Wet dragging type transportation and installation system and method for offshore wind turbine jacket foundation

Abstract

The invention discloses a wet dragging type transportation and installation system and method for an offshore wind turbine jacket foundation, and belongs to the technical field of offshore wind power generation. The wet dragging type transportation and installation system comprises a dragging wheel, a dragging cable, a jacket foundation and a transportation and installation tool; the tugboat is used for providing power for long-distance transportation of the jacket foundation and carrying the jacket foundation to a target sea area in a wet manner; the transportation and installation tool is used for fixedly supporting each main leg or suction cylinder structure of the jacket foundation through the telescopic fastening mechanical arm structure; the transportation and installation tool and the tug are connected through a towing cable, and the offshore wind turbine jacket foundation wet towing type transportation and installation system is regulated and controlled through the control system. Transportation and installation of the jacket foundation can be achieved through the transportation and installation tool and small and medium tugs, and construction period delay caused by limited ship resources can be avoided. The cost of small and medium tugs is greatly reduced compared with that of a large transport ship, meanwhile, the transport and installation tool can be recycled, and the economical efficiency of jacket transport and installation is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of offshore wind power generation, and in particular relates to a wet-towed transportation and installation system and method for an offshore wind turbine jacket foundation. Background Art

[0002] At present, monopile foundation is still the most widely used foundation form for offshore wind power in the world. With the development of offshore wind farms moving towards deep sea, it is generally believed that after the water depth exceeds 40-50m, the economic advantage of monopile foundation gradually weakens, while the jacket foundation can be used in water depths within 100m. As the water depth of jacket structure application deepens, the jacket becomes larger and larger, the wind farm is farther and farther from the shore, and the sea conditions are getting worse and worse. The construction and installation of jacket foundation involves many problems such as jacket transportation at sea, jacket leveling, underwater positioning accuracy control and installation, which need to be solved in depth.

[0003] The existing technology generally uses ships to transport wind turbine conduit foundations, which requires the transport ship to be equipped with deck barges, semi-submersible vessels and other equipment. However, the main dimensions of the ship (length, width, draft depth) during transportation have special requirements for dock conditions (elevation, length, flatness, etc.), and the ship has high requirements for the depth of the dock waters, resulting in high transportation costs. In addition, the number of ships that meet the transportation conditions is limited, and it is difficult to meet the ship transportation cycle schedule, which is not conducive to the timely transportation, punctual arrival and safe transportation of wind turbine conduits, resulting in delays in the construction period. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that wind turbine conduit foundations are difficult to transport by existing ships, and to propose a wet-towed transportation and installation system and method for offshore wind turbine conduit foundations.

[0005] In a first aspect, the present invention provides a wet-towed transportation and installation system for an offshore wind turbine jacket foundation, comprising: a tugboat, a tow cable, a jacket foundation and a transportation and installation tool; the tugboat is used to provide power for long-distance transportation of the jacket foundation, and wet-tow the jacket foundation to a target sea area; the transportation and installation tool fixes the main legs or suction cylinder structure supporting the jacket foundation through a telescopic fastening mechanical arm structure; the transportation and installation tool and the tugboat are connected by a tow cable, and the wet-towed transportation and installation system for the offshore wind turbine jacket foundation is regulated by a control system.

[0006] Preferably, the transport and installation tooling comprises a tooling main structure, a telescopic fastening mechanical arm and a propeller; a groove matching the main leg of the conductor frame foundation is provided in the middle of the tooling main structure, a plurality of telescopic fastening mechanical arms are provided on the inner side of the groove, and a plurality of propellers are provided on the surface of the tooling main structure.

[0007] Preferably, a connecting structure is provided on the outer walls opposite to the groove of the tooling main structure.

[0008] Preferably, the telescopic fastening mechanical arm comprises a base plate, a main arm, a secondary arm, a hydraulic telescopic rod 1, a hydraulic telescopic rod 2, a hydraulic telescopic rod 3 and a magnetic device. The surface of the base plate is hinged to one end of the main arm, and the side close to the other end of the main arm is connected to the base plate through a hydraulic telescopic rod 1. The other end of the main arm is hinged to the secondary arm, and the other end of the secondary arm is hinged to the magnetic device. The side of the main arm close to one end of the secondary arm is provided with a hydraulic telescopic rod 2 hinged to one side of the secondary arm, and the other side of the secondary arm is provided with a hydraulic telescopic rod 3 hinged to the magnetic device.

[0009] Preferably, the middle part of the transmission buckle is a transmission buckle main body platform, a transmission buckle limiting boss is arranged at the lower end of the transmission buckle main body platform, a transmission buckle compression slope is arranged on the outer side of the upper end of the transmission buckle main body platform, and a transmission buckle main rod body is arranged on the inner side.

[0010] Preferably, the propeller includes a fixed pad installed on the surface of the tooling main structure by means of a plurality of high-strength nuts, a speed change gear box is provided on the surface of the fixed pad, the speed change gear box is connected to a connecting rod, a propeller cover is connected to the top of the connecting rod, and a plurality of propeller blades are arranged around the propeller cover.

[0011] Preferably, the control system includes a vertical motion module, a horizontal motion module, a retractable module, a positioning monitoring module, a power module and a control module; the vertical motion module controls the injection and discharge of water in the cavity of the transport and installation tooling to control diving and floating, and realizes the overall vertical movement by rotating the propeller on the surface; the horizontal motion module controls the rotation of the propeller on the side of the transport and installation tooling to realize the overall horizontal movement; the retractable module controls the telescopic fastening mechanical arm through the hydraulic system to realize the change of the angle of the main arm and the secondary arm, so that the end of the telescopic fastening mechanical arm approaches and moves away from the center point, and combines the opening and closing control of the magnetic suction device to realize the tightening and loosening of the main leg of the conductor frame foundation; the positioning monitoring module includes an underwater rangefinder, a level, a GPS locator, and an accelerometer; the power module is used to provide power for the vertical motion module, the horizontal motion module, the fastening module, and the positioning monitoring module; the control module is used to receive and process positioning monitoring data and control signals, and the control module transmits data and communication with other modules through electrical signals.

[0012] In a second aspect, a wet-towed transportation and installation method for an offshore wind turbine jacket foundation is applicable to an offshore wind turbine jacket foundation wet-towed transportation and installation system, comprising the following steps: S1. Process and manufacture the jacket foundation and the required transport and installation tooling at the onshore dock, and conduct bearing capacity and sealing tests on the transport and installation tooling; S2. Use the dock lifting equipment to hoist the transport and installation tooling into the harbor at the front of the dock, use the towing cable to connect the connecting structure of the transport and installation tooling with the dock bollard, and use the control system to keep the overall level of the transport and installation tooling so that a certain space is maintained in the telescopic fastening mechanical arm inside the transport and installation tooling.

[0013] S3. Use the dock lifting equipment to hoist the jacket foundation to the top of the transport and installation tooling and slowly lower it. After the jacket foundation main legs reach the predetermined height, control the retractable and retractable module of the control system to retract the space inside the telescopic and tightening mechanical arm so that it clamps the jacket foundation main legs; control the magnetic suction device to generate adsorption force and continue to slowly lower the jacket foundation so that the transport and installation tooling reaches the predetermined water level according to the project requirements; S4. Release the towing cable, use the cable to connect the connection structure with the towing winch of the ocean tugboat, and use the tugboat to transport the jacket foundation to the designated sea area.

[0014] Beneficial effects of the present invention: 1. The transportation and installation tooling and small and medium-sized tugboats can be used to transport and install the jacket foundation, which can avoid delays caused by limited ship resources. The cost of small and medium-sized tugboats is much lower than that of large transport ships, and the transportation and installation tooling can be recycled, which greatly improves the economic efficiency of jacket transportation and installation.

[0015] 2. The transport and installation tooling is semi-submersible. After being combined with the jacket foundation, the overall center of gravity is located below the sea surface, which improves the overall stability and ensures the safety of jacket foundation transportation.

[0016] 3. The transport and installation tooling combined with the control system can effectively realize the horizontal positioning, sinking and underwater position precision control of the jacket foundation without relying on crane equipment, thus improving the efficiency of jacket foundation installation and reducing installation costs.

[0017] 4. The transport and installation tooling utilizes a telescopic tightening mechanical arm to shrink and tighten the foundation of the conductor rack. At the same time, the magnetic suction device at the end of the mechanical arm is used to strengthen the bonding force between the conductor rack and the foundation of the conductor rack, thereby better transferring the load of the conductor rack to the transport and installation tooling. It can be applied to the main legs or suction cylinders of conductor racks of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings, in which the same reference symbols are used to represent the same components throughout the drawings.

[0019] Figure 1 It is a schematic diagram of transporting the four-pile jacket foundation of the present invention; Figure 2 It is a schematic diagram of transporting the three-pile jacket foundation of the present invention; Figure 3 It is a schematic diagram of the wet-towed transportation system for the offshore wind turbine jacket foundation of the present invention; Figure 4 It is a front view of the wet-towed transportation system for the offshore wind turbine jacket foundation of the present invention; Figure 5 It is a left view of the wet-towed transportation system for offshore wind turbine jacket foundation of the present invention; Figure 6 A top view of the wet-towed transportation system for the offshore wind turbine jacket foundation of the present invention; Figure 7 A three-dimensional schematic diagram of the telescopic fastening mechanical arm of the present invention; Figure 8 It is a front view of the telescopic fastening mechanical arm of the present invention; Fig. 9 It is a left view of the telescopic fastening mechanical arm of the present invention; Fig.10 A top view of the telescopic fastening mechanical arm of the present invention; Fig.11 It is a schematic diagram of the three-dimensional structure of the propeller of the present invention; Fig.12 It is a schematic diagram of the telescopic fastening mechanical arm of the present invention; Fig.13 It is a schematic diagram of the wet-towed transportation system for the offshore wind turbine jacket foundation of the present invention; Fig.14 It is a schematic diagram of the transportation steps of the wet-towed transportation system for offshore wind turbine jacket foundation of the present invention; Fig.15 It is a schematic diagram of the installation steps of the wet-towed transportation system for the offshore wind turbine jacket foundation of the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1-transportation and installation tooling, 101-tooling main structure, 102-telescopic fastening mechanical arm, 103-propeller, 104-connecting structure, 2-catheter frame foundation, 201-bottom plate, 202-main arm, 203-secondary arm, 204-hydraulic telescopic rod one, 205-hydraulic telescopic rod two, 206-hydraulic telescopic rod three, 207-magnetic device, 3-cable, 301-propeller cover, 302-propeller blades, 303-fixing pad, 304-high-strength nut, 305-speed gearbox, 4-tugboat. DETAILED DESCRIPTION

[0021] Example 1: Figure 1As shown, a wet-towed transportation and installation system for an offshore wind turbine jacket foundation includes a tugboat 4, a tow cable 3, a jacket foundation 2, and a transportation and installation tool 1; the tugboat 4 is used to provide power for long-distance transportation of the jacket foundation 2, and wet-tow the jacket foundation 2 to the target sea area; the transportation and installation tool 1 fixes the main legs or suction cylinder structures supporting the jacket foundation 2 through a telescopic fastening mechanical arm structure 102; the transportation and installation tool 1 and the tugboat 4 are connected through a tow cable 3, and the wet-towed transportation and installation system for an offshore wind turbine jacket foundation is controlled by a control system. The transportation and installation tool 1 includes a tool main structure 101, a telescopic fastening mechanical arm 102, and a propeller 3; a groove matching the main leg of the jacket foundation 2 is provided in the middle of the tool main structure 101, a plurality of telescopic fastening mechanical arms 102 are provided inside the groove, and a plurality of propellers 3 are provided on the surface of the tool main structure 101. Among them, the main structure of the tooling can be C-shaped as a whole, with three sides being rectangular cavity structures, one side being left empty to facilitate the recycling and reuse of the tooling after installation, and a connecting structure being provided on the outer wall of the rectangular cavity on the opposite side for connecting to the tow cable.

[0022] Specifically, Figure 3-10 As shown, a connection structure is provided on the outer wall opposite to the groove of the tooling main structure 101. The telescopic fastening mechanical arm 102 comprises a bottom plate 201, a main arm 202, a secondary arm 203, a hydraulic telescopic rod 1 204, a hydraulic telescopic rod 2 205, a hydraulic telescopic rod 3 206 and a magnetic device 207. The surface of the bottom plate 201 is hinged to one end of the main arm 202, and the side close to the other end of the main arm 202 is connected to the bottom plate 201 through the hydraulic telescopic rod 1 204. The other end of the main arm 202 is hinged to the secondary arm 203, and the other end of the secondary arm 203 is hinged to the magnetic device 207. The side of the main arm 202 close to one end of the secondary arm 203 is provided with a hydraulic telescopic rod 2 205 hinged to one side of the secondary arm 203, and the other side of the secondary arm 203 is provided with a hydraulic telescopic rod 3 206 hinged to the magnetic device 207.

[0023] like Fig.12 As shown, the hydraulic telescopic rod 1 is extended and shortened by the hydraulic system to adjust the distance between the main arm and the inner surface of the main structure of the tooling. The secondary arm is also connected to the end of the main arm through a hinge, and is connected to the middle of the main arm through the hydraulic telescopic rod 2. The extension and retraction of the hydraulic telescopic rod 2 can adjust the angle between the main and secondary arms, thereby adjusting the distance between the end of the secondary arm and the inner surface of the main structure of the tooling, so as to adapt to the installation of the jacket foundation of different sizes.

[0024] The end of the secondary arm is hinged to the magnetic device and is connected to the magnetic device through a hydraulic telescopic rod. By adjusting the extension and retraction of the hydraulic telescopic rod three, the angle between the magnetic device and the vertical plane can be controlled to better adapt to the surface inclination angle of the main leg (suction cylinder) of the catheter frame foundation.

[0025] The magnetic attraction device adopts an electromagnetic adsorption device that controls the circuit switch. The force between the mechanical arm and the catheter frame foundation can be controlled by opening and closing the electromagnet and the circuit, thereby realizing the tightening effect of the telescopic tightening mechanical arm.

[0026] This application can realize the transportation and installation of the jacket foundation by using the transportation and installation tooling and small and medium-sized tugboats, which can avoid the delay of the construction period caused by limited ship resources. The cost of small and medium-sized tugboats is much lower than that of large transport ships, and the transportation and installation tooling can also be recycled, which greatly improves the economy of the jacket transportation and installation.

[0027] The transport and installation tooling is semi-submersible. After being combined with the jacket foundation, the overall center of gravity is located below the sea surface, which improves the overall stability and ensures the safety of jacket foundation transportation.

[0028] The transport and installation tooling utilizes a telescopic tightening mechanical arm to shrink and tighten the catheter rack foundation, and utilizes a magnetic suction device at the end of the mechanical arm to strengthen the bonding force between the catheter rack foundation and the transport and installation tooling, thereby better transferring the catheter rack load to the transport and installation tooling, and can be applied to different sizes of catheter rack main legs or suction cylinders.

[0029] Example 2: Fig.11 As shown, a wet-towed transportation and installation system for an offshore wind turbine jacket foundation includes a tugboat 4, a tow cable 3, a jacket foundation 2, and a transportation and installation tool 1; the tugboat 4 is used to provide power for long-distance transportation of the jacket foundation 2, and wet-tow the jacket foundation 2 to the target sea area; the transportation and installation tool 1 fixes the main legs or suction cylinder structures supporting the jacket foundation 2 through a telescopic fastening mechanical arm structure 102; the transportation and installation tool 1 and the tugboat 4 are connected by a tow cable 3, and the wet-towed transportation and installation system for the offshore wind turbine jacket foundation is controlled by a control system. Among them, the transportation and installation tool 1 includes a tool main structure 101, a telescopic fastening mechanical arm 102, and a propeller 3; a groove matching the main leg of the jacket foundation 2 is provided in the middle of the tool main structure 101, a plurality of telescopic fastening mechanical arms 102 are provided inside the groove, and a plurality of propellers 3 are provided on the surface of the tool main structure 101. The propeller 3 includes a fixed pad 303 installed on the surface of the tooling main structure 101 through a plurality of high-strength nuts 304, a speed change gear box 305 is arranged on the surface of the fixed pad 303, the speed change gear box 305 is connected to a connecting rod 306, the top of the connecting rod 306 is connected to a propeller cover 301, and a plurality of propeller blades 302 are arranged around the propeller cover 301.

[0030] Example 3: Fig.13 As shown, a wet-towed transport and installation system for an offshore wind turbine jacket foundation also includes a control system including a vertical motion module, a horizontal motion module, a retracting and releasing module, a positioning monitoring module, a power module and a control module; The vertical motion module controls the injection and discharge of water in the cavity of the transport and installation tool 1 to control diving and floating, and realizes the overall vertical motion through the rotation of the propeller 3 on the surface; The horizontal motion module controls the propeller 3 on the side of the transport and installation tool 1 to rotate to achieve overall horizontal motion; The retractable and retractable module controls the telescopic and tightening mechanical arm 102 through the hydraulic system to achieve the change of the angle between the main arm 202 and the secondary arm 203, so that the end of the telescopic and tightening mechanical arm 102 is close to and away from the center point, and the main leg of the jacket foundation 2 is tightened and loosened in combination with the opening and closing control of the magnetic suction device 207; The positioning monitoring module includes an underwater rangefinder, a level, a GPS locator, and an accelerometer; The power module is used to provide power for the vertical motion module, the horizontal motion module, the fastening module, and the positioning monitoring module; The control module is used to receive and process positioning monitoring data and control signals. The control module transmits data and communicates with other modules through electrical signals.

[0031] In the present application, the transport and installation tooling is combined with a control system to effectively realize the horizontal positioning, sinking and precise control of the underwater position of the jacket foundation without relying on crane equipment, thereby improving the efficiency of the jacket foundation installation and reducing the installation cost.

[0032] Example 4: Fig.14 As shown, the present application also provides a wet-towed transportation and installation method for an offshore wind turbine jacket foundation, and the main steps of transportation are: (1) Onshore preparation stage. The jacket foundation (pile type or suction cylinder type) and the required transportation and installation tooling are processed and manufactured at the onshore dock, and the bearing capacity and sealing performance of the transportation and installation tooling are tested.

[0033] (2) The tooling is put into place. The transport and installation tooling is hoisted into the port basin at the front of the wharf using the dock lifting equipment. The connecting structures of all the tooling main structures are connected to the dock bollards using mooring chains. The control system (level gauge feedback signal, vertical motion module adjusts the horizontal angle) is used to keep all the tooling level as a whole without tilting. At the same time, a large space is maintained inside the telescopic fastening mechanical arm of the transport and installation tooling.

[0034] (3) The jacket is hoisted into place. Use the dock lifting equipment to hoist the jacket foundation to the top of the transport and installation tooling and slowly lower it down until the jacket foundation main legs (suction cylinders) reach the predetermined height. Then, control the retractable module of the control system to retract the space inside the telescopic tightening mechanical arm so that it clamps the jacket foundation main legs (suction cylinders). Then, control the magnetic suction device to generate adsorption force to enhance the connection between the mechanical arm and the jacket foundation. Continue to slowly lower the jacket so that most of the transport and installation tooling is pressed into the water, presenting a semi-submerged state, and keep the overall center of gravity of the combined structure below the sea surface (if the jacket is too light to press the transport and installation tooling into the water, seawater can be pumped into the tooling to keep the overall structure stable).

[0035] (4) Transport to the sea area to be installed. Loosen the mooring chain and use the cable to connect the connecting structure to the towing winch of the ocean tugboat. Figure 1 and 2 As shown, the jacket foundation is transported to the designated sea area.

[0036] like Fig.15 As shown, the main steps of installation are: (1) Overall positioning calibration. After the ocean tugboat tows the jacket foundation to the designated operating sea area, the horizontal position of the jacket foundation is corrected using the GPS position signal fed back by the positioning monitoring module of the control system to meet the jacket horizontal coordinate requirements (the error does not exceed ±1m).

[0037] (2) Sinking of the jacket. The cable is disconnected, and the control system's vertical motion module and positioning monitoring module (underwater rangefinder measures underwater distance) work simultaneously, so that the jacket foundation slowly and steadily sinks along with the transport and installation tooling. After the feedback signal from the positioning monitoring module reaches the predetermined depth, the horizontal motion module, positioning monitoring module, and vertical motion module work simultaneously, and slightly and slowly adjust the horizontal and vertical positions of the jacket foundation, so that the plug tip accurately enters the seabed steel pipe pile (pile type) or the suction cylinder accurately sinks to the specified position.

[0038] (3) The tooling is detached. The control system retracting and extending module controls the magnetic suction device at the end of the telescopic fastening mechanical arm to eliminate the suction force, and at the same time controls hydraulic rod 1 and hydraulic rod 2 to make the telescopic fastening mechanical arm move away from the foundation of the conductor frame. At the same time, the accelerometer of the positioning monitoring module monitors the acceleration of the transport and installation tooling, and the vertical motion module controls seawater to enter the installation tooling to balance the buoyancy of the tooling.

[0039] (4) Tool recovery. After the telescopic fastening mechanical arm is away from the main leg (suction cylinder) of the jacket foundation, the horizontal motion module moves the tool horizontally to a position away from the jacket foundation, and then discharges the seawater to enable the installation tool to slowly float to the surface of the seawater. It is then towed to the dock using an ocean tugboat and cable for the transportation and installation of the next jacket foundation.

[0040] The above specific embodiments are preferred embodiments of the present invention, and are not intended to limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to the present specific embodiments. All equivalent changes made in accordance with the shape, structure, and method of the present invention are within the protection scope of the present invention.

Claims

1. A wet-towed transportation and installation system for an offshore wind turbine jacket foundation, characterized in that: The invention comprises a tugboat (4), a tow cable (3), a jacket foundation (2) and a transport and installation tool (1); the tugboat (4) is used to provide power for long-distance transport of the jacket foundation (2), and wet-tow the jacket foundation (2) to a target sea area; the transport and installation tool (1) fixes each main leg or suction cylinder structure supporting the jacket foundation (2) through a telescopic fastening mechanical arm structure (102); the transport and installation tool (1) and the tugboat (4) are connected through a tow cable (3), and the wet-towed transport and installation system of the jacket foundation of an offshore wind turbine is regulated by a control system.

2. According to claim 1, a wet-towed transportation and installation system for an offshore wind turbine jacket foundation is characterized in that: The transport and installation tool (1) comprises a tool main structure (101), a telescopic fastening mechanical arm (102) and a propeller (3); a groove matching the main leg of the jacket foundation (2) is arranged in the middle of the tool main structure (101), a plurality of telescopic fastening mechanical arms (102) are arranged inside the groove, and a plurality of propellers (3) are arranged on the surface of the tool main structure (101).

3. The wet-towed transportation and installation system for offshore wind turbine jacket foundation according to claim 2 is characterized in that: The outer wall opposite to the groove of the tooling main structure (101) is provided with a connection structure.

4. The wet-towed transportation and installation system for offshore wind turbine jacket foundation according to claim 3 is characterized by: The telescopic fastening mechanical arm (102) comprises a base plate (201), a main arm (202), a secondary arm (203), a hydraulic telescopic rod 1 (204), a hydraulic telescopic rod 2 (205), a hydraulic telescopic rod 3 (206) and a magnetic attraction device (207); the surface of the base plate (201) is hinged to one end of the main arm (202); a side close to the other end of the main arm (202) is connected to the base plate (201) via the hydraulic telescopic rod 1 (204); the other end of the main arm (202) is hinged to the secondary arm (203); the other end of the secondary arm (203) is hinged to the magnetic attraction device (207); a side of the main arm (202) close to one end of the secondary arm (203) is provided with a hydraulic telescopic rod 2 (205) hinged to one side of the secondary arm (203); and the other side of the secondary arm (203) is provided with a hydraulic telescopic rod 3 (206) hinged to the magnetic attraction device (207).

5. The wet-towed transportation and installation system and method for offshore wind turbine jacket foundation according to claim 4 is characterized in that: The propeller (3) comprises a fixed pad (303) mounted on the surface of the tooling main structure (101) via a plurality of high-strength nuts (304); a speed change gear box (305) is arranged on the surface of the fixed pad (303); the speed change gear box (305) is connected to a connecting rod (306); a propeller cover (301) is connected to the top of the connecting rod (306); and a plurality of propeller blades (302) are arranged around the propeller cover (301).

6. The wet-towed transportation and installation system for offshore wind turbine jacket foundation according to claim 1 is characterized by: The control system includes a vertical motion module, a horizontal motion module, a retracting and extending module, a positioning monitoring module, a power module and a control module; The vertical motion module controls the injection and discharge of water in the cavity of the transport and installation tool (1) to control diving and buoyancy, and realizes the overall vertical motion by rotating the propeller (3) on the surface; The horizontal motion module controls the propeller (3) on the side of the transport and installation tooling (1) to rotate to achieve overall horizontal motion; The retractable and retractable module controls the telescopic and tightening mechanical arm (102) through a hydraulic system to achieve changes in the angles of the main arm (202) and the secondary arm (203), thereby causing the end of the telescopic and tightening mechanical arm (102) to approach and move away from the center point, and combines the opening and closing control of the magnetic suction device (207) to achieve the tightening and loosening of the main leg of the catheter frame foundation (2); The positioning monitoring module includes an underwater rangefinder, a level meter, a GPS locator, and an accelerometer; The power module is used to provide power for the vertical motion module, the horizontal motion module, the fastening module, and the positioning monitoring module; The control module is used for receiving and processing positioning monitoring data and control signals, and the control module transmits data and communicates with other modules via electrical signals.

7. A wet-towed transportation and installation method for an offshore wind turbine jacket foundation, applicable to an offshore wind turbine jacket foundation wet-towed transportation and installation system as claimed in any one of claims 1 to 6, characterized in that: The steps include: S1. Processing and manufacturing the jacket foundation (2) and the required transport and installation tooling (1) at the onshore dock, and performing bearing capacity and sealing tests on the transport and installation tooling; S2. Use the dock lifting equipment to hoist the transport and installation tool (1) into the dock front port basin, use the towing cable (3) to connect the connection structure of the transport and installation tool (1) and the dock bollard, and use the control system to keep the overall level of the transport and installation tool (1) so that a certain space is maintained in the telescopic fastening mechanical arm (102) inside the transport and installation tool (1).

8. S3. Use the dock lifting equipment to hoist the jacket foundation (2) to the top of the transport and installation tooling (1) and slowly lower it down. After the main legs of the jacket foundation (2) reach a predetermined height, control the retractable and retractable module of the control system to retract the space inside the telescopic and tightening mechanical arm (102) so that it clamps the main legs of the jacket foundation (2); control the magnetic suction device (207) to generate an adsorption force and continue to slowly lower the jacket foundation (2) so that the transport and installation tooling (1) reaches a predetermined water level according to the engineering requirements; S4, releasing the towing cable (3), connecting the connection structure to the towing winch of the ocean tugboat by using the cable, and transporting the jacket foundation (2) to the designated sea area by using the tugboat (4).

Images