A docking device and docking method for offshore wind power access gallery bridge

Abstract

This invention discloses a docking device and method for offshore wind power boarding bridges, belonging to the field of offshore wind power operation and maintenance technology. The device includes an adsorption gripper, an auxiliary overlapping gripper, a bridge deck, a telescopic transmission link, an electromagnetic controller, a dual-axis movable joint, and a sensor assembly. The adsorption gripper is connected to the dual-axis movable joint, which is connected to the telescopic transmission link, which is installed on the bridge deck. The adsorption gripper is electrically connected to the electromagnetic controller, and the auxiliary overlapping gripper is located beside the adsorption gripper. The sensor assembly is signal-connected to the electromagnetic controller. This invention enables controllable adjustment of the electromagnetic adsorption force, forming a composite docking structure with electromagnetic connection as the primary method and mechanical connection as a secondary method, ensuring docking strength and stability while reducing the difficulty of docking operations and improving docking efficiency.

Description

Technical Field

[0001] This invention belongs to the field of offshore wind power operation and maintenance technology, and relates to a docking device and docking method for offshore wind power boarding bridges. Background Technology

[0002] Offshore wind turbines operate in harsh marine environments characterized by high salt spray, strong winds and waves, complex ocean currents, and variable monsoons. The core power generation equipment, electrical control systems, pile foundations, and auxiliary facilities are susceptible to marine environmental erosion, wave loads, and mechanical fatigue, making them prone to various maintenance risks such as component aging, equipment failure, and deviations in operating parameters. The frequency of daily inspections, regular maintenance, emergency repairs, equipment replacements, and operational condition testing at offshore wind farms is continuously increasing, leading to a significant year-on-year increase in overall maintenance workload. Safe and efficient operation and maintenance of offshore wind power has become a crucial element in ensuring the overall operational efficiency and stable power generation of wind farms.

[0003] Currently, near-shore and shallow-sea offshore wind farms that are already in operation or under construction are constrained by multiple factors, including the water depth conditions of the operation and maintenance areas, the cost of initial operation and maintenance infrastructure investment, and the need for short-distance operation and maintenance operations. Therefore, they do not have large-scale deployment of large professional operation and maintenance mother ships and fixed boarding piers. At present, the commuting of operation and maintenance personnel, the transfer of small operation and maintenance tools and consumables, and the conduct of simple fault repair operations all mainly rely on conventional small and medium-sized offshore operation and maintenance vessels as the core carriers for transporting personnel and materials. During actual operation and maintenance boarding operations, the inherent structural defects of these small and medium-sized operation and maintenance vessels are gradually becoming apparent. Due to their small hull size, insufficient ballast weight, and low wave-resistant design level, their overall resistance to wind, waves, and ocean current disturbances is weak. Even in normal light sea conditions, they are prone to multi-dimensional swaying and deviation, including vertical and horizontal rolling, lateral rolling, and forward and backward swaying. Even within compliant operating sea conditions, the stability of the hull attitude is difficult to guarantee. Meanwhile, existing small and medium-sized maintenance vessels are not equipped with standardized, professional, and dedicated boarding and docking equipment suitable for wind power boarding and docking scenarios. Maintenance personnel have long relied on traditional and primitive boarding and docking methods such as simple climbing rope ladders, temporary connecting steps, and manual assistance to board and dock when traveling between maintenance vessels and wind turbine tower working platforms, without any rigid protective structure or stable docking and limiting structure. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problem that a reliable connection cannot be achieved between the end of the boarding bridge and the offshore wind turbine ladder in the prior art, and to provide a docking device and docking method for offshore wind turbine boarding bridges.

[0005] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention discloses a docking device for an offshore wind power boarding bridge, comprising an adsorption gripper, an auxiliary overlapping gripper, a bridge deck, a telescopic transmission link, an electromagnetic controller, a dual-axis movable joint, and a sensor assembly; the adsorption gripper is connected to the dual-axis movable joint, the dual-axis movable joint is connected to the telescopic transmission link, and the telescopic transmission link is installed on the bridge deck; the adsorption gripper is electrically connected to the electromagnetic controller, and the auxiliary overlapping gripper is disposed beside the adsorption gripper; the sensor assembly is signal-connected to the electromagnetic controller.

[0006] Further improvements are made in the following aspects: The adsorption gripper is a semi-cylindrical aluminum thin-walled structure, and the semi-cylindrical aluminum thin-walled structure has an internal electromagnetic induction flexible plate, which is electrically connected to the electromagnetic controller.

[0007] The inner wall of the adsorption gripper is provided with a buffer liner, which is attached to the inner side of the aluminum thin wall.

[0008] The sensor assembly includes a force sensor and an attitude sensor; the force sensor and the attitude sensor are disposed on the back of the adsorption gripper, and the force sensor is an optical fiber sensor.

[0009] The dual-axis movable joint includes a vertical pin and a horizontal pin, and a drive motor is installed inside both the vertical pin and the horizontal pin.

[0010] The end of the telescopic transmission link that is not connected to the adsorption handle is equipped with a rotary drive motor, and the telescopic transmission link drives the adsorption gripper to complete the extension and retraction for storage.

[0011] It also includes a cable support bridge, through which the cables of the sensor assembly are connected to the electromagnetic controller.

[0012] The bridge deck is equipped with anti-slip tracks and side rails, with the anti-slip tracks arranged along the length of the bridge deck.

[0013] The adsorption gripper is used to adsorb offshore wind turbine mooring piles to form an electromagnetic adsorption docking structure; the auxiliary overlapping gripper is used to overlap offshore wind turbine mooring piles to form a mechanical overlapping docking structure.

[0014] Secondly, the present invention discloses a docking method for an offshore wind power boarding bridge based on the above-mentioned device, comprising: The telescopic transmission linkage at the front end of the boarding bridge extends, driving the adsorption gripper and auxiliary overlapping gripper to move towards the offshore wind turbine ladder. The attitude of the suction gripper is adjusted by the dual-axis movable joint, so that the suction gripper is aligned with the offshore wind power mooring pile. Activate the electromagnetic controller to allow the suction gripper to be electromagnetically attached and fixed to the mooring pile; The auxiliary splicing gripper is spliced ​​to the offshore wind power mooring bollard to form a fixed docking with electromagnetic connection as the main method and mechanical connection as the auxiliary method. By monitoring the adsorption force and attitude parameters in real time through sensor components, and adjusting the adsorption state in a closed loop by an electromagnetic controller, a stable connection between the boarding bridge and the offshore wind power foundation is achieved.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses a docking device for offshore wind power boarding bridges. By connecting an adsorption gripper to a dual-axis movable joint, which in turn connects to a telescopic transmission rod, and which is installed on the bridge deck, the device achieves stable integration and reliable transmission at the front end of the boarding bridge. This allows it to extend, adjust its posture, and retract in conjunction with the boarding bridge, improving the device's mobility and space utilization in complex offshore conditions. The adsorption gripper is electrically connected to an electromagnetic controller, enabling controllable adjustment of the electromagnetic adsorption force. Combined with an auxiliary overlapping gripper, this forms a composite docking structure with electromagnetic connection as the primary method and mechanical connection as a secondary method. This ensures docking strength and stability while reducing the difficulty of docking operations and improving docking efficiency. Sensor components are signal-connected to the electromagnetic controller, enabling real-time acquisition and feedback of docking status data. This allows for precise control and safety monitoring of the docking process, effectively reducing docking deviations and structural impacts caused by waves and ship sway, and improving the safety and adaptability of offshore wind power operation and maintenance boarding operations. Meanwhile, the components are compactly connected and rationally laid out, and the overall structure of the device is simple and responsive. It can be adapted to the use of active and passive compensation corridors on small maintenance vessels and transport boats, meeting the rapid docking needs of different offshore wind power scenarios and significantly improving the versatility and practicality of the boarding corridor docking device.

[0016] Furthermore, the adsorption gripper is designed as a semi-cylindrical thin-walled aluminum structure, which reduces the overall weight of the device and the impact on the bridge load, while ensuring structural strength and electromagnetic permeability. An internal electromagnetic induction flexible plate, electrically connected to an electromagnetic controller, allows for precise adjustment of the adsorption force, enabling the gripper to stably adhere to the surface of the offshore wind turbine berthing pile, improving docking firmness and compatibility. A buffer liner fitted to the inner wall of the adsorption gripper, conforming to the inner side of the thin-walled aluminum, effectively mitigates the structural impact generated during adsorption. It also accommodates uneven surfaces on the berthing pile caused by paint peeling, corrosion, etc., avoiding component damage due to rigid contact and improving the device's service life and docking reliability.

[0017] Furthermore, a sensor assembly incorporating fiber optic mechanical sensors and attitude sensors is deployed on the back of the adsorption gripper. This allows for real-time monitoring of the adsorption force and attitude angle, providing precise data support for docking control and ensuring a smooth and controllable docking process. This significantly improves the docking accuracy of the device under complex sea conditions such as ship swaying and wave disturbances. Both the vertical and horizontal pins of the dual-axis movable joint are equipped with drive motors, enabling multi-dimensional free adjustment of the adsorption gripper. This allows the device to quickly align with the berthing pile, enhancing the flexibility and response speed of attitude adjustment and meeting the precise docking requirements under different working conditions.

[0018] Furthermore, the addition of cable support bridges to neatly guide the sensor cables prevents them from becoming tangled, pulled, or worn during movement, ensuring stable and reliable signal transmission and improving the overall safety and durability of the device. A dual docking structure combining electromagnetic adsorption and mechanical overlapping is employed. Adsorption grippers provide primary positioning and fixation, while auxiliary overlapping grippers provide reinforcement, significantly enhancing the overall stability and safety of the docking process. This effectively resists the effects of sea waves and ship swaying, ensuring safe and reliable boarding operations.

[0019] This invention discloses a docking method for offshore wind turbine boarding bridges. First, by controlling the extension of a telescopic transmission linkage, the adsorption gripper and auxiliary overlapping gripper move synchronously towards the offshore wind turbine ladder, enabling rapid positioning of the docking mechanism and improving positioning efficiency and consistency in the early stages of docking. Then, through a dual-axis movable joint, the attitude of the adsorption gripper is precisely adjusted, effectively offsetting positional deviations caused by ship swaying and wave disturbances, ensuring accurate alignment of the adsorption gripper with the offshore wind turbine berthing pile, significantly improving the docking alignment success rate. Subsequently, the electromagnetic controller is activated to firmly attach the adsorption gripper to the berthing pile electromagnetically, and together with the auxiliary overlapping gripper, it overlaps with the mooring bollard, forming a composite fixing mode with electromagnetic connection as the primary method and mechanical connection as a secondary method. This ensures both the overall rigidity and connection strength of the docking structure and improves the stability and reliability of the docking state. After docking, the sensor components monitor the adsorption force and attitude parameters in real time, and the electromagnetic controller performs closed-loop adjustment of the adsorption state. This enables dynamic adaptation to changes in complex offshore working conditions, timely correction of adsorption force and attitude deviations, and avoidance of safety risks such as impact and loosening. Ultimately, it achieves efficient, stable, and safe automatic docking between the boarding bridge and the offshore wind power foundation, greatly improving the convenience, safety, and environmental adaptability of offshore wind power operation and maintenance boarding operations. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the docking device for an offshore wind power boarding bridge according to the present invention; Figure 2 This is a side view of the extended state of a docking device for an offshore wind power boarding bridge according to the present invention; Figure 3 This is a top view of the extended state of a docking device for an offshore wind power boarding bridge according to the present invention; Figure 4 This is a diagram showing the docking device of an offshore wind turbine boarding bridge in this invention docking with an offshore wind turbine ladder. Figure 5 This is a partial detailed view of the adsorption gripper of a docking device for an offshore wind power boarding bridge according to the present invention; Figure 6 This is an overall view of the extended state of a docking device for an offshore wind power boarding bridge according to the present invention.

[0022] Among them: 1-Adsorption gripper; 2-Auxiliary overlapping gripper; 3-Bridge deck; 4-Bridge deck side rail; 5-Telescopic transmission link; 6-Electromagnetic controller; 7-Buffer liner; 8-Mechanical sensor; 9-Attitude sensor; 10-Cable guide support bridge; 11-Dual-axis movable joint; 12-Bridge deck anti-slip track; 13-Grip support and line channel; 14-Electric rotating arm; 15-Rotary drive motor. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0028] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0029] The present invention will now be described in further detail with reference to the accompanying drawings: See Figure 1 , Figure 2 and Figure 3This invention discloses a docking device for an offshore wind power boarding bridge, comprising an adsorption gripper 1, an auxiliary overlapping gripper 2, a bridge deck 3, a telescopic transmission link 5, an electromagnetic controller 6, a dual-axis movable joint 11, and a sensor assembly. The adsorption gripper 1 is connected to the dual-axis movable joint 11, which is connected to the telescopic transmission link 5, which is mounted on the bridge deck 3. The adsorption gripper 1 is electrically connected to the electromagnetic controller 6, and the auxiliary overlapping gripper 2 is located beside the adsorption gripper 1. The sensor assembly is signal-connected to the electromagnetic controller 6. The adsorption gripper 1 is a semi-cylindrical thin-walled aluminum structure with an internal electromagnetic induction flexible plate, which is electrically connected to the electromagnetic controller 6. The adsorption gripper is designed as a semi-cylindrical thin-walled aluminum structure, which can reduce the overall weight of the device and the impact on the bridge load, while ensuring structural strength and electromagnetic permeability. The built-in electromagnetic induction flexible plate is electrically connected to the electromagnetic controller, which can achieve precise adjustment of the adsorption force, so that the adsorption gripper can stably fit the surface of the offshore wind power berthing pile, improving the firmness and adaptability of the docking.

[0030] The inner wall of the adsorption gripper 1 is provided with a buffer liner 7, which is attached to the inner side of the aluminum thin wall. The buffer liner attached to the inner side of the aluminum thin wall effectively mitigates the structural impact generated during adsorption and adapts to uneven surfaces caused by paint peeling, rust, etc., on the mooring pile surface, avoiding component damage caused by rigid contact and improving the device's service life and docking reliability. The dual-axis movable joint 11 includes a vertical pin and a horizontal pin, both of which are equipped with drive motors. The presence of drive motors in both the vertical and horizontal pins of the dual-axis movable joint allows for multi-dimensional free adjustment of the adsorption gripper, enabling the device to quickly align with the mooring pile position, improving the flexibility and response speed of attitude adjustment, and meeting the precise docking requirements under different working conditions. It also includes a cable support bridge 10, through which the cables of the sensor components are connected to the electromagnetic controller 6. The cable support bridge helps to organize and guide the sensor cables, preventing tangling, pulling, or wear during movement, ensuring stable and reliable signal transmission, and improving the overall safety and durability of the device. The bridge deck 3 is equipped with anti-slip tracks 12 and side rails 4, with the anti-slip tracks 12 arranged along the length of the bridge deck 3. The anti-slip tracks and side rails effectively improve the safety of maintenance personnel during passage, prevent objects from falling, and enhance the protective performance and operational safety during use of the bridge.

[0031] See Figure 4The adsorption gripper 1 is used to adsorb offshore wind turbine mooring piles, forming an electromagnetic adsorption docking structure; the auxiliary overlapping gripper 2 is used to overlap offshore wind turbine mooring piles, forming a mechanical overlapping docking structure. This dual docking structure, combining electromagnetic adsorption and mechanical overlapping, uses the adsorption gripper for primary positioning and the auxiliary overlapping gripper for auxiliary reinforcement, significantly improving the overall stability and safety of the docking, effectively resisting the effects of sea waves and ship sway, and ensuring safe and reliable boarding operations.

[0032] See Figure 5 The sensor assembly includes a force sensor 8 and an attitude sensor 9; the force sensor 8 and the attitude sensor 9 are disposed on the back of the adsorption gripper 1, and the force sensor 8 is a fiber optic sensor. By employing a sensor assembly including a fiber optic force sensor and an attitude sensor, and arranging it on the back of the adsorption gripper, the adsorption force state and attitude angle can be monitored in real time, providing precise data support for docking control, ensuring a stable and controllable docking process, and significantly improving the docking accuracy of the device under complex sea conditions such as ship swaying and wave disturbance.

[0033] See Figure 6 A rotary drive motor 15 is provided at the end of the telescopic transmission link 5 that is not connected to the adsorption handle 1. The telescopic transmission link 5 drives the adsorption gripper 1 to complete the extension and retraction. The rotary drive motor at the end of the telescopic transmission link can stably drive the adsorption gripper to complete the extension and retraction, reducing space occupation when the device is not in operation, adapting to the limited installation space of small maintenance boats and transport boats, and improving the automation level of the device operation.

[0034] This invention discloses a docking device for offshore wind power boarding bridges. By connecting an adsorption gripper to a dual-axis movable joint, which in turn connects to a telescopic transmission rod, and which is installed on the bridge deck, the device achieves stable integration and reliable transmission at the front end of the boarding bridge. This allows it to extend, adjust its posture, and retract in conjunction with the boarding bridge, improving the device's mobility and space utilization in complex offshore conditions. The adsorption gripper is electrically connected to an electromagnetic controller, enabling controllable adjustment of the electromagnetic adsorption force. Combined with an auxiliary overlapping gripper, this forms a composite docking structure with electromagnetic connection as the primary method and mechanical connection as a secondary method. This ensures docking strength and stability while reducing the difficulty of docking operations and improving docking efficiency. Sensor components are signal-connected to the electromagnetic controller, enabling real-time acquisition and feedback of docking status data. This allows for precise control and safety monitoring of the docking process, effectively reducing docking deviations and structural impacts caused by waves and ship sway, and improving the safety and adaptability of offshore wind power operation and maintenance boarding operations. Meanwhile, the components are compactly connected and rationally laid out, and the overall structure of the device is simple and responsive. It can be adapted to the use of active and passive compensation corridors on small maintenance vessels and transport boats, meeting the rapid docking needs of different offshore wind power scenarios and significantly improving the versatility and practicality of the boarding corridor docking device.

[0035] This invention also discloses a docking method for an offshore wind power boarding bridge based on the above-mentioned device, comprising: Step 1: Control the extension of the telescopic transmission linkage 5 at the front end of the boarding bridge to drive the adsorption gripper 1 and the auxiliary overlapping gripper 2 to move towards the offshore wind turbine ladder. Step 2: Adjust the posture of the adsorption gripper 1 by using the dual-axis movable joint 11 so that the adsorption gripper 1 is aligned with the offshore wind power mooring pile. Step 3: Activate the electromagnetic controller 6 to make the adsorption gripper 1 magnetically attach and fix to the mooring pile. Step 4: Connect the auxiliary connection gripper 2 to the offshore wind power mooring bollard to form a fixed connection with electromagnetic connection as the main method and mechanical connection as the auxiliary method. Step 5: The adsorption force and attitude parameters are monitored in real time by the sensor components, and the adsorption state is adjusted in a closed loop by the electromagnetic controller 6 to complete the stable docking of the boarding bridge and the offshore wind power foundation.

[0036] This invention discloses a docking method for offshore wind turbine boarding bridges. First, by controlling the extension of a telescopic transmission linkage, the adsorption gripper and auxiliary overlapping gripper move synchronously towards the offshore wind turbine ladder, enabling rapid positioning of the docking mechanism and improving positioning efficiency and consistency in the early stages of docking. Then, through a dual-axis movable joint, the attitude of the adsorption gripper is precisely adjusted, effectively offsetting positional deviations caused by ship swaying and wave disturbances, ensuring accurate alignment of the adsorption gripper with the offshore wind turbine berthing pile, significantly improving the docking alignment success rate. Subsequently, the electromagnetic controller is activated to firmly attach the adsorption gripper to the berthing pile electromagnetically, and together with the auxiliary overlapping gripper, it overlaps with the mooring bollard, forming a composite fixing mode with electromagnetic connection as the primary method and mechanical connection as a secondary method. This ensures both the overall rigidity and connection strength of the docking structure and improves the stability and reliability of the docking state. After docking, the sensor components monitor the adsorption force and attitude parameters in real time, and the electromagnetic controller performs closed-loop adjustment of the adsorption state. This enables dynamic adaptation to changes in complex offshore working conditions, timely correction of adsorption force and attitude deviations, and avoidance of safety risks such as impact and loosening. Ultimately, it achieves efficient, stable, and safe automatic docking between the boarding bridge and the offshore wind power foundation, greatly improving the convenience, safety, and environmental adaptability of offshore wind power operation and maintenance boarding operations.

[0037] The working principle of this invention is as follows: This invention proposes a docking device for offshore wind turbine boarding bridges, capable of extending and retracting. It proposes an automatic, adjustable docking method for ladders on steel wind turbine foundations, primarily using electromagnetic connections and secondarily using mechanical connections. The docking device mainly consists of an adsorption gripper 1, an auxiliary overlapping gripper 2, an electromagnetic controller 6, a telescopic transmission link 5, a dual-axis movable joint 11, a cable guide support bridge 10, and sensors.

[0038] (1) The docking device is suitable for small gate bridges with active and passive compensation functions, which are installed on small maintenance vessels / transport boats (CTVs). The main devices for docking with the offshore wind turbine ladder are the adsorption gripper 1 and the auxiliary overlapping gripper 2. The adsorption gripper 1 is adsorbed onto the mooring piles on both sides of the offshore wind turbine ladder by electromagnetic induction, while the auxiliary overlapping gripper 2 is overlapped onto the mooring piles on both sides of the offshore wind turbine ladder to provide auxiliary mechanical connection.

[0039] (2) The adsorption gripper 1 is the core component of the entire docking device. Its front end is a semi-cylindrical aluminum thin-walled structure with electromagnetic induction function, and an electromagnetic induction flexible plate is built in. The adsorption force between the adsorption gripper and the offshore wind turbine berthing pile is controlled by adjusting the magnetic field strength of the electromagnetic induction plate. A buffer liner 7 is placed on the inner wall of the adsorption gripper to cope with the impact of instantaneous adsorption on the structure and the irregular surface of the berthing pile caused by paint peeling.

[0040] (3) The central part of the back of the aluminum thin-walled adsorption gripper 1 serves as a support structure and also houses the wiring to facilitate the power control of the electromagnetic induction flexible plate. Additionally, four sensors are arranged at the four corners of the back of the aluminum thin-walled gripper. The uppermost sensor is a force sensor 8, which uses a fiber optic cable to monitor the force on the inner wall of the adsorption gripper in real time. The lowermost sensor is an attitude sensor 9, used to monitor the angle and attitude of the adsorption gripper for precise control during the docking process. The sensor cables are guided to the electromagnetic controller module via a cable support bridge.

[0041] (4) Connected to the rear of the support structure of the adsorption gripper 1 is the controller, which is mainly used to adjust the electromagnetic adsorption force of the adsorption gripper 1, collect and process sensor data, and control the action of the adsorption gripper. It is the "brain" of the adsorption gripper 1 control. Its power supply is uniformly provided by the corridor bridge system. The controller and the adsorption gripper are designed as an integrated structure. This is because the key control parameters in the controller are related to the size and adaptability range of the adsorption gripper. Different wind farms have different design parameters for berthing piles and mooring piles. Therefore, in order to adapt to different offshore wind power boarding applications, it is necessary to carry out customized development for specific wind farms. During the customized development process, the controller parameters need to be adjusted. Therefore, the controller becomes a replaceable kit along with the customized adsorption gripper, which shortens the on-site commissioning cycle.

[0042] (5) The entire adsorption gripper 1 is connected to the dual-axis movable joint 11. The dual-axis movable joint 11 consists of a vertical pin and a horizontal pin, and an electric motor is installed inside the shaft to drive the rotation around the shaft. The dual-axis movable joint is connected to the telescopic transmission linkage. These three sets of transmission linkages enable the adsorption gripper to perform three degrees of freedom of movement: telescopic, pitch, and rotation.

[0043] (6) The telescopic transmission link 5 is equipped with a drive motor at the end. The telescopic function is realized by the rotation of the motor and the relative movement of the drive link. In addition, the suction gripper can be rotated and retracted by the drive of the horizontal axis in the dual-axis movable joint, so as to ensure that the corridor bridge does not occupy too much space when it is not in use.

[0044] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A docking device for an offshore wind turbine boarding bridge, characterized in that, The system includes an adsorption gripper (1), an auxiliary overlapping gripper (2), a bridge deck (3), a telescopic transmission link (5), an electromagnetic controller (6), a dual-axis movable joint (11), and a sensor assembly. The adsorption gripper (1) is connected to the dual-axis movable joint (11), and the dual-axis movable joint (11) is connected to the telescopic transmission link (5). The telescopic transmission link (5) is installed on the bridge deck (3). The adsorption gripper (1) is electrically connected to the electromagnetic controller (6), and the auxiliary overlapping gripper (2) is located beside the adsorption gripper (1). The sensor assembly is signal-connected to the electromagnetic controller (6).

2. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, The adsorption gripper (1) is a semi-cylindrical aluminum thin-walled structure. The semi-cylindrical aluminum thin-walled structure has an internal electromagnetic induction flexible plate, which is electrically connected to the electromagnetic controller (6).

3. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, The inner wall of the adsorption gripper (1) is provided with a buffer liner (7), which is attached to the inner side of the aluminum thin-walled structure.

4. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, The sensor assembly includes a force sensor (8) and an attitude sensor (9); the force sensor (8) and the attitude sensor (9) are disposed on the back of the adsorption gripper (1), and the force sensor (8) is an optical fiber sensor.

5. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, The dual-axis movable joint (11) includes a vertical pin and a horizontal pin, and a drive motor is provided in both the vertical pin and the horizontal pin.

6. The docking device for an offshore wind turbine boarding bridge according to claim 1, characterized in that, The end of the telescopic transmission link (5) that is not connected to the adsorption handle (1) is provided with a rotary drive motor (15). The telescopic transmission link (5) drives the adsorption gripper (1) to complete the telescopic extension and retraction for storage.

7. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, It also includes a cable support bridge (10), through which the cable of the sensor assembly is connected to the electromagnetic controller (6).

8. The docking device for offshore wind power boarding bridge according to claim 1, characterized in that, The bridge deck (3) is provided with anti-slip track (12) and side rails (4), and the anti-slip track (12) is arranged along the length of the bridge deck (3).

9. The docking device for an offshore wind turbine boarding bridge according to claim 1, characterized in that, The adsorption gripper (1) is used to adsorb offshore wind power mooring piles to form an electromagnetic adsorption docking structure; the auxiliary overlapping gripper (2) is used to overlap offshore wind power mooring piles to form a mechanical overlapping docking structure.

10. A docking method for an offshore wind power boarding bridge based on the device described in any one of claims 1-9, characterized in that, include: Extend the telescopic transmission link (5) at the front end of the boarding bridge to drive the adsorption gripper (1) and the auxiliary overlapping gripper (2) to move towards the offshore wind turbine ladder; The attitude of the adsorption gripper (1) is adjusted by the dual-axis movable joint (11) so that the adsorption gripper (1) is aligned with the offshore wind power mooring pile. Start the electromagnetic controller (6) so that the adsorption gripper (1) is adsorbed and fixed to the mooring pile in an electromagnetic manner; The auxiliary splicing gripper (2) is spliced ​​to the offshore wind power mooring pile to form a fixed docking with electromagnetic connection as the main part and mechanical connection as the auxiliary part. The adsorption force and attitude parameters are monitored in real time by sensor components, and the adsorption state is adjusted in a closed loop by electromagnetic controller (6) to complete the stable docking of the boarding bridge and the offshore wind power foundation.

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