Marine embarkation gangway and method of controlling the same

Abstract

This invention discloses a maritime boarding gangway, comprising a control platform, a telescopic ladder frame, a multi-angle compensation mechanism, and a clamp. The telescopic ladder frame includes a fixed section and an extension section that 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 frame, allowing the telescopic ladder frame to rotate horizontally and pitch based on the control platform. The extension section of the telescopic ladder frame is connected to the clamp via the multi-angle compensation mechanism. The multi-angle compensation mechanism includes a joint assembly, which includes a hinge rod and a first spring assembly. The two ends of the hinge rod are directly or indirectly connected to the extension section of the telescopic ladder frame and the clamp, respectively. One end of the hinge rod is horizontally hinged, and the other end is vertically hinged. The first spring assembly is symmetrically and coaxially arranged on the outer periphery of the hinge rod to elastically adjust the rotation of the hinge rod. This invention optimizes the compensation performance of the gangway and improves the energy efficiency, stability, and simplicity of the overall system.

Description

Technical Field

[0001] This invention relates to the field of offshore work equipment, and more particularly to an offshore boarding gangway and its control method. Background Technology

[0002] As China's offshore wind power industry develops towards large-scale operations, the operation and maintenance (O&M) of offshore wind farms is becoming increasingly demanding. Due to the complex marine environment, and the influence of high sea states, waves, and winds, offshore wind power O&M operations are highly dangerous, with reduced operational windows, thus lowering the availability of offshore wind farms. Accessibility for offshore wind power O&M has become a significant factor restricting the improvement of the quality and efficiency of offshore wind farms. Currently, my country's offshore wind turbine O&M mostly uses small maintenance vessels. These vessels berth around the turbine foundations and rely on their own power to anchor to the berthing posts. During the intervals between berthing, maintenance personnel climb ladders from the bow of the vessel to the platform. This working method is highly dependent on sea conditions. In rough seas, the maintenance vessels cannot berth stably, preventing maintenance personnel from promptly boarding the turbines to carry out inspection and maintenance work, thus reducing turbine utilization. Furthermore, wind and waves cause the ship to roll, pitch, and sway. When personnel climb from the ship to the wind turbine tower, if the maintenance vessel cannot stably anchor against the wind turbine foundation, significant relative movement occurs between the ship and the anchorage. Maintenance personnel directly climbing the wind turbine ladder from the bow face serious safety risks. Existing technologies disclose some walkway devices and transfer systems for use on maintenance vessels for personnel access. However, these technologies are either structurally complex and lack stability, or while simple in structure, they have low compensation accuracy. Ultimately, no technical solution has been found that combines structural simplicity, high stability, and high compensation accuracy. Summary of the Invention

[0003] To address the technical problems existing in the prior art, the present invention aims to provide a maritime boarding gangway and its control method, which optimizes the compensation performance of the gangway and improves the energy efficiency, stability and simplicity of the overall system.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A maritime boarding gangway includes a control platform, a telescopic ladder frame, a multi-angle compensation mechanism, and a clamp. The telescopic ladder frame includes a fixed section and an extension section that 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 frame, allowing the telescopic ladder frame to rotate horizontally and pitch based on the control platform. The extension section of the telescopic ladder frame is connected to the clamp via the multi-angle compensation mechanism. The multi-angle compensation mechanism includes a joint assembly, which includes a hinge rod and a first spring assembly. The two ends of the hinge rod are directly or indirectly connected to the extension section of the telescopic ladder frame and the clamp, respectively. One end of the hinge rod is horizontally hinged, and the other end is vertically hinged. The first spring assembly is symmetrically and coaxially arranged on the outer periphery of the hinge rod to elastically adjust the rotation of the hinge 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 is fitted with the adjustment rod, which can move in and out of the bushing. One end of the adjustment rod is fixedly connected to a connector 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 fitted at both ends of the adjustment rod and elastically abut against both ends of the bushing.

[0007] Furthermore, the control platform also includes a slewing base, a slewing gear, and a boarding ladder. The slewing gear is mounted on the slewing base, and the boarding ladder is fixed to the slewing gear and connected to it in a transmission. The slewing compensation mechanism includes a slewing motor, a slewing clutch, and a slewing gearbox. The slewing motor and the slewing gearbox are connected in a transmission. The slewing gearbox has an output gear that meshes with the slewing gear. The slewing clutch is located between the slewing motor and the slewing gearbox.

[0008] Specifically, the fixed section of the telescopic ladder frame is hinged to the boarding ladder to achieve a movable connection with the control platform. The pitch compensation mechanism includes two hydraulic cylinders. The bodies of the hydraulic cylinders are mounted on the boarding ladder, and the piston rods of the hydraulic cylinders are respectively connected to the fixed section of the telescopic ladder frame on both sides of the axial direction of the telescopic ladder frame in a supporting manner.

[0009] Specifically, the fixed section of the telescopic ladder 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 E; 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; the slide rails and slide rails are slidably connected to each other by interlocking and splicing the C-shaped slide rails and the E-shaped slide rails.

[0010] Specifically, the slide rail includes two first flanges, a partition in the middle, and two slide rail cavities. The two first flanges extend towards each other to form first baffles. 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 of the slide rail. The two second flanges correspond to and match the two slide rail cavities. After the slide rail and the slide rail are connected, they form two accommodating spaces, one at the top and one at the bottom, in which a rotor is disposed.

[0011] Furthermore, the partition of the slide is a hollow cylindrical part with a built-in telescopic cylinder, and the end of the piston rod of the telescopic cylinder is hung on both sides of the extension section along the axial direction.

[0012] Specifically, the clamp is a horizontally opening and closing type, which includes a clamp base, two clamping jaws and a driver; the two clamping jaws are respectively hinged to both sides of the clamp base, the driver is mounted on the clamp base, and the transmission component of the driver is respectively hinged to the two clamping jaws.

[0013] Furthermore, the gripper includes a second spring group, a hinge, a connector, and a gripper body. The second spring group consists of two symmetrically arranged springs. The two ends of the second spring group are respectively connected to the hinge and the connector. The connector is fixedly connected to the transmission component of the driver. The hinge is actively hinged to the gripper body through a rotating shaft. The gripper body is passively hinged to the gripper body through another rotating shaft.

[0014] Another technical solution to the technical problem of the present invention provides a control method for a boarding gangway at sea, the steps of which are as follows:

[0015] 1) Adjust the maintenance vessel to a distance where the telescopic ladder can overlap with the wind turbine tower;

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

[0017] 3) Control the rotation compensation mechanism to make the telescopic ladder frame rotate horizontally to the working position;

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

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

[0020] 6) Conduct boarding and evacuation of personnel and supplies;

[0021] 7) Control the clamp to loosen the wind turbine column, and simultaneously restart the pitch compensation mechanism and the slewing compensation mechanism to switch the sea boarding gangway to 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. This invention achieves horizontal rotation and pitch compensation at both ends of the telescopic ladder frame by controlling the rotation compensation mechanism and pitch compensation mechanism of the control platform and the horizontal and vertical hinges of the multi-angle compensation mechanism, thereby ensuring the stable use of the boarding gangway at sea and improving the safety and efficiency of maintenance work for staff.

[0025] 2. The rotation compensation mechanism and pitch compensation mechanism of the control platform of the present invention serve as driving devices, which switch between active compensation and passive supplementation states of the boarding gangway at sea by opening and closing.

[0026] 3. The multi-angle compensation mechanism of this invention uses a joint assembly with horizontal and vertical hinges at both ends of a hinge rod to compensate for the horizontal rotation and pitch motion between the telescopic ladder frame and the clamp. The adjustment assembly, through the adjustment of an adjusting rod, bushing, and multiple springs, compensates for the vertical torsional motion of the telescopic ladder frame and the clamp. Its compact structure requires no manual intervention, provides real-time feedback compensation, and demonstrates a highly innovative concept.

[0027] 4. The sliding track of the fixed section and the sliding rail of the extended section of the telescopic ladder frame of the present invention interlock with each other in a special shape to achieve a tight sliding connection, which is not easy to fall off, so as to resist harsh environments such as sea waves. In addition, two sets of rotors are provided between the sliding track and the sliding rail to reduce friction during the sliding process of the sliding track and the sliding rail and ensure smooth sliding.

[0028] 5. The clamp of the present invention is provided with a second spring assembly, a hinge and a connector on the clamp, so that an elastic transmission is formed between the driver and the clamp body to provide clamping compensation. After the clamp grips the fan column, the clamp can enter a passive compensation state and the clamp will not easily loosen. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the boarding gangway at sea in this embodiment.

[0030] Figure 2 This is a schematic diagram of the structure after the upper plate of the telescopic ladder frame is removed from the boarding gangway at sea in this embodiment.

[0031] Figure 3 for Figure 2 A magnified view of part A.

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

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

[0034] Figure 6 This embodiment demonstrates the rotation compensation drive device by disassembling the rotary base, and the assembly diagram of the piston rod with the slide and groove by disassembling the telescopic cylinder end cover.

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

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

[0037] Figure 9 This is a schematic diagram of the cross-section of the slide rail of the fixed section of the telescopic ladder.

[0038] Figure 10 This is a schematic diagram of the cross-section of the slide rail of the extension section of the telescopic ladder frame.

[0039] Figure 11 This is a schematic diagram showing the top view and XYZ axis indication of this embodiment.

[0040] In the picture:

[0041] 10-Control platform; 11-Slewing base; 12-Slewing gear; 13-Entry ladder; 14-Slewing compensation mechanism; 141-Slewing motor; 143-Slewing clutch; 145-Slewing gearbox; 1450-Output gear; 15-Pitch compensation mechanism; 150-Piston rod of pitch compensation mechanism; 16-Control console; 17-Auxiliary ladder;

[0042] 20-Telescopic ladder frame; 21-Fixed section; 214-Fixed end; 216-Connecting end of fixed section; 218-Slide track; 2181-First flange; 2182-Partition; 2183-Slide track cavity; 23-Extension section; 236-Connecting end of extension section; 234-Suspended end; 238-Slide rail; 2385-Second flange; 2386-Slide rail cavity; 2484-Stop bar; 2488-Rotor; 25-Drive device; 250-Piston rod of drive device; 27-Entry platform;

[0043] 30 - Multi-angle compensation mechanism; 371 - Hinge rod; 372 - Front end plate; 373 - Rear end plate; 374 - First spring assembly; 395 - Adjusting rod; 396 - Bushing; 397 - Adjusting spring; 398 - Side spring;

[0044] 40-Clamping clamp; 42-Clamping seat; 44-Clamping claw; 441-Second spring assembly; 443-Hinge; 445-Connector; 447-Clamping claw body; 46-Driver; 460-Driver piston rod. Detailed Implementation

[0045] To facilitate understanding of the present invention, the technical solutions and advantages of the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Any mechanisms or methods not elaborated in this invention can be referred to in the prior art. The specific structures and features of the present invention are illustrated below by way of example and should not be construed as limiting the present invention in any way. Furthermore, any of the technical features mentioned below (including implicit or disclosed features), as well as any technical features directly shown or implied in the figures, can be arbitrarily combined or deleted among these technical features to form more other embodiments that may not be directly or indirectly mentioned in this invention. The accompanying drawings show preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention.

[0046] like Figure 1-11 As shown in the illustration, this embodiment provides a sea gangway that can be installed on both sides of a ship for passengers to board and disembark. Furthermore, one end of the gangway can be installed on the ship's deck, and the other end can be clamped to the wind turbine tower, facilitating maintenance personnel to access the tower for repair and maintenance work.

[0047] The maritime boarding gangway of this embodiment includes a control platform 10, a telescopic ladder 20, a multi-angle compensation mechanism 30, and a clamp 40. 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 20, allowing the telescopic ladder 20 to rotate horizontally and pitch based on the control platform 10. The extension section 23 of the telescopic ladder 20 is connected to the clamp 40 through the multi-angle compensation mechanism 30, and the clamp 40 can clamp the wind turbine tower.

[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 pitch compensation mechanism 15, a control console 16, and an auxiliary ladder 17. The slewing base 11 is generally fixedly mounted on the deck of the ship. The slewing gear 12 is a horizontally placed gear component capable of horizontal rotation, mounted on the slewing base 11. The boarding ladder 13 is fixed to the slewing gear 12 and rotates horizontally with it. The control console 16 is located on one side of the boarding ladder 13; preferably, the control console 16 rotates horizontally with the boarding ladder. The auxiliary ladder 17 is located beside the slewing base 11 to assist personnel in climbing onto the slewing base 11.

[0049] A rotation compensation mechanism 14 is disposed within the rotation base 11. The rotation compensation mechanism 14 includes a rotation motor 141, a rotation clutch 143, and a rotation gearbox 145. The rotation motor 141 is connected to the rotation gearbox 145. The rotation gearbox 145 is provided with an output gear 1450, which extends upward from the rotation base 11 and meshes with a rotation gear 12 to achieve a transmission connection. The rotation clutch 143 is disposed between the rotation motor 141 and the rotation gearbox 145, and is connected to both the rotation motor 141 and the rotation gearbox 145. Preferably, in this embodiment, the rotation motor 141 is a hydraulic motor. After the rotation motor 141 is started, the rotation clutch 143 can quickly engage or disengage the power transmission between the rotation motor 141 and the rotation gearbox 145 to achieve start and stop control of the rotation of the boarding elevator 13.

[0050] The slewing drive between the slewing motor 141, slewing clutch 143, and slewing gearbox 145 drives the boarding ladder 13 to rotate via the transmission slewing gear 12, thereby adjusting the overall horizontal orientation of the boarding ladder in this embodiment to facilitate connection with the tower. When the boarding ladder encounters sea waves while gripping the wind turbine tower, and the slewing encounters resistance or overload during rotation, the slewing clutch 143 can slip, absorbing impact during engagement and disengagement, reducing system vibration, and compensating for the slewing motion of the boarding ladder. The slewing motor 141 also enables smooth start and stop during operation, reducing impact. Under excessive load, the hydraulic system can automatically depressurize to protect the equipment. The slewing gearbox 145, by reducing speed and increasing torque, ensures stable operation of the boarding ladder under varying loads, avoiding vibration and reducing system wear. In this way, through the coordinated action and mutual support between the rotary motor 141, rotary clutch 143 and rotary transmission 145, the rotary motion compensation function is achieved, and damage to the rotary motor 141 and transmission system is prevented.

[0051] In this preferred embodiment, at least two slewing compensation drive devices 25 are provided, respectively arranged on both sides of the slewing gear 12. The output gears 1450 on the two slewing gearboxes 145 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 boarding gangway at sea.

[0052] The telescopic ladder frame 20 includes a fixed section 21 and an extension section 23 connected to each other. The fixed section 21 has a fixed end 214 and a connecting end 216 at its two ends, while the extension section 23 has a connecting end 236 and a suspended end 234 at its two ends. The fixed end 214 of the fixed section 21 is hinged to the climbing ladder 13, allowing the telescopic ladder frame 20 to tilt about the climbing ladder 13. The fixed section 21 and the extension section 23 are connected to each other via their respective connecting ends 216 / 236, allowing the extension section 23 to retract inward or extend outward in the same axis as the fixed section 21, thus achieving the telescopic function. The suspended end 234 of the extension section 23 is connected to a clamp 40 via a multi-angle compensation mechanism 30. Workers can walk along the fixed section 21 and the extension section 23 of the telescopic ladder frame 20 to the wind turbine tower. The suspended end 234 of the extension section 23 is also equipped with a climbing platform 27 for workers to climb onto the wind turbine tower.

[0053] With the fixed end 214 of the fixed section 21 of the telescopic ladder frame 20 hinged to the boarding ladder 13, the pitch compensation mechanism 15 of the control platform 10 connects the fixed section 21 of the telescopic ladder frame 20 and the boarding ladder 13 respectively to achieve pitch motion compensation. Preferably, in this embodiment, the pitch compensation mechanism 15 includes two hydraulic cylinders. The bodies of the hydraulic cylinders are mounted on the boarding ladder 13, and the piston rods 150 of the hydraulic cylinders are connected to the fixed section 21 of the telescopic ladder frame 20 on both sides of the axial direction of the telescopic ladder frame 20 in a supporting manner. The lifting or lowering of the telescopic ladder frame 20 can be adjusted by controlling the hydraulic cylinders. Besides driving and adjusting the pitch angle of the telescopic ladder frame 20, the hydraulic cylinders also maintain a constant system pressure due to their specific pressure compensation valve. When the load changes, the compensation valve automatically adjusts the flow rate or pressure according to the load change to avoid excessively high or low pressure, thereby ensuring system stability during pitch motion of the telescopic ladder frame 20 and protecting the equipment.

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

[0055] Specifically, the cross-section of the slide 218 of the fixed section 21 is similar to the letter E, with the concave portions of the two slides 218 on both sides arranged opposite each other, forming an inward-embracing slide 218. The E-shaped slide 218 includes two upper and lower first flanges 2181, a partition 2182 located in the middle, and two upper and lower slide cavities 2183 formed by the two first flanges 2181 and the partition 2182. The partition 2182 of the slide 218 is a hollow cylinder, which houses a drive device 25. Its transmission component extends out of the partition 2182 and connects to the extension section 23. Preferably, in this embodiment, the drive device 25 is a telescopic cylinder, with the end of the piston rod 250 of the telescopic cylinder hanging on the suspended ends 234 on both sides of the extension section 23 along its axial direction. By controlling the two symmetrically arranged telescopic cylinders, synchronous transmission is used to control the extension and retraction of the extension section 23, achieving a balanced braking effect and avoiding the occurrence of extension and retraction jamming under the influence of harsh marine environments.

[0056] The slide rail 238 of the extension section 23 has a cross-section resembling the letter C, with the concave portions of the two slide rails 238 facing away from each other. The C-shaped slide rail 238 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 the partition portion 2182 of the matching slide rail 218, and the two second flanges 2385 correspond to the two slide rail cavities 2183 respectively. Through the interlocking and splicing of the C-shaped slide rail 238 and the E-shaped slide rail 218, the connection between the fixed section 21 and the extension section 23 of the telescopic ladder frame 20 is more secure and less susceptible to the effects of sea waves.

[0057] Furthermore, the upper and lower first flanges 2181 of the slide rail 218 extend towards each other to form baffles 2484, thus blocking the opening of the slide rail cavity 2183. After the slide rail 238 and the slide rail 218 are joined, they form upper and lower accommodating spaces. A rotor 2488 is installed within each accommodating space. The rotor 2488 is movably connected to the slide rail 238 via a rotating shaft, and is also slidably connected to the slide rail 218. The rotor 2488 reduces friction during the sliding process of the slide rail 238 and the slide rail 218, making the sliding of the slide rail 238 and the slide rail 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 both horizontal and vertical sliding achieve the effect of reducing friction.

[0058] Furthermore, the connection relationships of the other parts of the slide rail and slide track, including the baffles of the slide rail and the rotor of the slide track, are interchanged. Specifically, the upper and lower second flanges 2385 of the slide track 238 extend in opposite directions to form baffles. After the slide track 238 and the slide rail 218 are connected, they form upper and lower accommodating spaces. A rotor is installed in the accommodating space. The rotor is movably connected to the slide rail 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 clamp 40, and the other end of the joint assembly is connected to one end of the adjustment assembly. 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 connector assembly includes a hinge rod 371, a front end plate 372, a rear end plate 373, and a first spring assembly 374. One end of the hinge rod 371 is vertically hinged to the front end plate 372, allowing the hinge rod 371 to pitch around the connection point; the other end of the hinge rod 371 is horizontally hinged to the rear end plate 373, allowing the hinge rod 371 to rotate horizontally around the connection point. The first spring assembly 374 consists of four springs, arranged around the hinge rod 371 from top to bottom and left to right, respectively, and both ends of the first spring assembly 374 are connected to the front end plate 372 and the rear end plate 373, respectively, to elastically adjust the rotation of the hinge rod 371. That is, when the hinge rod 371 pitches around the connection with the front end plate 372, the first spring group 374 is divided into upper and lower sections, and the upper two springs and the lower two springs are not subjected to the same force, so the elastic compensation joint assembly pitches; when the hinge rod 371 rotates horizontally around the connection with the rear end plate 373, the first spring group 374 is divided into left and right sections, and the left two springs and the right two springs are not subjected to the same force, so the elastic compensation joint assembly rotates horizontally.

[0061] In this preferred embodiment, the front end plate 372 and the clamping seat 42 of the clamp 40 are integrally formed. In other embodiments, the front end plate 372 can be fixedly connected to the clamping seat 42 of the clamp 40, or the hinge rod 371 can be directly connected to the clamping seat 42 of the clamp 40, while only the first spring assembly 374 is connected to the front end plate 372. In other embodiments, the connection methods of the hinge rod 371 and the front end plate 372 and the rear end plate 373 can be interchanged. The principle is still under the concept of this invention.

[0062] The adjustment assembly includes an adjustment rod 395, a bushing 396, two adjustment springs 397, and two side springs 398. The adjustment rod 395 is a smooth rod with a fixed end and a movable end at its two ends. 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 adjustment rod 395 are connected in series. The bushing 396 is fitted onto the adjustment rod 395, allowing the adjustment rod 395 to move in and out of the bushing 396. The extension section 23 of the telescopic ladder frame 20 has a cavity at its suspended end 234 to accommodate the adjustment assembly. The bushing 396 is fitted and fixed to the end face of the suspended end 234. The movable end of the adjustment rod 395 extends into this cavity of the extension section 23, with sufficient space reserved in the cavity to allow the movable end of the adjustment rod 395 to move. The two adjustment springs 397 are respectively fitted onto both ends of the adjustment rod 395 and elastically abut against both ends of the bushing 396. Two lateral springs 398 are respectively installed on the corresponding sides of the movable end of the adjusting rod 395. One end of the lateral spring 398 is connected to the movable end of the adjusting rod 395, and the other end of the lateral spring 398 is fixedly connected to the extension section 23 of the telescopic ladder frame 20, ensuring that the lateral spring 398 is horizontally stretched and perpendicular to the adjusting rod 395. When the telescopic ladder frame 20 and the clamp 40 move forward or backward (closer or farther), the joint assembly is subjected to a force along the axial direction of the adjusting rod 395, which is squeezed or stretched. The joint assembly transmits the force through the rear end plate 373, squeezing or stretching the adjusting rod 395. The adjusting rod 395 moves axially and squeezes and stretches the two front and rear adjusting springs 397 and the lateral springs 398 on both sides of the front and rear stretching, so as to realize the motion compensation of the forward and backward displacement. When the telescopic ladder frame 20 and the clamp 40 twist relative to each other (twist in the vertical direction), 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. The adjusting rod 395 rotates and twists and stretches the side springs 398 on both sides to achieve torsional motion compensation.

[0063] The clamp 40 is a horizontally opening and closing type, comprising a clamping seat 42, two grippers 44, and an actuator 46. The clamping seat 42 is integrally formed with the front end plate 372 of the connector assembly. The two grippers 44 are respectively hinged to both sides of the clamping seat 42, and the actuator 46 is mounted on the clamping seat 42. The transmission components of the actuator 46 are respectively connected to the two grippers 44. Driven by the actuator 46, the two grippers 44 move towards each other to clamp the workpiece, which refers to a wind turbine tower. In this preferred embodiment, the actuator 46 is a telescopic cylinder, and the piston rod 460 of the telescopic cylinder is the transmission component of the actuator 46, connected to the grippers 44.

[0064] Specifically, the gripper 44 includes a second spring assembly 441, a hinge 443, a connector 445, and a gripper body 447. The second spring assembly 441 consists of two symmetrically arranged springs, positioned between the hinge 443 and the connector 445, with both ends connected to the hinge 443 and the connector 445, respectively. The connector 445 is fixedly connected to the transmission component of the driver 46. The hinge 443 is actively hinged to the gripper body 447 via a pivot, while the gripper body 42 is passively hinged to the gripper 42 via another pivot. The transmission component of the driver 46 receives force through the connector 445, compressing or stretching the second spring assembly 441 to open and close the gripper body 447. The elastic horizontal opening and closing design of the clamp 40 allows it to automatically adjust within a certain range without manual intervention, achieving passive compensation.

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

[0066] The control method for the boarding gangway at sea in this embodiment has the following steps in sequence:

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

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

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

[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.

[0071] 5) Control the clamp 44 of the clamp 40 to hold the wind turbine column, close the pitch compensation mechanism 15 and the slewing compensation mechanism 14, so that the boarding gangway at sea changes from active compensation state to passive compensation state.

[0072] 6) Conduct boarding and evacuation of personnel and supplies;

[0073] 7) Control the gripper 44 of the clamp 40 to release the fan column, and simultaneously restart the pitch compensation mechanism 15 and the slewing compensation mechanism 14, so that the sea boarding gangway switches to active compensation state.

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

[0075] During the process of the gripper 44 holding the wind turbine column, if it is detected that the gripper 44 has failed to hold the wind turbine column, the boarding gangway at sea will switch to active compensation mode.

[0076] It should be noted that due to factors such as static pressure imbalance or the circular motion of water in waves, the ship's hull will experience rotational oscillations. The boarding gangway mounted on the hull will also be affected. Using a Cartesian coordinate system, the bow-stern (forward / backward) direction is called longitudinal, denoted by X. The port-starboard (left / right) direction is called transverse, denoted by Y. The upper deck-bottom (up / down) direction is called vertical, denoted by Z. Forward / backward swaying (rolling, swaying) is called pitching, left / right swaying (rolling, swaying) is called heaving, and vertical swaying (rolling, swaying) is called heaving. Forward / backward rolling is called pitching, left / right rolling is called rolling, and bow rolling is called bow roll. Swaying (swaying) is translation; for example, pitching moves along the X-axis, left / right rolling along the Y-axis, and heaving along the Z-axis; the distance traveled is the same for all positions on the ship. Rolling (swaying) is rotation around a virtual coordinate axis. Pitch and roll rotate around the Y-axis and X-axis respectively, while bow roll rotates around the Z-axis. The angle of sway is the same at all positions on the ship, but the displacement distance differs. When a ship is in water, swaying and rolling actually occur simultaneously; they are simply categorized into different combinations. The so-called six degrees of freedom refer to six forms of motion—movement along three axes and rotation around three axes—within a Cartesian coordinate system. Replacing the boarding gangway in this embodiment with the ship hull in the example above facilitates understanding the unstable environmental conditions encountered during maritime operations.

[0077] In the use of the boarding gangway in this embodiment, the control rotation compensation mechanism can switch between active and passive compensation for horizontal rotation, enabling real-time compensation for the bow roll of the boarding gangway; the control pitch compensation mechanism can switch between active and passive compensation for pitch motion, enabling real-time compensation for the pitch of the boarding gangway; the multi-angle compensation mechanism includes a joint assembly and an adjustment assembly. The two ends of the joint are hinged horizontally and vertically, respectively, enabling passive compensation for bow roll and pitch. The control platform and the multi-angle compensation mechanism work together at both ends of the boarding gangway to compensate for bow roll and pitch, respectively, resulting in higher stability of the boarding gangway. The adjustment assembly of the multi-angle compensation mechanism can move along the axis of the adjustment rod and rotate around the axis of the adjustment rod, achieving real-time passive compensation for the pitch and roll of the boarding gangway, playing an auxiliary compensation role.

[0078] The boarding gangway in this embodiment optimizes the compensation performance of the gangway, enabling multi-point coordinated compensation for yaw and pitch, as well as real-time passive compensation for sway and roll, thereby improving the overall system's energy efficiency and stability. The multiple supplementary mechanisms in this embodiment can switch between active and passive supplementary states. When in 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 convenience but also significantly reduces energy consumption and manufacturing and usage costs.

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

[0080] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. For those skilled in the art, it will 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 boarding gangway at sea, characterized in that, The system includes a control platform, a telescopic ladder frame, a multi-angle compensation mechanism, and a clamp. The telescopic ladder frame includes a fixed section and an extension section that are telescopically connected. 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 frame, allowing the telescopic ladder frame to rotate horizontally and pitch based on the control platform. The extension section of the telescopic ladder frame is connected to the clamp via the multi-angle compensation mechanism. The multi-angle compensation mechanism includes a joint assembly, which includes a hinge rod and a first spring group. The two ends of the hinge rod are directly or indirectly connected to the extension section of the telescopic ladder frame and the clamp, respectively. One end of the hinge 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 hinge rod to elastically adjust the rotation of the hinge rod. The multi-angle compensation mechanism also includes an adjustment assembly, which includes an adjustment rod, a bushing, two adjustment springs, and two lateral springs. The bushing is fixedly connected to the extension section of the telescopic ladder frame. The bushing is fitted with the adjustment rod, and the adjustment rod can move in and out of the bushing. One end of the rod is fixedly connected to a connector assembly, and the other end of the adjusting rod is connected to two side springs fixed to the extension section of the telescopic ladder frame. The two adjusting springs are respectively sleeved on both ends of the adjusting rod and elastically abut against both ends of the bushing. The fixed section of the telescopic ladder frame has slide rails on both axial sides, with the slide rails having a cross-section resembling the letter E. Correspondingly, the extension section has slide rails on both axial sides, with the slide rails having a cross-section resembling the letter C. The C-shaped slide rails and E-shaped slide rails interlock and connect. The slide rail and the slide track are slidably connected to each other; the slide rail includes two first flanges, a partition in the middle, and two slide rail cavities, the two first flanges extending towards each other to form first baffles; the slide rail includes two second flanges and a slide rail cavity in the middle, the slide rail cavity corresponding to the partition of the slide rail, and the two second flanges corresponding to the two slide rail cavities; after the slide rail and the slide track are connected, they form an upper and lower accommodating space, in which a rotor is installed, the rotor including a horizontally rotating rotor and a vertically rotating rotor.

2. The sea gangway as described in claim 1, characterized in that, The control platform also includes a slewing base, a slewing gear, and a boarding ladder. The slewing gear is mounted on the slewing base, and the boarding ladder is fixed to the slewing gear and connected to it in a transmission. The slewing compensation mechanism includes a slewing motor, a slewing clutch, and a slewing gearbox. The slewing motor and the slewing gearbox are connected in a transmission. The slewing gearbox has an output gear that meshes with the slewing gear. The slewing clutch is located between the slewing motor and the slewing gearbox.

3. The sea boarding gangway as described in claim 2, characterized in that, The fixed section of the telescopic ladder frame is hinged to the boarding ladder to achieve a movable connection with the control platform. The pitch compensation mechanism includes two hydraulic cylinders. The bodies of the hydraulic cylinders are mounted on the boarding ladder, and the piston rods of the hydraulic cylinders are respectively connected to the fixed section of the telescopic ladder frame on both sides of the axial direction of the telescopic ladder frame in a supporting manner.

4. The sea gangway as described in claim 1, characterized in that, The partition of the slide is a hollow cylindrical part with a built-in telescopic cylinder. The end of the piston rod of the telescopic cylinder is hung on both sides of the extension section along the axial direction.

5. The sea gangway as described in claim 1, characterized in that, The clamp is a horizontally opening and closing type, which includes a clamp base, two clamping jaws and a driver; the two clamping jaws are respectively hinged to both sides of the clamp base, the driver is mounted on the clamp base, and the transmission component of the driver is respectively connected to the two clamping jaws.

6. The sea boarding gangway as described in claim 5, characterized in that, The gripper includes a second spring group, a hinge, a connector, and a gripper body. The second spring group consists of two symmetrically arranged springs. The two ends of the second spring group are respectively connected to the hinge and the connector. The connector is fixedly connected to the transmission component of the driver. The hinge is actively hinged to the gripper body through a rotating shaft. The gripper body is passively hinged to the gripper body through another rotating shaft.

7. A control method for a maritime boarding gangway as described in any one of claims 1-6, characterized in that, The steps are as follows: 1) Adjust the maintenance vessel to a distance within which the telescopic ladder can overlap with the wind turbine tower; 2) Control the pitch compensation mechanism to adjust the telescopic ladder frame to a horizontal position; 3) Control the rotation compensation mechanism to make the telescopic ladder frame rotate horizontally to the working position; 4) Control the telescopic ladder to extend its extension section forward to approach the wind turbine column of the wind turbine tower; 5) Control the clamp to hold the wind turbine column, close the pitch compensation mechanism and the slewing compensation mechanism, and switch the sea boarding gangway from active compensation state to passive compensation state; 6) Conduct boarding and evacuation of personnel and supplies; 7) Control the clamp to loosen the wind turbine column, and simultaneously restart the pitch compensation mechanism and the slewing compensation mechanism to switch the sea boarding gangway to active compensation state; 8) Control the telescopic ladder frame, pitch compensation mechanism and slewing compensation mechanism to retract the telescopic ladder frame.

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