the wind turbine operation and maintenance personnel usually need to take a ship to reach the wind turbine position when carrying out maintenance, maintenance and other operations. In order to facilitate the passage of the operation and maintenance personnel between the ship and the wind turbine platform, the trestle is usually installed on the ship to connect the wind turbine platform. However, the sea climate changes frequently, and the trestle is difficult to keep balance when the sea waves are large. The stability of the trestle is low, the passage of the operation and maintenance personnel has safety risks, and the trestle cannot adaptively adjust the connection position according to the position of the wind turbine and the position of the ship. The flexibility is low, and the use is inconvenient. SUMMARY

[0003] The main purpose of the present application is to provide a wave compensation boarding trestle and wave compensation method, which aims to solve the problems of low stability and poor flexibility of the trestle.

[0004] In order to achieve the above purpose, the present application provides a wave compensation boarding trestle, which comprises:

[0005] A machine base, the machine base comprises a base and a tower body rotatably installed on the base, a slewing drive assembly is arranged in the tower body, and the slewing drive assembly is used to drive the tower body to rotate relative to the base;

[0006] A main bridge, the main bridge is rotatably connected with the tower body, and a swing drive is arranged between the main bridge and the tower body, the swing drive is used to drive the main bridge to swing relative to the tower body;

[0007] A telescopic bridge, the telescopic bridge is slidably installed in the main bridge, and a telescopic drive assembly is arranged between the telescopic bridge and the main bridge, the telescopic drive assembly is used to drive the telescopic bridge to telescope relative to the main bridge;

[0008] A wave compensation assembly, the wave compensation assembly comprises a controller and a positioning receiver electrically connected with the controller, the positioning receiver is used to obtain the position information of the telescopic bridge and send the position information to the controller, and the controller is used to receive the position information and control the slewing drive assembly, the swing drive and the telescopic drive assembly to start and stop according to the position information.

[0009] Optionally, the swing driving assembly comprises a swing motor and a swing bearing ring, the swing bearing ring comprises an inner ring and an outer ring, a mounting column is arranged on the base, the inner ring is sleeved outside the mounting column and connected with the mounting column, the outer ring is connected with the tower body and the swing motor, the swing motor drives the outer ring to rotate relative to the inner ring, so that the outer ring drives the tower body to rotate relative to the base.

[0010] Optionally, the swing driving member is an oil cylinder, a cylinder body of the oil cylinder is connected with the tower body, an output shaft of the oil cylinder is connected with the main bridge, and a triangular support structure is formed among the oil cylinder, the main bridge and the tower body.

[0011] Optionally, the main bridge is connected with a first reinforcing plate and a second reinforcing plate which are arranged at intervals along the extension direction of the main bridge, one end of the first reinforcing plate away from the main bridge is hingedly connected with the tower body, one end of the second reinforcing plate away from the main bridge is hingedly connected with the output shaft of the oil cylinder, a first reinforcing rod is connected between the first reinforcing plate and the second reinforcing plate, and the triangular support structure is formed among the oil cylinder, the first reinforcing rod and the tower body.

[0012] Optionally, a second reinforcing rod is connected between the main bridge and the second reinforcing plate in an inclined manner, and a third reinforcing rod is connected between the main bridge and the first reinforcing plate in an inclined manner.

[0013] Optionally, the telescopic driving assembly comprises a telescopic motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel and the driven wheel are respectively installed at two ends of the main bridge, the synchronous belt is arranged between the driving wheel and the driven wheel, the synchronous belt is connected with the telescopic bridge, the telescopic motor is connected with the driving wheel and drives the driving wheel to rotate, so that the driving wheel drives the telescopic bridge to telescope relative to the main bridge through the driven wheel and the synchronous belt.

[0014] Optionally, a plurality of rollers are arranged on one side of the main bridge towards the telescopic bridge, the plurality of rollers are arranged at intervals along the extension direction of the main bridge and are in rolling contact with the telescopic bridge.

[0015] Optionally, a position sensor and a plurality of audible and visual alarms electrically connected with the position sensor are arranged on the telescopic bridge, the position sensor is located at one end of the telescopic bridge away from the tower body, and the plurality of audible and visual alarms are arranged at intervals along the extension direction of the telescopic bridge.

[0016] Optionally, an angle instrument is arranged on the telescopic bridge; and / or, a wind speed instrument is arranged on the telescopic bridge; and / or, a humidity instrument is arranged on the telescopic bridge.

[0017] The application further provides a wave compensation method applied to the wave compensation boarding pier.

[0018] Collecting environmental wind speed and position information of the telescopic bridge, the position information including current position, heave displacement and pitch angle of the telescopic bridge;

[0019] Calculating a balance position according to the environmental wind speed, the heave displacement and the pitch angle;

[0020] Judging whether the telescopic bridge is within a preset safe distance according to the balance position and the current position;

[0021] Driving the telescopic bridge to move to the balance position according to the judging result.

[0022] In the technical scheme, when the wave compensation boarding pier is used, the ship is first parked at a position close to the shore, and the rotating driving assembly drives the tower body to rotate the main bridge and the telescopic bridge to a position corresponding to the shore, then the swinging driving member drives the main bridge to swing the telescopic bridge relative to the tower body towards the ground, when the end of the main bridge away from the tower body can be directly connected with the ground, the passing personnel can walk to the ground through the telescopic bridge installed in the main bridge; when the end of the main bridge away from the tower body is far away from the ground, the telescopic driving assembly drives the telescopic bridge to extend relative to the main bridge and connect with the ground, so that the passing personnel walks to the ground through the main bridge and the telescopic bridge in turn, which has the advantages of good adaptability, high flexibility, convenient and fast use. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0024] Figure 1 FIG. 1 is a structural schematic view of the wave compensation boarding pier in one view according to an embodiment of the application;

[0025] Figure 2 FIG. 2 is an enlarged schematic view of area A in FIG. 1; Figure 1

[0026] Figure 3 FIG. 3 is a partial structural schematic view of the wave compensation boarding pier in one view according to an embodiment of the application;

[0027] Figure 4 FIG. 4 is a structural schematic view of the wave compensation boarding pier in another view according to an embodiment of the application;​

[0028] Figure 5 Fig. 6 is a partial structural schematic view of the wave-compensated embarkation gangway in another perspective according to an embodiment of the present application;

[0029] Figure 6 Fig. 7 is a structural schematic view of a rotary drive assembly in the wave-compensated embarkation gangway according to an embodiment of the present application;

[0030] Figure 7 Fig. 8 is a flow schematic view of the wave-compensation method according to an embodiment of the present application.

[0031] BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Reference Name Reference Name 100 Wave-compensating embarkation pier 42 Slewing ring 10 Machine base 421 Inner ring 11 Base 422 Outer ring 111 Mounting column 50 Swing drive 12 Tower body 50a Oil cylinder 20 Main bridge 51 Cylinder body 21 First reinforcing plate 52 Output shaft 22 Second reinforcing plate 60 Telescopic drive assembly 23 First reinforcing rod 61 Telescopic motor 24 Second reinforcing rod 62 Driving wheel 25 Third reinforcing rod 63 Driven wheel 26 Roller 64 Synchronous belt 30 Telescopic bridge 70 Wave-compensating assembly 31 Landing bumper 71 Controller 32 Staircase 72 Positioning receiver 40 Slewing drive assembly 73 Position sensor 41 Slewing motor 74 Acoustic-optic alarm

[0033] The purposes, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., in the embodiments are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0036] In addition, the description such as “first”, “second” and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “plurality” is at least two, such as two, three, etc., unless otherwise specifically limited.

[0037] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixing" and the like should be understood in a broad sense, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] In addition, the technical solutions among various embodiments of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application. It should be understood that the specific embodiments described herein are only used to explain the present application, and not to limit the present application.

[0039] In the present application, the description of "upper", "lower", "front", "rear", "left", "right" and the like is based on the orientation shown in Figure 1 and Figure 4 is used only to explain the relative positional relationship between the components in the posture shown in Figure 1 and Figure 4 If the specific posture changes, the directional indication also changes accordingly.

[0040] The present application provides a wave compensation boarding gangway.

[0041] In the present embodiment, the wave compensation boarding gangway 100 comprises a base 10, a main bridge 20, an extension bridge 30 and a wave compensation assembly 70, wherein the base 10 comprises a base 11 and a tower body 12 rotatably mounted on the base 11, a rotary drive assembly 40 is arranged in the tower body 12, the rotary drive assembly 40 is used to drive the tower body 12 to rotate relative to the base 11; the main bridge 20 is rotatably connected with the tower body 12, and a swing driving member 50 is arranged between the main bridge 20 and the tower body 12, the swing driving member 50 is used to drive the main bridge 20 to swing relative to the tower body 12; the extension bridge 30 is slidably mounted in the main bridge 20, and an extension driving assembly 60 is arranged between the extension bridge 30 and the main bridge 20, the extension driving assembly 60 is used to drive the extension bridge 30 to extend and retract relative to the main bridge 20; the wave compensation assembly 70 comprises a controller 71 and a positioning receiver 72 electrically connected with the controller 71, the positioning receiver 72 is used to obtain the position information of the extension bridge 30 and send the position information to the controller 71, the controller 71 is used to receive the position information and control the rotary drive assembly 40, the swing driving member 50 and the extension driving assembly 60 to start and stop according to the position information.

[0042] As shown in Figures 1 to 6As shown, the base 10 comprises a base 11 and a tower 12, the base 11 is installed on the deck of the ship to support the tower 12 installed on the base 11, and the tower 12 can rotate on the base 11 relative to the base 11, the main bridge 20 is connected to the tower 12 and can swing in the pitch direction relative to the tower 12, the telescopic bridge 30 is installed in the main bridge 20, that is, the main bridge 20 is sleeved outside the telescopic bridge 30, and the telescopic bridge 30 can be extended out of the main bridge 20 to be away from the tower 12 or be retracted into the main bridge 20 to be close to the tower 12. When the wave-compensated boarding bridge 100 is used, first, the ship is parked at a position close to the wind turbine platform, and the slewing drive assembly 40 drives the tower 12 to drive the main bridge 20 and the telescopic bridge 30 to rotate to a position corresponding to the wind turbine platform, then the swing drive 50 drives the main bridge 20 to drive the telescopic bridge 30 to swing relative to the tower 12 to be close to the wind turbine platform, when the end of the main bridge 20 away from the tower 12 can be directly connected with the wind turbine platform, the maintenance personnel can walk to the wind turbine platform through the telescopic bridge 30 installed in the main bridge 20; when the end of the main bridge 20 away from the tower 12 is far away from the wind turbine platform, the telescopic drive assembly 60 drives the telescopic bridge 30 to extend relative to the main bridge 20 and be connected with the wind turbine platform, so that the maintenance personnel walks to the wind turbine platform through the main bridge 20 and the telescopic bridge 30 in turn, which has the advantages of good adaptability, high flexibility, convenient and fast use.

[0043] Moreover, when the wave-compensated boarding bridge 100 is connected, the positioning receiver 72 can acquire and collect the position information of the telescopic bridge 30, the positioning receiver 72 sends the position information to the controller 71, the controller 71 receives the position information and calculates the balance position according to the position information, judges whether the telescopic bridge 30 is currently in a preset safe distance centered on the balance position, if the distance between the telescopic bridge 30 and the balance position is equal to or less than the preset safe distance, the telescopic bridge 30 is in a balanced state, which is convenient for the maintenance personnel to pass through; if the distance between the telescopic bridge 30 and the balance position is greater than the preset safe distance, the slewing drive assembly 40, the swing drive 50 and the telescopic drive assembly 60 cooperatively drive the telescopic bridge 30 to move to the balance position; the wave-compensated boarding bridge 100 can adaptively adjust the movement of the telescopic bridge 30 according to the position information of the telescopic bridge 30, so that the telescopic bridge 30 keeps balance when the sea surface wind and wave are large, which is structurally stable and reliable and improves the passing safety.

[0044] In an embodiment, the slewing drive assembly 40 comprises a slewing motor 41 and a slewing bearing ring 42, the slewing bearing ring 42 comprises an inner ring 421 and an outer ring 422, the base 11 is provided with a mounting column 111, the inner ring 421 is sleeved outside the mounting column 111 and connected with the mounting column 111, the outer ring 422 is connected with the tower 12 and the slewing motor 41, and the slewing motor 41 drives the outer ring 422 to rotate relative to the inner ring 421, so that the outer ring 422 drives the tower 12 to rotate relative to the base 11. Figures 1 to 6As shown, the outer ring 422 of the slewing bearing ring 42 is sleeved outside the inner ring 421 and rotationally connected with the inner ring 421, the inner ring 421 is sleeved outside the mounting column 111, and the outer ring 422 is arranged in a staggered manner with the inner ring 421, so that the output shaft 52 of the slewing motor 41 extends into the outer ring 422 and can drive the outer ring 422 to rotate relative to the inner ring 421, so that the outer ring 422 drives the tower body 12, the main bridge 20 and the telescopic bridge 30 to rotate to a position corresponding to the wind turbine platform, and the structure is flexible and reliable.

[0045] In a preferred embodiment, the swing driving member 50 can adopt an oil cylinder in the prior art, such as Figures 1 to 6 As shown, the cylinder body 51 of the oil cylinder 50a is connected with the tower body 12, and the output shaft 52 of the oil cylinder 50a is connected with the main bridge 20. Specifically, the output shaft 52 of the oil cylinder 50a can be telescopic relative to the cylinder body 51 of the oil cylinder 50a, so as to correspondingly drive the output shaft 52 to drive the main bridge 20 and the telescopic bridge 30 to pitch and swing around the tower body 12, so that the main bridge 20 and the telescopic bridge 30 swing to a position close to the wind turbine platform, and the structure has high flexibility and strong adaptability. Moreover, a triangular support structure is formed among the oil cylinder 50a, the main bridge 20 and the tower body 12, and the triangular support structure has strong stability, further improving the structural strength.

[0046] In an embodiment, the main bridge 20 is connected with a first reinforcing plate 21 and a second reinforcing plate 22 which are arranged at intervals along the extension direction of the main bridge 20, one end of the first reinforcing plate 21 away from the main bridge 20 is hingedly connected with the tower body 12, one end of the second reinforcing plate 22 away from the main bridge 20 is hingedly connected with the output shaft 52 of the oil cylinder 50a, and a first reinforcing rod 23 is connected between the first reinforcing plate 21 and the second reinforcing plate 22, and a triangular support structure is formed among the oil cylinder 50a, the first reinforcing rod 23 and the tower body 12. Figures 1 to 6 As shown, the first reinforcing plate 21 is connected to one end of the main bridge 20 close to the tower body 12, the second reinforcing plate 22 is arranged in a spaced manner with the first reinforcing plate 21, the first reinforcing plate 21 is rotationally connected with the tower body 12 through a rotating shaft, and the output shaft 52 of the oil cylinder 50a is rotationally connected with the second reinforcing plate 22, so that the output shaft 52 can drive the main bridge 20 and the first reinforcing plate 21 to pitch and swing relative to the tower body 12 through the second reinforcing plate 22, and one end of the first reinforcing plate 21 and the second reinforcing plate 22 away from the main bridge 20 is connected through the first reinforcing rod 23, so that the triangular support structure is formed by the first reinforcing plate 21, the first reinforcing rod 23 and the second reinforcing plate 22, thereby playing a role in stabilizing and supporting the main bridge 20.

[0047] Further, the second reinforcing rod 24 is connected between the main bridge 20 and the second reinforcing plate 22 in an inclined manner, and the third reinforcing rod 25 is connected between the main bridge 20 and the first reinforcing plate 21 in an inclined manner. Figures 1 to 6As shown, the number of the second reinforcing rods 24 is multiple, one end of each of the multiple second reinforcing rods 24 is connected with the second reinforcing plate 22 away from the main bridge 20, and each of the multiple second reinforcing rods 24 is arranged obliquely, so that the other end of each of the second reinforcing rods 24 is connected with the main bridge 20, and multiple triangular supports are formed between each of the second reinforcing rods 24, the second reinforcing plate 22 and the main bridge 20, which strengthens the stability of the structure; and the number of the third reinforcing rods 25 is multiple, one end of each of the multiple third reinforcing rods 25 is connected with the first reinforcing plate 21 away from the main bridge 20, and each of the multiple third reinforcing rods 25 is arranged obliquely, so that the other end of each of the third reinforcing rods 25 is connected with the main bridge 20, and multiple triangular supports are formed between each of the third reinforcing rods 25, the first reinforcing plate 21 and the main bridge 20, which further improves the stability of the structure.

[0048] In the embodiment, the telescopic driving assembly 60 comprises a telescopic motor 61, a driving wheel 62, a driven wheel 63 and a synchronous belt 64, the driving wheel 62 and the driven wheel 63 are respectively installed at two ends of the main bridge 20, the synchronous belt 64 is arranged between the driving wheel 62 and the driven wheel 63, and the synchronous belt 64 is connected with the telescopic bridge 30, the telescopic motor 61 is connected with the driving wheel 62 and drives the driving wheel 62 to rotate, so that the driving wheel 62 drives the telescopic bridge 30 to extend or retract relative to the main bridge 20 through the driven wheel 63 and the synchronous belt 64. Figures 1 to 6 As shown, the driving wheel 62 and the driven wheel 63 are respectively arranged at two ends of the main bridge 20, the telescopic motor 61 is connected with the driving wheel 62 and is used to drive the driving wheel 62 to rotate, so that the driving wheel 62 drives the synchronous belt 64 to rotate through the driven wheel 63, and then the synchronous belt 64 drives the telescopic bridge 30 connected on the upper side of the synchronous belt 64 to extend out of the main bridge 20 or retract into the main bridge 20. In addition, one telescopic driving assembly 60 can be arranged on each side of the main bridge 20, and the two telescopic driving assemblies 60 synchronously drive the telescopic bridge 30 to extend or retract, which further improves the reliability and telescopic smoothness of the structure.

[0049] Further, a plurality of rollers 26 are arranged on the side of the main bridge 20 facing the telescopic bridge 30, and the multiple rollers 26 are arranged along the extension direction of the main bridge 20 and are in rolling contact with the telescopic bridge 30. Figures 1 to 6As shown, the main bridge 20 is fitted outside the telescopic bridge 30, and the telescopic bridge 30 can extend out of or retract into the main bridge 20 relative to it. Multiple rollers 26 are spaced apart along the extension direction of the main bridge 20 on the side of the main bridge 20 facing the telescopic bridge 30. These rollers 26 are located between the main bridge 20 and the telescopic bridge 30 and roll in contact with the telescopic bridge 30, so that when the telescopic bridge 30 extends or retracts relative to the main bridge 20, the rollers 26 reduce friction and guide the extension / retraction, further improving the smoothness of the telescopic bridge 30's extension / retraction. In addition, the end of the telescopic bridge 30 away from the tower 12 is connected to a landing buffer 31 and a staircase 32. The landing buffer is used to abut against the wind turbine platform to cushion and protect the telescopic bridge 30, improving structural stability and ensuring smooth docking of the telescopic bridge 30, further facilitating access for maintenance personnel. The staircase 32 is used for the passage of operation and maintenance personnel, further improving accessibility.

[0050] In this embodiment, a position sensor 73 and multiple audible and visual alarms 74 electrically connected to the position sensor 73 are installed on the telescopic bridge 30. The position sensor 73 is located at the end of the telescopic bridge 30 away from the tower body 12, and the multiple audible and visual alarms 74 are arranged at intervals along the extension direction of the telescopic bridge 30. Specifically, multiple audible and visual alarms 74 are connected to the telescopic bridge 30 at intervals. The audible and visual alarms 74 can emit warning lights and alarm sounds, and the warning tones and light colors emitted by the multiple audible and visual alarms 74 are different. The position sensor 73 is connected to the end of the telescopic bridge 30 away from the tower body 12 and is electrically connected to the multiple audible and visual alarms 74. When the telescopic bridge 30 extends to different lengths relative to the main bridge 20, the position sensor 73 detects the current extension length of the telescopic bridge 30, and the corresponding audible and visual alarm 74 emits warning lights and alarm sounds to remind maintenance personnel to reasonably adjust the extension length of the telescopic bridge 30 according to the actual weather conditions, further improving traffic safety.

[0051] In one embodiment, the telescopic bridge 30 is equipped with an angle meter to detect the swing angle of the telescopic bridge 30 relative to the tower 12, so that maintenance personnel can reasonably adjust the swing angle of the telescopic bridge 30 according to its position and actual weather conditions. The telescopic bridge 30 is also equipped with an anemometer to detect the ambient wind speed, so that maintenance personnel can reasonably adjust the position of the telescopic bridge 30 and the operating time of the wind turbine according to the current wind speed. Furthermore, the telescopic bridge 30 is equipped with a hygrometer to detect the ambient humidity, so that maintenance personnel can obtain timely weather changes and reasonably arrange operating times. Moreover, the positioning receiver 72, position sensor 73, audible and visual alarm 74, angle meter, anemometer, and hygrometer in this invention can all adopt existing technologies. Specifically, the positioning receiver 72 can be a high-precision differential satellite positioning machine integrating an inertial navigation system, and the position information transmission method between the positioning receiver 72 and the controller 71 can also adopt existing technologies, improving operational convenience.

[0052] Further, the application also provides a wave compensation method applied to the wave compensation boarding bridge as described above, referring to Figure 7 , a flowchart of an embodiment of the wave compensation method of the application, the wave compensation method comprising the following steps:

[0053] Step S10, collecting environmental wind speed and position information of the telescopic bridge, the position information including current position, heave displacement and pitch angle of the telescopic bridge;

[0054] A wind speed meter is arranged on the telescopic bridge 30, which is used to detect the environmental wind speed; a positioning receiver 72 is used to obtain and collect position information of the telescopic bridge 30, including current position, heave displacement and pitch angle data of the telescopic bridge 30, wherein the current position is the current actual coordinate of the telescopic bridge 30 collected by the positioning receiver 72, the heave displacement is the displacement distance of the telescopic bridge 30 when floating on the sea surface, and the pitch angle is the swing angle of the telescopic bridge 30 when floating on the sea surface;

[0055] Step S20, calculating a balance position according to the environmental wind speed, the heave displacement and the pitch angle;

[0056] According to the environmental wind speed, the heave displacement of the telescopic bridge 30 and the pitch angle of the telescopic bridge 30, the balance position coordinate is calculated and obtained, and the telescopic bridge 30 can keep stable relative to the sea surface when the telescopic bridge 30 is at the balance position;

[0057] Step S30, judging whether the telescopic bridge is within a preset safe distance according to the balance position and the current position;

[0058] A safe distance between the balance position is preset, and whether the distance between the current position of the telescopic bridge 30 and the balance position is within the preset safe distance is calculated;

[0059] Step S40, driving the telescopic bridge to move to the balance position according to the judgment result;

[0060] If yes, the telescopic bridge 30 is within the preset safe distance from the balance position, the telescopic bridge 30 keeps stable relative to the sea surface, and the rotation motor 41, the oil cylinder 50a and the telescopic motor 61 stop running, so that the operation and maintenance personnel can walk to the fan platform through the main bridge 20 and the telescopic bridge 30;

[0061] If no, i.e. the telescopic bridge 30 is out of the preset safe distance from the balance position, the slewing motor 41, the oil cylinder 50a and the telescopic motor 61 are started, the slewing motor 41 drives the tower 12 to rotate the main bridge 20 and the telescopic bridge 30, the oil cylinder 50a drives the main bridge 20 to swing the telescopic bridge 30, and the telescopic motor 61 drives the telescopic bridge 30 to extend or retract, so that the telescopic bridge 30 moves to the preset safe distance, and then the telescopic bridge 30 keeps stable relative to the sea level.

[0062] The wave compensation method of the embodiment obtains the balance position through the environmental wind speed, the heave displacement of the telescopic bridge 30 and the pitch angle of the telescopic bridge 30, and presets a safe distance relative to the balance position. When the current position of the telescopic bridge 30 is in or equal to the safe distance, the telescopic bridge 30 is in the balance state, which is convenient for the operation and maintenance personnel to pass through. When the current position of the telescopic bridge 30 is out of the safe distance, the slewing driving assembly 40, the swinging driving member 50 and the telescopic driving assembly 60 cooperatively drive the telescopic bridge 30 to move to the balance position. The wave compensation method can drive the telescopic bridge 30 to adaptively move according to the position information of the telescopic bridge 30 and the environmental wind speed, so that the telescopic bridge 30 can adjust the current actual position with the change of the marine climate, which is convenient for the operation and maintenance personnel to go back and forth between the ship and the wind turbine platform, and is safe and reliable in passing.

[0063] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made according to the content of the specification and drawings, or direct / indirect application in other related technical fields under the inventive concept of the present application is included in the patent protection scope of the present application.

Claims

1. A wave-compensating embarkation pier, characterized in that The wave-compensated boarding bridge comprises: a machine base comprising a base and a tower body rotatably mounted on the base, a slewing drive assembly arranged in the tower body for driving the tower body to rotate relative to the base; a main bridge rotatably connected with the tower body and provided with a swing drive arranged between the main bridge and the tower body for driving the main bridge to swing relative to the tower body; a telescopic bridge slidably mounted in the main bridge and provided with a telescopic drive assembly arranged between the telescopic bridge and the main bridge for driving the telescopic bridge to telescope relative to the main bridge; a wave-compensation assembly comprising a controller and a positioning receiver electrically connected with the controller, the positioning receiver being configured to acquire position information of the telescopic bridge and send the position information to the controller, and the controller being configured to receive the position information and control the slewing drive assembly, the swing drive and the telescopic drive assembly to start or stop according to the position information, the controller being capable of acquiring a balance position of the telescopic bridge according to an environmental wind speed, a heave displacement of the telescopic bridge and a pitch angle of the telescopic bridge; the slewing drive assembly, the swing drive and the telescopic drive assembly being capable of driving the telescopic bridge to move to the balance position; the swing drive being an oil cylinder, a cylinder body of the oil cylinder being connected with the tower body, an output shaft of the oil cylinder being connected with the main bridge, and the oil cylinder, the main bridge and the tower body forming a triangular support structure therebetween; the main bridge being connected with a first reinforcing plate and a second reinforcing plate arranged at intervals along an extension direction of the main bridge, an end of the first reinforcing plate away from the main bridge being hingedly connected with the tower body, an end of the second reinforcing plate away from the main bridge being hingedly connected with the output shaft of the oil cylinder, the first reinforcing plate and the second reinforcing plate being connected with a first reinforcing rod therebetween, the oil cylinder, the first reinforcing rod and the tower body forming the triangular support structure therebetween; the main bridge and the second reinforcing plate being connected with a second reinforcing rod arranged obliquely therebetween, and the main bridge and the first reinforcing plate being connected with a third reinforcing rod arranged obliquely therebetween.

2. The wave-compensated embarkation pier of claim 1, wherein, the slewing drive assembly comprising a slewing motor and a slewing bearing ring, the slewing bearing ring comprising an inner ring and an outer ring, the base being provided with a mounting column, the inner ring being sleeved outside the mounting column and connected with the mounting column, the outer ring being connected with the tower body and the slewing motor, the slewing motor driving the outer ring to rotate relative to the inner ring so as to drive the tower body to rotate relative to the base.

3. The wave-compensated embarkation pier of claim 1, wherein, the telescopic drive assembly comprising a telescopic motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel and the driven wheel being respectively mounted at two ends of the main bridge, the synchronous belt being wound between the driving wheel and the driven wheel and connected with the telescopic bridge, the telescopic motor being connected with the driving wheel and driving the driving wheel to rotate so as to drive the telescopic bridge to telescope relative to the main bridge through the driven wheel and the synchronous belt.

4. The wave-compensated embarkation pier of claim 3, wherein, A plurality of rollers are arranged on one side of the main bridge towards the telescopic bridge, and the rollers are arranged at intervals along the extension direction of the main bridge and are in rolling contact with the telescopic bridge.

5. A wave-compensating embarkation pier according to any of claims 1-4, characterized in that, A position sensor and a plurality of audible and visual alarms electrically connected to the position sensor are arranged on the telescopic bridge, the position sensor is located at the end of the telescopic bridge away from the tower body, and the plurality of audible and visual alarms are arranged at intervals along the extension direction of the telescopic bridge.

6. A wave-compensating embarkation pier according to any one of claims 1-4, characterized in that, An angle instrument is arranged on the telescopic bridge; and / or, a wind speed instrument is arranged on the telescopic bridge; and / or, a humidity instrument is arranged on the telescopic bridge.

7. A wave compensation method, characterized by, The wave compensation method is applied to the wave compensation boarding bridge according to any one of claims 1-6, and the wave compensation method comprises the following steps: Collecting environmental wind speed and position information of the telescopic bridge, the position information comprising the current position, heave displacement and pitch angle of the telescopic bridge; Calculating a balance position according to the environmental wind speed, the heave displacement and the pitch angle; Judging whether the telescopic bridge is within a preset safe distance according to the balance position and the current position; Driving the telescopic bridge to move to the balance position according to the judgment result.

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