Marine embarkation gangway ladder and control method thereof

Abstract

The marine embarkation gangway ladder comprises a control platform, a telescopic ladder assembly, a multi-angle compensation mechanism and a hoop, the telescopic ladder assembly comprises a fixed section and an extension section which are in telescopic connection with each other, the control platform comprises a rotation compensation mechanism and a pitching compensation mechanism, and the control platform is movably connected with the fixed section of the telescopic ladder assembly; the telescopic ladder assembly can horizontally rotate and pitch on the basis of the control platform, and the extension section of the telescopic ladder assembly is connected with the hoop through the multi-angle compensation mechanism; the multi-angle compensation mechanism comprises a connector assembly, the connector assembly comprises a hinge rod and a first spring set, the two ends of the hinge rod are directly or indirectly connected with the extension section of the telescopic ladder assembly and the hoop respectively, one end of the hinge rod is horizontally hinged, and the other end of the hinge rod is vertically hinged. The first spring sets are symmetrically and coaxially arranged on the periphery of the hinge rod so as to elastically adjust rotation of the hinge rod. The compensation performance of the gangway ladder is optimized, and the energy efficiency, stability and simplicity of the whole system are improved.

Description

Technical Field

[0001] The present invention relates to the field of offshore operation equipment, and in particular to an offshore boarding gangway and a control method thereof. Background Art

[0002] With the large-scale development of domestic offshore wind power, the operation and maintenance of offshore wind farms has become increasingly arduous. Due to the complex offshore environment, under the influence of factors such as waves and wind in high sea conditions, offshore wind power operation and maintenance operations are highly dangerous, the operation window period is reduced, and the availability of offshore wind farms is reduced. The accessibility of offshore wind power operation and maintenance has become an important factor restricting the improvement of quality and efficiency of offshore wind farms. At present, my country's offshore wind turbine operation and maintenance mostly use small operation and maintenance ships. The operation and maintenance ship berths the wind turbine foundation and relies on the ship's own power to lean against the mooring column. During the interval of leaning, the operation and maintenance personnel climb the wind turbine foundation ladder from the bow to the platform. This working mode is extremely dependent on sea conditions. Once encountering strong sea conditions, the operation and maintenance ship cannot be stably berthed, resulting in the inability of operation and maintenance personnel to board the wind turbine in time to carry out inspection and maintenance work, reducing the utilization rate of the wind turbine. In addition, wind and waves cause the ship to roll, pitch, and swing. When personnel climb from the ship to the wind turbine tower, when the maintenance ship cannot stably lean against the wind turbine foundation, there is a large relative movement between the ship and the ship column. The maintenance personnel face serious safety risks when climbing the wind turbine ladder directly from the bow. The prior art discloses some bridge devices and transfer systems that are carried on maintenance ships for personnel to pass through. However, the prior art is either complex in structure and low in stability, or simple in structure but low in compensation accuracy. Ultimately, no technical solution with simple structure, high stability and high compensation accuracy was obtained. Summary of the invention

[0003] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a marine boarding gangway and a control method thereof, which optimizes the compensation performance of the gangway and improves the energy efficiency, stability and simplicity of the overall system.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] An offshore boarding ladder, comprising a control platform, a telescopic ladder frame, a multi-angle compensation mechanism and a hoop. The telescopic ladder frame includes a fixed section and an extension section which are telescopically connected to each other. The control platform includes a slewing compensation mechanism and a pitching compensation mechanism. The control platform is movably connected to the fixed section of the telescopic ladder frame, so that the telescopic ladder frame can perform horizontal rotation and pitching movement based on the control platform. The extension section of the telescopic ladder frame is connected to the hoop through the multi-angle compensation mechanism. The multi-angle compensation mechanism includes a joint assembly, which includes a hinged rod and a first spring group. The two ends of the hinged rod are directly or indirectly connected to the extension section of the telescopic ladder frame and the hoop respectively. One end of the hinged rod is horizontally hinged, and the other end is vertically hinged. The first spring group is symmetrically and coaxially arranged on the outer periphery of the hinged rod to elastically adjust the rotation of the hinged rod.

[0006] Specifically, the multi-angle compensation mechanism further includes an adjustment assembly, which includes an adjustment rod, a bushing, two adjustment springs and two side springs. The bushing is fixedly connected to the extension section of the telescopic ladder frame. The bushing sleeves the adjustment rod, and the adjustment rod can move in and out of the bushing. One end of the adjustment rod is fixedly connected to the joint assembly, and the other end of the adjustment rod is connected to the two side springs fixed on the extension section of the telescopic ladder frame. The two adjustment springs are respectively sleeved on the two ends of the adjustment rod and elastically abut against the two ends of the bushing.

[0007] Furthermore, the control platform further includes a slewing base, a slewing gear and a boarding ladder. The slewing gear is arranged on the slewing base. The boarding ladder is fixed on the slewing gear and is in transmission connection with each other. The slewing compensation mechanism includes a slewing motor, a slewing clutch and a slewing speed reducer. The slewing motor is in transmission connection with the slewing speed reducer. The slewing speed reducer is provided with an output gear, and the output gear meshes with the slewing gear. The slewing clutch is arranged between the slewing motor and the slewing speed reducer.

[0008] Specifically, the fixed section of the telescopic ladder frame is movably connected to the control platform by being hinged to the boarding ladder. The pitching compensation mechanism includes two hydraulic cylinders. The bodies of the hydraulic cylinders are arranged on the boarding ladder. The piston rods of the hydraulic cylinders are respectively connected to the fixed section of the telescopic ladder frame in a supporting manner on both sides of the axis of the telescopic ladder frame.

[0009] Specifically, sliding grooves are respectively arranged on both sides of the axis of the fixed section of the telescopic ladder frame. The cross section of the sliding groove is similar to the letter 'E'. Correspondingly, sliding rails are respectively arranged on both sides of the axis of the extension section. The cross section of the sliding rail is similar to the letter 'C'. Through the mutual engagement and splicing of the C-shaped sliding rail and the E-shaped sliding groove, the sliding groove and the sliding rail are slidably connected to each other.

[0010] Specifically, the slideway includes two first flanges, a partition portion located in the middle, and two slideway cavities. The two first flanges respectively extend towards each other to form a first stop strip. The slide rail includes two second flanges and a slide rail cavity in the middle. The slide rail cavity corresponds to and matches the partition portion of the slideway, and the two second flanges respectively correspond to and match the two slideway cavities. After the slide rail and the slideway are docked, an accommodation space is formed, one above and one below, and a rotor is arranged therein.

[0011] Furthermore, the partition portion of the slideway is a hollow cylindrical shape, and a telescopic cylinder is arranged therein. The ends of the piston rod of the telescopic cylinder are hung on both sides of the axial direction of the extension section.

[0012] Specifically, the hoop is of a horizontally expandable and contractible type, and includes a clamping seat, two clamping claws, and a driver. The two clamping claws are respectively hinged on both sides of the clamping seat, the driver is installed on the clamping seat, and the transmission components of the driver are respectively hinged to the two clamping claws.

[0013] Further, the clamping claw includes a second spring group, a hinge member, a connecting member, and a clamping claw body. The second spring group is two symmetrically arranged springs. The two ends of the second spring group are respectively connected to the hinge member and the connecting member. The connecting member is fixedly connected to the transmission component of the driver. The hinge member is actively hinged to the clamping claw body through a rotating shaft, and the clamping seat body is passively hinged to the clamping seat through another rotating shaft.

[0014] Another technical solution for solving the technical problem of the present invention provides a control method for a marine boarding gangway, and its steps are in sequence:

[0015] 1) Adjust the maintenance ship to a distance range where the telescopic ladder frame can overlap with the wind turbine tower barrel.

[0016] 2) Control the pitch compensation mechanism to adjust the telescopic ladder frame to a horizontal position.

[0017] 3) Control the slewing compensation mechanism to horizontally rotate the telescopic ladder frame to the working position.

[0018] 4) Control the telescopic ladder frame to extend its extension section forward to approach the wind turbine column of the wind turbine tower barrel.

[0019] 5) Control the hoop to hold the wind turbine column, and close the pitch compensation mechanism and the slewing compensation mechanism to switch the marine boarding gangway from the active compensation state to the passive compensation state.

[0020] 6) Conduct boarding and evacuation of personnel and materials.

[0021] 7) Control the hoop to release the wind turbine column, and simultaneously restart the pitch compensation mechanism and the slewing compensation mechanism to switch the marine boarding gangway to the active compensation state.

[0022] 8) Control the telescopic ladder frame, pitch compensation mechanism and slewing compensation mechanism to retract the telescopic ladder frame.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] 1. By controlling the slewing compensation mechanism and pitch compensation mechanism of the platform and the horizontal and vertical hinges of the multi-angle compensation mechanism, the present invention realizes the compensation of horizontal rotation and pitch movement at both ends of the telescopic ladder frame, ensuring the stable use of the offshore boarding ladder and improving the safety and work efficiency of the maintenance work of the staff.

[0025] 2. The slewing compensation mechanism and pitch compensation mechanism of the control platform of the present invention serve as driving devices, and they realize the switching between the active compensation and passive compensation states of the offshore boarding ladder by opening and closing.

[0026] 3. For the multi-angle compensation mechanism of the present invention, the joint assembly realizes the compensation of horizontal rotation and pitch movement between the telescopic ladder frame and the hoop through the horizontal and vertical hinges at both ends of the hinge rod, and the adjustment assembly realizes the compensation of the front-back displacement and vertical torsion movement between the telescopic ladder frame and the hoop through the adjustment of the adjustment rod, bushing and multiple springs. Its structure is compact, without manual intervention, and provides real-time feedback compensation, demonstrating a strong innovative concept.

[0027] 4. The slideway of the fixed section of the telescopic ladder frame of the present invention is engaged with the slide rail of the extension section in a special shape manner to achieve a tight sliding connection, which is not easy to fall off to resist harsh environments such as sea winds and waves. In addition, there are two groups of rotors up and down between the slideway and the slide rail to reduce the friction during the sliding process of the slideway and the slide rail and ensure smooth sliding.

[0028] 5. The hoop of the present invention is additionally provided with a second spring group, hinge parts and connecting parts on the clamping jaws, so that an elastic transmission is formed between the driver and the clamping jaw body to provide hoop holding compensation. After the clamping jaw holds the fan column, the clamping jaw can enter the passive compensation state and is not easily loosened. Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of the offshore boarding ladder in this embodiment.

[0030] Figure 2 It is a schematic structural diagram of the offshore boarding ladder in this embodiment after removing the upper board surface of the telescopic ladder frame.

[0031] Figure 3 It is Figure 2 A partial enlarged view of part A.

[0032] Figure 4It is a structural schematic diagram of the multi-angle compensation mechanism being connected to the telescopic ladder frame and the clamp respectively.

[0033] Figure 5 This is a schematic diagram of the disassembled structure of the multi-angle compensation mechanism.

[0034] Figure 6 In this embodiment, the rotary base is disassembled to display the rotary compensation drive device, and the telescopic cylinder end cover is disassembled to display the assembly schematic diagram of the piston rod, the slideway and the slide groove.

[0035] Figure 7 for Figure 6 A partial enlarged view of part C.

[0036] Figure 8 for Figure 6 A partial enlarged view of part D.

[0037] Figure 9 A schematic diagram of the cross-section of the slideway of the fixed section of the telescopic ladder.

[0038] Figure 10 A schematic diagram of a cross-section of a slide rail of an extended section of a telescopic ladder.

[0039] Figure 11 It is a schematic diagram of the top view and XYZ axial directions of this embodiment.

[0040] In the figure:

[0041] 10-control platform; 11-rotating base; 12-rotating gear; 13-boarding ladder; 14-rotating compensation mechanism; 141-rotating motor; 143-rotating clutch; 145-rotating transmission; 1450-output gear; 15-pitch compensation mechanism; 150-piston rod of pitch compensation mechanism; 16-control console; 17-auxiliary ladder;

[0042] 20- telescopic ladder; 21- fixed section; 214- fixed end; 216- connection end of fixed section; 218- slideway; 2181- first flange; 2182- partition; 2183- slideway cavity; 23- extension section; 236- connection end of extension section; 234- suspended end; 238- slideway; 2385- second flange; 2386- slideway cavity; 2484- stop bar; 2488- rotor; 25- driving device; 250- piston rod of driving device; 27- boarding platform;

[0043] 30-multi-angle compensation mechanism; 371-hinged rod; 372-front end plate; 373-rear end plate; 374-first spring group; 395-adjusting rod; 396-shaft sleeve; 397-adjusting spring; 398-side spring;

[0044] 40 - Hoop; 42 - Clamping seat; 44 - Claw; 441 - Second spring group; 443 - Hinge; 445 - Connecting piece; 447 - Claw body; 46 - Driver; 460 - Piston rod of the driver. Detailed implementation mode

[0045] For the convenience of understanding the present invention, the technical solutions and advantages of the present invention will be further described in detail below in conjunction with the drawings and embodiments. The mechanisms or methods not elaborated in the present invention can refer to the prior art. The specific structure and characteristics of the present invention are described below by way of example, and should not constitute any limitation to the present invention. At the same time, for any one of the technical features mentioned below (including those implicitly or explicitly disclosed), and any one of the technical features directly shown or implicitly in the drawings, any combination or deletion can be continued among these technical features, so as to form more other embodiments that may not be directly or indirectly mentioned in the present invention. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0046] As Figure 1-11 shown, a kind of marine boarding ladder provided in this embodiment can be installed on both sides of the ship for the movable ladder for crew members to get on and off the ship. In addition, one end of the ladder can be installed on the ship's deck, and the other end of the ladder can be clamped on the wind power tower barrel, so as to facilitate maintenance personnel to reach the tower barrel through the ladder for maintenance work.

[0047] The marine boarding ladder of this embodiment includes a control platform 10, a telescopic ladder frame 20, a multi - angle compensation mechanism 30 and a hoop 40. Among them, the control platform 10 is generally placed on the deck of the ship. The control platform 10 is movably connected to the fixed section 21 of the telescopic ladder frame 20, so that the telescopic ladder frame 20 can make horizontal rotation and pitching movement based on the control platform 10. The extension section 23 of the telescopic ladder frame 20 is connected to the hoop 40 through the multi - angle compensation mechanism 30, and the hoop 40 can clamp the wind power tower barrel.

[0048] Specifically, the control platform 10 includes a slewing base 11, a slewing gear 12, a boarding ladder 13, a slewing compensation mechanism 14, a pitching compensation mechanism 15, a console 16 and an auxiliary ladder 17. Among them, the slewing base 11 is generally fixedly placed on the deck of the ship. The slewing gear 12 is a horizontally placed gear member that can make horizontal rotation. The slewing gear 12 is arranged on the slewing base 11. The boarding ladder 13 is fixed on the slewing gear 12 and rotates horizontally with the slewing gear 12. The console 16 is arranged on one side of the boarding ladder 13. Preferably, the console 16 rotates horizontally with the boarding ladder. The auxiliary ladder 17 is arranged beside the slewing base 11 to assist the staff to board the slewing base 11.

[0049] The slewing compensation mechanism 14 is arranged in the slewing base 11, and the slewing compensation mechanism 14 includes a slewing motor 141, a slewing clutch 143 and a slewing transmission 145. The slewing motor 141 is connected to the slewing transmission 145 in a transmission manner, and the slewing transmission 145 is provided with an output gear 1450, and the output gear 1450 extends upward from the slewing base 11 and meshes with the slewing gear 12 to achieve a transmission connection. The slewing clutch 143 is arranged between the slewing motor 141 and the slewing transmission 145, and the slewing clutch 143 is connected to the slewing motor 141 and the slewing clutch 143 respectively. In this embodiment, preferably, the slewing motor 141 is a hydraulic motor. After the slewing motor 141 is started, the power transmission between the slewing motor 141 and the slewing transmission 145 can be quickly engaged or separated through the slewing clutch 143, so as to realize the start and stop control of the rotation of the boarding ladder 13.

[0050] The rotary drive action between the slewing motor 141, the slewing clutch 143 and the slewing transmission 145 is started, and the boarding ladder 13 is driven to rotate through the transmission slewing gear 12, thereby adjusting the horizontal direction of the entire offshore boarding gangway of this embodiment to complete the connection with the tower. When the offshore boarding gangway is tightly holding the wind turbine tower and is affected by sea waves, and the offshore boarding gangway encounters resistance or overload during rotation, the slewing clutch 143 can slip, absorb the impact during engagement and separation, reduce system vibration, and achieve the compensation effect of the rotation action of the offshore boarding gangway. Of course, the slewing motor 141 can also achieve smooth starting and stopping during operation, reduce impact, and when the load is too large, the hydraulic system can automatically unload pressure to protect the equipment; the slewing transmission 145 reduces the speed and increases the torque to ensure that the offshore boarding gangway operates stably when the load changes, avoids shaking, and reduces system wear. In this way, through the coordination and mutual support between the above-mentioned rotary motor 141, rotary clutch 143 and rotary transmission 145, the rotary motion compensation effect is achieved to prevent the rotary motor 141 and the transmission system from being damaged.

[0051] In this embodiment, preferably, at least two slewing compensation drive devices 25 are provided, which are arranged on both sides of the slewing gear 12 respectively. The output gears 1450 on the two slewing transmissions 145 respectively mesh with the slewing gear 12 on opposite sides to achieve symmetrical synchronous transmission, thereby further improving the slewing drive stability and slewing motion compensation effect of the offshore boarding gangway.

[0052] The telescopic ladder frame 20 includes a fixed section 21 and an extension section 23 connected to each other. The two ends of the fixed section 21 are respectively a fixed end 214 and a docking end 216, and the two ends of the extension section 23 are respectively a docking end 236 and a suspended end 234. The fixed end 214 of the fixed section 21 of the telescopic ladder frame 20 is hinged to the boarding ladder 13, so that the telescopic ladder frame 20 can make a pitching motion with the boarding ladder 13 as the axis. The fixed section 21 and the extension section 23 are connected to each other through their respective docking ends 216 / 236, so that the extension section 23 can be retracted inwardly or extended outwardly with the fixed section 21 as the same axis to achieve the telescopic function. The suspended end 234 of the extension section 23 is connected to the clamp 40 through the multi-angle compensation mechanism 30. The staff can walk to the wind turbine tower along the fixed section 21 and the extension section 23 of the telescopic ladder frame 20. The suspended end 234 of the extension section 23 is also provided with a boarding platform 27 for the staff to board the wind turbine tower.

[0053] On the basis of the fixed end 214 of the fixed section 21 of the telescopic ladder frame 20 being hinged to the boarding ladder 13, the pitch compensation mechanism 15 of the control platform 10 is respectively connected to the fixed section 21 of the telescopic ladder frame 20 and the boarding ladder 13 to achieve pitch motion compensation. In this embodiment, preferably, the pitch compensation mechanism 15 includes two hydraulic cylinders. The body of the hydraulic cylinder is arranged on the boarding ladder 13, and the piston rod 150 of the hydraulic cylinder is respectively connected to the fixed section 21 of the telescopic ladder frame 20 in a supporting manner on both sides of the axial direction of the telescopic ladder frame 20. The lifting or lowering of the telescopic ladder frame 20 can be adjusted by controlling the hydraulic cylinder. In addition to driving and adjusting the pitching angle of the telescopic ladder frame 20, the hydraulic cylinder has its own specific pressure compensation valve to keep the system pressure constant. When the load changes, the compensation valve automatically adjusts the flow or pressure according to the load change to avoid excessively high or low pressure, thereby ensuring the system stability of the telescopic ladder frame 20 during pitching action and protecting the equipment.

[0054] The connection method of the fixed section 21 and the extension section 23 of the telescopic ladder frame 20 is that slideways 218 are respectively provided on both axial sides of the fixed section 21, and correspondingly, slide rails 238 are respectively provided on both axial sides of the extension section 23, and the slideways 218 and the slide rails 238 are slidably connected to each other.

[0055] Specifically, the cross-section of the slideway 218 of the fixed section 21 is in a shape similar to the letter "E", with the concave parts of the two side slideways 218 facing each other, forming an inward-holding slideway 218. The slideway 218 in the shape similar to the letter "E" includes two upper and lower first flanges 2181, a partition part 2182 in the middle, and two upper and lower slideway cavities 2183 formed by the two first flanges 2181 and the partition part 2182. The partition part 2182 of the slideway 218 is a hollow cylindrical shape, with a driving device 25 disposed therein, and its transmission member extends out of the partition part 2182 and is connected to the extension section 23. Preferably in this embodiment, the driving device 25 is a telescopic cylinder, and the end of the piston rod 250 of the telescopic cylinder is hung on the edges of the suspended ends 234 on both sides of the axial direction of the extension section 23. By controlling the two symmetrically arranged telescopic cylinders to synchronously drive and control the telescopic movement of the extension section 23, the effect of balanced braking is achieved, avoiding the situation of telescopic jamming under the influence of harsh marine environments.

[0056] The cross-section of the slide rail 238 of the extension section 23 is in a shape similar to the letter "C", with the concave parts of the two side slide rails 238 facing away from each other. The slide rail 238 in the shape similar to the letter "C" includes two upper and lower second flanges 2385 and a slide rail cavity 2386 formed in the middle. The slide rail cavity 2386 corresponds to and matches the partition part 2182 of the slideway 218, and the two second flanges 2385 respectively correspond to the two slideway cavities 2183. Through the mutual engagement and splicing of the slide rail 238 in the shape similar to the letter "C" and the slideway 218 in the shape similar to the letter "E", the fixed section 21 and the extension section 23 of the telescopic ladder frame 20 are joined more firmly and are not easily affected by sea waves.

[0057] In addition, the two upper and lower first flanges 2181 of the slideway 218 respectively extend towards each other to form a retaining strip 2484, so that the opening part of the slideway cavity 2183 is blocked. After the slide rail 238 and the slideway 218 are docked, an accommodation space is formed at the upper and lower parts respectively. A rotor 2488 is arranged in the accommodation space. The rotor 2488 is movably connected to the slide rail 238 through a rotating shaft, and the rotor 2488 is slidably connected to the slideway 218. The rotor 2488 reduces the friction during the sliding process of the slide rail 238 and the slideway 218, making the sliding of the slide rail 238 and the slideway 218 smoother and more stable. Preferably in this embodiment, the rotor 2488 includes a horizontally rotating rotor 2488 and a vertically rotating rotor 2488, ensuring that the friction is reduced in both the horizontal and vertical directions of the sliding.

[0058] Furthermore, the connection relationship between the retaining strip of the slideway and the rotor of the slide rail and other parts of the slideway and the slide rail is interchanged. Specifically, the two upper and lower second flanges 2385 of the slide rail 238 extend away from each other to form a retaining strip. After the slide rail 238 and the slideway 218 are docked, an accommodation space is formed at the upper and lower parts respectively. A rotor is arranged in the accommodation space. The rotor is movably connected to the slideway 218 through a rotating shaft, and the rotor 2488 is slidably connected to the slide rail 238.

[0059] The multi-angle compensation mechanism 30 includes a joint assembly and an adjustment assembly. One end of the joint assembly is connected to the hoop 40, the other end of the joint assembly is connected to one end of the adjustment assembly, and the other end of the adjustment assembly is connected to the suspended end 234 of the extension section 23 of the telescopic ladder frame 20.

[0060] Specifically, the joint assembly includes a hinge rod 371, a front end plate 372, a rear end plate 373, and a first spring group 374. One end of the hinge rod 371 is vertically hinged to the front end plate 372, so that the hinge rod 371 can make a pitching motion around the connection point; the other end of the hinge rod 371 is horizontally hinged to the rear end plate 373, so that the hinge rod 371 can rotate horizontally around the connection point. The first spring group 374 consists of four springs, which are respectively arranged around the hinge rod 371 in the up, down, left, and right directions, and both ends of the first spring group 374 are respectively connected to the front end plate 372 and the rear end plate 373 to elastically adjust the rotation of the hinge rod 371. That is, when the hinge rod 371 makes a pitching motion around the connection point with the front end plate 372, the first spring group 374 is divided into upper and lower parts. The upper two springs and the lower two springs are not uniformly stressed, and elastically compensate for the pitching motion of the joint assembly; when the hinge rod 371 makes a horizontal rotation around the connection point with the rear end plate 373, the first spring group 374 is divided into left and right parts. The left two springs and the right two springs are not uniformly stressed, and elastically compensate for the horizontal rotation of the joint assembly.

[0061] Preferably in this embodiment, the front end plate 372 is integrally formed with the clamp seat 42 of the hoop 40. In other embodiments, the front end plate 372 can be fixedly connected to the clamp seat 42 of the hoop 40, or the hinge rod 371 is directly connected to the clamp seat 42 of the hoop 40, and only the first spring group 374 is connected to the front end plate 372. In other embodiments, the connection methods of the hinge rod 371 with the front end plate 372 and the rear end plate 373 can be interchanged. The principle is still within the concept of the present invention.

[0062] The adjusting assembly includes an adjusting rod 395, a bushing 396, two adjusting springs 397 and two side springs 398. The adjusting rod 395 is a smooth rod, with its two ends being a fixed end and a movable end respectively. The fixed end is fixedly connected to the rear end plate 373, so that the front end plate 372, the hinge rod 371, the rear end plate 373 and the adjusting rod 395 are connected in series in sequence. The bushing 396 is sleeved on the adjusting rod 395, enabling the adjusting rod 395 to move in and out of the bushing 396. The extension section 23 of the telescopic ladder frame 20 is provided with a cavity for accommodating the adjusting assembly at the suspended end 234. The bushing 396 is embedded and fixed with the end face of the suspended end 234. The movable end of the adjusting rod 395 extends into this cavity of the extension section 23, and enough space is reserved in the cavity for the movable end of the adjusting rod 395 to move. The two adjusting springs 397 are respectively sleeved on the two ends of the adjusting rod 395 and elastically abut against the two ends of the bushing 396. The two side springs 398 are respectively arranged on the corresponding two sides of the movable end of the adjusting rod 395. One end of the side spring 398 is connected to the movable end of the adjusting rod 395, and the other end of the side spring 398 is fixedly connected to the extension section 23 of the telescopic ladder frame 20, ensuring that the side spring 398 is horizontally stretched and is arranged perpendicular to the adjusting rod 395. When there is a front-back displacement (approaching or moving away) between the telescopic ladder frame 20 and the hoop 40, the joint assembly is subjected to a force squeezing or stretching in the axial direction of the adjusting rod 395. The joint assembly transmits the force through the rear end plate 373, squeezing or stretching the adjusting rod 395. The adjusting rod 395 axially moves and squeezes and stretches the front and rear two adjusting springs 397 and the front and rear stretched side springs 398 to achieve the motion compensation for the front-back displacement. When there is a relative torsion (torsion in the vertical direction) between the telescopic ladder frame 20 and the hoop 40, the joint assembly is subjected to a force twisting around the axial direction of the adjusting rod 395. The joint assembly transmits the force through the rear end plate 373, and the adjusting rod 395 rotates self and twists and stretches the side springs 398 on both sides to achieve the motion compensation for the torsion.

[0063] The hoop 40 is of a horizontally expandable and contractible type, and it includes a clamp seat 42, two clamping claws 44 and a driver 46. The clamp seat 42 is integrally formed with the front end plate 372 of the joint assembly. The two clamping claws 44 are respectively hinged on both sides of the clamp seat 42. The driver 46 is installed on the clamp seat 42, and the transmission components of the driver 46 are respectively connected to the two clamping claws 44. The two clamping claws 44 act towards each other under the drive of the driver 46 to clamp the workpiece, and this workpiece refers to the wind power tower barrel. Preferably in this embodiment, the driver 46 is a telescopic cylinder, and the piston rod 460 of the telescopic cylinder is the transmission component of the driver 46 and is connected to the clamping claw 44.

[0064] Specifically, the jaw 44 includes a second spring group 441, a hinge 443, a connecting member 445, and a jaw body 447. The second spring group 441 is composed of two symmetrically arranged springs. The second spring group 441 is disposed between the hinge 443 and the connecting member 445, and both ends of the second spring group 441 are respectively connected to the hinge 443 and the connecting member 445. The connecting member 445 is fixedly connected to the transmission member of the driver 46. The hinge 443 is actively hinged to the jaw body 447 through a rotating shaft, and the body of the clamp seat 42 is passively hinged to the clamp seat 42 through another rotating shaft. The transmission member of the driver 46 is stressed through the connecting member 445, squeezing or stretching the second spring group 441 to drive the jaw body 447 to open and close. The elastic horizontal opening and closing design of the hoop 40 enables it to automatically adjust within a certain range without manual intervention, realizing passive compensation.

[0065] The control platform 10 is electrically connected to the hydraulic cylinders of the slewing compensation mechanism 14 and the pitching compensation mechanism 15, the telescopic cylinder of the telescopic ladder 20, and the driver 46 of the hoop 40 respectively, and is controlled by the console 16.

[0066] The control method of the offshore boarding ladder in this embodiment is as follows in sequence:

[0067] 1) Adjust the maintenance ship to a distance range where the telescopic ladder 20 can overlap with the wind turbine tower barrel;

[0068] 2) Control the pitching compensation mechanism 15 to adjust the telescopic ladder 20 to a horizontal position;

[0069] 3) Control the slewing compensation mechanism 14 to horizontally rotate the telescopic ladder 20 to the working position, that is, align it with the wind turbine tower barrel;

[0070] 4) Control the telescopic cylinder of the telescopic ladder 20 to extend the extension section 23 forward to approach the wind turbine column of the wind turbine tower barrel;

[0071] 5) Control the jaws 44 of the hoop 40 to hold the wind turbine column, and turn off the pitching compensation mechanism 15 and the slewing compensation mechanism 14, so that the offshore boarding ladder changes from the active compensation state to the passive compensation state;

[0072] 6) Carry out boarding and evacuation of personnel and materials;

[0073] 7) Control the jaws 44 of the hoop 40 to release the wind turbine column, and synchronously restart the pitching compensation mechanism 15 and the slewing compensation mechanism 14 to switch the offshore boarding ladder to the active compensation state;

[0074] 8) Control the telescopic cylinder of the telescopic ladder 20, the pitching compensation mechanism 15 and the slewing compensation mechanism 14 to retract the telescopic ladder 20.

[0075] Among them, during the process of the gripper 44 clamping the fan column, once it is detected that the gripper 44 fails to hold the fan column, the marine embarkation ladder switches to the active compensation state.

[0076] It should be noted that due to factors such as unbalanced hydrostatic pressure or the orbital motion of water in waves, the hull will generate rotational oscillation motion. The marine embarkation ladder mounted on the hull will also be affected accordingly. Described using a Cartesian rectangular coordinate system, the bow-stern (front-back) direction of the ship is called the longitudinal direction, represented by X. The port-starboard (left-right) direction is called the transverse direction, represented by Y. The direction from the upper deck of the ship to the bottom of the cabin (up-down) is called the vertical direction, represented by Z. The swaying (surge, heave) in the front-back direction is called surge, the swaying (surge, heave) in the left-right direction is called sway, and the swaying (surge, heave) in the up-down direction is called heave. The pitching in the front-back direction is called pitch, the rolling in the left-right direction is called roll, and the yawing of the bow in the left-right direction is called yaw. Swaying (heave) is a translation. For example, surge moves along the X-axis, sway moves along the Y-axis, and heave moves along the Z-axis. The moving distance of each position of the ship is the same. Rocking (roll) is a rotation around a virtual coordinate axis. Pitch and roll are rotations around the Y-axis and X-axis respectively, and yaw is a rotation around the Z-axis. The rocking angle of each position of the ship is the same, but the displacement distance is different. When the ship is in the water, the actual heave and roll occur simultaneously, but they are artificially divided into different combinations of situations. The so-called six degrees of freedom refer to six motion forms of moving along three axes and rotating around three axes within a Cartesian rectangular coordinate system, which are called six degrees of freedom. Replacing the marine embarkation ladder in this embodiment with the hull in the above example can facilitate the understanding of the unstable environmental conditions that this embodiment will encounter during offshore operations.

[0077] During the use of the marine embarkation ladder in this embodiment, the slewing compensation mechanism can be controlled to switch between active compensation and passive compensation for horizontal rotation, that is, it can perform real-time compensation for the yaw of the marine embarkation ladder; the pitching compensation mechanism can be controlled to switch between active compensation and passive compensation for pitching motion, that is, it can perform real-time compensation for the pitch of the marine embarkation ladder; the multi-angle compensation mechanism includes a joint assembly and an adjustment assembly. The two ends of the joint are respectively hinged horizontally and vertically, which can achieve passive compensation for yaw and pitch. The control platform and the multi-angle compensation mechanism cooperate at both ends of the marine embarkation ladder to perform compensation for yaw and pitch respectively, making the marine embarkation ladder more stable. The adjustment assembly of the multi-angle compensation mechanism can move axially along the adjustment rod and rotate around the axis of the adjustment rod to achieve real-time passive compensation for the surge and sway of the marine embarkation ladder, playing an auxiliary compensation role.

[0078] The embarkation gangway of this embodiment optimizes the compensation performance of the gangway, can compensate for yaw and pitch in a multi-point collaborative manner, and can also passively compensate for surge and roll in real time, improving the energy efficiency and stability of the overall system. Multiple supplementary mechanisms in this embodiment can switch between active / passive supplementary states. When entering the passive supplementary state, there is no need to set up corresponding control systems and sensors to collect relevant motion signals, which not only greatly improves simplicity but also significantly reduces energy consumption and the manufacturing, production, and usage costs.

[0079] Among them, the multi-angle compensation mechanism realizes multi-angle and mechanized passive compensation through the combination of multiple rotating components and elastic components. It has a compact structure, requires no manual intervention, provides real-time feedback compensation, and demonstrates a strong innovative concept.

[0080] The above embodiments are only the preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. For those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A marine boarding gangway, characterized in that: It includes a control platform, a telescopic ladder, a multi-angle compensation mechanism and a clamp, the telescopic ladder includes a fixed section and an extension section which are telescopically connected to each other, the control platform includes a rotation compensation mechanism and a pitch compensation mechanism, the control platform is movably connected to the fixed section of the telescopic ladder, so that the telescopic ladder can perform horizontal rotation and pitch motion based on the control platform, and the extension section of the telescopic ladder is connected to the clamp through the multi-angle compensation mechanism; the multi-angle compensation mechanism includes a joint assembly, which includes a hinged rod and a first spring group, the two ends of the hinged rod are directly or indirectly connected to the extension section and the clamp of the telescopic ladder, one end of the hinged rod is horizontally hinged, and the other end is vertically hinged, and the first spring group is symmetrically and coaxially arranged on the periphery of the hinged rod to elastically adjust the rotation of the hinged rod.

2. The marine boarding ladder according to claim 1, characterized in that: The multi-angle compensation mechanism also includes an adjustment component, which includes an adjustment rod, a sleeve, two adjustment springs and two side springs. The sleeve is fixedly connected to the extension section of the telescopic ladder frame, and the sleeve is sleeved with the adjustment rod. The adjustment rod can move in and out of the sleeve. One end of the adjustment rod is fixedly connected to the joint assembly, and the other end of the adjustment rod is connected to the two side springs fixed to the extension section of the telescopic ladder frame. The two adjustment springs are respectively sleeved on both ends of the adjustment rod and elastically press against both ends of the sleeve.

3. The marine boarding ladder according to claim 1, characterized in that: The control platform also includes a slewing base, a slewing gear and a boarding ladder. The slewing gear is arranged on the slewing base, and the boarding ladder is fixed on the slewing gear and is transmission-connected to each other. The slewing compensation mechanism includes a slewing motor, a slewing clutch and a slewing transmission. The slewing motor is transmission-connected to the slewing transmission. The slewing transmission is provided with an output gear, and the output gear is meshed with the slewing gear. The slewing clutch is arranged between the slewing motor and the slewing transmission.

4. The marine boarding ladder according to claim 3, characterized in that: The fixed section of the telescopic ladder frame is movably connected to the control platform by being hinged with the boarding ladder. The pitch compensation mechanism includes two hydraulic cylinders. The bodies of the hydraulic cylinders are arranged on the boarding ladder. The piston rods of the hydraulic cylinders are respectively connected to the fixed section of the telescopic ladder frame in a supporting manner on both sides of the axial direction of the telescopic ladder frame.

5. The marine boarding ladder according to claim 1, characterized in that: The fixed section of the telescopic ladder frame is provided with slideways on both sides of the axial direction, and the cross-section of the slideways is similar to the letter E shape; correspondingly, the extension section is provided with slide rails on both sides of the axial direction, and the cross-section of the slide rails is similar to the letter C shape; the slideways and the slide rails are slidably connected to each other by the mutual engagement and splicing of the C-type slide rail and the E-type slide rail.

6. The marine boarding ladder according to claim 5, characterized in that: The slideway includes two first flanges, a partition portion located in the middle and two slideway cavities, and the two first flanges extend toward each other to form a first baffle; the slide rail includes two second flanges and a slide rail cavity in the middle, and the slide rail cavity corresponds to the partition portion of the slideway, and the two second flanges correspond to the two slideway cavities; after the slide rail and the slideway are connected, an upper and a lower accommodating space are formed, in which a rotor is arranged.

7. The marine boarding ladder according to claim 6, characterized in that: The partition part of the slideway is in the shape of a hollow cylinder, in which a telescopic cylinder is built-in, and the ends of the piston rods of the telescopic cylinders are hung on both sides of the axial direction of the extension section.

8. The marine boarding ladder according to claim 1, characterized in that: The clamp is of horizontal opening and closing type, and comprises a clamp seat, two clamping jaws and a driver; the two clamping jaws are respectively hinged on both sides of the clamp seat, the driver is installed on the clamp seat, and the transmission components of the driver are respectively connected to the two clamping jaws.

9. The marine boarding ladder according to claim 8, characterized in that: The clamping jaw comprises a second spring group, a hinge, a connecting member and a clamping jaw body. The second spring group is two symmetrically arranged springs. The two ends of the second spring group are respectively connected to the hinge and the connecting member. The connecting member is fixedly connected to the transmission component of the driver. The hinge is actively hinged to the clamping jaw body through a rotating shaft, and the clamping seat body is passively hinged to the clamping seat through another rotating shaft.

10. A method for controlling a marine boarding gangway according to any one of claims 1 to 9, characterized in that: The steps are as follows: 1) Adjust the operation and maintenance vessel to within the distance range where the telescopic ladder frame and the wind turbine tower can overlap; 2) controlling the pitch compensation mechanism to adjust the telescopic ladder to a horizontal position; 3) controlling the rotation compensation mechanism to horizontally rotate the telescopic ladder to a working position; 4) controlling the telescopic ladder frame so that its extension section extends forward to approach the fan column of the wind turbine tower; 5) controlling the clamp to hold the wind turbine column, closing the pitch compensation mechanism and the slew compensation mechanism, and switching the offshore boarding gangway from an active compensation state to a passive compensation state; 6) Carry out the boarding and evacuation of personnel and supplies; 7) Controlling the clamp to release the wind turbine column, and synchronously restarting the pitch compensation mechanism and the slew compensation mechanism, so that the offshore boarding gangway switches to an active compensation state; 8) Control the telescopic ladder, the pitch compensation mechanism and the rotation compensation mechanism to fold the telescopic ladder.

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